CN113659270A - AGV (automatic guided vehicle) carrying system and dispatching method suitable for battery module - Google Patents
AGV (automatic guided vehicle) carrying system and dispatching method suitable for battery module Download PDFInfo
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- CN113659270A CN113659270A CN202110858483.9A CN202110858483A CN113659270A CN 113659270 A CN113659270 A CN 113659270A CN 202110858483 A CN202110858483 A CN 202110858483A CN 113659270 A CN113659270 A CN 113659270A
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 14
- 238000002360 preparation method Methods 0.000 claims description 26
- 238000012806 monitoring device Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000005236 sound signal Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/244—Secondary casings; Racks; Suspension devices; Carrying devices; Holders characterised by their mounting method
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/256—Carrying devices, e.g. belts
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- General Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV (automatic guided vehicle) carrying system and a dispatching method applicable to battery modules, wherein the system comprises a plurality of offline workbenches, a plurality of battery modules and a dispatching system, wherein the offline workbenches are used for receiving the battery modules input from an external preset area; the on-line working tables are connected to an external production line and used for transporting the battery modules to the external production line; a plurality of automated guided vehicles, wherein the automated guided vehicles circularly move along a preset track under the control of a dispatching system; the scheduling system also controls the automated guided vehicle to stop at a predetermined area and load the battery module, or waits for another automated guided vehicle to finish loading the battery module. The invention has the beneficial effects that: the method of manual carrying in the prior art is replaced by the unmanned carrying vehicle, so that the production efficiency is improved, the low efficiency and the possible danger during manual carrying are avoided, and the manpower is saved.
Description
Technical Field
The invention relates to the technical field of logistics systems, in particular to an AGV (automatic guided vehicle) carrying system suitable for a battery module and a scheduling method.
Background
With the use of new energy automobiles becoming more common, the application of power batteries is becoming more and more extensive. Usually, a power battery box is composed of a plurality of modules, the weight of the modules is heavy, and personnel usually carry the modules to a trolley manually. The trolley is divided into an upper layer and a lower layer, the upper layer and the lower layer are lifted by a worker placing the module at each time, the module is placed from the lowest layer, and the second layer and the uppermost layer are sequentially placed after the module is placed. After all the modules are put, the person pushes the cart with the modules to the position where the robot carrying module is put into the power battery box body.
The mode of putting the module by the handcart type is neither labor-saving nor convenient, people need to push the handcart to the robot carrying module, and meanwhile, the handcart is divided into an upper layer and a lower layer, so that the operation of the people is complicated.
Disclosure of Invention
Aiming at the problems in the prior art, an AGV handling system and a scheduling method suitable for a battery module are provided.
The specific technical scheme is as follows:
an AGV handling system suitable for battery module includes:
the offline workbench is used for receiving the battery modules input from an external preset area;
the on-line working tables are connected to an external production line and used for transporting the battery modules to the external production line;
a plurality of automated guided vehicles, wherein the automated guided vehicles circularly move along a preset track under the control of a dispatching system;
the scheduling system also controls the automated guided vehicle to stop at a predetermined area and load the battery module, or waits for another automated guided vehicle to finish loading the battery module.
Preferably, the predetermined trajectory is provided with:
a plurality of first loading areas sequentially arranged along the track direction, wherein the first loading areas and the offline worktable are correspondingly arranged on the preset track;
a first preparation position, provided before the first loading area, for the automated guided vehicle to wait for another automated guided vehicle to leave when the first loading area has another automated guided vehicle;
a plurality of second loading areas which are sequentially arranged along the track direction, wherein the second loading areas and the on-line working table are correspondingly arranged on the preset track;
a second preparation position, provided before the second loading area, for the automated guided vehicle to wait for another automated guided vehicle to leave when the second loading area has another automated guided vehicle.
