CN110902249A - AGV is selected to intelligence - Google Patents
AGV is selected to intelligence Download PDFInfo
- Publication number
- CN110902249A CN110902249A CN201911412575.3A CN201911412575A CN110902249A CN 110902249 A CN110902249 A CN 110902249A CN 201911412575 A CN201911412575 A CN 201911412575A CN 110902249 A CN110902249 A CN 110902249A
- Authority
- CN
- China
- Prior art keywords
- agv
- level
- goods
- control system
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 105
- 230000005540 biological transmission Effects 0.000 claims description 51
- 230000003028 elevating effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 12
- 238000007726 management method Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims 1
- 230000001737 promoting effect Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an intelligent sorting AGV which comprises an AGV, a goods position support, a material box, a lifting system, a goods loading platform and a fork, wherein the material box is arranged on the AGV; the goods position support is arranged at two ends or one end of the AGV, the material box is placed on the goods position support, the lifting system is arranged on the AGV, the goods loading platform is arranged on the lifting system, and the fork is arranged on the goods loading platform; according to the invention, one or more bins can be intelligently sorted out according to tasks given by the single machine control system, each bin is a bin to be sorted, the sorting efficiency is high, no invalid logistics exist, and no logistics wait exists.
Description
Technical Field
The invention relates to an intelligent sorting AGV, and belongs to the technical field of logistics equipment.
Background
Through years of development of goods sorting equipment in the storage and logistics industry, great progress has been made in the aspects of automation and intellectualization, and the existing sorting equipment in the logistics industry at present is various and has advantages and disadvantages. Such as one of the goods-to-people picking methods: apply the Kiva AGV goods to human for sorting. The Kiva AGV has the advantages of high sorting efficiency, high intelligent degree and flexible sorting path when being used in an application scene of single item gauge large-batch sorting with few item gauges, but has lower efficiency when being used in an application scene of single item gauge small-batch sorting with many item gauges. Every time the Kiva AGV picks, the whole row of shelves in the shelf storage area and the bins on the shelves are jacked up together and conveyed to the manual picking station appointed by the upper system, goods needing to be picked on the shelves are picked out by people, mechanical arms or other equipment, after the picking is finished, the whole row of shelves and the bins on the shelves are jacked up and conveyed to the shelf area for storage, the circulation is repeated, but the bins on the whole row of shelves are not the bins needing to be picked, and invalid carrying, invalid logistics and low efficiency are caused. If the entire row of shelves and the bins on the shelves sorted by the Kiva AGV need to be transported to more than two sorting stations for sorting, the Kiva AGV must wait for the previous sorting station to finish sorting, and then can jack up the bins on the row of shelves and the bins on the shelves again to be transported to the next sorting station for sorting, which causes logistics waiting, sorting waiting and low efficiency. The Kiva AGV gets into the storehouse district at every turn and selects and can only carry a goods shelves, and a plurality of workbins on this goods shelves may only have a workbin that needs to be selected, and secondly the functioning speed of Kiva AGV can not be too fast, otherwise the goods shelves of bearing back can rock violently, and the workbin on the goods shelves has the risk of dropping, and this can cause to select efficiency very low and the security is low. Considering that the gravity center of the goods in the transportation process of the Kiva AGV cannot be too high, otherwise, the goods are easy to destabilize, so that the picking shelf for transporting the Kiva AGV cannot be too high, and the utilization rate of the height space of the storage area is greatly limited. Adopt the Kiva AGV to select, need carry the goods shelves, so the goods shelves can not fix on storehouse district ground, and every row of goods shelves also can not link in a row, and this can cause goods shelves height low, poor stability, single goods position with high costs.
Disclosure of Invention
The invention aims to provide an intelligent sorting AGV, which solves the problems that the existing Kiva AGV application cannot efficiently process multiple products, single product small batch sorting and sorting process is low in sorting efficiency, invalid logistics, sorting waiting, AGV running speed, sorting shelf height, shelf single-level cost and poor shelf stability.
The technical scheme of the invention is as follows:
an intelligent sorting AGV comprises an AGV, a goods position support, a material box, a lifting system, a goods carrying platform and a fork;
the goods level support mounting is at the both ends or the one end of AGV car, and the workbin is placed on the goods level support, and operating system installs on the AGV car, load the goods platform and install at operating system's top, the fork is installed on load the goods platform.
