CN210236063U - Lifting AGV (automatic guided vehicle) matching material rack - Google Patents
Lifting AGV (automatic guided vehicle) matching material rack Download PDFInfo
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- CN210236063U CN210236063U CN201920907948.3U CN201920907948U CN210236063U CN 210236063 U CN210236063 U CN 210236063U CN 201920907948 U CN201920907948 U CN 201920907948U CN 210236063 U CN210236063 U CN 210236063U
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Abstract
The utility model provides a lifting AGV matched material rack which can be matched with a lifting AGV trolley with camera equipment to automatically store and take in a material box, wherein a material box storing and taking channel matched with the size of the AGV is arranged at the material box storing and taking surface at the top of the material rack; the center position of the bottom of the material rack is provided with a center positioning pattern mark, when the AGV accesses the material box, the AGV enters the bottom of the material rack along the direction of the material box access channel, and positioning information is obtained by distinguishing the center positioning pattern mark of the bottom of the material rack through camera equipment, so that the AGV stops at the center of the bottom of the material rack; the utility model discloses can realize lifting formula AGV dolly unmanned on duty automatic material loading and unloading case, can lead to and fix a position the AGV dolly moreover.
Description
Technical Field
The utility model belongs to the technical field of logistics storage technology and specifically relates to lift supporting work or material rest of AGV.
Background
The AGV is an unmanned transport vehicle and is commonly used for carrying a material box in modern logistics storage, but the material frame has the following defects in the prior AGV carrying process;
according to the technical scheme, the material rack moving along with the AGV is adopted, the material box cannot be automatically unloaded by the material rack, and the material box needs to be manually carried.
In the prior art, the drum-type material rack is adopted in the technical scheme 2, an electric device or a conveying line is needed on the material rack, the structure is complex, and the cost is high.
In the prior art, the forklift type AGV is adopted in the technical scheme 4, and the forklift is large in size and cannot be applied to occasions with small passage spaces.
Disclosure of Invention
The utility model provides a lift supporting work or material rest of AGV can realize lifting automatic workbin from top to bottom of formula AGV dolly unmanned on duty, can lead to and fix a position the AGV dolly moreover.
The utility model adopts the following technical scheme.
The lifting AGV matching material rack can be matched with a lifting type AGV with a camera device to automatically store and take a material box, and a material box storing and taking channel matched with the AGV in size is arranged on a material box storing and taking surface at the top of the material rack; the bottom center position department of work or material rest is equipped with central location pattern sign, and when the AGV accessed the workbin, the AGV got into the work or material rest bottom along workbin access passageway place position to distinguish work or material rest bottom center location pattern sign through camera equipment and acquire locating information, so that the AGV stopped in work or material rest bottom center.
The AGV is equipped with workbin lifting mechanism's AGV for the top, when the AGV to during the work or material rest accesses the workbin, the AGV stops in work or material rest bottom center to locate to access the workbin to work or material rest holding surface with workbin lifting mechanism, the workbin width is greater than the width that workbin access passageway.
The material rack comprises supporting legs, a vehicle side guide plate, a material rack rear baffle and an AGV limiting baffle; the top surface of the car side guide plate is a material box storing and taking surface; the bin access surface is supported by supporting legs; the bin storing and taking channel is a U-shaped notch at the position of the car side guide plate; supporting plates are arranged on two sides of the straight edge of the U-shaped bin storing and taking channel; the tail end of the U-shaped material box storing and taking channel is adjacent to the material rack rear baffle and the AGV limiting baffle; the material rack rear baffle and the AGV limiting baffle are both vertical to the U-shaped material box storing and taking channel, and the material rack rear baffle is arranged on the material box storing and taking surface; AGV limit baffle locates under the workbin access face.
Workbin access passage both sides are equipped with passageway centering pattern sign, and when AGV got into the work or material rest bottom, AGV discerned passageway centering pattern sign through camera equipment and acquires centering information to make AGV advance along workbin access passage axis according to centering information.
