CN104229421B - A kind of active and standby hopper automatic seamless is plugged into method - Google Patents
A kind of active and standby hopper automatic seamless is plugged into method Download PDFInfo
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- CN104229421B CN104229421B CN201410281700.2A CN201410281700A CN104229421B CN 104229421 B CN104229421 B CN 104229421B CN 201410281700 A CN201410281700 A CN 201410281700A CN 104229421 B CN104229421 B CN 104229421B
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Abstract
The present invention relates to a kind of unmanned handling system, including automatic guided vehicle, main reservoir, material-supplying box, flowing water conveyer and running route, the dynamic described material-supplying box of described automatic guided vehicle load runs on described running route, described main reservoir is for splicing or feeding on flowing water conveyer, the described automatic guided vehicle dynamic described material-supplying box of load and described main reservoir accomplish that Seamless linkage is replaced, by arranging fixed support and position-limit mechanism bottom hopper, coordinate the dynamic device of load of automatic guided vehicle, it is capable of flowing water conveyer with automatic loading location and disengaging mode just to plug at the main reservoir of splicing or feeding and the automatic seamless of material-supplying box, solve and prior art exists waste of manpower, ineffective problem.
Description
Technical field
The present invention relates to unmanned handling system, particularly relate to active and standby hopper Seamless linkage method and system thereof in unmanned handling system.
Background technology
Unmanned handling system is gradually ripe, is widely used in manufacturing industry material handling, is deep into multiple industries such as machining, household electrical appliances production, micro-electronic manufacturing, Medicated cigarette, and production and processing field becomes the most widely used field of unmanned handling system.Automatic guided vehicle (AutomatedGuidedVehicle; it is called for short AGV); refer to that being equipped with electricity magnetically or optically waits homing guidance device; can travel along the guide path of regulation; there is safeguard protection and the transport vehicle of various transfer function; commercial Application does not need the mover of driver, with chargeable accumulator for its power resources.The general computer that can pass through controls its course and behavior, or utilize electromagnetic path (electromagneticpath-followingsystem) to set up its course, electromagnetic path is pasted on what floor, and automatic guided vehicle then follows the information that electromagnetic path brings to move and action.
In unmanned handling system, in order to carry the hopper and empty charging box being loaded with article, automatic guided vehicle follows the information that electromagnetic path brings to move and action, and in the stipulated time, it can move forward and backward in the plane, turn.At present flowing water conveyer is just replaced with material-supplying box handing-over at the main reservoir of splicing or feeding, generally by manually realizing, automatic guided vehicle be responsible for transporting hopper, not only cannot realize active and standby hopper automatic seamless and plug into, and waste manpower, reduce work efficiency.
Summary of the invention
Based on this, it is necessary to provide a kind of active and standby hopper automatic seamless to plug into method, just plug at the main reservoir of splicing or feeding and the automatic seamless of material-supplying box realizing flowing water conveyer, solve that prior art exists waste of manpower, ineffective problem.
Present invention firstly provides a kind of unmanned handling system, including automatic guided vehicle, main reservoir, material-supplying box, flowing water conveyer and running route, the dynamic described material-supplying box of described automatic guided vehicle load runs on described running route, described main reservoir is for splicing or feeding on flowing water conveyer, and the described automatic guided vehicle dynamic described material-supplying box of load and described main reservoir accomplish that Seamless linkage is replaced.
Further, described flowing water conveyer includes splicing flowing water conveyer and feeding flowing water conveyer, described main reservoir includes splicing main reservoir and feeding main reservoir, and described splicing main reservoir is positioned at described splicing flowing water conveyer rear end, and described feeding main reservoir is positioned at described feeding flowing water conveyer front end.
Further, it is provided with movable pulley, fixed support and position-limit mechanism bottom described main reservoir and described material-supplying box, described fixed support includes guide edge and fixing groove, and described position-limit mechanism includes rotating shaft and stops limit, and described position-limit mechanism is arranged at the notch of described fixing groove.
