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WO2020164000A1 - Véhicule guidé automatisé et système de stockage - Google Patents

Véhicule guidé automatisé et système de stockage Download PDF

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Publication number
WO2020164000A1
WO2020164000A1 PCT/CN2019/074895 CN2019074895W WO2020164000A1 WO 2020164000 A1 WO2020164000 A1 WO 2020164000A1 CN 2019074895 W CN2019074895 W CN 2019074895W WO 2020164000 A1 WO2020164000 A1 WO 2020164000A1
Authority
WO
WIPO (PCT)
Prior art keywords
slide rail
transport vehicle
telescopic
wheel
guided transport
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.)
Ceased
Application number
PCT/CN2019/074895
Other languages
English (en)
Chinese (zh)
Inventor
覃文飞
王金鹏
赵易豪
张元�
杨佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Standard Robots Co Ltd
Original Assignee
Standard Robots Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Standard Robots Co Ltd filed Critical Standard Robots Co Ltd
Priority to PCT/CN2019/074895 priority Critical patent/WO2020164000A1/fr
Priority to CN201980000136.3A priority patent/CN110035961B/zh
Publication of WO2020164000A1 publication Critical patent/WO2020164000A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • 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

Definitions

  • the invention relates to the technical field of intelligent storage, in particular to an automatic guided transport vehicle and a storage system.
  • the cost of the stacker is higher, and there is only one stacker in an aisle. If the stacker fails, the three-dimensional warehouse cannot operate normally, making the three-dimensional warehouse redundant. insufficient.
  • the mobile robot is used for transportation, although the redundancy of the storage system is improved, the height of the shelves is limited, and the height space cannot be fully utilized.
  • the purpose of the present invention is to provide an automatic guided transport vehicle and a storage system, which aims to solve the problems of insufficient redundancy of traditional storage methods and inability to make full use of high space.
  • the present invention provides an automatic guided transport vehicle that can climb along a shelf.
  • the shelf includes a frame body and a first engaging member.
  • the frame body is provided with a plurality of placement holes for placing goods.
  • the first engaging member is connected to the frame body, the number of the shelves is more than two, any two adjacent shelves are arranged opposite to each other, and there is a space between the two adjacent shelves.
  • the first engagement member is located on the side of the frame body close to the passage, and the automatic guided transport vehicle includes:
  • the climbing device includes a telescopic connecting piece, a second engaging piece and a climbing drive mechanism.
  • the second engaging piece and the climbing drive mechanism are both connected to the telescopic connecting piece, and the telescopic connecting piece can move relative to the frame
  • the distance is preset so that the second engaging member is engaged with the first engaging member, and the climbing drive mechanism can drive the second engaging member when the first engaging member is engaged with the second engaging member Rotating so that the automatic guided transport vehicle climbs along the first engaging member, and the automatic guided transport vehicle includes two climbing devices; and
  • the telescopic drive device can drive the telescopic connectors of the two climbing devices to move the preset distance in opposite directions, respectively.
  • the telescopic drive device includes a telescopic drive member, a drive gear, a first rack and a second rack, and the first rack is fixedly connected to the telescopic connector of one of the climbing devices, so
  • the second rack is fixedly connected to the telescopic connector of the other climbing device, the first rack and the second rack are both arranged along the direction in which the telescopic connector moves, and the first rack A rack and the second rack are spaced apart in the vertical direction, and the drive gear is located between the first rack and the second rack and is connected to the first rack and the second rack.
  • the second rack is engaged, and the telescopic driving member can drive the first rack to move, so that the first rack and the second rack move in opposite directions.
  • the first engaging member includes a chain
  • the second engaging member includes a sprocket
  • the climbing device further includes a first guide, and the first guide is connected to the telescopic connector, and the shelf further includes a second guide and a third guide, the second guide And the third guide member are both connected to the frame body, and the second guide member and the third guide member are spaced apart in the horizontal direction, and the first guide member is able to move when the telescopic connecting member moves Contact with at least one of the second guide member and the third guide member to position the automatic guided transport vehicle so that the second engaging member can move the telescopic connecting member the preset distance Engage with the first engaging member.
