CN209281246U - A kind of piler of AGV mode - Google Patents

Abstract

The utility model discloses a kind of pilers of AGV mode, including control system, AGV module and by the piler module of AGV module drive, battery case, the drive assembly set on housing bottom, the magnetic navigation sensor component in front of drive assembly, the RFID sensor in front of housing bottom drive assembly, the laser scanning obstacle avoidance sensor in front of shell, the lifting assembly being connect set on housing bottom with drive assembly that AGV module includes shell, is set in the housing；Compared with prior art, the piler of the AGV mode of the utility model, conveying assembly can both be used to store container, container can be inputted or be exported again, it also realizes that high-precision magnetic navigation conveys automatically simultaneously, and during transportation can be with cognitive disorders and terrestrial reference card, and needs to overhaul in piler, drive assembly can be made to leave ground, can be overhauled without piler once.

Description

A kind of piler of AGV mode

Technical field

The utility model relates to piler technical field more particularly to a kind of pilers of AGV mode.

Background technique

In hardware industry, temporary and turnover of the piler commonly used to carry out workpiece, when needing to store workpiece, pallet fork Container is transported on piler；When needing shipment, pallet fork is moving out container from piler；This piler, Zhi Nengjin Crudely-made articles object is temporary, and the position that piler is placed is exactly the final position of container, when pallet fork is wholely set with piler, is storing When container, piler picking forward is needed, then retreats and resets, then move left and right again store cargo to piler is specified Position；After one layer of shelf stacking expires container, pallet fork, which also needs to rise, to be come to second of racks store cargo；When pallet fork and heap Also need to reserve the position of pallet fork lifting when stack machine is wholely set, on piler；Not only occupied space, and complicated for operation, work Make low efficiency.

Utility model content

Utility model aims to solve problems of the existing technology, provide a kind of piler of AGV mode.

To achieve the above object, technical solution used by the utility model is a kind of piler of AGV mode, described The piler of AGV mode includes control system, AGV module and the piler module by AGV module drive.

The AGV module includes shell, is set in the housing battery case, set on housing bottom drive assembly, be set to and drive Before moving the magnetic navigation sensor component in front of assembly, the RFID sensor in front of housing bottom drive assembly, being set to shell The laser scanning obstacle avoidance sensor of side, the lifting assembly being connect set on housing bottom with drive assembly, the drive assembly, magnetic conductance Boat sensor module, RFID sensor, laser scanning obstacle avoidance sensor and lifting assembly are electrically connected to the control system.

The housing bottom is equipped with ten thousand for being used to support entire piler and moving and turn under the drive of drive assembly To wheel.

The drive assembly includes walking mechanism, cohesive frame and bracket, and the cohesive frame is connect with walking mechanism, the support Frame and the cohesive frame elastic connection, the top of bracket, which is equipped with, is used for flange connected to the housing, and the lifting assembly is set to institute It states on bracket.

The piler module be set to the shell on, including storage rack, crane, pallet fork, lifting assembly, at least one Conveying assembly and the first supporting roller component, the storage rack and crane it is opposite be set to shell on, the conveying assembly be set to deposit It stores up in frame, first supporting roller component is set on the crane and height is adapted to the conveying assembly, the lifting assembly On the crane, the pallet fork is connect with the lifting assembly, the pallet fork, lifting assembly, conveying assembly and control System electrical connection.

Under the action of control system, when needing stock, the pallet fork can be carried container to conveying assembly and by defeated Sending component input storage rack is kept in, and when needing to export cargo, pallet fork can will convey group under the action of control system The container of valence output is exported from storage rack；The lifting assembly can drive pallet fork to go up and down under the action of control system；Make pallet fork Height be adapted to the position of conveying assembly.

The control system can control walking mechanism according to magnetic orbital band in the transmitting of the signal of magnetic navigation sensor component Mechanical pilar module is mobile, control walking mechanism drives shell rotation to make heap in the signal of laser scanning obstacle avoidance sensor transmits Stack machine avoidance identifies that piler is transported to designated position and in piler needs by terrestrial reference card in the signal of RFID sensor The walking mechanism is set to leave ground under the action of lifting assembly when maintenance.

As a kind of improvement of the utility model, the walking mechanism includes bogie, is set to bogie two sides and difference The driving wheel for the driving assembly being respectively independently arranged is connected, the bogie is connect with the cohesive frame.

As a kind of improvement of the utility model, the lifting assembly includes that the promotion being set on bracket by swivel base turns Axis, the promotion electricity for being set on bracket set on the lift arm of promotion both ends of the shaft, by upgrade block and being connect with promotion rotating shaft transmission Machine, the cohesive frame bear plate equipped with what is be adapted to lift arm.