Further, described automatic guided vehicle being provided with the dynamic device of load, described automatic guided vehicle drives the dynamic device of described load to coordinate with described fixed support, described position-limit mechanism, completes the loading location of described automatic guided vehicle and described hopper and departs from.
Further, described main reservoir and described material-supplying box are also provided with signal acquisition module and signal detection module, described signal acquisition module is for gathering the hopper state of described main reservoir and described material-supplying box, described signal detection module is connected with described signal acquisition module, for receiving the hopper status signal that described signal acquisition module collects, and described hopper status signal is converted to optical signal；
Arranging signal processing module on described automatic guided vehicle, described signal processing module receives described optical signal, controls described automatic guided vehicle action according to described optical signal.
Present invention also offers a kind of active and standby hopper automatic seamless to plug into method, comprise the steps:
S1: the dynamic material-supplying box of automatic guided vehicle load moves along running route, described material-supplying box and the main reservoir on flowing water conveyer before and after linear movement direction mutually against；
S3: the dynamic described material-supplying box of described automatic guided vehicle load promotes described main reservoir linearly to move together, until described material-supplying box arrives the overlapping positions that described main reservoir moves, the dynamic material-supplying box of automatic guided vehicle load stops together with main reservoir；
S5: described material-supplying box replaces the main reservoir splicing on described flowing water conveyer or feeding.
Further, before described step S3, step S2 is also included:
S2: judge whether the main reservoir state on described flowing water conveyer meets and replace requirement, if it is, perform S3, otherwise, return S2.
Further, step S2 judges whether the main reservoir state on described flowing water conveyer meets the step replacing requirement and specifically include:
S21: the signal acquisition module of described main reservoir gathers the hopper state of described main reservoir；
S23: the signal detection module of described main reservoir receives the hopper status signal that described signal acquisition module collects, and described hopper status signal is converted to optical signal；
S25: the signal processing module of described automatic guided vehicle, receives described optical signal, judges described hopper state according to described optical signal.
Further, the main reservoir splicing on the described flowing water conveyer of material-supplying box replacement described in step S5 or feeding concrete steps include:
S51: described automatic guided vehicle controls the dynamic device of load and declines, and described automatic guided vehicle separates with described material-supplying box；
S53: described automatic guided vehicle moves to bottom the main reservoir on described flowing water conveyer；
S55: described automatic guided vehicle controls the dynamic device of described load and rises, and coordinates with fixed support and the position-limit mechanism of described main reservoir, makes described automatic guided vehicle load location with described main reservoir, the dynamic described main reservoir motion of described automatic guided vehicle load.
Further, after described S3, also include step S4,
S4: described material-supplying box is converted to the main reservoir on described flowing water conveyer, and the main reservoir of described splicing or feeding is converted to material-supplying box.
Implement to the method have the advantages that by arranging fixed support and position-limit mechanism bottom hopper, coordinate the dynamic device of load of automatic guided vehicle, it is capable of flowing water conveyer with automatic loading location and disengaging mode just to plug at the main reservoir of splicing or feeding and the automatic seamless of material-supplying box, solves and prior art exists waste of manpower, ineffective problem.