  • the first guide includes a guide wheel, the guide wheel is rotatably connected with the telescopic connecting member, and the second guide includes a first connecting section and a first inclined section that are sequentially connected, and the The third guide includes a second connecting section and a second inclined plane section that are connected in sequence.
  • the first connecting section and the second connecting section are both fixedly connected to the frame body, and the first inclined plane section is connected to the The distance between the second inclined surface segments gradually decreases along the direction from the second engaging member to the first engaging member.
  • the automatic guided transport vehicle further includes a walking device, a walking driving device, and a lifting device.
  • the walking device includes a swing arm, a traveling wheel, and a supporting wheel.
  • the swing arm is rotatably connected with the frame, and the The traveling wheel is rotatably connected with the swing arm, the support wheel is connected with the frame, the traveling driving device can drive the traveling wheel to rotate, and the lifting device can drive the The swing arm swings to raise the walking wheel.
  • the support wheel includes a universal wheel, and the universal wheel is connected to the frame.
  • the lifting device is fixedly connected to the telescopic connector, and the lifting device includes a lifting slope, and the distance between the lifting slope and the swing arm gradually decreases along the moving direction of the telescopic connector, so The lifting inclined surface can abut the swing arm when the telescopic connecting member moves, so that the swing arm swings upward.
  • the walking device further includes a shock absorber, one end of the shock absorber is connected to the frame, and the other end is connected to the swing arm.
  • the automatic guided transport vehicle further includes a storage device, the storage device includes a power mechanism and a telescopic mechanism, the telescopic mechanism includes a fixed slide rail fixedly connected to the frame, and slides with the fixed slide rail Connected to the primary slide rail and the secondary slide rail slidably connected to the primary slide rail, the power mechanism can drive the primary slide rail to move relative to the fixed slide rail, and drive the secondary slide The rail moves relative to the primary slide rail, and the movement direction of the primary slide rail and the secondary slide rail are the same.
  • the power mechanism includes a power source, a driving synchronous wheel, a driven synchronous wheel, a double-sided synchronous belt, a transmission wheel, a first transmission part, and a second transmission part
  • the double-sided synchronous belt includes a first transmission part arranged oppositely.
  • a transmission surface and a second transmission surface, the first transmission surface meshes with the driving synchronizing wheel, the driven synchronizing wheel and the transmission wheel, and the transmission wheel is located between the driving synchronizing wheel and the slave synchronizing wheel.
  • the second transmission surface meshes with the second transmission member, and the second transmission member and the secondary
  • the slide rail is connected, and the power source can drive the active synchronization wheel to rotate, so that the primary slide rail and the secondary slide rail move in the same direction.
  • the automatic guided transport vehicle includes two telescopic mechanisms, and the two telescopic mechanisms are arranged opposite to each other, and the article holding device further includes a linkage that connects the two telescopic mechanisms.
  • Level 1 slide the automatic guided transport vehicle includes two telescopic mechanisms, and the two telescopic mechanisms are arranged opposite to each other, and the article holding device further includes a linkage that connects the two telescopic mechanisms.
  • Level 1 slide is
  • the telescopic mechanism further includes a first slide rail connector and a second slide rail connector, and the first slide rail connector and the second slide rail connector are both connected to the two telescopic mechanisms.
  • the primary slide rail, the active synchronization wheel and the power source are all connected with the first slide rail connector, and the driven synchronization wheel is connected with the second slide rail connector.
  • the power mechanism further includes an adjusting member and a fastener, one end of the adjusting member is connected to the driven synchronizing wheel, and the other end is connected to the second slide rail connecting member through the fastener And at least one of the adjusting member and the second sliding rail connecting member is provided with a strip hole for the fastener to pass through.
  • the storage device further includes a storage platform and a guardrail, the storage platform is fixedly connected with the secondary slide rail, the guardrail is connected with the rack, and the storage device includes two guardrails, The two guardrails are arranged oppositely, and the storage platform is located between the two guardrails.
