CN109051561A - Aerial road pipeline and its operational method based on small transporting vehicle - Google Patents
Aerial road pipeline and its operational method based on small transporting vehicle Download PDFInfo
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- CN109051561A CN109051561A CN201810681171.3A CN201810681171A CN109051561A CN 109051561 A CN109051561 A CN 109051561A CN 201810681171 A CN201810681171 A CN 201810681171A CN 109051561 A CN109051561 A CN 109051561A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 claims abstract description 85
- 239000000463 material Substances 0.000 claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000005611 electricity Effects 0.000 abstract description 8
- 230000006978 adaptation Effects 0.000 abstract description 3
- 239000013589 supplement Substances 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 26
- 238000011144 upstream manufacturing Methods 0.000 description 15
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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
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
- B65G25/065—Reciprocating floor 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of aerial road pipeline and its operational method based on small transporting vehicle, due to being equipped with multiple production stations and multiple positioning charging units on guidance lane, each production station is equipped with a positioning charging unit, in this way, when material is transported near production station by automated guided vehicle, during operating personnel carries out operation to the material that automated guided vehicle transport comes, positioning charging unit can charge to automated guided vehicle and supplement electricity, it ensures that automated guided vehicle can continue working in this way, improves production efficiency.And, since guidance lane is fixed, and each automated guided vehicle is self-movement, in this way, the speed and beat that each automated guided vehicle transported material speed can be controlled according to the needs of each production station, enable adaptation to the characteristic changeable in productive temp on production line.
Description
Technical field
The present invention relates to a kind of aerial road pipeline and its operational method based on small transporting vehicle, more particularly to one
Kind is applied to the material-transporting system and its operational method of flexible manufacturing automatic production line.
Background technique
Pipeline is mainly the conveying task for completing its material.Around storehouse, workshop and packing shop place,
It is provided with the rule carrier chain being made of many belt conveyors, roller conveyor etc., is formed through head and the tail connection continuous defeated
Line sending.In the inlet of material and exit is equipped with and path prong device, elevator and ground transport line.In this way storehouse,
One is formd within the scope of workshop and packing shop not only smooth can reach each production position simultaneously but also be closed circulation
Pipeline system.But nowadays traditional pipeline especially faces quickly, multiplicity, the longer production line of length, and line balancing is clean
Net degree, flexibility, intelligence, transformation property etc. Shortcomings, it is difficult to adapt to flexible manufacturing and the requirement of intelligence manufacture.
AGV, the technical equipment have electricity magnetically or optically to wait homing guidances device, it can be travelled along defined guide path,
Transport vehicle with safeguard protection and various transfer functions.But AGV on the market generally walks on the ground, volume compares
Greatly, than heavier.
Charging pile technology, the fuel charger being functionally similar to inside gas station can be fixed on ground or wall, be installed on
It, can be according to different in public building (public building, market, Public Parking etc.) and residential area parking lot or charging station
Voltage class is that the electric car of various models charges.
Wireless charging technology transmits energy between charger and power device with magnetic field, does not run wires between the two,
Therefore charger and the device of electricity consumption can accomplish that no conductive junction point is exposed.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of skies based on small transporting vehicle
Middle road pipeline and its operational method can be better adapted to flexible manufacturing and the material allocation requirement of intelligence manufacture.
To achieve the above object, the present invention provides a kind of aerial road pipeline based on small transporting vehicle, using as follows
Technical solution: a kind of aerial road pipeline based on small transporting vehicle, guidance lane, homing guidance fortune including aerial setting
Defeated vehicle and control device guide lane to provide navigation information for automated guided vehicle, and control device is controlled according to navigation information
Automated guided vehicle is moved along guidance lane, is had the material platform for placing material at the top of automated guided vehicle, is drawn
Guide-car road is equipped with multiple production stations, and multiple positioning charging units are equipped on guidance lane, and each production station is equipped with one
A positioning charging unit；Control device can control automated guided vehicle and move at each positioning charging unit along guidance lane
Stop, when automated guided vehicle stops at positioning charging unit, positioning charging unit carries out automated guided vehicle
Charging.
Preferably, the guidance lane in a ring, including set out lane and return lane, the both ends in lane of setting out lead to respectively
It crosses connection lane and is connect with lane is returned to.
Preferably, the guidance lane includes upper layer lane and flyunder, and the head and end in upper layer lane is respectively equipped with
First hoistable platform and the second hoistable platform, the first hoistable platform is for the automated guided vehicle on flyunder to be moved to
On the lane of upper layer, the second hoistable platform is used to the automated guided vehicle on the lane of upper layer being moved to flyunder.