As a kind of improvement of the utility model, the conveying assembly include the carriage set in storage shelf, set with it is defeated The conveying axis of frame front end is sent, is set with the driving wheel at conveying axis both ends, the inner guide pulley axis that is distributed in carriage two sides, is set and inner guide pulley Inner guide pulley on axis, roll on carriage two sides inner guide pulley and driving wheel two belts, set on carriage with conveying axis The feeder motor of transmission connection.

As a kind of improvement of the utility model, first supporting roller component includes the first support roller set with crane two sides Frame, is rolled in the support roller on tugboat axis, the height of the tugboat and institute at least one supporting-roller shaft being distributed on the first roller frame State the height adaptation of belt.

As a kind of improvement of the utility model, the distance between the conveying assembly and first supporting roller component are less than The width of container, the distance between the conveying assembly and first supporting roller component are greater than the width of pallet fork, the storage shelf The distance between carriage is greater than the width of container.

As a kind of improvement of the utility model, the promotion shaft is equipped with sensing chip, and the bracket is equipped with sensing Device seat, the sensor holder extend to the sensing chip, equipped with the sensor for being adapted to sensing chip on sensor holder, are promoted When component is inactive, sensor is located at the top of the sensing chip.

As a kind of improvement of the utility model, outer guide wheel shaft is evenly equipped on the outside of the both ends of the carriage and set on leading outside Outer guide wheel on wheel shaft, the outer guide wheel and inner guide pulley of the every side of carriage are staggered, the height of the outer guide wheel with it is described The height of belt is adapted to.

As a kind of improvement of the utility model, the sensing chip is equipped with upper and lower two induction end, described two induction end Symmetrical be set to promotes shaft axis section two sides, and forms an angle less than 90 °, when lifting assembly is inactive, induction One induction end of piece is located at the lower section of sensor, another induction end is located at the top of sensor, when promoting shaft rotation, The sensing chip rotates with promotion shaft and upper induction end or lower induction end can be made to be adapted to sensor.

The rear end of the carriage be equipped with the second supporting roller component, second supporting roller component include set with outside carriage both ends Second roller frame of side is set and the support roller at least one tugboat axis, rolling and supporting-roller shaft on the second roller frame, the support roller Height be adapted to the height of the belt.

As a kind of improvement of the utility model, the cohesive frame is equipped with the first spring base and is placed in the first spring base Damping spring, the bracket upper and lower is respectively provided with the flange connecting with piler and is socketed in the first spring base Second spring seat, the damping spring is sheathed on second spring seat and presses between the first spring base and bracket.

It as a kind of improvement of the utility model, is set in the storage shelf there are two conveying assembly, is set on the crane There is the first supporting roller component being adapted to respectively with two conveying assemblies.

As a kind of improvement of the utility model, the cohesive frame is equipped with the guide holder positioned at the first spring base two sides, The bracket is equipped with the guide rod that be adapted to the guide holder, and it is interior and from the guide holder that the guide rod is socketed on the guide holder Bottom stretch out, guide rod stretch out guide holder one end be equipped with gland.

As a kind of improvement of the utility model, the distance between two described conveying assemblies are adapted to the height of container.

As a kind of improvement of the utility model, first spring base is set at the center of the cohesive frame and is located at institute It states below cohesive frame.

As a kind of improvement of the utility model, the second spring seat is set at the center of the bracket and is located at described Below bracket, flange is set at the center above the bracket and is located above bracket, the axis of the second spring seat and institute The axis for stating flange is overlapped.

As a kind of improvement of the utility model, the rear end of first roller frame is equipped with baffle, and baffle front end is equipped with the One examines goods optoelectronic switch；The crane is equipped with the travel switch being adapted to the first supporting roller component height, the carriage Front end is equipped with second and examines goods optoelectronic switch.

As a kind of improvement of the utility model, the rear end of first roller frame is equipped with the first optoelectronic switch in place, institute It states and is successively arranged the second optoelectronic switch, third optoelectronic switch and the 4th optoelectronic switch in place in place in place on carriage, described One in place optoelectronic switch with second in place the distance between optoelectronic switch be adapted to the width of container, the third in place open by photoelectricity Distance is adapted to Guan Yu tetra- with the width of container between optoelectronic switch in place.

As a kind of improvement of the utility model, connected between the storage rack and crane by connecting rod, the company Extension bar is equipped with extreme higher position limit switch, and the shell is equipped with extreme lower position limit switch.

As a kind of improvement of the utility model, the housing bottom is equipped with music box.

As a kind of improvement of the utility model, housing forward end is equipped with anticollision strip.