  • the present invention also provides a storage system, including a rack and the automatic guided transport vehicle as described in any one of the above, the rack includes a rack body and a first engaging member, the first engaging member and the rack body Fixedly connected, the number of the shelves is more than two, any two adjacent shelves are arranged opposite to each other, and a passage for the automatic guided transport vehicle is provided between the two adjacent shelves, The first engaging member is located on a side of the frame body close to the passage, and the automatic guided transport vehicle can climb along the first engaging member.
  • the above-mentioned automatic guided transport vehicle is equipped with a climbing device and a telescopic drive device.
  • the telescopic drive device can drive the telescopic connecting parts of the two sets of climbing devices to move in opposite directions, so that the second engaging parts of the two sets of climbing devices can all be A meshing member is engaged, and the climbing drive mechanism of the climbing device can drive the second meshing member to rotate when the first meshing member is meshed with the second meshing member, so that the automatic guided transport vehicle can climb along the first meshing member to any height of the shelf .
  • the storage system using the above-mentioned automatic guided transport vehicle can make full use of the height space.
  • the automated guided transport vehicles can move arbitrarily in the passage between the shelves, and multiple automated guided transport vehicles can operate independently of each other at the same time to improve the efficiency of storage and retrieval. Moreover, when one of the automated guided transport vehicles fails, it will not affect the work of other automated guided transport vehicles, which can improve the redundancy of the storage system.
  • Figure 1 is a schematic structural diagram of a storage system in an embodiment
  • Figure 2 is a schematic diagram of the structure at A in Figure 1;
  • Figure 3 is a schematic diagram of part of the structure of the shelf in Figure 1;
  • Figure 4 is a schematic view of the structure of the automated guided transport vehicle in Figure 1;
  • Figure 5 is a schematic diagram of part of the structure of the storage system in Figure 1;
  • Figure 6 is a schematic diagram of a part of the structure of the automated guided transport vehicle in Figure 1;
  • Figure 7 is a schematic diagram of another part of the structure of the automatic guided transport vehicle in Figure 1;
  • FIG. 8 is a schematic diagram of the structure of the storage device of the automatic guided transport vehicle in FIG. 1.
  • Telescopic drive device 310, telescopic drive member; 320, drive gear; 330, first rack; 340, second rack;
  • Walking device 410, swing arm; 420, walking wheel; 430, support wheel; 440, shock absorber;
  • 700 storage device; 710, power mechanism; 711, power source; 712, active synchronous wheel; 713, driven synchronous wheel; 714, double-sided synchronous belt; 715, transmission wheel; 716, the first transmission member; 717, the first Second transmission part; 718, adjustment part; 7181, strip hole; 720, telescopic mechanism; 721, fixed slide rail; 722, first slide rail; 723, second slide rail; 730, linkage member; 740, first slide Rail connector; 750, second slide rail connector; 760, storage platform; 770, guardrail;
  • an embodiment of the present invention provides a storage system including an automatic guided transport vehicle 10 and a shelf 20.
  • the shelf 20 includes a frame body 21 and a plurality of first engaging members 22, and the first engaging members 22 are fixedly connected to the frame body 21 and extend in a vertical direction.
  • the frame body 21 is provided with a plurality of placement holes 23 for placing the goods 201, the plurality of placement holes 23 are distributed in a matrix, and each column of the placement holes 23 is located between two adjacent first engaging members 22.
  • the number of shelves 20 is more than two, and any two adjacent shelves 20 are arranged opposite to each other, and there is a channel for the automatic guided transport vehicle 10 to walk between the two adjacent shelves 20, and the first engaging member 22 is located on the shelf.
  • the body 21 is close to one side of the channel.
  • two shelves 20 are arranged at intervals along the X-axis direction, and the automatic guided transport vehicle 10 can move between the two shelves 20 in the Y-axis direction.
  • the automated guided transport vehicle 10 includes a frame 100, a climbing device 200 and a telescopic driving device 300.
