CN110342271A - A kind of automatically handling material A GV and material handling method - Google Patents
A kind of automatically handling material A GV and material handling method Download PDFInfo
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- CN110342271A CN110342271A CN201910659664.1A CN201910659664A CN110342271A CN 110342271 A CN110342271 A CN 110342271A CN 201910659664 A CN201910659664 A CN 201910659664A CN 110342271 A CN110342271 A CN 110342271A
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- 239000000463 material Substances 0.000 title claims abstract description 201
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009975 flexible effect Effects 0.000 claims abstract description 119
- 238000003032 molecular docking Methods 0.000 claims abstract description 37
- 238000012546 transfer Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 46
- 238000004146 energy storage Methods 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000007667 floating Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 7
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- 230000009467 reduction Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000011232 storage material Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
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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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- 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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
-
- 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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- 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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
-
- 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
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The present invention provides a kind of full-automatic handling material A GV, including mobile docking platform, flexible conveying device and grabbing device；Flexible conveying device and grabbing device setting are on mobile docking platform；Grabbing device can be moved synchronously with the extended end of flexible conveying device, and grabbing device end piece is equipped with buanch unit, and buanch unit is equipped with vacuum chuck；Grabbing device drives buanch unit to carry out material transfer between conveying device and container car flexible；The present invention provides a kind of material handling method using above-mentioned full-automatic handling material A GV.Full-automatic handling material A GV of the invention, can be for realizing the full-automatic quick despatch of material, to save production cost investment；Material handling method of the invention, expeditiously completing transport process of the material between warehouse and container car reduces labor intensity without human intervention, improves material transfer efficiency.
Description
Technical field
The present invention relates to AGV device fields, refer in particular to a kind of automatically handling material A GV and material handling method.
Background technique
The logistics transportation of common production material, finished product is transported using container car, and existing to counter
Vehicle carries out cargo, all manually method is completed for the handling of material, this carry out material handling by manual method
Mode, the labor intensity of carrying personnel carry material for a long time and are easy to appear production accident.In order to reduce the labour of carrying personnel
Intensity, Some Enterprises spent material handling facilities come assist handling material, such as assisted using fork truck handling material, but using pitch
Vehicle needs when loading and unloading material using Forklift plate, and Forklift plate can occupy the space of storage material in cabinet case, result in cabinet case
It is interior storage material space utilization rate reduce, and Forklift plate purchase and store will increase enterprise production cost and occupy store
Space；In addition, needing the enterprise for being equipped with multiple material handling harbours in the enterprising crudely-made articles object of multiple material handling harbours, object
The handling of material then need to put into bigger human resources, while configuring more material handling equipments, and production cost is caused to increase
Greatly.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of full-automatic handling material A GV, can be used for reality
The full-automatic quick despatch of existing material, to save production cost investment.
In order to achieve the above object, it the invention adopts the following technical scheme: a kind of automatically load and unload material A GV, including moves
Dynamic docking platform, flexible conveying device and grabbing device；The flexible conveying device and the grabbing device are arranged in the shifting
On dynamic docking platform；The grabbing device can be moved synchronously with the extended end of the flexible conveying device, the grabbing device end
Extremity piece is equipped with buanch unit, and buanch unit is equipped with vacuum chuck；The grabbing device drives the buanch unit described
Material transfer is carried out between flexible conveying device and container car.
Compared with prior art, the full-automatic handling material A GV of one kind of the invention, has the advantage that
(1) after automatically handling material A GV is docked with container car, the flexible conveying device, the grabbing device can be certainly
Dynamic to be retractable in cabinet case, the grabbing device carries out material transfer between the flexible conveying device and container car automatically,
To realize the full-automatic handling of material, artificial high-intensitive handling material work is replaced completely, reduces the shadow of human factor
It rings, it is ensured that the quick despatch of material；
(2) automatically cargo is directly grabbed by the grabbing device, is not necessarily to during handling material A GV handling material
Material is carried using assistant carrier, on the one hand, the space that assistant carrier occupies storage material in cabinet case is avoided, so as to
Under the premise of not increasing counter tankage, the maximization of the space utilization rate of storage material in cabinet case is realized, on the other hand,
Burden caused by enterprise's purchase and storage assistant carrier is decreased, to save production cost；
(3) the extended end synchronizing moving of the grabbing device and the flexible conveying device, makes the work of the grabbing device
Dynamic range can cover the cabinet case of different depth, so that material is deposited in place deeper in cabinet case as much as possible, and
Can material heap is high, without adjusting the position of container car artificially to cooperate the working range of the grabbing device, avoid
The normal work of full-automatic handling material A GV is limited by container car size, in addition, due to the grabbing device and described stretching
The extended end synchronizing moving of contracting conveying device, so that it is guaranteed that the job stability and operating accuracy of grabbing device；
(4) automatically handling material A GV is configured with mobile docking platform, and automatically loading and unloading material A GV can be according to reality
Production needs to be moved to different harbours and carries out material transfer to different container cars, and full-automatic handling material A GV movement is flexible
Property it is higher, to reduce setting of the enterprise to material handling equipment, save production cost, meanwhile, can be reduced enterprise and be used to park
Bigger freedom degree is brought for corporate planning material handling region in the space of material handling equipment；
(5) automatically handling material A GV transports material using flexible conveying device, effectively reduces full-automatic handling
The volume of material A GV and the site area of occupancy allow automatically to load and unload material A GV and apply in different usage scenarios, can
Effectively expand the use scope of full-automatic handling material A GV.
