CN210762506U - Automatic guide vehicle and goods distribution system - Google Patents

Abstract

Embodiments of the present disclosure relate to an automated guided vehicle and a cargo distribution system. This automatic guided vehicle includes: a frame; a motor mounted on the frame; one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move; the cargo carrying platform is arranged above the frame and used for carrying cargos to be conveyed; a pusher device configured to be mounted above the cargo bed to pick up the cargo to be transported from the feeder table as the automatic guided vehicle passes the feeder table. According to the embodiment of the disclosure, the AGV can automatically take the workpiece by utilizing the thrust in the action direction of the AGV, does not need to slow down and stop, improves the efficiency of the AGV at the workpiece supply point with lower cost, and simultaneously reduces the waste of the operation capacity of workpiece supply workers.

Description

Automatic guide vehicle and goods distribution system

Technical Field

The present disclosure relates to the field of intelligent warehousing, and more particularly to an automatic guided vehicle and a cargo distribution system capable of picking up a cargo under a non-stop condition.

Background

In the current logistics warehousing field, Automatic Guided Vehicles (AGVs) have been increasingly used to replace or supplement manual labor. The automatic guided vehicle can automatically receive the cargo carrying task, reaches the first position under the control of a program, obtains the cargo, then walks to the second position, unloads the cargo and continues to execute other tasks. For example, as shown in FIG. 1, prior art automated guided vehicles generally include a lower base and wheels mounted below the base that can be programmed to travel within a warehouse, with a load bed mounted above the AGV for placement of the load. When the automatic guided vehicle travels to a delivery point of a rack or the like, the speed is reduced and the movement is stopped, and the goods are placed on a loading table of the automatic guided vehicle by a mechanical arm or a jacking mechanism. After the goods are loaded, the automatic guided vehicle is restarted, accelerated and walks to the target position, and the goods are unloaded through the mechanical arm or other modes again in a static state to complete a goods carrying task.

In automatic guide car goods letter sorting business, current automatic guide car on the market can supply a little to slow down at goods shelves etc. and stop and get a, gets to leave with higher speed after accomplishing again, and this process of slowing down earlier and then accelerating has the extravagant problem of time, and automatic guide car is with higher speed simultaneously, slows down, can consume a large amount of battery electric energy, reduces AGV's the interval of charging for overall efficiency is lower.

In the application of sorting machine, there is the confession platform that realizes similar purpose, mainly divide into and supply a little, the point of keeping in, most sorting machine is loop configuration, in case start just can have all letter sorting dollies at the uniform velocity on the track, supply a platform to put the parcel back, can rotate forward to the position of keeping in, when meetting empty letter sorting dolly, letter sorting dolly belt and the point of keeping in belt can rotate step by step, rotate the parcel to the letter sorting dolly on, the supply package of not stopping of letter sorting dolly has also been realized on this process.

In AGV parcel letter sorting scheme, also can adopt similar confession a platform to reach the same destination, but can improve a lot to AGV and the synchronous requirement of confession a platform (AGV is flexible scheme, and AGV body uniformity, AGV current speed, road surface condition, communication quality reasons such as can lead to the operating mode of whole material loading process can be more complicated than the sorter), and this kind of confession a platform uses power equipment more in addition, and is with higher costs, and is not very suitable for large-scale commercial application.

The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.

SUMMERY OF THE UTILITY MODEL

In view of the above, one of the objectives of the embodiments of the present disclosure is to provide a non-stop delivery solution capable of implementing an automatic guided vehicle.

In one aspect, there is provided an automatic guided vehicle comprising: a frame; a motor mounted on the frame; one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move; the cargo carrying platform is arranged above the frame and used for carrying cargos to be conveyed; a push plate device configured to be installed above the cargo bed, the push plate device being installed on the cargo bed or the vehicle frame through a vertical rod at one side, and suspended at the other side, and a gap being provided between the push plate device and the cargo bed.

In one embodiment, the push plate device is disposed on the cargo bed on a rear side in the advancing direction of the automatic guided vehicle.