Compared with prior art, a kind of stack-building equipment of AGV mode of the utility model has the advantage that

1. a kind of piler of AGV mode of the utility model, the conveying assembly of piler module can both be used to store Container, and container can be inputted or be exported, the distance between conveying assembly and the first supporting roller component can both be such that pallet fork goes up and down Pass through, and can store a container；The amount of storage that piler can not only be increased, can also simplify the operating path of pallet fork, Improve cargo storage and all transfer efficients.

2. a kind of piler of AGV mode of the utility model, the magnetic navigation sensor component recognition bottom surface magnetic of AGV module The variation of track and the signal sent out to control system make control system driving walking mechanism make the movement of walking or rotation, make AGV module is accurately mobile according to the magnetic orbital of setting, realizes that high-precision magnetic navigation conveys automatically.

3. the laser scanning obstacle avoidance sensor of a kind of piler of AGV mode of the utility model, AGV module is based on laser The Technology for Target Location of radar carries out dynamic detection of obstacles, detects any barrier close to piler, and barrier enters When in alert range, control system can provide avoidance obstacle amount and optimum speed or parking according to the speed of standing state, position, Evacuation barrier realizes function of stopping in emergency, and after barrier is removed, control system is sent out according to laser scanning obstacle avoidance sensor The new scan data sent independently judges that restarting continues to execute task, and realization does not block up, do not collide, is most fast in the shortest time Completion task.

4. a kind of piler of AGV mode of the utility model, the RFID sensor of AGV module detect magnetic in operation After terrestrial reference card in track, that is, control system is sent a signal to, control system can make walking mechanism stop walking according to signal, mention High mission dispatching efficiency realizes not packet loss, the completion task that do not mistake.

A kind of piler of the AGV mode of 5 the utility model, when piler needs repairing, the promotion group of AGV module Part starting makes walking mechanism leave ground, then manually pushes shell, so that universal wheel is moved to maintenance in manpower control and clicks through Row maintenance, without moving away from piler above shell, facilitates maintenance.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of the piler of AGV mode of the utility model；

Fig. 2 is the structural schematic diagram of Fig. 1 other direction；

Fig. 3 is the structural schematic diagram of AGV module in Fig. 1；

Fig. 4 is the structural schematic diagram of Fig. 3 other direction；

Fig. 5 is that Fig. 3 removes the structural schematic diagram after shell；

Fig. 6 is the structural schematic diagram of Fig. 5 other direction；

Fig. 7 is the left view of Fig. 6；

Fig. 8 is the bottom view of Fig. 5；

Fig. 9 is the structural schematic diagram of piler module in Fig. 1；

Figure 10 is the structural schematic diagram of conveying assembly and the second supporting roller component in Fig. 9；

Figure 11 is the structural schematic diagram of crane and the first supporting roller component in Fig. 9；

In figure: 1. control systems, 2.AGV module, 21. shells, 211. universal wheels, 212. music boxs, 213. anticollision strips, 214. battery cases, 215. extreme lower position limit switches, 22. drive assembly, 221. walking mechanisms, 2211. bogies, 2212. are driven Driving wheel, 2213. driving assemblies, 222. cohesive frames, 2221. first spring bases, 2222. bear plate, 2223. guide holders, 223. supports Frame, 2231. flanges, 2232. second spring seats, 2233. swivel bases, 2234. upgrade blocks, 2235. sensor holders, 2236. sensings Device, 2237. guide rods, 2238. glands, 23. magnetic navigation sensor components, 24.RFID sensor, 25. laser scanning avoidances sensing Device, 26. lifting assemblies, 261. promoted shafts, 262. promoted motors, 263. lift arms, 264. sensing chips, 2641. induction end, 3. piler module, 31. storage shelfs, 32. cranes, 321. travel switches, 33. conveying assemblies, 331. carriages, 3311. Two optoelectronic switch, 3314. second are examined goods photoelectricity in place for optoelectronic switch, 3313. the 4th in place for optoelectronic switch, 3312. thirds in place Switch, 332. conveying axis, 333. driving wheels, 334. inner guide pulley axis, 335. inner guide pulleys, 336. belts, 337. feeder motors, 338. outer guide wheel shafts, 339. outer guide wheels, 34. first supporting roller components, 341. first roller frames, 3411. baffles, 342. supporting-roller shafts, 343. support rollers, 344. first are examined goods optoelectronic switch, 345. first optoelectronic switch, 35. second supporting roller components, 351. second supports in place Wheel carrier, 36. pallet forks, 37. lifting assemblies, 38. connecting rods, 381. extreme higher position limit switches, 4. containers

The embodiments will be further described with reference to the accompanying drawings for the realization of the utility model function and advantage.

Specific embodiment

The utility model is described in further detail with preferred embodiment with reference to the accompanying drawing.

