CN107265083A - Agv system - Google Patents
Agv system Download PDFInfo
- Publication number
- CN107265083A CN107265083A CN201610219115.9A CN201610219115A CN107265083A CN 107265083 A CN107265083 A CN 107265083A CN 201610219115 A CN201610219115 A CN 201610219115A CN 107265083 A CN107265083 A CN 107265083A
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- CN
- China
- Prior art keywords
- agv
- point
- guide rail
- charka
- car
- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
The invention discloses a kind of AGV system, the AGV system includes：Bar code management system, AGV devices, MAS systems and ground electro-optical system；The AGV devices include the AGV dispatching managing devices of many AGV dollies, the on-vehicle control apparatus for being loaded into each AGV dollies and each on-vehicle control apparatus of connection；The point that the goods information and goods carried needed for the AGV system can be carried is sent to the bar code management system by the MAS systems；The ground electro-optical system, for feeding back each information point photoelectricity occupy-place signal to the bar code management system；Wherein, the operation of each described information point is handed down to the AGV dispatching managing devices by the bar code management system, and the AGV dispatching managing devices communicate with the on-vehicle control apparatus, and dispatches the AGV dollies execution operation.The present invention realizes the unmanned carrying of material in workshop, improves production efficiency.
Description
Technical field
The present invention relates to the unmanned automatic handing system of manufacturing enterprise's materials inside, more particularly to a kind of AGV
System.
Background technology
At present, it is using artificial or fixed conveying equipment that the material in most of enterprise's workshop, which is carried,
Realize.The use of the artificial subject matter for carrying presence is that working strength is big, error rate is high, difficult management,
And cost of labor has higher and higher trend；Fixing equipment is such as used, for complicated operating mode, is such as carried
Many, the transport road path length etc. of point, will have that number of devices is more, device category is more, and area occupied greatly, is applied
Work is complicated, the problem of long construction period, and it is poor to there is system flexibility, poor expandability, maintenance cost
High the problems such as.
Automatical pilot transportation vehicle (Automated Guided Vehicle, abbreviation AGV) system, refer to by
It is multiple to be equipped with the homing guidance transportation system that electricity magnetically or optically waits the dolly of guide device to be constituted, AGV
Dolly can be travelled along the guide path of setting, can be compared with safeguard protection and various transfer functions
Good solves the above problems.
However, for glass fibre manufacture workshop, the carrying operating mode of its creel car is extremely complex, main body
Carrying process CIMS is more now, and transport distance is long, carries point a lot, and carry a quantity and position also
Need extension etc..The carrying flow of creel car mainly has the carrying of dress charka and the carrying of empty charka.Fill yarn
The carrying of car is included from drawing plant (six points) to drying oven, is carried to chopped yarn from drawing plant and deposits
Place is put, from drawing plant to buffer area, from buffer area to drying oven, and internal two workshops are (from car
Between 1 arrive workshop 2) between carrying；The carrying of empty charka is included from the empty charka pick-up point of folded yarn to drawing
Silk workshop, point is picked up the car to drawing plant from the empty charka of direct yarn, and point is picked up the car to wire drawing from the empty charka of chopped yarn
Workshop.It is 50m that the transport distance of material is most short, most with 200m.Carry point a lot, such as wire drawing trolley
Between exit point have 6, the entrance of drying oven totally 26, empty creel car is picked up the car point 4, empty charka
Exhausting line 6, buffer area two, interim storage area 3.Point is carried to also need to according to subsequent production feelings
Condition is extended.
Also, mating interface is more in workshop.Such as with docking that drawing plant is exported, with drying furnace system
Docking, with working area and the interface of buffer area, the interface with empty creel car exhausting line is reclaimed with empty charka
Interface of pick-up position etc..AGV system is such as used, above interface not only needs to consider AGV dollies and each
The matching of the physical size of individual interface, it is also to be ensured that positioning of the creel car in each point of interface, and to protect
The placing direction of creel car is demonstrate,proved, makes sky creel car be easy to the hook of transmission system to take.
And the AGV system of prior art, the job requirements of such complexity can not be tackled.Therefore need
A kind of AGV system that can solve the problem that above-mentioned technical problem of exploitation, realizes that the unmanned of material is removed in workshop
Fortune, meets the requirement for improving production efficiency.
Above- mentioned information is only used for strengthening the reason of the background to the present invention disclosed in the background section
Solution, therefore it can be including not constituting the information to prior art known to persons of ordinary skill in the art.
The content of the invention
A primary object of the present invention is to overcome at least one defect of above-mentioned prior art, and there is provided one
AGV system is planted, to realize the unmanned carrying of material in workshop, production efficiency is improved.