Accompanying drawing explanation
Fig. 1 is that in the embodiment of the present invention, unmanned handling system material-supplying box and the main reservoir on flowing water conveyer are mutual to schematic top plan view before and after linear movement direction；
Fig. 2 is hopper bottom surface structure schematic diagram in the embodiment of the present invention；
Fig. 3 is the enlarged drawing of A in Fig. 2, i.e. position-limit mechanism structural representation in the embodiment of the present invention；
Fig. 4 is the automatic guided vehicle structural representation in the embodiment of the present invention after the dynamic device rising of load；
Fig. 5 is the automatic guided vehicle structural representation in the embodiment of the present invention after the dynamic device decline of load；
Fig. 6 is that one embodiment of the present invention automatic seamless is plugged into method flow diagram；
Fig. 7 is that another preferred embodiment automatic seamless of the present invention is plugged into method flow diagram；
Fig. 8 is whether the main reservoir state judged in the preferred embodiment of the present invention on described flowing water conveyer meets the method flow diagram replacing requirement；
Fig. 9 is the method flow diagram that in the preferred embodiment of the present invention, material-supplying box replaces the main reservoir splicing on flowing water conveyer or feeding；
Figure 10 is that in the preferred embodiment of the present invention, unmanned handling system material-supplying box arrives the overlapping positions schematic top plan view before main reservoir moves；
Figure 11 is that in the preferred embodiment of the present invention, unmanned handling system automatic guided vehicle moves to schematic top plan view bottom the main reservoir on flowing water conveyer；
Figure 12 is that in the preferred embodiment of the present invention, the dynamic described main reservoir of unmanned handling system automatic guided vehicle load moves to next flowing water conveyer position schematic top plan view.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
As preferred embodiment, main reservoir on a kind of unmanned handling system material-supplying box provided by the invention and flowing water conveyer before and after linear movement direction mutually against schematic top plan view as shown in Figure 1, including automatic guided vehicle 2, material-supplying box 3, splicing main reservoir 4, feeding main reservoir 5, splicing flowing water conveyer 6, feeding flowing water conveyer 7 and running route 8, the dynamic described material-supplying box 3 of described automatic guided vehicle 2 load runs on described running route 8, described splicing main reservoir 4 is for splicing on splicing flowing water conveyer 6, described feeding main reservoir 5 is for feeding on feeding flowing water conveyer 7, the described automatic guided vehicle 2 dynamic described material-supplying box 3 of load and described splicing main reservoir 4, feeding main reservoir 5 accomplishes that Seamless linkage is replaced.
As it is shown in figure 1, described splicing main reservoir 4 is positioned at described splicing flowing water conveyer 6 rear end, described feeding main reservoir 5 is positioned at described feeding flowing water conveyer 7 front end.
As preferred embodiment, described main reservoir and described material-supplying box simply serve as different role in different phase, and therefore its shape, size, structure are identical, and in this collectively it is hopper.Fig. 2 is hopper bottom surface structure schematic diagram in the embodiment of the present invention, Fig. 3 is the enlarged drawing of A in Fig. 2, i.e. position-limit mechanism structural representation in the embodiment of the present invention, described hopper includes fixed support 11 and position-limit mechanism 12, described fixed support 11 and position-limit mechanism 12 are arranged at described hopper body bottom surface 101, as shown in Figure 2, described fixed support 11 includes guide edge 111 and fixing groove 112, as shown in Figure 3, described position-limit mechanism 12 includes rotating shaft 121 and stops limit 122, and described position-limit mechanism 12 is arranged at the notch of described fixing groove 112.Described position-limit mechanism 12 is used for coordinating described fixed support 11 to play positioning action, described only limit 122 rotates around described rotating shaft 121, described rotating shaft 121 direction of arrow described in Fig. 3 rotates, and the final position on described only limit 122 is close to described hopper body bottom surface 101.Described hopper also includes movable pulley 13, and described movable pulley 13 is respectively arranged at position, four angles, described hopper body bottom surface.Arrange described movable pulley in order that transport in the process of hopper at automatic guided vehicle and make the movable pulley of hopper land, and automatic guided vehicle only plays guide effect, alleviates the load-bearing burden of automatic guided vehicle.
As preferred embodiment, Fig. 4 is the automatic guided vehicle structural representation in the embodiment of the present invention after the dynamic device rising of load, and Fig. 5 is that in the embodiment of the present invention, load moves the automatic guided vehicle structural representation after device declines.Automatic guided vehicle 2 provided by the invention is provided with the dynamic device 21 of load, in conjunction with Fig. 2, Fig. 3, described automatic guided vehicle 2 drives the dynamic device 21 of described load to coordinate with described fixed support 11, described position-limit mechanism 12, completes the loading location of described automatic guided vehicle 2 and described hopper 1 and departs from.
