CN113619970B - AGV trolley material conveying system and control method thereof - Google Patents
AGV trolley material conveying system and control method thereof Download PDFInfo
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- CN113619970B CN113619970B CN202110900152.7A CN202110900152A CN113619970B CN 113619970 B CN113619970 B CN 113619970B CN 202110900152 A CN202110900152 A CN 202110900152A CN 113619970 B CN113619970 B CN 113619970B
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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
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an AGV trolley material conveying system, wherein a fixed material rack beside a route line of a moving trolley is pulled by the AGV trolley, a second discharge port on the moving trolley is gradually opened in the moving process of the AGV trolley, so that loading of a turnover box provided with parts onto the fixed material rack beside the route line is realized, meanwhile, a first discharge port of the fixed material rack beside the route line is also opened, further, loading of an unloaded turnover box onto the moving trolley is realized, namely, the purpose of automatically loading the turnover box is realized.
Description
Technical Field
The invention relates to the field of automatic equipment for automobile production, in particular to an AGV trolley material conveying system and a control method thereof.
Background
In the field of automatic assembly of automobiles, the whole automobile is often assembled manually, because the number of parts of an automobile is large, different parts of types are often required to be assembled, the specific assembly mode is shown in fig. 7, in a material loading area (warehouse), a turnover box is transported to a mobile trolley in a manual transportation mode, then a forklift worker transports the mobile trolley to a line side fixed material rack of an automatic production line by using a forklift, and the worker transports the turnover box on the mobile trolley to the line side fixed material rack so as to be used for assembly of the automatic production line. In connection with this transport system, it is,
chinese patent CN202110260769.7 has appeared which discloses a docking material rack of AGV system, including a rack frame, the rack frame is provided with a plurality of slantwise arranged slideways, a blocking releasing mechanism and a cylinder, the slideways are used for bearing a material turnover box, the blocking releasing mechanism includes a swing arm, a rotating shaft, a connecting rod, a front catch and a rear catch, the rotating shaft is rotatably connected below the slideways, the rotating shaft is parallel to the loading plane of the slideways and extends along the width direction of the slideways, a first end of the swing arm is fixedly connected with the rotating shaft, a second end of the swing arm is driven by the cylinder, a middle part of the connecting rod is fixedly connected with the rotating shaft, the connecting rod extends along the depth direction of the slideways, the front catch extending from below the slideways to above the slideways is fixedly arranged at the front end of the connecting rod, and the rear catch extending from below the slideways to above the slideways is fixedly arranged at the rear end of the connecting rod. The turnover box can be controlled to slide down singly through the single cylinder, the structure is simple and easy to control, and the cost is low;
according to the invention, the butt-joint material rack in the warehouse is improved, so that when a moving trolley (an AGV trolley is pulled) passes through the improved material rack, the materials on the improved material rack are loaded on the moving trolley through the rotation of the bottom frame of the improved material rack and the extension of the limiting column, the traditional loading mode of manual carrying is broken, the labor cost is greatly saved, and the conveying efficiency is also improved, but the problem of loading of a turnover box on a fixed material rack beside a subsequent moving trolley is not solved, so that the efficiency of a conveying system for the AGV trolley materials is relatively low;
later, in order to solve the technical problem, a chinese patent publication CN202010034229.2 is also provided, which 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; the feeding rack is provided with a material box detection mechanism, the material box detection mechanism is used for detecting whether the material box in the first rack layer is moved away, and the AGV tractor is connected with the material box detection mechanism and used for controlling the AGV tractor to move when the material box in the first rack layer is moved away;
although the technical problem on the other fixed work or material rest of line is loaded to turnover case on the travelling car has been solved to above-mentioned patent, but during this patent of in-service use, certain problem still can appear, need be furnished with the other fixed work or material rest of special messenger's online, trample the running-board, trigger the shelves pole switch, thereby reach and load the other fixed work or material rest of line with turnover case on the travelling car, when the travelling car is pulling the other fixed work or material rest of travelling car arrival line to the AGV dolly, if the other unmanned time of the other fixed work or material rest of line, then the AGV dolly can stop by the other fixed work or material rest of line all the time, wait for the special messenger to trample, realize that the turnover case on the travelling car loads on the other fixed work or material rest of line, so, can waste a large amount of time.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an AGV trolley material conveying system, which aims to solve the technical problem of automatic loading and unloading of a turnover box of a moving trolley and a turnover box on a fixed material rack beside a line.