As shown in Figure 1 to 11, a kind of piler of AGV mode, the piler of AGV mode include control system 1, AGV Module 2 and the piler module 3 driven by AGV module 2；AGV module 2 includes shell 21, the battery case in shell 21 214, set on the drive assembly 22 of 21 bottom of shell, set on the magnetic navigation sensor component 23 in 22 front of drive assembly, set on shell The RFID sensor 24 in 21 bottom drive assembly of body, 22 front, is set the laser scanning obstacle avoidance sensor 25 in front of shell 21 In the lifting assembly 26 that 21 bottom of shell is connect with drive assembly 22, drive assembly 22, magnetic navigation sensor component 23, RFID are passed Sensor 24, laser scanning obstacle avoidance sensor 25 and lifting assembly 26 are electrically connected with control system 1.

Drive assembly 22 includes walking mechanism 221, cohesive frame 221 and bracket 223, and cohesive frame 221 and walking mechanism 221 connect It connects, bracket 223 and 221 elastic connection of cohesive frame, the top of bracket 223 is equipped with the flange 2231 for connecting with shell 21, mentions Component 26 is risen to be set on bracket 223.

21 bottom of shell is equipped with ten thousand for being used to support entire piler and moving and turn under the drive of drive assembly 22 To wheel 211, universal wheel 211 can be mobile with walking mechanism 221 when drive assembly 22 drives entire AGV module 2 to walk, and can be Branch is played to the piler module 3 on shell 21 and shell 21 when drive assembly 22 is promoted and leaves ground by lifting assembly 26 Support effect, and can make service personnel that piler be pushed to run to maintenance point.

Walking mechanism 221 includes bogie 2211, is respectively independently arranged set on 2211 two sides of bogie and being separately connected The bogie 2212 of driving assembly 2213, bogie 2211 are connect with cohesive frame 221；Driving assembly 2213 be and bogie 2212 The driving motor of transmission connection can realize AGV module by the rotation of revolving speed official post walking mechanism 221 of two driving motors 2 automatic turning.

Lifting assembly 26 includes the promotion shaft 261 being set on bracket 223 by swivel base 2233, is set to promotion shaft 261 The lift arm 263 at both ends, the promotion motor for being set on bracket 223 by upgrade block 2234 and being sequentially connected with promotion shaft 261 262, cohesive frame 221 bears plate 2222 equipped with what is be adapted to lift arm 263；Cohesive frame 221 is equipped with the first spring base 2221 With the damping spring being placed in the first spring base 2221,223 upper and lower of bracket is respectively provided with the flange connecting with piler 2231 and the second spring seat 2232 that is socketed in the first spring base 2221, damping spring be sheathed on second spring seat 2232 And it presses and is set between the first spring base 2221 and bracket 223；When piler is placed on shell 21, due to the pressure of piler Power, damping spring, which is compressed and applies forces to cohesive frame 221, pushes cohesive frame 221, and then makes the drive of walking mechanism 221 Moving frame 2212 is close to ground, convenient for walking mechanism 221 with mechanical pilar even running, when piler needs to overhaul, is controlling Under the action of system 1 processed, promotes motor 262 and start and promotion shaft 261 is driven to rotate, lift arm 263 is with 261 turns of shaft of promotion It moving and applies upward pulling force to plate 2222 is born, damping spring is compressed by upward pulling force, and cohesive frame 221 rises, and It drives walking mechanism 221 to leave ground, makes walking mechanism 221 not and can control the operation of AGV module 2 and piler module 3, just It is repaired in piler to be manually pushed to maintenance point.

In 2 moving process of AGV module, magnetic navigation sensor component 23, which identifies the variation of bottom surface magnetic orbital and to control, is The signal of 1 hair of system, makes control system 1 that walking mechanism 221 be driven to make the movement of walking or rotation, make AGV module 2 accurately according to The magnetic orbital of setting is mobile, realizes that high-precision magnetic navigation conveys automatically, while laser scanning obstacle avoidance sensor 25 is based on laser The Technology for Target Location of radar carries out dynamic detection of obstacles, detects any barrier close to piler, and barrier enters When in alert range, control system 1 can provide avoidance obstacle amount and optimum speed according to the speed of standing state, position or stop Vehicle avoids barrier or realizes function of stopping in emergency, and after barrier is removed, control system 1 is sensed according to laser scanning avoidance The new scan data that device 25 is sent independently judges that restarting continues to execute task, and realization does not block up, do not collide, most short Time most completes task fastly.

After RFID sensor 24 detects the terrestrial reference card in magnetic orbital in operation, that is, send a signal to control system 1, control system 1 can make walking mechanism 221 stop walking according to signal, improve mission dispatching efficiency, realize not packet loss, do not mistake Completion task.

