CN111232513B - Automatic feeding system and control method thereof - Google Patents
Automatic feeding system and control method thereof Download PDFInfo
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- CN111232513B CN111232513B CN202010034229.2A CN202010034229A CN111232513B CN 111232513 B CN111232513 B CN 111232513B CN 202010034229 A CN202010034229 A CN 202010034229A CN 111232513 B CN111232513 B CN 111232513B
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- 239000000463 material Substances 0.000 claims abstract description 283
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000007599 discharging Methods 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 230000000903 blocking effect Effects 0.000 claims abstract description 18
- 239000004744 fabric Substances 0.000 claims description 39
- 238000007664 blowing Methods 0.000 claims description 25
- 210000001503 joint Anatomy 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 13
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012840 feeding operation Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
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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
- 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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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Abstract
The invention discloses an automatic feeding system and a control method thereof, wherein the automatic feeding system comprises: the automatic feeding device comprises an upper feeding trolley, a line edge material rack and an AGV (automatic guided vehicle), wherein the upper feeding trolley is connected with the AGV; the upper line skip car is provided with an inclined first material frame layer, an inclined second material frame layer is erected on the line edge material frame, the inclination direction of the second material frame layer is consistent with that of the first material frame layer, and the highest end of the second material frame layer is as high as the lowest end of the first material frame layer; a discharging switch mechanism is arranged on one side, close to the line side material rack, of the on-line material truck and is used for conducting or blocking the first material rack layer and the second material rack layer; be equipped with material case detection mechanism on the skip of going on line, material case detection mechanism is used for detecting whether intraformational material case of first work or material rest moves, the AGV tractor with material case detection mechanism connects, is used for the intraformational material case of first work or material rest controls when moving away the AGV tractor removes.
Description
Technical Field
The invention belongs to the technical field of automatic equipment for automobile production, and particularly relates to an automatic feeding system and a control method thereof.
Background
At present, the online mode of automobile chassis parts of most automobile manufacturers is as follows: after the material picking operation is completed manually by logistics workers, the skip car is conveyed to the side of the production line, and then the automobile chassis parts on the skip car are manually taken to a fixed position by a final assembly worker for assembly. The online mode needs a manual cart to feed and load, automobile chassis parts are manually taken to the side of the assembly line, the walking distance of operators is long, the logistic operation does not add value for a long time, and the manual labor intensity is high.
Some car manufacturers adopt the AGV tractor to transport the skip to the assembly line side, and this kind of mode can avoid artifical shallow pay-off to go on the line, nevertheless still exists following not enoughly:
when the AGV tractor pulls the skip car to the side of the material rack, workers need to manually move parts on the skip car to the material rack, and labor intensity is high;
when the skip emptying is finished and the skip is returned to the empty state, the AGV needs to be manually released by staff, so that unnecessary walking and time waste of manual operation equipment are caused, the action and working hours of operation are increased, the operation efficiency is low, and the requirement for improving the production beat is hardly met.
The patent document with the application number of 201910224005.5 discloses a feeding device for assisting an AGV, which comprises a blanking plate, wherein the blanking plate is installed on the ground through a plurality of first supporting columns, a blanking port is formed in the middle of the upper surface of the blanking plate, a lifting clamping mechanism is installed on the upper surface of the blanking plate, a supporting mechanism is placed on the lower surface of the blanking plate, the lifting clamping mechanism comprises a lifting mechanism and a clamping mechanism, and the lifting mechanism comprises a fixing plate, a second supporting column and a first hydraulic cylinder; the clamping mechanism comprises a lifting plate, a first screw rod and a second screw rod. It comes the centre gripping goods through first L type cardboard and the second L type cardboard on the fixture to make the goods fall on the automated guided transporting vehicle safely through elevating system and supporting mechanism, all inequality with the structure and the material loading action principle of this application.
Disclosure of Invention
The invention mainly aims to provide an automatic feeding system and a control method thereof, and aims to solve the problem that the existing part feeding trolley is low in operation efficiency.
In order to achieve the above object, the present invention provides an automatic feeding system, comprising: the automatic feeding device comprises an upper feeding trolley, a line edge material rack and an AGV (automatic guided vehicle), wherein the upper feeding trolley is connected with the AGV; the upper line skip car is provided with an inclined first material frame layer, the lower side of the first material frame layer is provided with a skip car opening, the line edge material frame is provided with an inclined second material frame layer, the inclination direction of the second material frame layer is consistent with that of the first material frame layer, the high side of the second material frame layer is provided with a material frame opening, and the material frame opening corresponds to the skip car opening; a discharging switch mechanism is arranged on one side, close to the line side material rack, of the on-line material trolley and is used for enabling an opening of the material trolley to be opened or closed; be equipped with material case detection mechanism on the skip of going on line, material case detection mechanism is used for detecting whether intraformational material case of first work or material rest moves, the AGV tractor with material case detection mechanism connects, is used for the intraformational material case of first work or material rest controls when moving away the AGV tractor removes.