In order to achieve the above object, the present invention provides an AGV cart material conveying system, which includes:
fixing a material rest beside the wire;
the first material rack layer is obliquely and fixedly arranged on the fixed material rack beside the wire, and a first feeding hole is formed in the high end of the first material rack layer;
the second material rack layer is obliquely and fixedly arranged on the fixed material rack beside the wire, an included angle between the second material rack layer and the first material rack layer is an acute angle, and a first material outlet is formed in the lower end of the second material rack layer;
one end of the first fixing rod is fixedly arranged on the line-side fixing rack, the other end of the first fixing rod is obliquely and upwards arranged outside the line-side fixing rack along the moving direction of the AGV trolley, and the first fixing rod is positioned beside the first feeding hole;
the first stop lever is rotatably arranged at the first discharge port;
the first connecting rod is fixedly connected with the first stop lever;
the moving trolley is detachably connected with the AGV trolley;
the third material frame layer is obliquely and fixedly arranged on the movable trolley, and the lower end of the third material frame layer is provided with a second discharge hole;
the fourth material frame layer is obliquely and fixedly arranged on the movable trolley, and a second feeding hole is formed in the high end of the fourth material frame layer;
one end of the second fixing rod is fixedly arranged on the moving trolley, the other end of the second fixing rod is obliquely and upwards arranged outside the moving trolley along the moving direction of the AGV trolley, and the second fixing rod is positioned beside the second feeding hole;
the second stop lever is rotatably arranged at the second discharge port;
the second connecting rod is fixedly connected with the second stop lever;
when the AGV trolley drives the moving trolley to move, the first feeding hole is selectively communicated with the second discharging hole, and the second feeding hole is selectively communicated with the first discharging hole;
the second connecting rod is selectively abutted against the first fixing rod so as to drive the second stop rod to rotate, so that the opening of the second discharge hole is continuously enlarged;
and the second fixed rod is selectively abutted with the first connecting rod so as to drive the first stop lever to rotate, so that the opening of the first discharge hole is continuously enlarged.
As a further description of the above technical solution:
the first stop lever is fixedly connected with a first hinge lever, the first hinge lever is hinged with a first rotating lever, the first rotating lever is rotatably arranged on the line-side fixed material rack, the second stop lever is fixedly connected with a second hinge lever, the second hinge lever is hinged with a second rotating lever, and the second rotating lever is rotatably arranged on the movable trolley;
the movable trolley is further fixedly provided with a first limiting rod, the second stop rod selectively abuts against the first limiting rod, the other wire fixing rack is further fixedly provided with a second limiting rod, and the first stop rod selectively abuts against the second limiting rod.
As a further description of the above technical solution:
the first limiting rod and the second limiting rod are obliquely arranged, the first limiting rod is arranged on the moving trolley in a bolt and nut detachable mode, and the second limiting rod is arranged on the line side fixing rack in a bolt and nut detachable mode.
As a further description of the above technical solution:
the first material rack layer, the second material rack layer, the third material rack layer and the fourth material rack layer are identical in structure, the first material rack layer comprises a bottom frame and a plurality of rotating rollers, the bottom frame is fixedly arranged on the line-side fixed material rack, and the plurality of rotating rollers are arranged in the bottom frame in an equidistant rotating mode;
a first chain wheel is fixedly connected to one of the rotating rollers in the third material rack layer, a second chain wheel is fixedly connected to the second rotating rod, and the first chain wheel and the second chain wheel are connected with each other through a first chain;
a third chain wheel is fixedly connected to one of the rotating rollers in the second material rack layer, a fourth chain wheel is fixedly connected to the first rotating rod, and the third chain wheel and the fourth chain wheel are connected with each other through a second chain;
the rotating roller includes:
the large shaft is rotatably arranged in the bottom frame;
and the small shaft is eccentrically and fixedly arranged on the top surface of the large shaft.
As a further description of the above technical solution:
the inclination angle of the first fixing rod and the second fixing rod is larger than 45 degrees and smaller than 60 degrees.
As a further description of the above technical solution:
the inclination angle of the first material frame layer is 5-10 degrees.
As a further description of the above technical solution:
the lowest ends of the first material frame layer and the fourth material frame layer are provided with cushion pads.