For achieving the above object, the present invention is adopted the following technical scheme that：
According to an aspect of the invention, there is provided a kind of AGV system, the AGV system includes：
Bar code management system, AGV devices, MAS systems and ground electro-optical system；The AGV devices include
Many AGV dollies, the on-vehicle control apparatus for being loaded into each AGV dollies and connect each described
The AGV dispatching managing devices of on-vehicle control apparatus；The MAS systems are by needed for the AGV system
The point that the goods information and goods of carrying can be carried is sent to the bar code management system；The ground light
Electric system, for feeding back each information point photoelectricity occupy-place signal to the bar code management system；Wherein, it is described
The operation of each described information point is handed down to the AGV dispatching managing devices by bar code management system, described
AGV dispatching managing devices communicate with the on-vehicle control apparatus, and dispatch the AGV dollies execution institute
State operation.
As shown from the above technical solution, advantages and positive effects of the present invention are：The AGV of the present invention
System, realizes the unmanned carrying of the material in workshop, meets the requirement for improving production efficiency.
For the actual conditions in glass fibre manufacture workshop, effectively answer right different the service of connection devices and connect
Mouthful, and can have certain autgmentability.The AGV system of the present invention, passes through AGV devices, MAS
The coordinated of multiple systems such as system, ground electro-optical system, bar code management system so that glass fibre
Material in manufacturing shop carries in good order, timely and effectively ensure that the normal operation of production, improves
Production efficiency.Meanwhile, by means of bar code management system, the accuracy for contributing to each carrying to act,
Avoid the occurrence of invalid carrying；And by means of ground electro-optical system, the occupy-place information of each information point is understood in time,
Each carrying action can be caused quickly to be arrived at along transport path.
Brief description of the drawings
By being considered in conjunction with the accompanying following the following detailed description of the embodiment of the present invention, of the invention is each
Target, feature and advantage is planted to will become apparent.Accompanying drawing is only the exemplary diagram of the present invention,
It is not necessarily drawn to scale.In the accompanying drawings, same reference represents same or similar all the time
Part.
Figure 1A is the schematic front view of the creel car of the AGV system of the embodiment of the present invention.
Figure 1B is the schematic top plan view of the creel car of the AGV system of the embodiment of the present invention.
Fig. 1 C regard schematic diagram for the right side of the creel car of the AGV system of the embodiment of the present invention.
The main view for the AGV fork trucks that Fig. 2A is mounted with creel car for the AGV system of the embodiment of the present invention is shown
It is intended to.
The vertical view for the AGV fork trucks that Fig. 2 B are mounted with creel car for the AGV system of the embodiment of the present invention is shown
It is intended to.
Fig. 2 C are the schematic perspective view of the AGV fork trucks of the AGV system of the embodiment of the present invention.
Fig. 3 A are the schematic front view of the pick-up point of the AGV system of the embodiment of the present invention.
Fig. 3 B are the schematic top plan view of the pick-up point of the AGV system of the embodiment of the present invention.
Fig. 4 A are the schematic front view of the cache bit of the AGV system of the embodiment of the present invention.
Fig. 4 B are the schematic top plan view of the cache bit of the AGV system of the embodiment of the present invention.
Fig. 4 C regard schematic diagram for the right side of the cache bit of the AGV system of the embodiment of the present invention.
Fig. 5 A enter the schematic front view of drying oven for the creel car of the AGV system of the embodiment of the present invention.
Fig. 5 B enter the schematic top plan view of drying oven for the creel car of the AGV system of the embodiment of the present invention.
Fig. 5 C are the A direction views in Fig. 5 A.
Fig. 6 A are the schematic front view of the guider of the drying oven of the AGV system of the embodiment of the present invention.
Fig. 6 B are the schematic top plan view of the guider of the drying oven of the AGV system of the embodiment of the present invention.
Fig. 6 C regard schematic diagram for the right side of the guider of the drying oven of the AGV system of the embodiment of the present invention.
Fig. 7 A illustrate for the main view of the empty charka pick-up point of drying oven of the AGV system of the embodiment of the present invention
Figure.
Fig. 7 B illustrate for the vertical view of the empty charka pick-up point of drying oven of the AGV system of the embodiment of the present invention
Figure.
Fig. 8 A are the schematic front view of the empty charka recovery point of the AGV system of the embodiment of the present invention.
Fig. 8 B are the schematic top plan view of the empty charka recovery point of the AGV system of the embodiment of the present invention.
Fig. 9 is the schematic diagram of the AGV system of the embodiment of the present invention.
Figure 10 carries flow chart for the AGV of the AGV system of the embodiment of the present invention.