Preferably, the automated guided vehicle includes:
the roller way conveying device is arranged at the top of the unmanned carrying vehicle and used for receiving the battery module and conveying the battery module into the on-line workbench;
a line monitoring device for sensing the predetermined trajectory and issuing an off-line alarm signal when the automated guided vehicle deviates from the predetermined trajectory;
the alarm device is connected with the line monitoring device and sends out sound signals and light signals according to the off-line alarm signals;
and the communication device is connected to the dispatching system and the alarm device, receives the control instruction sent by the dispatching system and sends the offline alarm signal to the dispatching system.
Preferably, the online workbench and the offline workbench are respectively provided with a roller type roller way;
the plurality of battery modules are arranged in a tray, and the tray is input into the automated guided vehicle through the roller type roller way or unloaded from the automated guided vehicle.
An AGV dispatching method suitable for a battery module is characterized by comprising the following steps:
step S1: conveying the battery module from an external preset area to an off-line workbench;
step S2: the dispatching system controls the unmanned transport vehicle to move from the preparation position to a first loading area corresponding to the off-line workbench;
step S3: the offline workbench conveys the battery module to the unmanned transport vehicle;
step S4: the automated guided vehicle moves to a second loading area corresponding to the on-line workbench under the control of the dispatching system;
step S5: the on-line workbench removes the battery module from the automated guided vehicle.
Preferably, the step S2 further includes:
step S21: the dispatch system determining whether the automated guided vehicle is in the first preparation location;
if yes, go to step S22;
if not, go to step S23;
step S22: the dispatching system controlling the automated guided vehicle to move from the first preparation position to the first loading area, and the process goes to step S3;
step S23: the dispatching system controls the automated guided vehicle to move from the second loading area to the first loading area, and the process goes to step S3.
Preferably, the step S4 includes:
step S41: the dispatching system receives the conditions of a plurality of online worktables and judges the online worktables needing the battery module;
step S42: the dispatching system judges whether the unmanned transport vehicle exists in a second loading area corresponding to the on-line workbench or not;
if yes, go to step S43;
if not, go to step S44;
step S43: the dispatch system controlling the automated guided vehicle to enter the second preparation position waiting; step S44: the dispatch system controls movement of the automated guided vehicle to the second loading area.
Preferably, the step S5 includes:
step S51: the on-line workbench removes the battery module from the automated guided vehicle;
step S52: the on-line workbench conveys an empty tray to the unmanned transport vehicle;
step S53: the dispatch system determining whether another automated guided vehicle is in front of the first loading area;
if yes, go to step S54;
if not, returning to the step S1;
step S54: the dispatch system controls the automated guided vehicle to enter the first preparation position, and returns to step S1.
The technical scheme has the following advantages or beneficial effects: the method of manual carrying in the prior art is replaced by the unmanned carrying vehicle, so that the production efficiency is improved, the low efficiency and the possible danger during manual carrying are avoided, and the manpower is saved.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
FIG. 1 is an overall schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of an automated guided vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic overall view of a method according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating the substep of step S2 according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the substep of step S4 according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the substep of step S5 according to an embodiment of the present invention;
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 the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1, the present invention is applicable to a handling work of a battery module production line having 6 off-line tables 1A, 1B, 1C, 1D, 1E, 1F and 9 on-line tables 2A, 2B, 2C, 2D, 2E, 2F, 2G, 2H, 2I in one embodiment. Each offline stage has a corresponding first loading area 1a1, 1B1, 1C1, 1D1, 1E1, 1F1, respectively, and each online stage also has a corresponding second loading area 2a1, 2B1, 2C1, 2D1, 2E1, 2F1, 2G1, 2H1, 2I1, respectively. Off-line workstation 1A-1F is used for receiving the battery module of outside uninstallation to put things in good order the battery module to in the tray, can bear 12 modules in a tray, fix the battery module through the subregion check of tray upper surface. The online workbench 2A-2I is used for connecting a production line, receiving the tray, moving the tray and the battery modules in the tray to the production line, taking the battery modules out of the tray by the production line, and putting the battery modules into the battery box to form the whole automobile battery pack. In the prior art, the transfer process from the off-line workbench to the on-line workbench is manually completed, so that the process is inconvenient and has certain danger.