The storage and retrieval surface of the work bin is provided with a supporting plate for placing the work bin, and the work bin lifting mechanism is provided with a tray for lifting the work bin; the height of layer board is between the highest position of tray lift and the extreme low position of tray lift, when AGV when putting the workbin to workbin access face department, AGV lifts the workbin and makes the bottom of the case face be higher than the layer board in order to pass through workbin access passageway, and the workbin that drops again makes the workbin bottom surface lay on the layer board.
The height of the supporting legs is greater than that of the lowest lifting position of the tray, so that the AGV trolley can enter and exit the material rack from the lower part of the material storage and retrieval surface when the tray is lowered; the height of supporting legs is less than the height of the highest position of the lifting of the tray, so that the AGV trolley can jack up the material box from the supporting plate when the tray is lifted and leave the material box along the material box storing and taking channel.
The difference value between the width of the material box storing and taking channel and the width of the AGV is slightly larger than the parking precision of the AGV, so that the requirement of material box storing and taking operation on the parking precision of the AGV is reduced; the difference between the width of the U-shaped opening of the U-shaped material box storing and taking channel and the width of the AGV is larger than the AGV parking precision by more than two times.
The baffle is spacing so that the workbin is placed in the work or material rest within range behind the work or material rest, and the baffle surface is equipped with elastic anticollision strip behind the work or material rest.
The material rack also comprises a material box in-place detection sensor for detecting whether the material box is in place or not; the bin on-site detection sensor comprises a photoelectric emission tube and a photoelectric receiving tube; the transmitting direction of the photoelectric transmitting tube and the receiving direction of the photoelectric receiving tube face towards a storage position of a material box of the material rack; the distance between the bin on-site detection sensor and the bin is not less than ten millimeters and is adjustable; the bin on-site detection sensor uploads detection data to the remote management module in a ZigBee wireless communication mode.
The material rack is used for storing the material box by the AGV according to the following steps;
a1, lifting the material box by the AGV to enable the bottom surface of the material box to be higher than the top surface of the supporting plate on the material box storing and taking surface;
a2, the AGV trolley distinguishes a channel centering pattern mark at the position of the storage channel of the material box through the camera equipment to obtain centering information, and the AGV travels to the tail end of the channel along the central axis of the storage channel of the material box according to the centering information;
a3, distinguishing a positioning pattern mark of the bottom center of the material rack by the AGV through the camera equipment to obtain positioning information so that the AGV stops at the bottom center of the material rack;
a4, the AGV descends the bin to enable the bin to be placed on the supporting plate;
the material frame is carried out according to the following steps when the AGV takes out a material box;
b1, descending the AGV trolley material box lifting mechanism to enable the AGV trolley to enter the bottom of the material box; an AGV entering the bottom of the material rack distinguishes a positioning pattern mark of the bottom center of the material rack through camera equipment to obtain positioning information, so that the AGV stops at the bottom center of the material rack;
b2, lifting the AGV trolley material box by a lifting mechanism to lift the material box;
b3, the AGV trolley distinguishes the channel centering pattern mark of the bin access channel through the camera equipment to obtain centering information, and enables the AGV with the bin to exit from the bin along the central axis of the bin access channel according to the centering information.
The utility model has the advantages that:
1. compared with the prior scheme, the material rack has simple structure and low cost;
2. the lifting type AGV trolley can automatically load and unload the material box without being watched on duty;
3. the guide device is arranged, so that the requirement on the positioning precision of the AGV trolley is reduced;
4. the material box is prevented from falling down through the limit of the side guide plate and the rear baffle plate;
5. the in-place state detection of the bin is realized through the bin in-place detection sensor, the in-place state of the bin is subjected to closed-loop detection, and the man-machine cooperation can be better realized by actively identifying workers.