The invention also provides a control method of the AGV trolley material conveying system, which comprises the following steps: s1, loading the turnover box with the parts on the third material rack layer of the moving trolley in a material loading area, and then starting the AGV trolley, wherein the AGV trolley drives the moving trolley to move to the fixed material racks beside the line according to a preset path; s2, when an assembling worker beside the line fixed material rack sees that the movable trolley approaches to the assembling worker, the turnover box on the first material rack layer is placed on the second material rack layer; s3, when the AGV enters the line-side fixed material rack, decelerating (preventing the AGV from having too high speed and enabling the turnover box not to enter the first material rack layer or the fourth material rack layer, driving the AGV to leave the line-side fixed material rack and finally enabling the turnover box to fall outside the line-side fixed material rack and the movable trolley from the third material rack layer or the second material rack layer), and continuing to recover the original speed until the AGV leaves the line-side fixed material rack and drives into a material distribution area; s4, after the AGV drives into the material distribution area, stopping moving under the combined action of a sensor and a controller, taking out the turnover box on the fourth material rack layer on the moving trolley by a warehouse manager, and then filling parts in the turnover box; and S5, repeating the processes S1-S4.
Compared with the prior art, the invention has the beneficial effects that:
(I): loading a turnover box on a third material rack layer of the mobile trolley in the material distribution area, then opening the AGV trolley to enable the AGV trolley to pull the mobile trolley to move, when the mobile trolley moves to be arranged side by side with the line-side fixed material rack, at the moment, a second discharge port and a second feed port are completely overlapped with each other, a first discharge port and a second feed port are completely overlapped with each other, however, under the action of a first stop lever and a second stop lever, the turnover box (with parts) on the third material rack layer can not slide into the first material rack layer, and the turnover box (without parts) on the second material rack layer can not slide into a fourth material rack layer to recover empty turnover boxes, and the second connecting rod of the mobile trolley continuously abuts against the first fixed rod of the line-side fixed material rack along with the forward movement of the AGV trolley, and simultaneously pulls the mobile trolley to continuously move forward, and because the first fixed rod is arranged along the moving direction of the trolley in an inclined manner, the second connecting rod continuously climbs upwards along the first fixed rod, and the second baffle rod is rotationally arranged on the movable trolley and is fixedly connected with the second connecting rod, so that the second baffle rod can rotate at the moment, the second discharge hole is opened, the turnover box flows into the first rack layer of the line-side fixed rack for being used by an assembler, the opening principle of the first baffle rod is consistent with the opening principle of the second baffle rod, and the situation that the opening principle is not much stated is not much, it can be understood that the power source for the second baffle rod to open the second discharge hole is the AGV trolley, the AGV trolley is an intelligent trolley, and the power source is controlled to start to decelerate when the movable trolley enters the line-side fixed rack by fast forward control program of the AGV trolley, the turnover box is characterized in that the turnover box is arranged on the side of the trolley, a first material rack layer is arranged on the side of the trolley, a second material rack layer is arranged on the side of the trolley, and a first material rack layer and a second material rack layer are arranged on the side of the trolley;
(II): the first stop lever realizes the rotation on the online side fixed material rack through the first hinge rod, the first stop lever is abutted against the second limit lever in a natural state through the second limit lever, so that the purpose of closing the first discharge port is achieved, the functions of the second limit lever and the first limit lever are consistent with the functions of the first limit lever, and excessive statement is not made here;
(III): the second limiting rod is detachably connected with the line side fixing rack through a bolt and a nut, so that the inclination angle of the second limiting rod can be changed, the height of the initial position of the first stop rod is changed, and the first stop rod can be suitable for turnover boxes with different heights;
