CN108483034A - The unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line - Google Patents
The unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line Download PDFInfo
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- CN108483034A CN108483034A CN201810495117.XA CN201810495117A CN108483034A CN 108483034 A CN108483034 A CN 108483034A CN 201810495117 A CN201810495117 A CN 201810495117A CN 108483034 A CN108483034 A CN 108483034A
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- Prior art keywords
- positioning component
- agv
- producing line
- material bogey
- board
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 36
- 238000003860 storage Methods 0.000 title claims abstract description 33
- 239000000463 material Substances 0.000 claims abstract description 112
- 230000004044 response Effects 0.000 claims description 34
- 238000000034 method Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 239000011796 hollow space material Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005007 materials handling Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
Abstract
This application involves a kind of unmanned storage and transportation automatic station flexible docking systems of photovoltaic producing line, belong to mechanical transfer field, which includes：It is provided with the board of the first positioning component, on material transportation to the board and the material bogey of the second positioning component will to be provided with and AGV for transporting the material bogey；When first positioning component and second positioning component match, the height of the material bogey is controlled according to the height of the board upper conveyor belt for the AGV；And/or the position of the material bogey is controlled according to the position of the board；It can solve each board and be provided with truss module and manipulator, cause the unmanned storage and transportation automatic station flexible docking system occupied space of photovoltaic producing line big, the problem of the poor reliability of material transportation；The unmanned storage and transportation automatic station flexible docking system the space occupied of photovoltaic producing line can be saved.
Description
Technical field
This application involves a kind of unmanned storage and transportation automatic station flexible docking systems of photovoltaic producing line, belong to mechanical transfer neck
Domain.
Background technology
With the development of photovoltaic industry, certain production links of photovoltaic industry equipment realize automation substantially.Such as：From
Dynamicization ground is to board loading and unloading.
It is a kind of to be typically used for automating to the unmanned storage and transportation automatic station flexible docking of the photovoltaic producing line of board loading and unloading
In system, including it is board, small according to truss module, the manipulator on truss module, the material of the hypothesis on location of board
Vehicle and the gaily decorated basket being placed on material trolley for accommodating material.During to board feeding, manipulator is in truss module
Upper movement, will be on the materials handling to board in the gaily decorated basket.
But the above-mentioned unmanned storage and transportation automatic station flexible docking system occupied space of photovoltaic producing line is big, material transportation can
It is poor by property.
Invention content
The application's is designed to provide a kind of occupy little space and can be with the unmanned storage of the photovoltaic producing line of automatic transportation material
Automatic station flexible docking system is transported, in order to achieve the above objectives, the application provides the following technical solutions, the system comprises：
It is provided with the board of the first positioning component, on material transportation to the board and the material of the second positioning component will to be provided with
Bogey and automated guided vehicle AGV for transporting the material bogey；
When first positioning component and second positioning component match, for the AGV according to defeated on the board
The height for sending the height of band to control the material bogey；And/or the material is controlled according to the position of the board and is carried
The position of device.
Optionally, first positioning component is Quick Response Code reading assembly, and second positioning component is Quick Response Code；Or
Person, first positioning component are Quick Response Code, and second positioning component is Quick Response Code reading assembly.
Optionally, material bogey bottom is provided with third positioning component, and it is fixed that the 4th is provided at the top of the AGV
Hyte part；When the third positioning component and the 4th positioning component match, determines for the AGV and carried with the material
The position of device docking.
Optionally, the bottoms AGV are provided with the 5th positioning component, and the 6th positioning component is provided on ground；Described
When five positioning components and the 6th positioning component match, the initial transport point near the board is determined for the AGV.
Optionally, lifting body is provided on the AGV, the AGV controls the material by the lifting body and holds
Carry the height set and rise to the board upper conveyor belt.
Optionally, the lifting body jacks the material bogey by hollow lead screw jack-up method.
Optionally, it is provided with power supply connector in the AGV, is provided in the material bogey and the power supply connector
Matched charging connector；After the power supply connector and charging connector docking, the AGV is the material bogey
Power supply.
Optionally, it is provided with positioning pin on the AGV, it is described fixed when the material bogey and the AGV dock
Position pin is for fixing position of the material bogey on the AGV.
Optionally, it is provided with belt on the material bogey, the system also includes be placed on the belt to use
In the gaily decorated basket for accommodating material；The material bogey is transported the gaily decorated basket to the conveyer belt by the belt.
Optionally, the system also includes dispatching devices；The dispatching device receives first positioning component or described
The location data that second positioning component is sent；And the AGV is controlled according to the location data and jacks the material bogey,
And/or it controls the AGV and drives the material bogey all-around mobile.
