CN113213183A - Composite AGV control system and control method thereof - Google Patents

Abstract

The invention belongs to the field of curved brick manufacturing, and particularly relates to a composite AGV control system and a control method thereof, which are used for finishing the placement of wet bricks in an empty curved house, the stacking of dry bricks and the overturning work of the bricks in the curved house fermentation process; the automatic brick bending machine comprises a composite AGV robot, a transportation AGV trolley matched with a bent brick tray, a transfer AGV trolley matched with the composite AGV robot, a composite AGV executing mechanism connected to the composite AGV robot, a bent brick clamping jaw mechanism connected to the composite AGV executing mechanism and a PLC controller used for controlling the composite AGV control system to act. According to the invention, automation of curved brick conveying, stacking, drying and inventory management is realized by adopting the AGV, so that manpower and physics are greatly saved, the curved brick manufacturing efficiency is ensured on the premise of ensuring the quality of the curved bricks, and the curved brick manufacturing cost is reduced.

Description

Composite AGV control system and control method thereof

Technical Field

The invention belongs to the field of curved brick manufacturing, and particularly relates to a composite AGV control system and a control method thereof.

Background

The bent bricks in the winery are generally manufactured by a brick making machine and then are firstly conveyed to a special place for temporary storage and airing and then conveyed to a bent warehouse for storage, and due to the large quantity, the bent bricks are very troublesome to transport, stack and manage, so that great manpower and material resources are consumed, the bent brick manufacturing efficiency is influenced, and the bent brick manufacturing cost is increased.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention provides the composite AGV control system and the control method thereof, which adopt the AGV to realize automation of curved brick conveying, stacking, drying and inventory management, greatly save labor and physics, ensure the curved brick manufacturing efficiency and reduce the curved brick manufacturing cost on the premise of ensuring the quality of the curved bricks.

The technical scheme of the invention is as follows: a composite AGV control system is used for finishing placement of wet bricks in an empty yeast room, stacking of dry bricks and overturning of the bricks in a yeast room fermentation process; the automatic brick bending machine comprises a composite AGV robot, a transportation AGV trolley matched with a bent brick tray, a transfer AGV trolley matched with the composite AGV robot, a composite AGV executing mechanism connected to the composite AGV robot, a bent brick clamping jaw mechanism connected to the composite AGV executing mechanism and a PLC controller used for controlling the composite AGV control system to act.

According to the invention, automation of curved brick conveying, stacking, drying and inventory management is realized by adopting the AGV, so that manpower and physics are greatly saved, the curved brick manufacturing efficiency is ensured on the premise of ensuring the quality of the curved bricks, and the curved brick manufacturing cost is reduced.

Preferably, be equipped with 3D vision positioning system between compound AGV robot and the transport AGV dolly, also be equipped with 3D vision positioning system between compound AGV actuating mechanism and the curved brick clamping jaw mechanism.

Preferably, the PLC controller is connected to a background server, and an AGV dispatching system is arranged on the background server.

Preferably, a buffer storage support is arranged between the transporting AGV trolley and the transferring AGV trolley.

The cache of the product is convenient.

A control method of a composite AGV control system comprises the following steps:

1) placing wet bricks in the air bending room: according to a task request given by a bent house management system, a transport AGV trolley with a full stack of wet bricks conveys the wet bricks to a buffer storage bracket at the door of a specified room of a specified floor, and meanwhile, the transport AGV trolley takes a tray bamboo base plate from a bamboo base plate buffer storage area and puts the tray bamboo base plate into a buffer storage position at the door of the room; then, the transfer AGV trolley takes off the goods from the doorway cache bracket and conveys the goods to the working area of the composite AGV robot; the composite AGV robot finishes the grabbing of the bricks and the single-row placing of the bricks through 3D visual guidance; after the brick arrangement is finished, the AGV is transferred to convey the bamboo cushion plate at the doorway to a working area of the composite AGV robot, and the composite AGV robot sequentially places the bamboo cushion plate above the row of bricks;

2) turning over the curved bricks: the curved house management system sends brick turning requests to an AGV dispatching system periodically according to the requirements of the generation process, the composite AGV robot receives tasks, and the 3D vision positioning system guides bricks to grab and turn over the bricks in the room in sequence;

3) stacking dry bricks: after the fermentation of the bent bricks is finished, the bent house management system sends out a warehouse-out request to the MES system; the MES system issues a warehouse-out task for the AGV dispatching system, the AGV dispatching system simultaneously issues a warehouse-out instruction for transferring the AGV trolley and the composite AGV robot, and the dry brick warehouse-out task is completed through cooperative work of the transferring AGV trolley and the composite AGV robot matching 3D visual positioning system.