Specifically, the present invention comprises:
an AGV handling system suitable for battery module includes:
a plurality of offline working tables 1A-1F for receiving battery modules input from an external predetermined area;
a plurality of on-line work tables 2A-2I connected to an external production line for carrying the battery modules to the external production line;
the automatic guided vehicles 4 move circularly along a preset track under the control of a dispatching system; the scheduling system also controls the automated guided vehicle to stop at a predetermined area and load the battery module, or waits for another automated guided vehicle to finish loading the battery module.
In a preferred embodiment, the single pass cycle is 5 minutes.
In a preferred embodiment, the number of automated guided vehicles 4 is 3.
In a preferred embodiment, the predetermined trajectory has:
a plurality of first loading regions 1A1-1F1 sequentially arranged along the track direction, wherein the first loading regions 1A1-1F1 and the offline tables 1A-1F are correspondingly arranged on a preset track;
a first preparation position 3A, the first preparation position 3A being disposed before the first loading area 1a1, for the automated guided vehicle 4 to wait for another automated guided vehicle 4 to leave while the first loading area 1a1-1F1 has another automated guided vehicle 4;
a plurality of second loading regions 2A1-2I1 sequentially arranged along the track direction, wherein the second loading regions 2A1-2I1 are arranged on the preset track corresponding to the online working tables 2A-2I;
a second preparation position 3B, arranged before the second loading area 2a1, for the automated guided vehicle to wait for another automated guided vehicle 4 to leave while the second loading area 2a1-2I1 has another automated guided vehicle 4.
Specifically, the first preparatory position 3A is provided in an area before the automated guided vehicle enters the off-line table 1A-1F, and the second preparatory position 3B is provided in an area before the automated guided vehicle enters the on-line table 2A-2I for waiting for the running track to be vacated when the off-line table 1A-1F or the on-line table 2A-2I has other automated guided vehicles 4.
In a preferred embodiment, as shown in fig. 2, the automated guided vehicle 4 includes:
the roller way conveying device 4A is arranged at the top of the unmanned transport vehicle 4 and used for receiving the battery module and conveying the battery module to the upper workbench of the feeding line;
the line monitoring device 4B is used for sensing the guide signal and sending an off-line alarm signal when the guide signal is abnormal;
the alarm device 4C is connected with the line monitoring device and sends out sound signals and light signals according to the off-line alarm signals;
and the communication device 4D is connected to the dispatching system and the alarm device, receives a control instruction sent by the dispatching system and sends an offline alarm signal to the dispatching system.
In a preferred embodiment, the on-line table and the off-line table each have a roller table;
the plurality of battery modules are arranged in a tray, and the tray is input into the unmanned conveying vehicle through a roller type roller way or unloaded from the unmanned conveying vehicle.
Specifically, 12 battery modules can be borne in one tray, the battery modules are fixed through the partition grids on the upper surface of the tray, and the battery modules can be effectively fixed and the efficiency of single loading and unloading can be improved through the bearing of the battery modules by the standard tray.
An AGV scheduling method for a battery module, as shown in fig. 3, includes:
step S1: conveying the battery module from an external preset area to an off-line workbench;
step S2: the dispatching system controls the unmanned transport vehicle 4 to move from the preparation position to a first loading area corresponding to the off-line workbench;
step S3: the offline workbench conveys the battery module to the unmanned transport vehicle 4;
step S4: the automated guided vehicle 4 moves to a second loading area corresponding to the on-line workbench under the control of the dispatching system;
step S5: the on-line workbench removes the battery module from the automated guided vehicle 4.