Preferably, the grabbing device includes mobile foundation and robot device；The mobile foundation with it is described stretch it is defeated
The extended end of device is sent to be fixedly connected, the mobile foundation includes car body, driving mechanism and driven wheel；The driving mechanism and institute
Driven wheel setting is stated in the vehicle bottom, the driving mechanism is for driving the body movement, and the driven wheel is for branch
Support the car body；The robot device is arranged on the mobile foundation.By the way that mobile base is arranged on the grabbing device
Seat, it is ensured that the relatively described flexible conveying device of the grabbing device is provided with independent mobile device, so as to stablize in operation
It is moved on face, and provides good support for robot device, improve the precision of the crawl material of the grabbing device.
Preferably, the flexible conveying device is equipped with several telescope supports, the width of the upper surface of several telescope supports
Successively successively decrease, several telescope supports are sequentially stacked from big to small according to the width of upper surface, adjacent two telescope supports linkage；
The outer end for being stacked in the telescope support of lower side is fixedly connected with the grabbing device.The flexible conveying device is set using above-mentioned
Set mode, structure is simple, assemble it is convenient, meanwhile, when any telescope support damages, need to by the telescope support of damage into
Row replacement, that is, can ensure that the normal use of the flexible conveying device, effectively shorten maintenance time and reduce maintenance cost.
Preferably, the extended end bottom of the flexible conveying device is equipped with driving mechanism and driven wheel；The driving mechanism
For driving the stretching, extension end motion of the flexible conveying device, the driven wheel is used to support the stretching, extension of the flexible conveying device
End；By the way that driving mechanism and driven wheel is arranged in the extended end bottom of the flexible conveying device, to be the flexible conveying
The extended end of device provides support and power when moving on working face, on the one hand, can improve stretching for the flexible conveying device
Stability of the Zhan Duan in stretching, extension and storage, to improve the reliability of the flexible conveying device and prolong the service life, separately
On the one hand, when the extended end of the flexible conveying device is stretched over operating position, the driving mechanism and driven wheel can be used as institute
The supporting point of the extended end of flexible conveying device is stated, so that the conveyor surface of the flexible conveying device be made to be in same position always
It sets, cooperates convenient for the grabbing device and the flexible conveying device.
Preferably, the driving mechanism includes mounting bracket, driving device, wheel body and constant pressure floating installation；The constant pressure
Floating installation includes energy storage canister and hydraulic cylinder, and the energy storage canister is connect with the hydraulic cylinder, and the wheel body passes through the hydraulic cylinder
It is arranged on the downside of the mounting bracket；Oil pressure in the energy storage canister and the hydraulic cylinder keeps dynamic equilibrium, makes described hydraulic
Cylinder applies downward constant pressure to the wheel body；The driving device is for driving the wheeling thereof.
Above-mentioned driving mechanism has the advantages that
Driving mechanism moves on the rough road surface in road surface can occur unstable wheel load, tractive force and speed appearance partially
The situation of difference, cause the driving mechanism to have skidded, sideslip phenomena such as, but the existing fluctuation that driving mechanism is limited by spring
Constant-voltage equipment can only overcome the positive and negative smaller road surface fluctuation of height, not be suitable for overcoming the cabinet case bottom of different height type
Biggish difference in height between face, and in order to ensure driving mechanism can provide constant tractive force, the present invention passes through in the wheel body
The hydraulic cylinder is set between the mounting bracket, to make to connect between the wheel body and the mounting bracket using flexible
It connects, the hydraulic cylinder wheel body is made to provide buffering；Meanwhile being connect by setting energy storage canister with the hydraulic cylinder, make described
Oil pressure in energy storage canister and the hydraulic cylinder keeps dynamic equilibrium, and it is biggish by difference in height that the wheel body is adjusted using hydraulic
The wheel body hands over the floating on ground by the liquid between the hydraulic cylinder and the energy storage canister pressure on ground when section
Change generation fluid pressure variation realize offset, so that it is guaranteed that the wheel physical efficiency on the ground of the biggish out-of-flatness of difference in height with
Constant tractive force is mobile, and the driving mechanism is made to be suitable for operating on the container car of different height.
Preferably, the mobile docking platform includes fuselage, mobile device and central control module；The mobile device and
The central control module is arranged on the fuselage, the mobile device and the central control module communication connection；
Container car enters to the material transition range in front of the harbour of line side, container car or line side harbour to the movement pair
It connects platform and sends working signal, the central control module receives working signal, controls the mobile device and drives the fuselage
It moves between container car and line side harbour, docks the flexible conveying device both ends with container car, line side harbour respectively.
Flexible conveying device and grabbing device are arranged on the mobile docking platform present invention, when the mobile docking
When platform is moved according to container car or line side harbour transmission working signal, flexible conveying device and grabbing device can be transported
It send to corresponding work station and carries out operation, high degree of automation effectively reduces the investment of production cost.