According to the invention, automation of curved brick conveying, stacking, drying and inventory management is realized by adopting the AGV, so that manpower and physics are greatly saved, the curved brick manufacturing efficiency is ensured on the premise of ensuring the quality of the curved bricks, and the curved brick manufacturing cost is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a diagram of a communication architecture according to the present invention;

in the figure, 1, an AGV trolley is transported, 2, an AGV trolley is transported, 3, a composite AGV robot, a 4.3D vision positioning system, 5, a curved brick clamping jaw mechanism, 6, a composite AGV execution mechanism and 7, a buffer storage support are arranged.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and examples, but the scope of the present invention is not limited thereto.

As shown in fig. 1, a composite AGV control system is used for finishing placement of wet bricks in an empty yeast room, stacking of dry bricks and turning of bricks in a yeast room fermentation process; it includes compound AGV robot 3, the transportation AGV dolly 1 of the crooked brick tray of cooperation, the transport AGV dolly 2 of compound AGV robot 3 of cooperation, connect compound AGV actuating mechanism 6 on compound AGV robot 3, connect the crooked brick clamping jaw mechanism 5 on compound AGV actuating mechanism 6 and be used for controlling the PLC controller of compound AGV control system action. 3D vision positioning system 4 is equipped with between compound AGV robot 3 and the transport AGV dolly 2, also is equipped with 3D vision positioning system 4 between compound AGV actuating mechanism 6 and the curved brick clamping jaw mechanism 5. The PLC controller is connected to a background server, and an AGV dispatching system is arranged on the background server. A buffer storage support 7 is arranged between the transporting AGV trolley 1 and the transferring AGV trolley 2.

A control method of a composite AGV control system comprises the following steps:

1) placing wet bricks in the air bending room: according to a task request given by a bent house management system, a transport AGV trolley with a full stack of wet bricks conveys the wet bricks to a buffer storage bracket at the door of a specified room of a specified floor, and meanwhile, the transport AGV trolley takes a tray bamboo base plate from a bamboo base plate buffer storage area and puts the tray bamboo base plate into a buffer storage position at the door of the room; then, the transfer AGV trolley takes off the goods from the doorway cache bracket and conveys the goods to the working area of the composite AGV robot; the composite AGV robot finishes the grabbing of the bricks and the single-row placing of the bricks through 3D visual guidance; after the brick arrangement is finished, the AGV is transferred to convey the bamboo cushion plate at the doorway to a working area of the composite AGV robot, and the composite AGV robot sequentially places the bamboo cushion plate above the row of bricks;

2) turning over the curved bricks: the curved house management system sends brick turning requests to an AGV dispatching system periodically according to the requirements of the generation process, the composite AGV robot receives tasks, and the 3D vision positioning system guides bricks to grab and turn over the bricks in the room in sequence;

3) stacking dry bricks: after the fermentation of the bent bricks is finished, the bent house management system sends out a warehouse-out request to the MES system; the MES system issues a warehouse-out task for the AGV dispatching system, the AGV dispatching system simultaneously issues a warehouse-out instruction for transferring the AGV trolley and the composite AGV robot, and the dry brick warehouse-out task is completed through cooperative work of the transferring AGV trolley and the composite AGV robot matching 3D visual positioning system.

