CN216862557U

CN216862557U - Storage system for preventing AGV from inclining laterally

Info

Publication number: CN216862557U
Application number: CN202123193954.3U
Authority: CN
Inventors: 李恒; 金鑫; 黄芳
Original assignee: Guangdong Lisheng Intelligent Co ltd
Current assignee: Dongguan Moliku Intelligent Co.,Ltd.; Guangdong Lisheng Intelligent Co ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-07-01
Anticipated expiration: 2031-12-16

Abstract

The utility model discloses a storage system for preventing an AGV car from inclining laterally, which comprises: the storage space is internally provided with a storage position; the transverse strip-shaped first guide piece is arranged at a position, away from the ground, in the storage space; the AGV dolly is provided with the second guide on, the second guide can be along with the removal of AGV dolly and with first guide side direction butt and slide along first guide. This warehouse system can prevent effectively that the AGV dolly from heeling and turning on one's side towards first guide orientation, effectively reduces the incidence of accident, and in addition, the slip butt of first guide and second guide also can play good guide and positioning action to the AGV dolly, can effectively improve the positioning accuracy of AGV dolly, further reduces the accident rate, more safe and reliable.

Description

Storage system for preventing AGV from inclining laterally

Technical Field

The utility model relates to the technical field of warehousing.

Background

An AGV is a carrier vehicle equipped with an electromagnetic or optical automatic navigation device and capable of automatically traveling along a predetermined navigation path, and is commonly used in an automatic warehousing system for carrying and picking and placing articles. In storage systems such as moulds, the carried articles are heavy in weight, and when the AGV trolley moves and takes and places the articles, the AGV trolley is easy to incline and turn on one's side due to gravity center deviation or inertia, so that the normal operation of the storage system is influenced, and accidents and article damage are caused. In addition, the navigation precision of current AGV dolly is limited, and to the location of AGV dolly inevitable existence deviation, the corresponding locating position that can lead to the storage article appears the deviation, gets the back of putting many times, appears after these deviations accumulation easily the fork of AGV dolly can't influence storage system's operation with the condition that storage article and storage position align.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve at least one technical problem in the prior art and provides a storage system capable of reducing accidents and improving positioning accuracy and preventing an AGV from inclining laterally.

In order to achieve the purpose, the technical scheme provided by the utility model is as follows:

a storage system for preventing an AGV car from tipping, comprising:

the storage space is internally provided with a storage position;

the transverse strip-shaped first guide piece is arranged at a position, away from the ground, in the storage space;

the AGV trolley is provided with a second guide piece, the second guide piece can follow the moving of the AGV trolley and is abutted against the side direction of the first guide piece and slides along the first guide piece.

Preferably, the first guide member is provided with a lateral guide groove, and the second guide member is capable of sliding along the guide groove in the guide groove along with the movement of the AGV.

Preferably, a lateral sliding groove is formed in the second guide member, and the second guide member can be sleeved outside the first guide member through the sliding groove and can slide along the guide groove.

Preferably, the second guide member is provided with a roller for abutting against the first guide member.

Preferably, a goods shelf is arranged in the storage space, and the storage position and the first guide piece are both arranged on the goods shelf.

Preferably, be provided with gyroscope and controlling means on the AGV dolly, the gyroscope is used for detecting the gesture and the motion state of AGV dolly, controlling means can be according to the testing result control of gyroscope the motion of AGV dolly.

Preferably, the AGV dolly is including fork and telescopic crane, the setting of fork liftable is in on the crane, be provided with power protection device on the AGV dolly, power protection device is used for maintaining when the power failure of AGV dolly the telescopic state of crane with the fork is in upper and lower position on the crane.

Preferably, the lifting frame comprises at least three frame bodies, and each frame body is connected in a lifting mode sequentially to enable the lifting frame to be telescopic.

Preferably, the second guide is located at the middle of the AGV in the up-down direction.

Preferably, the AGV trolley is provided with support legs capable of laterally extending out and retracting, and the support legs are used for abutting against the ground.

