CN106241240B - A kind of loading and unloading method of soft readjustment docking height - Google Patents
A kind of loading and unloading method of soft readjustment docking height Download PDFInfo
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- CN106241240B CN106241240B CN201610788745.8A CN201610788745A CN106241240B CN 106241240 B CN106241240 B CN 106241240B CN 201610788745 A CN201610788745 A CN 201610788745A CN 106241240 B CN106241240 B CN 106241240B
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Mechanical Engineering (AREA)
- Information Transfer Between Computers (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
It is specially a kind of loading and unloading method of soft readjustment docking height, including be provided with AGV to the production line of connection module and AGV of the production line to connection module is set the invention belongs to automate loading and unloading control method field；Comprise the following steps that：(1) according to production line demand, AGV sends connection module call signal, and for production line to connection module receiving calling signal, the control module on AGV reaches the loading and unloading website of production line according to production line to connection module received signal, driving AGV；(2) AGV reaches loading and unloading website, and AGV adjusts the height of docking platform on AGV, docked with corresponding dock up and down according to the actual terminal information for performing task, and pre-recorded loading and unloading quay height information；(3) docking platform on AGV is docked with corresponding dock up and down, and AGV coordinates with production line completes loading and unloading action.Compared with prior art, the present invention has the advantages that application structure and implementation flow is simple, work efficiency is high.
Description
Technical field
It is specially a kind of loading and unloading of soft readjustment docking height the invention belongs to automate loading and unloading control method field
Method.
Background technology
With the development of industrial automation, AGV is more and more extensive in the application of production scene.Wherein utilize AGV and production
Line coordinates, and is combined into automatic wire charging material production system, since its degree of automation is high, work efficiency is high, work accuracy is high, right
The advantages such as original production line improvement cost is low, become the popular equipment of factory automation construction.
But the existing loading and unloading docking calculation using AGV, AGV and production line is single to connection function, AGV and loading and unloading code
Head between by single docking system carry out information exchange, when AGV reach production line loading and unloading website after, by with harbour
Information exchange, completion are docked with harbour, perform corresponding loading and unloading task.In the case of being docked due to AGV with multiple harbours,
Docking system between AGV and harbour can become corresponding complexity, and system stability understands the complexity because task, by
Influence to a certain extent.In order to avoid this case, for the prior art in order to be adapted to the situation that production line is multilayer, selection will be raw
Producing line installs the mode for concentrating harbour additional, and the loading and unloading work of each production line is concentrated on a single harbour completes, each life
Being connected between producing line and the harbour by transmission structure, material is exchanged between AGV and each production line completes by the harbour,
It is allocated or is collected by the harbour combination transmission structure again.This set-up mode for concentrating harbour, not only increase, which is known clearly, is
The manufacture cost of system, and reduce the efficiency of loading and unloading.Therefore, how to provide that a kind of application structure is simple, work efficiency is high
Loading and unloading method, be problem urgently to be resolved hurrily in this area.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of application structure is simple, work efficiency is high
The loading and unloading method of height is docked in soft readjustment.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：The upper of height is docked in a kind of soft readjustment
Baiting method, including be provided with AGV to the production line of connection module and AGV of the production line to connection module is set；The production line
Equipped with loading and unloading website, the loading and unloading website is equipped with some highly different docks up and down；The production line is to connection module
The elevation information of pre-recorded each dock up and down；Comprise the following steps that：
(1) according to production line demand, AGV sends connection module call signal, and the production line receives connection module and calls
Signal, the control module on AGV reach the loading and unloading station of production line according to production line to connection module received signal, driving AGV
Point；
(2) AGV reaches loading and unloading website, AGV according to the actual terminal information for performing task, and it is pre-recorded up and down
Dock elevation information, adjusts the height of docking platform on AGV, is docked with corresponding dock up and down；
(3) docking platform on AGV is docked with corresponding dock up and down, and AGV coordinates with production line completes loading and unloading action.