In one embodiment, the push plate device comprises a buffer device, and the buffer plate is arranged at the rear side of the push plate and configured to provide a certain range of freedom of movement for the push plate device.

In one embodiment, the damping device includes a shaft, a bushing, and a spring positioned between the shaft and the bushing to provide damping

In one embodiment, the pusher plate apparatus is configured to be mounted over a side edge of the cargo bed.

In one embodiment, the pusher plate means comprises a wiper means located therebelow.

In one embodiment, the automated guided vehicle further comprises a navigation and positioning device disposed on the frame.

In one embodiment, the push plate device further comprises an adjustment mechanism configured to enable adjustment of the height of the push plate device relative to the load bed.

In another aspect, a cargo distribution system is provided, comprising: the aforementioned automatic guided vehicle; the workpiece supply platform is plate-shaped, and the thickness of the workpiece supply platform is smaller than the height of a gap between a push plate device of the automatic guide vehicle and the cargo carrying platform; and the control device is coupled with the automatic guide vehicle and configured to issue a task of taking the goods from the goods supply table to the automatic guide vehicle, and the automatic guide vehicle takes the goods to be transported borne on the goods supply table away in a moving state. Preferably, the feeder table may be a solid plate.

In one embodiment, the control device is configured to: and when the automatic guided vehicle picks up the goods to be distributed on the goods supply table, the automatic guided vehicle is guided to pass below the goods supply table.

In another aspect, a control method for distributing goods is provided, the method comprising: a pick-up task corresponding to the goods to be transported is issued to the automatic guided vehicle; and enabling the automatic guiding vehicle to pick the goods to be conveyed of the workpiece supply table onto a loading table of the automatic guiding vehicle without speed reduction when meeting in a state of moving towards the workpiece supply table.

In one embodiment, the method may further comprise: after the goods to be distributed are taken away, sending a message of successful pickup; and placing the goods to be distributed into a receiving container.

Through various embodiments of the present disclosure, according to embodiments of the present disclosure, a push plate is provided above a cargo bed of an automatic guided vehicle, leaving a gap therebetween. When the automatic guided vehicle passes under the supply table, because the existence in clearance, the push pedal can pass under the supply table to the push pedal of automatic guided vehicle can be picked up the goods that wait to transport on the supply table with the help of thrust and get on the year goods platform of automatic guided vehicle.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure. In the drawings:

figure 1 schematically shows a schematic view of an automatic guided vehicle of the prior art;

FIG. 2 schematically illustrates a schematic view of a cargo distribution system according to one embodiment of the present disclosure;

FIG. 3 schematically illustrates a structural schematic of an automatic guided vehicle according to one embodiment of the present disclosure;

FIG. 4 schematically illustrates a structural schematic of a flag-pole push plate device according to one embodiment of the present disclosure;

FIG. 5 schematically illustrates a structural view of a supply table according to one embodiment of the present disclosure;

FIG. 6 schematically illustrates a schematic diagram of a process for pick up retrieval of an automated guided vehicle from a supply station according to one embodiment of the present disclosure;

FIG. 7 schematically illustrates a schematic diagram of a process for pick up retrieval of an automated guided vehicle from a supply station according to one embodiment of the present disclosure; and

fig. 8 schematically shows a flow chart illustrating a control method for distributing goods according to an embodiment of the present invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can appreciate, the described embodiments can be modified in various different ways, without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

Throughout the description of the present disclosure, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or otherwise in communication with one another; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are merely for purposes of illustrating and explaining the present disclosure and are not intended to limit the present disclosure.

