CN109189038A - A kind of automated guided vehicle unmanned handling system and unmanned method for carrying - Google Patents
A kind of automated guided vehicle unmanned handling system and unmanned method for carrying Download PDFInfo
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- CN109189038A CN109189038A CN201811386923.XA CN201811386923A CN109189038A CN 109189038 A CN109189038 A CN 109189038A CN 201811386923 A CN201811386923 A CN 201811386923A CN 109189038 A CN109189038 A CN 109189038A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 85
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000003032 molecular docking Methods 0.000 claims description 54
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 5
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000007599 discharging Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automated guided vehicle unmanned handling system and unmanned method for carrying, the system comprises automated guided vehicle and material transferring platforms, the automated guided vehicle includes shell, main control board and battery management unit, main control unit, navigation elements, wireless communication unit are provided on the main control board, it is additionally provided with driving wheel unit, first material transmission unit, detection of obstacles unit；The material transferring platform is set at material handling equipment；Automated guided vehicle is transported according to programme path to material transferring platform by navigation elements, and it completes to dock with unit is docked, then first material transmission unit and second material transmission unit carry out the transmission of material, and second material transmission unit transmits material and receives material to material handling equipment or from material handling equipment.The present invention solves SMT material in existing SMT patch processing workshop and needs manual handling, the time-consuming and laborious and problem that causes production efficiency low.
Description
Technical field
The present invention relates to automated guided vehicle (AGV) technical field more particularly to a kind of automated guided vehicle nobody
Handling system and unmanned method for carrying.
Background technique
AGV (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to equipped with electricity magnetically or optically
Etc. homing guidances device, it can be travelled along defined guide path, the fortune with safeguard protection and various transfer functions
Defeated vehicle.
Existing electronics processing workshop is adopted as the carrying and operation of feeding and discharging of SMT hopper in SMT patch processing workshop
It manually operates, SMT hopper is such as put into cart, then artificial push supreme shots of cart, then manually by SMT hopper from hand
It is transported on cart on SMT patch charging & discharging machine；Equally, it is needed when blanking in blanking point manually by SMT hopper from SMT patch
It is transported on trolley on charging & discharging machine, operation is time-consuming and laborious, and production efficiency is low.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of automated guided vehicle nobody
Handling system and unmanned method for carrying, it is intended to it solves SMT material in existing SMT patch processing workshop and needs manual handling, it is time-consuming
The problem for arduously causing production efficiency low.
To achieve the above object, this invention takes following technical schemes:
A kind of automated guided vehicle unmanned handling system, wherein including automated guided vehicle and material transferring platform；
The automated guided vehicle includes shell, is set to the intracorporal main control board of shell and battery management unit, the master control electricity
It is provided with main control unit on the plate of road, navigation elements connected to the main control unit, wireless communication unit, housing bottom are equipped with driving wheel
Unit, shell upper end are equipped with first material transmission unit, and shell side is equipped with detection of obstacles unit, the battery management list
Member, driving wheel unit, detection of obstacles unit and first material transmission unit are connect with main control unit；
The material transferring platform is set at material handling equipment, including rack, is set to the elevating mechanism of rack, is arranged
In the docking unit of elevating mechanism, docks and be provided with second material transmission unit on unit；
Automated guided vehicle is transported according to programme path to material transferring platform by navigation elements, and with dock unit
Docking is completed, then first material transmission unit and second material transmission unit carry out the transmission of material, and second material transmission is single
Member transmission material receives material to material handling equipment or from material handling equipment.
Wherein, the navigation elements include two-dimension code navigation unit, and the two-dimension code navigation unit is provided with two dimensional code and sweeps
Sensor is retouched, two-dimensional code scanning sensor is set to the bottom wall of shell and scans the two-dimensional code information from housing bottom.
Wherein, the navigation elements include image acquisition units and gyro unit.
Wherein, the detection of obstacles unit is set to the front and rear sides of the automated guided vehicle shell direction of motion, often
One detection of obstacles unit includes barrier laser beam detecting sensor.
Wherein, the periphery of the automated guided vehicle shell protrudes from shell and is provided with elastic anti-collision item.
Wherein, the automated guided vehicle further includes the touch-control display panel and voice for being installed on shell and exposing shell
Broadcast unit, touch-control display panel and voice playing unit are electrically connected with main control unit.
Wherein, the first material transmission unit is included in above shell along the first chain of material transferring direction two sides setting
The first docking gib block on the outside of two first chain sprocket transmission belts, two first docking gib blocks are arranged in sprocket wheel transmission belt
Rear and front end is provided with outward outer oblique angle and forms bell guide.