As preferred embodiment, described hopper is also provided with signal acquisition module and signal detection module, described signal acquisition module is for gathering the hopper state of described main reservoir and described material-supplying box, described signal detection module is connected with described signal acquisition module, for receiving the hopper status signal that described signal acquisition module collects, and described hopper status signal is converted to optical signal；Arranging signal processing module on described automatic guided vehicle, described signal processing module receives described optical signal, controls described automatic guided vehicle action according to described optical signal.By arranging signal acquisition module on hopper, can expire or non-full state by stable detection hopper, by signal detection module, described hopper status signal is converted to optical signal, in conjunction with the signal processing module being positioned on automatic guided vehicle, by gathering described optical signal, thus better controlling automatic guided vehicle action, improve the turnover rate of hopper, save human cost, it is simple to on-site maintenance.
The embodiment of the present invention by arranging fixed support and position-limit mechanism bottom hopper, coordinate the dynamic device of load of automatic guided vehicle, it is capable of flowing water conveyer with automatic loading location and disengaging mode just to plug at the main reservoir of splicing or feeding and the automatic seamless of material-supplying box, solves and prior art exists waste of manpower, ineffective problem.
The embodiment of the invention also discloses a kind of active and standby hopper automatic seamless to plug into method, as shown in Figure 6 as preferred embodiment, described method comprises the steps:
S1: the dynamic material-supplying box of automatic guided vehicle load moves along running route, described material-supplying box and the main reservoir on flowing water conveyer before and after linear movement direction mutually against；
S3: the dynamic described material-supplying box of described automatic guided vehicle load promotes described main reservoir linearly to move together, until described material-supplying box arrives the overlapping positions that described main reservoir moves, the dynamic material-supplying box of automatic guided vehicle load stops together with main reservoir；
S5: described material-supplying box replaces the main reservoir splicing on described flowing water conveyer or feeding.
It is illustrated in figure 7 the active and standby hopper automatic seamless of the present invention to plug into another preferred embodiment of method, before described step S3, also includes step S2:
S2: judge whether the main reservoir state on described flowing water conveyer meets and replace requirement, if it is, perform S3, otherwise, return S2.
Judge whether main reservoir state meets and replace that require in order that ensure the Seamless linkage of empty charging box and full hopper, give full play to hopper space, reduce number of times of plugging into, improve material transportation efficiency.
Being illustrated in figure 8 step S2 and judge that whether the main reservoir on described flowing water conveyer is the method flow diagram of the full state of case, its step specifically includes:
S21: the signal acquisition module of described main reservoir gathers the hopper state of described main reservoir；
S23: the signal detection module of described main reservoir receives the hopper status signal that described signal acquisition module collects, and described hopper status signal is converted to optical signal；
S25: the signal processing module of described automatic guided vehicle, receives described optical signal, judges whether described hopper is the full state of case according to described optical signal.
Being illustrated in figure 9 material-supplying box described in step S5 and replace the method flow diagram of the main reservoir splicing on described flowing water conveyer or feeding, concrete steps include:
S51: described automatic guided vehicle controls the dynamic device of load and declines, and described automatic guided vehicle separates with described material-supplying box；
S53: described automatic guided vehicle moves to bottom the main reservoir on described flowing water conveyer；
S55: described automatic guided vehicle controls the dynamic device of described load and rises, and coordinates with fixed support and the position-limit mechanism of described main reservoir, makes described automatic guided vehicle load location with described main reservoir, the dynamic described main reservoir motion of described automatic guided vehicle load.
As preferred embodiment, in actual applications, after described S3, also include step S4,
S4: described material-supplying box is converted to the main reservoir on described flowing water conveyer, and the main reservoir of described splicing or feeding is converted to material-supplying box.Main reservoir runs in unmanned handling system efficiently with the final of material-supplying box.