Preferably, the drop switch mechanism comprises: the feeding mechanism comprises a feeding frame and a feeding blocking rod, wherein the feeding frame is arranged on the feeding trolley in a vertically movable mode, the feeding blocking rod is arranged on the feeding frame, and the opening of the feeding trolley is opened or closed by the feeding switching mechanism through the feeding blocking rod.
Preferably, a fixed seat is arranged on the feeding trolley, the discharging frame is movably arranged on the fixed seat, a lower pressing blocking rod is arranged at the bottom of the discharging frame and is lower than the first material frame layer, and one end of the discharging trigger rod, which extends into the feeding trolley, is positioned between the first material frame layer and the lower pressing blocking rod and is close to the lower pressing blocking rod; the bottom cover of blowing frame is equipped with blowing reset spring, blowing reset spring's top with blowing frame fixed connection, blowing reset spring's bottom with material loading car fixed connection goes up.
Preferably, be equipped with blowing trigger mechanism in the line rim charge frame, blowing trigger mechanism includes: the device comprises a pedal plate, a first support, a first connecting rod, a second support, a discharging trigger rod and a triggering reset spring, wherein the first support and the second support are fixedly arranged on the line edge material rack; one end of the trigger reset spring is connected with one side, close to the second connecting rod, of the discharging trigger rod, and the other end of the trigger reset spring is connected to the second support.
Preferably, the material tank detection mechanism comprises: the device comprises a third support, a detection movable arm, a movable arm reset spring, signal shielding cloth and a shielding cloth connecting rod, wherein the third support is fixedly installed on the feeding trolley, the middle part of the detection movable arm is hinged to the third support, one end of the detection movable arm extends to the position above the first material rack layer, the other end of the detection movable arm is connected with the movable arm reset spring, and the other end of the movable arm reset spring is connected with the third support; the upper end of the shielding cloth connecting rod is hinged with the detection movable arm, and the signal shielding cloth is arranged at the lower end of the shielding cloth connecting rod; AGV tractor upper portion is equipped with signal transmission device and signal receiving arrangement, the signal hides that cloth can reciprocate to be located signal transmission device with between the signal receiving arrangement.
Preferably, the first material rack layer comprises a plurality of materials which are sequentially arranged from top to bottom, the second material rack layer comprises a plurality of materials which are in one-to-one correspondence with the first material rack layer, and the discharging blocking rod comprises a plurality of materials which are in one-to-one correspondence with the first material rack layer.
Preferably, a ground guide groove is formed between the feeding trolley and the line edge material frame, and the extending direction of the ground guide groove is consistent with the moving direction of the feeding trolley.
The invention also provides a control method of the automatic feeding system, wherein one line edge material frame corresponds to one line feeding vehicle, and the control method comprises the following steps: s1, the AGV tractor pulls the feeding trolley loaded with the material boxes to the side of the line edge material rack, the feeding trolley is in butt joint with the line edge material rack, and a first material rack layer of the feeding trolley is aligned with a second material rack layer of the line edge material rack; s2, opening a discharging switch mechanism between the first rack layer and the second rack layer, and sliding the material box from the first rack layer to the second rack layer; and S3, automatically controlling the AGV tractor to walk away after the material box detection mechanism senses that the material box is moved away from the first material rack layer.
Preferably, the material tank detection mechanism comprises: the device comprises a third support, a detection movable arm, a movable arm reset spring, signal shielding cloth and a shielding cloth connecting rod, wherein the third support is fixedly installed on the feeding trolley, the middle part of the detection movable arm is hinged to the third support, one end of the detection movable arm is abutted against the bottom of the material box, the other end of the detection movable arm is connected with the movable arm reset spring, and the other end of the movable arm reset spring is connected with the third support; the upper end of the shielding cloth connecting rod is hinged with the detection movable arm, and the signal shielding cloth is arranged at the lower end of the shielding cloth connecting rod; the upper part of the AGV tractor is provided with a signal sending device and a signal receiving device, and the signal shielding cloth can be vertically moved between the signal sending device and the signal receiving device; the step S3 specifically includes: work as the material case is followed remove the back on the first work or material rest layer, detect the upper end of digging arm and extend under digging arm reset spring's effect first work or material rest layer top, just the signal hides and covers cloth and also shifts up, signal receiver is receiving behind the signal that signal transmitter sent, to the AGV tractor sends start signal, the AGV tractor walks under start signal's start and leaves.