Wherein, description of reference numerals is as follows：
1st, creel car
11 pulling blocks
12 universal wheels
13 fast pulleys
2nd, AGV fork trucks
21 guiders
22 pallet forks
23 front leg struts
24 guide-localization blocks
241 inclined plane parts
242 horizontal parts
3rd, pick-up point
31 platform scales
32 first guide rails
33 barcode readers
34 work stations
35 second guide rails
4th, cache bit
41 guide frames
42 side frames
43 top frames
44 detection switch
45 openings
5th, drying oven
51 fire doors
52 air cylinder connecting rods
53 push-and-pull blocks
54 universal wheel guiders
55 pulling block guiding trestles
56 the 4th guide rails
57 fast pulley guiders
571 interior plates
572 outer panels
6th, empty charka recovery point
61 push-and-pull blocks
62 pulling block guiding trestles
63 fast pulley guiders
64 the 3rd guide rails
65 air cylinder connecting rods
66 universal wheel guiders
7th, the empty charka pick-up point of drying oven
70 the 5th guide rails
71 inlet guide devices
Embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can
Implement in a variety of forms, and be not understood as limited to embodiment set forth herein；It is opposite that there is provided this
A little embodiments cause the present invention fully and completely, and the design of example embodiment will be passed on comprehensively
To those skilled in the art.Identical reference represents same or similar structure in figure, thus will
Omit their detailed description.
Explanation the present invention or the preferred embodiment of the present invention element when, word " one ", " one ",
"the" and " described " are intended to refer to there are one or more elements.Term " comprising ",
It is that "comprising" and " having " etc. are intended to opening and refer to may be used also in addition to listed element
There are other elements.
The AGV system of the embodiment of the present invention, it may include MAS systems, bar code management system, ground light
Electric system and AGV devices.Among these, bar code management system is core control system, by bar code management
System controls the reliable Effec-tive Function of whole system.Wherein, AGV carriage devices include many AGV
Dolly, on-vehicle control apparatus and AGV dispatching managing devices.
The AGV system of the embodiment of the present invention, available for glass fibre manufacture industry, completes drawing plant
Carrying and docking carrying into drying oven, pair with drawing plant outlet of the middle creel car before drying oven
Connect carrying, the interface with working area and buffer area, the interface carrying with empty charka exhausting line and empty charka
The problems such as interface for reclaiming pick-up position is carried.
The AGV system of the embodiment of the present invention, is preferably used for whole glass fibre manufacture workshop
AGV system, but the invention is not limited in for glass fibre manufacture workshop, can be used for others
Need the occasion of progress material carrying.
The AGV system of the embodiment of the present invention, for completing to fill charka (the creel car of dress yarn in drawing plant
1) and empty charka (empty creel car 1) the operation such as carrying.Workman draws the creel car 1 for filling yarn from control room
Go out and shift pick-up point 3 onto weighed, read bar code and confirmation.AGV dispatching managing devices are controlled
Creel car 1 is transported to specified location by AGV dollies to pick-up point 3, and specified location is likely to be any one
Before individual drying oven 5, it may be possible to working area or buffer area, it is also possible to be any one of other workshops
The point set in advance.The position of carrying is according to the attribute and the current occupancy that each is put of goods by AGV
Dispatching managing device determines that transport path is carried out according to carrying point target position and current driving road situation
Calculation optimization is determined.AGV dollies need to also be reclaimed after walking to fill charka from the carrying of point 3 of picking up the car from empty charka
The empty charka that point 6 carries identical quantity again returns to workshop for recycling.Specific flow of carrying is as schemed
Shown in 10.
AGV dollies therein, it is preferred to use AGV fork trucks 2, AGV fork trucks 2 can use pallet
Formula fork truck is transformed and obtained.As shown in figures 2 a-c, AGV fork trucks 2 include guider 21,
A pair of front leg struts 23 and a pair of pallet forks 22, wherein, guider 21 is led preferably with laser
To being arranged at the position on the top of AGV fork trucks 2.And front leg strut 23 moves inward, pitch AGV
Car 2 is as far as possible small in width size.The spacing of two front leg struts 23 is more than the spacing of two pallet forks 22, two
The spacing of pallet fork 22 is more than the fast pulley (also known as directional wheel) for the creel car 1 that AGV fork trucks 2 are loaded
13 wheelspan.
And increase guide-localization block 24 on pallet fork 22, the bottom framework for forking creel car 1, such as Fig. 2 C
Shown, guide-localization block 24 includes being arranged on the horizontal part 242 of relative inner and is arranged on opposite exterior lateral sides
Inclined plane part 241, inclined plane part 241 is more lower to inner height, can be suitable in order to the bottom framework of creel car 1
Profit is simultaneously smoothly slipped into pallet fork 22.
On-vehicle control apparatus is all mounted with every AGV fork trucks 2, to control corresponding A GV fork trucks 2
Action and the communications with external device (ED), the number of AGV fork trucks 2 such as mobile, stopping, the lifting of pallet fork 22
Measuring can determine according to actual conditions, for example, four.The vehicle-mounted control dress of each AGV fork truck 2
Put, and all connect and be controlled by AGV dispatching managing devices, determined by AGV dispatching managing devices by
Which platform AGV fork truck 2 performs a certain specific task.
In glass fibre manufacture workshop, the main task of AGV fork trucks 2 is exactly to carry creel car 1, including
Carry the dress charka and no empty charka for loading goods for being mounted with goods.