In order to make the active and standby hopper automatic seamless of the present invention plug into method more clearly, with the unmanned handling system shown in Fig. 1 for application case, illustrate the application process of described method:
Unmanned handling system shown in Fig. 1 includes automatic guided vehicle 2, material-supplying box 3, splicing main reservoir 4, feeding main reservoir 5, splicing flowing water conveyer 6, feeding flowing water conveyer 7 and running route 8, the dynamic described material-supplying box 3 of described automatic guided vehicle 2 load runs on described running route 8, described splicing main reservoir 4 is for splicing on splicing flowing water conveyer 6, described feeding main reservoir 5 is for feeding on feeding flowing water conveyer 7, and the dynamic described material-supplying box 3 of described automatic guided vehicle 2 load and described splicing main reservoir 4, feeding main reservoir 5 accomplish that Seamless linkage is replaced.Described splicing main reservoir 4 is positioned at described splicing flowing water conveyer 6 rear end, and described feeding main reservoir 5 is positioned at described feeding flowing water conveyer 7 front end.
S1 ': the dynamic material-supplying box 3 of automatic guided vehicle 2 load moves along running route 8, described material-supplying box 3 and the splicing main reservoir 4 on splicing flowing water conveyer 6 before and after linear movement direction mutually against, be illustrated in figure 1 described material-supplying box 3 and the main reservoir 4 on splicing flowing water conveyer 6 before and after linear movement direction mutually against schematic top plan view；And then,
S3 ': the dynamic described material-supplying box 3 of automatic guided vehicle 2 load promotes the splicing main reservoir 4 on described splicing flowing water conveyer 6 linearly to move together, until described material-supplying box 3 arrives the overlapping positions that described main reservoir 4 moves, the dynamic material-supplying box of automatic guided vehicle load stops together with main reservoir；The overlapping positions schematic top plan view before main reservoir 4 moves is arrived as shown in Figure 10 for material-supplying box 3；And then,
S5 ': described material-supplying box 3 replaces main reservoir 4 splicing on described splicing flowing water conveyer 6, specifically comprises the following steps that
S51 ': described automatic guided vehicle 2 controls the dynamic device of load and declines, and described automatic guided vehicle 2 separates with described material-supplying box 3；
S53 ': described automatic guided vehicle 2 moves to bottom the main reservoir 4 on described splicing flowing water conveyer 6；Schematic top plan view bottom the main reservoir 4 on splicing flowing water conveyer 6 is moved to as shown in figure 11 for automatic guided vehicle 2；
S55 ': described automatic guided vehicle 2 controls the dynamic device of described load and rises, and coordinates with fixed support and the position-limit mechanism of described main reservoir 4, makes described automatic guided vehicle 2 load location with described main reservoir 4, and the dynamic described main reservoir 4 of described automatic guided vehicle 2 load moves.
So far, the automatic seamless completing the main reservoir 4 on material-supplying box 3 and splicing flowing water conveyer 6 is plugged into.Now, described material-supplying box 3 is converted to the main reservoir on splicing flowing water conveyer, and the main reservoir 4 on described splicing flowing water conveyer 6 is converted to the material-supplying box on feeding flowing water conveyer 7.
The dynamic described main reservoir 4 of automatic guided vehicle 2 load moves to the schematic top plan view of feeding flowing water conveyer 7 position as shown in figure 12.Automatic seamless between the main reservoir 4 that main reservoir 5 on feeding flowing water conveyer 7 and automatic guided vehicle load is dynamic method and material-supplying box 3 and the automatic seamless of the main reservoir 4 on splicing flowing water conveyer 6 method of plugging into of plugging into is identical, does not repeat them here.
Certainly, as preferred embodiment, in order to improve the turnover rate of hopper, step S2 ' can also be included before described step S3 ':
S2 ': judge whether the main reservoir state on described flowing water conveyer meets and replace requirement, if it is, perform S3 ', otherwise, return S2 '.S2 ' detailed process asks for an interview the flow chart shown in above-mentioned Fig. 8, is not repeated herein.It is understood that when material-supplying box 3 is plugged into the main reservoir 4 on splicing flowing water conveyer 6, it is necessary to whether the main reservoir 4 judged on splicing flowing water conveyer 6 is the full state of case, namely whether main reservoir 4 is filled boring, if so, then plug into, if it is not, till then waiting until that main reservoir 4 fills goods always.When main reservoir 5 on feeding flowing water conveyer 7 and the automatic seamless between the dynamic main reservoir 4 of automatic guided vehicle load are plugged into, need to judge that whether main reservoir 5 is for empty charging box, namely whether boring in main reservoir 5 is all taken, if, then plug into, if it is not, till the goods then always waited until in main reservoir 5 all takes.Judge whether main reservoir state meets and replace that require in order that ensure the Seamless linkage of empty charging box and full hopper, give full play to hopper space, reduce number of times of plugging into, improve material transportation efficiency.