FIG. 2 shows a schematic diagram of a cargo distribution system 100 according to one embodiment of the present disclosure. As shown in fig. 2, the cargo distribution system 100 of the present embodiment includes: an Automatic Guided Vehicle (AGV)6 at position 101 for performing a sorting task of goods or packages; a supply device 7, such as a pallet, located at the location 102, the supply device 7 being provided with a supply table on which a plurality of goods or packages to be sorted can be placed to be picked up and carried to another location by the automated guided vehicle 6; a receiving device 8 located at position 103 for receiving the goods or packages transported by the automated guided vehicle 6, the receiving device 8 being a receiving container, or a next-stage transporting device, etc.; and a control device 9. The control device 9 may be, for example, a dispatching system and/or a web server, and the control device 9 is communicatively coupled to the automatic guided vehicle 6 and may issue a task of picking up the item from the item feeding device 7 to the automatic guided vehicle 6, so that the automatic guided vehicle 6 takes away the item to be distributed carried on the item feeding device in a moving state and without interfering with the item feeding device 7 (e.g., the travel of the AGV is not blocked by the item feeding device).

The control device 9 is shown in fig. 2 as a separate device, but it will be understood by those skilled in the art that the present disclosure is not so limited, and the control device 9 may be integrated into other components, such as with the supply device 7, all within the scope of the present disclosure. The control device 9 may be implemented by software, hardware, or a combination of software and hardware, and may be implemented by a single computer, a single chip microcomputer, a microprocessor, a microcontroller, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), etc., or other integrated formats, which are all within the scope of the present disclosure. In addition, the control device 9 can simultaneously control a plurality of automatic guided vehicles 6, so that a plurality of goods sorting tasks are performed simultaneously in the warehouse.

It is also preferred that the control device 9 can be communicatively coupled to the supply device 7 in order to timely know the goods to be sorted placed on the supply device 7 and to timely issue the sorting tasks to the available automated guided vehicles 6.

Fig. 3 schematically illustrates a structural schematic of an automatic guided vehicle 6 according to one embodiment of the present disclosure. As shown in fig. 3, the automatic guided vehicle 6 includes a vehicle frame 61, a traveling device 63, a cargo bed 67, and a flag pole type push plate device 65. The vehicle frame 61 includes, for example, a chassis 611 and a pillar 613, and is used to mount other components of the automatic guided vehicle 6. The running gear 63 is mounted on the bottom of the frame 61. The running gear 63 may be a roller, but may of course be implemented in other ways, such as a track structure, which are within the scope of the present disclosure. The automatic guided vehicle 6 further comprises a motor, not shown, which is mounted on the frame 61, for example coupled to the running gear 63 via a gearbox, and drives the running gear 63, so that the automatic guided vehicle 6 can move on the support plane. The number of the walking devices 63 can be set according to the needs, for example, two, three, or four walking devices can be set to realize the walking actions such as forward, backward, turning, stopping, etc. on the supporting plane. A flag-bar type push plate device 65 is mounted on the frame above the cargo bed 615 for picking up and/or releasing cargo. As shown in FIG. 3, the flag pole pusher device 65 is removably mounted on the right side of the load bed, which is the rear side of the AGV in the direction of travel of the feeder (the direction from right to left in FIG. 3 is the direction of travel).

The visual term "flagpole-type push plate device" is used in this disclosure to express that the push plate device is mounted above the cargo-carrying platform by the vertical rod and the concept that a gap is left between the push plate connected to the upper end of the vertical rod and the cargo-carrying platform, the push plate device is connected to the vertical rod 656 (similar to a flagpole, shown in fig. 4) on one side, the other side is suspended, and the bottom is spaced apart from the cargo-carrying platform by a certain gap for enabling the cargo-carrying platform to pass through the gap, avoiding interference. The height in clearance is set up to be greater than the thickness that supplies the platform with automatic guide car cooperation use, and the existence in clearance makes when automatic guide car gets goods through supplying the platform, and automatic guide car passes through from supplying a platform below, and the push pedal of flagpole formula push pedal device passes through from supplying a platform top. Thus, the pusher plate device 65 can push the cargo to be carried placed on the feeder table onto the cargo bed 67 of the automatic guided vehicle during the automatic guided vehicle passes through the feeder table in the traveling direction without stopping the movement of the automatic guided vehicle 6 and waiting for the cargo to be placed thereon. Thus, the pin-type pusher apparatus can pick up the goods stored on the supply table onto the cargo table 57 of the automatic guide vehicle 6 by means of the thrust when the automatic guide vehicle 6 advances forward while the automatic guide vehicle 6 keeps moving.

