CN211366846U - AGV (automatic guided vehicle) for storage and transportation - Google Patents

Abstract

The utility model discloses a storage transport AGV car includes: a vehicle body; the vertical driving mechanism comprises a fixed seat, a first movable seat, a second movable seat, a pulley mechanism and a linear driving mechanism; the fixed seat is connected with the vehicle body, the first movable seat is slidably arranged on the fixed seat along the vertical direction, and the second movable seat is slidably arranged on the first movable seat along the vertical direction; the linear driving mechanism comprises a cylinder body and a driving piece which is telescopically arranged in the cylinder body, the cylinder body is connected with the fixed seat, and the driving piece is connected with the first movable seat; the pulley mechanism comprises a fixed pulley arranged on the first movable seat and a rope passing around the fixed pulley, the first end of the rope is connected with the fixed seat, and the first end of the rope is connected with the second movable seat; and the material taking mechanism is connected with the second movable seat. The utility model discloses a storage transport AGV car aims at solving the technical problem that traditional AGV car can't be adapted to the higher height and get goods.

Description

AGV (automatic guided vehicle) for storage and transportation

Technical Field

The utility model relates to an intelligent storage field, concretely relates to storage transport AGV car.

Background

An Automated Guided Vehicles (AGV), also known as an unmanned vehicle, is a battery-powered unmanned vehicle equipped with a non-contact guiding device. Its main function is that it can accurately walk and stop to the appointed place according to the route planning and operation requirement under the computer monitoring, so that it can implement a series of operation functions. The mechanism of getting of present AGV car generally is arm or fork truck, and this kind of mechanism of getting goods can't be adapted to the higher height and gets goods, and can't carry on a plurality of goods simultaneously when getting goods at every turn.

Most of raw material storage of traditional Chinese medicine pharmaceutical enterprises is large-package-size traditional Chinese medicinal materials, and after the medicinal materials are put in storage by warehouse managers, the medicinal materials are divided into storage positions and placed on a goods shelf. Most bales are relatively light but bulky, so that the stacking position may be relatively high. And sometimes a plurality of bulky medicinal material packages need to be taken simultaneously in the pharmacy process, so that the traditional AGV is difficult to be suitable for the storage and the transportation of traditional Chinese medicine pharmacy enterprises.

Accordingly, there is a need to provide a storage handling AGV that addresses or at least mitigates the above-mentioned deficiencies.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a storage transport AGV car, this storage transport AGV car aims at solving the technical problem that traditional AGV car can't be adapted to the higher height and get goods.

In order to achieve the above object, the utility model provides a storage transport AGV car, include:

the vehicle comprises a vehicle body, wherein an electromagnetic guide device is arranged on the vehicle body;

the vertical driving mechanism comprises a fixed seat, a first movable seat, a second movable seat, a pulley mechanism and a linear driving mechanism; the fixed seat is connected with the vehicle body and extends upwards from the vehicle body along the vertical direction; the first movable seat is slidably arranged on the fixed seat along the vertical direction, and the second movable seat is slidably arranged on the first movable seat along the vertical direction; the linear driving mechanism comprises a cylinder body and a driving piece which is telescopically arranged in the cylinder body, the cylinder body is connected with the fixed seat, and the driving piece is connected with the first movable seat; the pulley mechanism comprises a fixed pulley arranged on the first movable seat and a rope wound around the fixed pulley, the first end of the rope is connected with the fixed seat, and the second end of the rope is connected with the second movable seat, so that when the driving piece of the linear driving mechanism makes telescopic motion, the second movable seat is driven to generate a vertical motion distance which is double times of the stroke of the driving piece;

and the material taking mechanism is connected with the second movable seat so as to be driven by the second movable seat to move.