It is a further object to provide it is a kind of using it is above-mentioned it is full-automatic handling material A GV material handling method,
The following steps are included:
(1) container car for being mounted with material or zero load enters in the material transition range in front of the harbour of line side, counter
Vehicle or line side harbour send working signal to full-automatic handling material A GV；
(2) automatically handling material A GV is moved between corresponding container car and line side harbour, makes the flexible conveying dress
It sets front end to dock with container car, its rear end is docked with line side harbour；
(3) extended end of the grabbing device and the flexible conveying device moves synchronously the cabinet case into container car
It is interior；
(4) material in cabinet case is transferred in the flexible conveying device by the grabbing device, the flexible conveying
Material is delivered on the harbour of line side by device；Material is delivered to warehouse by the conveying mechanism on the harbour of line side；Alternatively, line side harbour
On conveying mechanism convey material to the flexible conveying device；The grabbing device is by the material in the flexible conveying device
It is transferred in the cabinet case of container car；
(5) step (4) are repeated, until the transfer of full-automatic handling material A GV completion all materials or container car are fully loaded, institute
State grabbing device and the extended end of the flexible conveying device synchronize exit container car, the full-automatic material A GV that loads and unloads is moved to down
Operation is executed on one line side harbour or moves to standby region.
Compared with prior art, material handling method of the invention, has the advantages that
(1) automatically handling material A GV is moved between corresponding container car and line side harbour according to working signal, in goods
Automatically the handling of material are carried out between cabinet vehicle and line side harbour, expeditiously complete transhipment of the material between warehouse and container car
Process reduces labor intensity without human intervention, improves material transfer efficiency；
(2) next line side is moved to after automatically the transfer of handling material A GV completion all materials or container car are fully loaded
Operation is executed on harbour or moves to standby region, to reduce the occupancy in place, saves occupied area.
In the step of above-mentioned material handling method (2), it is full-automatic load and unload material A GV move to apart from corresponding container car with
When within the scope of the region 0.5-2m between the harbour of line side, the docking mobile platform reduction of speed, and by docking sensor to counter
Sensor on vehicle and line side harbour is detected, and is docked with container car and line side harbour, to improve full-automatic handling material
The merging precision of AGV and container car and line side harbour, and avoid automatically loading and unloading material A GV and container car and line side harbour hair
Raw collision.
In the step of above-mentioned material handling method (3), the grabbing device, the flexible conveying device extended end on
The wheel body of drive wheel mechanism is in receiving state, and the flexible conveying device is stretched into cabinet case, and the crawl is driven to fill
Movement is set, when the grabbing device and the extended end of the flexible conveying device are entered in cabinet case, the constant pressure, which is floated, to be filled
Setting work makes the wheel body decline contact cabinet case bottom surface, enters so as to shorten the grabbing device, the flexible conveying device
Time in cabinet case improves handling speed.
In the step of above-mentioned material handling method (4), the material transportation that the grabbing device completes a vertical setting of types array is dynamic
After work, synchronous one vertical setting of types of adjustment into the cabinet case of container car of extended end of the grabbing device, the flexible conveying device
The distance of array material.
The flexible transport device and the grabbing device cooperate, and the grabbing device is according to material in cabinet case
Operating position is adjusted flexibly in discharge, puts demand to meet the material of different spaces occasion, effectively improves full-automatic handling material
The applicability of AGV.
Detailed description of the invention
Fig. 1 is the first schematic diagram of the invention；
Fig. 2 is the second schematic diagram of the invention；
Fig. 3 is the extended state figure of flexible conveying device；
Fig. 4 is the schematic diagram of grabbing device；
Fig. 5 is the schematic diagram of driving mechanism；
Fig. 6 is the schematic diagram of constant pressure floating installation；
Fig. 7 is the first working state figure of the invention；
Fig. 8 is the second working state figure of the invention；
Fig. 9, which is the present invention, docks flow diagram with container car and line side harbour.
Label declaration:
1 full-automatic handling material A GV, 2 mobile docking platforms, 21 fuselages, 3 flexible conveying devices, 31 telescope supports, 4 grab
Take device, 41 mobile foundations, 411 car bodies, 412 bending parts, 42 pedestals, 43 pivoted arms, 5 driving mechanisms, 51 driving wheel apparatus, 52 peaces
Dress bracket, 53 wheel bodys, 54 hydraulic cylinders, 541 first oil pipes, 542 second oil pipes, 55 energy storage canisters, 551 pressure gauges, 56 hydraulic pumps, 57
First switch valve, 58 second switch valves, 59 overflow valves, 6 driven wheels, 7 image acquisition devices, 8 buanch units, 81 vacuum chucks, 9
Guide frame.
Specific embodiment
Below in conjunction with Detailed description of the invention embodiments of the present invention:
Referring to Fig. 1 to Fig. 8, the full-automatic handling material A GV 1 of one kind of the present embodiment, including it is mobile docking platform 2, flexible
Conveying device 3 and grabbing device 4；The flexible conveying device 3 and the grabbing device 4 are arranged in the mobile docking platform 2
On；The grabbing device 4 can be moved synchronously with the extended end of the flexible conveying device 3,4 end piece of the grabbing device installation
There is buanch unit 8, buanch unit 8 is equipped with vacuum chuck 81；The grabbing device 4 drives the buanch unit 8 to stretch described
Material transfer is carried out between contracting conveying device 3 and container car.
