CN107697533A - A kind of Transmission system and method - Google Patents
A kind of Transmission system and method Download PDFInfo
- Publication number
- CN107697533A CN107697533A CN201710878343.1A CN201710878343A CN107697533A CN 107697533 A CN107697533 A CN 107697533A CN 201710878343 A CN201710878343 A CN 201710878343A CN 107697533 A CN107697533 A CN 107697533A
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- China
- Prior art keywords
- agv
- sorting
- weight
- volume
- conveyer
- Prior art date
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to a kind of Transmission system and method, wherein Transmission system includes separator, conveyer and sorting AGV (2), wherein described separator is used to separate the object (3) of multiple stackings, and makes each object (3) ordered arrangement；The conveyer is used to receive the object (3) of the separator separation and the object (3) is sent into the sorting AGV (2), to be transported the object (3) to predeterminated position by the sorting AGV (2).The present invention is by setting separator, conveyer and sorting AGV, so that object is by being stacked to the process of single-piece ordered arrangement, can be automatically performed from separator to sorting AGV transmit process and the process for being transported object to predeterminated position by sorting AGV, without manually participating in, piece uploading speed is improved by conveyer, improves object sort efficiency.
Description
Technical field
The present invention relates to logistics transportation technical field, more particularly to a kind of Transmission system and method.
Background technology
With the continuous development of science and technology, the degree more and more higher of mechanical automation.At present, market occurs a kind of automatic
Guide transport lorry (Automated Guided Vehicle, abbreviation AGV), this transport vehicle are generally referred to equipped with electricity magnetically or optically
Learn etc. homing guidance device and can along defined guide path travel, there is safeguard protection and the transport of various transfer functions
Car, AGV belongs to wheeled mobile robot (Wheeled Mobile Robot, abbreviation WMR) category, at present in logistic storage
Industry comes into operation in large quantities, significantly reduces logistics cost, improves storage efficiency.
But existing sorting AGV piece uploading methods are usually artificial piece uploading, it is specially：Sorting AGV drives to operator's body
Parcel is placed on sorting AGV by side, operator manually, is then sorted AGV self-navigations to destination and is unloaded.
Existing AGV piece uploadings scheme, because parcel is that operating personnel are manually placed on sorting AGV, therefore piece uploading speed
Degree is slow, and efficiency is low；Moreover, operating personnel can not accurate judgement parcel weight it is whether exceeded, cause to sort when weight is exceeded
Failure or sorting AGV damages, can both increase input cost after there is such case because of sorting AGV damage, again can be because of piece uploading
The interim card of system and influence piece uploading efficiency.
It should be noted that the information for being disclosed in background of invention part is merely intended to totality of the increase to the present invention
The understanding of background, and be not construed as recognizing or imply the information structure in any form by those skilled in the art public affairs
The prior art known.
The content of the invention
The purpose of the embodiment of the present invention is to propose a kind of Transmission system and method, to improve piece uploading speed as much as possible, is carried
High sort efficiency.
To achieve the above object, the invention provides a kind of Transmission system, including separator, conveyer and sorting
AGV, wherein separator are used for the object separation of multiple stackings, and make each object ordered arrangement；Conveyer is used to connect
Receive the object of separator separation and object is sent on sorting AGV, to be transported object to default position by sorting AGV
Put.
Further, in addition to controller, conveyer include weight measurer and/or device for volume measurement, weight measurement
The weight and/or volume for the object that device and/or device for volume measurement are used to carry conveyer measure, and controller can
Receive the weight and/or volume data of weight measurer and/or the object measured by device for volume measurement, and by weight and/or body
Volume data is contrasted with the maximum load capacity and/or volume for sorting AGV, is divided with being more than in the weight of object and/or volume
Start emergency set when the maximum load capacity and/or volume that pick AGV.
Further, emergency set includes warning device, and warning device is used to send alarm or lights warning lamp, with logical
Know that operating personnel's object exceeded to weight and/or volume is handled；Or emergency set includes deployment device, allotment dress
Put for transferring load capacity and/or the larger standby AGV of volume, the exceeded object of weight and/or volume is sent to standby
Use AGV.