Preferably, the guidance lane includes A-road and at least one side passing bay, and side passing bay is arranged in A-road
Side, the both ends of side passing bay are connected with A-road.
Preferably, the positioning charging unit includes the support frame that guidance lane two sides are arranged in, and is set at the top of support frame
There is fixed plate, fixed plate is equipped with charging electrode, and movable plate can be moved up and down by being provided on support frame, and movable plate is by lifting body
It drives, forms grasping part between fixing plate and moving plate；The side of the automated guided vehicle is equipped with clamping wing plate, clamping
Wing plate is equipped with electrical contact, and when automated guided vehicle is moved at positioning charging unit, clamping wing plate is located at grasping part
In, lifting body drives movable plate to move up and jacks up and press to fixed plate upwards for clamping wing plate, so that electrical contact
It is connect with charging electrode.
It is highly preferred that when lifting body drives movable plate to jack up upwards and to clamp wing plate and fixed plate compression, from
It is formed between the bottom of dynamic guide transport lorry and the surface for guiding lane and is passed through for what another automated guided vehicle passed through
Space.
Preferably, it is equipped with alignment sensor at the positioning charging unit, is filled when automated guided vehicle is moved to positioning
When at electric installation, automated guided vehicle acquires the signal of alignment sensor and stops at setting position.
Preferably, the wireless charging Denso for charging to automated guided vehicle is additionally provided at the positioning charging unit
It sets.
Correspondingly with a kind of aerial road pipeline based on small transporting vehicle of the invention, the present invention also provides a kind of bases
In the operational method of the aerial road pipeline of small transporting vehicle, by adopting the above technical scheme or its any preferred technical solution
The aerial road pipeline based on small transporting vehicle carries out operation, including following job step:
1) material is carried on the material platform of automated guided vehicle, control device controls automated guided vehicle from
Beginning production station sets out to be moved along the production station of guidance lane downstream；
2) stopping when automated guided vehicle moves at positioning charging unit, positioning charging unit transport homing guidance
Defeated vehicle charges；
3) operating personnel or production equipment complete the operation to material on the material platform of automated guided vehicle, and positioning is filled
Electric installation stopping charges to automated guided vehicle；
4) control device control automated guided vehicle continues production station movement downstream.
Preferably, 5) control device control automated guided vehicle is further comprised the steps of: to return from the end in downstream production station
It is back to starting production station.
As described above, a kind of aerial road pipeline based on small transporting vehicle of the present invention, has beneficial below
Effect: multiple due to being equipped on guidance lane in a kind of aerial road pipeline based on small transporting vehicle of the invention
Station and multiple positioning charging units are produced, each production station is equipped with a positioning charging unit, in this way, homing guidance is transported
When material is transported near production station by vehicle, operating personnel carries out operational period to the material that automated guided vehicle transport comes
Between, positioning charging unit can charge to automated guided vehicle and supplement electricity, ensure that homing guidance in this way
Transport vehicle can continue working, and improve production efficiency.Moreover, because guidance lane is fixed, and each homing guidance is transported
Defeated vehicle is self-movement, in this manner it is possible to control each automated guided vehicle according to the needs of each production station and transport object
The speed and beat for expecting speed, enable adaptation to the characteristic changeable in productive temp on production line.One kind of the invention is based on
The aerial road pipeline of small transporting vehicle also has above-mentioned beneficial effect, and details are not described herein again.
Detailed description of the invention
Fig. 1 is shown as a kind of the first embodiment of aerial road pipeline based on small transporting vehicle of the invention
Schematic perspective view；
Fig. 2 is shown as a kind of second of embodiment of aerial road pipeline based on small transporting vehicle of the invention
Schematic perspective view；
Fig. 3 is shown as the main view from the forward observation of Fig. 2, cover removal；
Fig. 4 is shown as a kind of the third embodiment of aerial road pipeline based on small transporting vehicle of the invention
Schematic perspective view；
Fig. 5 is shown as the top view from the top of Fig. 4, automated guided vehicle removal；
Fig. 6 is shown as the automated guided vehicle in Fig. 4 and passes through the schematic diagram of positioning charging unit；
Fig. 7 is shown as the structural schematic diagram of positioning charging unit；
Fig. 8 is shown as the structural schematic diagram of automated guided vehicle；
Fig. 9 is shown as a kind of the 4th kind of embodiment of aerial road pipeline based on small transporting vehicle of the invention
Schematic perspective view；
Figure 10 is shown as the automated guided vehicle in Fig. 9 and passes through the schematic diagram of positioning charging unit；
Figure 11 is shown as the connection schematic diagram between control device, automated guided vehicle and alignment sensor.