  • the climbing device 200 includes a telescopic connecting piece 210, a second engaging piece 220, and a climbing drive mechanism 230.
  • the second engaging piece 220 and the climbing drive mechanism 230 are all connected to the telescopic connecting piece 210, and the telescopic connecting piece 210 can be opposite to the frame along the X-axis direction.
  • 100 moves the preset distance.
  • the number of climbing devices 200 is two, and the two climbing devices 200 are arranged at intervals along the X-axis direction.
  • the telescopic drive device 300 can drive the telescopic connector 210a of the climbing device 200a to move a preset distance in the negative direction of the X-axis, and at the same time drive the telescopic connector 210b of the other climbing device 200b to move the preset distance in the positive direction of the X-axis, so that The second engaging member 220 of each climbing device 200 is engaged with the first engaging member 22.
  • the climbing drive mechanism 230 can drive the second engaging member 220 to rotate when the first engaging member 22 is engaged with the second engaging member 220, so that the automatic guided transport vehicle 10 climbs along the first engaging member 22 to move the goods 201 to a preset value. Height position.
  • the storage system using the above-mentioned automatic guided transport vehicle 10 can make full use of the height space.
  • the automated guided transport vehicle 10 can move arbitrarily in the passage between the shelves 20, and multiple automated guided transport vehicles 10 can operate independently of each other at the same time, so as to improve the efficiency of storage and retrieval.
  • the operation of the other automated guided transport vehicles 10 will not be affected, which can improve the redundancy of the storage system.
  • the telescopic driving device 300 includes a telescopic driving member 310, a driving gear 320, a first rack 330 and a second rack 340.
  • the first rack 330 is fixedly connected to the telescopic connector 210a of the climbing device 200a
  • the second rack 340 is fixedly connected to the telescopic connector 210b of the climbing device 200b.
  • the first rack 330 and the second rack 340 are both arranged along the X-axis direction, and the first rack 330 and the second rack 340 are spaced apart in the Z-axis direction.
  • the driving gear 320 is located between the first rack 330 and the second rack 340 and meshes with the first rack 330 and the second rack 340.
  • the automatic guided transport vehicle 10 moves between two adjacent shelves 20 through the navigation device.
  • the telescopic driving member 310 drives the first engaging member 22.
  • a rack 330 moves along the negative direction of the X-axis.
  • the driving gear 320 meshed with the first rack 330 rotates to drive the second rack 340 meshed with the driving gear 320 to be positive along the X-axis.
  • the second engaging members 220 of the two climbing devices 200 respectively engage with the first engaging members 22 of the two shelves 20 disposed oppositely.
  • the climbing drive mechanism 230 drives the second engaging member 220 to rotate. Since the first engaging member 22 is fixedly connected to the frame body 21, when the second engaging member 220 rotates, the automatic guided transport vehicle 10 can climb along the first engaging member 22.
  • each group of climbing devices 200 includes two second engaging members 220, and the two second engaging members 220 are arranged at intervals along the Y-axis direction.
  • the climbing drive mechanism 230 includes a climbing drive 231, a driving wheel 232, a driven wheel 233, a timing belt 235, and a climbing connection 234.
  • the timing belt 235 meshes with the driving wheel 232 and the driven wheel 233, the driven wheel 233 and two second meshing members Both 220 are connected with the climbing connector 234.
  • the climbing driving member 231 can drive the driving wheel 232 to rotate.
  • the driving wheel 232 drives the driven wheel 233 to rotate through the timing belt 235, so that the climbing connecting member 234 and the two second engaging members 220 fixedly connected to the climbing connecting member 234 rotate.
  • the telescopic driving device 300 may also include two telescopic driving members 310, and the two telescopic driving members 310 respectively drive the second engaging members 220 of the two climbing devices 200 to extend in opposite directions.
  • the first engaging member 22 is a chain
  • the second engaging member 220 is a sprocket
  • the first engaging member 22 may also be a rack
  • the second engaging member 220 is a gear
  • the climbing device 200 further includes a first guide 240, and the first guide 240 is connected to the telescopic connection 210.