The AGV comprises a vehicle body, a power transmission device, a brake device, a single machine control system, a goods location management system, a navigation positioning system, a communication system and a power supply system; the bottom of the car body is provided with a driving wheel, a power transmission device and a brake device are respectively installed on the car body and are respectively connected with the driving wheel, the power transmission device and the brake device are respectively electrically connected with a single machine control system, a goods level management system is used for managing goods level information of a goods level support and transmitting the information to the single machine control system, a navigation positioning system is used for the AGV to execute path planning in the process of selecting tasks, the position positioning and running attitude measurement of the AGV, the navigation positioning system is connected with the single machine control system, the communication system is used for the communication and data interaction between the AGV and external equipment, the communication system is connected with the single machine control system, the power supply system provides electric energy for the AGV, the power supply system is provided with a charging function and is connected with the single machine control system, when the electric quantity is insufficient, the single machine control system receives signals with, control navigation positioning system plans the route of charging of AGV car and controls power device drive wheel motion to the position of charging and charge, unit control system is used for controlling AGV car, operating system, loading platform, fork execution to select the workbin and remove the workbin to the job task of assigned position, and unit control system is as control center, receives each signal after, controls each part work, accomplishes jointly and selects the workbin and places the work of assigned position with the workbin.
The goods position support includes two "type of falling L" supports and more than one goods position board, and more than one goods position board is arranged from top to bottom and is formed the goods position layer more than the one deck, and the both sides of more than one goods position board are fixed on the automobile body of AGV car with two "type of falling L" leg joints respectively, and the top of two "type of falling L" supports is connected with operating system respectively.
The outer surface of the material box is pasted with a bar code or an RFID chip for recording the information of the goods in the box, and a goods position management system of the AGV car identifies the bar code or the RFID chip.
The elevating system includes stand and multistage elevating system, stand fixed mounting is on the automobile body of AGV car, and every grade of elevating system all includes guide rail, slider, promotion drive mechanism, power unit, and wherein every grade of slider is installed on the guide rail, and the slider passes through promotion drive mechanism and is connected with power unit, connects from top to bottom between the multistage elevating system, and the elevating system's that is located the top guide rail is connected with below elevating system's slider, and the elevating system who is located the top still includes the sliding connection fixed plate, and the top and the sliding connection fixed plate of its guide rail are connected.
The lifting system comprises four upright posts, four I-stage guide rails, four sets of I-stage slide blocks, four II-stage guide rails, four sets of II-stage slide blocks, an I-stage lifting transmission mechanism, four sets of I-stage power mechanisms, an II-stage lifting transmission mechanism, a slide rail connecting fixing plate and four sets of II-stage power mechanisms; the four upright posts are respectively and fixedly installed on an AGV, the top of a bracket of a goods position bracket is connected with the upright posts, the top ends of the four upright posts are respectively provided with a first-stage power mechanism, four first-stage guide rails are respectively installed on the inner side surfaces of the four upright posts, the four first-stage guide rails are respectively provided with a first-stage slide block, four sets of the first-stage slide blocks are respectively connected with the first-stage power mechanism through a first-stage lifting transmission mechanism, the first-stage power mechanism drives the first-stage slide block to move on the first-stage guide rail through the first-stage lifting transmission mechanism, the bottoms of the four second-stage guide rails are respectively connected with the first-stage slide block, the tops of the four second-stage guide rails are respectively installed on a slide rail connecting and fixing plate, the four sets of the second-stage power mechanisms are respectively installed on a slide rail connecting and fixing plate, the four sets of the second-stage slide blocks are respectively connected with the second-stage power, i level promote drive mechanism, II level and promote drive mechanism and be synchronous belt drive mechanism, I level power unit, II level power unit are the motor, and I level power unit, II level power unit are connected with the unit control system electricity of AGV car respectively.
The cargo carrying platform comprises a base, a central rotating mechanism and a rotating platform; four ends of base respectively with operating system's four sets of II level sliders fixed connection, four sets of II level sliders drive the base up-and-down motion, central rotary mechanism installs on the base, central rotary mechanism includes the rotation axis and controls the power transmission system of rotation axis motion, the unit control system and the power transmission system electricity of AGV car are connected, the unit control system of AGV car is through controlling power transmission system and then control the rotation axis and do 360 rotatory and automated inspection and measure direction of rotation and gesture around the axle center, the revolving stage is connected with central rotary mechanism's rotation axis, drives the revolving stage rotation when the rotation axis is rotatory.
The fork comprises a fork body, a camera, a reader-writer, a telescopic clamp and two width adjusting mechanisms; the fork body is U-shaped, the fork body is transversely arranged on a rotating platform of the goods carrying table, the camera and the reader-writer are respectively integrated on the fork body, the two width adjusting mechanisms are respectively arranged at the inner sides of the fork body, two ends of the telescopic clamp are respectively connected with the two width adjusting mechanisms, the camera, the read write line, two width adjustment mechanism and flexible anchor clamps are connected with the unit control system electricity of AGV car respectively, the camera is automatic to be shot and transmit the photo to unit control system, unit control system passes through photo identification workbin size, the incasement goods information transmission that the read write line will read to unit control system, unit control system carries out the width regulation according to two width adjustment mechanism of received information control, flexible anchor clamps are adjusted thereupon to press from both sides and get the width, the workbin is got to unit control system control flexible anchor clamps clamp, thereby realize the clamp of different width workbin and get.