The grabbing device 4 includes mobile foundation 41 and robot device；The mobile foundation 41 and the flexible conveying
The extended end of device 3 is fixedly connected, and the mobile foundation 41 includes car body 411, driving mechanism 5 and driven wheel 6；The driving machine
Structure 5 and the setting of the driven wheel 6 are in 411 bottom of car body, and the driving mechanism 5 is for driving the car body 411 to move, institute
It states driven wheel 6 and is used to support the car body 411；The robot device is arranged on the mobile foundation 41
The robot device includes pedestal 42, and multiple pivoted arms 43 on the pedestal 42；Multiple pivoted arms 43
It is sequentially connected, two adjacent pivoted arms 43 can relatively rotate, and the vacuum chuck 81 is connect with the end of outermost pivoted arm 43.
By the way that mobile foundation 41 is arranged on the grabbing device 4, it is ensured that the relatively described flexible conveying of the grabbing device 4
Device 3 is provided with independent mobile device, moves in work surface so as to stabilization, and provides for robot device good
Support improves the precision of the crawl material of the grabbing device 4.
Specifically, the mobile foundation 41 is equipped with the first obstacle avoidance sensor (not shown), and first avoidance passes
Sensor is for monitoring whether 41 front end of mobile foundation has barrier, when first obstacle avoidance sensor detects the movement
There are barrier within the scope of 41 front end 0.5-2m of pedestal, the driving mechanism 5 stops driving the car body 411 mobile；By setting
The first obstacle avoidance sensor is set, the grabbing device 4 and the inner wall or material of container car is avoided to collide, while ensuring described grab
Taking the buanch unit 8 of device 4 has enough space carry out activities.
Specifically, the car body 411 is equipped with bending part 412, the mobile foundation 41 to flexible 3 side of conveying device
Connection is connect with the extended end of the flexible conveying device 3 by the bending part 412；By the way that the bending part 412 is arranged, make
There are a distances between the grabbing device 4 and the flexible conveying device 3, and the grabbing device 4 is avoided to stretch with described
It is connected between conveying device 3 too closely, causes to interfere when running.
The grabbing device 4 is equipped with stereoscopic vision positioning system, and the stereoscopic vision positioning device includes image collection
Device 7 and image analysing computer module (not shown)；The work step of the stereoscopic vision positioning system includes:
(a) image acquisition device 7 is used to scan inside the cabinet case of container car, generates space environment image data
And/or material stacks state image data；
(b) image data that the image analysing computer module is used to generate the image acquisition device 7 is analyzed, and is established
Cabinet case space coordinates, and point coordinate and/or material location point are grabbed in cabinet case space coordinates internal labeling buanch unit 8
Coordinate；The positional relationship of the two is calculated by the analysis crawl of buanch unit 8 point coordinate and material location point coordinate；
(c) buanch unit 8 is grabbed point coordinate and is converted into the coordinate in 4 coordinate system of grabbing device by the image analysing computer module
Point；In conjunction with 4 coordinate system of grabbing device and transformational relation, the material location point coordinate on 4 coordinate system of grabbing device is obtained；
(d) grabbing device 4 executes crawl material or pose according to the material location point coordinate obtained in step (c)
The movement of material；The grabbing device 4 completes the movement of crawl material or placing materials, and the image acquisition device 7 scans again
Inside the cabinet case of container car；
(e) step (a) to (d) is repeated, until the grabbing device 4 completes the transfer of all materials.
Specifically, the end of the grabbing device 4 is arranged in the image acquisition device 7, and with the grabbing device 4
It moves and swings.
Stereoscopic vision positioning system can calculate the three-dimensional coordinate of object according to the two dimensional image of object in space and space,
So that grabbing device 4 is automatically moved to target position using object three-dimensional coordinate, there is flexibility height, strong real-time, be applicable in field
The extensive feature of scape makes grabbing device 4 realize that any of material is put in cabinet case, to reduce human cost, improves production
Efficiency eliminates the potential security risk of manual operation, while improving the response speed of the grabbing device 4, improves it and grabs object
The efficiency of material；In addition, due to moving docking platform 2 with line side harbour/cabinet case in the presence of there are location error, stereopsis when docking
Feel that positioning system can carry out secondary positioning to counter box space, so as to reduce to mobile docking platform 2 and line side harbour/goods
There are the requirements of docking progress for cabinet case, improve docking speed.
The stereoscopic vision positioning system that the present invention uses belongs to the application of the prior art, and the main inventive of non-present invention
Point does not do detailed explanation herein.
The flexible conveying device 3 is equipped with several telescope supports 31, the width of the upper surface of several telescope supports 31 according to
Secondary to successively decrease, several telescope supports 31 are sequentially stacked from big to small according to the width of upper surface, two adjacent telescope supports 31
It is dynamic；The outer end for being stacked in the telescope support 31 of lower side is fixedly connected with the grabbing device 4.The flexible conveying device 3 is adopted
With above-mentioned set-up mode, structure is simple, and it is convenient to assemble, meanwhile, it, only need to be by damage when any telescope support 31 damages
Telescope support 31 is replaced, that is, can ensure that the normal use of the flexible conveying device 3, effectively shortens maintenance time and reduction
Maintenance cost.