The invention also provides a control method of the automatic feeding system, wherein one line edge material frame corresponds to two on-line material trucks, and the control method comprises the following steps:
a. the method comprises the following steps that an AGV tractor pulls a first feeding trolley loaded with material boxes to the side of a line edge material frame, the feeding trolley is in butt joint with the line edge material frame, and a first material frame layer of the feeding trolley is aligned with a second material frame layer of the line edge material frame;
b. at the moment, a discharging switch mechanism of the first feeding car is not opened, and the AGV tractor is controlled to move away;
c. controlling an AGV tractor to move to be connected with a second on-line skip, and dragging the second on-line skip to a position close to the first on-line skip by the AGV tractor;
d. when the step c is carried out, opening a discharging switch mechanism of the first feeding trolley, and sliding a material box of the first feeding trolley from the first material rack layer to the second material rack layer of the line edge material rack;
e. controlling an AGV tractor to pull the second feeding trolley to the line-guiding side material frame to move and push the first feeding trolley away;
f. when the second feeding trolley moves to be in butt joint with the line edge material frame, the AGV tractor releases the connection with the second feeding trolley and moves to the position below the first feeding trolley, and the AGV tractor is connected with the first feeding trolley and drags the first feeding trolley away;
g. after the first feeding skip car is refilled with the material box, the first feeding skip car is pulled to a second feeding skip car which is close to and butted with the line edge material rack through an AGV tractor;
h. and (e) moving the material box of the second feeding trolley to the line edge material frame by opening a discharging switch mechanism of the second feeding trolley, and then realizing the butt joint and the discharging of the first feeding trolley and the line edge material frame according to the steps e, f and g, and circulating the steps.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the automatic feeding system comprises an on-line skip car, a line edge material frame and an AGV tractor, wherein the on-line skip car automatically runs to be in butt joint with the line edge material frame through the AGV tractor, the on-line skip car automatically puts materials on the line edge material frame through an automatic feeding device, and after the materials are completely put down, the on-line skip car can be automatically controlled through an automatic release control device to pull the on-line skip car to return to a part distribution area, the materials are not required to be manually transferred from the on-line skip car to the line edge material frame, the AGV tractor is not required to be manually controlled to leave the position in butt joint with the line edge material frame, the full automation of material conveying is realized, the unapproved value adding actions and working hours of operating personnel are reduced, and the operating efficiency is improved.
The automatic feeding device comprises a material triggering mechanism and a material switching mechanism, wherein the material triggering mechanism and the material switching mechanism are all of multi-connecting-rod full-mechanical structures, the material triggering mechanism can automatically reset under the action of a triggering reset spring, the material switching mechanism can also automatically reset under the action of a discharging reset spring, the whole structure is simple, the transmission performance is good, manual operation is not needed, and the working intensity of operators is greatly reduced.
The automatic release control device also adopts a link mechanism to control signals to cover up and down movement of the cloth so as to control the movement of the AGV tractor, so that seamless connection of the material box after being placed to the AGV tractor for moving can be realized, the operation of the AGV tractor is not required to be manually controlled by a worker, and the operation efficiency is further improved.
And fourthly, in the automatic feeding system, one feeding trolley can be adopted, and two feeding trolleys can be adopted for alternately carrying out feeding operation, when the two feeding trolleys are equipped for carrying out operation, one feeding trolley is used for loading the material box, the other feeding trolley is used for transferring the material box to the line edge material frame, and the work efficiency of the whole system can be further improved by alternately carrying out operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an overall structural view of an automatic feeding device according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of the automatic feeding device shown in fig. 1 when the feeding trolley and the line edge frame are butted;
FIG. 3 is a schematic top view of FIG. 2;
FIG. 4 is a diagrammatic front view of FIG. 2;
fig. 5 is a structural diagram of an automatic feeding device according to another embodiment of the present invention.
The invention is illustrated by the reference numerals:
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an automatic feeding system.
Referring to fig. 1 to 5, the automatic feeding system includes: an upper line skip 10, a line edge skip 20 and an AGV tractor 30. The feeding trolley 10 is provided with a first material rack layer 11 for loading material boxes containing materials such as automobile chassis parts. The line edge rack 2 has a second rack layer 21, which is a temporary stacking point of the material boxes, for preventing the material boxes from being discharged from the first rack layer 11. The upper material feeding vehicle 10 moves to be close to the line edge material frame 20 under the traction of the AGV tractor 30, and the material boxes are transferred to the line edge material frame 20.
The first material frame layer 11 inclines downwards along the direction approaching the line edge material frame 20, and the lowest part of the first material frame layer 11 is provided with a skip opening; the feeding trolley 10 is provided with a discharging switch mechanism 12, when the discharging switch mechanism is closed, the opening of the trolley is closed, and the material box cannot slide down from the first material rack layer 11. Be equipped with blowing trigger mechanism on the line rim charge frame 20, when the loading skip 10 remove to when docking with line rim charge frame 20, first material frame layer 11 can just dock with second material frame layer 21, and second material frame layer 21 also inclines to set up, the incline direction of second material frame layer 21 is unanimous with the incline direction of first material frame layer 11, the highest point of second material frame layer 21 is equipped with the work or material rest opening, the work or material rest opening corresponds with skip open position, when the unloading switch mechanism 12 is opened the skip opening, the skip opening switches on between the work or material rest opening, the material case on the loading skip 10 can slide on line rim charge frame 20 through the work or material rest opening.