Component label instructions
1 control device 17 guides lane
2 automated guided vehicle, 18 support frame
3 material platform, 19 fixed plate
4 positioning 20 charging electrodes of charging unit
5 guidance 21 movable plates of lane
6 set out 22 lifting body of lane
7 return to 23 grasping part of lane
8 connection lanes 24 clamp wing plate
9 guidance 25 electrical contacts of lane
10 upper layers lane 26 pass through space
11 flyunder, 27 alignment sensor
12 first hoistable platform, 28 wireless charging device
13 second hoistable platform, 29 splicing module
14 guidance 30 covers of lane
15 A-roads 31 position charging unit
16 side passing bay, 32 support frame
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1 to 11, the present invention provides a kind of aerial road pipeline based on small transporting vehicle, using as follows
Technical solution: a kind of aerial road pipeline based on small transporting vehicle, guidance lane 5/9/14/17 including aerial setting,
Automated guided vehicle 2 and control device 1, guidance lane 5/9/14/17 are that automated guided vehicle 2 provides navigation information, are controlled
Device 1 processed controls automated guided vehicle 2 according to navigation information and moves along guidance lane 5/9/14/17, automated guided vehicle
2 tops have the material platform 3 for placing material, and guidance lane 5/9/14/17 is equipped with multiple production stations, in guide car
Road 5/9/14/17 is equipped with multiple positioning charging units 4/31, and each production station is equipped with a positioning charging unit 4/31；
Control device 1 can control automated guided vehicle 2 and move at each positioning charging unit 4/31 along guidance lane 5/9/14/17
Stop, when automated guided vehicle 2 stops at positioning charging unit 4/31, positioning charging unit 4/31 transports homing guidance
Defeated vehicle 2 charges.
1, in technical solution of the present invention, it is preferable that as follows to the charging modes of automated guided vehicle:
Multiple production stations and multiple positioning charging units 4/31, each production are equipped on guidance lane 5/9/14/17
Station is equipped with a positioning charging unit 4/31, in this way, when material is transported near production station by automated guided vehicle 2,
During operating personnel carries out operation to the material that the transport of automated guided vehicle 2 comes, positioning charging unit 4/31 can be to automatic
Guide transport lorry 2 is charged and supplements electricity, ensures that automated guided vehicle 2 can continue working in this way, is improved
Production efficiency.Moreover, because guidance lane 5/9/14/17 is fixed, and each automated guided vehicle 2 is self-movement
, in this manner it is possible to according to it is each production station needs and control each 2 transported material speed of automated guided vehicle speed and
Beat enables adaptation to the characteristic changeable in productive temp on production line.
In a kind of aerial road pipeline based on small transporting vehicle of the invention, automated guided vehicle 2 is moved to
When positioning at charging unit 4/31, the positioning charging unit 4/31 charges to automated guided vehicle 2, as a kind of excellent
The embodiment of choosing, as shown in Figure 6 to 8, the positioning charging unit 4/31 include setting in 5/9/14/17 liang of lane of guidance
Respectively there are a support frame 18/32 in the support frame 18/32 of side, guidance 5/9/14/17 two sides of lane, two support frames 18/32 about
The middle line in lane 5/9/14/17 is guided to be symmetrical arranged, the top of support frame 18/32 is equipped with fixed plate 19, and fixed plate 19 is equipped with
Charging electrode 20, movable plate 21 can be moved up and down by being provided on support frame 18/32, and movable plate 21 is driven by lifting body 22, Gu
Grasping part 23 is formed between fixed board 19 and movable plate 21；The side of the automated guided vehicle 2 is equipped with clamping wing plate 24,
It clamps wing plate 24 and is equipped with electrical contact 25, when automated guided vehicle 2 is moved at positioning charging unit, homing guidance transport
The folder that the clamping wing plate 24 of 2 two sides of vehicle is just inserted into the fixed plate 19 of guidance 5/9/14/17 two sides of lane and movable plate 21 is formed
It holds in space 23, clamping wing plate 24 is located in grasping part 23, and lifting body 22 drives movable plate 21 to move up and will clamp
Wing plate 24 jacks up and presses to fixed plate 19 upwards, so that electrical contact 25 is connect with charging electrode 20, it thus can be to automatic
Guide transport lorry 2 charges.As shown in Figure 6 and Figure 7, it is additionally provided at the positioning charging unit 4/31 for homing guidance
The wireless charging device 28 that transport vehicle 2 charges, in this way, can be filled by wireless charging device 28 to automated guided vehicle 2
Electricity, it is simple and fast.In the production station without positioning production, position is such as waited, the positions such as manual working position are settable wireless
Charging unit 28 carries out wireless charging to automated guided vehicle 2.As shown in fig. 7, being equipped with positioning at the positioning charging unit
Sensor 27, when automated guided vehicle 2 is moved at positioning charging unit, automated guided vehicle 2 acquires orientation sensing
The signal of device 27 and stop at setting position, in this way, automated guided vehicle 2 can accurately stop at the position of setting.