The soft readjustment docking height, i.e. AGV can voluntarily adjust lifting according to the harbour of different height on production line
Highly.Loading and unloading method provided by the invention, by advance at the same loading and unloading station that the production line of AGV records connection module
The elevation information of each dock up and down of point, after AGV reaches loading and unloading website, quickly according to the actual loading and unloading of production line
Demand, adjusts the height of docking platform, docking platform is rapidly realized with corresponding dock up and down and docks.Using this hair
Bright loading and unloading method, and unified docking harbour need not be built in the production line, and unified docking harbour and each production line it
Between transmission structure, it is not required that complicated system is interacted to connection module and each establish up and down between dock in the production of AGV
System.AGV simply according to the demand of actual harbour, adjusts docking platform height, realizes docking, complete loading and unloading task.Therefore,
Compared with prior art, the present invention has the advantages that application structure and implementation flow is simple, work efficiency is high.
In order to avoid the delivery mistake on AGV, or the actual conditions of dock are not consistent with required execution task up and down
And the stability and efficiency of loading and unloading action are influenced, the present invention provides following two methods to set up：
First method is：The call signal of the step (1) includes feeding signal or blanking signal, and harbour identification
Signal.Call signal is divided into feeding signal or blanking signal, and harbour identification signal；AGV can first according to feeding signal or
Blanking signal and oneself state, judge whether that material can be received, whether have storage material, judge whether that task can be performed, if nothing
Method performs corresponding task, then need not set out.By feeding back a refusal signal, AGV will call connection module another AGV；Or
AGV can not reach loading and unloading website in certain time, then AGV will stop calling the AGV to connection module, call another
AGV.This kind of set-up mode, when the delivery situation on AGV is not consistent with actual execution task, energy quick regulation, avoids producing
Accident, and ensure production efficiency.
Preferably, in the step (2), after AGV reaches loading and unloading website, according to call signal, corresponding request is sent
Signal, AGV, according to request signal, judge whether corresponding dock up and down can perform feeding or blanking task to connection module；AGV
Connection module is judged after performing the task, sends production line answer signal, production line receives connection module production line response
After signal, AGV adjusts docking platform height, is docked with corresponding dock up and down.Believed between AGV and upper and lower dock by feeding
Number or blanking signal, and production line answer signal mode docked before interaction, can ensure that up and down dock can perform
Corresponding task, avoids due to when the situation on upper and lower dock or corresponding production line is not consistent with actual execution task, occurring
Production accident, or delay manufacturing schedule.
Second method is：In the step (2), after AGV reaches loading and unloading website, AGV sends on harbour connection module
Blanking signal, the harbour loading and unloading signal include：Feeding signal or blanking signal, and harbour identification signal；The production
Line first receives connection module feeding signal or blanking signal, and the control module on AGV, sentences according to feeding signal or blanking signal
It is disconnected whether to perform feeding or blanking task.Using this kind of method, AGV can first according to feeding signal or blanking signal and itself
State, judges whether that material can be received, whether has storage material, judge whether that task can be performed, if cannot be i.e. without according to code
Head identification signal performs docking, and AGV can call connection module an other AGV, perform corresponding task.Delivery feelings on AGV
When condition is not consistent with actual execution task, energy quick regulation, avoids production accident, and ensure production efficiency.
Preferably, control module is judged after performing the task, sends AGV answer signals, and AGV receives AGV to connection module
After answer signal, harbour identification signal is sent, AGV adjusts docking platform height, with corresponding loading and unloading according to harbour identification signal
Harbour docks.Carried out between AGV and upper and lower dock by feeding signal or blanking signal, and the mode of AGV answer signals
Interaction before docking, can ensure that AGV can perform the actual task of upper and lower dock, avoid due to the delivery situation and reality on AGV
When border execution task is not consistent, production development accident, or delay manufacturing schedule.