The utility model has the beneficial effects that: in this storage system, a high department has set up first guide apart from ground in the storage space, the second guide has been set up on the AGV dolly, along with the AGV dolly removes, the second guide can with first guide side direction butt and slide along first guide, combine both butt positions apart from the height on ground, can form support moment to the AGV dolly, can effectively prevent the AGV dolly towards heeling and turning on one's side of first guide orientation, effectively reduce the incidence of accident, furthermore, the slip butt of first guide and second guide also can play good guide and positioning action to the AGV dolly, can effectively improve the positioning accuracy of AGV dolly, further reduce the incidence of accident, and is safe and reliable.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the AGV cart and first guide in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic diagram of the AGV according to the preferred embodiment of the present invention with the crane extended.

Wherein, in the figures, the respective reference numerals:

11. a storage location; 12. a first guide member; 121. a guide groove; 122. a guide part; 13. a shelf; 20. An AGV trolley; 21. a roller; 22. a pallet fork; 23. a lifting frame; 231. a frame body; 24. a drive rod; 25. A laser device.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 3, a preferred embodiment of the present invention provides a storage system for preventing an AGV from tilting, including: the storage space is internally provided with a storage position 11; a first guide member 12 of a horizontal strip shape, which is arranged at a height from the ground in the storage space; the AGV car 20 is provided with a second guide member on the AGV car 20, and the second guide member can abut against the first guide member 12 laterally and slide along the first guide member 12 along with the movement of the AGV car 20. In this storage system, apart from ground one high department in the storage space and set up first guide 12, the second guide has been set up on AGV dolly 20, along with AGV dolly 20 removes, the second guide can with first guide 12 side direction butt and along first guide 12 slip, combine both butt positions apart from the height on ground, can form supporting moment to AGV dolly 20, can effectively prevent that AGV dolly 20 from heeling and turning on one's side towards first guide 12 direction, effectively reduce the incidence of accident, furthermore, the slip butt of first guide 12 and second guide also can play good guide and positioning action to AGV dolly 20, can effectively improve AGV dolly 20's positioning accuracy, further reduce the occurence rate of failure, and is safe and reliable more.

The AGV cart 20 is widely used and has a variety of different configurations and models, the basic configuration of which is well known to those skilled in the art, and which may be flexibly selected and designed as desired by those skilled in the art, and will not be described in further detail herein. The storage space can also be a common storehouse and other structures.

As a preferred embodiment of the present invention, it may also have the following additional technical features:

in this embodiment, the first guide 12 is provided with a lateral guide groove 121, and the second guide can slide along the guide groove 121 in the guide groove 121 along with the movement of the AGV 20, so that the first guide 12 can limit the position of the second guide in the vertical direction, and the anti-roll effect and the positioning accuracy can be further improved.

In some embodiments, a lateral sliding groove may be provided on the second guide member, and the second guide member can be sleeved outside the first guide member 12 through the sliding groove and slide along the guide groove 121, so that the anti-roll effect and the positioning accuracy can be improved.

In this embodiment, the second guide is provided with the roller 21 for abutting against the first guide 12, so that the frictional resistance between the first guide 12 and the second guide during the movement of the AGV 20 can be reduced, the interference and obstruction to the movement of the AGV 20 can be reduced, and the wear of the first guide 12 and the second guide can be reduced. In other embodiments, the first guide 12 and the second guide may be abutted by a flat surface fitting method, and the like, but is not limited thereto.

In this embodiment, the end of the first guide 12 is provided with a laterally inclined guide portion 122 to facilitate the engagement of the second guide with the first guide 12.

