CN110525868A - A kind of full-automatic AGV Matter Transfer handling system - Google Patents
A kind of full-automatic AGV Matter Transfer handling system Download PDFInfo
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- CN110525868A CN110525868A CN201910916791.5A CN201910916791A CN110525868A CN 110525868 A CN110525868 A CN 110525868A CN 201910916791 A CN201910916791 A CN 201910916791A CN 110525868 A CN110525868 A CN 110525868A
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- agv
- agv trolley
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The present invention relates to a kind of full-automatic AGV Matter Transfer handling systems, it is characterized by comprising have route I, route II, route III, production line connecting structure, material detection system, WMS system, AGV trolley, AGV management system, wherein route I and route II form a closed circulation transportation route, and route I and route III form another closed circulation transportation route；Route I, route II are respectively equipped with several terrestrial references tag on route III；Satisfactory material Shi Douhui, which is transported, in each AGV trolley in the present invention takes back one group of empty pallet, empty material pallet, it carries and uses when completely expecting for next time, manual resource and time cost is greatly saved in this system, and entire production material transhipment realizes automatically, improves benefit；Handling system low cost, low dependence, high efficiency, high stability, high automatic operating simultaneously, greatly improve automation level and productivity.
Description
Technical field
The present invention relates to unmanned handling system equipment technical field, especially a kind of full-automatic AGV Matter Transfer carries system
System.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to magnetically or optically to be waited certainly equipped with electricity
Dynamic guiding device can travel and have the transport vehicle of safeguard protection and various transfer functions, In along defined guide path
It is drum-type AGV used in this paper AGV system, material can be placed on the Roller conveyor of AGV, pass through pair for platform of plugging into power
It connects, realizes automatic feeding, discharge.
The development of domestic intelligent logistics system substantially experienced three Main Stages:
Starting stage: in 1975-1985, intelligent logistics system development in China's is in the starting stage, and in this period, China is
The development and application of completion system, but due to the limitation of economic development, intelligent logistics system is using extremely limited；
Developing stage: 1986-1999 belongs to the developing stage of China's intelligent logistics system, as modern manufacturing industry is to China
It gradually shifts, relevant enterprise recognizes that the importance of Modern Materials Circulation systems technology, the intelligent storage technology of core obtain city
Field understanding, Its Relevant Technology Standards are also put into effect successively, promote industry development；
Improvement stage: 2000 so far, can regard the improvement stage of China's automatic Material Handling System as, and in this stage, market needs
It asks and is expanded rapidly with industry size, versatility is promoted, and modern warehousing system, sorting system and intelligent three-dimensional library technology are at home
Every profession and trade starts to be applied, especially the most prominent with industries such as tobacco, cold chain, new-energy automobile, medicine, machine-building.
More domestic enterprises enter intelligent logistics system field, by introducing, learning the state-of-the-art automatic material flow in the world
Technology and the investment for increasing independent research, are obviously improved domestic Intelligent logistics technical level.But current intelligence
In energy logistlcs technology, mostly it is the transhipment to storage material, lacks the thinking to material recognition in production process and transhipment, to people's
It relies on larger, needs to improve.
Summary of the invention
The purpose of the present invention is to above situations to provide a kind of full-automatic AGV Matter Transfer handling system, the carrying
System low cost, low dependence, high efficiency, high stability, high automatic operating greatly improve the gentle production effect of Automated water
Rate.