Wherein, the second material transmission unit is included in above docking unit along the of the setting of material transferring direction two sides
Two chain sprocket transmission belts, are arranged in the second docking gib block on the outside of two second chain sprocket transmission belts, and two second docking are led
It is provided with to item in rear and front end to the interior receipts oblique angle of contract and forms guiding interface, the guiding interface is inserted into institute in docking
State bell guide.
Wherein, the side that the docking unit of the material transferring platform is docked with automated guided vehicle is provided with docking sense
Inductive switch.
The present invention also proposes a kind of unmanned method for carrying, wherein carries system using above-mentioned automated guided vehicle is unmanned
System, includes the following steps:
Automated guided vehicle receives transport instruction, runs to material transferring platform according to programme path；
Automated guided vehicle is close to material transmission platform and triggers material transmission platform, material transferring platform to order
Member is docked with automated guided vehicle；
List is transmitted by first material if it is the feeding material that then automated guided vehicle is transported after the completion of docking
Member is transmitted to the second material transmission unit of material transferring platform, and structure is adjusted the height of material by rising by material transferring platform
Degree, and pass through second material transmission unit for material transferring to material handling equipment；
Pass through the second object if it is the blanking material that then material transferring platform transmits material handling equipment after the completion of docking
Material transmission unit is transmitted to the first material transmission unit of automated guided vehicle.
Automated guided vehicle unmanned handling system of the invention is flat by setting automated guided vehicle and material transferring
Platform, material transferring platform are arranged at material handling equipment, and automated guided vehicle is transported by navigation elements according to programme path
Material transferring platform is transported to, and completes to dock with unit is docked, then first material transmission unit and second material transmission unit
The transmission of material is carried out, second material transmission unit transmits material and receives object to material handling equipment or from material handling equipment
Material, to complete feeding and the blanking of SMT material, whole process realizes unmanned carrying, saves manpower, while improving SMT patch
The production efficiency of processing workshop.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the module diagram of the first embodiment of automated guided vehicle unmanned handling system of the present invention；
Fig. 2 is the structural schematic diagram of the first embodiment of automated guided vehicle unmanned handling system of the present invention；
Fig. 3 is the decomposition diagram of automated guided vehicle in Fig. 2；
Fig. 4 is the enlarged diagram of the first material transmission unit in Fig. 3；
Fig. 5 is the decomposition diagram of material transferring platform in Fig. 2；
Fig. 6 is the enlarged diagram in Fig. 5 at A；
Fig. 7 is the flow diagram of the unmanned method for carrying of automated guided vehicle of the present invention.
Description of symbols:
300- unmanned handling system, 100- automated guided vehicle, 11- shell, 12- main control board, 121- master control list
Member, 122- navigation elements, 1221- two-dimensional code scanning sensor, 123- wireless communication unit, 124- touch-control display panel, 125-
Voice playing unit, 13- battery management unit, 14- driving wheel unit, 15- first material transmission unit, 151- the first chain chain
Transmission belt is taken turns, 16- detection of obstacles unit, 17- elastic anti-collision item, the docking gib block of 18- first, oblique angle, 19- are led 181- outside
To horn mouth, 200- material transferring platform, 21- rack, 22- elevating mechanism, 23- docking unit, 24- second material transmission list
Member, 241- the second chain sprocket transmission belt, 25- second dock gib block, and oblique angle is received in 251-, and 26- is oriented to interface, 27- docking
Inductive switch.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.
Embodiment one, please refers to Fig. 1 to Fig. 6, and the embodiment of the present invention proposes that a kind of automated guided vehicle is unmanned and carries system
System 300, including automated guided vehicle 100 and material transferring platform 200.
The automated guided vehicle 100 includes shell 11, main control board 12 and the cell tube being set in shell 11
Unit 13 is managed, is provided with main control unit 121 on the main control board 12, the navigation elements 122 that are connect with main control unit 121,
Wireless communication unit 123,11 bottom of shell are equipped with driving wheel unit 14, and 11 upper end of shell is equipped with first material transmission unit 15,
11 side of shell is equipped with detection of obstacles unit 16, the battery management unit 13, driving wheel unit 14, detection of obstacles unit
16 and first material transmission unit 15 connect with main control unit 121.The row of the completion automated guided vehicle 100 of main control unit 121
Control is walked, the physical transportation control instruction at regulation center is received including unit 123 by wireless communication, is then positioned, line
Circuit planning, then travelling control is carried out by driving wheel unit 14 and is gone forward side by side until being formed and carrying out docking to corresponding material transferring platform
The feeding of row SMT material or blanking etc..The detection unit 16 that breaks the barriers simultaneously in walking process has detected whether barrier
To avoid in time.