Preferably, it promotes shaft 261 and is equipped with sensing chip 264, bracket is equipped with sensor holder 2235, sensor holder 2235 Extend to sensing chip 264, equipped with the sensor 2236 for being adapted to sensing chip 264, sensor 2236 on sensor holder 2235 Preferably trough type photoelectric sensor 2236；When lifting assembly 26 is inactive, sensor 2236 is located at the top of sensing chip 264；When When piler needs to overhaul, under the action of control system 1, promotes motor 262 and start and promotion shaft 261 is driven to rotate, sense It answers piece 264 to rotate with shaft 261 is promoted, and rises relative to sensor 2236, when sensing chip 264 is placed in trough type photoelectric sensor Two of 2236 to penetrating between end when, sensor 2236 to control system 1 send signal, promoted motor 262 stop operating, this When walking mechanism 221 leave ground, the cooperation of sensing chip 264 and sensor 2236 can determine hoisting depth, avoid being promoted Height causes unnecessary power waste.

Preferably, sensing chip 264 is equipped with upper and lower two induction end 2641, and two induction end 2641, which are symmetrically set to be promoted, to be turned The angle of one 60 ° of 261 axis section two sides of axis and formation, when lifting assembly 26 is inactive, an induction end of sensing chip 264 2641 are located at the lower section of sensor 2236, another induction end 2641 is located at the top of sensor 2236, when 261 turns of shaft of promotion When dynamic, sensing chip 264 rotates and can make upper induction end 2641 or lower induction end 2641 and sensor 2236 suitable with shaft 261 is promoted Match；When piler needs to overhaul, under the action of control system 1, promotes motor 262 and start and drive promotion shaft 261 inverse Hour hands rotation, sensing chip 264 is rotated counterclockwise with shaft 261 is promoted, and is risen relative to sensor 2236, when sensing chip 264 When underlying induction end 2641 is placed in two of trough type photoelectric sensor 2236 to penetrating between end, sensor 2236 is to control System 1 sends signal, promotes motor 262 and stops operating, walking mechanism 221 leaves ground at this time；When stacking machine overhauling finishes, It under the action of control system 1, promotes motor 262 and starts simultaneously to drive and promote shaft 261 and rotate clockwise, sensing chip 264 is with mentioning It rises shaft 261 to rotate, and declines relative to sensor 2236, two when trough type photoelectric sensor 2236 have letter to end is penetrated again Number send when, promoted motor 262 stop operating, walking mechanism 221 and ground face contact；When the induction that sensing chip 264 is located above When end 2641 is placed in two of trough type photoelectric sensor 2236 to penetrating between end, sensor 2236 is sent to control system 1 to be believed Number, illustrate that promoting motor 262 rotates excessively, control system 1 issues early warning.

Preferably, cohesive frame 221 be equipped with positioned at 2221 two sides of the first spring base guide holder 2223, bracket be equipped with The guide rod 2237 that guide holder 2223 is adapted to, guide rod 2237 are socketed in guide holder 2223 and stretch out from the bottom of guide holder 2223, One end that guide rod 2237 stretches out guide holder 2223 is equipped with gland 2238, and when jolting, bracket 223 can only be swung up and down down, be avoided Left and right offset, which occurs, makes piler connected to it turn on one's side, while gland 2238 plays limit to the ascensional range of bracket 223 Position effect.

Preferably, the first spring base 2221 is set at the center of cohesive frame 221 and is located at 221 lower section of cohesive frame, works as stacking When machine is placed on the shell 21 of AGV module 2, walking mechanism 221 is made to be located at the center of piler, keeps piler mobile steady.

Preferably, the axis of second spring seat 2232 is overlapped with the axis of flange 2231, and second spring seat 2232 is set to support At the center of frame 223 and it is located at 223 lower section of bracket, flange 2231 is set at the center of 223 top of bracket and is located on bracket 223 Side can make the shell 21 connecting with bracket 223 that the movement of the same direction occur, avoid stacking when bracket 223 jolts Machine is turned on one's side.

Preferably, 21 bottom of shell is equipped with music box 212, can play the unrelated of music reminding workplace in operation Personnel avoid in time.

Preferably, 21 front end of shell is equipped with anticollision strip 213, can play a protective role to shell 21.

Piler module 3 is set on shell 21, including storage rack 31, crane 32, pallet fork 36, lifting assembly 37, at least One conveying assembly 33 and the first supporting roller component 34, storage rack 31 and crane 32 it is opposite be set to shell 21 on, conveying assembly 33 are set in storage rack 31, and the first supporting roller component 34 is set on crane 32 and height is adapted to conveying assembly 33, lifting assembly 37 are set on crane 32, and pallet fork 36 is connect with lifting assembly 37, and pallet fork 36, lifting assembly 37, conveying assembly 33 and control are 1 electrical connection of system.