The advantageous effect of the application is：By be respectively set on board and material bogey the first positioning component and
Second positioning component so that when the first positioning component and the second positioning component coordinate, AGV can determine that material bogey is opposite
It in the position of board and height, is adapted with the position of board to the position of control material bearing assembly, to realize belt
On accommodate the gaily decorated basket of material and transport to board, alternatively, by the gaily decorated basket on the material transportation to belt on board；It can solve
Certainly each board is provided with truss module and manipulator, and the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line is caused to account for
It is big with space, the problem of the poor reliability of material transportation；Due to only needing through AGV transported material transport devices, without for
The fixed truss module of the unmanned storage and transportation automatic station flexible docking system configuration of photovoltaic producing line and manipulator, therefore, Ke Yijie
Save the unmanned storage and transportation automatic station flexible docking system the space occupied of photovoltaic producing line.
Above description is only the general introduction of technical scheme, in order to better understand the technological means of the application,
And can be implemented in accordance with the contents of the specification, below with the preferred embodiment of the application and coordinate attached drawing be described in detail as after.
Description of the drawings
Fig. 1 is the knot for the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line that the application one embodiment provides
Structure schematic diagram；
Fig. 2 is bowing for the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line that the application one embodiment provides
View；
Fig. 3 is the vertical view for the AGV that the application one embodiment provides；
Fig. 4 is the dimensional structure diagram of material conveyor and the gaily decorated basket that the application one embodiment provides；
Fig. 5 is the vertical of the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line that the application one embodiment provides
Body structural schematic diagram.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the application is described in further detail.Implement below
Example is not limited to scope of the present application for illustrating the application.
Fig. 1 is the knot for the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line that the application one embodiment provides
Structure schematic diagram, Fig. 1 are the front view of the system, and as can be seen from FIG. 1, which includes at least：It is provided with the first positioning component 111
Board 110, for by material transportation to board 110 and be provided with the second positioning component 121 material bogey 120,
And the automated guided vehicle (Automated Guided Vehicle, AGV) 130 for transported material bogey 120.
When first positioning component 111 and the second positioning component 121 match, for AGV130 according to 110 upper conveyor belt of board
Height control material bogey height；The position of the position control material bogey 120 according to board 110 and/or
It sets.
Schematically, the first positioning component 111 is Quick Response Code reading assembly, and the second positioning component 121 is Quick Response Code；Or
Person, the first positioning component 111 are Quick Response Code, and the second positioning component 121 is Quick Response Code reading assembly, such as：CCD camera assembly.
Optionally, the first positioning component 111 is arranged in the side of board 110, and the setting of the second positioning component 121 is held in material
Carry set 120 side.
Material bogey 120 is referred to as material trolley, travelling bogie etc., and the present embodiment is not to material bogey
120 title is construed as limiting.
Optionally, 120 bottom of material bogey is provided with third positioning component 122, and the 4th is provided at the top of AGV130
Positioning component 131.When third positioning component 122 and the 4th positioning component 131 match, determines for AGV130 and filled with material carrying
Set the position of 120 docking.
Schematically, third positioning component 122 is Quick Response Code reading assembly, and the 4th positioning component 131 is Quick Response Code；Or
Person, third positioning component 122 are Quick Response Code, and the 4th positioning component 131 is Quick Response Code reading assembly, such as：CCD camera assembly.
Optionally, the central point in 120 bottom of material bogey, the 4th positioning component is arranged in third positioning component 122
131 central points being arranged at the top of AGV130.Such as：With reference to the vertical view of system shown in Fig. 2, the Quick Response Code at the top of AGV130
Reading assembly 131 reads the Quick Response Code 122 of 120 bottom of material bogey, at this point, AGV130 and material bogey 120 are right
It connects.
Optionally, the bottoms AGV130 are provided with the 5th positioning component 132, and the 6th positioning component 140 is provided on ground；The
When five positioning components 132 and the 6th positioning component 140 match, the initial transport point near board 110 is determined for AGV130.
5th positioning component 132 and the 6th positioning component 140 provide coarse localization for AGV130, in this way, can reduce
The resource that AGV130 is consumed when being accurately positioned by the first positioning component 110 and the offer of the second positioning component 121.
Schematically, the 5th positioning component 132 is Quick Response Code reading assembly, and the 6th positioning component 140 is Quick Response Code；Or
Person, the 5th positioning component 132 are Quick Response Code, and the 6th positioning component 140 is Quick Response Code reading assembly, such as：CCD camera assembly.
Optionally, the central point in the bottoms AGV130 is arranged in the 5th positioning component.
Optionally, lifting body 133 is provided on AGV, AGV130 passes through 133 control material bogey of lifting body
120 rise to the height of board upper conveyor belt.
Optionally, lifting body jacks material bogey by hollow lead screw jack-up method.