Compared with the automatic guided vehicle in the prior art shown in fig. 2, the automatic guided vehicle 6 according to the present disclosure can achieve pickup of goods without stopping, thereby greatly improving the efficiency of goods sorting and handling.

According to a preferred embodiment of the present invention, the push plate device 65 is provided on the rear side of the loading platform 67 in the advancing direction of the automatic guided vehicle 6, as shown in fig. 3. In fig. 3, assuming that the advancing direction of the automatic guided vehicle 6 is a direction from right to left, the push plate device 65 is disposed on the right side above the cargo bed 67, thereby ensuring that the cargo is picked up onto the cargo bed 67 during the advancing of the automatic guided vehicle 6. Alternatively, the push plate device 65 may be provided at an intermediate position on the cargo bed 67 so that the cargo can be picked up on the cargo bed 67 regardless of whether the automatic guided vehicle 6 moves in the leftward direction or the rightward direction in fig. 3.

In addition, as shown in FIG. 4, the push plate device 65 may further include a scraping device 651, such as bristles, soft rubber sheets, etc., located thereunder according to a preferred embodiment of the present invention. By adding the scraping device 651, when the feeding table is swept above, a scraping effect can be formed on the feeding table, so that small goods such as document express packages (e.g. envelopes, cards and the like) on the feeding table or flexible goods with certain elasticity, such as packages, can be picked up conveniently, some thin goods can be picked up on the goods carrying table 67, and missing of the goods is avoided. As will be appreciated by those skilled in the art, in order to avoid the scraping device 651 interfering with the workpiece table or the article to cause the automatic guided vehicle 6 to stop, it is preferable to configure the scraping device 651 as a flexible device, for example, composed of bristles or a soft rubber sheet.

Additionally in accordance with a preferred embodiment of the present disclosure, the push plate device 65 further includes a cushioning device. As described in detail below with reference to fig. 4.

As shown in fig. 4, the push plate device 65 includes a push plate 652 and an upright 656, the push plate 652 being connected to the cargo bed 67 by the upright 656 to form a flag-pole like structure. The push plate 652 can be made of a rigid material such as stainless steel or hard plastic. The scraping device 651 described above is disposed at the lower edge of the push plate 652. The push plate 652 may be rigidly coupled to the upright 656 so that relative movement therebetween is not possible. Alternatively, the push plate device 65 can further include a damping device, such that the damping device can allow the push plate 652 to move to a certain extent during the process of picking up the goods, thereby damping or mitigating the impact on the push plate 652.

According to a preferred embodiment of the present disclosure, the damping device includes a bushing 653, a spring 654, and a shaft 655, wherein the bushing 653 is fixedly mounted with respect to the upright 656 (e.g., mounted on a portion extending from the upright 656), the shaft 655 is fixedly coupled to the push plate 652, and the spring 654 is mounted within the bushing 653 to support the shaft 655. Thus, when the front face of the push plate 652 is subjected to the impact force of the cargo, it moves rearward, compressing the spring 654, thereby cushioning the push plate 652 from the impact force. The extent of rearward movement of the push plate 652, as determined by the impact force it is subjected to and the spring 654, is generally only within a certain range. It will be understood by those skilled in the art that the push plate device 65 can include one or more sets of cushioning devices, and that movement of the push plate 652 relative to the upright 656, either pivoting about the upright 656 or translational movement relative to the upright 656, can achieve the cushioning effect, all within the scope of the present disclosure.

According to the utility model discloses an embodiment, the shape of push pedal can be roughly triangle-shaped, rectangle, and any other possible shapes, and the shape of buffer board can be for the even banding of thickness, and the thin back edge of front edge is thick and openly is the banding of curved surface to and any other shapes that can conveniently pick up the object. All of which are within the scope of the present disclosure.