Specifically, the outer end for being stacked in the telescope support 31 of lower side is provided with the second obstacle avoidance sensor and (does not show in figure
Out), described when there are barriers within the scope of the outer end 0.5-2m that second obstacle avoidance sensor detects the telescope support 31
Telescope support 31 stops stretching, extension, and flexible 3 extending action of conveying device is avoided to interfere with cabinet case/material.
The set-up mode of above-mentioned flexible conveying device 3 belongs to the application of the prior art, and the primary object of non-present invention,
Detailed explanation is not done herein.
The extended end bottom of the flexible conveying device 3 is equipped with driving mechanism 5 and driven wheel 6；The driving mechanism 5 is used for
The stretching, extension end motion of the flexible conveying device 3 is driven, the driven wheel 6 is used to support the stretching, extension of the flexible conveying device 3
End；By the way that driving mechanism 5 and driven wheel 6 is arranged in the extended end bottom of the flexible conveying device 3, thus for it is described stretch it is defeated
The extended end of device 3 is sent to provide support and power when moving on working face, on the one hand, the flexible conveying device 3 can be improved
Stability of the extended end in stretching, extension and storage, use the longevity to improve the reliability of the flexible conveying device 3 and extend
Life, on the other hand, when the extended end of the flexible conveying device 3 is stretched over operating position, the driving mechanism 5 and driven wheel 6
It can be as the supporting point of the extended end of the flexible conveying device 3, to make the conveyor surface of the flexible conveying device 3 always
In same position, cooperate convenient for the grabbing device 4 and the flexible conveying device 3.
The driving mechanism 5 includes mounting bracket 52, driving device 51, wheel body 53 and constant pressure floating installation；The constant pressure
Floating installation includes energy storage canister 55 and hydraulic cylinder 54, and the energy storage canister 55 is connect with the hydraulic cylinder 54, and the wheel body 53 passes through
The setting of hydraulic cylinder 54 is in 52 downside of mounting bracket；The energy storage canister 55 keeps dynamic with the oil pressure in the hydraulic cylinder 54
State balance, makes the hydraulic cylinder 54 apply downward constant pressure to the wheel body 53；The driving device 51 is for driving institute
State the rotation of wheel body 53.
Specifically, the energy storage canister 55 is diaphragm type energy storage canister or gasbag-type energy storage canister；The hydraulic cylinder 54 is equipped with first
Oil pipe 541 and the second oil pipe 542, first oil pipe 541, second oil pipe 542 are separately positioned on 54 liang of the hydraulic cylinder
End；The constant pressure floating installation further includes hydraulic pump 56, first switch valve 57, second switch valve 58, overflow valve 59 and pressure gauge
551；Energy storage canister 55, hydraulic pump 56, overflow valve 59 are connect with the first oil pipe 541, and the second switch valve 58 and pressure gauge 551 are set
It sets on the branch road that the energy storage canister 55 is connect with the first oil pipe 541, the road first switch Fa57Wei Huan valve, setting is the
On one oil pipe 541, the second oil pipe 542, and control hydraulic pump 56, the branch that overflow valve 59 is connect with the first oil pipe 541.
The second switch valve 58 is set, convenient for closing the energy storage canister 55, to maintenance pressure gauge 551, hydraulic cylinder 54 etc.
Component is overhauled；The overflow valve 59, which is arranged, can play level pressure overflow, pressure stabilizing, off-load and safeguard protection effect.
The course of work of the constant pressure floating installation:
(1) at work, first switch valve 57 switches to the left side, closes the oil inlet and outlet and hydraulic pump of the first oil pipe 541
56, so that energy storage canister 55 is kept constant pressure；
(2) when 55 pressure of energy storage canister is lost, pressure gauge 551 shows pressure decline, during first switch valve 57 is switched to
Between, it is connected to the oil inlet and outlet of the first oil pipe 541, hydraulic pump 56 with energy storage canister 55, the starting of hydraulic pump 56 gives energy storage canister 55 oil inlet,
Reach standard value when pressure gauge 551 detects pressure, first switch valve 57 is switched to the left side, closes the disengaging oil of the first oil pipe 541
Mouth and hydraulic pump 56, energy storage canister 55 keep constant pressure again；
(3) when needing wheel body 53 to leave ground to store, first switch valve 57 switches to the right, 542 He of the second oil pipe
Hydraulic pump 56 is connected to, and hydraulic pump 56 starts, and 542 oil inlet of the second oil pipe, wheel body 53 lifts off ground.
Guide frame 9 is equipped between the mounting bracket 52 and the wheel body 53, the guide frame 9 can be along the vertical direction
Flexible, the guide frame 9 is for limiting the scope of activities of the wheel body 53 in the horizontal direction, it is ensured that the wheel body 53 along
Vertical direction movement.