Preferably, the material taking mechanism comprises:

the transverse driving mechanism comprises a base, a driving motor, a synchronous belt wheel and a third movable seat; the base is connected with the second movable seat, the synchronous belt wheel is horizontally arranged on the base, and the third movable seat is slidably arranged on the base along the transverse direction; the base of the driving motor is connected with the base, an output shaft of the driving motor is matched with the synchronous belt pulley to drive the synchronous belt pulley to rotate, and a belt of the synchronous belt pulley is matched with the third movable seat to drive the third movable seat to move transversely;

and the grabbing mechanism is arranged on the third movable seat.

Preferably, the fixing seat comprises 2 outer longitudinal beams and 1 cross beam, the 2 outer longitudinal beams are arranged in parallel at intervals, and two ends of the cross beam are respectively connected with the 2 outer longitudinal beams to form an I-shaped structure; the 2 outer longitudinal beams are arranged along the vertical direction; the linear driving mechanism is positioned between the 2 outer longitudinal beams, and the first end of the rope is connected with the cross beam.

Preferably, the first movable seat comprises 2 inner longitudinal beams, 1 top plate and 1 bracket, the 2 inner longitudinal beams are arranged in parallel at intervals, the top plate is arranged at the tops of the 2 inner longitudinal beams, two ends of the top plate are respectively connected with the 2 inner longitudinal beams, and the 2 inner longitudinal beams are arranged along the vertical direction; the support is arranged on one side, close to the linear driving mechanism, of the top plate, the support is connected with the driving piece, and the fixed pulley of the pulley mechanism is arranged on the support.

Preferably, a first sliding groove is formed in the outer longitudinal beam, and the first sliding groove penetrates through the outer longitudinal beam along the length direction of the outer longitudinal beam; the length direction of the inner longitudinal beam is parallel to the length direction of the outer longitudinal beam, and a first roller set matched with the first sliding groove is arranged on the inner longitudinal beam.

Preferably, a second sliding groove is formed in the inner longitudinal beam, and the second sliding groove penetrates through the inner longitudinal beam along the length direction of the inner longitudinal beam; the second movable seat is provided with a second roller group matched with the second sliding groove.

Preferably, the linear driving mechanism is an air cylinder or a hydraulic cylinder or an electric push rod.

Preferably, an RFID reader is arranged on the vehicle body.

Preferably, the electromagnetic guiding device comprises a magnetically guided sensor.

In the scheme of this application, storage transport AGV car is by automobile body, vertical actuating mechanism and three major component subassemblies of extracting mechanism, and wherein, the automobile body undertakes AGV's the function of traveling and carries on various hardware module. The vertical driving mechanism comprises a fixed seat, a first movable seat, a second movable seat, a pulley mechanism and a linear driving mechanism; the fixed seat is fixed on the vehicle body, the cylinder body of the linear driving mechanism is fixed on the fixed seat, and a driving piece of the linear driving mechanism is connected with the first movable seat so as to drive the first movable seat to slide on the fixed seat; pulley mechanism is including setting up the fixed pulley on first sliding seat and the rope of walking around the fixed pulley, the first end and the fixing base of rope are connected, the first end and the second sliding seat of rope are connected, the fixed pulley makes the second sliding seat can produce the stroke that is two times as big as first sliding seat, consequently, when linear drive mechanism is concertina movement, can drive the second sliding seat and produce the vertical movement distance that is two times as big as the stroke of driving piece, thereby satisfy the lift demand of higher height, make extracting mechanism can be adapted to the higher height under vertical drive mechanism's drive and get goods.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a first view schematically illustrating an overall structure of a storage AGV according to an embodiment of the present invention;

FIG. 2 is a second perspective view of the overall structure of a AGV for warehousing according to an embodiment of the present invention;

FIG. 3 is a partial perspective view of a storage AGV according to an embodiment of the present invention;

FIG. 4 is another partial perspective view of a storage handling AGV according to an embodiment of the present invention;

FIG. 5 is a perspective view of a storage AGV according to an embodiment of the present invention;

FIG. 6 is a schematic view of an AGV according to an embodiment of the present invention;

FIG. 7 is an exploded view of the components shown in FIG. 4;