Concrete scheme of the invention is: a kind of full-automatic AGV Matter Transfer handling system, include route I, route II,
Route III, production line connecting structure, material detection system, WMS system, AGV trolley, AGV management system, wherein route I and road
Line II forms a closed circulation transportation route, and route I and route III form another closed circulation transportation route；Route I, road
Several terrestrial references tag is respectively equipped on line II, route III；
The production line connecting structure includes that several workbench are plugged into Roller conveyor, and the Roller conveyor setting of plugging into of each workbench is different
Station number, each workbench plug into the material on Roller conveyor be provided with accordingly need to be transported to destination material compile
Number；Each workbench is plugged into the material pallet being respectively provided on Roller conveyor there are two mutually opposing movement；
The material detection system include be arranged in the corresponding workbench of each group production line plug on Roller conveyor several are unrestrained
Reflective range sensor, being applied in combination for the diffusing reflection formula range sensor can accurately judge the presence or absence of material situation
With transport situation in place, and passed the information in WMS system in real time；
The information that the WMS system gives according to material detection system, calculates the stock number of corresponding station demand, then root
Have full material information and AGV real-time running state according to route I, reasonably transport task assignment to corresponding AGV trolley, and
Each feeding, blanking are plugged into the reliability of verification actions interaction, safety；
The two sides of the AGV trolley are separately installed with emission sensor, and the corresponding workbench of each group production line is plugged into Roller conveyor
The side of AGV trolley route is set, carries out signal interlocking using emission sensor and workbench Roller conveyor of plugging into, assists
AGV trolley precisely operates, and is also equipped with roller-way on the AGV trolley, to realize the handling of material；
The AGV management system is used to manage the roller in the operation of various routes and route record and AGV trolley of AGV trolley
The action control and record that road is carried.
Further, heretofore described WMS system is comprehensive to batch management, material correspondence and just in time inventory management function
The management system used is closed, feeding business, blanking business, the signal collection processing of WMS system administration material, scheduler task are passed through
It generates, controls and track the logistics and cost management overall process of depot operation, realize warehouse logistics information management.
Further, heretofore described AGV management system, WMS system, material detection system are networked between each other
Docking.
Further, wireless communication module is provided on heretofore described AGV trolley.
Satisfactory material Shi Douhui, which is transported, in each AGV trolley in the present invention takes back one group of empty pallet, empty material pallet, for
It carries and uses when next time completely expects, manual resource and time cost is greatly saved in this system, and entire production material transhipment realizes
Automatically, benefit is improved；Handling system low cost, low dependence, high efficiency, high stability, high automatic operating simultaneously,
Greatly improve automation level and productivity.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is enlarged structure schematic diagram at K in Fig. 1.
In figure: 1-fully loaded AGV trolley, 2-on-line operation works, 3-workbench are plugged into Roller conveyor, and stations No. 4-, 5-is empty
Material pallet, 6-routes III, 7-routes II, 8-zero load AGV trolleies, 9-routes I, 10-terrestrial reference tag, 11-full with substance stacks
Plate.
Specific embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, it includes route I 9, road that the present invention, which is a kind of full-automatic AGV Matter Transfer handling system,
Line II 7, route III 6, production line connecting structure, material detection system, WMS system, AGV trolley, AGV management system, Road
Line I and route II form a closed circulation transportation route, and route I and route III form another closed circulation transportation route；
Route I, route II are respectively equipped with several terrestrial references tag10 on route III；The production line connecting structure includes several works
It plugs into Roller conveyor 3 as platform, each workbench Roller conveyor of plugging into is arranged different stations number 4, and each workbench is plugged into roller
Material on line is provided with the stock number for needing to be transported to destination accordingly；Each workbench is plugged into and is respectively provided on Roller conveyor
There are two the material pallets (5 and 11 corresponding empty material pallets and full with substance pallet) of mutually opposing movement；The material detection
System includes several diffusing reflection formula range sensors that the corresponding workbench of each group production line is arranged in and plugs on Roller conveyor,
Being applied in combination for the diffusing reflection formula range sensor can accurately judge the presence or absence of material situation and transport situation in place, and
It passes the information in WMS system in real time；The information that the WMS system gives according to material detection system, calculates correspondence
Station demand stock number, have full material information and AGV real-time running state further according to route I, reasonably transport appoint
Business is assigned to corresponding AGV trolley, and plugs into a reliability for verification actions interaction, safety in each feeding, blanking；It is described
The two sides of AGV trolley are separately installed with emission sensor, and the corresponding workbench of each group production line plugs into Roller conveyor setting in AGV
The side of trolley route carries out signal interlocking using emission sensor and workbench Roller conveyor of plugging into, assists AGV trolley accurate
Running, is also equipped with roller-way on the AGV trolley, to realize the handling of material；The AGV management system is for managing AGV
The action control and record that roller-way in the operation of various routes and route record and AGV trolley of trolley is carried.