Above-mentioned driving mechanism 5 has the advantages that
Driving mechanism 5 moves on the rough road surface in road surface can occur unstable wheel load, tractive force and speed appearance
The case where deviation, cause driving mechanism 5 to have skidded, sideslip phenomena such as, but it is existing by spring limit driving mechanism 5 wave
Dynamic constant-voltage equipment can only overcome the positive and negative smaller road surface fluctuation of height, not be suitable for overcoming the counter of different height type
Biggish difference in height between bottom face, and in order to ensure driving mechanism 5 can provide constant tractive force, the present invention passes through described
The hydraulic cylinder 54 is set between wheel body 53 and the mounting bracket 52, thus make the wheel body 53 and the mounting bracket 52 it
Between using flexible connection, so that the hydraulic cylinder 54 wheel body 53 is provided buffering；Meanwhile by setting energy storage canister 55 with it is described
Hydraulic cylinder 54 connects, and so that the energy storage canister 55 is kept dynamic equilibrium with the oil pressure in the hydraulic cylinder 54, is adjusted using hydraulic
The wheel body 53 makes the floating on ground pass through the liquid pressure on ground when the wheel body 53 biggish by difference in height section
The fluid pressure variation that fluid exchange between cylinder pressure 54 and the energy storage canister 55 generates, which is realized, offsets, so that it is guaranteed that the wheel body
53 can be mobile with constant tractive force on the ground of the biggish out-of-flatness of difference in height, is suitable for the driving mechanism 5 not
It is operated on level container car.
The mobile docking platform 2 include fuselage 21, mobile device (not shown) and central control module (in figure not
It shows)；The mobile device and the central control module are arranged on the fuselage 21, the mobile device and the center
Control module communication connection；
Container car enters to the material transition range in front of the harbour of line side, container car or line side harbour to the movement pair
It connects platform 2 and sends working signal, the central control module receives working signal, controls the mobile device and drives the fuselage
21 move between container car and line side harbour, make 3 both ends of flexible conveying device respectively with container car, line side harbour pair
It connects.
Specifically, the fuselage 21 be equipped with docking sensor (not shown), the docking sensor and it is described in
Control module connection is entreated, the docking sensor realizes institute for detecting to the sensor on container car and line side harbour
Mobile docking platform 2 is stated to dock with container car and line side harbour.
Specifically, the mobile device is omnidirectional's driving device.
Flexible conveying device 3 and grabbing device 4 are arranged on the mobile docking platform 2 present invention, when the movement
It, can be by flexible conveying device 3 and crawl when docking platform 2 is moved according to container car or line side harbour transmission working signal
Device 4 is transported to corresponding work station and carries out operation, and high degree of automation effectively reduces the investment of production cost.
Compared with prior art, the full-automatic handling material A GV1 of one kind of the invention, has the advantage that
(1) after automatically handling material A GV1 is docked with container car, the flexible conveying device 3, the grabbing device 4 can
In automatic telescopic to cabinet case, the grabbing device 4 carries out material automatically between the flexible conveying device 3 and container car and turns
It moves, to realize the full-automatic handling of material, replaces artificial high-intensitive handling material work completely, reduce human factor
It influences, it is ensured that the quick despatch of material；
(2) cargo, nothing are directly automatically grabbed by the grabbing device 4 during handling material A GV1 handling material
Material need to be carried using assistant carrier, on the one hand, the space that assistant carrier occupies storage material in cabinet case is avoided, thus
The maximization of the space utilization rate of storage material in cabinet case, another party can be realized under the premise of not increasing counter tankage
Face decreases burden caused by enterprise's purchase and storage assistant carrier, to save production cost；
(3) the extended end synchronizing moving of the grabbing device 4 and the flexible conveying device 3, makes the grabbing device 4
Scope of activities can cover the cabinet case of different depth, so that material is deposited in place deeper in cabinet case as much as possible,
And can material heap is high, the working range of the grabbing device 4 is cooperated without artificially adjusting the position of container car, is kept away
Exempt from automatically to load and unload limitation of the normal work of material A GV1 by container car size, in addition, by the grabbing device 4 and institute
The extended end synchronizing moving of flexible conveying device 3 is stated, so that it is guaranteed that the job stability and operating accuracy of grabbing device 4；
(4) automatically handling material A GV1 is configured with mobile docking platform 2, and automatically loading and unloading material A GV1 can be according to reality
Border production needs to be moved to different harbours and carries out material transfer to different container cars, full-automatic to load and unload material A GV1 movement spirit
Activity is higher, to reduce setting of the enterprise to material handling equipment, saves production cost, meanwhile, it can be reduced enterprise and be used to stop
The space of material handling equipment is put, brings bigger freedom degree for corporate planning material handling region；
(5) automatically handling material A GV1 transports material using flexible conveying device 3, effectively reduces full-automatic dress
The volume of material A GV1 and the site area of occupancy are unloaded, full-automatic handling material A GV1 is applied and uses field in different
Scape can effectively expand the use scope of full-automatic handling material A GV1.