FIG. 8 is a perspective view of another component of a storage handling AGV according to an embodiment of the present invention;

fig. 9 is a partial view of fig. 8.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Vehicle body	200	Vertical driving mechanism
300	Material taking mechanism	210	Fixed seat
				220	A first movable seat	230	Second movable seat
240	Fixed pulley	250	Rope
				260	Linear driving mechanism	211	Outer longitudinal beam
261	Cylinder body	262	Driving member
				245	Pulley mechanism	221	Inner longitudinal beam
212	Cross beam	223	Support frame
				222	Top board	224	First roller set
213	First chute	226	Second roller set
				225	Second chute	320	Grabbing mechanism
310	Transverse driving mechanism	312	Driving motor
				311	Base seat	314	Third movable seat
313	Synchronous belt wheel	400	Traditional Chinese medicine bag

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Moreover, the technical solutions of the present invention between the various embodiments can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are combined and contradictory or cannot be realized, it should be considered that the combination of the technical solutions does not exist, and the present invention is not within the protection scope of the present invention.

As shown in fig. 1-4, fig. 6 and fig. 9, the utility model provides a storage AGV, including:

the vehicle body 100, the vehicle body 100 is provided with an electromagnetic guiding device;

the vertical driving mechanism 200, the vertical driving mechanism 200 includes a fixed seat 210, a first movable seat 220, a second movable seat 230, a pulley mechanism 245 and a linear driving mechanism 260; the fixed seat 210 is connected with the vehicle body 100, the first movable seat 220 is slidably disposed on the fixed seat 210 along the vertical direction, and the second movable seat 230 is slidably disposed on the first movable seat 220 along the vertical direction; the linear driving mechanism 260 comprises a cylinder 261 and a driving member 262 telescopically arranged in the cylinder 261, the cylinder 261 is connected with the fixed seat 210, and the driving member 262 is connected with the first movable seat 220; the pulley mechanism 245 comprises a fixed pulley 240 arranged on the first movable seat 220 and a rope 250 passing around the fixed pulley 240, wherein a first end of the rope 250 is connected with the fixed seat 210, and a second end of the rope 250 is connected with the second movable seat 230, so that when the linear driving mechanism 260 makes telescopic motion, the second movable seat 230 is driven to generate a vertical movement distance which is double times of the stroke of the driving member 262;

the material taking mechanism 300 is connected with the second movable seat 230, so that the material can be taken under the driving of the second movable seat 230.

In the scheme of this application, storage transport AGV car is by automobile body 100, vertical drive mechanism 200 and feeding agencies 300 three major component subassemblies, and wherein, automobile body 100 undertakes AGV's the function of traveling and carries on various hardware module. The vertical driving mechanism 200 comprises a fixed seat 210, a first movable seat 220, a second movable seat 230, a pulley mechanism 245 and a linear driving mechanism 260; the fixed seat 210 is fixed on the vehicle body 100, the cylinder 261 of the linear driving mechanism 260 is fixed on the fixed seat 210, and the driving element 262 of the linear driving mechanism 260 is connected with the first movable seat 220 so as to drive the first movable seat 220 to slide on the fixed seat 210; pulley mechanism 245 is including setting up fixed pulley 240 on first sliding seat 220 and the rope 250 of walking around fixed pulley 240, the first end and the fixing base 210 of rope 250 are connected, the first end and the second sliding seat 230 of rope 250 are connected, fixed pulley 240 makes second sliding seat 230 can produce and doubly be many times the stroke of first sliding seat 220, consequently when linear drive mechanism 260 is concertina movement, can drive second sliding seat 230 and produce the vertical movement distance that doubly is many times the stroke of driving piece 262, thereby satisfy the lift demand of higher height, make extracting mechanism 300 can be adapted to the higher height under vertical drive mechanism 200's drive and get goods.

The linear driving mechanism 260 may be an air cylinder, a hydraulic cylinder, or an electric push rod. When the linear driving mechanism 260 is an air cylinder, the cylinder 261 is a cylinder barrel of the air cylinder, and the driving member 262 is a piston rod of the air cylinder.