The telescopic clamp clamps the material box in a hook pulling type or a clamping type mode.
The reader-writer is a bar code reader-writer or an RFID reader-writer.
A single machine control system of an AGV car is a control center, when the single machine control system receives a picking task, a navigation positioning system of the AGV car is controlled to plan a path, a power device drives a driving wheel to move, so that the AGV car runs to a picking position, the single machine control system controls a lifting system to lift a fork to a picking height of a cargo and controls a central rotating mechanism of a cargo carrying platform to rotate so as to align the fork with a material box, then the single machine control system controls a camera of the fork to automatically take a picture, the camera transmits the picture to the single machine control system, the single machine control system identifies the size of the material box in the picture, a reader transmits the read information of the cargo in the material box to the single machine control system of the AGV car, after the single machine control system judges the received information, the two width adjusting mechanisms are controlled to carry out width adjustment, a telescopic clamp adjusts clamping width accordingly, and the single, the telescopic fixture is controlled to retract to the original position after clamping, the goods position management system of the AGV transmits the goods position information of the goods position support to the single machine control system, the single machine control system controls the lifting system to lift and the central rotating mechanism of the goods carrying platform to rotate after receiving the empty goods position, the fork body moves to the height of the empty goods position, the telescopic fixture is controlled to loosen again, the material box is placed on the goods position, and the telescopic fixture retracts to the original position to complete the single material box picking task.
During the non-picking task, the single machine control system controls the lifting system to descend to the lowest position, so that the cargo carrying platform and the cargo fork are located at the lowest position, the gravity center of the vehicle body is located at the lowest state, and the vehicle body is ensured to run stably and quickly.
After the picking task is completed or the goods space of the goods space bracket is full, the single machine control system controls the navigation positioning system of the AGV to automatically recognize the posture and the position of the navigation positioning system and plan a running path to the manual picking platform, controls the clamps of the fork to respectively take down the bins from the goods space of the goods space bracket according to the priority and send the bins to the corresponding manual picking platform, and the AGV automatically runs to an idle station to wait for new work after the picking task is completed.
Compared with the prior art, the invention has the beneficial effects that:
(1) the intelligent sorting AGV can sort one or more bins according to the requirement, each bin is required to be sorted, the sorting efficiency is high, no invalid logistics exist, no logistics wait exists, and the working efficiency is high.
(2) According to the invention, when goods are selected, the storage area goods shelf is not required to be jacked up, the storage area goods shelf can be fixed on the ground, the single-row goods shelves can be connected into rows as required, the goods shelves can be designed to be higher, the utilization rate of the height space of the storage area can be improved, and the single goods location cost of the goods shelves can be reduced.
(3) The invention realizes effective sorting of goods and has high automation degree.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention;
the reference numbers in the figures are: 1-AGV, 2-cargo space bracket, 3-material box, 4-lifting system, 4-1-upright post, 4-2-I stage guide rail, 4-3-I stage slide block, 4-4-II stage guide rail, 4-5-II stage slide block, 4-6-I stage lifting transmission mechanism, 4-7-I stage power mechanism, 4-8-II stage lifting transmission mechanism, 4-9-slide rail connecting fixing plate, 4-10-II stage power mechanism, 5-cargo carrying table, 5-1-base, 5-2-central rotating mechanism, 5-3-rotating table, 6-cargo fork, 6-1-camera, 6-2-reader-writer, 6-3-telescopic clamp, 6-4-width adjusting mechanism, 6-5-fork body, 7-shelf, A-180 degree access orientation, B-90 degree access orientation, C-0 degree access orientation and D-270 degree access orientation.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to specific examples, but the present invention is not limited to the following technical solutions.
Example 1: the intelligent sorting AGV comprises an AGV car 1, a cargo space bracket 2, a bin 3, a lifting system 4, a cargo carrying platform 5 and a fork 6, wherein the AGV car is shown in figures 1-3;
AGV car 1's both ends or one end installation goods position support 2, workbin 3 places on goods position support 2, and operating system 4 installs on AGV car 1, loading platform 5 installs at operating system 4's top, fork 6 installs on loading platform 5.