Preferably, alignment system is equipped between the loading and unloading website and AGV, after the AGV reaches loading and unloading website, profit
With alignment system, car body position is corrected, the alignment system can ensure that the contraposition between AGV and loading and unloading website is accurate, be AGV
Docking between docking platform and upper and lower dock accurately provides good basis.
Preferably, the dock vertical non-alignment up and down of each different height, each harbour are longitudinal layered settings, each code
Head in the vertical direction alignment, the region alignment for making docking platform be docked in the horizontal direction with each layer harbour, as long as docking is flat
Platform is adjusted to corresponding height, you can is docked with corresponding dock up and down, is simplified docking step, improves the stabilization of loading and unloading
Property.
Preferably, docked between the docking platform and upper and lower dock by means for correcting, improve the accurate of loading and unloading
Property and stability.
Preferably, the means for correcting is mechanical checkout device or photosignal means for correcting, according to the actual need of installation
Ask, select mechanical checkout device or photosignal means for correcting.
Embodiment
The two kinds presented below embodiments for being related to the present invention.
Embodiment one：
The loading and unloading method of a kind of soft readjustment docking height provided in this embodiment, above and below provided in this embodiment
The device of material method includes：To the production line of connection module and AGV of the production line to connection module is set equipped with AGV；The production
Line is equipped with loading and unloading website, and the loading and unloading website is equipped with some highly different docks up and down；The production line docks mould
The elevation information of the pre-recorded each dock up and down of block.
Comprise the following steps that：
A, according to production line demand, AGV sends connection module call signal, the call signal include feeding signal or under
Expect signal, and harbour identification signal.Called AGV judges whether according to feeding signal or blanking signal and oneself state
It can receive material, whether have storage material, judge whether that task can be performed, if corresponding task can not be performed, need not set out.It is logical
One refusal signal of feedback is crossed, AGV will call connection module another AGV；When the control module on AGV judges that this can be performed
After task, driving AGV reaches the loading and unloading website of production line；
B, AGV reaches loading and unloading website, using the alignment system between loading and unloading website and AGV, corrects car body position；
C, after the completion of car body position correction, production line, according to call signal, sends corresponding request signal, institute to connection module
Stating request signal includes corresponding terminal information, and loading and unloading signal or blanking signal up and down；AGV believes connection module according to request
Number, judge whether corresponding dock up and down can perform feeding or blanking task；AGV judges connection module to perform the task
Afterwards, production line answer signal is sent；
D, after production line receives connection module production line answer signal, AGV adjusts docking platform height, is filled using correction
Docking is put, is docked with corresponding dock up and down；
E, AGV and production line, which coordinate, completes loading and unloading action.
Embodiment two：
The loading and unloading method of a kind of soft readjustment docking height provided in this embodiment, above and below provided in this embodiment
The device of material method includes：To the production line of connection module and AGV of the production line to connection module is set equipped with AGV；The production
Line is equipped with loading and unloading website, and the loading and unloading website is equipped with some highly different docks up and down；The production line docks mould
The elevation information of the pre-recorded each dock up and down of block.
Comprise the following steps that：
A, according to production line demand, AGV sends connection module call signal, and AGV control modules dock mould according to production line
The call signal that block receives, driving AGV reach the loading and unloading website of production line；
B, AGV reaches loading and unloading website, using the alignment system between loading and unloading website and AGV, corrects car body position；
C, after the completion of car body position correction, AGV sends connection module harbour loading and unloading signal, the harbour loading and unloading signal
Including：Feeding signal or blanking signal, and harbour identification signal；The production line connection module is first received feeding signal or
Blanking signal, the control module on AGV, judges whether that can perform feeding or blanking appoints according to feeding signal or blanking signal
Business；If judge cannot if feed back a refusal information, AGV can call connection module an other AGV, perform corresponding task；If
After judgement can perform the task, then production line sends connection module AGV answer signals；
D, after AGV receives AGV answer signals to connection module, send harbour identification signal, AGV according to harbour identification signal,
Docking platform height is adjusted, is docked using means for correcting with corresponding dock up and down；
E, AGV and production line, which coordinate, completes loading and unloading action.