The material box detection mechanism is further arranged on the material feeding trolley 10, after the material box on the material feeding trolley 10 is completely transferred, the material box detection mechanism controls the AGV tractor 30 to automatically start to walk, the AGV tractor 30 pulls the material feeding trolley 10 to move the material feeding trolley 10 away, and therefore the next material feeding trolley 10 is in butt joint with the material feeding frame 20 and continues to place materials.
Referring again to fig. 1-2, the discharge switch mechanism 12 includes: a fixed seat 121, a material placing frame 122, a material placing return spring 123, a material placing blocking rod 124 and a pressing blocking rod 125. The fixing seats 121 are installed on one side of the feeding trolley 10 close to the line edge rack 20, the number of the fixing seats 121 is four, the front edge and the rear edge of the feeding trolley 10 are two, and the fixing seats 121 are located on the lower side of the first rack layer 11. The discharging frame 122 is inserted in the fixing base 121 in a liftable manner, and a discharging return spring 123 is sleeved at the lower end of the discharging frame 122. The upper end of the discharging reset spring 123 is connected with the discharging frame 122, the lower end of the discharging reset spring 123 is connected to the material loading and unloading vehicle 10, and the discharging reset spring 123 is used for enabling the discharging frame 122 to reset upwards when the discharging frame 122 does not receive downward pressure. Blowing pin 124 is installed on blowing frame 122 and the level sets up, and this blowing pin 124 is used for blockking the material case on the first material frame layer 11, and when blowing frame 122 was in the natural state, blowing pin 124 highly be a little higher than the height of first material frame layer 11 lower extreme, can block the material case on the first material frame layer 11 through blowing pin 124 promptly, avoids its lower extreme landing from first material frame layer 11. The lower pressing stop rod 125 is installed at the lower part of the material placing frame 122, the lower pressing stop rod 125 is matched with the material placing trigger mechanism 22 on the line edge material frame 20, and when the material placing trigger mechanism 22 is triggered, the lower pressing stop rod 125 can be pressed downwards, so that the material placing stop rod 124 moves downwards, namely, the material placing switch 12 is opened, and the material box is placed downwards.
The discharge triggering mechanism 22 includes: a foot pedal 221, a first support 222, a first link 223, a second link 224, a second support 225, a discharge trigger lever 226, and a trigger return spring 227. Wherein, the first support 222 is fixedly installed on the wire edge rack 20. The middle portion of the first link 223 is hinged to the first support 222, and one end of the first link 223 is fixedly connected to the pedal 221. The second link 224 is hinged to the other end of the first link 223. The second holder 225 is fixedly installed on the wire edge frame 20. The middle part of the discharging trigger rod 226 is hinged on the second support 225, one end of the discharging trigger rod 226 is hinged with the second connecting rod 224, and the other end of the discharging trigger rod 226 is a free end. One end of the trigger return spring 227 is connected with the discharging trigger rod 226, and the other end of the trigger return spring 227 is connected with the second support 225. Through the structure arrangement, when the pedal 221 is stepped on, the other end of the first connecting rod 223 tilts upwards to push the second connecting rod 224 to ascend, so as to drive one end of the discharging trigger rod 226 connected with the second connecting rod 224 to ascend, and the free end of the discharging trigger rod 226 correspondingly presses downwards.
When the upper skip car 10 is aligned with the line edge rack 20, the free end of the discharge triggering rod 226 extends into the upper skip car 10 and approaches the lower press rod 125. Therefore, when the free end of the discharging trigger rod 226 is pressed downwards, the free end can contact with the lower pressing rod 125 of the discharging switch mechanism 12 and drive the lower pressing rod 125 to move downwards, so that the discharging rod 124 on the discharging rack 122 moves downwards, and the first rack layer 11 is opened to enable the material box to slide from the first rack layer 11 to the second rack layer 21. After discharging is finished, the pedal 221 is released, the discharging trigger rod 226 is reset under the action of the trigger return spring 227, the discharging switch mechanism 12 automatically resets under the action of the discharging return spring 123, and the discharging stop rod 124 is lifted upwards.
Therefore, the discharging trigger mechanism 22 is used for opening or closing the discharging switch mechanism 12, the discharging trigger mechanism 22 is matched with the discharging switch mechanism 12 to form an automatic feeding device, when the discharging material feeding trolley 10 discharges a material box, the discharging switch mechanism 12 is opened, and the material box on the feeding material feeding trolley 10 can be automatically discharged onto the material feeding trolley 12.