Embodiment two
Referring to Fig. 9, it is a further object to provide a kind of materials using above-mentioned full-automatic handling material A GV to unload
Vehicle method, comprising the following steps:
(1) container car for being mounted with material or zero load enters in the material transition range in front of the harbour of line side, counter
Vehicle or line side harbour send working signal to full-automatic handling material A GV；
(2) automatically handling material A GV is moved between corresponding container car and line side harbour, makes the flexible conveying dress
It sets front end to dock with container car, its rear end is docked with line side harbour；
(3) extended end of the grabbing device and the flexible conveying device moves synchronously the cabinet case into container car
It is interior；
(4) material in cabinet case is transferred in the flexible conveying device by the grabbing device, the flexible conveying
Material is delivered on the harbour of line side by device；Material is delivered to warehouse by the conveying mechanism on the harbour of line side；
(5) step (4) are repeated, until the transfer of full-automatic handling material A GV completion all materials or container car are fully loaded, institute
State grabbing device and the extended end of the flexible conveying device synchronize exit container car, the full-automatic material A GV that loads and unloads is moved to down
Operation is executed on one line side harbour or moves to standby region.
In step (2), the full-automatic material A GV that loads and unloads moves to the region between corresponding container car and line side harbour
When within the scope of 0.5-2m, the docking mobile platform reduction of speed, and by docking sensor to the biography on container car and line side harbour
Sensor is detected, and is docked with container car and line side harbour, to improve full-automatic handling material A GV and container car and line side code
The merging precision of head, and avoid automatically loading and unloading material A GV and collide with container car and line side harbour.
In step (3), the grabbing device, the flexible conveying device extended end on drive wheel mechanism wheel body at
In receiving state, the flexible conveying device is stretched into cabinet case, and the grabbing device is driven to move, the grabbing device
When entering in cabinet case with the extended end of the flexible conveying device, the constant pressure floating installation work declines the wheel body
Cabinet case bottom surface is contacted, enters the time in cabinet case so as to shorten the grabbing device, the flexible conveying device, improves dress
Unload speed.
In step (4), after the grabbing device completes the material transportation movement of a vertical setting of types array, the grabbing device,
The synchronous distance that a vertical setting of types array material is adjusted into the cabinet case of container car of the extended end of the flexible conveying device.
Specifically, the array surface of a vertical setting of types array material of the invention composition is parallel with plane where counter tank inlet.
The flexible transport device and the grabbing device cooperate, and the grabbing device is according to material in cabinet case
Operating position is adjusted flexibly in discharge, puts demand to meet the material of different spaces occasion, effectively improves full-automatic handling material
The applicability of AGV.
Embodiment three
Referring to Fig. 9, it is a further object to provide a kind of material dresses using above-mentioned full-automatic handling material A GV
Vehicle method, comprising the following steps:
(1) unloaded container car enters in the material transition range in front of the harbour of line side, container car or line side harbour
Working signal is sent to full-automatic handling material A GV；
(2) automatically handling material A GV is moved between corresponding container car and line side harbour, makes the flexible conveying dress
It sets front end to dock with container car, its rear end is docked with line side harbour；
(3) extended end of the grabbing device and the flexible conveying device moves synchronously the cabinet case into container car
It is interior；
(4) conveying mechanism on the harbour of line side conveys material to the flexible conveying device；The grabbing device will be described
Material in flexible conveying device is transferred in the cabinet case of container car；
(5) step (4) are repeated, until the transfer of full-automatic handling material A GV completion all materials or container car are fully loaded, institute
State grabbing device and the extended end of the flexible conveying device synchronize exit container car, the full-automatic material A GV that loads and unloads is moved to down
Operation is executed on one line side harbour or moves to standby region.
In step (2), the full-automatic material A GV that loads and unloads moves to the region between corresponding container car and line side harbour
When within the scope of 0.5-2m (in the circular scope of radius 0.5-2m), the docking mobile platform reduction of speed, and pass through docking sensor
Sensor on container car and line side harbour is detected, is docked with container car and line side harbour.
In step (3), the grabbing device, the flexible conveying device extended end on drive wheel mechanism wheel body at
In receiving state, the flexible conveying device is stretched into cabinet case, and the grabbing device is driven to move, the grabbing device
When entering in cabinet case with the extended end of the flexible conveying device, the constant pressure floating installation work declines the wheel body
Contact cabinet case bottom surface.
In step (4), after the grabbing device completes the material transportation movement of a vertical setting of types array, the grabbing device,
The synchronous distance that a vertical setting of types array material is adjusted into the cabinet case of container car of the extended end of the flexible conveying device.
Compared with prior art, material handling method of the invention, has the advantages that
(1) automatically handling material A GV is moved between corresponding container car and line side harbour according to working signal, in goods
Automatically the handling of material are carried out between cabinet vehicle and line side harbour, expeditiously complete transhipment of the material between warehouse and container car
Process reduces labor intensity without human intervention, improves material transfer efficiency；
(2) next line side is moved to after automatically the transfer of handling material A GV completion all materials or container car are fully loaded
Operation is executed on harbour or moves to standby region, to reduce the occupancy in place, saves occupied area.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (10)
1. a kind of full-automatic handling material A GV, it is characterised in that: including mobile docking platform, flexible conveying device and crawl dress
It sets；
The flexible conveying device and the grabbing device are arranged on the mobile docking platform；
The grabbing device can be moved synchronously with the extended end of the flexible conveying device, and the grabbing device end piece is equipped with
Buanch unit, buanch unit are equipped with vacuum chuck；
The grabbing device drives the buanch unit to carry out material transfer between the flexible conveying device and container car.