The embodiment of the present invention by arranging fixed support and position-limit mechanism bottom hopper, coordinate the dynamic device of load of automatic guided vehicle, realize flowing water conveyer with automatic loading location and disengaging mode just to plug at the main reservoir of splicing or feeding and the automatic seamless of material-supplying box, solve and prior art exists waste of manpower, ineffective problem.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (3)
1. an active and standby hopper automatic seamless is plugged into method, it is characterised in that comprise the steps:
S1: the dynamic material-supplying box of automatic guided vehicle load moves along running route, described material-supplying box and the main reservoir on flowing water conveyer before and after linear movement direction mutually against；
S3: the dynamic described material-supplying box of described automatic guided vehicle load promotes described main reservoir linearly to move together, until described material-supplying box arrives the overlapping positions that described main reservoir moves, the dynamic material-supplying box of automatic guided vehicle load stops together with main reservoir；
S5: described material-supplying box replaces the main reservoir splicing on described flowing water conveyer or feeding；
Step S2 was also included before described step S3:
S2: judge whether the main reservoir on described flowing water conveyer is that state expired by case, if expiring state for case, then performing S3, otherwise, returning S2；
Step S2 judges that whether the main reservoir on described flowing water conveyer is that the step of the full state of case specifically includes:
S21: the signal acquisition module of described main reservoir gathers the hopper state of described main reservoir；
S23: the signal detection module of described main reservoir receives the hopper status signal that described signal acquisition module collects, and described hopper status signal is converted to optical signal；
S25: the signal processing module of described automatic guided vehicle, receives described optical signal, judges whether described hopper is the full state of case according to described optical signal.
2. active and standby hopper automatic seamless as claimed in claim 1 is plugged into method, it is characterised in that material-supplying box described in step S5 replaces the main reservoir splicing on described flowing water conveyer or feeding concrete steps include:
S51: described automatic guided vehicle controls the dynamic device of load and declines, and described automatic guided vehicle separates with described material-supplying box；
S53: described automatic guided vehicle moves to bottom the main reservoir on described flowing water conveyer；
S55: described automatic guided vehicle controls the dynamic device of described load and rises, and coordinates with fixed support and the position-limit mechanism of described main reservoir, makes described automatic guided vehicle load location with described main reservoir, the dynamic described main reservoir motion of described automatic guided vehicle load.
3. active and standby hopper automatic seamless as claimed in claim 1 is plugged into method, it is characterised in that also include step S4 after described S3,
S4: described material-supplying box is converted to the main reservoir on described flowing water conveyer, and the main reservoir of described splicing or feeding is converted to material-supplying box.
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| CN106006084B (en) * | 2016-07-04 | 2023-03-24 | 杭州国辰机器人科技有限公司 | Method and system for storing and transporting animal carcasses |
| CN106945972A (en) * | 2017-04-19 | 2017-07-14 | 浙江国自机器人技术有限公司 | A kind of transfer robot connecting device and method of plugging into |
| CN107783538B (en) * | 2017-09-14 | 2021-04-13 | 北京航天控制仪器研究所 | Design method for docking berths of mobile robot |
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| JP3303513B2 (en) * | 1994-03-31 | 2002-07-22 | 石川島播磨重工業株式会社 | Operation allocation control method for automatic guided vehicles |
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| DE29512791U1 (en) * | 1995-07-18 | 1996-07-04 | Pyttel Georg | Device for the semi-automatic picking of different articles from an orderly warehouse and for loading the same |
| CN203246818U (en) * | 2013-04-10 | 2013-10-23 | 民航成都物流技术有限公司 | Combined tray of tilting tray type automatic high-speed luggage sorting machine |
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