The AGV comprises an AGV car 1, a power transmission device, a brake device, a single machine control system, a goods location management system, a navigation positioning system, a communication system and a power supply system, wherein the power transmission device is arranged on the AGV car; the automobile body bottom is equipped with the drive wheel, power transmission, brake equipment install respectively on the automobile body and be connected with the drive wheel respectively, power transmission, brake equipment are connected with the unit control system electricity respectively, goods level management system is used for managing goods level information of goods level support 2 to with information transmission to unit control system, navigation positioning system is used for AGV car 1 to carry out the route planning of selecting the task in-process, AGV car 1's position location and operation gesture measurement, navigation positioning system and unit control system are connected, communication system is used for AGV car 1 to pass through bluetooth and external equipment's communication and data interaction, communication system and unit control system are connected, power supply system provides the electric energy for AGV car 1, and power supply system is equipped with the function of charging, power supply system and unit control system are connected, unit control system is control center, and the control system is used for controlling the AGV car 1, the lifting system 4, the loading platform 5 and the fork 6 to carry out the work tasks of selecting the bin 3 and moving the bin 3 to the specified position.
The outer surface of the material box 3 is pasted with a bar code for recording information of goods in the box, and the goods position management system of the AGV car 1 identifies the bar code.
The lifting system 4 comprises four upright posts 4-1, four I-level guide rails 4-2, four sets of I-level slide blocks 4-3, four II-level guide rails 4-4, four sets of II-level slide blocks 4-5, I-level lifting transmission mechanisms 4-6, four sets of I-level power mechanisms 4-7, II-level lifting transmission mechanisms 4-8, a slide rail connecting fixing plate 4-9 and four sets of II-level power mechanisms 4-10; the four upright posts 4-1 are respectively fixedly installed on the AGV body 1, 4 installation holes are formed in the AGV body, the four upright posts 4-1 are respectively and rigidly connected with the 4 installation holes, the top of a support of a goods position support 2 is rigidly connected with the upright posts 4-1, I-stage power mechanisms 4-7 are respectively installed at the top ends of the four upright posts 4-1, four I-stage guide rails 4-2 are respectively installed on the inner side surfaces of the four upright posts 4-1 through screws, I-stage sliding blocks 4-3 are respectively assembled on the four I-stage guide rails 4-2 in a sliding connection mode, four sets of I-stage sliding blocks 4-3 are respectively connected with the I-stage power mechanisms 4-7 through I-stage lifting transmission mechanisms 4-6, the I-stage power mechanisms 4-7 drive the I-stage sliding blocks 4-3 to slide on the I-stage guide rails 4-2 up and down through the I-stage lifting transmission mechanisms, the bottom of four II-level guide rails 4-4 are respectively connected with an I-level slide block 4-3 through screws, the I-level slide block 4-3 drives an II-level guide rail 4-4 to move up and down, the top of the four II-level guide rails 4-4 are respectively arranged on a slide rail connecting and fixing plate 4-9, the II-level slide blocks 4-5 are respectively assembled on the four II-level guide rails 4-4 in a sliding connection mode, four sets of II-level power mechanisms 4-10 are respectively arranged on the slide rail connecting and fixing plate 4-9, the four sets of II-level slide blocks 4-5 are respectively connected with an II-level power mechanism 4-10 through an II-level lifting transmission mechanism 4-8, the II-level power mechanism 4-10 drives the II-level slide block 4-5 to slide on the II-level guide rail 4-4 through an II-level lifting transmission mechanism 4-6, the II-level lifting transmission mechanism 4-8 is a synchronous belt transmission mechanism or a chain transmission mechanism, the I-level power mechanism 4-7 and the II-level power mechanism 4-10 are motors, and the I-level power mechanism 4-7 and the II-level power mechanism 4-10 are respectively and electrically connected with a single machine control system of the AGV car 1.
The cargo carrying platform 5 comprises a base 5-1, a central rotating mechanism 5-2 and a rotating platform 5-3; four ends of the base 5-1 are fixedly connected with four sets of II-level sliders 4-5 of the lifting system 4 respectively, the four sets of II-level sliders 4-5 drive the base 5-1 to move up and down, the central rotating mechanism 5-2 is installed on the base 5-1, the central rotating mechanism 5-2 comprises a rotating shaft and a power transmission system for controlling the movement of the rotating shaft, a single machine control system of the AGV car 1 is electrically connected with the power transmission system, the single machine control system of the AGV car 1 controls the rotating shaft to rotate 360 degrees around the shaft center through controlling the power transmission system and automatically detects and measures the rotating direction and posture, the rotating shaft of the rotating table 5-3 and the central rotating mechanism 5-2 is connected through screws, and the rotating shaft drives the rotating table 5-3 to rotate.