Further, WMS system described in the present embodiment is to batch management, material correspondence and just in time inventory management function
The management system of integrated use is appointed by the processing of feeding business, blanking business, signal collection, the scheduling of WMS system administration material
Business generates, and controls and track the logistics and cost management overall process of depot operation, realizes warehouse logistics information management；Further
, heretofore described AGV management system, WMS system, material detection system carry out networking docking between each other；Further,
Wireless communication module is provided on heretofore described AGV trolley.
A kind of full-automatic AGV Matter Transfer handling system is by the multiple terrestrial reference tag of setting on AGV map, scene
It arranges multiple groups connecting structure and material detection system, scheduling AGV trolley, Lai Shixian material is managed collectively by central control system
Automation transhipment and empty material pallet recycling.As shown in attached drawing Fig. 1, it is arranged in each traffic and work station point different
Identification point (tag), AGV trolley drive into route I from H work station point, and central control system can lack material according to route II and route III
Situation is dispatched to AGV management system one and transports the scheduler task completely expected, AGV management system can parse after receiving task
Relevant information, to know to need to plug into full material in specified station parking；
When AGV trolley is in I driving process of route, the terrestrial reference tag of each laying can be constantly read, it can be compared in real time
The tag read is with itself needing the identical property of anchor point information, once it is vertical to find corresponding feeding point tag, AGV trolley of plugging into
I.e. parking gets out motion flow of plugging into, while the relevant information of upload at this time is to central control system, central control system point
Analysis can return one after and confirm the instruction plugged into, while the connecting structure for controlling route I starts feeding, and AGV trolley connects
Start to act process of plugging into after to confirmation instruction, until completion of entirely plugging into；
After the small vehicle-mounted full material of AGV, it can arrive safely specified end according to Intelligent target selection fork crossing is transported and plug into
Point, arrival target position equally can also stop later sends relevant information to central control system, and central control system analysis is logical
One can be returned after crossing and confirms the instruction plugged into, while the connecting structure for controlling route II or route III starts splicing, AGV
It is connected to confirmation instruction to start to act feeding process later, until entire feeding and splicing are completed；
For AGV trolley after route II or route III complete the transhipment of full material, central control system can assign one to make the return trip empty
The instruction task of pallet, empty material pallet, AGV can repeat to send full material operation flow, the empty pallet only transported at this time, sky at this time
Material pallet, the starting point of transhipment are route II or route III；
AGV trolley can restart to receive on route I full after completing last empty pallet, empty material pallet is plugged into
Expect the scheduler task carried, forms a complete material transfer, the cyclic process that empty stack plate is reused.
Handling system of the invention specifically works implementation steps are as follows:
Connecting structure, material detection system are all connected in central control system and are controlled by center in step 1, project scene
System control, the task of all AGV trolleies are distributed unitedly by central control system, and AGV is only mutually transmitted with central control system
Data；
Whether step 2, central control system detection active line lack material, and real-time update back-end data, detect route II, route
III have station lack material when, central control system generates corresponding demand information according to demand, further according to the real-time empty of online AGV
Not busy, tight situation, sends the small car of specified AGV for carrying task；
Step 3, AGV trolley receive new scheduler task in the process of moving, can be according to the packet parsing received at correspondence
Station information and stop action message；
Step 4, AGV trolley read recognition node information in real time and analyze the identification when running along preset I route of route
Whether node (earth's surface tag) is that identification point is stopped in the starting of scheduler task, if it is the recognition node stopped of needs, is then stopped immediately
Vehicle, while the relevant information of itself is sent to central control system；
After step 5, central control system receive the stop information of AGV trolley, reaffirms the material of I connecting structure of route and move
Make information, after confirmation, one group of notice message of plugging into can be sent again and give the AGV trolley, while also this can be driven to stop at a slow speed
Roller-way of plugging by point rolls conveying full with substance pallet；
After step 6, AGV trolley receive the notice of plugging into of central control system, vehicle body is driven by the control system of itself
Roller-way mechanism, on the vehicle body roller-way that full with substance pallet can be transported to AGV trolley from I feed opening of route slowly at this time, when
When material leaves I feed opening of route completely, the connecting mechanism on I side of route can stop operating, when AGV management system detects material
In place when signal, the cylinder mechanism on AGV also can be out of service, while can send a group information to central control system；
The material that step 7, central control system receive AGV is plugged into complete information after, according to real-time traffic condition, can reply
The information of one passage or parking waiting；