Specifically, the automated guided vehicle 4 circulates between the lower and upper tables 1A to 1F and 2A to 2I along the endless track in the conveying system shown in fig. 1. The offline tables 1A-1F and the online tables 2A-2I each have a roller table for moving the battery modules loaded in the trays to the automated guided vehicle 4 or removing the trays from the automated guided vehicle 4. Meanwhile, the offline tables 1A-1F and the online tables 2A-2I each have an empty tray for carrying the battery module and retrieving the tray from the automated guided vehicle 4 again after the automated guided vehicle 4 completes one transportation cycle.
In a preferred embodiment, step S2 shown in fig. 4 further includes:
step S21: the dispatching system judges whether the first preparation position 3A has the unmanned carrier 4;
if yes, go to step S22; if not, go to step S23;
step S22: the scheduling system controls the automated guided vehicle 4 to move from the first preparation position 3A to the first loading area 1a1-1F1, and performs step S3;
step S23: the scheduling system controls the automated guided vehicle 4 to move from the second loading area 2a1-2I1 to the first loading area 1a1-1F1, and proceeds to step S3.
Specifically, when the automated guided vehicle 4 is located at the first preparation position 3A, the automated guided vehicle 4 needs to be moved away from the first preparation position 3A preferentially, so as to avoid the decrease of the overall operation efficiency of the system caused by waiting for the plurality of automated guided vehicles 4 at the first preparation position 3A.
In a preferred embodiment, as shown in fig. 5, step S4 includes:
step S41: the dispatching system receives the conditions of the plurality of online working platforms 2A-2I and judges the online working platform 2A-2I needing the battery module;
step S42: the dispatch system determines whether there is an automated guided vehicle 4 in the second loading area 2A1-2I 1;
if yes, go to step S43; if not, go to step S44;
step S43: the dispatching system controls the unmanned transport vehicle 4 to enter the second preparation position 3B for waiting;
step S44: the dispatch system controls the automated guided vehicle 4 to move to the second loading area 2a1-2I 1.
Specifically, when the on-line table 2A-2I is unloading the battery module on the other automated guided vehicle 4, the automated guided vehicle 4 needs to be set in the second preparation position 3B to wait, so as to avoid intrusion into the working area of the on-line table 2A-2I from affecting the operation of the on-line table 2A-2I.
In a preferred embodiment, as shown in fig. 6, step S5 includes:
step S51: the battery module is removed from the automated guided vehicle 4 by the on-line workbench;
step S52: the on-line workbench conveys an empty tray to the automatic guided vehicle 4;
step S53: the dispatch system determines whether the first loading area 1A1-1F1 has another automated guided vehicle 4;
if yes, go to step S54; if not, go back to step S1;
step S54: the scheduling system controls the automated guided vehicle 4 to enter the first preparation position 3A, and returns to step S1;
where the application refers to the use of singular and/or plural terms, those skilled in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. For the sake of clarity, various singular and/or plural permutations and combinations are not individually described in this application.
As will be appreciated by one of ordinary skill in the art, various aspects of the invention, or possible implementations of various aspects, may be embodied as a system, method, or computer program product. Accordingly, aspects of the present invention, or possible implementations of aspects, may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," module "or" system. Furthermore, aspects of the invention, or possible implementations of aspects, may take the form of a computer program product, which refers to computer-readable program code stored in a computer-readable medium.
The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing, such as Random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, and portable read-only memory (CD-ROM).
A processor in the computer reads the computer-readable program code stored in the computer-readable medium, so that the processor can perform the functional actions specified in each step, or a combination of steps, in the flowcharts; and means for generating a block diagram that implements the functional operation specified in each block or a combination of blocks.
The computer readable program code may execute entirely on the user's local computer, partly on the user's local computer, as a stand-alone software package, partly on the user's local computer and partly on a remote computer or entirely on the remote computer or server. It should also be noted that, in some alternative implementations, the functions noted in the flowchart or block diagram block may occur out of the order noted in the figures. For example, two steps or two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a AGV handling system suitable for battery module which characterized in that includes:
the offline workbench is used for receiving the battery modules input from an external preset area;
the on-line working tables are connected to an external production line and used for transporting the battery modules to the external production line;
a plurality of automated guided vehicles, wherein the automated guided vehicles circularly move along a preset track under the control of a dispatching system;
the scheduling system also controls the automated guided vehicle to stop at a predetermined area and load the battery module, or waits for another automated guided vehicle to finish loading the battery module.