  • the shelf 20 further includes a second guide 24 and a third guide 25.
  • the second guide 24 and the third guide 25 are both connected to the frame 21, and the second guide 24 and the third guide 25 are along the Y axis direction. Interval settings.
  • the first guide member 240 can contact at least one of the second guide member 24 and the third guide member 25 when the telescopic connecting member 210 moves, so as to position the automatic guided transport vehicle 10 so that the second engaging member 220 can be in the telescopic connecting member.
  • 210 engages with the first engaging member 22 when moving a predetermined distance.
  • the first guide member 240 is a guide wheel, and the guide wheel is rotatably connected with the telescopic connecting member 210.
  • the second guide member 24 includes a first connecting section 241 and a first inclined plane section 242 that are connected in sequence
  • the third guide member 25 includes a second connecting section 251 and a second inclined plane section 252 that are connected in sequence.
  • the first connecting section 241 and the second connecting section 251 are both fixedly connected to the frame body 21, and the distance between the first inclined plane section 242 and the second inclined plane section 252 gradually decreases along the direction from the second engaging member 220 to the first engaging member 22 small.
  • the automatically guided transport vehicle 10 moves to a position where the second engaging member 220 is directly facing the first engaging member 22, the automatically guided transport vehicle 10 stops walking. Then, the telescopic drive device 300 drives the telescopic connectors 210 of the two climbing devices 200 to move in opposite directions. During the movement of the telescopic connector 210, the first guide 240 is different from the second guide 24 and the third guide 25. contact. If the position where the automatic guided transport vehicle 10 stays is deviated, for example, the automatic guided transport vehicle 10 is biased toward the second guide member 24, that is, the automatic guided transport vehicle 10 is offset in the positive direction of the Y axis.
  • the first guide member 240 is in contact with the first inclined surface section 242. Since the distance between the first inclined surface section 242 and the second inclined surface section 252 gradually decreases along the direction from the second engaging member 220 to the first engaging member 22, the telescopic connecting member 210 automatically guides the transport vehicle 10 during the movement. Move to the direction close to the third guide member 25, that is, automatically guide the transporter 10 to move in the negative direction of the Y axis until the second engaging member 220 is facing the first engaging member 22 to achieve secondary positioning, thereby improving the first engaging member 22. The accuracy of the engagement with the second engagement member 220.
  • the guide wheels of the two climbing devices 200 abut against the frame 21 to restrict the automatic guided transport vehicle 10 from moving along the X-axis direction, thereby ensuring An engaging member 22 and the second engaging member 220 are always engaged when the automatic guided transport vehicle 10 climbs along the first engaging member 22.
  • the automated guided transport vehicle 10 further includes a walking device 400, a walking driving device 500 and a lifting device 600, and the number of the walking device 400 and the lifting device 600 is two.
  • the walking device 400 includes a swing arm 410, a traveling wheel 420 and a supporting wheel 430.
  • the swing arm 410 is rotatably connected with the frame 100, and the traveling wheel 420 is rotatably connected with the swing arm 410.
  • the number of the traveling driving device 500 is two.
  • the two traveling driving devices 500 respectively drive the traveling wheels 420 of the two traveling devices 400 to rotate. By controlling the rotation speed of the two traveling driving devices 500, the transport vehicle 10 can be automatically guided to turn.
  • the supporting wheel 430 is connected to the frame 100, and the lifting device 600 can drive the swing arm 410 to swing when the telescopic connecting member 210 moves to lift the walking wheel 420.
  • the automatic guided transport vehicle 10 is supported by the supporting wheels 430. In this way, the friction between the walking wheels 420 and the ground during the secondary positioning of the automated guided transport vehicle 10 can be reduced.
  • the lifting device 600 is fixedly connected to the telescopic connector 210.
  • the lifting device 600 includes a lifting slope 610.
  • the distance between the lifting slope 610 and the swing arm 410 in the Z-axis direction gradually decreases along the moving direction of the telescopic connector 210.