The fork 6 comprises a fork body 6-5, a camera 6-1, a reader-writer 6-2, a telescopic clamp 6-3 and two width adjusting mechanisms 6-4; the automatic feeding device is characterized in that the fork body 6-5 is U-shaped, the fork body 6-5 is transversely installed on a rotating platform 5-3 of the loading platform 5, the camera 6-1 and the reader-writer 6-2 are respectively integrated on the fork body 6-5, two width adjusting mechanisms 6-4 are respectively installed on the inner side of the fork body 6-5, two ends of a telescopic clamp 6-3 are respectively connected with the two width adjusting mechanisms 6-4, one or more bins in a single depth position or multiple depth positions can be accessed by single telescopic of the telescopic clamp 6-3, the camera 6-1, the reader-writer 6-2 and the two width adjusting mechanisms 6-4 are respectively electrically connected with a single machine control system of the AGV car 1, the camera 6-1 automatically takes pictures and identifies the size of the bin 3, and transmits size information to the single machine control system of the AGV car 1, the reader-writer 6-2 transmits the read goods information in the material box 3 to the single machine control system of the AGV car 1, and the single machine control system of the AGV car 1 controls the two width adjusting mechanisms 6-4 to adjust the width according to the received information.
The telescopic clamp 6-3 clamps the material box 3 in a hook pulling mode.
The reader-writer 6-2 is a bar code reader-writer.
The working process of the embodiment is as follows:
a single machine control system of the AGV car 1 is a control center, when the single machine control system receives a picking task, a navigation positioning system of the AGV car 1 is controlled to plan a path, a power device drives a driving wheel to move, so that the AGV car 1 runs to a picking position, the single machine control system controls a first-stage power mechanism 4-7 and a second-stage power mechanism 4-10 of a lifting system 4 to respectively drive a first-stage sliding block 4-3 and a second-stage sliding block 4-5 to slide on a guide rail through a first-stage lifting transmission mechanism 4-6 and a second-stage lifting transmission mechanism 4-8, the first-stage sliding block 4-3 drives a second-stage guide rail 4-4 to move up and down, so that a fork 6 is lifted to a picking height of a cargo, the single machine control system controls a central rotating mechanism 5-2 of a cargo carrying platform 5 to rotate so that the fork 6 rotates to a 90-degree access direction B or, as shown in the attached figure 4, the single machine control system controls the camera 6-1 of the fork 6 to automatically take a picture, the camera 6-1 transmits the picture to the single machine control system, the single machine control system identifies the size of a material box in the picture, the reader-writer 6-2 transmits the read information of the goods in the material box to the single machine control system, the single machine control system judges the received information, controls the two width adjusting mechanisms 6-4 to adjust the width, the telescopic clamp 6-3 adjusts the clamping width accordingly, the single machine control system controls the telescopic clamp 6-3 to extend out of the material box 3 on the clamping goods shelf 7, the telescopic clamp 6-3 is controlled to retract to the original position after clamping, the goods position management system of the AGV transmits the goods position information of the goods position support 2 to the single machine control system, and the single machine control system receives the empty goods position information, controls the lifting system 4 to lift and the central rotating mechanism 5-2 of the goods carrying platform 5 to rotate the fork Moving to the height of an empty goods position, rotating the fork body 6-5 to a 0-degree access position C or a 180-degree access position A, as shown in figure 4, then controlling the telescopic clamp 6-3 to be loosened, placing the bin 3 on the goods position, retracting the telescopic clamp 6-3 to the original position, and completing a single bin picking task.
During the non-picking task, the single machine control system controls the lifting system 4 to descend to the lowest position, so that the cargo carrying platform 5 and the cargo fork 6 are located at the lowest position, the gravity center of the vehicle body is located at the lowest state, and the vehicle body is ensured to run stably and quickly.
After the picking task is completed or the goods space of the goods space bracket 2 is full, the single machine control system controls the navigation positioning system of the AGV to automatically recognize the posture and the position of the navigation positioning system and plan a running path to the manual picking platform, the telescopic clamps 6-3 of the fork 6 are controlled to respectively take down the bins from the goods space of the goods space bracket 2 according to the priority level and send the bins to the corresponding manual picking platform, and the AGV automatically runs to an idle station to wait for new work after the picking task is completed.
When the electric quantity is insufficient, the single machine control system receives the electric quantity insufficient signal, controls the navigation positioning system to plan the charging path of the AGV car 1 and controls the power device to drive the driving wheel to move to the charging position for charging.