2, in technical solution of the present invention, it is preferable that the guidance lane of aerial setting is arranged as follows:
A kind of aerial road pipeline based on small transporting vehicle of invention is used for material dispensing, guides lane 5/9/14/
17 can shuttle between the production factors such as storage, production equipment and operating personnel.The aerial setting in lane 5/9/14/17 is guided,
Guidance lane 5/9/14/17 can be set on the support frame manufactured by profile, profile as support frame, plate as road surface,
Lane 5/9/14/17 is guided to be arranged on plate.Entire guidance lane 5/9/14/17 is spliced by the splicing module 29 of multistage
Get up, is connected between splicing module 29 by quick coupling.Various sensings are furnished in the inside in guidance lane 5/9/14/17
Device, controller and cable etc., in order to the automation control of entire material-transporting system.Positioning charging unit make charging pile and
Positioning device is combined into one, and while positioning to automated guided vehicle 2, is realized to 2 quick charge of automated guided vehicle, is made
Automated guided vehicle 2 guarantees that automated guided vehicle 2 can continuously work without charging elsewhere.
3, in technical solution of the present invention, the navigation of automated guided vehicle and positioning method are as follows:
In a kind of aerial road pipeline based on small transporting vehicle of the invention, homing guidance is transported in guidance lane
Defeated vehicle 2 has navigation feature, and guide rails can be laid under the road surface in guidance lane (can be using electromagnetism or two dimensional code etc.
Technology makes guide rails) and be that automated guided vehicle 2 is provided and accurately navigated.Automated guided vehicle 2 is equipped with vehicle-mounted
Control system and navigation system, control device 1 can vehicle control syetem on automated guided vehicle 2 and navigation system hairs
Control instruction out, thus the distribution of the task of progress, vehicle scheduling, path management, traffic administration, the functions such as automatic charging.Automatically it leads
Drawing transport vehicle 2, there is electricity magnetically or optically to wait homing guidances device, can receive the navigation information in guidance lane and along guidance lane
It accurately moves and stops.Electromagnetic path can be pasted on guidance lane, automated guided vehicle 2 follows electromagnetic path institute band
The message come is moved and is acted.Guidance lane includes but is not limited to the navigation mode of automated guided vehicle 2: directly sitting
It marks (Cartesian Guidance), electromagnetism guides (Wire Guidance) tape guidance (Magnetic Tape
Guidance) optical navigation (Optical Guidance) laser navigation (Laser Navigation) inertial navigation
(Inertial Navigation) vision guided navigation (Visual Navigation) GPS (global positioning system) navigation (Global
Position System).The vehicle control syetem of automated guided vehicle 2 is responsible for certainly after the instruction for receiving control device 1
The navigation of dynamic guide transport lorry 2 calculates, guides the functions such as realization, vehicle to run, charge and discharge operations；Navigation system is homing guidance fortune
Defeated vehicle 2 provides absolute or relative position and course.The outer dimension of automated guided vehicle 2 is relatively small, has turning, falls
Head, two way, the functions such as floating charge positioning.In order to enable automated guided vehicle accurate positioning, positions at charging unit
Equipped with alignment sensor 27, to enable to automated guided vehicle accurately to stop at the setting position of positioning charging unit,
Mechanical localization mechanism can also be set at positioning charging unit, to guarantee the positioning accuracy of automated guided vehicle.