Drawings
The invention will be described in further detail with reference to the following drawings and detailed description:
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic circuit diagram of a part of the bin on-position detection sensor of the invention;
in the figure: 1-supporting feet; 2-a vehicle side guide plate; 3-a supporting plate; 4-bin access channel; 5-a material rack rear baffle; 6-AGV limit baffle; 7-bin access plane.
Detailed Description
As shown in fig. 1-2, the lifting AGV supporting rack can be matched with a lifting AGV trolley with a camera device to automatically store and take in a bin, and a bin storing and taking channel 4 matched with the AGV in size is arranged on a bin storing and taking surface 7 at the top of the rack; the bottom center position department of work or material rest is equipped with central location pattern sign, and when the AGV accessed the workbin, the AGV got into the work or material rest bottom along workbin access passageway place position to distinguish work or material rest bottom center location pattern sign through camera equipment and acquire locating information, so that the AGV stopped in work or material rest bottom center.
The AGV is equipped with workbin lifting mechanism's AGV for the top, when the AGV to during the work or material rest accesses the workbin, the AGV stops in work or material rest bottom center to locate to access the workbin to work or material rest holding surface with workbin lifting mechanism, the workbin width is greater than the width that workbin access passageway.
The material rack comprises supporting legs 1, a vehicle side guide plate 2, a material rack rear baffle 5 and an AGV limiting baffle 6; the top surface of the car side guide plate is a material box storing and taking surface; the bin access surface is supported by supporting legs; the bin storing and taking channel is a U-shaped notch at the position of the car side guide plate; supporting plates are arranged on two sides of the straight edge of the U-shaped bin storing and taking channel; the tail end of the U-shaped material box storing and taking channel is adjacent to the material rack rear baffle and the AGV limiting baffle; the material rack rear baffle and the AGV limiting baffle are both vertical to the U-shaped material box storing and taking channel, and the material rack rear baffle is arranged on the material box storing and taking surface; AGV limit baffle locates under the workbin access face.
Workbin access passage both sides are equipped with passageway centering pattern sign, and when AGV got into the work or material rest bottom, AGV discerned passageway centering pattern sign through camera equipment and acquires centering information to make AGV advance along workbin access passage axis according to centering information.
The storage and retrieval surface of the work bin is provided with a supporting plate 3 for placing the work bin, and the work bin lifting mechanism is provided with a tray for lifting the work bin; the height of layer board is between the highest position of tray lift and the extreme low position of tray lift, when AGV when putting the workbin to workbin access face department, AGV lifts the workbin and makes the bottom of the case face be higher than the layer board in order to pass through workbin access passageway, and the workbin that drops again makes the workbin bottom surface lay on the layer board.
The height of the supporting legs is greater than that of the lowest lifting position of the tray, so that the AGV trolley can enter and exit the material rack from the lower part of the material storage and retrieval surface when the tray is lowered; the height of supporting legs is less than the height of the highest position of the lifting of the tray, so that the AGV trolley can jack up the material box from the supporting plate when the tray is lifted and leave the material box along the material box storing and taking channel.
The difference value between the width of the material box storing and taking channel and the width of the AGV is slightly larger than the parking precision of the AGV, so that the requirement of material box storing and taking operation on the parking precision of the AGV is reduced; the difference between the width of the U-shaped opening of the U-shaped material box storing and taking channel and the width of the AGV is larger than the AGV parking precision by more than two times.
The baffle is spacing so that the workbin is placed in the work or material rest within range behind the work or material rest, and the baffle surface is equipped with elastic anticollision strip behind the work or material rest.
The material rack also comprises a material box in-place detection sensor for detecting whether the material box is in place or not; the bin on-site detection sensor comprises a photoelectric emission tube and a photoelectric receiving tube; the transmitting direction of the photoelectric transmitting tube and the receiving direction of the photoelectric receiving tube face towards a storage position of a material box of the material rack; the distance between the bin on-site detection sensor and the bin is not less than ten millimeters and is adjustable; the bin on-site detection sensor uploads detection data to the remote management module in a ZigBee wireless communication mode.