Conveying assembly 33 include set in storage shelf 31 carriage 331, set with the conveying axis 332 of 331 front end of carriage, If with the driving wheel 333 at 332 both ends of conveying axis, the inner guide pulley axis 334 for being distributed in 331 two sides of carriage, set and inner guide pulley axis 334 On inner guide pulley 335, roll on 331 two sides inner guide pulley 335 of carriage and driving wheel 333 two belts 336, set with it is defeated Send the feeder motor 337 being sequentially connected on frame 331 with conveying axis 332；First supporting roller component 34 includes setting and 32 two sides of crane The first roller frame 341, be distributed on the first roller frame 341 at least one supporting-roller shaft 342, roll in the support roller on tugboat axis 343, the height of tugboat is adapted to the height of belt 336；The distance between conveying assembly 33 and the first supporting roller component 34 are less than goods The width of case 4, the distance between conveying assembly 33 and the first supporting roller component 34 are greater than the width of pallet fork 36, storage shelf 31 and conveying The distance between frame 331 is greater than the width of container 4.

Preferably, it is evenly equipped with outer guide wheel shaft 338 on the outside of the both ends of carriage 331 and outer on outer guide wheel shaft 338 is led Wheel 339, the height of outer guide wheel 339 is adapted to the height of belt 336；The outer guide wheel 339 and inner guide pulley 335 of the every side of carriage 331 Be staggered container 4 along belt 336 convey during, outer guide wheel 339 plays support and guiding role to container 4, subtracts goods Case 4 conveys container 4 smooth the pressure of belt 336.

Preferably, the rear end of carriage 331 is equipped with the second supporting roller component 35, and the second supporting roller component 35 includes setting and carriage The second roller frame 351 on the outside of 331 both ends is set and at least one tugboat axis, rolling and supporting-roller shaft on the second roller frame 351 The height of support roller 343 on 342, support roller 343 is adapted to the height of belt 336；Second supporting roller component 35 can container 4 export or It plays a supporting role when inputting storage shelf 31 to container 4；Container is stored in the part that carriage 331 is located inside storage shelf 31 After 4, the first roller frame 341 and the second roller frame 351 can support and keep in another container 4, improve the amount of storage of piler.

Preferably, it is set in storage shelf 31 there are two conveying assembly 33, crane 32 is equipped with to be divided with two conveying assemblies 33 The first supporting roller component 34 not being adapted to；It once can store four containers 4, improve the amount of storage of piler and the turnover effect of workpiece Rate.

Preferably, the distance between two conveying assemblies 33 are adapted to the height of container 4；It stores and conveys convenient for container 4.

Preferably, the rear end of the first roller frame 341 is equipped with baffle 3411, when conveying assembly 33 exports container 4, baffle 3411 can be exported position to avoid container 4, were influenced pallet fork 36 and were moved out.

Preferably, the first supporting roller component 34 is equipped with first and examines goods optoelectronic switch 344；When container 4 is transported to by pallet fork 36 When between conveying assembly 33 and the first supporting roller component 34, the first optoelectronic switch 344 of examining goods detects the presence of container 4, and to letter Number pass to control system 1, control system 1 receive first examine goods optoelectronic switch 344 signal after start conveying assembly 33, will Container 4 is conveyed into storage rack 1, or container 4 is existed between the first supporting roller component 34 and the second supporting roller component 35；

Preferably, crane 32 is equipped with the travel switch 321 being highly adapted to the first supporting roller component 34, can accurately control The delivery head of pallet fork 36 is adapted to pallet fork 36 highly with the conveying assembly 33 that will store container 4 by lifting assembly 37 processed.

The front end of carriage 331 is equipped with second and examines goods optoelectronic switch 3314.

Preferably, the rear end of the first roller frame 341 is equipped with the first optoelectronic switch 345 in place, is successively arranged on carriage 331 Second optoelectronic switch 3311, third optoelectronic switch 3312 and the 4th optoelectronic switch 3313 in place in place in place, the first photoelectricity in place Switch 345 with second in place the distance between optoelectronic switch 3311 be adapted to the width of container 4, third optoelectronic switch 3312 in place Distance is adapted to the width of container 4 between the 4th in place optoelectronic switch 3313；First in place optoelectronic switch 345 and second arrive Position optoelectronic switch 3311 is used cooperatively, third in place optoelectronic switch 3312 and the 4th in place optoelectronic switch 3313 with the use of can be with Preventing one of them, optoelectronic switch generates erroneous judgement in place, sends error signal, the only first optoelectronic switch in place to control system 1 345 and second in place optoelectronic switch 3311, third in place optoelectronic switch 3312 and the 4th in place optoelectronic switch 3313 simultaneously to Control system 1 sends signal in place, and control system 1 just determines the conveying of container 4 in place.