Compared with the existing mode that assembly workers manually take the automobile chassis parts on the feeding trolley 10 to assemble the automobile chassis parts on the assembly line, the automatic feeding device can feed the automobile chassis parts on the assembly line only by stepping the pedal 221 by the workers, so that the feeding operation is effectively simplified, the non-value-added operation time of feeding the parts on the line is shortened, and the manual labor intensity of feeding the parts on the line is reduced.
Referring again to fig. 3 to 4, the material tank detection mechanism includes: a third support 41, a detection movable arm 42, a movable arm return spring 43, a signal shielding cloth 44 and a shielding cloth connecting rod 45. Wherein, the third support 41 is fixedly arranged on the feeding trolley 10. The middle part of the detection movable arm 42 is hinged on the third support 41, one end of the detection movable arm 42 extends to the upper part of the first material rack layer 11, and the other end of the detection movable arm 42 is connected with a movable arm return spring 43. The other end of the movable arm return spring 43 is connected to the third support 41. The blocking cloth connecting rod 45 is hinged with the detection movable arm 42. The signal shielding cloth 44 is connected to the detection movable arm 42 through a shielding cloth connecting rod 45. When the detection movable arm 42 moves up, the signal shielding cloth 44 moves up, and when the detection movable arm 42 moves down, the signal shielding cloth 44 moves down.
A tractor coupling seat 13 is fixedly installed at the bottom of the upper feeding car 10, and the AGV tractor 30 is detachably coupled to the tractor coupling seat 13. Be provided with signal sending device and signal receiving device on the AGV tractor 30, signal sending device sends AGV clearance signal, receives this AGV clearance signal when signal receiving device, controls the AGV tractor walking, can pull the online skip 10 and remove. When the AGV tractor pulls the on-line skip 10 to be butted with the line edge material rack 20, the signal shielding cloth 44 can be located between the signal sending device and the signal receiving device of the AGV tractor 30 in the horizontal direction, and can shield the signal sending device and the signal receiving device in the height direction, so that the signal sending device cannot send signals to the signal receiving device. And after the blowing of the material box on the first material frame layer 11 is finished, under the effect of the movable arm return spring 43, the movable arm 42 is detected to extend upwards, the driving signal shielding cloth 44 rises, so that the signal receiving device can receive the AGV releasing signal sent by the signal sending device, and the AGV tractor is connected with the on-line material truck 10 under the control of the AGV releasing signal, and the on-line material truck 10 is pulled to return to the part collection distribution area.
From this, through material case detection mechanism, and the setting of procedure in the AGV tractor 30, constituted automatic clearance controlling means, can realize at the back that the 20 blowing of charge car on line finishes at once automatically return to the part collection and join in marriage the district through AGV tractor 30, and need not the manual AGV that operates the clearance AGV to the AGV tractor of operating personnel. The existing mode that AGV pulls to go on the line that adopts needs operating personnel to manually let the AGV pass when the material loading vehicle 10 that goes on the line returns after the blowing finishes, causes unnecessary walking and manual operation equipment's time waste, has increased operation action and man-hour, leads to the operating efficiency lower. The arrangement of the material box detection mechanism realizes seamless connection between discharging and moving return, further shortens operation action and working hours, and improves operation efficiency.
Further, the feeding trolley 10 is provided with three first material rack layers 11, the wire edge material rack 20 is provided with three second material rack layers 21 corresponding to the first material rack layers 11, the discharging rack 122 is provided with three discharging stop rods 124, the lower end of each first material rack layer 11 is in butt joint with the upper end of each second material rack layer 21, and the lower end of each first material rack layer 11 is correspondingly provided with one discharging stop rod 124. Set up like this, can all load on every layer of first stock frame layer 11 to can once the blowing will go up on the skip 10 all automobile chassis parts transfer to the multilayer second stock frame layer 21 of line edge stock frame 20 on, effectively improved single part volume of going up the line, improved the part efficiency of going up the line.
Further, in order to more conveniently butt-joint the feeding trolley 10 with the feeding edge rack 20, a ground guide groove 50 is provided on the ground at one side where the feeding edge rack 20 is butt-jointed with the feeding trolley 10. When the AGV tractor 30 pulls the feeding trolley 10 to be close to the line edge rack 20, the feeding trolley 10 is guided by the ground guide groove 50, and the feeding trolley 10 is more conveniently butted with the line edge rack 20.
Further, a pulley 46 is rotatably mounted at the end of the detection movable arm 42 extending above the first material rack layer 11. By providing the pulley 46, the frictional resistance between the material tank and the detection movable arm 42 can be reduced, so that the material tank can more smoothly slide down from the first material frame layer 11 onto the second material frame layer 21.
Further, a cloth-blocking connecting rod 45 is hingedly mounted at one end of the detection movable arm 42 near the pulley 46. Thus arranged, the signal shielding cloth 44 is raised or lowered in synchronization with the pulley 46.
It should be noted that the automatic feeding system is mainly used for the online operation of the automobile chassis parts pulled by the AGV tractor 30, and can also be used for the online operation of other parts.