As shown in figures 1A-c, creel car 1 has pulling block 11, a pair of universal wheels 12 and a pair of fixations
Wheel 13, wherein, pulling block 11 is arranged on the bottom surface of creel car 1, horizontal to look up, and is provided in creel
The longitudinally middle position of car 1, sees in the vertical, is provided in the position of the tailstock, and fast pulley 13 is then
The position of headstock is arranged on, the position that universal wheel 12 is proximate to pulling block 11 in the longitudinal direction is set.
The AGV devices of the AGV system of the embodiment of the present invention, introduced below other three is described above
Individual part.
MAS systems can be the production management system or production information system in glass fibre manufacture workshop, or
Person is a part for said system, the effect of MAS systems be the goods information of being carried creel car 1 and
The point that goods can be carried is sent to bar code management system, and for the point that empty charka can be carried, then both
It can be provided, can also be calculated by bar code management system according to the algorithm of setting by MAS systems.
The effect of ground electro-optical system mainly be feedback information point photoelectricity occupy-place signal to bar code management system,
Ground electro-optical system mainly includes entity ground photoelectricity group and ground electro-optical system controller.Wherein, entity
Ground photoelectricity group can be optoelectronic switch, infrared sensor etc., and ground electro-optical system controller can be by PLC
(programmable controller) is realized, the sensing result of entity ground photoelectricity group is transferred into bar code management system
System, how will need to remove to plan as a whole come the occupancy situation according to each information point by bar code management system
The goods of fortune is carried to the point that can be carried.And above-mentioned information point, then point 3 of including but not limited to picking up the car,
Empty charka recovery point 6, drying oven 5 etc. are probably the destination of carrying and the point that may pass through, and may be used also
Can be the waiting areas such as temporary point, and the charge point etc. of AGV fork trucks 2 is directly related with system operation
Point.
The ground electro-optical system, can be divided into multiple regions by the ground in glass fibre manufacture workshop,
Each region sets several test points, one or two optoelectronic switch of each measuring points placement, and
Arrange the programmable controller (PLC) being connected with the optoelectronic switch.
In above- mentioned information point, including for depositing or taking the access point of creel car 1, point 3 of for example picking up the car,
Buffer area, drying oven 5 and empty charka recovery point 6 etc., above-mentioned each access point is respectively provided with for creel
The guider of the mobile guide of car 1, creel car 1 is in each access point by manually moving or by described
The mechanically moving movement of access point, mechanically moving here is for example, connected with the air cylinder connecting rod of push-and-pull block,
In the access point that these have mechanically moving, mechanically moving and AGV fork trucks 2 are possible to simultaneously to creel car 1
Acted, therefore bar code management system need to be interacted with the AGV dispatching managing devices, to pass through institute
The control device of mechanically moving and the on-vehicle control apparatus of the AGV dollies are stated, sequentially to control AGV
Fork truck 2 and action of the mechanically moving to creel car 1, it is to avoid damage creel car 1 or the institute of creel car 1
The goods of loading.
The AGV system of the embodiment of the present invention, bar code management system is responsible for the operation of each point being handed down to
AGV dispatching managing devices；AGV dispatching managing devices are responsible for communicating with on-vehicle control apparatus, and dispatch
AGV fork trucks 2 perform operation；Bar code management system can be according to interacting with AGV dispatching managing devices
Information, as long as before the entrance that AGV fork trucks 2 reach target location, it is possible to change target position
Put, to allow AGV fork trucks 2 to reach the target location being more suitable for.AGV fork trucks 2 are completed after work, on
Bar code management system is offered, to treat that bar code management system sends next control instruction.
Hereinafter, successively with interacting between AGV dollies and main several access points, to introduce this hair
The AGV system of bright embodiment.
First, pick-up point
As shown in Figure 3 A and Figure 3 B, point 3 of picking up the car is provided with platform scale (or on-ground weigher) 31, first and led
Rail 32, barcode reader 33, the guide rail 35 of work station 34 and second.Platform scale 31 is arranged in melt pit,
The upper surface of platform scale 31 is with ground level with high.Two the first guide rails 32 are welded with platform scale 31,
Be provided with the ground on the both sides of platform scale 31 the first guide rail 32 on second guide rail 35, platform scale 31 with
The second guide rail 35 on ground is docked, the gap about 10mm between the first guide rail 32 and the second guide rail 35,
First guide rail 32, the second guide rail 35 and the guide rail mentioned from now on etc. channel-section steel can be used to make.First
The side of guide rail 32 is installed by barcode reader 33 and work station 34.
By creel car 1 manually to be pushed to the first guide rail 32 on platform scale 31, by barcode reader 33 certainly
Dynamic swepting slip code is simultaneously weighed by platform scale 31, and manually after the confirmation of work station 34, creel car 1 is pushed away
To an above pick-up position.The placing direction of guarantee creel car is needed when manually pushing away creel car 1, i.e., it is universal
Wheel 12 pushes away the direction of creel car 1 as shown in the arrow in Fig. 3 A outwardly, manually.