Wherein, picking mechanism 300 can be the arm or by the sharp module with snatch the mechanism and constitute, sharp module can include ball screw module and hold-in range module.

Referring to fig. 5 and 6, as a preferred embodiment of the present invention, the material taking mechanism 300 includes:

the transverse driving mechanism 310 comprises a base 311, a driving motor 312, a synchronous pulley 313 and a third movable seat 314; the base 311 is connected with the second movable seat 230, the synchronous belt wheel 313 is horizontally arranged on the base 311, and the third movable seat 314 is slidably arranged on the base 311 along the transverse direction; the base of the driving motor 312 is connected with the base 311, the output shaft of the driving motor 312 is matched with the synchronous pulley 313 to drive the synchronous pulley 313 to rotate, and the belt of the synchronous pulley 313 is matched with the third movable seat 314 to drive the third movable seat 314 to move transversely;

the grabbing mechanism 320 is arranged on the third movable seat 314;

in the present embodiment, the transverse driving mechanism 310 is driven by a timing belt, the timing pulley 313 is horizontally disposed on the base 311, the length direction of the timing pulley 313 is perpendicular to the height direction of the vehicle body 100, the base of the driving motor 312 is connected to the base 311, the output shaft of the driving motor 312 cooperates with the timing pulley 313 to drive the timing pulley 313 to rotate in the forward direction or in the reverse direction, and the belt of the timing pulley 313 cooperates with the third movable mount 314 to drive the third movable mount 314 to traverse left and right.

Further, the grasping mechanism 320 may be a robot arm or a timing belt mechanism. The large-area belt surface of the synchronous belt mechanism can well receive the traditional Chinese medicine with large bag volume to take the traditional Chinese medicine bag 400. Specifically, the synchronous belt mechanism may contact the traditional Chinese medicine package 400 through an end away from the transverse driving mechanism 310, such that one traditional Chinese medicine package 400 moves on the belt and approaches the transverse driving mechanism 310 under the motion of the synchronous belt mechanism, at which time the synchronous belt mechanism may contact the next traditional Chinese medicine package 400 again through an end away from the transverse driving mechanism 310. A hold-in range mechanism can carry on a plurality of traditional chinese medicine package 400 simultaneously, satisfies the process demand that a plurality of bulky medicinal material packages need be taken simultaneously to the pharmacy in-process, promotes the operating efficiency.

Referring to fig. 7 and 8, as a specific embodiment of the present invention, the fixing base 210 includes 2 outer longitudinal beams 211 and 1 cross beam 212, the 2 outer longitudinal beams 211 are arranged in parallel at intervals, and two ends of the cross beam 212 are respectively connected to the 2 outer longitudinal beams 211 to form an i-shaped structure. The linear drive mechanism 260 is located between the 2 outer stringers 211 and the first end of the cable 250 is connected to the cross beam 212. In this embodiment, 2 outer longitudinal beams 211 are erected on the vehicle body 100 and symmetrically arranged in parallel at intervals, and both ends of the cross beam 212 are respectively connected with the 2 outer longitudinal beams 211 to play a role in connecting and fixing the outer longitudinal beams 211. The first end of the cable 250 is near the middle of the beam 212 and is fixed in connection with the beam 212.

Further, the first movable seat 220 includes 2 inner longitudinal beams 221, 1 top plate 222 and 1 support 223, the 2 inner longitudinal beams 221 are arranged in parallel at intervals, the top plate 222 is arranged on the top of the 2 inner longitudinal beams 221, two ends of the top plate 222 are respectively connected with the 2 inner longitudinal beams 221, the support 223 is arranged on one side of the top plate 222 close to the linear driving mechanism 260, the support 223 is connected with the driving member, and the fixed pulley 240 of the pulley mechanism is arranged on the support 223. In the present embodiment, 2 inner side members 221 correspond to 2 outer side members 211, respectively, so as to be engaged with each other. The 2 inner longitudinal beams 221 are also arranged in parallel at intervals, the top plate 222 is arranged at the tops of the 2 inner longitudinal beams 221, two ends of the top plate 222 are respectively connected with the 2 inner longitudinal beams 221 to fix the 2 inner longitudinal beams 221, the bracket 223 is arranged on one side, close to the linear driving mechanism 260, of the top plate 222, and the bracket 223 is used for connecting the linear driving mechanism 260 and arranging the pulley mechanism.