Preferably, it is connected between storage rack 31 and crane 32 by connecting rod 38, connecting rod 38 is equipped with extreme higher position Limit switch 381, shell 21 are equipped with extreme lower position limit switch 215, can make the extreme position of 36 raising and lowering of pallet fork It is controlled, it avoids pallet fork 36 from rising too high or pallet fork 36 declines excessively prevents container 4 from being stored in storage rack 31.

When needing stock, a container 4 is carried between conveying assembly 33 and the first supporting roller component 34 simultaneously by pallet fork 36 After being held up by the first supporting roller component 34 and 33 rear end of conveying assembly, conveying assembly 33 can be by container 4 from the rear end of carriage 331 It is transported to the part that carriage 331 is located in storage shelf 31 between the first supporting roller component 34 and keeps in, pallet fork 36 can be with later It will be carried between conveying assembly 33 and tugboat component with a container 4 and by 33 rear end of the first supporting roller component 34 and conveying assembly It holds up temporary；After being filled with container 4 on bottom conveying assembly 33, lifting assembly 37 drive pallet fork 36 rise, when with upper layer first When the travel switch 321 that supporting roller component 34 is highly adapted to detects 36 position of pallet fork, 37 stopping of lifting assembly movement, pallet fork 36 Start new work, is filled with container 4.

When AGV module 2 is with the operation of mechanical pilar 3 to designated position, pallet fork 36 will first be located at 34 He of the first supporting roller component Container 4 between second supporting roller component 35 is carried out；Then control system 1 controls conveying assembly 33 and will be stored in storage shelf 31 Container 4 first export between the first supporting roller component 34 and the second supporting roller component 35, then carried out again by pallet fork 36.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modification, equivalent replacement or improvement etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (10)

1. a kind of piler of AGV mode, it is characterised in that: the piler of the AGV mode includes control system, AGV module With the piler module by AGV module drive；

The AGV module includes shell, is set in the housing battery case, set on housing bottom drive assembly, to be set to driving total At the magnetic navigation sensor component in front, the RFID sensor in front of housing bottom drive assembly, in front of shell Laser scanning obstacle avoidance sensor, the lifting assembly connecting set on housing bottom with drive assembly, the drive assembly, magnetic navigation pass Sensor component, RFID sensor, laser scanning obstacle avoidance sensor and lifting assembly are electrically connected to the control system；

The housing bottom is equipped with the universal wheel for being used to support entire piler and moving and turn under the drive of drive assembly；

The drive assembly includes walking mechanism, cohesive frame and bracket, and the cohesive frame is connect with walking mechanism, the bracket with The cohesive frame elastic connection, the top of bracket, which is equipped with, is used for flange connected to the housing, and the lifting assembly is set to the support On frame；

The piler module is set on the shell, including storage rack, crane, pallet fork, lifting assembly, at least one conveying Component and the first supporting roller component, the storage rack and crane it is opposite be set to shell on, the conveying assembly be set to storage rack Interior, first supporting roller component is set on the crane and height is adapted to the conveying assembly, and the lifting assembly is set to On the crane, the pallet fork is connect with the lifting assembly, the pallet fork, lifting assembly, conveying assembly and control system Electrical connection；

Under the action of control system, when needing stock, the pallet fork can be carried container to conveying assembly and by conveying group Part input storage rack is kept in, and when needing to export cargo, pallet fork can be defeated by conveying group valence under the action of control system Container out is exported from storage rack；The lifting assembly can drive pallet fork to go up and down under the action of control system；Make the height of pallet fork Degree is adapted to the position of conveying assembly；

The control system can control walking mechanism in the transmitting of the signal of magnetic navigation sensor component and drive heap according to magnetic orbital Stack machine module is mobile, control walking mechanism drives shell rotation to make piler in the signal of laser scanning obstacle avoidance sensor transmits Avoidance identifies that piler is transported to designated position and needed repairing in piler by terrestrial reference card in the signal of RFID sensor When so that the walking mechanism is left ground under the action of lifting assembly.