2nd, buffer area
As shown in Fig. 4 A, Fig. 4 B and Fig. 4 C, a buffer area can have multiple cache bits 4, caching
Area may be arranged at the relative position for leaning on wall of drawing plant, can be set on the ground steel construction guide frame (or
Claim fixed frame) 41 come be used to be relatively fixed on creel car 1, guide frame 41 have guiding surface, guarantor
Card AGV fork trucks 2 can be slipped into smoothly in guide frame 41 when placing creel car 1, guide frame 41
Be shaped as inverted U-shaped, from the side of opening 45 of U-shaped, creel car 1 is put into guide frame 41.Lead
Have to framework 41 and be additionally provided with detection switch 44 on two side frames 42 and a top frame 43, side frame 42, to examine
Survey the occupy-place information of cache bit 4.Wherein, detection switch 44 is substantially a part for ground electro-optical system.
3rd, drying oven
The AGV system of the embodiment of the present invention, with the docking of drying oven 5, it is necessary to by drying oven 5
Stokehold transmitting device and guider.
As shown in Fig. 5 A- Fig. 5 C, stokehold transmitting device, including located at the transmission assembly of the entrance of drying oven 5
And the transmission control unit for controlling transmission component, in the present embodiment, transmission assembly it is preferred by gas
Cylinder rod 52 and push-and-pull block 53 are constituted, and transmission control unit is then cylinder control unit.Air cylinder connecting rod
52 from outside drying oven 5, is extended to by fire door 51 in drying oven 5, on same air cylinder connecting rod 52
Multiple push-and-pull blocks 53 are connected with, by the cooperation of push-and-pull block 53 and the pulling block 11 of creel car 1, to realize
Pulling to creel car 1.Wherein, push-and-pull block 53 has ramp-like structures.
After creel car 1 is carried in place by AGV fork trucks 2, cylinder control unit control air cylinder connecting rod 52
Flexible, at this moment push-and-pull block 53 can be moved to the direction of pulling block 11, and its ramp-like structures is depressed by pulling block 11,
After push-and-pull block 53 crosses pulling block 11, the ramp-like structures of push-and-pull block 53 are upspring, and at this moment cylinder is controlled
Device controls air cylinder connecting rod 52 to retract again, so that push-and-pull block 53 pulls creel car 1 to drying oven 5
Direction motion.When stroke is longer, successively creel car 1 can be pulled to move by multiple push-and-pull blocks 53.
Push-and-pull block 53 carry out when the above-mentioned hook to creel car 1 takes action, it is necessary to by cylinder control unit with
On-vehicle control apparatus or AGV dispatching managing devices are interacted, so that AGV fork trucks 2 are to creel car 1
Operation after the completion of again by air cylinder connecting rod 52 by creel car 1 hook take to drying oven 5, prevent both simultaneously
Creel car 1 is caused damage when acting on creel car 1.
Placed to control air cylinder connecting rod 52 and push-and-pull block 53 to hook up the action of creel car 1 with AGV dollies
The mutually locking that creel car 1 is acted, the PLC of the PLC and AGV dispatching managing devices of cylinder control unit
Between can be communicated by Siemens Profinet (EPA) interfaces and Profinet.Cylinder control
The PLC of device processed is before cylinder action, before for example, 1 minute, and sending push-and-pull block 53 will be in correspondence
The traffic bit of creel car 1, which is hooked, takes action command signal, and is completed and after return in cylinder action, by this signal
Release.
When the PLC that AGV dispatching managing devices detect cylinder control unit has hook to take action command signal
During output, then AGV dispatching managing devices must not perform the associative operation of handling creel car 1, namely control
AGV fork trucks 2 processed are failure to actuate.And AGV dispatching managing devices are in the handling creel of AGV fork trucks 2 car 1
Before, the AGV handling goods command signals of the traffic bit of correspondence creel car 1 are also sent first, and in handling goods
After the completion of, AGV is loaded and unloaded into goods command signal and released.When cylinder control unit detects AGV handling goods
When command signal has output, then cylinder is controlled to perform the operation for hooking and taking creel car 1.To prevent communication
Failure or other problems cause Chief Signal Boatswain time lock, when hook takes the action command signal output time more than
One setting time, such as 3 minutes, or AGV handling goods command signal output time set more than second
Fix time, such as at 2 minutes, cylinder control unit and AGV dispatching managing devices can be simultaneously emitted by report
Alert information, reminds staff to carry out fault diagnosis and problem exclusion.To be conducive to whole AGV system
Trouble-free operation.
As shown in Fig. 6 A- Fig. 6 C, the guider of drying oven 5 includes the 4th guide rail 56 and creel car is led
To device, creel car guider includes fast pulley guider 57, universal wheel guider 54 and drawn
Block guiding trestle 55.