The material transferring platform 200 is set at material handling equipment, including rack 21, is set to the elevator of rack 21
Structure 22 is set to the docking unit 23 of elevating mechanism 22, docks and is provided with second material transmission unit 24 on unit 23.The present invention
The material handling equipment of embodiment is SMT patch charging & discharging machine.Elevating mechanism 22 adjusts docking unit 23 and homing guidance is transported
The docking height of vehicle 100, while docking unit 23 is also adjusted and transmits height, the second object with docking for SMT patch charging & discharging machine
Material transmission unit 24 is used to receive the material that the transmission of first material transmission unit 15 comes or by the material of SMT patch charging & discharging machine
It is transmitted to second material transmission unit 24.
Material transferring platform 200 is used for the next SMT material transferring of the transport of automated guided vehicle 100 to SMT patch
Blanking machine carries out feeding or carries out down the SMT material transferring on SMT patch charging & discharging machine to automated guided vehicle 100
Material, then the automated guided vehicle 100 is again by SMT material transferring to elsewhere.
Automated guided vehicle 100 of the invention is transported by navigation elements 122 according to programme path flat to material transferring
Platform 200, and complete to dock with unit 23 is docked, then first material transmission unit 15 and second material transmission unit 24 carry out object
The transmission of material, second material transmission unit 24 transmit material and receive material to material handling equipment or from material handling equipment.On
When material, the elevating mechanism 22 of material transferring platform 200 is adjusted to proper height and automated guided vehicle 100 for unit 23 is docked
It is docked, the first material transmission unit 15 of automated guided vehicle 100 puts down SMT material transferring to material transferring thereon
The second material transmission unit 24 of platform 200, then second material transmission unit 24 is adjusted to proper height by elevating mechanism 22
Afterwards again by SMT material transferring to SMT patch charging & discharging machine.When blanking, the elevating mechanism 22 of material transferring platform 200 is adjusted to
The proper height of SMT patch charging & discharging machine so again transmits the SMT material transferring on SMT patch charging & discharging machine to second material
Then docking unit 23 is adjusted to proper height and automated guided vehicle 100 by elevating mechanism 22 again and is carried out by unit 24
Then docking is transmitted the first material of material transferring to automated guided vehicle 100 by second material transmission unit 24 single
Member 15 completes the automatic blanking of SMT patch charging & discharging machine.The loading and unloading process of entire SMT realizes unmanned transport and carrying,
Manpower is saved, the production efficiency in the workshop SMT is improved, is suitable for popularization and application.
Automated guided vehicle 100 and material transferring platform 200 are provided separately by the embodiment of the present invention, material transferring
Platform 200 is set to fixed position, as being set at material handling equipment, convenient for the positioning of automated guided vehicle 100, while the two
Functional independence separates, and automated guided vehicle 100 carries out mobile transport, and material transferring platform 200 carries out the docking and biography of material
It send, allows automated guided vehicle 100 not consider to dock with material handling equipment, structural focus can be made very
It is low, to guarantee stability of the material in mobile transportational process.
Specifically, as an implementation, as shown in figures 1 and 3, the navigation elements 122 include two-dimension code navigation
Unit, the two-dimension code navigation unit are provided with two-dimensional code scanning sensor 1221, and two-dimensional code scanning sensor 1221 is set to
The bottom wall of shell 11 and from 11 bottom scan two-dimensional barcode information of shell.I.e. the automated guided vehicle of the embodiment of the present invention nobody remove
Fortune system 300 carries out location navigation using two dimensional code mode.Two-dimensional code scanning sensor 1221 scans travel region in workshop
Each two dimensional code, each two dimensional code correspond to different location informations, and then automated guided vehicle 100 carries out the location information
Planning department's navigation routine control automated guided vehicle 100 is mobile after processing.
As another embodiment, navigation elements 122 of the invention include image acquisition units and gyro unit.I.e.
Navigation elements 122 of the invention can also be combined with image acquisition units and gyro unit and carry out location navigation.
Preferably, as shown in figure 3, the detection of obstacles unit 16 is set to 100 shell 11 of automated guided vehicle fortune
The front and rear sides in dynamic direction, each detection of obstacles Unit 16 includes barrier laser beam detecting sensor.Barrier laser detection
Sensor can timely and accurately detect the barrier in running route, so that the main control unit 121 of automated guided vehicle 100 exists
Encountering front has barrier to make avoidance reaction in time.