As shown in fig. 3, the flagpole-type push plate device is configured to position the push plate above one side edge of the cargo bed of the automatic guided vehicle, specifically, above a middle position of the one side edge of the cargo bed. Other possible ways of positioning the push plate are also contemplated, for example, positioning the push plate at a medial position on the load bed of the automated guided vehicle.

According to the utility model discloses an embodiment, the height of clearance can set up as wide as possible to be applicable to the confession of various thickness and receive a platform. Of course, the height of the gap may be arbitrarily set as required. The height of the gap may be greater, for example, when the size of the goods in the warehouse is greater; when the size of the goods to be sorted in the warehouse is small, the height of the gap can be set to be appropriately small. Or alternatively, the push plate device 65 includes an adjustment mechanism (not shown) that can adjust the height of the push plate 652, i.e., the height of the gap, relative to the load bed 67. The adjustment mechanism includes, for example, a slide track structure and a locking structure, and is fixed to the upright 656, along which the push plate 652 can slide and can be locked at an appropriate height by the locking structure.

According to a preferred embodiment of the present disclosure, the automatic guided vehicle 6 may further include a navigation positioning device (not shown) provided on the vehicle frame 61. The navigation-positioning device is configured to position the current position of the automated guided vehicle 6 and/or to navigate the movement of the automated guided vehicle 6. The navigation and positioning device may comprise, for example, a code scanning device that can read a ground code on the ground to determine the current position of the automated guided vehicle 6 and/or to navigate. The navigation and positioning device can also comprise a magnetic induction device which can induce the magnetic guide rail on the ground. The navigational positioning device may also include a camera to position and navigate (e.g., via SLAM techniques) based on the captured images (e.g., ground texture).

In one embodiment, the cargo bed of the automated guided vehicle may be provided with a plurality of rollers. In addition to roller-type automatic guided vehicles, the disclosed solution may also be applicable to other types of automatic guided vehicles, such as belt pulley, flap, push-pull automatic guided vehicles.

It should be understood that a supply device used in conjunction with various embodiments of the present disclosure may include a shelf and a supply table attached to the shelf. The shelf may be an existing shelf configured to store goods. The feeder table may be, for example, a flat plate-shaped floor member configured to be attached to the side and below the rack and located above the traveling path of the automatic guided vehicle around the rack. Referring to fig. 5, a schematic structural diagram of a feeder table according to an embodiment of the present disclosure is shown, wherein the feeder table can be fixed on the left side and a baffle is arranged on the right side for placing goods falling. The feeder table shown in fig. 5 is a solid plate. It is understood that the bottom surface of the feeder table may also include a mesh array, or a grid structure, all within the scope of this disclosure. The thickness that supplies the piece platform is set up to be less than the push pedal of automatic guided vehicle and the clearance between the cargo bed to when automatic guided vehicle process supplies the piece platform, can take away under the state that the goods shelves of passing by do not stop and place the goods that wait to distribute on supplying the piece platform. Or a gap corresponding to the outline of the workpiece supply table is formed between the push plate device of the automatic guide vehicle and the cargo carrying table and is used for enabling the workpiece supply table to penetrate through. For example, in the case of the L-shaped feeder table shown in fig. 5, an L-shaped gap is also formed between the pusher device of the automatic guided vehicle and the cargo table, as shown in fig. 7.

Further, the supply device may further include a conveyor (not shown) configured to transfer the goods on the racks to the supply table. The transporter may transfer one or more items on the shelf to the feeder table based on manual actuation or computer program control. The transport device may carry a track, a robot, or any other feasible device.

It should be understood that the supply stand may be mounted to the shelf in any known or unknown manner, including but not limited to riveting, welding, bolting, etc., according to embodiments of the present disclosure, without limitation to the particular manner of attachment therebetween. In addition, the supply stand can be made of metal, rigid plastic, and various other suitable materials that can support its load-bearing capacity for the goods to be dispensed. In particular implementations, alignment of the automated guided vehicle and the supply table may be achieved by a dispatch system (e.g., control device 9 shown in FIG. 2).