Example 2: the structure of the embodiment is the same as that of embodiment 1, and the difference is that the I-level lifting transmission mechanism and the II-level lifting transmission mechanism are chain transmission mechanisms, the AGV car 1 is communicated and data interaction with external equipment through a wireless WIFI technology, an RFID chip for recording cargo information in a box is attached to the outer surface of the material box 3, the reader-writer 6-2 is an RFID reader-writer, and the telescopic clamp 6-3 is clamped and clasped in the mode of clamping the material box 3.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. An intelligent sorting AGV is characterized by comprising an AGV car (1), a goods position support (2), a material box (3), a lifting system (4), a goods loading platform (5) and a fork (6);
both ends or one end at AGV car (1) are installed in goods position support (2), and workbin (3) are placed on goods position support (2), and installing on AGV car (1) operating system (4), install on operating system (4) load platform (5), install on load platform (5) fork (6).
2. The intelligent picking AGV of claim 1, wherein: the AGV comprises an AGV (1) and a control system, wherein the AGV comprises a vehicle body, a power transmission device, a brake device, a single machine control system, a goods location management system, a navigation positioning system, a communication system and a power supply system; automobile body bottom is equipped with the drive wheel, power transmission, brake equipment install respectively on the automobile body and be connected with the drive wheel respectively, power transmission, brake equipment are connected with the unit control system electricity respectively, goods position management system is used for managing the goods position information of goods position support (2) to with information transmission to unit control system, navigation positioning system is used for AGV car (1) to carry out the route planning of selecting the task in-process, the position location and the operation gesture measurement of AGV car (1), and navigation positioning system is connected with unit control system, communication system is used for AGV car (1) and external equipment's communication and data interaction, and communication system and unit control system are connected, electrical power supply system provides the electric energy for AGV car (1), and electrical power system is equipped with the function of charging, and electrical power system is connected with unit control system, unit control system is used for controlling AGV car (1), The lifting system (4), the goods carrying platform (5) and the fork (6) execute the work tasks of selecting the bin (3) and moving the bin (3) to the designated position.
3. The intelligent picking AGV of claim 1, wherein: goods position support (2) are including two "type of falling L" supports and more than one goods position board, and more than one goods position board is arranged from top to bottom and is formed the goods position layer more than the one deck, and the both sides of more than one goods position board are respectively with two "type of falling L" leg joint, and the bottom of two "type of falling L" supports is fixed on the automobile body of AGV car (1), and the top of two "type of falling L" supports is connected with operating system (4) respectively.
4. The intelligent picking AGV of claim 1, wherein: the outer surface of the material box (3) is pasted with a bar code or an RFID chip for recording the information of goods in the box, and a goods position management system of the AGV car (1) identifies the bar code or the RFID chip.
5. The intelligent picking AGV of claim 1, wherein: lifting system (4) are including stand and multistage elevating system, stand fixed mounting is on the automobile body of AGV car (1), every stage of elevating system all includes the guide rail, the slider, promote drive mechanism, power unit, wherein the slider at every stage is installed on the guide rail, and the slider is connected with power unit through promoting drive mechanism, connect from top to bottom between the multistage elevating system, the guide rail that is located the elevating system of top is connected with below elevating system's slider, the elevating system that is located the top still includes the sliding connection fixed plate, the top and the sliding connection fixed plate of its guide rail are connected, every stage of elevating system's power unit is connected with the unit control system electricity of AGV car (1) respectively.
6. The intelligent picking AGV of claim 5, wherein: the lifting system (4) comprises four upright posts (4-1), four I-stage guide rails (4-2), four sets of I-stage sliding blocks (4-3), four II-stage guide rails (4-4), four sets of II-stage sliding blocks (4-5), an I-stage lifting transmission mechanism (4-6), four sets of I-stage power mechanisms (4-7), an II-stage lifting transmission mechanism (4-8), a sliding rail connecting fixing plate (4-9) and four sets of II-stage power mechanisms (4-10); the automatic loading and unloading device is characterized in that four upright posts (4-1) are fixedly installed on a vehicle body of an AGV (1) respectively, the top of a support of a goods position support (2) is connected with the upright posts (4-1), I-level power mechanisms (4-7) are installed at the top ends of the four upright posts (4-1) respectively, four I-level guide rails (4-2) are installed on the inner side surfaces of the four upright posts (4-1) respectively, I-level sliding blocks (4-3) are installed on the four I-level guide rails (4-2) respectively, four sets of I-level sliding blocks (4-3) are connected with the I-level power mechanisms (4-7) through I-level lifting transmission mechanisms (4-6) respectively, the I-level power mechanisms (4-7) drive the I-level sliding blocks (4-3) to move on the I-level guide rails (4-2) through the I-, the bottom of four II-level guide rails (4-4) are respectively connected with a I-level slide block (4-3), the top of the four II-level guide rails (4-4) are respectively arranged on a slide rail connecting fixing plate (4-9), II-level slide blocks (4-5) are respectively arranged on the four II-level guide rails (4-4), four sets of II-level power mechanisms (4-10) are respectively arranged on the slide rail connecting fixing plate (4-9), the four sets of II-level slide blocks (4-5) are respectively connected with II-level power mechanisms (4-10) through II-level lifting transmission mechanisms (4-8), the II-level power mechanisms (4-10) drive the II-level slide blocks (4-5) to slide on the II-level guide rails (4-4) through the II-level lifting transmission mechanisms (4-8), and the I-level lifting transmission mechanisms (4-6), The II-level lifting transmission mechanism (4-8) is a synchronous belt transmission mechanism or a chain transmission mechanism, the I-level power mechanism (4-7) and the II-level power mechanism (4-10) are motors, and the I-level power mechanism (4-7) and the II-level power mechanism (4-10) are respectively and electrically connected with a single machine control system of the AGV car (1).