In this embodiment, a rack 13 is provided in the storage space, and the storage locations 11 and the first guides 12 are both provided on the rack 13, so as to facilitate the installation of the first guides 12 and the positioning of the AGV 20. In other embodiments, other suitable structures such as a storage space and a material placing table can be used as the storage position 11, or a designated area on the ground can be directly divided into the storage position 11; the first guide 12 may be provided on a wall surface or mounted on the ground by a bracket or the like, but is not limited thereto. In this embodiment, for the passageway that supplies the motion of AGV dolly 20 between the double-phase adjacent goods shelves 13, all be provided with first guide 12 on the double-phase adjacent goods shelves 13, the AGV dolly 20 left and right sides is corresponding to be provided with two second guides respectively, can all apply the holding power to the left and right sides of AGV dolly 20, effectively prevents that AGV dolly 20 from heeling and turning on one's side. In other embodiments, the arrangement position, number, distribution mode, and the like of the first guide member 12 and the second guide member may be flexibly adjusted according to the need, and are not limited thereto.

In this embodiment, a gyroscope and a control device are arranged on the AGV 20, the gyroscope is used for detecting the attitude and the motion state of the AGV 20, and the control device can control the motion of the AGV 20 according to the detection result of the gyroscope. From this can be real-time, whether accurate judgement AGV dolly 20 has the risk of turning on one's side, controlling means can control AGV dolly 20's motion according to this, borrow this posture and the motion state of adjustment AGV dolly 20, thereby can effectively reduce the accident of turning on one's side, and this detection and control are not influenced by the article that AGV dolly 20 carried, adaptability is good, corresponding control method also only needs the parameter or the experimental data design that combines AGV dolly 20 according to the testing result of gyroscope, can effectively simplify control procedure, convenient design and use, furthermore, also make AGV dolly 20 can realize being close to the different motion modes of fastest speed when carrying different article, help improving handling efficiency.

The gyroscope has wide application, has various different types and structures, can be flexibly selected by technicians in the field, and only needs to be capable of detecting the attitude and the motion state of the AGV trolley 20, wherein the motion state can be one or more of motion parameters such as speed, acceleration and direction according to selection, and the installation position and the like of the gyroscope can be flexibly adjusted according to requirements; the control device can adopt common control structures such as a PLC (programmable logic controller), a control circuit board and the like, and can be flexibly selected by the technical personnel in the field according to the needs. The corresponding control method is easy to design and implement by those skilled in the art, for example, it can be obtained through experiments that which range the posture and the motion state of the AGV 20 are in is stable, and the predetermined range of the gyro detection result can be correspondingly recorded, and when the gyro detection result exceeds the predetermined range, the control device performs operations of changing the motion mode, such as reducing the acceleration, reducing the steering radius, and decelerating, on the AGV 20.

The control of the AGV cart 20 by the control device may be achieved by controlling the power system and the brake system, such as acceleration and deceleration, changing the steering radius, acceleration control, etc., and will not be described in detail herein.

In this embodiment, AGV dolly 20 is including fork 22 and telescopic crane 23, the setting of fork 22 liftable is on crane 23, be provided with power protection device on AGV dolly 20, power protection device is used for maintaining crane 23's the telescopic state and the upper and lower position of fork 22 on crane 23 when AGV dolly 20 outage, so after lifting storehouse storing, if circumstances such as unexpected outage appear, power protection device can effectively prevent the article landing, further reduce the accident rate, more safe and reliable. The power-off device can realize power-off protection by controlling a driving system for driving the lifting frame 23 to stretch and descend and the fork 22 to lift, for example, a solenoid valve which is normally opened when electrified and is automatically closed when power is off is arranged on a liquid path, and braking can be carried out through a mechanical structure so as to realize power-off protection, for example, a stop piece which is maintained in a loosening state by electric power is arranged on the fork 22 and the lifting frame 23, after power is off, the stop piece is tightly clamped by utilizing a spring, self weight and the like so as to maintain the position of the fork 22 and the stretching state of the lifting frame 23, and the technical personnel in the field can flexibly select according to needs.

In this embodiment, the crane 23 includes three support bodies 231, and each support body 231 is connected and makes the crane 23 scalable according to preface liftable, so can effectively improve the rise height of crane 23 and reduce the height that crane 23 packed up back, and application scope is wider, convenient to use. In other embodiments, the crane 23 may also adopt other suitable telescopic structures such as a two-section telescopic structure, a four-section telescopic structure, and the like, but is not limited thereto. In this embodiment, the crane 23 is driven by the hydraulic drive rod 24 to extend and retract, but in other embodiments, the crane 23 may be driven by other suitable drivers such as a motor, and those skilled in the art can flexibly select the operation.