(IV): the arrangement of the rotating rollers reduces the friction force between the turnover box and the bottom frame, so that the turnover box can quickly flow into the first material rack layer or the fourth material rack layer by means of the gravity of the turnover box, the first chain is arranged to drive the second rotating rod to rotate around the axis when the second blocking rod rotates, the second chain wheel is fixedly connected with the second rotating rod, the second chain wheel also rotates, the second chain wheel drives the first chain wheel to rotate through the first chain, the first chain wheel is fixedly connected with the rotating rollers on the third material rack layer, so that the rotating rollers on the third material rack layer rotate along with the second chain wheel, and the large shafts and the small shafts of the rotating rollers are eccentrically arranged, when the large shaft rotates around the axis of the small shaft, the large shaft does irregular movement so as to provide power for the movement of the turnover box on the third material rack layer, the second chain and the first chain have the same effect and play a role in providing power for the movement of the turnover box on the second material rack layer, namely, the opening of the second discharge port and the driving of the turnover box to slide downwards can be synchronously performed, and the bottom rotating roller is adopted to drive the turnover box to slide, so that the phenomenon that the turnover box is laterally turned over due to the fact that the second discharge port is not completely opened and the turnover box is abutted against the second blocking rod can be avoided, and too much statement is not made;
(V): the inclination angle of the first fixing rod and the second fixing rod is larger than 45 degrees, so that when the AGV trolley moves a small distance, the first blocking rod or the second blocking rod can rotate by a large angle, the first discharge hole and the second discharge hole can be quickly opened, and the purpose of quickly transferring the turnover box is finally realized, the inclination angle is smaller than 60 degrees, and the effect of preventing the second fixing rod from being too violent in rigid collision with the first connecting rod is achieved, so that the service lives of a fixed material rack beside a line and the movable trolley are influenced;
(VI): the inclination angle of the first material rack layer is 5-10 degrees, so that the situation that the turnover box falls off the first material rack layer due to the fact that the turnover box on the first material rack layer is too fast (the acceleration is changed through the inclination angle) is prevented, when the turnover box flows into the tail end of the first material rack layer, the risk that the turnover box falls off the first material rack layer due to the fact that the turnover box on the first material rack layer is filled with parts, namely the turnover box is large in mass, and the inertia is in direct proportion to the mass, and therefore the falling situation is easy to occur, and finally the situation that assembly workers are injured by smashing is prevented;
(VII): set up the effect that the blotter played the buffering, thereby prevent that turnover case and the other fixed work or material rest of line and travelling car rigid collision from influencing the other fixed work or material rest of line and travelling car's normal use too fiercely.
Drawings
FIG. 1 is a perspective view of an AGV cart material transport system of the present invention;
FIG. 2 is a perspective view of a mobile cart of an AGV cart material transport system of the present invention;
FIG. 3 is a perspective view of a line side stationary rack of an AGV cart material transport system of the present invention;
FIG. 4 is an interface diagram of a fixed rack beside the line and a moving cart of the AGV cart material conveying system of the present invention;
FIG. 5 is an enlarged view at A of FIG. 1 of an AGV material transport system of the present invention;
FIG. 6 is an enlarged view at B of FIG. 1 of an AGV material transport system of the present invention;
FIG. 7 is a flow chart of a method for controlling an AGV cart material transport system of the present invention;
FIG. 8 is a schematic diagram of the power of the turning rollers of an AGV material transport system of the present invention;
FIG. 9 is a perspective view of the turning rollers of an AGV cart material transport system of the present invention.
In the figure: 1. fixing a material rest beside the wire; 11. a first stock layer; 111. a first feed port; 112. a bottom frame; 113. a rotating roller; 1131. a large shaft; 1132. a small shaft; 114. a first sprocket; 12. a second material frame layer; 121. a first discharge port; 13. a first fixing lever; 14. a first bar; 15. a first connecting rod; 16. a first hinge lever; 17. a second limiting rod; 18. a first rotating lever; 2. an AGV trolley; 3. moving the trolley; 31. a third material frame layer; 311. a second discharge port; 32. a fourth stock level; 321. a second feed port; 33. a second fixing bar; 34. a second bar; 35. a second connecting rod; 36. a second hinge lever; 37. a first limit rod; 38. a second rotating rod; 39. a second sprocket; 4. a turnover box; 5. a first chain.
Detailed Description
In order to explain the technical contents, structural features, attained objects and effects of the present invention in detail, the embodiments are described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the scope of the invention.
To achieve the above object, the present invention provides an embodiment:
the invention relates to an AGV material conveying system, which comprises:
referring to fig. 1, an AGV cart 2 for towing a moving cart 3 to move is provided, and the AGV cart 3 is connected to the moving cart 3 by a hook, the structure of the AGV cart 2 is the prior art, and no excessive statement is made here, the AGV cart 2 can not only provide power for the moving cart 3, but also the AGV cart 2 can automatically travel according to a predetermined path, the accuracy of the traveling path is high, and the purpose of automatically controlling the vehicle speed can be met, and in the present application, certain requirements are provided for the path of the moving cart 3 and the vehicle speed thereof, and therefore, the AGV cart 2 is selected here to meet the design requirements.
The assembly device comprises a line side fixed material rack 1, an assembly worker stands beside the line side fixed material rack 1, and the assembly worker takes parts in a turnover box 4 on a first material rack layer 11 to assemble an automobile, please refer to fig. 3, and combines the drawing with fig. 4, wherein the line side fixed material rack comprises a first material rack layer 11, the right-side inclined fixed material rack layer is fixedly arranged on the line side fixed material rack 1, the right end of the line side fixed material rack layer is provided with a first feeding hole 111, a second material rack layer 12, the right-side inclined fixed material rack layer is fixedly arranged on the line side fixed material rack 1, and the right end of the line side fixed material rack layer is provided with a first discharging hole 121; the first fixing rod 13 is obliquely and fixedly arranged forwards and upwards on the right side in front of the top of the line side fixing rack 1; the first stop lever 14 is fixedly connected with a first hinge lever 16, the first hinge lever 16 is hinged with a first rotating lever 18, and the first rotating lever 18 is rotatably arranged on the line side fixed material rack 1; the first connecting rod 15 is fixedly connected with the first stop rod 14 and is positioned on the right side of the front part of the middle part of the fixed material rack 1 beside the line; the second limiting rod 17 is arranged beside the line fixing rack 1 in a bolt and nut detachable inclined mode (the inclination angle of the second limiting rod 17 can be changed, so that the height of the initial position of the first stop rod 14 is changed, the first stop rod 14 can be suitable for turnover boxes 4 with different heights, and the first stop rod 14 abuts against the second limiting rod 17; the first blocking rod 14 is located between the first rack layer 11 and the second rack layer 12.
The moving trolley 3 is fixedly connected with the AGV trolley 2, a warehouse administrator places a fully loaded turnover box 4 on a third material frame layer 31 of the moving trolley 3 to realize the transfer of the turnover box 4 from a warehouse to the line-side fixed material frame 1, please refer to fig. 2 and combine with fig. 4, the moving trolley comprises the third material frame layer 31, the third material frame layer is fixedly arranged on the moving trolley 3 in a manner of inclining rightwards, and a second discharge hole 311 is formed in the left end of the moving trolley; the fourth material frame layer 32 is fixedly arranged on the movable trolley 3 in a manner of inclining towards the right and downwards, and the left end of the fourth material frame layer is provided with a second feeding hole 321; a second fixing lever 33 which is fixedly provided at the right side in front of the middle portion on the traveling carriage 3 while inclining forward and downward; the second stop lever 34 is fixedly connected with a second hinge rod 36, the second hinge rod 36 is hinged with a second rotating rod 38, the second rotating rod 38 is rotatably arranged on the movable trolley 3, and the second connecting rod 35 is fixedly connected with the second stop lever 34 and is positioned on the right side of the front part of the top of the movable trolley 3; the first limiting rod 37 is arranged on the movable trolley 3 in an inclined mode in a bolt and nut detachable mode, so that the second stop lever 34 abuts against the first limiting rod 37; the second stopper 34 is located between the third rack layer 31 and the fourth rack layer 32.
It is worth noting that: the first material frame layer 11, the second material frame layer 12, the third material frame layer 31 and the fourth material frame layer 32 have the same structure, the first material frame layer 11 comprises a bottom frame 112 and a plurality of rotating rollers 113, the bottom frame 112 is fixedly arranged on the line side fixed material frame 1, the plurality of rotating rollers 113 are arranged in the bottom frame 112 in an equidistant manner, one rotating roller 113 in the third material frame layer 31 is connected with a first chain wheel 114 in a key mode, the second rotating rod 38 is fixedly connected with a second chain wheel 39, the first chain wheel 114 is connected with the second chain wheel 39 through a first chain 5, one rotating roller 113 in the second material frame layer 12 is fixedly connected with a third chain wheel, the first rotating rod 18 is fixedly connected with a fourth chain wheel, the third chain wheel is connected with the fourth chain wheel through a second chain, and the arrangement is adopted, the friction force between the turnover box 4 and the rotating rollers is reduced, further, the turnover box 4 can rapidly flow into the first rack layer 11 or the fourth rack layer 32 by its own weight, as shown in fig. 8 in combination with fig. 9, when the second blocking bar 34 rotates by the arrangement of the first chain 5, the second rotating rod 38 also rotates around its axis, and the second chain wheel 39 is fixedly connected with the second rotating rod 38, at this time, the second chain wheel 39 also rotates, the second chain wheel 39 further drives the first chain wheel 114 to rotate through the first chain 5, the first chain wheel 114 is fixedly connected with the rotating roller 113 on the third rack layer 31, so that the rotating roller 113 on the third rack layer 31 rotates therewith, and because the large shaft 1131 and the small shaft 1132 of the rotating roller 113 are eccentrically arranged, when the large shaft 1131 rotates around the axis of the small shaft 1132, the large shaft 1131 irregularly moves, so as to provide power for the movement of the chain 4 on the third rack layer 31, and the function between the second chain and the first chain 5 is the same, serving to power the movement of the turnaround cases 4 on the second stock level 12 and not being overly elaborated herein.
Referring to fig. 7, the present invention further provides a method for controlling an AGV cart material transport system, including the following steps: s1, a turnover box 4 with parts is loaded on a third material rack layer 31 of a movable trolley 3 in a material loading area, then an AGV trolley 2 is started, the AGV trolley 2 drives the movable trolley 3, and a fixed material rack 1 moves along a preset path; s2, when an assembling worker beside the wire side fixed material rack 1 sees that the movable trolley 3 approaches to the assembling worker, the turnover box 4 on the first material rack layer 11 is placed on the second material rack layer 12, and at the moment, the turnover box 4 on the first material rack layer 11 of the wire side fixed material rack 1 is placed in the second material rack layer 12 regardless of whether parts exist in the turnover box 4 or not, and a plurality of parts are reserved for subsequent assembling; s3, when the AGV trolley 2 enters the line-side fixed material rack 1, decelerating until the AGV trolley drives away the line-side fixed material rack 1, continuing to recover the original vehicle speed, and starting a material distribution area; s4, after the AGV trolley 2 enters the material loading area, stopping moving under the combined action of the sensor and the controller, taking out the turnover box 4 on the fourth material rack layer 32 on the movable trolley 3 by a warehouse manager, and then filling the turnover box 4 with parts; s5, repeating the process S1-S4;
the working principle is as follows: referring to fig. 1, and referring to fig. 5 and 6, the turnover box 4 is loaded on the third rack layer 31 of the mobile cart 3 in the material loading area, then the AGV cart 2 is opened, so that the AGV cart 2 pulls the mobile cart 3 to move, when the mobile cart 3 moves to be parallel to the off-line fixed rack 1, at this time, the second discharge port 311 and the second feed port 321 completely coincide with each other, the first discharge port 121 and the second feed port 321 completely coincide with each other, but, due to the effect of the first blocking rod 14 and the second blocking rod 34, the turnover box 4 (with parts) on the third rack layer 31 cannot slide into the first rack layer 11, and the turnover box 4 (without parts) on the second rack layer 12 cannot slide into the fourth rack layer 32 to recover the empty turnover box 4, as the AGV cart 2 continues to move forward, and at the same time pulls the mobile cart 3 to continue to move forward, in the moving process, the second connecting rod 35 of the moving trolley 3 continuously abuts against the first fixing rod 13 of the line-side fixed rack 1, and since the first fixing rod 13 is obliquely arranged along the moving direction of the trolley, it can be understood that the second connecting rod 35 continuously climbs upwards along the first fixing rod 13, and since the second stop 34 is rotatably arranged on the moving trolley 3, and the second stop 34 is fixedly connected with the second connecting rod 35, at this time, the rotation of the second stop 34 can be realized, so that the second discharge hole 311 is opened, so that the turnover boxes 4 flow into the first rack layer 11 of the line-side fixed rack 1 for the use of an assembler, the opening principle of the first stop 14 is consistent with the opening principle of the second stop 34, and it can be understood that the power source for the second stop 34 to open the second discharge hole 311 is the AGV trolley 2, the AGV trolley 2 is an intelligent trolley, and is controlled to start decelerating when the movable trolley 3 enters the side fixed material rack 1 of the line quickly by controlling a control program of the intelligent trolley, and the speed is restored until the movable trolley 3 leaves the side fixed material rack 1 of the line quickly, so that the normal speed is restored, when the transfer box 4 does not slide into the first material rack layer 11 yet, the second discharge port 311 is completely separated from the first feed port 111, the first material rack layer 11 and the second material rack layer 12 are obliquely arranged, so that the transfer box 4 can slide out by the gravity of the transfer box when the first stop lever 14 or the second stop lever 34 is opened, the inclination angle of the first material rack layer 11 and the second material rack layer 12 is an acute angle, the purpose of loading (the transfer box 4 with parts entering) is achieved by one of the material rack layers, the purpose of receiving (the empty transfer box 4 flowing out) is achieved by the other layer, so that the automatic loading and receiving of the transfer box 4 can be achieved without arranging a special person beside the side fixed material rack 1, the purpose of automatically loading and the receiving and the transfer box 4 can be achieved, the operation efficiency of the system is greatly increased, and the intelligent degree is higher.
To optimize the above embodiment, the present invention provides another embodiment: the inclination angle of the first fixing rod 13 and the second fixing rod 33 is 50 degrees, when the AGV trolley 2 moves a small distance, the first stop lever 14 or the second stop lever 34 can rotate by a large angle, so that the first discharge hole 121 and the second discharge hole 311 can be quickly opened, the purpose of quickly transferring the turnover box 4 is finally realized, the second fixing rod 33 and the first connecting rod 15 can be prevented from being rigidly collided too violently, and the service lives of the other fixing material rack 1 and the movable trolley 3 on the influence line are further influenced.
To optimize the above embodiment, the present invention provides another embodiment: the inclination angle of the first material frame layer 11 is 7 degrees, the phenomenon that the turnover box 4 falls off the first material frame layer 11 due to the fact that the turnover box 4 on the first material frame layer 11 is too fast (the acceleration is changed through the inclination angle) is prevented, when the turnover box flows into the tail end of the first material frame layer 11, due to the fact that the turnover box 4 on the first material frame layer 11 is filled with parts, namely the mass is large, inertia is in direct proportion to the mass, and therefore the situation that the turnover box easily falls off is caused, and finally the situation that assembly workers are injured by pounding is prevented; and the lowest end on first material frame layer 11 and fourth material frame layer 32 all is equipped with the blotter, sets up the effect that the blotter played the buffering, thereby prevents to have enough to meet need case 4 and the other fixed work or material rest 1 of line and the normal use of 3 fixed work or material rest 1 of travelling car 3 that the other fixed work or material rest 1 of line and travelling car are influenced by the rigid collision of travelling car 3 too violently.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. An AGV cart material transport system, comprising:
a material rack (1) is fixed beside the wire;
the first material rack layer (11) is obliquely and fixedly arranged on the fixed material rack (1) beside the wire, and a first feeding hole (111) is formed in the high end of the first material rack layer;
the second material rack layer (12) is obliquely and fixedly arranged on the fixed material rack (1) beside the wire, an included angle between the second material rack layer and the first material rack layer (11) is an acute angle, and the lower end of the second material rack layer is provided with a first material outlet (121);
one end of the first fixing rod (13) is fixedly arranged on the line side fixing material frame (1), the other end of the first fixing rod is obliquely and upwards arranged outside the line side fixing material frame (1) along the moving direction of the AGV trolley (2), and the first fixing rod (13) is positioned beside the first feeding hole (111);
the first stop lever (14) is rotatably arranged at the first discharge hole (121);
the first connecting rod (15) is fixedly connected with the first stop lever (14);
the moving trolley (3) is detachably connected with the AGV trolley (2);
the third material frame layer (31) is obliquely and fixedly arranged on the movable trolley (3), and a second material outlet (311) is formed in the lower end of the third material frame layer;
the fourth material frame layer (32) is obliquely and fixedly arranged on the movable trolley (3), and a second feeding hole (321) is formed in the high end of the fourth material frame layer;
a second fixing rod (33), one end of which is fixedly arranged on the moving trolley (3), the other end of which is obliquely and upwards arranged outside the moving trolley (3) along the moving direction of the AGV trolley (2), and the second fixing rod (33) is positioned beside the second feeding hole (321);
the second stop lever (34) is rotatably arranged at the second discharge hole (311);
the second connecting rod (35) is fixedly connected with the second stop rod (34);
when the AGV trolley (2) drives the moving trolley (3) to move, the first feed inlet (111) is selectively communicated with the second discharge outlet (311), and the second feed inlet (321) is selectively communicated with the first discharge outlet (121);
the second connecting rod (35) is selectively abutted with the first fixing rod (13), so that a second stop lever (34) is driven to rotate, and the opening of the second discharge hole (311) is continuously enlarged;
the second fixing rod (33) is selectively abutted with the first connecting rod (15), so that the first blocking rod (14) is driven to rotate, and the opening of the first discharge hole (121) is continuously enlarged;
the first stop lever (14) is fixedly connected with a first hinged lever (16), the first hinged lever (16) is hinged with a first rotating lever (18), the first rotating lever (18) is rotatably arranged on the line-side fixed material rack (1), the second stop lever (34) is fixedly connected with a second hinged lever (36), the second hinged lever (36) is hinged with a second rotating lever (38), and the second rotating lever (38) is rotatably arranged on the movable trolley (3);
a first limiting rod (37) is further fixedly arranged on the movable trolley (3), the second stop lever (34) selectively abuts against the first limiting rod (37), a second limiting rod (17) is further fixedly arranged on the line side fixing rack (1), and the first stop lever (14) selectively abuts against the second limiting rod (17);
the first material frame layer (11), the second material frame layer (12), the third material frame layer (31) and the fourth material frame layer (32) are identical in structure, the first material frame layer (11) comprises a bottom frame (112) and a plurality of rotating rollers (113), the bottom frame (112) is fixedly arranged on the line side fixed material frame (1), and the rotating rollers (113) are arranged in the bottom frame (112) in an equidistant rotating mode;
a first chain wheel (114) is fixedly connected to one of the rotating rollers (113) in the third material rack layer (31), a second chain wheel (39) is fixedly connected to the second rotating rod (38), and the first chain wheel (114) and the second chain wheel (39) are connected with each other through a first chain (5);
a third chain wheel is fixedly connected to one rotating roller (113) in the second material rack layer (12), a fourth chain wheel is fixedly connected to the first rotating rod (18), and the third chain wheel and the fourth chain wheel are connected with each other through a second chain;
the rotating roller (113) includes:
a large shaft (1131) rotatably arranged in the bottom frame (112);
and the small shaft (1132) is eccentrically and fixedly arranged on the top surface of the large shaft (1131).
2. The AGV cart material transport system of claim 1, wherein: the first limiting rod (37) and the second limiting rod (17) are arranged obliquely, the first limiting rod (37) is arranged on the movable trolley (3) in a bolt and nut detachable mode, and the second limiting rod (17) is also arranged on the line side fixing rack (1) in a bolt and nut detachable mode.
3. The AGV cart material transport system of claim 1, wherein: the inclination angle of the first fixing rod (13) and the second fixing rod (33) is 45-60 degrees.
4. The AGV cart material transport system of claim 1, wherein: the inclination angle of the first material frame layer (11) is 5-10 degrees.
5. The AGV cart material transport system of claim 1, further comprising: the lowest ends of the first material frame layer (11) and the fourth material frame layer (32) are provided with cushion pads.
6. A method for controlling an AGV material transport system according to any one of claims 1 to 5, further comprising:
a, loading a turnover box (4) with parts on a third material rack layer (31) of the moving trolley (3) in a material distribution area, then starting the AGV trolley (2), wherein the AGV trolley (2) drives the moving trolley (3) to move to the fixed material rack (1) beside the line according to a preset path;
b, when an assembling worker beside the wire side fixed material rack (1) sees that the moving trolley (3) approaches to the assembling worker, putting the turnover box (4) on the first material rack layer (11) onto the second material rack layer (12);
c, when the AGV trolley (2) enters the line side fixed material rack (1), decelerating until the AGV trolley leaves the line side fixed material rack (1), continuing recovering the original speed, and starting a material distribution area;
d, after the AGV trolley (2) enters the material loading area, stopping moving under the combined action of a sensor and a controller, taking out the turnover box (4) on the fourth rack layer (32) on the movable trolley (3) by a warehouse manager, and then filling the turnover box (4) with parts;
f, repeating the process A-D.
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| CN114895633B (en) * | 2022-04-12 | 2023-09-15 | 常州百利锂电智慧工厂有限公司 | Lithium battery material conveying system and conveying control method |
| CN117302892B (en) * | 2023-11-30 | 2024-03-12 | 广州田嘉工业装备有限公司 | Wire harness transfer trolley |
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