4th guide rail 56 can be realized by channel-section steel, and one section of vertically-guided is provided with channel-section steel and (is for example oriented to oblique
Face), the vertical direction that the fast pulley 13 for creel car 1 is put into the 4th guide rail 56 is oriented to, for solid
The horizontally-guided of fixed wheel 13 is interior plate 571 and outer panel 572, as shown in Figure 6 C.Wherein, inner side
Plate 571 and outer panel 572 are obliquely installed, and interior plate 571 is slightly above outer panel 572, interior plate
571 are also slightly wider than outer panel 572.
And universal wheel guider 54 include channel-section steel the level in bell mouth shape for entering termination setting and
Vertically-guided device, for when push-and-pull block 53 pulls creel car 1, by the universal wheel 12 of creel car 1
Import in the 4th guide rail 56, and the pulling block guiding trestle 55 set between a pair of the 4th guide rails 56, it is used for
The vertically and horizontally guiding of the pulling block 11 of creel car 1.
Near drying oven 5, due to use the need for, also need setting to be free charka pick-up point, such as Fig. 7 A
With shown in Fig. 7 B, drying oven sky charka pick-up point 7 is provided with the 5th guide rail 70 and inlet guide device 71,
Wherein, inlet guide device 71 is arranged on the direction of arrow in the right-hand member of the 5th guide rail 70, such as Fig. 7 B
Manually to push away the direction of sky charka, at this moment, universal wheel 12 first reaches inlet guide device 71 preceding,
The existing bell-mouthed shape of inlet guide device 71, plays horizontal direction guide effect, has again and is oriented to tiltedly
Face, plays vertically-guided effect.After universal wheel 12 imports the 5th guide rail 70, subsequent fast pulley
13 naturally also can smoothly import the 5th guide rail 70, and the direction of arrow in such as Fig. 7 A is pitched for AGV fork trucks 2
Take the direction of sky charka.
4th, empty charka recovery point
Empty charka recovery point 6 is referred to as sky charka exhausting line.As shown in Figure 8 A and 8 B, empty yarn
Car recovery point 6 can be arranged in the correct position of drawing plant drying oven 5, and empty charka recovery point 6 is set
There are the 3rd guide rail 64 and air cylinder connecting rod and push-and-pull block 61 by pneumatic gearing drive system.3rd guide rail
64 are made using channel-section steel, there is fast pulley guider (preferably guiding surface) 63, groove above channel-section steel
There is universal wheel guider 66 steel front end (left end in Fig. 8 A), and it is the guiding surface of bell mouth shape.
The pulling block guiding trestle 62 of steel construction, the pulling block for creel car 1 are provided with the both sides of push-and-pull block 61
11 vertically and horizontally guiding, and in the both ends position of empty charka pick-up point 6, can be set to have is used for
The photoelectric detection switch of occupy-place detection, photoelectric detection switch is a part for ground electro-optical system.
The first end (left end in Fig. 8 A) of 3rd guide rail 64 is settable the first occupy-place detection dress
Put, to detect the current occupancy for reclaiming position, the second end (right-hand member in Fig. 8 A) of the 3rd guide rail 64
It is settable to have the second space occupying detection device, to detect whether the 3rd guide rail 64 is taken by empty charka.Take
When need to report to bar code management system.
Above-mentioned air cylinder connecting rod 65 in empty charka recovery point 6 and push-and-pull block 61, can with drying oven 5
Air cylinder connecting rod 52 and push-and-pull block 53 are identical, but push-and-pull block 53 here, can only set one.It is empty
Above-mentioned each guider in charka recovery point 6, can guider corresponding with drying oven 5 it is identical.
As shown in Figure 8 A and 8 B, empty creel car 1 is being carried to sky charka time by AGV fork trucks 2
The specified location of sink 6, in other words after point of interface, operates pallet fork 22, creel car 1 is put down, and
AGV fork trucks 2 are exited into sky charka recovery point 6, report that this carrying task is completed to bar code management system,
Now, bar code management system assigns control device of the instruction to air cylinder connecting rod, control device control cylinder
The push-and-pull block 61 that connecting rod and air cylinder connecting rod are connected is acted, in the presence of each guider, by push-and-pull
Block 61 pulls current creel car 1 along the 3rd guide rail 64 so that creel car 1 leaves current recovery position,
3rd guide rail 64 has parked many empty charkas successively, when push-and-pull block 61 pulls the empty charka of high order end,
Empty charka on the right side of it can be slided therewith, be returned so as to vacate positioned at the current of the left end termination of the 4th guide rail 64
Position is received, to reclaim next empty charka.
The AGV system of the embodiment of the present invention, passes through AGV devices, MAS systems, ground Opto-electrical Section
The coordinated of multiple systems such as system, bar code management system so that the material in glass fibre manufacture workshop
Carry in good order, timely and effectively ensure that the normal operation of production, improve production efficiency.Meanwhile,
By means of bar code management system, the accuracy for contributing to each carrying to act, it is to avoid invalid carry occur；
And by means of ground electro-optical system, each carrying action can be caused fast in time along transport path
Fast arrives at.