2. a kind of full-automatic handling material A GV according to claim 1, it is characterised in that: the grabbing device includes moving
Moving base and robot device；
The mobile foundation is fixedly connected with the extended end of the flexible conveying device, and the mobile foundation includes car body, driving
Mechanism and driven wheel；The driving mechanism and driven wheel setting are in the vehicle bottom, and the driving mechanism is for driving
The body movement, the driven wheel are used to support the car body；
The robot device is arranged on the mobile foundation.
3. a kind of full-automatic handling material A GV according to claim 1, it is characterised in that: in the flexible conveying device
Equipped with several telescope supports, the width of the upper surface of several telescope supports successively successively decreases, and several telescope supports are according to upper surface
Width is sequentially stacked from big to small, adjacent two telescope supports linkage；
The outer end for being stacked in the telescope support of lower side is fixedly connected with the grabbing device.
4. a kind of full-automatic handling material A GV according to claim 1, it is characterised in that: the flexible conveying device
Extended end bottom is equipped with driving mechanism and driven wheel；
The driving mechanism is used to drive the stretching, extension end motion of the flexible conveying device, and the driven wheel is used to support described stretch
The extended end of contracting conveying device.
5. a kind of full-automatic handling material A GV according to claim 2 or 4, it is characterised in that: the driving mechanism includes
Mounting bracket, driving device, wheel body and constant pressure floating installation；
The constant pressure floating installation includes energy storage canister and hydraulic cylinder, and the energy storage canister is connect with the hydraulic cylinder, and the wheel body is logical
The hydraulic cylinder is crossed to be arranged on the downside of the mounting bracket；
Oil pressure in the energy storage canister and the hydraulic cylinder keeps dynamic equilibrium, applies the hydraulic cylinder to the wheel body downward
Constant pressure；
The driving device is for driving the wheeling thereof.
6. a kind of full-automatic handling material A GV according to claim 1, it is characterised in that: the mobile docking platform packet
Include fuselage, mobile device and central control module；
The mobile device and the central control module are arranged on the fuselage, and the mobile device and the center control
Module communication connection；
It is flat to the mobile docking that container car enters to the material transition range in front of the harbour of line side, container car or line side harbour
Platform sends working signal, and the central control module receives working signal, controls the mobile device and drives the fuselage movement
To docking the flexible conveying device both ends with container car, line side harbour respectively.
7. a kind of using a kind of material handling method of full-automatic handling material A GV as claimed in any one of claims 1 to 6, packet
Include following steps:
(1) be mounted with material or zero load container car enter in the material transition range in front of the harbour of line side, container car or
Line side harbour sends working signal to full-automatic handling material A GV；
(2) automatically handling material A GV is moved between corresponding container car and line side harbour, before making the flexible conveying device
End is docked with container car, and its rear end is docked with line side harbour；
(3) extended end of the grabbing device and the flexible conveying device is moved synchronously into the cabinet case of container car；
(4) material in cabinet case is transferred in the flexible conveying device by the grabbing device, the flexible conveying device
Material is delivered on the harbour of line side；Material is delivered to warehouse by the conveying mechanism on the harbour of line side；Alternatively, on the harbour of line side
Conveying mechanism conveys material to the flexible conveying device；The grabbing device shifts the material in the flexible conveying device
To the cabinet case of container car；
(5) step (4) are repeated, until the transfer of full-automatic handling material A GV completion all materials or container car are fully loaded, it is described to grab
Take device and the extended end of the flexible conveying device synchronize exit container car, it is full-automatic load and unload material A GV move to it is next
Operation is executed on the harbour of line side or moves to standby region.
8. material handling method described in claim 7, it is characterised in that: in step (2), the full-automatic material A GV that loads and unloads is moved to
When within the scope of the region 0.5-2m between corresponding container car and line side harbour, the docking mobile platform reduction of speed, and lead to
It crosses docking sensor to detect the sensor on container car and line side harbour, be docked with container car and line side harbour.
9. material handling method described in claim 7, it is characterised in that: in step (3), the grabbing device, it is described stretch it is defeated
The wheel body of the drive wheel mechanism in the extended end of device is sent to be in receiving state, the flexible conveying device is stretched into cabinet case
Exhibition, and the grabbing device is driven to move, the extended end of the grabbing device and the flexible conveying device enters to cabinet case
When interior, the constant pressure floating installation work makes the wheel body decline contact cabinet case bottom surface.
10. material handling method described in claim 7, it is characterised in that: in step (4), the grabbing device is completed one and erected
After the material transportation movement of row array column, the synchronous goods to container car of extended end of the grabbing device, the flexible conveying device
The distance of one vertical setting of types array material of adjustment in cabinet case.
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| CN201910659664.1A CN110342271A (en) | 2019-07-22 | 2019-07-22 | A kind of automatically handling material A GV and material handling method |
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| CN201910659664.1A CN110342271A (en) | 2019-07-22 | 2019-07-22 | A kind of automatically handling material A GV and material handling method |
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| CN113320895A (en) * | 2021-06-23 | 2021-08-31 | 齐鲁工业大学 | Quick loading and unloading device and control method |
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