It, can be along preset route running, until III uplink of route II and route after step 8, AGV trolley receive pass-through command
When bifurcation point, it is straight trip or right fork that the judgement of identification point information can be stopped according to the end of scheduler task；
Step 9, AGV trolley route II or route III read recognition node information in real time and analyze the recognition node whether be
Identification point is stopped in the end of scheduler task, if it is the recognition node that needs are stopped, is then stopped immediately, while by the correlation of itself
Information is sent to central control system；
After step 10, central control system receive the stop information of AGV, III connecting structure of route II or route is reaffirmed
Material and action message after confirmation, can send one group of notice message of plugging into again and give the AGV, while can also drive at a slow speed
The roller-way of plugging into of the anchor point rolls the material for waiting and plugging into and transporting from AGV；
After step 11, AGV trolley receive the notice of plugging into of central control system, vehicle body is driven by the control system of itself
Roller-way mechanism, full with substance pallet can be transported on III connecting structure of route II or route from AGV trolley slowly at this time, when
When material leaves AGV trolley completely, the cylinder mechanism on AGV can stop operating, when route II or III connecting structure of route are examined
Measure material in place signal when, route II or III connecting structure of route also can be out of service, while AGV can send a group information
To central control system；
After step 12, AG trolley V do the transhipment work of satisfactory material, this scheduler task itself can be emptied, waits center control
The new task that system issues, central control system at this time can be according to the location of AGV trolleies, using shortest time, most shortcut
The principles such as line issue the scheduler task of a transport empty material pallet；
Step 13, AGV trolley are connected to after the scheduler task for transporting empty material pallet, can repeat step 3 to systems such as steps 11
Column movement, what only this was plugged into is empty material pallet, is the process that material to route I is carried from route II or route III,
Intermediate operation flow of plugging into is with transporting the full logic expected being；
Step 14, AGV trolley itself can empty this scheduler task after the transhipment work for completing empty material pallet, wait
The new task that central control system issues is re-introduced into the cyclic process for carrying full with substance.
All by central control system management, the scheduling of AGV is appointed for all connecting structures and material detection system in the present invention
Business is assigned by central control system, and corresponding terrestrial reference tag, meeting when AGV trolley reads each identification point are placed at each station
Analyze whether this identification point is task anchor point, stops immediately if it is task anchor point, and moved with central control system
It interacts, completes the transhipment movement of material, simultaneously because in view of the recycling such as empty pallet, empty material pallet repeat when system designs
Usability transports satisfactory material Shi Douhui in each AGV and takes back one group of empty pallet (also corresponding to empty material pallet), empty material stack
Plate is carried for next full material and is used, and manual resource and time cost is greatly saved in this system, and entire production material transhipment is realized
Fully automatic operation, is greatly improved benefit.
Claims (4)
1. a kind of full-automatic AGV Matter Transfer handling system, it is characterised in that: include route I, route II, route III, production
Line connecting structure, material detection system, WMS system, AGV trolley, AGV management system, wherein route I and route II form one
Closed circulation transportation route, route I and route III form another closed circulation transportation route；Route I, route II, route III
On be respectively equipped with several terrestrial references tag；
The production line connecting structure includes that several workbench are plugged into Roller conveyor, and the Roller conveyor setting of plugging into of each workbench is different
Station number, each workbench plug into the material on Roller conveyor be provided with accordingly need to be transported to destination material compile
Number；Each workbench is plugged into the material pallet being respectively provided on Roller conveyor there are two mutually opposing movement；
The material detection system include be arranged in the corresponding workbench of each group production line plug on Roller conveyor several are unrestrained
Reflective range sensor, being applied in combination for the diffusing reflection formula range sensor can accurately judge the presence or absence of material situation
With transport situation in place, and passed the information in WMS system in real time；
The information that the WMS system gives according to material detection system, calculates the stock number of corresponding station demand, then root
Have full material information and AGV real-time running state according to route I, reasonably transport task assignment to corresponding AGV trolley, and
Each feeding, blanking are plugged into the reliability of verification actions interaction, safety；
The two sides of the AGV trolley are separately installed with emission sensor, and the corresponding workbench of each group production line is plugged into Roller conveyor
The side of AGV trolley route is set, carries out signal interlocking using emission sensor and workbench Roller conveyor of plugging into, assists
AGV trolley precisely operates, and is also equipped with roller-way on the AGV trolley, to realize the handling of material；
The AGV management system is used to manage the roller in the operation of various routes and route record and AGV trolley of AGV trolley
The action control and record that road is carried.