Preferably, the periphery of 100 shell 11 of the automated guided vehicle of the embodiment of the present invention protrudes from shell setting
Flexible anticollision strip 17.Elastic anti-collision item 17 can protect automated guided vehicle 100 to be damaged during transportation.
The automated guided vehicle 100 of the embodiment of the present invention further include be installed on shell 11 and expose shell 11 touch-control it is aobvious
Show that panel 124 and voice playing unit 125, touch-control display panel 124 and voice playing unit 125 are electrically connected with main control unit 121
It connects.Touch-control display panel 124 can show the operation information of automated guided vehicle 100 and can be carried out the setting of relevant parameter, language
Sound broadcast unit 125 can be carried out voice broadcast, is prompted or is alarmed.
As shown in figure 4, the first material transmission unit 15 of the embodiment of the present invention is included in 11 top of shell along material transferring
First pair of two first chain sprocket transmission belts, 151 outside is arranged in first chain sprocket transmission belt 151 of direction two sides setting
Gib block 18 is connect, two first docking gib blocks 18 are provided with outward outer oblique angle 181 in rear and front end and form guiding loudspeaker
Mouth 19.
In conjunction with Fig. 6, the second material transmission unit 24 is included in 23 top of docking unit along material transferring direction two
The second docking guiding in two second chain sprocket transmission belts, 241 outside is arranged in second chain sprocket transmission belt 241 of side setting
Item 25, two second docking gib blocks 25 are provided with to the interior receipts oblique angle 251 of contract in rear and front end and form guiding interface 26, institute
It states guiding interface 26 and is inserted into the bell guide 19 in docking.Guiding interface 26 is able to guide with bell guide 19 leads automatically
Draw docking for transport vehicle 100 and material transferring platform 200, enable material transferring platform 200 docking unit 23 successfully with
First material transmission unit 15 accurately docks.
Preferably, as shown in fig. 6, the docking unit 23 of the material transferring platform 200 of the embodiment of the present invention and homing guidance
The side that transport vehicle 100 docks is provided with docking inductive switch 27.Docking inductive switch 27 make automated guided vehicle 100 with
Opened when material transferring platform 200 is close or touching docking unit 23 to connection function.Unit 23 is such as docked to stretch out forwards, backwards
Certain distance, being connected or transmitted convenient for second material convenient for first material transmission unit 15 and second material transmission unit 24
Unit 24 is connected with SMT patch charging & discharging machine.
The present invention also proposes a kind of unmanned method for carrying, uses above-mentioned automated guided vehicle unmanned handling system, tool
Body is as shown in fig. 7, comprises following step:
S91, automated guided vehicle 100 receive transport instruction, run to material transferring platform 200 according to programme path；
S92, automated guided vehicle 100 is close to material transmission platform 200 and triggers material transmission platform 200, and material passes
The docking unit 23 of defeated platform 200 is docked with automated guided vehicle 100；
S93 passes through first material if it is the feeding material that then automated guided vehicle 100 is transported after the completion of docking
Transmission unit 15 is transmitted to the second material transmission unit 24 of material transferring platform 200, and material transferring platform 200 will knot by rising
Structure 22 adjusts the height of material, and passes through second material transmission unit 24 for material transferring to material handling equipment；
S94, if it is blanking, then material transferring platform 200 passes through the material that material handling equipment transmits after the completion of docking
Second material transmission unit 24 is transmitted to the first material transmission unit 15 of automated guided vehicle 100.
It is appreciated that material transferring platform 200 is adjusted by elevating mechanism 22 will dock unit 23 before step S92
The docking height of automated guided vehicle 100 is adjusted to so that docking can be smoothly completed.
Unmanned method for carrying of the invention is able to achieve the unmanned carrying and loading and unloading of SMT material loading and unloading, so that entirely
Unmanned carrying operation is realized in workshop, improves production efficiency.