7. The intelligent picking AGV of claim 6, wherein: the goods carrying platform (5) comprises a base (5-1), a central rotating mechanism (5-2) and a rotating platform (5-3); four ends of base (5-1) respectively with four sets of II level slider (4-5) fixed connection of operating system (4), four sets of II level slider (4-5) drive base (5-1) up-and-down motion, central rotary mechanism (5-2) are installed on base (5-1), central rotary mechanism (5-2) include rotation axis and the power transmission system of control rotation axis motion, the unit control system and the power transmission system electricity of AGV car (1) are connected, the unit control system of AGV car (1) is through controlling power transmission system and then control the rotation axis and make 360 rotations around the axle center and automated inspection and measurement direction of rotation and gesture, revolving stage (5-3) are connected with the rotation axis of central rotary mechanism (5-2).
8. The intelligent picking AGV of claim 1, wherein: the fork (6) comprises a fork body (6-5), a camera (6-1), a reader-writer (6-2), a telescopic clamp (6-3) and two width adjusting mechanisms (6-4); the fork body (6-5) is U-shaped, the fork body (6-5) is transversely installed on a rotating platform (5-3) of a cargo carrying platform (5), the camera (6-1) and the reader-writer (6-2) are respectively integrated on the fork body (6-5), two width adjusting mechanisms (6-4) are respectively installed on the inner side of the fork body (6-5), two ends of the telescopic clamp (6-3) are respectively connected with the two width adjusting mechanisms (6-4), the camera (6-1), the reader-writer (6-2) and the two width adjusting mechanisms (6-4) are respectively electrically connected with a single machine control system of the AGV car (1), the camera (6-1) automatically takes pictures and identifies the size of the material box (3), and size information is transmitted to the single machine control system of the AGV car (1), the reader-writer (6-2) transmits the read goods information in the material box (3) to a single machine control system of the AGV (1), and the single machine control system of the AGV (1) controls the two width adjusting mechanisms (6-4) to adjust the width according to the received information.
9. The intelligent picking AGV of claim 8, wherein: the telescopic clamp (6-3) clamps the material box (3) in a hook-pull type or clamping type mode.
10. The intelligent picking AGV of claim 8, wherein: the reader-writer (6-2) is a bar code reader-writer or an RFID reader-writer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412575.3A CN110902249A (en) | 2019-12-31 | 2019-12-31 | AGV is selected to intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412575.3A CN110902249A (en) | 2019-12-31 | 2019-12-31 | AGV is selected to intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110902249A true CN110902249A (en) | 2020-03-24 |
Family
ID=69814144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911412575.3A Pending CN110902249A (en) | 2019-12-31 | 2019-12-31 | AGV is selected to intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110902249A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924404A (en) * | 2020-09-17 | 2020-11-13 | 成都恒坤自动化设备有限公司 | Dispensing system based on AGV dolly |
| GB2594516A (en) * | 2020-05-01 | 2021-11-03 | Edwards Vacuum Llc | Transport device and method of moving vacuum system components in a confined space |
| CN113998628A (en) * | 2021-12-29 | 2022-02-01 | 牧星机器人(江苏)有限公司 | Automatic recovery method and device after material box type robot fault scram |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003201095A (en) * | 2002-01-07 | 2003-07-15 | Toshiba Corp | Order picker |
| US20160229631A1 (en) * | 2013-12-24 | 2016-08-11 | Hitachi, Ltd. | Picking System |
| CN105883317A (en) * | 2016-01-27 | 2016-08-24 | 滕华 | Intelligent three-axis robot |
| CN207361707U (en) * | 2017-11-03 | 2018-05-15 | 郑州郑大智能科技股份有限公司 | It is a kind of can WidFin pallet fork formula AGV |
| CN108381544A (en) * | 2018-04-20 | 2018-08-10 | 杭州蓝芯科技有限公司 | A kind of automatic picking robot and its control method |