Further, the outer side member 211 is formed with a first slide groove 213, and the first slide groove 213 penetrates the outer side member 211 in the longitudinal direction of the outer side member 211; the longitudinal direction of the inner longitudinal beam 221 is parallel to the longitudinal direction of the outer longitudinal beam 211, and the inner longitudinal beam 221 is provided with a first roller group 224 matched with the first sliding groove 213. The inner longitudinal beam 221 is restricted from moving in the longitudinal direction on the outer longitudinal beam 211, that is, in the vertical direction, by the first roller group 224 rolling in the first slide groove 213. Preferably, the inner side member 221 is formed with a second slide groove 225, and the second slide groove 225 penetrates the inner side member 221 in the longitudinal direction of the inner side member 221; the second movable block 230 is provided with a second roller group 226 engaged with the second sliding groove 225. Similarly, the second roller set 226 rolls in the second sliding groove 225, so that the second movable seat 230 is limited to move in the vertical direction. In the embodiment, the friction in the feeding process can be reduced through the matching mode of the sliding groove and the roller group. The inner and outer longitudinal beams 211 are structurally matched to effectively utilize the space on the vehicle body 100 and ensure the stability of stress.

Furthermore, in order to satisfy the storage management function of the AGV for storage and transportation of the utility model,

the car body 100 may be provided with an electromagnetic guiding device, which mainly includes a magnetic guiding sensor, and the magnetic guiding sensor on the car can induce the magnetic field signal of the magnetic tape to realize the automatic guiding of the car by adopting the tape guiding advancing mode and sticking the magnetic tape on the warehouse floor. The specific installation position of the electromagnetic guiding device is not particularly limited as long as the electromagnetic guiding device can induce the magnetic conductive tape. When the sensor array passes above the magnetic conduction band, the corresponding sensor is switched on to output high level, otherwise, the sensor array does not output high level; the position of the sensor can be judged by the trolley according to the signal, and the direction of the trolley is correspondingly adjusted, so that the magnetic conduction band is always kept in the middle of the sensor array, and the aim of guiding is fulfilled.

Preferably, the vehicle body 100 may further include a guiding unit, a driving unit, a chassis, a vehicle body, a control unit, a communication unit, a power supply unit, and a safety obstacle avoidance unit. The core control component of the system consists of an AGV trolley MCU main control board, a magnetic navigation sensor, an RFID type trolley landmark sensor, a temperature/humidity/light/dust sensor, an AGV magnetic strip and an RFID landmark card.

Wherein, the MCU main control board: the communication interface adopts RS485/CAN, CAN drive four motors, and adopts analog quantity output. And the control unit of the single chip microcomputer version is a brain for the AGV to run.

Magnetic navigation sensor: the standard 16-point position N poles are uniformly distributed, the point distance is 10mm, and the high-sensitivity semiconductor Hall sensor is integrated with parallel port output and used for sensing magnetic signals of a ground magnetic stripe.

RFID type cart landmark sensor: the working frequency is 125KHZ, the reading of the EMID and compatible format tags is supported, and an RFID radio frequency transceiver and a logic processing circuit are integrated and used for receiving signals of the RFID tag card.

Temperature/humidity/light/dust sensor: set up on the AGV dolly automobile body, real-time supervision warehouse environmental parameter.

AGV magnetic stripe: and the ferrite magnetic material N-pole magnetic field is used for laying a trolley advancing track route.

RFID landmark card: the working frequency is as follows: 125KHZ, working distance: 0-12cm for providing positioning points for car parking.

The communication unit is mainly a WiFi serial port networking service module: WIFI expansion transformation is carried out on the AGV trolley communication module, serial port data of the communication interface of the RS-485/232 are converted into WIFI signals, and data communication can be carried out with management of a background AGV trolley.