In the present embodiment, material bogey is jacked by hollow lead screw jack-up method, hollow space can be made full use of,
Reduce the volume of lifting body 133.
Optionally, it is additionally provided with power supply connector 134 in AGV130, is provided in material bogey 120 and power supply connector
134 matched charging connectors 123；When power supply connector 134 and charging connector 123 dock, AGV130 is material bogey 120
Power supply.That is, AGV130 uses floating junction contact power supply mode to power for material bogey 120.
Power supply connector 134 can be located at the top of AGV130, and charging connector 123 can be located at material bogey 120
Bottom.
With reference to the vertical view of AGV130 shown in Fig. 3, as can be seen from FIG. 3, the top of AGV130 includes the 4th positioning component
131 and power supply connector 134.
Optionally, positioning pin 135 is additionally provided on AGV130.When material bogey 120 and AGV130 dock, positioning
Pin 135 is for fixing position of the material bogey 120 on AGV130.
Certainly, AGV130 can also include other components, such as：For the AGV power supply connectors 136 of AGV130 power supplies.
Optionally, in the present embodiment, AGV130 is driven by least four wheels, which is all-around mobile
Wheel, such as：Mecanum wheel.
Optionally, it is provided with belt 124 on material bogey 120, which further includes being placed on belt 124 to be used for
Accommodate the gaily decorated basket 150 of material.Material bogey 120 is transported the gaily decorated basket 150 to the conveyer belt on board 110 by belt 124.
For example, with reference to the dimensional structure diagram of material bogey 120 shown in Fig. 4, as can be seen from FIG. 4, material bogey 120
Belt 124 on carry the gaily decorated basket 150.
Optionally, the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line further includes dispatching device 160 (in Fig. 1
It is not shown).Dispatching device 160 receives the location data that the first positioning component 111 or the second positioning component 121 are sent；And according to
Location data controls AGV130 jacking materials bogey 120, and/or, control AGV130 drives the full side of material bogey 120
Displacement is dynamic.
Such as：When the first positioning component 111 is Quick Response Code reading assembly, and the second positioning component 121 is Quick Response Code, two dimension
After code reading assembly reads Quick Response Code, the location data read is sent to dispatching device 160, dispatching device 160
Control signal is generated according to location data, which is sent to AGV130, so that AGV130 is according to control signal control top
Mechanism lifting is risen, and/or according to control signal all-around mobile.
Optionally, location data includes but not limited to：Position of the Quick Response Code in Quick Response Code reading assembly, board height
At least one of with the mark of board.
With reference to the dimensional structure diagram of the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line shown in fig. 5,
During the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line transmits material, following several steps are included at least
Suddenly：
Step 1, AGV130 runs to the bottom of material conveyor 120, the Quick Response Code reading assembly 131 at the top of AGV130
The Quick Response Code for reading 120 bottom of material bogey carries out position adjustment.
Step 2, after the position adjustment of AGV130, AGV130 controls lifting body 133 and rises, by material bogey 120
Jacking, at this point, the power supply connector 134 at the top of AGV130 is docked with the charging head 123 of 120 bottom of material bogey.
Step 3, AGV130 drives material bogey 120 to run, and passes through the Quick Response Code reading assembly 132 of the bottoms AGV130
Read the Quick Response Code 140 on ground so that AGV130 drives material bogey 120 to run to the initial transport near board
Point.
Step 4, after material bogey 120 reaches initial transport point, the Quick Response Code reading assembly 110 of 110 side of board
Read the Quick Response Code 121 of 120 side of material bogey；Quick Response Code reading assembly 110 is sent obtained location data is read
To dispatching device 160；Dispatching device 160 generates control signal according to location data, and sends control signals to AGV130；
AGV130 adjusts top lifting height to the height and board of 120 upper belt of material bogey according to the control signal received
110 upper conveyor belts it is highly consistent.
Step 5, after the belt of material bogey 120 is aligned with the conveyer belt of board 110, AGV130 is connect by power supply
First 134 power for material bogey 120, and material bogey 120 runs belt and transports the gaily decorated basket to the conveyer belt of board 110
On.
In conclusion the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line provided in this embodiment, by
The first positioning component and the second positioning component is respectively set on board and material bogey so that the first positioning component and second
When positioning component coordinates, AGV can determine position and height of the material bogey relative to board, to which control material carries
The position of component is adapted with the position of board, is transported the gaily decorated basket that material is accommodated on belt to board with realizing, or
It will be in the gaily decorated basket on the material transportation to belt on board；It can solve each board and be provided with truss module and manipulator, lead
The problem of cause unmanned storage and transportation automatic station flexible docking system occupied space of photovoltaic producing line is big, the poor reliability of material transportation；
Due to only needing through AGV transported material transport devices, without for the unmanned storage and transportation automatic station flexible docking of photovoltaic producing line
Therefore the fixed truss module of system configuration and manipulator it is right can to save the unmanned storage and transportation automatic station flexibility of photovoltaic producing line
Welding system the space occupied.