Based on the structure of the automatic feeding system, two control methods of the automatic feeding system are detailed below:
referring to fig. 1 and 2 again, the automatic feeding system includes a line edge material rack and a line feeding material vehicle, and the control method of the automatic feeding system includes the following steps:
s1, the AGV tractor 30 pulls the on-line skip car 10 loaded with the material boxes to the side of the line edge material rack 20, the on-line skip car 10 is in butt joint with the line edge material rack 20, and the first material rack layer 11 of the on-line skip car 10 is aligned with the second material rack layer 21 of the line edge material rack 20;
s2, opening the discharging switch mechanism 12 of the feeding trolley 10, and sliding the material box from the first material rack layer 11 to the second material rack layer 21;
s3, when the material box is removed from the first material rack layer, the upper end of the detection movable arm 42 in the on-line material truck 10 extends upward to the upper side of the first material rack layer 11 under the action of the movable arm return spring 43, the detection movable arm 42 drives the signal shielding cloth 44 to move upward, at this time, the signal shielding cloth 44 is no longer shielded between the signal sending device and the signal receiving device of the AGV tractor 30, the control signal sent from the signal sending device to the signal receiving device can be received by the signal receiving device, the signal receiving device sends the start signal to the AGV tractor 30 after receiving the control signal, and the AGV tractor 30 leaves under the start of the start signal.
From this, blowing trigger mechanism 22 on the accessible line limit work or material rest 20 triggers, the blowing on-off mechanism 12 on the skip 10 of will going on the line is opened, make the material case on the skip 10 of going on the line landing by oneself on the line limit work or material rest 20, and after finishing the material case transfer, can drag away the skip 10 of going on the line through AGV tractor 30 again automatically through material case detection mechanism, in order to change the material next time, whole journey all need not staff manual operation, greatly reduced intensity of labour, and the production efficiency is improved.
Referring to fig. 5, the automatic feeding system includes a line edge material rack 20 and two line feeding material carts 10, and the control method of the automatic feeding system includes:
a. the AGV towing vehicle 30 tows a first feeding skip car 10 loaded with material boxes to the side of the line edge material rack 20, the feeding skip car 10 is in butt joint with the line edge material rack 20, and a first material rack layer 11 of the feeding skip car 10 is aligned with a second material rack layer 21 of the line edge material rack 20 during butt joint;
b. at this time, the discharging switch mechanism 12 of the first feeding car 10 is not opened, the feeding operation is not performed, and the AGV tractor 30 is controlled to move away;
c. controlling the AGV tractor 30 to move to be connected with the second on-line skip 10, and dragging the second on-line skip 10 to a position close to the first on-line skip 10 by the AGV tractor;
d. when the step c is carried out, the discharging switch mechanism 12 of the first feeding trolley 10 is opened, and the material box of the first feeding trolley 10 slides from the first material frame layer 11 to the second material frame layer 21 of the line edge material frame 20;
e. controlling the AGV tractor 30 to pull the second feeding trolley 10 to move towards the line edge material rack 20 and push away the first feeding trolley 10;
f. when the second feeding skip 10 moves to be butted with the line edge material frame 20, the AGV tractor 30 is disconnected from the second feeding skip 10 and moves to the lower part of the first feeding skip 10, and the AGV tractor 30 is connected with the first feeding skip 10 and drags the first feeding skip 10 away;
g. after the first feeding skip 10 is refilled with the material box, the first feeding skip is pulled to be close to the second feeding skip 10 butted with the line edge material rack 20 through an AGV tractor 30;
h. at this time, the material box of the second feeding trolley 10 is moved to the line edge material frame 20 by opening the discharging switch mechanism 12 of the second feeding trolley 10, and then the first feeding trolley 10 is butted and discharged with the line edge material frame 20 according to the steps e, f and g, and the process is circulated.
Therefore, the two feeding trolleys 10 are adopted to alternately convey material boxes, when one feeding trolley 10 is conveyed to be in butt joint with the line edge material frame 20, the other feeding trolley 10 can load a material box in another area, when the other feeding trolley 10 is completely loaded, the other feeding trolley 10 moves to the position near the line edge material frame 20, after the first feeding trolley 10 finishes feeding the material box to the line edge material frame 20, the material box can be pushed away by the other feeding trolley 10, the other feeding trolley 10 is in butt joint with the line edge material frame 20 to feed, the first feeding trolley 10 is pulled by the AGV tractor 30 to feed again, the two feeding trolleys 10 are adopted to feed alternately, and the working efficiency is further improved.
Specifically, referring to fig. 5 again, the bottom of each of the two feeding trolleys 10 is provided with a tractor connecting seat 13, the bottom surface of each tractor connecting seat 13 is provided with a clamping groove, and the top of the AGV tractor 30 is provided with a connecting rod; when the connecting rod is controlled to ascend, the connecting rod can be clamped into the clamping groove and hook the clamping groove, so that the feeding trolley 10 can be driven to advance; when the control link descends, the connection with the tractor attachment seat 13 can be released.