The automated guided vehicle unmanned handling system 300 and unmanned method for carrying that the embodiment of the present invention proposes, by setting
Automated guided vehicle 100 and material transferring platform 200 are set, material transferring platform 200 is arranged at material handling equipment, automatically
Guide transport lorry 100 is transported according to programme path to material transferring platform 200 by navigation elements 122, and with dock unit 23
Docking is completed, then first material transmission unit 15 and second material transmission unit 24 carry out the transmission of material, and second material passes
Defeated unit 24 transmits material and receives material to material handling equipment or from material handling equipment, with complete the feeding of SMT material with
Blanking, whole process realize unmanned carrying, save manpower, while improving the production efficiency of SMT patch processing workshop.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of automated guided vehicle unmanned handling system, which is characterized in that including automated guided vehicle and material transferring
Platform；
The automated guided vehicle includes shell, is set to the intracorporal main control board of shell and battery management unit, the master
Main control unit is provided on control circuit board, and navigation elements connected to the main control unit, wireless communication unit, housing bottom, which is equipped with, to be driven
Driving wheel unit, shell upper end are equipped with first material transmission unit, and shell side is equipped with detection of obstacles unit, the battery management
Unit, driving wheel unit, detection of obstacles unit and first material transmission unit are connect with main control unit；
The material transferring platform is set at material handling equipment, including rack, is set to the elevating mechanism of rack, is set to liter
The docking unit of descending mechanism docks and is provided with second material transmission unit on unit；
Automated guided vehicle is transported according to programme path to material transferring platform by navigation elements, and is completed with unit is docked
Docking, then first material transmission unit and second material transmission unit carry out the transmission of material, and second material transmission unit passes
Defeated material receives material to material handling equipment or from material handling equipment.
2. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the navigation elements packet
Two-dimension code navigation unit is included, the two-dimension code navigation unit is provided with two-dimensional code scanning sensor, and two-dimensional code scanning sensor is set
It is placed in the bottom wall of shell and scans the two-dimensional code information from housing bottom.
3. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the navigation elements packet
Include image acquisition units and gyro unit.
4. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the detection of obstacles
Unit is set to the front and rear sides of the automated guided vehicle shell direction of motion, and each detection of obstacles unit includes that barrier swashs
Light detecting sensors.
5. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the homing guidance fortune
The periphery of defeated vehicle shell protrudes from shell and is provided with elastic anti-collision item.
6. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the homing guidance fortune
Defeated vehicle further includes the touch-control display panel and voice playing unit for being installed on shell and exposing shell, touch-control display panel and voice
Broadcast unit is electrically connected with main control unit.
7. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the first material passes
Defeated unit is included in above shell along the first chain sprocket transmission belt of material transferring direction two sides setting, is arranged in two first chains
The first docking gib block on the outside of sprocket wheel transmission belt, two first docking gib blocks are provided with outward outer in rear and front end
It opens oblique angle and forms bell guide.
8. automated guided vehicle unmanned handling system according to claim 7, which is characterized in that the second material passes
Defeated unit is included in the second chain sprocket transmission belt above docking unit along the setting of material transferring direction two sides, and setting is two the
The second docking gib block on the outside of two chain sprocket transmission belts, two second docking gib blocks are provided in rear and front end to contract
Interior receipts oblique angle formed guiding interface, the guiding interface dock when be inserted into the bell guide.
9. automated guided vehicle unmanned handling system according to claim 1, which is characterized in that the material transferring is flat
The side that the docking unit of platform is docked with automated guided vehicle is provided with docking inductive switch.
10. a kind of unmanned method for carrying, which is characterized in that transported using such as the described in any item homing guidances of claim 1-9
Vehicle unmanned handling system, includes the following steps:
Automated guided vehicle receives transport instruction, runs to material transferring platform according to programme path；
Automated guided vehicle is close to material transmission platform and triggers material transmission platform, the docking unit of material transferring platform with
Automated guided vehicle docking；
It is passed if it is the feeding material that then automated guided vehicle is transported by first material transmission unit after the completion of docking
The second material transmission unit of material transferring platform is transported to, structure is adjusted the height of material by rising by material transferring platform, and
By second material transmission unit by material transferring to material handling equipment；
It is passed if it is the blanking material that then material transferring platform transmits material handling equipment by second material after the completion of docking
Defeated unit is transmitted to the first material transmission unit of automated guided vehicle.
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| CN201811386923.XA CN109189038A (en) | 2018-11-20 | 2018-11-20 | A kind of automated guided vehicle unmanned handling system and unmanned method for carrying |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158931A (en) * | 2019-06-17 | 2019-08-23 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and tile work method |
| CN110968100A (en) * | 2019-12-19 | 2020-04-07 | 上海禹昌信息科技有限公司 | Automatic tracking system of driving device and control method thereof |
| CN113753465A (en) * | 2021-09-18 | 2021-12-07 | 苏州浪潮智能科技有限公司 | Material transport vehicle |
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Address after: 215515 Building 1, miaoquan Industrial Park, Guli Town, Changshu City, Suzhou City, Jiangsu Province Applicant after: Suzhou Jiashun intelligent robot Co.,Ltd. Address before: No.3 101, No.106, Tianbei 1st Village, Xikeng community, Fucheng street, Longhua District, Shenzhen, Guangdong 518000 Applicant before: SHENZHEN CASUN INTELLIGENT ROBOT Co.,Ltd. |