4, in the inventive solutions, automated guided vehicle shuttles between the different production stations of pipeline,
It travels to and fro between the production station of upstream and downstream, main to be realized by following methods:
1) annular guidance lane 5,2 follow lane 6s of automated guided vehicle and transported material, from returning to lane
7 return；
2) there is the guidance lane 9 in upper layer lane 10 and flyunder 11, automated guided vehicle 2 goes out from upper layer lane 10
It sends out and transported material, is returned from flyunder 11, the first hoistable platform 12 moves the automated guided vehicle 2 on flyunder 11
It moves onto upper layer lane 10, the automated guided vehicle 2 on upper layer lane 10 is moved to flyunder by the second hoistable platform 13
On 11；
3) with the guidance lane 14 of side passing bay 16, automatically guiding trolley 2, which can be moved to avoid, to be needed from A-road
The 15 another automatically guiding trolleys passed through；
4) support frame 32 is arranged higher, and makes the stroke of lifting body 22 longer, lifting body 22 drives movement
When plate 21 jacks up upwards and to clamp wing plate 24 and the compression of fixed plate 19, the bottom and guidance lane of automated guided vehicle 2
Surface between formed for another automated guided vehicle 2 pass through by space 26.
In a kind of aerial road pipeline based on small transporting vehicle of the invention, automated guided vehicle 2 is from upstream
Starting production station production station downstream is mobile and material dispensing, when automated guided vehicle is moved to downstream least significant end
Production station and after completing material allocation, automated guided vehicle to be back to the starting production station of upstream with continue into
The dispatching work of row material.
The specific embodiment of our a kind of aerial road pipelines based on small transporting vehicle through the invention below
Technical solution of the present invention is made to illustrate.
The first embodiment:
As shown in Figure 1, the guidance lane 5 is arranged on overhead support frame, it is equipped with plate on overhead support frame,
Every block of plate is equipped with one section of guidance lane 5, and each board material splice forms guidance lane 5 together, guides lane 5 in a ring,
Including lane 6 and the return lane 7 of setting out, the both ends in lane 6 of setting out pass through connection lane 8 respectively and connect with lane 7 is returned to.Guidance
Lane 5 is arranged in different splicing modules 29, each splicing module 29 can be quickly stitched together by quick union, this
Production line can be transformed in sample according to production needs and conveniently and efficiently, adapt to flexible manufacturing and the production requirement of intelligence manufacture.Such as
Shown in Fig. 1, multiple positioning charging units are provided on lane 6 setting out, 6 left end of lane of setting out is upstream, right end is downstream, from
The left end end motion to the right in dynamic 2 follow lane 6 of guide transport lorry, when automated guided vehicle 2 is moved to one of positioning
When at charging unit, the alignment sensor 27 (please referring to Fig. 7) positioned in charging unit detects automated guided vehicle 2
Position, alignment sensor 27 issue signal to control device 1 (please referring to Figure 11), and control device 1 is sent out according to alignment sensor 27
The signal control automated guided vehicle 2 come stops at the setting position of positioning charging unit, and operating personnel transports homing guidance
Material on defeated vehicle 2 carries out operation, and during operating personnel's operation, automated guided vehicle 2 stops at positioning charging unit position
It sets, the control positioning charging unit of control device 1 charges to automated guided vehicle 2, when operating personnel or production equipment are complete
Material operation on pairs of automated guided vehicle 2 and after material is placed on automated guided vehicle 2, homing guidance fortune
Defeated vehicle 2 carries material and continues downstream production station movement, when automated guided vehicle 2 is by material transmission to downstream least significant end
After producing station, automated guided vehicle 2 is moved to the right end for returning to lane 7 from connection lane 8, then from return lane 7
Right end be moved quickly to return to the left end in lane 7, then mobile be back in the connection lane 8 by returning to 7 left end of lane is set out
The left end in lane 6, to be ready for material transportation next time.