Further, the AGV car can also introduce the quick read-write device of RFID goods label: the device is divided into three parts, including a UHF ultrahigh frequency electronic tag reader-writer, a 902-928M frequency band directional panel antenna and an RFID passive electronic tag. The card reader accords with EPC CLASS 1G 2 and ISO18000-6B standards, works in a broad spectrum Frequency Hopping (FHSS) or fixed frequency transmission mode, has output power up to 30dBm (adjustable), supports RSSI, has peak label inquiry speed of more than 500, has label cache capacity of supporting 600 pieces/longest 128-bit EPC or 180 pieces/longest 496-bit EPC, contains a WIFI communication module, and can perform data interaction with a checking management middleware system through a wireless network. The reader-writer is arranged on the AGV trolley and works by the AGV trolley with a power supply. The SMA antenna interface on the reader-writer is butted with the two directional plate-shaped antennas, the two antennas are placed and fixed in a back-to-back mode, and the plane of the antennas and the advancing direction of the AGV trolley are set to be in the same direction, so that radio frequency signals of the antennas can cover stacking on two sides of a Chinese medicinal material warehouse roadway.

Furthermore, the AGV car can also introduce an inventory management middleware system, and the inventory management middleware system is a middleware system connected between the AGV car management platform and the MES/WMS system and used for making different inventory execution strategies according to the characteristics of different traditional Chinese medicine raw material bins. The system comprises the following functional modules:

environmental parameter management: comprehensively comparing the temperature/humidity/light/dust data detected by the AGV with the temperature/humidity/light/dust data detected by the warehouse fixed position sensor according to the temperature/humidity/light/dust data and the like detected by the AGV, and checking whether the temperature/humidity/light/dust data and the data reach a warning threshold value; if the environmental parameters detected by the trolley and part of the fixed position sensors exceed the standard, the condition of transportation is probably generated; if the position far away from the transportation area only has a fault, the situation that part of the positions are unknown is explained; if all parameters have problems, the overall warehouse environment is unqualified.

And (4) checking track display: the module is a design module of a graphical display interface, the distribution of warehouse areas of a warehouse and a goods inventory checking state data are displayed on a map type interface, a route of an AGV trolley path and a landmark stop node are displayed, a CAD drawing of an actual warehouse can be imported, a map can be dynamically designed and adjusted according to the field conditions, the path of the node where the vehicle has run and the related running state data (the type, the speed, the color of the route, the electric quantity and the alarm state attribute) of the vehicle can be displayed, and the simulation execution of the trolley task can be carried out.

Inventory checking management: the inventory data (time, product name, batch number, code, weight and other custom data) returned by the RFID goods label quick read-write device is stored in a form, and is compared with the inventory form in the WMS/ERP system, the goods data information which is not checked is marked and counted, and the goods checking form is automatically generated.

And (3) checking task design: the configurable checking task flow is preset manually, and an administrator can serially connect the running and stopping routes of the trolley in a form of a task execution flow chart according to actual conditions of different traditional Chinese medicinal materials and different reservoir areas. If the A ground card is set as a traveling starting point, the AGV car is assigned to move to the B ground card position, the stacking on two sides of the roadway is scanned and read, and the AGV car can cross the stopping point of the B ground card without scanning a code label. The task issuing process is that the middleware system issues an advancing instruction to the AGV trolley management system and an instruction for issuing goods label data return to the RFID goods label quick reading and writing device respectively according to the order of the front and the back of the instruction, and the task executing process is flexible and configurable.

Landmark point management: the data is synchronized with landmark card coordinate data and relevant attributes of landmarks in an AGV trolley background management system, and the coordinate position data of the landmark cards can be newly established and managed.

Vehicle management: the main data management module of the AGV comprises the model, the code, the alarm, the state, the position, the electric quantity information and the like of the AGV, and the data field can be adjusted and expanded and is used for carrying out data tracking display on data in the checking track display module. The data of the vehicle management can be synchronized with the vehicle data of the AGV trolley management platform through the interface.