The ground at the m position is provided with a first mark, and the ground at the n position is provided with a second mark. The step f is specifically as follows: when the next skip car 10 pushes the previous skip car 10 to the n position, the next skip car 10 is located at the m position; the AGV tractor 30 at the bottom of the next cart 10 stops continuing to push forward by recognizing the first sign, and then starts moving forward again after releasing the connection with the next cart 10. When the AGV tractor 30 moves to the n position, the AGV tractor 30 performs connection with the previous online skip 10 located at the n position by recognizing the second identifier, and then drags away the previous online skip 10.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An automatic feeding system, comprising: the automatic feeding device comprises an upper feeding trolley (10), a line edge material rack (20) and an AGV (automatic guided vehicle) tractor (30), wherein the upper feeding trolley (10) is connected with the AGV tractor (30);
the upper line skip car (10) is provided with an inclined first material frame layer (11), a skip car opening is formed in the lower side of the first material frame layer (11), the line edge material frame (20) is provided with an inclined second material frame layer (21), the inclination direction of the second material frame layer (21) is consistent with that of the first material frame layer (11), a material frame opening is formed in the high side of the second material frame layer (21), and the material frame opening corresponds to the skip car opening;
a discharging switch mechanism (12) is arranged on one side, close to the line edge material rack (20), of the on-line material truck (10), and the discharging switch mechanism (12) is used for enabling an opening of the material truck to be opened or closed;
a material box detection mechanism is arranged on the on-line skip car (10), the material box detection mechanism is used for detecting whether the material box in the first material frame layer (11) is moved away or not, and the AGV tractor (30) is connected with the material box detection mechanism and is used for controlling the AGV tractor (30) to move when the material box in the first material frame layer (11) is moved away;
the material case detection mechanism includes: the device comprises a third support (41), a detection movable arm (42), a movable arm return spring (43), signal shielding cloth (44) and a shielding cloth connecting rod (45), wherein the third support (41) is fixedly installed on the feeding trolley (10), the middle part of the detection movable arm (42) is hinged to the third support (41), one end of the detection movable arm (42) extends to the position above the first material frame layer (11), the other end of the detection movable arm (42) is connected with the movable arm return spring (43), and the other end of the movable arm return spring (43) is connected with the third support (41); the upper end of the shielding cloth connecting rod (45) is hinged with the detection movable arm (42), and the signal shielding cloth (44) is arranged at the lower end of the shielding cloth connecting rod (45);
AGV tractor (30) upper portion is equipped with signal transmission device and signal receiving arrangement, signal shelters from cloth (44) and can be located with reciprocating signal transmission device with between the signal receiving arrangement.
2. The automated feeding system according to claim 1, wherein the discharge switch mechanism (12) comprises: the feeding mechanism comprises a feeding frame (122) arranged on the feeding trolley (10) in a vertically movable mode and a feeding blocking rod (124) arranged on the feeding frame (122), and the opening of the feeding trolley is opened or closed by the feeding switch mechanism (12) through the feeding blocking rod (124).
3. The automatic feeding system according to claim 2, wherein a fixed seat (121) is arranged on the feeding trolley (10), the discharging frame (122) is movably arranged on the fixed seat (121), a lower pressing blocking rod (125) is arranged at the bottom of the discharging frame (122), the lower pressing blocking rod (125) is lower than the first material frame layer (11), and one end of the discharging trigger rod (226) extending into the feeding trolley (10) is positioned between the first material frame layer (11) and the lower pressing blocking rod (125) and close to the lower pressing blocking rod (125); the bottom cover of blowing frame (122) is equipped with blowing reset spring (123), the top of blowing reset spring (123) with blowing frame (122) fixed connection, the bottom of blowing reset spring (123) with it reaches line skip (10) fixed connection.
4. The automatic feeding system according to claim 2, wherein a discharge triggering mechanism (22) is provided in the line edge rack (20), the discharge triggering mechanism (22) comprising: a pedal (221), a first support (222), a first connecting rod (223), a second connecting rod (224), a second support (225), a discharging trigger rod (226) and a trigger return spring (227), the first support (222) and the second support (225) are fixedly arranged on the line edge material rack (20), the middle of the first connecting rod (223) is hinged with the first support (222), the middle of the emptying trigger rod (226) is hinged with the second support (225), one end of the first connecting rod (223) is provided with the pedal (221), and the other end is hinged with the second connecting rod (224), one end of the second connecting rod (224) facing away from the first connecting rod (223) is hinged with the discharging trigger rod (226), one end of the discharging triggering rod (226) departing from the second connecting rod (224) extends into the upper feeding car (10) and is used for driving the discharging rack (122) to move; one end of the trigger return spring (227) is connected with one side of the discharge trigger rod (226) close to the second connecting rod (224), and the other end of the trigger return spring is connected to the second support (225).