2. a kind of full-automatic AGV Matter Transfer handling system according to claim 1, it is characterised in that: the WMS system
It is that WMS system administration material is passed through to the management system of batch management, material correspondence and just in time inventory management function integrated use
Feeding business, blanking business, signal collection processing, scheduler task generate, control and track the logistics and cost of depot operation
Overall process is managed, realizes warehouse logistics information management.
3. a kind of full-automatic AGV Matter Transfer handling system according to claim 1, it is characterised in that: the AGV management
System, WMS system, material detection system carry out networking docking between each other.
4. a kind of full-automatic AGV Matter Transfer handling system according to claim 1, it is characterised in that: the AGV trolley
On be provided with wireless communication module.
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| CN201910916791.5A CN110525868A (en) | 2019-09-26 | 2019-09-26 | A kind of full-automatic AGV Matter Transfer handling system |
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| CN201910916791.5A CN110525868A (en) | 2019-09-26 | 2019-09-26 | A kind of full-automatic AGV Matter Transfer handling system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232586A (en) * | 2020-01-17 | 2020-06-05 | 福建省威诺数控有限公司 | Large processing material transfer system and method for solid product production line |
| CN111966039A (en) * | 2020-08-19 | 2020-11-20 | 重庆中科建设（集团）有限公司 | Concrete prefabricated part production line flow dynamic tracking system and control method |
| CN113093671A (en) * | 2021-03-26 | 2021-07-09 | 中国第一汽车股份有限公司 | Method and system for interaction between workshop cross-connection area logistics indication system and AGV signals |
| CN113335820A (en) * | 2021-06-30 | 2021-09-03 | 广州普华灵动机器人技术有限公司 | Warehousing and ex-warehouse method for directly butting stereoscopic warehouse and AGV |
| CN113501274A (en) * | 2021-07-19 | 2021-10-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN114132720A (en) * | 2021-12-23 | 2022-03-04 | 苏州慧工云信息科技有限公司 | Tray inflow control method, system and device |
| CN114281030A (en) * | 2021-11-26 | 2022-04-05 | 一汽物流有限公司 | Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium |
-
2019
- 2019-09-26 CN CN201910916791.5A patent/CN110525868A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232586A (en) * | 2020-01-17 | 2020-06-05 | 福建省威诺数控有限公司 | Large processing material transfer system and method for solid product production line |
| CN111966039A (en) * | 2020-08-19 | 2020-11-20 | 重庆中科建设（集团）有限公司 | Concrete prefabricated part production line flow dynamic tracking system and control method |
| CN113093671A (en) * | 2021-03-26 | 2021-07-09 | 中国第一汽车股份有限公司 | Method and system for interaction between workshop cross-connection area logistics indication system and AGV signals |
| CN113093671B (en) * | 2021-03-26 | 2022-05-17 | 中国第一汽车股份有限公司 | Method and system for interaction between workshop cross-connection area logistics indication system and AGV signals |
| CN113335820A (en) * | 2021-06-30 | 2021-09-03 | 广州普华灵动机器人技术有限公司 | Warehousing and ex-warehouse method for directly butting stereoscopic warehouse and AGV |
| CN113501274A (en) * | 2021-07-19 | 2021-10-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN113501274B (en) * | 2021-07-19 | 2022-07-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN114281030A (en) * | 2021-11-26 | 2022-04-05 | 一汽物流有限公司 | Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium |
| CN114132720A (en) * | 2021-12-23 | 2022-03-04 | 苏州慧工云信息科技有限公司 | Tray inflow control method, system and device |
| CN114132720B (en) * | 2021-12-23 | 2024-04-23 | 苏州慧工云信息科技有限公司 | Pallet inflow control method, system and device |
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