Second of embodiment:
As shown in Figures 2 and 3, the guidance lane 9 is arranged on overhead support frame, and plate is equipped on support frame,
Each plate is equipped with a part in guidance lane 9, and each board material splice forms guidance lane 9 together, and guidance lane 9 includes upper
Layer lane 10 and flyunder 11, the head and end in upper layer lane 10 are respectively equipped with the first hoistable platform 12 and the second hoistable platform
13, the first hoistable platform 12 is used to the automated guided vehicle 2 on flyunder 11 being moved to upper layer lane 10, and second liter
Drop platform 13 is used to the automated guided vehicle 2 on upper layer lane 10 being moved to flyunder 11.Automated guided vehicle 2
Material is moved on upper layer lane 10, the left end in upper layer lane 10 is upstream, right end is downstream, when automated guided vehicle 2 moves
When moving to the right end in upper layer lane 10, the second hoistable platform 13 is in the state being concordantly aligned with upper layer lane 10, leads automatically
Draw transport vehicle 2 to be moved on the second hoistable platform 13, then, the second hoistable platform 13 is moved downward to concordant with flyunder 11
The state of alignment, automated guided vehicle 2 are moved on flyunder 11 from the second hoistable platform 13, and from flyunder 11
Right end be moved to the left end of flyunder 11, at this point, the first hoistable platform 12 is in the shape being concordantly aligned with flyunder 11
State, automated guided vehicle 2 are moved on the first hoistable platform 12, and then the first hoistable platform 12 is moved to moving upwards
The state being concordantly aligned with upper layer lane 10, automated guided vehicle 2 are moved on upper layer lane 10 from the first hoistable platform 12.
The third embodiment:
As shown in Figure 4 and Figure 5, guidance lane 14 is arranged on overhead support frame, and plate, each plate are equipped on support frame
Material is equipped with a part in guidance lane 14, and each board material splice forms guidance lane 14 together, and the guidance lane 14 is wrapped
Including A-road 15 and at least one side passing bay 16, side passing bay 16 is arranged in the side of A-road 15, and the two of side passing bay 16
End is connected with A-road 15.In figures 4 and 5, A-road 15 is straight, under the left end of A-road 15 is upstream, right end is
Trip, automated guided vehicle 2 can stop from 15 upstream toward downstream moving process of A-road at positioning charging unit, in order to
Operating personnel or producers carry out operation to the material on automated guided vehicle 2.Automated guided vehicle 2 is moved to main vehicle
It can upstream be returned along A-road 15 after 15 downstream least significant end of road, if encountered on the way returning from upstream toward downstream movement
Another automated guided vehicle 2, the then automated guided vehicle 2 upstream returned move on side passing bay 16, wait
After the automated guided vehicle 2 mobile from upstream toward downstream passes through, the automated guided vehicle 2 upstream returned is being moved to
It continues up trip on A-road 15 to return, the setting of side passing bay 16 is also possible that homodromous and is located behind automatic
Guide transport lorry 2 be more than front automated guided vehicle 2, when the automated guided vehicle 2 at rear will overtake other vehicles, front it is automatic
Guide transport lorry 2 is moved to evacuation lane.
4th kind of embodiment:
As shown in figure 9, the guidance lane 17 in Fig. 9 is a straight lane, guidance lane 17 is arranged in overhead branch
On support 32, plate is equipped on support frame 32, each plate is equipped with a part in guidance lane 17, and each board material splice is together
And guidance lane 17 is formed, the left end in guidance lane 17 is upstream, right end is downstream, when automated guided vehicle 2 is transported from upstream
It moves to the station of downstream least significant end, automated guided vehicle 2 will upstream be returned along guidance lane.In order to enable opposite fortune
Two dynamic automated guided vehicles 2 can be avoided out mutually, as shown in Figure 9 and Figure 10, the comparison that support frame can be arranged
Height, and make the stroke of lifting body 22 longer, when the clamping wing plate 24 of 2 two sides of automated guided vehicle is moved to positioning charging
When in the grasping part 23 of device, lifting body 22 drives movable plate 21 to jack up upwards and to clamp wing plate 24 and fixed plate 19
It compresses, is formed between the bottom of automated guided vehicle 2 and the surface for guiding lane logical for another automated guided vehicle 2
Cross by space 26.In this way, wherein a jacking of automated guided vehicle 2 will get up to be formed at positioning charging unit
Pass through space 26, it is desirable to which the automated guided vehicle 2 of the automated guided vehicle 2 or opposite direction overtaken other vehicles movement can be from
It is passed through by space 26.
Correspondingly with a kind of aerial road pipeline based on small transporting vehicle of the invention, the present invention also provides a kind of bases
In the operational method of the aerial road pipeline of small transporting vehicle, by adopting the above technical scheme or its any preferred technical solution
The aerial road pipeline based on small transporting vehicle carries out operation, including following job step:
1) material is carried on the material platform 3 of automated guided vehicle 2, control device 1 controls automated guided vehicle 2
It is moved from starting production station along the production station of guidance lane downstream；
2) stopping when automated guided vehicle 2 moves at positioning charging unit positions charging unit to homing guidance
Transport vehicle 2 charges；
3) operating personnel or production equipment complete the operation to material on the material platform 3 of automated guided vehicle 2, positioning
Charging unit stopping charges to automated guided vehicle 2；
4) the production station that control device 1 controls that automated guided vehicle 2 continues downstream moves.