Further, weight measurer is dynamic balance, can enter when object is kept in motion to the weight of object
Row weighs.
Further, conveyer includes belt feeder, is carried conveyer with the rolling by belt in belt feeder
Object be transferred to sorting AGV on.
Further, AGV is sorted when receiving object in the state relative to ground static.
Further in, sorting AGV when receiving object in the state relative to ground motion, and the belt of belt feeder
Velocity component of the running speed in the sorting AGV direction of motion is equal with the movement velocity for sorting AGV.
Further, conveyer includes identity recognition device, and sorting AGV is provided with guider, identity recognition device
For identifying the identity information entrained by object, guider can receive identity information, and control sorting AGV to transport object
To predeterminated position corresponding with identity information.
Further, identity recognition device includes barcode scanner, RFID scanner, magnetic stripe identifier or visual identity
Device.
Further, guider includes inertial navigation device, two-dimension code navigation device, magnetic stripe omniselector or colour band navigation
Device.
Further, conveyer includes at least two sections of belt feeders, to pass through at least two sections of belt feeder carryings at least two
Object, the running speed of at least two sections belt feeders are identical or different.
Further, the weight measurer of conveyer is set on the belt feeder of most downstream.
Further, the device for volume measurement of conveyer or identity recognition device are arranged between adjacent two sections of belt feeders.
Further, object includes the parcel in hexahedral shape, and one of face of parcel is provided with believes comprising identity
The bar code of breath, identity recognition device include six barcode scanners that can be scanned respectively to six faces of parcel, with
Bar code is scanned by barcode scanner to obtain identity information.
To achieve the above object, present invention also offers a kind of transmission method, including：
Separator, conveyer and sorting AGV are provided；
By separator by the object separation of multiple stackings, and make each object ordered arrangement；
The object of separator separation is received by conveyer, and object is sent on sorting AGV；
Object is transported to predeterminated position by sorting AGV.
Further, before object is sent on sorting AGV, in addition to：
Controller, weight measurer and/or device for volume measurement are provided；
The weight and/or volume of the object carried by weight measurer and/or device for volume measurement to conveyer are entered
Row measurement；
The weight and/or volume number of object as measured by controller receives weight measurer and/or device for volume measurement
According to, and weight and/or volume data are contrasted with the maximum load capacity and/or volume for sorting AGV, with the weight of object
Amount and/or volume start emergency set when being more than sorting AGV maximum load capacity and/or volume.
Further, starting the concrete operations of emergency set includes：
Send alarm or light warning lamp, handled with the object for notifying operating personnel exceeded to weight and/or volume；
Or start deployment device, and to transfer load capacity and/or the larger standby AGV of volume, and weight and/or volume is exceeded
Object be sent to standby AGV.
Further, the concrete operations that object is sent on sorting AGV are included：
AGV is sorted relative to ground static, is transmitted object by the rolling for being used as belt in the belt feeder of conveyer
To sorting AGV.
Further, the concrete operations that object is sent on sorting AGV are included：
AGV is sorted relative to ground motion, and is sorting AGV's as the belt running speed of the belt feeder of conveyer
Velocity component in the direction of motion is equal with the movement velocity for sorting AGV, to make object transmission when sorting AGV and passing through belt feeder
To sorting AGV.
Further, the concrete operations transported object to predeterminated position by sorting AGV include：
Conveyer includes being used for the identity recognition device for identifying the identity information entrained by object, and AGV is by leading for sorting
The device that navigates receives identity information, and transports object to predeterminated position corresponding with identity information under the guiding of guider.
Based on above-mentioned technical proposal, the embodiment of the present invention is by setting separator, conveyer and sorting AGV so that
Object is incited somebody to action by being stacked to the process of single-piece ordered arrangement, from separator to sorting AGV transmit process and by sorting AGV
Object is transported to the process of predeterminated position and can be automatically performed, and is participated in without artificial, and piece uploading speed is improved by conveyer
Degree, improves object sort efficiency.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of Transmission system one embodiment of the present invention.
Fig. 2 is the structural representation of another embodiment of Transmission system of the present invention.
In figure：
1st, belt feeder；2nd, AGV is sorted；3rd, object；4th, identity recognition device.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in embodiment is clearly and completely retouched
State.Obviously, described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Bright embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " " center ", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " on ", " under ", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the scope of the present invention.
To improve piece uploading speed, sort efficiency is improved, the present invention proposes a kind of improved Transmission system.With reference to figure 1 and Fig. 2
Shown, the Transmission system can include separator, conveyer and sorting AGV2, and wherein separator is used for multiple stackings
Object 3 separate, and make each ordered arrangement of object 3；Conveyer is used to receive the object 3 of separator separation and by object
3 are sent on sorting AGV2, to be transported object 3 to predeterminated position by sorting AGV2.
By setting separator, conveyer and sorting AGV so that object is by being stacked to the mistake of single-piece ordered arrangement
Journey, from separator to sorting AGV transmit process and by sorting AGV object is transported to the process of predeterminated position
To be automatically performed, participated in without artificial, piece uploading speed is improved by conveyer, improves object sort efficiency.
Further, Transmission system can also include controller, and conveyer includes weight measurer and/or cubing
The weight and/or volume for the object 3 that device, weight measurer and/or device for volume measurement are used to carry conveyer are surveyed
Amount, controller can receive the weight and/or volume data of weight measurer and/or the object 3 measured by device for volume measurement, and
Weight and/or volume data are contrasted with the maximum load capacity and/or volume for sorting AGV2, with the weight of object 3
And/or start emergency set when maximum load capacity and/or volume of the volume more than sorting AGV2.
Preferably, emergency set includes warning device, and warning device is used to send alarm or lights warning lamp, with notice
Operating personnel's object 3 exceeded to weight and/or volume is handled；Or emergency set includes deployment device, deployment device
For transferring load capacity and/or the larger standby AGV of volume, the exceeded object 3 of weight and/or volume is sent to standby
AGV。
In addition to using warning device or deployment device, emergency set can also be device for eliminating, by weight or
Exceeded rejecting of object 3 of volume etc..
By setting controller, weight measurer and/or device for volume measurement and emergency set, can be transmitted by object
The weight or volume of object is measured before on to sorting AGV, and object that can be exceeded to weight or volume is carried out
Timely processing, avoid causing to sort AGV damage or sorting failure because the weight or volume of object is exceeded, influence sorting effect
Rate.
After obtaining the weight or volume of object 3 by weight measurer or device for volume measurement, it can also facilitate according to institute
The weight or volume of acquisition carries out valuation charge to object 3, a variety of operations is integrated, streamline operation.
Wherein, weight measurer can be dynamic balance, with can be to the weight of object 3 when object 3 is kept in motion
Weighed.Dynamic measurement can be realized, improves accuracy of measurement and improve detection speed and piece uploading by being had using dynamic balance
The advantages of speed.
Device for volume measurement can use laser ranging, can be by parcel for the parcel in hexahedral shape
Triangulation is carried out to calculate the volume of parcel.
Preferably, conveyer includes belt feeder 1, is carried conveyer with the rolling by belt in belt feeder 1
Object 3 be transferred to sorting AGV2 on.
As shown in figure 1, in one embodiment of the Transmission system of the present invention, sorting AGV2 is in when receiving object 3
Relative to the state of ground static.
In this embodiment, sorting AGV2 is located at the downstream of belt feeder 1, sorts AGV2 loading end and the skin of belt feeder 1
Band loading end is relative to be connect, and by the rolling of belt in belt feeder 1, can lean on inertia that object 3 thereon is delivered into sorting AGV2
Loading end on, sorting AGV2, which is received, starts walking function after object 3, drives object 3 to reach predeterminated position.
As shown in Fig. 2 the present invention Transmission system another embodiment in, sorting AGV2 when receiving object 3 at
In the state relative to ground motion, and speed of the belt running speed of belt feeder 1 in the sorting AGV2 direction of motion is divided
Measure equal with the movement velocity for sorting AGV2.
In this embodiment, as shown in Fig. 2 setting the belt running speed of belt feeder 1 as V2, speed V2 direction is tilts
Upwards, the movement velocity for sorting AGV2 is V1, and for level to the left, the angle between speed V1 and speed V2 is in speed V1 direction
A, when meeting V1=V2*cos (A), when sorting AGV2 moves to the position to connect with belt feeder 1, object 3 just moves to
The end of belt feeder 1, under effect of inertia, object 3 can be just passed on sorting AGV2, and is started shipment with sorting AGV2 mono-
It is dynamic.
Certainly, except the running speed of the end belt feeder 1 positioned at most downstream to be configured to meet above-mentioned condition
Speed, and sort AGV by when object 3 is just moved to outside the end of belt feeder 1, belt feeder can also be made in advance
1 remains stationary, wait piece uploading, when sort AGV by when, restart belt feeder 1, and make its rotating speed meet require.
Wherein, sorting AGV2 can use belt-type structure, that is, sort AGV and be provided with belt, pass through belt loaded object
3, after arriving at, the unloading of object 3 is realized by the rolling of belt；Turnover plate type structure can also be used, that is, is sorted
AGV is provided with the turnover panel for loaded object 3, and the unloading of object 3 is realized by the upset of turnover panel after arriving at.When
So, in other embodiments, sorting AGV can also use other structures form.
Further, conveyer can also include identity recognition device 4, and sorting AGV2 is provided with guider, identity
Identification device 4 is used to identify the identity information entrained by object 3, and guider can receive identity information, and control sorting
AGV2 transports object 3 to predeterminated position corresponding with identity information.
Wherein, identity information can be that object needs the classification of the destination that is transported or object, color, big
The information such as small.
Identity recognition device 4 can be swept for barcode scanner, RFID (Radio Frequency Identification)
Retouch device, magnetic stripe identifier or visual identity device.Wherein, barcode scanner is to obtain the identification of information by scanning bar code
Device；RFID scanner is the knowledge that information entrained in the RFID label tag of object can be attached to by radio signal identification
Other device, RFID scanner can realize contactless identification, and reading speed is fast；Magnetic stripe identifier is by electromagnetic induction pair
The identification device that magnetic strip information on object is read out；Visual identity device is by being taken pictures to object and by photo
Analyzed so as to obtain the identification device of identity information.Certainly, identity recognition device 4 is not limited to four kinds of the above, other energy
Enough realizing the device of identification information effect can also be used.
Guider can use inertial navigation device, two-dimension code navigation device, magnetic stripe omniselector or colour band omniselector.Its
In, inertial navigation device can detect its acceleration by the Inertial Measurement Unit in sensor, by computing draw its coordinate and
Speed, and then the moving line to sorting AGV guides；Two-dimension code navigation device can pass through the reading terminal on car body
Two-dimension code image on the ground is pasted in scanning, draws its present position and corner posture, and then to sorting AGV moving line
Guide；Magnetic stripe omniselector can detect the magnetic nail pasted on the ground by the magnetic navigation sensor on car body
Or magnetic stripe, car body is travelled along fixed course；Colour band navigation can be pasted onto ground by the camera scanning on car body
Colour band on face, makes car body be travelled along fixed course.
In the preferred embodiment of the Transmission system of the present invention, conveyer includes at least two sections of belt feeders 1, with by extremely
Few two sections of belt feeders 1 carry at least two objects 3.The belt feeder structure of multisection type, which can rise, accumulates function, can keep in more
Parcel, for more sorting AGV piece uploadings, improve piece uploading efficiency；The belt feeder structure of multisection type can also set different fortune
Rotary speed, multistage acceleration is carried out to parcel to facilitate；In addition, the structure of multisection type can facilitate in intersegmental setting weight measurement
Device, device for volume measurement or other detection devices.
Preferably, the weight measurer of conveyer is set on the belt feeder 1 of most downstream, i.e., near sorting
On AGV2 belt feeder 1, the accuracy of measurement can be so improved.
The device for volume measurement or identity recognition device 4 of conveyer can be arranged between adjacent two sections of belt feeders 1.
As depicted in figs. 1 and 2, device for volume measurement and identity recognition device 4 be arranged at two sections of adjacent belt feeders 1 it
Between, object 3 includes the parcel in hexahedral shape, and one of face of parcel is provided with the bar code comprising identity information, body
Part identification device 4 includes six barcode scanners that can be scanned respectively to six faces of parcel, to pass through bar code scan
Device scans bar code to obtain identity information.By setting six barcode scanners, it is ensured that no matter bar code is attached into bag
Which can be scanned on the face wrapped up in；And identity recognition device 4 is arranged between two sections of adjacent belt machines 1, positioned at parcel
Lower section, it is ensured that when the parcel that bar code is attached to bottom surface passes through, can also be scanned.
To improve piece uploading efficiency and sort efficiency, the present invention also proposes a kind of transmission method, including：
Separator, conveyer and sorting AGV2 are provided；
The object 3 of multiple stackings is separated by separator, and makes each ordered arrangement of object 3；
The object 3 of separator separation is received by conveyer, and object 3 is sent on sorting AGV2；
Object 3 is transported to predeterminated position by sorting AGV2.
Further, before object 3 is sent on sorting AGV2, in addition to：
Controller, weight measurer and/or device for volume measurement are provided；
The weight and/or volume of the object 3 carried by weight measurer and/or device for volume measurement to conveyer are entered
Row measurement；
The weight and/or volume number of object 3 as measured by controller receives weight measurer and/or device for volume measurement
According to, and weight and/or volume data are contrasted with the maximum load capacity and/or volume for sorting AGV2, with object 3
Weight and/or volume start emergency set when being more than sorting AGV2 maximum load capacity and/or volume.
Wherein, starting the concrete operations of emergency set includes：
Send alarm or light warning lamp, to notify at operating personnel's object 3 exceeded to weight and/or volume
Reason；Or start deployment device, to transfer load capacity and/or the larger standby AGV of volume, and weight and/or volume are surpassed
Target object 3 is sent to standby AGV.
The concrete operations that object 3 is sent on sorting AGV2 can be included：
AGV2 is sorted relative to ground static, is passed object 3 by the rolling for being used as belt in the belt feeder 1 of conveyer
It is handed on sorting AGV2.
The concrete operations that object 3 is sent on sorting AGV2 can also be included：
Sorting AGV2 is sorting relative to ground motion, and as the belt running speed of the belt feeder 1 of conveyer
Velocity component in the AGV2 direction of motion is equal with the movement velocity for sorting AGV2, with when sorting AGV2 passes through belt feeder 1
Object 3 is set to be transferred on sorting AGV2.
In addition, the concrete operations for being transported object 3 to predeterminated position by sorting AGV2 include：
Conveyer includes being used for the identity recognition device 4 for identifying the identity information entrained by object 3, and sorting AGV2 passes through
Guider receives identity information, and transports object 3 to default position corresponding with identity information under the guiding of guider
Put.
Positive technique effect is equally applicable to transmission method possessed by the above-mentioned each embodiment of Transmission system, here no longer
Repeat.
The course of work of Transmission system of the present invention and one embodiment of method is illustrated with reference to Fig. 1 and Fig. 2：
As shown in figure 1, for sorting AGV2 in the case ofs of remaining static：(omission separator)
Conveyer transmit object and by object be transferred to sorting AGV stowage it is as follows：
1. sorting AGV2, which is run to the front of belt feeder 1, waits piece uploading；
2. object 3 is transported by multistage belt feeder 1, during by device for volume measurement, volume is measured, can determine whether volume is exceeded
Or according to volume charging etc.；During by identity recognition device 4, the identity information on object 3 is identified, identity information is transferred to sorting
On AGV guider, guider distributes destination according to identity information；
3. the belt feeder 1 of end weighs up the weight of object 3, can determine whether overweight or according to weight charging etc.；
4. object 3 is delivered to sorting AGV2 by the belt feeder 2 of end by the rolling of belt；
5. sorting AGV2 by guider self-navigation, object 3 is transported to specified destination and unloaded.
As shown in Fig. 2 for sorting AGV2 in the case ofs of being kept in motion：(omission separator)
Conveyer transmit object and by object be transferred to sorting AGV stowage it is as follows：
1. object 3 is transported by multistage belt feeder 1, during by device for volume measurement, volume is measured, can determine whether volume is exceeded
Or according to volume charging etc.；During by identity recognition device 4, the identity information on object 3 is identified, identity information is transferred to sorting
On AGV guider, guider distributes destination according to identity information；
2. the belt feeder 1 of end weighs up the weight of object 3, can determine whether overweight or according to weight charging etc.；
3. belt feeder 1 of the object 3 in end is ready, piece uploading is waited；
3. sorting AGV2 is run to the belt feeder 1 of end with speed V1, when reaching the synchronous point of certain setting, the skin of end
Band machine 1 starts, final speed V2, V1=V2*cos (A), and such object 3 is just smoothly delivered to sorting AGV2；
5. sorting AGV by guider self-navigation, object 3 is transported to specified destination and unloaded.
Pass through the explanation to Transmission system of the present invention and multiple embodiments of method, it can be seen that Transmission system of the present invention and
Embodiment of the method can substitute artificial piece uploading, and faster, sort efficiency is higher for piece uploading speed；And by set weight measurer,
Device for volume measurement and identity recognition device, measurement and automatic identification identity information to volume and weight etc. can be realized automatically
Function.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical scheme, it all should cover among the claimed technical scheme scope of the present invention.
Claims (20)
1. a kind of Transmission system, it is characterised in that including separator, conveyer and sorting AGV (2), wherein the separation
Device is used to separate the object (3) of multiple stackings, and makes each object (3) ordered arrangement；The conveyer is used for
Receive the object (3) of the separator separation and the object (3) is sent on the sorting AGV (2), to pass through
The sorting AGV (2) transports the object (3) to predeterminated position.
2. Transmission system according to claim 1, it is characterised in that also include weight including controller, the conveyer
Measurer and/or device for volume measurement, the weight measurer and/or device for volume measurement are used to carry the conveyer
The object (3) weight and/or volume measure, the controller can receive the weight measurer and/or body
The weight and/or volume data of the object (3) measured by product measuring appliance, and by the weight and/or volume data and institute
The maximum load capacity and/or volume for stating sorting AGV (2) are contrasted, with big in the weight of the object (3) and/or volume
Start emergency set when the maximum load capacity and/or volume of the sorting AGV (2).
3. Transmission system according to claim 2, it is characterised in that the emergency set includes warning device, the report
Alarm device is used to send alarm or light warning lamp, to notify operating personnel's object exceeded to weight and/or volume
(3) handled；Or the emergency set includes deployment device, the deployment device is used to transfer load capacity and/or body
The larger standby AGV of product, the standby AGV is sent to by the exceeded object (3) of weight and/or volume.
4. Transmission system according to claim 2, it is characterised in that the weight measurer is dynamic balance, with described
Object (3) can weigh when being kept in motion to the weight of the object (3).
5. Transmission system according to claim 1, it is characterised in that the conveyer includes belt feeder (1), to pass through
The object (3) that the conveyer is carried is transferred to the sorting AGV by the rolling of belt in the belt feeder (1)
(2) on.
6. Transmission system according to claim 5, it is characterised in that the sorting AGV (2) is receiving the object (3)
When in the state relative to ground static.
7. Transmission system according to claim 5, it is characterised in that the sorting AGV (2) is receiving the object (3)
When in the state relative to ground motion, and the belt running speed of the belt feeder (1) is in the fortune of the sorting AGV (2)
Velocity component on dynamic direction is equal with the movement velocity of the sorting AGV (2).
8. Transmission system according to claim 1, it is characterised in that the conveyer includes identity recognition device (4),
The sorting AGV (2) is provided with guider, and the identity recognition device (4) is used to identify the body entrained by the object (3)
Part information, the guider can receive the identity information, and control the sorting AGV (2) to transport the object (3)
To predeterminated position corresponding with the identity information.
9. Transmission system according to claim 8, it is characterised in that the identity recognition device (4) includes bar code scan
Device, RFID scanner, magnetic stripe identifier or visual identity device.
10. Transmission system according to claim 8, it is characterised in that the guider includes inertial navigation device, two dimension
Code omniselector, magnetic stripe omniselector or colour band omniselector.
11. according to the Transmission system described in any one of claim 1~10, it is characterised in that the conveyer is included at least
Two sections of belt feeders (1), to carry at least two objects (3) by least two sections belt feeders (1), at least described in two sections
The running speed of belt feeder (1) is identical or different.
12. Transmission system according to claim 11, it is characterised in that the weight measurer of the conveyer is arranged on
On the belt feeder (1) in most downstream.
13. Transmission system according to claim 11, it is characterised in that the device for volume measurement or identity of the conveyer
Identification device (4) is arranged between adjacent two sections of belt feeders (1).
14. Transmission system according to claim 13, it is characterised in that the object (3) is included in hexahedral shape
Parcel, one of face of the parcel are provided with the bar code comprising identity information, and the identity recognition device (4) includes energy
Enough six barcode scanners that six faces of the parcel are scanned respectively, with by described in barcode scanner scanning
Bar code obtains the identity information.
A kind of 15. transmission method, it is characterised in that including：
Separator, conveyer and sorting AGV (2) are provided；
The object (3) of multiple stackings is separated by the separator, and makes each object (3) ordered arrangement；
The object (3) of the separator separation is received by the conveyer, and the object (3) is sent to institute
State on sorting AGV (2)；
The object (3) is transported to predeterminated position by the sorting AGV (2).
16. transmission method according to claim 15, it is characterised in that the object (3) is being sent to the sorting
Before on AGV (2), in addition to：
Controller, weight measurer and/or device for volume measurement are provided；
The weight of the object (3) carried by the weight measurer and/or device for volume measurement to the conveyer
And/or volume measures；
The weight of the object (3) as measured by the controller receives the weight measurer and/or device for volume measurement
And/or volume data, and by the weight and/or volume data and the maximum load capacity and/or body of the sorting AGV (2)
Product is contrasted, be more than in the weight of the object (3) and/or volume the maximum load capacity of the sorting AGV (2) with/
Or start emergency set during volume.
17. transmission method according to claim 16, it is characterised in that the concrete operations bag for starting emergency set
Include：
Send alarm or light warning lamp, located with the object (3) for notifying operating personnel exceeded to weight and/or volume
Reason；Or start deployment device, to transfer load capacity and/or the larger standby AGV of volume, and weight and/or volume are surpassed
Object described in target (3) is sent to the standby AGV.
18. transmission method according to claim 15, it is characterised in that described that the object (3) is sent to described point
The concrete operations picked on AGV (2) include：
The sorting AGV (2) is relative to ground static, by the rolling for being used as belt in the belt feeder (1) of the conveyer
The object (3) is transferred on the sorting AGV (2).
19. transmission method according to claim 15, it is characterised in that described that the object (3) is sent to described point
The concrete operations picked on AGV (2) include：
The sorting AGV (2) is relative to ground motion, and the belt running speed of the belt feeder (1) as the conveyer
Velocity component in the direction of motion of the sorting AGV (2) is equal with the movement velocity of the sorting AGV (2), with described
Sorting AGV (2) during the belt feeder (1) by making the object (3) be transferred on the sorting AGV (2).
20. transmission method according to claim 15, it is characterised in that by the sorting AGV (2) by the object
(3) transport to the concrete operations of predeterminated position include：
The conveyer includes being used for the identity recognition device (4) for identifying the identity information entrained by the object (3), described
Sorting AGV (2) receives the identity information by guider, and by the object (3) under the guiding of the guider
Transport extremely predeterminated position corresponding with the identity information.
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| CN201710878343.1A CN107697533B (en) | 2017-09-26 | 2017-09-26 | Transmission system and method |
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| CN201710878343.1A CN107697533B (en) | 2017-09-26 | 2017-09-26 | Transmission system and method |
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| CN107697533B CN107697533B (en) | 2019-12-31 |
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| CN201710878343.1A Active CN107697533B (en) | 2017-09-26 | 2017-09-26 | Transmission system and method |
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