The AGV dispatching system is a system capable of carrying out central supervision, control and dispatching on a plurality of AGVs at the same time, and is mainly used for application scenes that the number of the AGVs is large, the transportation routes are large, and the transportation is frequent and complicated, so that the material transportation system is more humanized, automatic and unmanned. The user can know the equipment state, the position, the working state and the like of each controlled AGV in real time from the system interface, and can automatically or manually call the idle AGV to allocate tasks. According to the actual needs of users, functions of AGV fault alarming, traffic control of complex road sections, remote upgrading and maintenance of an AGV system and the like can be added. The functions of the AGV dispatching system include: AGV task scheduling, path planning, traffic control, interfacing with equipment or elevator control systems, and the like. AGV task scheduling: the AGV task scheduling means that the AGV task scheduling is communicated with the AGV, one AGV is selected from the idle AGVs, and the AGV is guided to complete the transportation function according to a certain route. The scheduling task that involves wet brick full pile AGV, dry brick full pile AGV and brick AGV in this scheme. 2. Path planning: and (3) real-time path planning, namely performing optimal planning on the traveling route of the AGV according to the position of the selected AGV and the position of the target station, and guiding the AGV to travel according to the planned route so as to finish the transportation function. 3. Traffic control: in some specific areas, due to space reasons or process requirements, only one AGV can pass through the system, or two AGVs cannot run in opposite directions, the system needs to manage the AGVs to guide one AGV to pass through preferentially, and other AGVs sequentially pass through the system according to a certain sequence, so that the process is called traffic control. 4. And (3) docking with equipment: in the automatic logistics system, some equipment needs to be in physical butt joint with the AGV to realize automatic loading and unloading of materials, and under the condition, the AGV dispatching system plays a role in collecting running state information of the field equipment and sending signals to control actions of the field equipment at some time. In the system, an AGV dispatching system is respectively in signal butt joint with a palletizing robot, an elevator control system, a curved warehouse warehousing and conveying system, a caching mechanism of each floor and broken brick equipment.

Claims (5)

1.A composite AGV control system, comprising: the composite AGV control system is used for finishing placement of wet bricks in an empty bent room, stacking of dry bricks and overturning of the bricks in the bent room fermentation process; the automatic brick bending machine comprises a composite AGV robot, a transportation AGV trolley matched with a bent brick tray, a transfer AGV trolley matched with the composite AGV robot, a composite AGV executing mechanism connected to the composite AGV robot, a bent brick clamping jaw mechanism connected to the composite AGV executing mechanism and a PLC controller used for controlling the composite AGV control system to act.

2. A composite AGV control system according to claim 1, characterised in that: be equipped with 3D vision positioning system between compound AGV robot and the transport AGV dolly, also be equipped with 3D vision positioning system between compound AGV actuating mechanism and the bent brick clamping jaw mechanism.

3. A composite AGV control system according to claim 2, characterised in that: the PLC controller is connected to a background server, and an AGV dispatching system is arranged on the background server.

4. A composite AGV control system according to claim 3, characterised in that: a buffer storage support is arranged between the transport AGV trolley and the transfer AGV trolley.

5. A control method of a composite AGV control system according to claim 4, characterised in that: the method comprises the following steps:

1) placing wet bricks in the air bending room: according to a task request given by a bent house management system, a transport AGV trolley with a full stack of wet bricks conveys the wet bricks to a buffer storage bracket at the door of a specified room of a specified floor, and meanwhile, the transport AGV trolley takes a tray bamboo base plate from a bamboo base plate buffer storage area and puts the tray bamboo base plate into a buffer storage position at the door of the room; then, the transfer AGV trolley takes off the goods from the doorway cache bracket and conveys the goods to the working area of the composite AGV robot; the composite AGV robot finishes the grabbing of the bricks and the single-row placing of the bricks through 3D visual guidance; after the brick arrangement is finished, the AGV is transferred to convey the bamboo cushion plate at the doorway to a working area of the composite AGV robot, and the composite AGV robot sequentially places the bamboo cushion plate above the row of bricks;

2) turning over the curved bricks: the curved house management system sends brick turning requests to an AGV dispatching system periodically according to the requirements of the generation process, the composite AGV robot receives tasks, and the 3D vision positioning system guides bricks to grab and turn over the bricks in the room in sequence;

3) stacking dry bricks: after the fermentation of the bent bricks is finished, the bent house management system sends out a warehouse-out request to the MES system; the MES system issues a warehouse-out task for the AGV dispatching system, the AGV dispatching system simultaneously issues a warehouse-out instruction for transferring the AGV trolley and the composite AGV robot, and the dry brick warehouse-out task is completed through cooperative work of the transferring AGV trolley and the composite AGV robot matching 3D visual positioning system.

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