Preferably, it further comprises the steps of: 5) control device 1 and controls automated guided vehicle 2 from the end in downstream production station
It is back to starting production station.
Technical solution based on the above embodiment, a kind of aerial road pipeline based on small transporting vehicle of the invention and
Its operational method has the advantages that
1, line balancing is solved, the efficiency of automatic material flow is promoted.The Property comparison of the product of traditional pipeline conveying
Single, speed is slow, sub-material one by one, the feed produced between station can not can only be balanced in time in order, be easy to appear life
Produce the state of the material such as station.Automatic guide rail transport vehicle is characterized by wheel type mobile, compared with belt, roller type, chain-type pipeline
With the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.Therefore, in automatic material flow system
In system, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible manless production.
2, the clean level of automatic material flow is promoted, first, automated guided vehicle 2 is rolling friction, it is relatively traditional
It is less to generate dust for belt, roller type, the sliding friction of chain-type pipeline.Second, friction area greatly reduces, and belt, rolling
Wheel or chain, need entire seating surface to rub, and automated guided vehicle 2 is only contacted by wheel with guidance lane.
3, the flexibility of automatic material flow is promoted；Traditional pipeline must be along fixed route conveying articles, can only be according to
The amount originally designed conveys material to fixed point location constant speed, when the demand on landline changes, is unable to satisfy flexibly
Production scheduling, multiplicity can not be adapted to or customized, produced in intelligence, the higher cost for needing to rearrange causes entire
Logistics system or the flexibility of production line are insufficient.A kind of aerial road pipeline based on small transporting vehicle of the invention is flexible,
High degree of automation and intelligent level are high, and the driving path of automated guided vehicle 2 can be required according to storage goods yard, be produced
Process flow etc. changes and flexibly changes, and the expense and the transmission line phase of traditional conveyer belt and rigidity that operating path changes
It is cheaper than very.
4, the intelligence of automatic material flow is promoted, advanced: automated guided vehicle 2 collects light, mechanical, electrical, computer one
Body combines the advanced theoretical and application technology of current sciemtifec and technical sphere.Guidance capability is strong, and positioning accuracy is high, automatic Pilot operation
Performance is good.
5, the problem of composability is strong, changes the single conveying of conventional belt line, truck can arbitrarily arrange in pairs or groups with different product,
Truck adds drive control unit that can realize easily.Increase the diversity of transport.
6, cost and material flow line equipment compare newly-built cost and significantly cut down, and operating cost is automated guided vehicle 2
Material flow line equipment dry run wasting phenomenon is not present in electricity consumption, and production distribution only needs to change and splice again when changing.
Improvement cost is extremely low, need to only change track that is, waste is zero.
Aerial road pipeline and its operational method of the present invention based on small transporting vehicle, due to guiding in the sky
The road surface in lane has a trolley guide device, and road surface is equipped with multiple production stations, production station be equipped with charging, positioning and
Traffic avoiding device, road can provide any road spatially to automated guided vehicle and support, and continuously energy is mended
It gives, the traffic evacuation and transport production website precise positioning of flexible multiplicity.Automated guided vehicle drives with homing guidance,
It transports product and the function of production operation platform is provided.In this way, automated guided vehicle and aerial road form a kind of breakthrough sky
Between and flexible logistics delivery line.As long as in production warehouse, each production equipment work station is erected between each artificial work station
Aerial road pipeline based on small transporting vehicle, it precisely can quickly transport production material in each station of production
It goes, provides production material and production positioning for each production station, and each automated guided vehicle has independent movement road
Line, aerial road provides straightway road evacuation and continuous energy supply for it, in this manner it is possible to according to each production work
The needs of position and control the speed speed and beat of each automated guided vehicle transported material, so as to not be satisfied with now and not
It is changeable to carry out productive temp on production line, the demands such as production material multiplicity and specific production.