RFID cargo tag card management: the RFID tag is mainly used for converting original RFID data into a structured data form facing the service field and sending the structured data form to a management system for use, and is also used for plug and play of multi-type reader-writer equipment and software for cooperation among the multi-type reader-writer equipment, and is a link for connecting a reader-writer and an application system. The module can be used for managing the RFID electronic tag cards on all the Chinese medicinal material packages.

Data interface management: the method is characterized in that the communication is not directly carried out facing the AGV, the function is that data interaction butt joint is carried out between an application system at the upper level of MES/WMS/ERP and an AGV management system, a Webservice interface transmits data through parameter xml, and an intermediate database table is established between the systems.

And OPC service driving: when the AGV car management system to be integrated lacks part of car running parameters, the module can be in butt joint with a PLC interface of car hardware, and directly collects car related running data and records the data in a data table.

Further, the IT service hardware supporting the software system to operate comprises:

a server: the system is used for storing the data related to the inventory management middleware system and deploying the system and supporting the stable operation of the system.

Wireless network: the system consists of an AC (access controller) and an AP (wireless access point), wherein the AC is connected with a server and forwards an instruction sent by the server to the AP, and the AP converts a data signal into a wireless signal to exchange data with a communication module of the trolley.

And (3) checking task design: before starting an automatic checking task of the AGV, a storage manager logs in a checking management middleware system, and a checking route of the AGV is newly designed according to a self-defined flow sequence in a checking task design module. The travelling route of the trolley stops station by station according to the position of the landmark card, and the station numbers are arranged in sequence. Such as: first station a, second station B, third station C, fourth station B, station …, and so on. The station association is that stations of two adjacent straight traveling routes are associated station by station to form a station inventory path in series. Meanwhile, setting the association operation of the station path nodes, and whether to start an RFID read-write device to read data of the goods labels on one side of the roadway and whether to simultaneously read the goods labels on two sides of the roadway; and setting a parking waiting time delay so that the RFID reading and writing device can smoothly complete the scanning of the electronic tag of the goods and the interaction of data.

Checking task simulation: in the checking track display module, the set tasks in the previous step are subjected to analog simulation, and whether the traveling route of the trolley meets the design requirements or not and whether all related goods required to be checked are checked or not can be checked.

And (3) task issuing: the system pushes the tasks to the AGV trolley management system through the data interface according to the flow sequence and the setting, and after the AGV trolley management system receives the task data, the system returns a received data signal to the middleware system, and the system judges that the tasks are completely issued.

And (3) task execution: the AGV car performs the task of moving from one landmark card coordinate point to another landmark card coordinate point, and the travel route between the two coordinate points is a straight line. If an obstacle and a fault are encountered during traveling, the AGV automatically executes a preset obstacle removing program in a trolley management system; when the AGV trolley moves to the coordinate specified by the task flow node, the AGV trolley returns the instruction of finishing parking to the inventory management middleware system, the system sends the instruction to a card reader installed on the trolley through an RFID cargo tag card management module according to the set condition, and the card reader emits electromagnetic waves according to the electromagnetic backscattering coupling principle, reflects after touching the RFID tag card and simultaneously carries back the data information of the target card.

The data on the traditional Chinese medicine RFID tag card is transmitted back to the inventory management middleware system through the wireless WIFI data communication link, and the data is stored in a data table in the inventory management module. The data in the data table is compared with inventory data in the WMS/ERP system through the data interface, and if inventory goods data is matched with the inventory data in the WMS/ERP system, the data is automatically marked to be inventoried.

And the AGV finishes all checking tasks according to a preset advancing task flow.

And after abnormal behavior data in task execution is recorded by the vehicle management module and exceeds the preset warning value threshold range, the system issues an instruction to the AGV trolley management system, stops the running of the AGV trolley and sends an alarm prompt in the inventory track display module.