In this embodiment, the AGV cart 20 employs a power device with oil and electricity dual purposes, and has a wider application range.

In this embodiment, the fork 22 has adopted the flexible structure of three-section, can promote the side direction transport distance of storehouse storing, and application scope is wider, uses more nimble convenience.

In this embodiment, the second guiding member is located in the middle of the AGV 20 in the vertical direction, which can provide a good anti-roll effect, and in other embodiments, the second guiding member may be disposed in other suitable positions, such as the upper portion and the lower portion of the AGV 20, but is not limited thereto.

In this embodiment, the AGV 20 is provided with lateral extending and retracting legs for abutting against the ground, so as to further improve the anti-tilting effect of the AGV 20, and is more safe and reliable. The stabilizer blade accessible pin joint mode is installed on AGV dolly 20, realizes stretching out and withdrawing through the swing, also can adopt the mode that slides and set up on AGV dolly 20, realizes stretching out and withdrawing through removing.

In addition, be provided with laser device 25 on the AGV dolly 20 in this embodiment, cooperation controlling means realizes keeping away the barrier function, can further reduce the fault incidence.

The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.

The above description is only a preferred embodiment of the present invention, and the technical solutions that achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.

Claims

1. A warehouse system for preventing an AGV car from inclining is characterized by comprising:

the storage space is internally provided with a storage position (11);

the transverse elongated first guide piece (12) is arranged at a position, away from the ground, in the storage space;

the AGV comprises an AGV trolley (20), wherein a second guide piece is arranged on the AGV trolley (20), and the second guide piece can abut against the side of the first guide piece (12) along with the movement of the AGV trolley (20) and slide along the first guide piece (12).

2. Storage system for AGV carriages tilting prevention according to claim 1, characterised in that the first guide (12) is provided with lateral guide grooves (121), the second guide being able to slide along the guide grooves (121) inside the guide grooves (121) in response to the movement of the AGV carriage (20).

3. Storage system for AGV trolley anti-roll according to claim 1, characterized in that the second guide is provided with a lateral chute, through which the second guide can be slid along the guide groove (121) out of the first guide (12).

4. Storage system for AGV carriages preventing their heeling according to claim 2 or 3, characterised in that the second guide is provided with rollers (21) for abutment with the first guide (12).

5. Storage system for AGV trolley tilting prevention according to claim 1, characterised in that a rack (13) is arranged in the storage space, and that the storage locations (11) and the first guides (12) are arranged on the rack (13).

6. The warehousing system for preventing the lateral inclination of the AGV trolley according to the claim 1, characterized in that a gyroscope and a control device are arranged on the AGV trolley (20), the gyroscope is used for detecting the posture and the motion state of the AGV trolley (20), and the control device can control the motion of the AGV trolley (20) according to the detection result of the gyroscope.

7. The storage system for preventing the AGV dolly from heeling as claimed in claim 1, wherein the AGV dolly (20) comprises a fork (22) and a telescopic lifting frame (23), the fork (22) can be lifted and lowered to be arranged on the lifting frame (23), a power-off protection device is arranged on the AGV dolly (20), and the power-off protection device is used for maintaining the telescopic state of the lifting frame (23) and the up-and-down position of the fork (22) on the lifting frame (23) when the AGV dolly (20) is powered off.

8. The storage system for preventing the lateral inclination of an AGV according to claim 7, wherein the lifting frame (23) comprises at least three frames (231), and each frame (231) is connected in sequence in a lifting manner so that the lifting frame (23) can be extended and retracted.

9. Storage system for AGV carriages tilting prevention according to claim 1, characterised in that the second guide is located in the middle of the AGV carriage (20) in the up-down direction.

10. Storage system for AGV carriages tilting prevention according to claim 1, characterised in that the AGV carriage (20) is provided with laterally extendable and retractable feet for abutment against the ground.