In addition, by using Mecanum wheel AGV so that AGV can carry out all-around mobile, and flexible fortune may be implemented
It is defeated.
In addition, by the way that the first positioning component is arranged in board side, the second positioning group is set in material conveyor side
Part so that AGV can be accurately positioned the transporting position of material conveyor, realize on the belt and board on material conveyor
Conveyer belt alignment, for the transporting position of positioning materials, can be dropped by way of image recognition with respect to robot
Low positioning cost.
In addition, AGV and the device that material conveyor is independently so that same AGV can transport different materials
Transport device can improve the utilization rate of AGV.
In addition, AGV jacks material bogey by hollow lead screw jack-up method, hollow space can be made full use of, is contracted
The volume of small lifting body 133.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, under the premise of not departing from the application design, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
1. a kind of unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line, which is characterized in that the system comprises：Setting
Have the first positioning component board, for by material transportation to the board and be provided with the second positioning component material carry
Device and automated guided vehicle AGV for transporting the material bogey；
When first positioning component and second positioning component match, for the AGV according to the board upper conveyor belt
Height control the height of the material bogey；And/or the material bogey is controlled according to the position of the board
Position.
2. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in claim 1, which is characterized in that described
First positioning component is Quick Response Code reading assembly, and second positioning component is Quick Response Code；Alternatively, first positioning component is
Quick Response Code, second positioning component are Quick Response Code reading assembly.
3. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in claim 1, which is characterized in that described
Material bogey bottom is provided with third positioning component, and the 4th positioning component is provided at the top of the AGV；The third positioning
When component and the 4th positioning component match, the position docked with the material bogey is determined for the AGV.
4. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in claim 1, which is characterized in that described
The bottoms AGV are provided with the 5th positioning component, and the 6th positioning component is provided on ground；5th positioning component and the described 6th
When positioning component matches, the initial transport point near the board is determined for the AGV.
5. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in Claims 1-4 is any, feature exist
In being provided with lifting body on the AGV, the AGV controls the material bogey by the lifting body and rises to
The height of the board upper conveyor belt.
6. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as claimed in claim 5, which is characterized in that described
Lifting body jacks the material bogey by hollow lead screw jack-up method.
7. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in Claims 1-4 is any, feature exist
In being provided with power supply connector in the AGV, be provided in the material bogey and the matched charging of the power supply connector
Connector；After the power supply connector and charging connector docking, the AGV powers for the material bogey.
8. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in Claims 1-4 is any, feature exist
In being provided with positioning pin on the AGV, when the material bogey and the AGV are docked, the positioning pin is for fixing
Position of the material bogey on the AGV.
9. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in Claims 1-4 is any, feature exist
In being provided with belt on the material bogey, the system also includes be placed on the belt for accommodating material
The gaily decorated basket；The material bogey is transported the gaily decorated basket to the conveyer belt by the belt.
10. the unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line as described in Claims 1-4 is any, feature
It is, the system also includes dispatching devices；The dispatching device receives first positioning component or the second positioning group
The location data that part is sent；And the AGV is controlled according to the location data and jacks the material bogey, and/or, control
The AGV drives the material bogey all-around mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495117.XA CN108483034A (en) | 2018-05-22 | 2018-05-22 | The unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495117.XA CN108483034A (en) | 2018-05-22 | 2018-05-22 | The unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line |
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| CN108483034A true CN108483034A (en) | 2018-09-04 |
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| CN201810495117.XA Pending CN108483034A (en) | 2018-05-22 | 2018-05-22 | The unmanned storage and transportation automatic station flexible docking system of photovoltaic producing line |
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| CN109399228A (en) * | 2018-11-06 | 2019-03-01 | 中国工程物理研究院激光聚变研究中心 | A kind of material suitable for clean environment is plugged into transfer device |
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| CN109399228A (en) * | 2018-11-06 | 2019-03-01 | 中国工程物理研究院激光聚变研究中心 | A kind of material suitable for clean environment is plugged into transfer device |
| CN110989572A (en) * | 2019-10-31 | 2020-04-10 | 成都四威高科技产业园有限公司 | Accurate transfer control method suitable for AGV |
| CN110989572B (en) * | 2019-10-31 | 2023-08-04 | 成都四威高科技产业园有限公司 | Accurate transfer control method suitable for AGV |
| WO2021121069A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Delivery robot and control method, apparatus and system therefor, and storage medium |
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