5. The automatic feeding system according to claim 4, wherein the first rack layer (11) comprises a plurality of racks arranged in sequence from top to bottom, the second rack layer (21) comprises a plurality of racks corresponding to the first rack layer (11) one to one, and the discharge blocking rod (124) comprises a plurality of racks corresponding to the first rack layer (11) one to one.
6. The automatic feeding system according to claim 5, characterized in that a ground guide groove (50) is provided between the upper line skip (10) and the line edge rack (20), and the extending direction of the ground guide groove (50) is consistent with the moving direction of the upper line skip (10).
7. A control method of an automatic feeding system according to any one of claims 1 to 6, wherein one line edge rack (20) corresponds to one on-line skip car (10), said control method comprising the steps of:
s1, the AGV tractor (30) pulls the feeding trolley (10) loaded with the material box to the side of the line edge material rack (20), the feeding trolley (10) is in butt joint with the line edge material rack (20), and a first material rack layer (11) of the feeding trolley (10) is aligned with a second material rack layer (21) of the line edge material rack (20);
s2, opening a discharging switch mechanism (12) between the first material rack layer (11) and the second material rack layer (21), and sliding the material box from the first material rack layer (11) to the second material rack layer (21);
and S3, automatically controlling the AGV tractor (30) to walk away after the material box detection mechanism senses that the material box is moved away from the first material rack layer (11).
8. The method of controlling an automatic feeding system according to claim 7, wherein the material tank detecting mechanism includes: the device comprises a third support (41), a detection movable arm (42), a movable arm return spring (43), signal shielding cloth (44) and a shielding cloth connecting rod (45), wherein the third support (41) is fixedly installed on the feeding trolley (10), the middle part of the detection movable arm (42) is hinged to the third support (41), one end of the detection movable arm (42) is abutted to the bottom of the material box, the other end of the detection movable arm (42) is connected with the movable arm return spring (43), and the other end of the movable arm return spring (43) is connected with the third support (41); the upper end of the shielding cloth connecting rod (45) is hinged with the detection movable arm (42), and the signal shielding cloth (44) is arranged at the lower end of the shielding cloth connecting rod (45); the upper part of the AGV tractor (30) is provided with a signal sending device and a signal receiving device, and the signal shielding cloth (44) can be vertically moved between the signal sending device and the signal receiving device;
the step S3 specifically includes: work as the material case is followed remove the back on first material frame layer (11), detect the upper end of digging arm (42) and extend under digging arm reset spring (43)'s effect first material frame layer (11) top, just signal shelters from cloth (44) and also shifts up, signal receiver is receiving behind the signal that signal sending device sent, to AGV tractor (30) send start signal, AGV tractor (30) walk away under start signal's start-up and leave.
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| CN112414022B (en) * | 2020-11-17 | 2022-03-25 | 杭州昭朗五金有限公司 | Full-automatic wood drying kiln |
| CN113071849A (en) * | 2021-03-10 | 2021-07-06 | 机械工业第九设计研究院有限公司 | Automatic unloading utensil in automation of automatic upset butt joint line limit work or material rest |
| CN113619970B (en) * | 2021-08-06 | 2022-12-23 | 众志远（武汉）物流设备有限公司 | AGV trolley material conveying system and control method thereof |
| CN113619971B (en) * | 2021-08-06 | 2022-12-23 | 众志远（武汉）物流设备有限公司 | AGV trolley material conveying system and control method thereof |
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| EP0989079A1 (en) * | 1998-09-10 | 2000-03-29 | Bernhard Beumer Maschinenfabrik KG | Control system for the (straight) running of an elongate traction means, especially a transport belt |
| CN105366259A (en) * | 2015-11-08 | 2016-03-02 | 西北农林科技大学 | Automatic seedling plate van based on double-chain transmission |
| CN106400448A (en) * | 2016-05-27 | 2017-02-15 | 东群织造(苏州)有限公司 | Textile cutting device |
| CN207061041U (en) * | 2017-08-14 | 2018-03-02 | 广州市驷源机电设备有限公司 | A kind of chassis based on the driving of automatic logistics dolly |
| CN207061040U (en) * | 2017-08-14 | 2018-03-02 | 广州市驷源机电设备有限公司 | Unpowered chassis based on AGV drivings |
| CN110271803A (en) * | 2018-03-15 | 2019-09-24 | 深圳志合天成科技有限公司 | A kind of cargo automatic access device |
| CN108584274B (en) * | 2018-04-28 | 2020-02-14 | 上海托华机器人有限公司 | Intelligent storage sorting method and system |
| CN109591920A (en) * | 2018-12-29 | 2019-04-09 | 江苏金坛大迈汽车工程研究院有限公司 | A kind of material conveying process system and technical process |
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