The material rack is used for storing the material box by the AGV according to the following steps;
a1, lifting the material box by the AGV to enable the bottom surface of the material box to be higher than the top surface of the supporting plate on the material box storing and taking surface;
a2, the AGV trolley distinguishes a channel centering pattern mark at the position of the storage channel of the material box through the camera equipment to obtain centering information, and the AGV travels to the tail end of the channel along the central axis of the storage channel of the material box according to the centering information;
a3, distinguishing a positioning pattern mark of the bottom center of the material rack by the AGV through the camera equipment to obtain positioning information so that the AGV stops at the bottom center of the material rack;
a4, the AGV descends the bin to enable the bin to be placed on the supporting plate;
the material frame is carried out according to the following steps when the AGV takes out a material box;
b1, descending the AGV trolley material box lifting mechanism to enable the AGV trolley to enter the bottom of the material box; an AGV entering the bottom of the material rack distinguishes a positioning pattern mark of the bottom center of the material rack through camera equipment to obtain positioning information, so that the AGV stops at the bottom center of the material rack;
b2, lifting the AGV trolley material box by a lifting mechanism to lift the material box;
b3, the AGV trolley distinguishes the channel centering pattern mark of the bin access channel through the camera equipment to obtain centering information, and enables the AGV with the bin to exit from the bin along the central axis of the bin access channel according to the centering information.
In this example, if the lifting tray is 300mm from the ground when the AGV is at the lowest position and 350mm from the ground when the AGV is at the highest position, the height of the supporting legs can be 310-320 mm.
In this example, the AGV limit stopper is provided at a position more than 50mm away from the normal parking position of the AGV.
In this example, preferably, the central position of the bottom of the rack is provided with a two-dimensional code marked by a central positioning pattern.
In this case, the bin presence detection sensor is battery powered. The batteries can be disposable ER or CR batteries, and replaceable dry batteries can also be used.
And the bin on-site detection sensor reports data in a ZigBee3.0 communication mode. When the in-place state of the bin changes, data are reported, and data such as the in-place state of the bin, the battery capacity and the like are reported every day at regular time.
In this example, the AGV cart obtains the positioning information by identifying the positioning pattern of the bottom center of the rack by the downward-looking camera equipment of the car body.
In this example, the lane centering pattern mark at the bin access lane is located on the bottom surface of the car side guide plate, and the AGV car acquires centering information by distinguishing the lane centering pattern mark at the bin access lane by the top view camera of the car body.
Claims (9)
1. Lift the supporting work or material rest of AGV, can be with the supporting material case of storing and taking with the automation of the formula of lifting AGV dolly of taking camera equipment, its characterized in that: a bin storing and taking channel matched with the AGV in size is arranged on the bin storing and taking surface at the top of the bin; the bottom center position department of work or material rest is equipped with central location pattern sign, and when the AGV accessed the workbin, the AGV got into the work or material rest bottom along workbin access passageway place position to distinguish work or material rest bottom center location pattern sign through camera equipment and acquire locating information, so that the AGV stopped in work or material rest bottom center.
2. The lifting AGV kit of claim 1, wherein: the AGV is equipped with workbin lifting mechanism's AGV for the top, when the AGV to during the work or material rest accesses the workbin, the AGV stops in work or material rest bottom center to locate to access the workbin to work or material rest holding surface with workbin lifting mechanism, the workbin width is greater than the width that workbin access passageway.