  • the lifting inclined surface 610 can abut against the swing arm 410 when the telescopic connector 210 moves, so that the swing arm 410 swings upward, so that the walking wheel 420 is separated from the ground.
  • the support wheel 430 is a universal wheel, which can further reduce the resistance of the automatic guided transport vehicle 10 during the secondary positioning process.
  • the walking device 400 further includes a shock absorber 440.
  • One end of the shock absorber 440 is connected to the frame 100 and the other end is connected to the swing arm 410. In this way, it can be avoided that the ground is uneven or the automatic guided transport vehicle 10 vibrates greatly when encountering obstacles, causing the goods 201 on the automatic guided transport vehicle 10 to fall.
  • the automatic guided transport vehicle 10 further includes an article storage device 700
  • the article storage device 700 includes a power mechanism 710 and a telescopic mechanism 720.
  • the telescopic mechanism 720 includes a fixed slide rail 721 fixedly connected to the rack 100, a primary slide rail 722 slidably connected to the fixed slide rail 721, and a secondary slide rail 723 slidably connected to the primary slide rail 722.
  • the power mechanism 710 can drive the primary slide rail 722 to move relative to the fixed slide rail 721, and drive the secondary slide rail 723 to move relative to the primary slide rail 722, and the primary slide rail 722 and the secondary slide rail 723 move in the same direction.
  • the cargo 201 is placed on the secondary slide rail 723, and the cargo 201 moves along with the secondary slide rail 723 to place the cargo 201 in the placement hole 23 or remove the cargo 201 in the placement hole 23.
  • the power mechanism 710 includes a power source 711, a driving synchronous wheel 712, a driven synchronous wheel 713, a double-sided synchronous belt 714, a transmission wheel 715, a first transmission member 716, and a second transmission member 717.
  • the double-sided timing belt 714 includes a first transmission surface and a second transmission surface that are arranged oppositely.
  • the first transmission surface meshes with the driving synchronization wheel 712, the driven synchronization wheel 713 and the transmission wheel 715.
  • the transmission wheel 715 is located between the driving synchronization wheel 712 and Between the driven synchronous wheels 713 and connected to the primary sliding rail 722 through the first transmission member 716.
  • the second transmission surface is engaged with the second transmission member 717, and the second transmission member 717 is connected with the secondary sliding rail 723.
  • the second transmission member 717 also drives the secondary slide rail 723 to move relative to the primary slide rail 722 in the same direction to speed up the secondary slide rail 722.
  • the moving speed of the sliding rail 723 is increased, and the moving stroke of the secondary sliding rail 723 is increased.
  • the moving direction of the secondary slide rail 723 can be determined by changing the direction in which the power source 711 drives the active synchronization wheel 712 to rotate, so that the telescopic mechanism 720 can extend in two directions.
  • the number of telescopic mechanisms 720 is two, and the two telescopic mechanisms 720 are arranged opposite to each other.
  • the storage device 700 further includes a linkage 730 which connects the first stage of the two telescopic mechanisms 720. ⁇ rail722.
  • a linkage 730 which connects the first stage of the two telescopic mechanisms 720. ⁇ rail722.
  • the telescopic mechanism 720 further includes a first slide rail connecting piece 740 and a second slide rail connecting piece 750.
  • the first slide rail connecting piece 740 and the second slide rail connecting piece 750 are both connected to the primary slides of the two telescopic mechanisms 720.
  • the active synchronization wheel 712 and the power source 711 are both connected to the first slide rail connection 740, and the driven synchronization wheel 713 is connected to the second slide rail connection 750.
  • first slide rail connecting member 740 and the second slide rail connecting member 750 are both connected to the primary slide rails 722 of the two telescopic mechanisms 720, which can ensure the synchronous movement of the primary slide rails 722 of the two telescopic mechanisms 720;
  • the active synchronizing wheel 712 and the power source 711 are connected to the first slide rail connecting member 740, and the driven synchronizing wheel 713 is connected to the second slide rail connecting member 750 to save installation space.