| CN108658005A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Full-automatic AGV trolleies |
| CN109850457A (en) * | 2019-03-18 | 2019-06-07 | 健芮智能科技（昆山）有限公司 | A kind of fully automatic loop stereo warehouse device with sorting function |
| CN110182512A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of shipment device of lane stacker and picking go out pallet piling up method |
| CN212530950U (en) * | 2019-12-31 | 2021-02-12 | 昆船智能技术股份有限公司 | AGV is selected to intelligence |
-
2019
- 2019-12-31 CN CN201911412575.3A patent/CN110902249A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003201095A (en) * | 2002-01-07 | 2003-07-15 | Toshiba Corp | Order picker |
| US20160229631A1 (en) * | 2013-12-24 | 2016-08-11 | Hitachi, Ltd. | Picking System |
| CN105883317A (en) * | 2016-01-27 | 2016-08-24 | 滕华 | Intelligent three-axis robot |
| CN207361707U (en) * | 2017-11-03 | 2018-05-15 | 郑州郑大智能科技股份有限公司 | It is a kind of can WidFin pallet fork formula AGV |
| CN108381544A (en) * | 2018-04-20 | 2018-08-10 | 杭州蓝芯科技有限公司 | A kind of automatic picking robot and its control method |
| CN108658005A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Full-automatic AGV trolleies |
| CN109850457A (en) * | 2019-03-18 | 2019-06-07 | 健芮智能科技（昆山）有限公司 | A kind of fully automatic loop stereo warehouse device with sorting function |
| CN110182512A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of shipment device of lane stacker and picking go out pallet piling up method |
| CN212530950U (en) * | 2019-12-31 | 2021-02-12 | 昆船智能技术股份有限公司 | AGV is selected to intelligence |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2594516A (en) * | 2020-05-01 | 2021-11-03 | Edwards Vacuum Llc | Transport device and method of moving vacuum system components in a confined space |
| WO2021220233A1 (en) * | 2020-05-01 | 2021-11-04 | Edwards Vacuum Llc | Transport device and method of moving vacuum system components in a confined space |
| CN111924404A (en) * | 2020-09-17 | 2020-11-13 | 成都恒坤自动化设备有限公司 | Dispensing system based on AGV dolly |
| CN111924404B (en) * | 2020-09-17 | 2020-12-22 | 成都恒坤自动化设备有限公司 | Dispensing system based on AGV dolly |
| CN113998628A (en) * | 2021-12-29 | 2022-02-01 | 牧星机器人(江苏)有限公司 | Automatic recovery method and device after material box type robot fault scram |
| CN113998628B (en) * | 2021-12-29 | 2022-05-27 | 牧星机器人(江苏)有限公司 | Automatic recovery method and device after material box type robot fault scram |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12017855B2 (en) | Automated vehicle for use in inventory management system | |
| CN108910375B (en) | Goods picking method and device | |
| CN110902249A (en) | AGV is selected to intelligence | |
| JP6838178B2 (en) | How to pick up goods with a transfer robot and a transfer robot | |
| US6652213B1 (en) | Automated warehousing system and method | |
| US4678390A (en) | Automated self-powered material handling truck | |
| CN107336962A (en) | A kind of automation delivery system of material | |
| JP7216227B2 (en) | Goods transport system | |
| CN216735893U (en) | Container handling device, warehouse system | |
| CN103171850A (en) | System for the transport of goods arranged on auxiliary aids | |
| CN207121168U (en) | A kind of automation delivery system of material | |
| CN109051491A (en) | It is a kind of for picking and placing the mobile robot of shelf cargo | |
| CN108736088A (en) | Battery pack automates disassembly system | |
| CN108750723A (en) | loading system and method | |
| CN115465589A (en) | Transfer robot, transfer system, transfer method, and server | |
| CN208516526U (en) | Loading system and logistic management system | |
| CN110406922A (en) | A kind of RGV trolley | |
| CN214114787U (en) | Article transfer trolley and article transfer system | |
| CN107973039B (en) | A kind of shuttle charging and discharging mechanism | |
| CN212530950U (en) | AGV is selected to intelligence | |
| CN210122323U (en) | Article transport system | |
| CN215709078U (en) | Stacker, transportation system and storage system | |
| CN207061330U (en) | A kind of charging tray stack mechanism | |
| CN112693795B (en) | Warehouse sorting system | |
| CN211619112U (en) | Automatic loading equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |