CN107703942A - A kind of auto parts and components feed system based on unmanned tractor - Google Patents

Abstract

A kind of auto parts and components feed system based on unmanned tractor, including central control system, warehouse Ji Pei areas, workshop buffering area, line rim charge position area, the first annular circuit being paved into by track-type facilities, the second loop line and road traffic control device, unmanned tractor is provided with first annular circuit, artificial traction car is provided with the second loop line, the system architecture of the present invention is using functions such as running status, present position and the traffic controls of all online unmanned tractors of central control system monitoring, and shown in central control system, reach effect of visualization.

Description

An auto parts supply system based on unmanned tractor

technical field

The invention relates to the field of logistics, in particular to an auto parts supply system based on an unmanned tractor.

Background technique

At present, there are no cases in the domestic logistics industry of using unmanned tractors for logistics distribution, and there are no equipment manufacturers that have successfully researched or applied unmanned tractors, that is, the logistics of auto parts in the outdoor environment of unmanned tractors. Automated distribution is the first case in the domestic logistics industry.

Smart logistics: Industry 4.0 has four major themes: smart factories, smart logistics, smart production, and smart services. Smart logistics puts forward transformation requirements for automobile logistics enterprises, that is, the logistics operation mode mainly goes through four stages: manual-mechanization-automation-intelligence. China's automobile logistics industry is temporarily in the transition period from mechanization to automation. To realize smart logistics, automation must be done first.

Logistics costs: The salary level of the logistics industry is at a high level among all industries. In the past five years, labor costs in first-tier cities have increased by more than 63%, and in second-tier cities by more than 60%. Labor costs have become the biggest burden for logistics companies. Although the salary level is high, due to factors such as the working environment and labor intensity, the turnover rate in the logistics industry has remained high.

Based on the above background, develop and apply an unmanned tractor that can automatically deliver auto parts in outdoor environments such as low temperature, freezing, snowing, raining and strong winds.

Contents of the invention

The technical problem to be solved by the present invention is to provide an auto parts supply system based on an unmanned tractor that can conveniently realize automatic navigation, turnover and logistics management in various areas of the workshop.

In order to solve the above technical problems, the present invention includes a central control system, a warehouse collection and distribution area, a workshop buffer zone, a line edge material level area, a first circular line paved by guide rail devices, a second circular line and a road traffic control device, the first The end of the circular line far away from the second circular line is set in the collection and distribution area of the warehouse, the end of the first circular line and the second circular line close to each other is set in the workshop buffer zone, and the end of the second circular line far away from the first circular line is set at the line edge material level In the area, there are logistics door devices on the first circular line near the warehouse collection and distribution area and near the workshop buffer zone, unmanned tractors are installed on the first circular line, and manual traction is provided on the second circular line. The unmanned tractor includes a main body of the unmanned tractor, and a steering wheel assembly assembly, an automatic foot brake assembly, an automatic hand brake assembly, and a drive wheel motor encoder assembly are arranged in the unmanned tractor main body. The front end of the unmanned tractor is provided with a front bumper assembly, the bottom of the unmanned tractor body is provided with a navigation assembly, the top of the unmanned tractor body is provided with a laser assembly, and several magnetic nails are provided on the first circular line. The navigation component is a magnetic sensor, and the road traffic control device includes a traffic warning light, a control landmark sensing device, and a release landmark sensing device. Traffic warning lights, control landmark sensing devices, release landmark sensing devices, and logistics door devices are connected.

As a further improvement of the present invention, the front bumper assembly includes a connecting bracket, a PLS laser anti-collision sensor, a guide column, a return spring, an anti-collision rubber, an RFID sensor and a limit switch, and the connecting bracket is connected to the unmanned tractor body connection, the PLS laser anti-collision sensor, limit switch and RFID sensor are set on the connecting bracket, the guide column is slidingly matched with the front end of the connecting bracket, the return spring is sleeved on the guide column, and the anti-collision rubber is arranged on the front end of the guide column, Several RFID cards are arranged on the first ring circuit, and the limit switch is connected with the drive wheel motor encoder assembly.

As a further improvement of the present invention, the steering wheel assembly assembly includes a motor reducer, a steering wheel encoder, a synchronous pulley, a synchronous belt body, a bearing seat, a sprocket shaft, a motor bracket and a tensioning bracket, and the motor reducer and the bearing seat are located at On the motor bracket, a rotating bearing is arranged on the bearing seat, one end of the rotating bearing is connected with the sprocket shaft, the other end of the rotating bearing is connected with the synchronous pulley, and a driving wheel is arranged at the driving end of the motor reducer, and the synchronous belt body is set on On the synchronous pulley and the driving wheel, the tension bracket is connected with the motor bracket, and the steering wheel encoder is connected with the rotating bearing.

As a further improvement of the present invention, the automatic foot brake assembly includes a first electric push rod, a first linear guide pair, a jacking bearing assembly, a horizontal push claw, an up and down return spring, a rotary return spring, a fixed bracket, and a pedal and the rotating bracket, the fixed bracket is connected with the body of the unmanned tractor, the first electric push rod and the first linear guide pair are connected with the fixed bracket, the driving end of the first electric push rod is connected with the horizontal push claw, and the horizontal push claw Cooperate with the first linear guide pair, the rotating bracket is hinged with the horizontal push claw, and the upper and lower return springs are arranged between the rotating bracket and the foot of the pedal, the pedal is connected with the fixed bracket through the jacking bearing assembly, and the jacking bearing assembly A rotary return spring is arranged between the fixed bracket and the fixed bracket.

As a further improvement of the present invention, the logistics door device includes a logistics door installation bracket and a geomagnetic induction device. A logistics door body that can move up and down relative to the logistics door installation bracket is provided on the logistics door installation bracket. A logistics door driving device capable of moving the logistics door body is also provided, and the central control system is respectively connected with the geomagnetic induction device and the logistics door driving device.

Beneficial effects of the present invention: the system architecture of the present invention adopts the central control system to monitor the running status, location and traffic control functions of all online unmanned tractors, and displays them in the central control system to achieve a visualization effect. The wireless network is an independent local area network, and the wireless network covers all operating areas of the driverless tractor. The wireless AP adopts a dual-channel outdoor type, supports 2.4GHz and 5GHz dual-band simultaneous operation, and can provide a wireless access rate of 450M+1300M; each wireless AP adopts an IP68 waterproof design, and the wireless signal coverage radius is 200m. The operating route of the unmanned tractor has outdoor and indoor sections on the first circular route, so entering and exiting the warehouse or workshop needs to pass through the logistics door device. When the unmanned tractor is about to reach the logistics door device, the geomagnetic induction device will feed back the signal to the central control system, and then the central control system will send a message of "open the door" to the logistics door driving device, and the logistics door driving device will drive the logistics door body to rise automatically , after the unmanned tractor passes by, the door will be closed automatically.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Figure 1 is a schematic diagram of the present invention.

Fig. 2 is a structural diagram of the unmanned tractor of the present invention.

Fig. 3 is a structural diagram of the steering wheel assembly assembly of the present invention.

Fig. 4 is a structural diagram of the automatic foot brake assembly of the present invention.

Fig. 5 is a structural diagram of the front bumper assembly of the present invention.

Fig. 6 is a structural diagram of the logistics door device of the present invention.

detailed description

As shown in Figures 1 to 6, the present invention includes a central control system 1, a warehouse collection and distribution area 2, a workshop buffer zone 3, a line edge material level area 4, a first circular circuit 5 paved by guide rail devices, and a second circular circuit 6 and the road traffic control device, the guide rail device is composed of magnetic strips or magnetic nails (a magnetic nail is buried every 2m), the first circular line 5 is far away from the second circular line 6 and is located in the warehouse collection and distribution area 2, the first The ends of the ring line 5 and the second ring line 6 that are close to each other are set in the workshop buffer zone 3, and the end of the second ring line 6 is set in the line edge material level area 4 away from the first ring line 5, on the first ring line 5 and A logistics door device 8 is provided at 2 places close to the collection and distribution area of the warehouse and 3 places close to the workshop buffer zone, an unmanned tractor 9 is provided on the first circular line 5, and a manual tractor 10 is provided on the second circular line 6, so Described unmanned tractor 9 comprises unmanned tractor body 11, is provided with steering wheel assembly assembly, automatic foot brake assembly, automatic handbrake assembly and drive wheel motor encoder assembly 12 in unmanned tractor body 11, in unmanned tractor The front end of the body 11 is provided with a front bumper assembly 13, a navigation assembly 14 is provided at the bottom of the unmanned tractor body 11, a laser assembly 15 is provided at the top of the unmanned tractor body 11, and a laser assembly 15 is arranged on the first circular line 5. Several magnetic nails are provided, the navigation assembly 14 is a magnetic sensor, and the road traffic control device includes a traffic warning light 50, a control landmark sensing device 51, a lifting landmark sensing device 52, a control landmark sensing device 51 and a lifting landmark sensing device 52 is located on the first circular line 5, and the central control system 1 is respectively connected with the traffic warning light 50, the control landmark sensing device 51, the release landmark sensing device 52, and the logistics door device 8, and the front bumper assembly 13 includes a connecting bracket 16 , PLS laser anti-collision sensor 17, guide column 18, return spring 19, anti-collision rubber 20, RFID sensor 21 and limit switch 22, described connecting bracket 16 is connected with unmanned tractor body 11, and described PLS laser anti-collision Sensor 17, limit switch 22 and RFID sensor 21 are located on the connection bracket 16, guide column 18 is slidingly matched with the front end of connection bracket 16, return spring 19 is sleeved on the guide column 18, anti-collision rubber 20 is located at the guide column 18 The front end is provided with several RFID cards on the first ring circuit 5, the limit switch 22 is connected with the drive wheel motor encoder assembly 12, and the steering wheel assembly assembly includes a motor reducer 23, a steering wheel encoder 24, a timing belt Wheel 25, synchronous belt body 26, bearing seat 27, sprocket wheel shaft, motor support 29 and tensioning support 30, motor reducer 23 and bearing seat 27 are located on the motor support 29, are provided with rotating bearing 31 on bearing seat 27, One end of the rotating bearing 31 is connected with the sprocket shaft, and the other end of the rotating bearing 31 is connected with the synchronous pulley 25. The driving end of the motor reducer 23 is provided with a drive wheel 32, and the synchronous belt body 26 is sleeved on the synchronous pulley 25 and the driving wheel. 32, the tension bracket 30 is connected with the motor bracket 29, the steering wheel encoder 24 is connected with the rotating bearing 31, and the automatic foot brake assembly It includes the first electric push rod 33, the first linear guide rail pair 34, the jacking bearing assembly 35, the horizontal push claw 36, the upper and lower return springs 37, the rotary return spring 38, the fixed bracket 39, the pedal 40 and the rotating bracket 41, The fixed bracket 39 is connected with the unmanned tractor body 11, the first electric push rod 33 and the first linear guide pair 34 are connected with the fixed bracket 39, and the driving end of the first electric push rod 33 is connected with the horizontal push claw 36, The horizontal push claw 36 is matched with the first linear guide rail pair 34, the rotating bracket 41 is hinged with the horizontal push claw 36, and the upper and lower return springs 37 are arranged on the rotating bracket 41 and the feet of the foot pedal 40, and the foot pedal 40 passes through the jacking bearing The assembly 35 is connected with the fixed bracket 39, and a rotary return spring 38 is provided between the jacking bearing assembly 35 and the fixed bracket 39. The logistics door device 8 includes a logistics door installation bracket 42 and a geomagnetic induction device 43, and the logistics door installation bracket 42 is provided with a logistics door body 44 that can move up and down relative to the logistics door mounting bracket 42, and a logistics door drive device that can move the logistics door body 44 is also provided on the logistics door mounting bracket 42. The central control system 1 is connected to the ground respectively. The magnetic induction device 43 and the logistics door driving device are connected.

The system framework of the present invention uses the central control system 1 to monitor the running status, location and traffic control functions of all online unmanned tractor vehicles 9, and displays them in the central control system 1 to achieve a visualization effect. The wireless network is an independent local area network, and the wireless network covers all operating areas of the driverless tractor. The wireless AP adopts a dual-channel outdoor type, supports 2.4GHz and 5GHz dual-band simultaneous operation, and can provide a wireless access rate of 450M+1300M; each wireless AP adopts an IP68 waterproof design, and the wireless signal coverage radius is 200m. Warehouse collection and distribution area 2 is located in parts warehouse 45, workshop buffer zone 3 and line edge material level area 4 are located in assembly workshop 46, and between warehouse collection and distribution area 2 and workshop buffer zone 3 is an outdoor road section 47. Forklifts in parts warehouse 45 are installed There is a PDA, because the unmanned tractor 9 is provided with an RFID sensor 21, and the first circular line 5 is provided with several RFID cards, so that the position of the unmanned tractor 9 can be controlled in real time, when the unmanned tractor 9 When arriving at the collection and distribution area 2 of the warehouse, the PDA reminds the driver of the forklift in advance to prepare for the parts collection and distribution operation, and the manual tractor 10 in the assembly workshop 46 is also equipped with a PDA. When the unmanned tractor 9 is about to arrive, the workshop buffer zone 3 , prompting the driver of the artificial tractor 10 in advance to prepare for the parts delivery conversion. The road traffic control device is located at the first circular line 5 in the outdoor road section 47, and controls traffic at the crossroads formed by other logistics vehicle routes in the factory area. When the unmanned tractor 9 approaches the control landmark sensing device 51, the control landmark sensing device 51 feeds back the signal to the central control system 1, and the central control system 1 controls the traffic warning light 50 to send a warning signal until the unmanned tractor 9 is far away from the release landmark. When the sensing device 52 is activated, the central control system 1 controls the traffic warning light 50 to stop sending warning signals. The running route of the unmanned tractor 9 has an outdoor section and an indoor section on the first circular line 5, so it is necessary to pass through the logistics door device 8 in and out of the warehouse or workshop. When the unmanned tractor 9 is about to arrive at the logistics door device 8, the geomagnetic induction device 43 feeds back the signal to the central control system 1, and then the central control system 1 sends a message of "open the door" to the logistics door drive device, and the logistics door drive device drives the logistics door. The door body 44 rises automatically, and after the unmanned tractor 9 passes through, the door is automatically closed.

In order to meet the automatic cruising function of the unmanned tractor 9 in the outdoor section, the unmanned tractor 9 adopts an inertial navigation method, and the guiding medium is a magnetic nail. The size of the magnetic nail is a cylinder with a diameter of 30mm and a height of 20mm. The magnetic field strength of the magnetic nail is high, which can meet the phenomenon that the magnetic nail will not be lost when the unmanned tractor 9 runs at a speed of 2m/s. Although in the outdoor straight road section, a magnetic nail is buried every 2m as a benchmark, but the same distance between the magnetic nails is not 2m, but a deviation of ±200mm is made on the basis of 2m to ensure the operation of the unmanned tractor. Accuracy requirements. Simultaneously because this unmanned tractor vehicle body 11 is provided with steering wheel assembly assembly, automatic foot brake assembly, automatic hand brake assembly and driving wheel motor encoder assembly 12, can realize automatic driving and manual driving two modes.

Claims (5)

1. An auto parts supply system based on an unmanned tractor, characterized in that it includes a central control system, a warehouse collection and distribution area, a workshop buffer zone, a line edge material level area, a first circular line paved by a guide rail device, The second circular line and the road traffic control device, the end of the first circular line away from the second circular line is set in the warehouse assembly area, the end of the first circular line and the second circular line close to each other is set in the workshop buffer zone, and the second circular line The end of the line away from the first circular line is set in the line edge material level area, and a logistics door device is installed on the first circular line near the warehouse collection and distribution area and near the workshop buffer zone, and an unmanned traction device is installed on the first circular line. An artificial tractor is provided on the second circular line, and the unmanned tractor includes a main body of the unmanned tractor, and a steering wheel assembly assembly, an automatic foot brake assembly, an automatic hand brake assembly and an active The wheel motor encoder assembly is equipped with a front bumper assembly at the front end of the unmanned tractor body, a navigation assembly at the bottom of the unmanned tractor body, and a laser assembly at the top of the unmanned tractor body. A plurality of magnetic nails are arranged on the circular line, the navigation component is a magnetic sensor, and the road traffic control device includes a traffic warning light, a control landmark sensing device, a lifting landmark sensing device, a control landmark sensing device and a lifting landmark sensing device. On the first circular line, the central control system is respectively connected with the traffic warning lights, the control landmark sensing device, the release landmark sensing device, and the logistics door device. 2. The auto parts supply system based on unmanned tractor according to claim 1, characterized in that: the front bumper assembly includes a connecting bracket, a PLS laser anti-collision sensor, a guide post, a return spring, and an anti-collision rubber , an RFID sensor and a limit switch, the connecting bracket is connected to the unmanned tractor body, the PLS laser anti-collision sensor, the limit switch and the RFID sensor are arranged on the connecting bracket, and the guide column is slidably matched with the front end of the connecting bracket, The return spring is sleeved on the guide column, the anti-collision rubber is arranged on the front end of the guide column, and several RFID cards are arranged on the first circular circuit, and the limit switch is connected with the drive wheel motor encoder assembly. 3. The auto parts supply system based on unmanned tractor according to claim 1, characterized in that: the steering wheel assembly assembly includes a motor reducer, a steering wheel encoder, a synchronous pulley, a synchronous belt body, a bearing block, The sprocket shaft, the motor bracket and the tensioning bracket, the motor reducer and the bearing seat are arranged on the motor bracket, and a rotating bearing is arranged on the bearing seat, one end of the rotating bearing is connected with the sprocket shaft, and the other end of the rotating bearing is connected with the synchronous pulley , the driving end of the motor reducer is provided with a driving wheel, the synchronous belt body is sleeved on the synchronous belt wheel and the driving wheel, the tension bracket is connected with the motor bracket, and the steering wheel encoder is connected with the rotating bearing. 4. The auto parts supply system based on an unmanned tractor according to claim 1, wherein the automatic foot brake assembly includes a first electric push rod, a first linear guide pair, a jacking bearing assembly, Horizontal push claws, up and down return springs, rotary return springs, fixed brackets, pedals and rotating brackets, the fixed brackets are connected to the body of the unmanned tractor, and the first electric push rod and the first linear guide pair are connected to the fixed brackets , the driving end of the first electric push rod is connected with the horizontal push claw, the horizontal push claw is matched with the first linear guide rail pair, the rotating bracket is hinged with the horizontal pushing claw, and the upper and lower return springs are arranged on the rotating bracket and the foot of the pedal, The pedal is connected with the fixed bracket through the jacking bearing assembly, and a rotary return spring is arranged between the jacking bearing assembly and the fixing bracket. 5. The auto parts supply system based on unmanned tractor according to claim 1, wherein the logistics door device comprises a logistics door mounting bracket and a geomagnetic induction device, and the logistics door mounting bracket is provided with a The logistics door mounting bracket moves up and down relative to the logistics door body. A logistics door driving device that can move the logistics door body is also provided on the logistics door mounting bracket. The central control system is connected with the geomagnetic induction device and the logistics door driving device respectively.