  • the active synchronizing wheel 712, the power source 711, and the driven synchronizing wheel 713 all move synchronously with the primary slide rail 722, which can increase the movement stroke of the primary slide rail 722.
  • the power mechanism 710 further includes an adjusting member 718 and a fastener.
  • One end of the adjusting member 718 is connected to the driven synchronizing wheel 713, and the other end is connected to the second slide rail connecting member 750 through the fastener, and the adjusting member 718 is There are strip holes 7181 for fasteners to pass through. In this way, the relative position of the adjusting member 718 and the second sliding rail connecting member 750 can be adjusted, so as to adjust the distance between the driven synchronous wheel 713 and the active synchronous wheel 712 to adjust the tightness of the double-sided synchronous belt 714.
  • the storage device 700 further includes a storage platform 760 and a guardrail 770, and the storage platform 760 is fixedly connected to the secondary slide rail 723 to facilitate the placement of the goods 201.
  • the guardrail 770 is connected to the frame 100, the number of guardrails 770 is two, the two guardrails 770 are arranged oppositely, and the storage platform 760 is located between the two guardrails 770. By providing the guardrail 770, the goods 201 can be prevented from moving on the storage platform 760 and falling.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un véhicule guidé automatisé et un système de stockage. Le véhicule guidé automatisé (10) est apte à monter le long d'étagères d'articles (20), chaque étagère d'articles (20) comprend un corps d'étagère (21) et des premiers éléments de mise en prise (22), un passage de déplacement pour le véhicule guidé automatisé (10) est prévu entre deux étagères d'articles adjacentes (20), et les premiers éléments de mise en prise (22) sont situés sur le côté du corps d'étagère (21) à proximité du passage. Le véhicule guidé automatisé (10) comprend un cadre (100), des dispositifs d'escalade (200) et un dispositif d'entraînement rétractable (300). Chaque dispositif d'escalade (200) comprend des éléments de liaison rétractables (210), des seconds éléments de mise en prise (220) et un mécanisme d'entraînement d'escalade (230). Les seconds éléments de mise en prise (220) et le mécanisme d'entraînement d'escalade (230) sont chacun reliés aux éléments de liaison rétractables (210). Les éléments de liaison rétractables (210) sont aptes à se déplacer sur une distance prédéfinie par rapport au cadre (100), de telle sorte que les seconds éléments de mise en prise (220) viennent en prise avec les premiers éléments de mise en prise (22). Le mécanisme d'entraînement d'escalade (230) est apte à entraîner les seconds éléments de mise en prise (220) en rotation, de telle sorte que le véhicule guidé automatisé (10) monte le long des premiers éléments de mise en prise (22). Le véhicule guidé automatisé (10) comprend deux dispositifs d'escalade (200), et le dispositif d'entraînement rétractable (230) est apte à entraîner les éléments de liaison rétractables (210) des deux dispositifs d'escalade (200) en déplacement respectivement sur la distance prédéfinie dans des directions opposées.
PCT/CN2019/074895 2019-02-13 2019-02-13 Véhicule guidé automatisé et système de stockage Ceased WO2020164000A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/074895 WO2020164000A1 (fr) 2019-02-13 2019-02-13 Véhicule guidé automatisé et système de stockage
CN201980000136.3A CN110035961B (zh) 2019-02-13 2019-02-13 自动引导运输车及仓储系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/074895 WO2020164000A1 (fr) 2019-02-13 2019-02-13 Véhicule guidé automatisé et système de stockage

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Publication Number Publication Date
WO2020164000A1 true WO2020164000A1 (fr) 2020-08-20

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PCT/CN2019/074895 Ceased WO2020164000A1 (fr) 2019-02-13 2019-02-13 Véhicule guidé automatisé et système de stockage

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CN (1) CN110035961B (fr)
WO (1) WO2020164000A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112298888A (zh) * 2020-10-28 2021-02-02 北京京东乾石科技有限公司 Agv小车和仓储系统
CN112520294A (zh) * 2020-12-16 2021-03-19 合肥井松智能科技股份有限公司 一种无人运输自动导引车及仓储系统

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