In one embodiment, the supply device may include various sensing devices disposed on the shelf and/or the supply table. For example, a weighing device may be arranged on the supply table for measuring the weight of the goods to be dispensed. The weighing device can also be used for sensing whether goods are to be distributed on the supply table, and if the weighing device displays that the weight is zero, the supply table can be judged to have no goods or the goods are taken away. For example, the vision device may be arranged on a shelf. The visual means may be, for example, a camera or a scanner, for example, for taking a picture of the goods to be distributed, reading a two-dimensional code of a label on the goods. Other types of sensing devices, such as NFC readers, may also be provided on the shelves and/or supply tables, for example. In this case, the goods to be distributed have NFC tags, and an NFC reader can read data information in the NFC tags of the goods. The cargo information measured by the sensing means, such as two-dimensional code information, destination information, weight information, etc., can be communicated to the control means 9, and the control means 9 can assign the work tasks to the appropriate automated guided vehicles 6 according to the information of the cargo to be distributed.

It should also be understood that it may be either manual or computer program controlled to deliver a piece of merchandise in shelf 71 to feeder table 72 as the item to be dispensed for convenient removal by an automated guided vehicle; however, the goods to be distributed on the supply table 72 may be goods placed directly thereon, i.e., not through a shelf.

Reference is made to fig. 6 and 7, which schematically illustrate a process of picking up and retrieving an automatic guided vehicle from a feeder table according to an embodiment of the present disclosure. In which fig. 6 shows a perspective view and fig. 7 shows a view from the left direction in fig. 6 (i.e. against the direction of advance of the automated guided vehicle). According to the embodiment of the disclosure, a push plate is arranged above a cargo carrying platform of the automatic guided vehicle, and a gap is reserved between the push plate and the cargo carrying platform. When the automatic guided vehicle passes under the supply platform, because the existence in clearance, the push pedal can follow the supply platform and pass to the push pedal of automatic guided vehicle can be with the help of thrust, under the condition that automatic guided vehicle and supply device do not take place to interfere, carries the goods that wait to distribute on the supply platform and leaves. Those skilled in the art will appreciate that "non-intrusive" pick-ups of goods from a supply may be accomplished by a variety of techniques. For example, a navigation module may be provided on the automated guided vehicle such that the automated guided vehicle travels in a predetermined trajectory. For example, according to a preferred embodiment, the ground can be provided with magnetic rails, and the automatic guided vehicle can realize the relative positioning of the automatic guided vehicle and the workpiece supply device by sensing the position of the magnetic rails on the ground when the automatic guided vehicle travels. Alternatively, the ground can be provided with a ground code or a ground texture, and the automatic guided vehicle can recognize the ground code or the ground texture through a visual device to realize the positioning relative to the workpiece supply device or the workpiece supply platform. Or alternatively, the automated guided vehicle may include SLAM technology to effect the location. All within the scope of the present disclosure. The automatic guide car has corresponding navigation and locate function promptly, and the relative position of confession a device can mark in advance, and the accurate passing mark point of passing through of automatic guide car can ensure not taking place the passing through of interfering. Specifically, can will supply a device or supply a platform to install to certain ground sign indicating number top, the automatic guide car can guarantee oneself accurate through this ground sign indicating number position, guarantee with the alignment that supplies a platform.

As will be understood by those skilled in the art, the term "without interference" in this disclosure means that the interaction between the auto-guided vehicle and the delivery platform during the transfer of the goods does not significantly hinder the movement of the auto-guided vehicle, so that the auto-guided vehicle can acquire the goods while moving. For example, the case where the automatic guided vehicle is not in contact with the bottom plate of the workpiece table at all, or the case where only a slight frictional contact occurs between the two may be included.