2. according to the piler of AGV mode described in claim 1, it is characterised in that: the walking mechanism includes bogie, is set to Bogie two sides and the driving wheel for being separately connected the driving assembly being respectively independently arranged, the bogie and the cohesive frame connect It connects；

The lifting assembly include by swivel base be set to bracket on promotions shaft, set on promoted both ends of the shaft lift arm, lead to The promotion motor that upgrade block is set on bracket and connect with promotion rotating shaft transmission is crossed, the cohesive frame is equipped with and is adapted to lift arm Bear plate；

The conveying assembly include the carriage set in storage shelf, set with the conveying axis of carriage front end, set and conveying axis two The driving wheel at end, the inner guide pulley axis for being distributed in carriage two sides, set on inner guide pulley axis inner guide pulley, roll in carriage two sides Two belts on inner guide pulley and driving wheel are set and the feeder motor on carriage with conveying axis transmission connection；

First supporting roller component include set with the first roller frame of crane two sides, be distributed on the first roller frame at least one A supporting-roller shaft is rolled in the support roller on tugboat axis, and the height of the tugboat is adapted to the height of the belt；

The distance between the conveying assembly and first supporting roller component be less than container width, the conveying assembly with it is described The distance between first supporting roller component is greater than the width of pallet fork, and the distance between the storage shelf and carriage are greater than the width of container Degree.

3. according to the piler of AGV mode described in claim 2, it is characterised in that: the promotion shaft is equipped with sensing chip, institute Bracket is stated equipped with sensor holder, the sensor holder extends to the sensing chip, is equipped with and is used for and sensing chip on sensor holder The sensor of adaptation, when lifting assembly is inactive, sensor is located at the top of the sensing chip；

Outer guide wheel shaft and the outer guide wheel on outer guide wheel shaft, the every side of carriage are evenly equipped on the outside of the both ends of the carriage Outer guide wheel and inner guide pulley be staggered, the height of the outer guide wheel is adapted to the height of the belt.

4. according to the piler of AGV mode described in claim 3, it is characterised in that: the sensing chip is equipped with upper and lower two inductions End, two induction end, which are symmetrically set to, promotes shaft axis section two sides, and forms an angle less than 90 °, is promoted When component is inactive, an induction end of sensing chip is located at the lower section of sensor, another induction end is located at the top of sensor, When promoting shaft rotation, the sensing chip rotates and can make upper induction end or lower induction end and sensor suitable with shaft is promoted Match；

The rear end of the carriage be equipped with the second supporting roller component, second supporting roller component include set on the outside of carriage both ends Second roller frame is set and the support roller at least one tugboat axis, rolling and supporting-roller shaft on the second roller frame, the height of the support roller Degree is adapted to the height of the belt.

5. according to the piler of AGV mode described in claim 2, it is characterised in that: the cohesive frame is equipped with the first spring base With the damping spring being placed in the first spring base, the bracket upper and lower be respectively provided with the flange being connect with piler and The second spring seat being socketed in the first spring base, the damping spring are sheathed on second spring seat and press set on the first spring Between seat and bracket；

It is set in the storage shelf there are two conveying assembly, the crane is equipped with first be adapted to respectively with two conveying assemblies Supporting roller component.

6. according to the piler of AGV mode described in claim 5, it is characterised in that: the cohesive frame, which is equipped with, is located at the first bullet The guide holder of spring abutment two sides, the bracket are equipped with the guide rod being adapted to the guide holder, and the guide rod is socketed on the guiding It is stretched out in seat and from the bottom of the guide holder, one end that guide rod stretches out guide holder is equipped with gland；

The distance between described two conveying assemblies are adapted to the height of container.

7. according to the piler of AGV mode described in claim 6, it is characterised in that: first spring base is set to the linking At the center of frame and it is located at below the cohesive frame；

The second spring seat is set at the center of the bracket and is located at below the bracket, and flange is set to above the bracket Center at and be located above bracket, the axis of the second spring seat is overlapped with the axis of the flange.

8. according to the piler of AGV mode described in claim 2, it is characterised in that: the rear end of first roller frame is equipped with gear Plate, baffle front end are equipped with first and examine goods optoelectronic switch；The crane is equipped with the stroke being adapted to the first supporting roller component height Switch, the front end of the carriage are equipped with second and examine goods optoelectronic switch.

9. according to the piler of AGV mode described in claim 8, it is characterised in that: the rear end of first roller frame is equipped with the One optoelectronic switch in place, being successively arranged second on the carriage, optoelectronic switch and the 4th arrives in place for optoelectronic switch, third in place Position optoelectronic switch, described first in place optoelectronic switch with second in place the distance between optoelectronic switch be adapted to the width of container, Distance is adapted to the third with the width of container between optoelectronic switch and the 4th in place optoelectronic switch in place.

10. according to the piler of AGV mode described in claim 1, it is characterised in that: pass through between the storage rack and crane Connecting rod connection, the connecting rod are equipped with extreme higher position limit switch, and the shell is equipped with extreme lower position limit switch；

The housing bottom is equipped with music box；The housing forward end is equipped with anticollision strip.