It should be understood that multiple examples described above (such as inclination, reverse, level, can hang down along multiple directions
It is straight, etc.) and be utilized with multiple constructions, without departing from the principle of the present invention.Shown in accompanying drawing
Embodiment is only shown and described as the example of effective application of principle of the invention, and the present invention is not
It is limited to any concrete details of these embodiments.
Certainly, once thinking over the above description of representative embodiment, those skilled in the art will just hold
It is readily understood, a variety of remodeling, addition can be made to these specific embodiments, substitutes, delete and other
Change, and these changes are in the range of the principle of the present invention.Therefore, detailed description above should be by
Be clearly understood as only providing by way of illustration and example, the spirit and scope of the present invention only by
Appended claims and its equivalent are limited.
Claims (10)
1. a kind of AGV system, it is characterised in that the AGV system includes：
Bar code management system；
AGV devices, including many AGV dollies, the vehicle-mounted control for being loaded into each AGV dollies
The AGV dispatching managing devices of device processed and each on-vehicle control apparatus of connection；
MAS systems, the point that the goods information and goods carried needed for the AGV system can be carried
It is sent to the bar code management system；
Ground electro-optical system, for feeding back each information point photoelectricity occupy-place signal to the bar code management system；
Wherein, the operation of each described information point is handed down to the AGV and dispatched by the bar code management system
Managing device, the AGV dispatching managing devices communicate with the on-vehicle control apparatus, and dispatch described
AGV dollies perform the operation.
2. AGV system as claimed in claim 1, it is characterised in that the AGV system be for
The AGV system in glass fibre manufacture workshop, the information point of the AGV system includes being used to deposit or take
With the access point of creel car, the access point includes pick-up point, buffer area, drying oven and empty charka and reclaimed
Point, each access point has the guider for the creel car mobile guide, and the creel car exists
Each access point is by manually moving or being moved by the mechanically moving of the access point, the bar code management
System is interacted with the AGV dispatching managing devices, to pass through the control device of the mechanically moving and institute
The on-vehicle control apparatus of AGV dollies is stated, the AGV dollies, the mechanically moving is sequentially controlled to institute
State the action of creel car.
3. AGV system as claimed in claim 2, it is characterised in that the pick-up point is provided with platform
Scale, the first guide rail, the second guide rail, barcode reader and work station, first guide rail are installed on described
On platform scale, second guide rail be arranged on the platform scale both sides ground on, first guide rail with
Second guide rail docks and has gap, and the barcode reader and the work station are installed on described
The side of one guide rail.
4. AGV system as claimed in claim 2, it is characterised in that the buffer area includes multiple slow
Deposit the guide frame that steel construction is provided with position, the ground of the buffer area, the shape of the guide frame
To be inverted U-shaped, the cache bit, the guide frame are put into from the opening side of U-shaped by the creel car
With two side frames and a top frame, opposed, inwardly directed inclined guiding surface, the side are provided with the side frame
The detection switch for detecting the cache bit occupy-place information is additionally provided with frame.
5. AGV system as claimed in claim 2, it is characterised in that the empty charka recovery point is set
3rd guide rail, the mechanically moving is air cylinder connecting rod and is connected to the push-and-pull block of the air cylinder connecting rod, described
The first end of 3rd guide rail reclaims position to be current, and empty charka is carried to described current by the AGV dollies
Reclaim behind position, the push-and-pull block pulls the empty charka to be moved along the 3rd guide rail, makes the empty charka
The empty charka on the current recovery position, the 3rd guide rail is left to slide to vacate described current time therewith
Receive position；
The first end of 3rd guide rail is provided with the first space occupying detection device, described current to detect
The occupancy of position is reclaimed, the second end of the 3rd guide rail is provided with the second space occupying detection device, to examine
Survey whether the 3rd guide rail has been fully parked with.
6. AGV system as claimed in claim 2, it is characterised in that the guider of the drying oven
Including the 4th guide rail and creel car guider, the creel car guider include fast pulley guider,
Universal wheel guider and pulling block guiding trestle, the universal wheel guider are arranged at the 4th guide rail
End, when pulled, the universal wheel is imported into the 4th guide rail to the creel car.
7. the AGV system as described in claim 2-6 is any, it is characterised in that the ground Opto-electrical Section
The ground in the glass fibre manufacture workshop is divided into multiple regions by system, and each region sets several to examine
Measuring point, one or two optoelectronic switch of each measuring points placement, and arrange and the optoelectronic switch phase
The programmable controller of connection.
8. AGV system as claimed in claim 2, it is characterised in that the AGV dollies are AGV
Fork truck, the AGV fork trucks include being provided with for the creel on pallet fork and front leg strut, the pallet fork
The guide-localization block that underbody framework is oriented to, the guide-localization block includes horizontal part and inclined plane part, described in two
The spacing of front leg strut is more than the spacing of pallet fork described in two, and the spacing of pallet fork described in two is pitched more than the AGV
The wheelspan of the fast pulley for the creel car that car is loaded.