The utility model discloses still relate to a goods distribution system, include: the automatic guided vehicle 6, the workpiece supply table, and the control device as described above. The workpiece supply platform is plate-shaped, and the thickness of the workpiece supply platform is smaller than the height of a gap between a push plate device of the automatic guide vehicle and the cargo carrying platform. The control device is coupled with the automatic guiding vehicle 6 and configured to issue a task of taking a part from the part supply table to the automatic guiding vehicle, and the automatic guiding vehicle takes away the goods to be transported loaded on the part supply table in a moving state. The system structure of the goods distribution system can be seen in fig. 2, and is not described in detail here.

FIG. 8 illustrates a flow chart diagram 7 of a control method 600 for distributing goods according to one embodiment of the present disclosure. As shown in fig. 8, the method 700 includes:

in step S701, a pickup task corresponding to the goods to be transported is issued to the automatic guided vehicle 6 as described above.

In step S702, the automatic guided vehicle is moved toward the article supply table, and the article to be transported of the article supply table is picked up onto the cargo bed of the automatic guided vehicle without decelerating during the meeting.

According to a preferred embodiment of the present invention, the control method 700 further comprises: in step S703, after the item to be distributed is taken away, a message that the pickup is successful is sent.

According to a preferred embodiment of the present invention, the control method 700 further comprises: in step S704, the item to be distributed is transported to a destination and placed in a receiving container.

According to each embodiment of the disclosure, the automatic guiding vehicle can automatically take the workpiece by utilizing the thrust in the action direction of the automatic guiding vehicle without speed reduction and stop, so that the workpiece taking efficiency of the automatic guiding vehicle at a workpiece feeding point can be realized at lower cost, and the waste of the working capacity of a workpiece feeding worker is reduced. In the object transportation, the efficiency and the cost of placing the objects on the automatic guide vehicle are improved. Further, the bottom plate of the pallet on which goods are placed may be a solid flat plate, which further simplifies the cost of design and manufacture.

The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (10)

1. An automated guided vehicle, comprising:

a frame;

a motor mounted on the frame;

one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move;

the cargo carrying platform is arranged above the frame and used for carrying cargos to be conveyed;

a push plate device configured to be installed above the cargo bed, the push plate device being installed on the cargo bed or the vehicle frame through a vertical rod at one side, and suspended at the other side, and a gap being provided between the push plate device and the cargo bed.

2. The automatic guided vehicle according to claim 1, wherein the push plate device is provided on the cargo bed on a rear side in an advancing direction of the automatic guided vehicle.

3. The automated guided vehicle of claim 2, wherein the push plate device comprises a bumper device disposed on a rear side of the push plate and configured to provide the push plate device with a degree of freedom of movement within a certain range.

4. The automated guided vehicle of claim 3, wherein the dampening device comprises a shaft, a bushing, and a spring positioned between the shaft and the bushing to provide dampening.

5. The automated guided vehicle of any of claims 1-4, wherein the pusher apparatus is configured to be mounted above one side edge of the load bed.

6. The automated guided vehicle of any one of claims 1-4, wherein the push plate device includes a wiper device located thereunder.

7. The automated guided vehicle of any one of claims 1-4, further comprising a navigational positioning device disposed on the frame.

8. The automated guided vehicle of any of claims 1-4, wherein the push plate device further comprises an adjustment mechanism configured to enable adjustment of a height of the push plate device relative to the load bed.

9. A cargo distribution system, comprising:

the automated guided vehicle of any one of claims 1-8;

the workpiece supply platform is plate-shaped, and the thickness of the workpiece supply platform is smaller than the height of a gap between a push plate device of the automatic guide vehicle and the cargo carrying platform; and

and the control device is coupled with the automatic guide vehicle and configured to issue a task of taking the part from the part supply table to the automatic guide vehicle, and the automatic guide vehicle takes away the goods to be transported loaded on the part supply table in a moving state.

10. The cargo distribution system of claim 9, wherein the control device is configured to: and when the automatic guided vehicle picks up the goods to be distributed on the goods supply table, the automatic guided vehicle is guided to pass below the goods supply table.

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