As a preferred solution, the dock vertical non-alignment up and down of each different height, AGV and loading and unloading website it
Between align accurately in the case of, each harbour vertical non-alignment, the region for making docking platform be docked in the horizontal direction with each harbour
Unanimously, simplify docking step, improve the stability of loading and unloading.
As another preferred solution：The means for correcting is mechanical checkout device or photosignal means for correcting, according to
Installation space and the cost needs of global design, select mechanical checkout device or photosignal means for correcting.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula make a change and modification.Therefore, the invention is not limited in embodiment disclosed and described above, to the present invention's
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although used in this specification
Some specific terms, but these terms are merely for convenience of description, do not limit the present invention in any way.
Claims (9)
- A kind of 1. loading and unloading method of soft readjustment docking height, it is characterised in that：Including being provided with productions of the AGV to connection module Line and production line is set to the AGV of connection module；The production line is equipped with loading and unloading website, and the loading and unloading website is equipped with some Highly different docks up and down；The elevation information of the production line each dock up and down pre-recorded to connection module；Specifically Step is as follows：(1) according to production line demand, AGV sends connection module call signal, the production line to connection module receiving calling signal, Control module on AGV reaches the loading and unloading website of production line according to production line to connection module received signal, driving AGV；(2) AGV reaches loading and unloading website, and AGV is according to the actual terminal information for performing task, and pre-recorded loading and unloading code Grease head highness information, adjusts the height of docking platform on AGV, is docked with corresponding dock up and down；(3) docking platform on AGV is docked with corresponding dock up and down, and AGV coordinates with production line completes loading and unloading action.
- A kind of 2. loading and unloading method of soft readjustment docking height according to claim 1, it is characterised in that：The step (1) call signal includes feeding signal or blanking signal, and harbour identification signal.
- A kind of 3. loading and unloading method of soft readjustment docking height according to claim 2, it is characterised in that：The step (2) in, after AGV reaches loading and unloading website, according to call signal, corresponding request signal is sent, AGV is to connection module according to request Signal, judges whether corresponding dock up and down can perform feeding or blanking task；AGV judges after performing the task connection module, sends production line answer signal, production line receives connection module production After line answer signal, AGV adjusts docking platform height, is docked with corresponding dock up and down.
- A kind of 4. loading and unloading method of soft readjustment docking height according to claim 1, it is characterised in that：The step (2) in, after AGV reaches loading and unloading website, AGV sends connection module harbour loading and unloading signal, the harbour loading and unloading signal bag Include：Feeding signal or blanking signal, and harbour identification signal；The production line connection module is first received feeding signal or under Expect signal, the control module on AGV, judges whether that feeding or blanking task can be performed according to feeding signal or blanking signal.
- A kind of 5. loading and unloading method of soft readjustment docking height according to claim 4, it is characterised in that：Control module After judgement can perform the task, AGV answer signals are sent, after AGV receives AGV answer signals to connection module, send harbour identification Signal, AGV adjust docking platform height, are docked with corresponding dock up and down according to harbour identification signal.
- A kind of 6. loading and unloading method of soft readjustment docking height according to claim 1, it is characterised in that：Above and below described Alignment system is equipped between material website and AGV, after the AGV reaches loading and unloading website, utilizes alignment system, correction car body position Put.
- A kind of 7. loading and unloading method of soft readjustment docking height according to claim 1 or 4, it is characterised in that：It is each The dock vertical non-alignment up and down of different height.
- A kind of 8. loading and unloading method of soft readjustment docking height according to claim 5, it is characterised in that：The docking Docked between platform and upper and lower dock by means for correcting.
- A kind of 9. loading and unloading method of soft readjustment docking height according to claim 6, it is characterised in that：The correction Device is mechanical checkout device or photosignal means for correcting.
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| CN201610788745.8A CN106241240B (en) | 2016-08-31 | 2016-08-31 | A kind of loading and unloading method of soft readjustment docking height |
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