3. The lifting AGV set of claim 2, wherein: the material rack comprises supporting legs, a vehicle side guide plate, a material rack rear baffle and an AGV limiting baffle; the top surface of the car side guide plate is a material box storing and taking surface; the bin access surface is supported by supporting legs; the bin storing and taking channel is a U-shaped notch at the position of the car side guide plate; supporting plates are arranged on two sides of the straight edge of the U-shaped bin storing and taking channel; the tail end of the U-shaped material box storing and taking channel is adjacent to the material rack rear baffle and the AGV limiting baffle; the material rack rear baffle and the AGV limiting baffle are both vertical to the U-shaped material box storing and taking channel, and the material rack rear baffle is arranged on the material box storing and taking surface; AGV limit baffle locates under the workbin access face.
4. The lifting AGV set of claim 3, wherein: workbin access passage both sides are equipped with passageway centering pattern sign, and when AGV got into the work or material rest bottom, AGV discerned passageway centering pattern sign through camera equipment and acquires centering information to make AGV advance along workbin access passage axis according to centering information.
5. The lifting AGV set of claim 3, wherein: the storage and retrieval surface of the work bin is provided with a supporting plate for placing the work bin, and the work bin lifting mechanism is provided with a tray for lifting the work bin; the height of layer board is between the highest position of tray lift and the extreme low position of tray lift, when AGV when putting the workbin to workbin access face department, AGV lifts the workbin and makes the bottom of the case face be higher than the layer board in order to pass through workbin access passageway, and the workbin that drops again makes the workbin bottom surface lay on the layer board.
6. The lifting AGV set of claim 5, wherein: the height of the supporting legs is greater than that of the lowest lifting position of the tray, so that the AGV trolley can enter and exit the material rack from the lower part of the material storage and retrieval surface when the tray is lowered; the height of supporting legs is less than the height of the highest position of the lifting of the tray, so that the AGV trolley can jack up the material box from the supporting plate when the tray is lifted and leave the material box along the material box storing and taking channel.
7. The lifting AGV set of claim 3, wherein: the difference value between the width of the material box storing and taking channel and the width of the AGV is slightly larger than the parking precision of the AGV, so that the requirement of material box storing and taking operation on the parking precision of the AGV is reduced; the difference between the width of the U-shaped opening of the U-shaped material box storing and taking channel and the width of the AGV is larger than the AGV parking precision by more than two times.
8. The lifting AGV set of claim 3, wherein: the baffle is spacing so that the workbin is placed in the work or material rest within range behind the work or material rest, and the baffle surface is equipped with elastic anticollision strip behind the work or material rest.
9. The lifting AGV set of claim 3, wherein: the material rack also comprises a material box in-place detection sensor for detecting whether the material box is in place or not; the bin on-site detection sensor comprises a photoelectric emission tube and a photoelectric receiving tube; the transmitting direction of the photoelectric transmitting tube and the receiving direction of the photoelectric receiving tube face towards a storage position of a material box of the material rack; the distance between the bin on-site detection sensor and the bin is not less than ten millimeters and is adjustable; the bin on-site detection sensor uploads detection data to the remote management module in a ZigBee wireless communication mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920907948.3U CN210236063U (en) | 2019-06-17 | 2019-06-17 | Lifting AGV (automatic guided vehicle) matching material rack |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920907948.3U CN210236063U (en) | 2019-06-17 | 2019-06-17 | Lifting AGV (automatic guided vehicle) matching material rack |
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| CN210236063U true CN210236063U (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920907948.3U Active CN210236063U (en) | 2019-06-17 | 2019-06-17 | Lifting AGV (automatic guided vehicle) matching material rack |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155592A (en) * | 2019-06-17 | 2019-08-23 | 福州聚英智能科技有限公司 | It lifts AGV and matches jacking frame |
-
2019
- 2019-06-17 CN CN201920907948.3U patent/CN210236063U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155592A (en) * | 2019-06-17 | 2019-08-23 | 福州聚英智能科技有限公司 | It lifts AGV and matches jacking frame |
| CN110155592B (en) * | 2019-06-17 | 2024-06-25 | 福州聚英智能科技有限公司 | AGV supporting work or material rest lifts |
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