2. Handling system according to claim 1, wherein the predetermined trajectory is provided with:
a plurality of first loading areas sequentially arranged along the track direction, wherein the first loading areas and the offline worktable are correspondingly arranged on the preset track;
a first preparation position, provided before the first loading area, for the automated guided vehicle to wait for another automated guided vehicle to leave when the first loading area has another automated guided vehicle;
a plurality of second loading areas which are sequentially arranged along the track direction, wherein the second loading areas and the on-line working table are correspondingly arranged on the preset track;
a second preparation position, provided before the second loading area, for the automated guided vehicle to wait for another automated guided vehicle to leave when the second loading area has another automated guided vehicle.
3. The handling system of claim 1, wherein the automated guided vehicle comprises:
the roller way conveying device is arranged at the top of the unmanned carrying vehicle and used for receiving the battery module and conveying the battery module into the on-line workbench;
a line monitoring device for sensing the predetermined trajectory and issuing an off-line alarm signal when the automated guided vehicle deviates from the predetermined trajectory;
the alarm device is connected with the line monitoring device and sends out sound signals and light signals according to the off-line alarm signals;
and the communication device is connected to the dispatching system and the alarm device, receives the control instruction sent by the dispatching system and sends the offline alarm signal to the dispatching system.
4. The handling system according to claim 3, wherein the in-line table and the off-line table each have a roller table;
the plurality of battery modules are arranged in a tray, and the tray is input into the automated guided vehicle through the roller type roller way or unloaded from the automated guided vehicle.
5. An AGV dispatching method applicable to a battery module, the AGV dispatching method being applicable to the carrying system of any one of claims 1 to 4, the AGV dispatching method comprising:
step S1: conveying the battery module from an external preset area to an off-line workbench;
step S2: the dispatching system controls the unmanned transport vehicle to move from the preparation position to a first loading area corresponding to the off-line workbench;
step S3: the offline workbench conveys the battery module to the unmanned transport vehicle;
step S4: the automated guided vehicle moves to a second loading area corresponding to the on-line workbench under the control of the dispatching system;
step S5: the on-line workbench removes the battery module from the automated guided vehicle.
6. The scheduling method according to claim 5, wherein the step S2 further comprises:
step S21: the dispatch system determining whether the automated guided vehicle is in the first preparation location;
if yes, go to step S22;
if not, go to step S23;
step S22: the dispatching system controlling the automated guided vehicle to move from the first preparation position to the first loading area, and the process goes to step S3;
step S23: the dispatching system controls the automated guided vehicle to move from the second loading area to the first loading area, and the process goes to step S3.
7. The scheduling method according to claim 5, wherein the step S4 comprises:
step S41: the dispatching system receives the conditions of a plurality of online worktables and judges the online worktables needing the battery module;
step S42: the dispatching system judges whether the unmanned transport vehicle exists in a second loading area corresponding to the on-line workbench or not;
if yes, go to step S43;
if not, go to step S44;
step S43: the dispatch system controlling the automated guided vehicle to enter the second preparation position waiting;
step S44: the dispatch system controls movement of the automated guided vehicle to the second loading area.
8. The scheduling method according to claim 5, wherein the step S5 comprises:
step S51: the on-line workbench removes the battery module from the automated guided vehicle;
step S52: the on-line workbench conveys an empty tray to the unmanned transport vehicle;
step S53: the dispatch system determining whether another automated guided vehicle is in front of the first loading area;
if yes, go to step S54;
if not, returning to the step S1;
step S54: the dispatch system controls the automated guided vehicle to enter the first preparation position, and returns to step S1.
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