In conclusion the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of aerial road pipeline based on small transporting vehicle, characterized in that the guidance lane (5/9/ including aerial setting
14/17), automated guided vehicle (2) and control device (1), guidance lane (5/9/14/17) are automated guided vehicle (2)
Navigation information is provided, control device (1) controls automated guided vehicle (2) along guidance lane (5/9/14/ according to navigation information
17) it moves, there is the material platform (3) for placing material at the top of automated guided vehicle (2), guide lane (5/9/14/
17) be equipped with multiple production stations, guidance lane (5/9/14/17) on be equipped with multiple positioning charging units (4/31), often
A production station is equipped with a positioning charging unit (4/31)；Control device (1) can control automated guided vehicle (2) edge and draw
Guide-car road (5/9/14/17), which moves at each positioning charging unit (4/31), to be stopped, and is determined when automated guided vehicle (2) stops at
When at position charging unit (4/31), positioning charging unit (4/31) charges to automated guided vehicle (2).
2. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the guide car
Road (5) in a ring, including lane of setting out (6) and return lane (7), the both ends of lane of setting out (6) pass through respectively connection lane (8)
It is connect with lane (7) are returned.
3. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the guide car
Road (9) includes upper layer lane (10) and flyunder (11), and it is flat that the head and end of upper layer lane (10) is respectively equipped with the first lifting
Platform (12) and the second hoistable platform (13), the first hoistable platform (12) are used for the automated guided vehicle on flyunder (11)
(2) it is moved on upper layer lane (10), the second hoistable platform (13) is used for the automated guided vehicle on upper layer lane (10)
(2) it is moved on flyunder (11).
4. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the guide car
Road (14) includes A-road (15) and at least one side passing bay (16), and side passing bay (16) is arranged on the side of A-road (15)
The both ends on side, side passing bay (16) are connected with A-road (15).
5. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the positioning is filled
Electric installation (31) includes support frame (18/32) of the setting in guidance lane (17) two sides, and the top of support frame (18/32) is equipped with solid
Fixed board (19), fixed plate (19) are equipped with charging electrode (20), and movable plate can be moved up and down by being provided on support frame (18/32)
(21), movable plate (21) is driven by lifting body (22), forms grasping part (23) between fixed plate (19) and movable plate (21)；
The side of the automated guided vehicle (2) is equipped with clamping wing plate (24), and clamping wing plate (24) is equipped with electrical contact (25), when certainly
When dynamic guide transport lorry (2) are moved at positioning charging unit (31), clamping wing plate (24) is located in grasping part (23), jacks
Mechanism (22) drives movable plate (21) to move up and jacks up and press to fixed plate (19) upwards for clamping wing plate (24), to make
Electrical contact (25) are obtained to connect with charging electrode (20).
6. the aerial road pipeline according to claim 5 based on small transporting vehicle, it is characterised in that: work as lifting body
(22) when driving movable plate (21) to jack up upwards and clamping wing plate (24) and fixed plate (19) being compressed, automated guided vehicle
(2) it is formed between the surface of bottom and guidance lane (17) and passes through sky for what another automated guided vehicle (2) passed through
Between (26).
7. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the positioning is filled
Alignment sensor (27) are equipped at electric installation (4/31), when automated guided vehicle (2) is moved to positioning charging unit (4/31)
When place, automated guided vehicle (2) acquires the signal of alignment sensor (27) and stops at setting position.
8. the aerial road pipeline according to claim 1 based on small transporting vehicle, it is characterised in that: the positioning is filled
The wireless charging device (28) for charging to automated guided vehicle (2) is additionally provided at electric installation (4/31).
9. a kind of operational method of the aerial road pipeline based on small transporting vehicle, characterized in that using described in claim 1
Aerial road pipeline based on small transporting vehicle carry out operation, including following job step:
1) material is carried on the material platform (3) of automated guided vehicle (2), control device (1) controls homing guidance transport
Production station movement of the vehicle (2) from starting production station along guidance lane (5/9/14/17) downstream；
2) stop when automated guided vehicle (2) moves at positioning charging unit (4/31), position charging unit (4/31)
It charges to automated guided vehicle (2)；
3) operating personnel or production equipment complete the operation to material on the material platform (3) of automated guided vehicle (2), positioning
Charging unit (4/31) stopping charges to automated guided vehicle (2)；
4) control device (1) control automated guided vehicle (2) continues production station movement downstream.
10. the operational method of the aerial road pipeline according to claim 9 based on small transporting vehicle, characterized in that
It further comprises the steps of:
5) control device (1) control automated guided vehicle (2) is back to starting production station from the end in downstream production station.
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| CN201810681171.3A CN109051561B (en) | 2018-06-27 | 2018-06-27 | Aerial road conveying line based on small transport vehicle and operation method thereof |
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| CN109051561B (en) | 2024-07-19 |
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