Task reporting: after the AGV trolley executes the current inventory task, the aggregated goods inventory data form an aggregation statistical table, and the consumption condition of the goods is displayed. And the data is submitted to the WMS/ERP system.

The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims (9)

1. The utility model provides a storage transport AGV car which characterized in that, storage transport AGV car includes:

the vehicle comprises a vehicle body, wherein an electromagnetic guide device is arranged on the vehicle body;

the vertical driving mechanism comprises a fixed seat, a first movable seat, a second movable seat, a pulley mechanism and a linear driving mechanism; the fixed seat is connected with the vehicle body and extends upwards from the vehicle body along the vertical direction; the first movable seat is slidably arranged on the fixed seat along the vertical direction, and the second movable seat is slidably arranged on the first movable seat along the vertical direction; the linear driving mechanism comprises a cylinder body and a driving piece which is telescopically arranged in the cylinder body, the cylinder body is connected with the fixed seat, and the driving piece is connected with the first movable seat; the pulley mechanism comprises a fixed pulley arranged on the first movable seat and a rope wound around the fixed pulley, the first end of the rope is connected with the fixed seat, and the second end of the rope is connected with the second movable seat, so that when the driving piece of the linear driving mechanism makes telescopic motion, the second movable seat is driven to generate a vertical motion distance which is double times of the stroke of the driving piece;

and the material taking mechanism is connected with the second movable seat so as to be driven by the second movable seat to move.

2. The AGV of claim 1, wherein the pick mechanism includes:

the transverse driving mechanism comprises a base, a driving motor, a synchronous belt wheel and a third movable seat; the base is connected with the second movable seat, the synchronous belt wheel is horizontally arranged on the base, and the third movable seat is slidably arranged on the base along the transverse direction; the base of the driving motor is connected with the base, an output shaft of the driving motor is matched with the synchronous belt pulley to drive the synchronous belt pulley to rotate, and a belt of the synchronous belt pulley is matched with the third movable seat to drive the third movable seat to move transversely;

and the grabbing mechanism is arranged on the third movable seat.

3. The AGV car of claim 1, wherein said mounting base comprises 2 outer longitudinal beams and 1 cross beam, wherein 2 of said outer longitudinal beams are arranged in parallel and spaced, and two ends of said cross beam are connected to 2 of said outer longitudinal beams respectively to form an I-shaped structure; the 2 outer longitudinal beams are arranged along the vertical direction; the linear driving mechanism is positioned between the 2 outer longitudinal beams, and the first end of the rope is connected with the cross beam.

4. The AGV car of claim 3, wherein said first movable seat comprises 2 inner longitudinal beams, 1 top plate and 1 bracket, wherein 2 inner longitudinal beams are arranged in parallel and at intervals, said top plate is arranged on the top of 2 inner longitudinal beams, two ends of said top plate are respectively connected with 2 inner longitudinal beams, and said 2 inner longitudinal beams are arranged along said vertical direction; the support is arranged on one side, close to the linear driving mechanism, of the top plate, the support is connected with the driving piece, and the fixed pulley of the pulley mechanism is arranged on the support.

5. The AGV of claim 4, wherein said outer longitudinal member has a first sliding slot formed therein, said first sliding slot extending through said outer longitudinal member in a longitudinal direction of said outer longitudinal member; the length direction of the inner longitudinal beam is parallel to the length direction of the outer longitudinal beam, and a first roller set matched with the first sliding groove is arranged on the inner longitudinal beam.

6. The AGV of claim 5, wherein said inner longitudinal member has a second sliding slot formed therein, said second sliding slot extending through said inner longitudinal member in a longitudinal direction of said inner longitudinal member; the second movable seat is provided with a second roller group matched with the second sliding groove.

7. The AGV of any of claims 1 to 6, wherein said linear drive mechanism is a pneumatic or hydraulic cylinder or an electric push rod.

8. The AGV car of any one of claims 1 to 6, wherein an RFID reader is disposed on said car body.

9. The AGV of any of claims 1 to 6, wherein said electromagnetic guidance device comprises a magnetic guidance sensor.

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