9. AGV system as claimed in claim 8, it is characterised in that the bar code management system according to
The information interacted with the AGV dispatching managing devices, can reach target location in the AGV dollies
Before, change the target location.
10. AGV system as claimed in claim 9, it is characterised in that the target location is according to goods
The occupancy determination of the attribute of thing and current each described information point, the transport path of the AGV dollies
Calculated by the AGV dispatching managing devices according to the target location and current driving road situation
Determined with optimization；
The AGV dollies from point carrying of picking up the car after the dress charka is walked, from the empty charka recovery point
The empty charka for carrying identical quantity returns to the point of picking up the car for recycling.
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| CN201610219115.9A CN107265083B (en) | 2016-04-08 | 2016-04-08 | AGV system |
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|---|---|---|---|
| CN201610219115.9A CN107265083B (en) | 2016-04-08 | 2016-04-08 | AGV system |
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| CN107265083B CN107265083B (en) | 2020-07-07 |
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| CN108177982A (en) * | 2017-12-19 | 2018-06-19 | 江阴名鸿车顶系统有限公司 | Automobile spoiler intelligence turnaround system |
| CN109502423A (en) * | 2018-12-05 | 2019-03-22 | 姚吉祥 | A kind of storage yarn automatic feeder and operating method |
| CN109748203A (en) * | 2019-03-01 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of AGV automatic operating system and control method |
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| CN110580029A (en) * | 2019-09-27 | 2019-12-17 | 四川长虹智能制造技术有限公司 | RGV (traffic light volume group) carrying control method and RGV carrying control system |
| CN111115372A (en) * | 2020-01-10 | 2020-05-08 | 北自所（北京）科技发展有限公司 | Wire drawing area transportation device and transportation method |
| CN111710108A (en) * | 2020-05-27 | 2020-09-25 | 东方通信股份有限公司 | Self-service centralized processing device for banking medium business |
| CN111891687A (en) * | 2020-07-29 | 2020-11-06 | 惠科股份有限公司 | Cargo carrying method and system |
| CN114084622A (en) * | 2021-10-20 | 2022-02-25 | 广东嘉腾机器人自动化有限公司 | Docking control method and apparatus, loading device, and medium |
| CN108177982B (en) * | 2017-12-19 | 2024-04-19 | 江阴名鸿车顶系统有限公司 | Intelligent turnover system for automobile spoiler |
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| IT202000021355A1 (en) * | 2020-09-09 | 2022-03-09 | Primon Automazioni S R L | SYSTEM FOR THE AUTOMATIC HANDLING OF REELS OF YARN TO THE TEXTILE PRODUCTION LINES |
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| CN108177982B (en) * | 2017-12-19 | 2024-04-19 | 江阴名鸿车顶系统有限公司 | Intelligent turnover system for automobile spoiler |
| CN109502423A (en) * | 2018-12-05 | 2019-03-22 | 姚吉祥 | A kind of storage yarn automatic feeder and operating method |
| CN109748203A (en) * | 2019-03-01 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of AGV automatic operating system and control method |
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| CN110580029A (en) * | 2019-09-27 | 2019-12-17 | 四川长虹智能制造技术有限公司 | RGV (traffic light volume group) carrying control method and RGV carrying control system |
| CN110580029B (en) * | 2019-09-27 | 2021-01-22 | 四川长虹智能制造技术有限公司 | RGV (traffic light volume group) carrying control method and RGV carrying control system |
| CN111115372A (en) * | 2020-01-10 | 2020-05-08 | 北自所（北京）科技发展有限公司 | Wire drawing area transportation device and transportation method |
| CN111710108A (en) * | 2020-05-27 | 2020-09-25 | 东方通信股份有限公司 | Self-service centralized processing device for banking medium business |
| CN111891687A (en) * | 2020-07-29 | 2020-11-06 | 惠科股份有限公司 | Cargo carrying method and system |
| CN111891687B (en) * | 2020-07-29 | 2021-09-10 | 惠科股份有限公司 | Cargo carrying method and system |
| CN114084622A (en) * | 2021-10-20 | 2022-02-25 | 广东嘉腾机器人自动化有限公司 | Docking control method and apparatus, loading device, and medium |
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Effective date of registration: 20210615 Address after: 518103 No.9, Fuyuan 2nd Road, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN CIMC-TIANDA AIRPORT SUPPORT Co.,Ltd. Patentee after: SHENZHEN CIMC-TIANDA LOGISTICS SYSTEM ENGINEERING Co.,Ltd. Address before: 518067 CIMC R & D center, No. 2 Harbour Road, Shekou Industrial Zone, Guangdong, Shenzhen Patentee before: China International Marine Containers (Group) Co.,Ltd. Patentee before: SHENZHEN CIMC-TIANDA AIRPORT SUPPORT Co.,Ltd. Patentee before: SHENZHEN CIMC-TIANDA LOGISTICS SYSTEM ENGINEERING Co.,Ltd. |
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