CN114735261A

CN114735261A - AGV system with self-winding film function and control method thereof

Info

Publication number: CN114735261A
Application number: CN202210549741.XA
Authority: CN
Inventors: 胡向荣; 辛冬明; 方凯
Original assignee: Qingdao Fanrongda Technology Co ltd
Current assignee: Qingdao Fanrongda Technology Co ltd
Priority date: 2021-10-23
Filing date: 2022-05-20
Publication date: 2022-07-12
Anticipated expiration: 2042-05-20
Also published as: CN217348344U; CN114735261B; CN217348345U; CN114889872A; CN114889872B

Abstract

The invention provides an AGV system with a self-winding film function and a control method thereof. The AGV system includes: the film supply mechanism comprises an upright post and a film frame, the film frame is arranged on the upright post in a vertically sliding manner, and a packaging film is placed on the film frame; the device comprises an AGV trolley, wherein an article placing area is formed at the upper part of the AGV trolley, a first film clamping assembly is further arranged on the AGV trolley and is positioned on one side of the article placing area, and the first film clamping assembly forms an openable clamping area; the AGV trolley is configured to drive the goods to move and is also used for rotating at the film supply mechanism, and the first film clamping assembly is configured to clamp the film head of the packaging film. The AGV drives the goods to directly wind the membrane station and the rotation is accomplished and is twined the membrane, need not artifical assistance winding, reduces workman's intensity of labour and improves packing efficiency.

Description

AGV system with self-winding film function and control method thereof

Technical Field

The invention relates to the technical field of packaging machines, in particular to an AGV system with a self-winding film function and a control method thereof.

Background

At present, with the continuous development of the logistics industry, goods generally need to be packaged by a packaging belt before being transported. The packing mode can adopt a packing belt for bundling, and can also adopt a film for winding and packing. Chinese patent publication No. CN 206050279U discloses a novel online winding machine, wherein goods are transported to a chassis by a forklift or other transportation equipment, and the chassis rotates to wind a film on the surface of the goods. However, in the actual use process, after the film is wound on the surface of the goods, the goods need to be transported to the next station by a forklift for stacking or other processing modes, which causes great labor intensity of workers and low packaging efficiency. Therefore, how to design a packing technology which reduces the labor intensity of workers and improves the packing efficiency is a technical problem to be solved by the invention.

Disclosure of Invention

The invention provides an AGV system with a self-winding film function and a control method thereof.

The invention provides an AGV system with a self-winding film function, which comprises:

the film supply mechanism comprises an upright post and a film frame, the film frame is arranged on the upright post in a vertically sliding manner, and a packaging film is placed on the film frame;

the AGV comprises an AGV trolley, wherein an article placing area is formed at the upper part of the AGV trolley, a first film clamping assembly is further arranged on the AGV trolley and is positioned on one side of the article placing area, and the first film clamping assembly forms an openable clamping area;

the AGV trolley is configured to drive goods to move and is also used for rotating at the film supply mechanism, and the first film clamping assembly is configured to clamp a film head of a packaging film.

Further, the film supply mechanism is provided with a first communication module, the AGV with the self-winding film function is provided with a second communication module, and the first communication module is in communication connection with the second communication module;

or, supply membrane mechanism to dispose first trigger module, the AGV dolly is disposed second trigger module, first trigger module be used for by the AGV dolly triggers so that supply membrane mechanism outwards export the wrapping film, second trigger module is used for supplying to trigger behind the membrane mechanism output wrapping film the AGV dolly rotation.

Further, first double-layered membrane subassembly includes two clamping jaws and actuating mechanism, two clamping jaw movably sets up on the AGV dolly, two form between the clamping jaw the centre gripping region, actuating mechanism is used for the drive the clamping jaw slides with the switching centre gripping region.

Furthermore, the top of AGV dolly is provided with transverse arrangement's conveying mechanism, first double-layered membrane subassembly is arranged conveying mechanism's one side, conveying mechanism forms storage platform.

Further, the film supply mechanism comprises a second film clamping assembly, a film breaking assembly and a mounting frame, the mounting frame can move relative to the stand column, and the second film clamping assembly and the film breaking assembly are arranged on the mounting frame; the mounting bracket is configured to drive the second presss from both sides the membrane module with disconnected membrane module is close to or keeps away from the AGV dolly, the second presss from both sides the membrane module and is configured to the tip of centre gripping wrapping film and is close to or keeps away from the AGV dolly, disconnected membrane module is configured to with goods on the AGV dolly with between the membrane frame the wrapping film disconnection.

Further, the mounting frame is rotatably arranged on one side of the upright post; alternatively, the mounting bracket may be slidably disposed on one side of the upright.

Further, still be provided with the pivot on the mounting bracket, pivot transverse arrangement, be provided with the swivel mount in the pivot, the second press from both sides membrane module with disconnected membrane module sets up on the swivel mount.

The invention also provides a control method of the AGV system with the self-winding film function, which comprises the following steps: the AGV dolly carries the goods and moves to supplying membrane mechanism department, supplies the packaging film of membrane mechanism output to carry to one side of goods, and the first film clamping component on the AGV dolly grips behind the membrane head of packaging film, and the AGV dolly rotation is so that the packaging film winding is at the surface of goods.

Further, the control method comprises the following steps: the AGV trolley carries the goods to move to the film supply mechanism, and the film supply mechanism is triggered to enable the mounting rack to drive the second film clamping assembly to clamp the film head of the packaging film to be close to the goods on the AGV trolley;

after a first film clamping assembly on the AGV clamps a film head of a packaging film, a second film adding assembly releases the film head of the packaging film;

after the mounting bracket removes to reset, AGV dolly rotation drives the membrane head of packaging film and rotates together, supplies the membrane frame in the membrane mechanism to move in order to wrap up the packaging film on the surface winding of goods along vertical.

Further, the control method comprises the following steps: in the process that the mounting rack drives the film head of the second film clamping assembly to clamp the packaging film to be close to the AGV trolley, the rotating frame rotates to enable the second film clamping assembly and the film breaking assembly to be transversely arranged, and meanwhile, the lower portion of the film head of the packaging film clamped by the second film clamping assembly is drooping to be located in a clamping area formed by the first film clamping assembly.

According to the AGV system with the self-film-winding function and the control method thereof, goods are transported by adopting the AGV trolley, the AGV trolley moves to the film supply mechanism and can clamp the packaging film conveyed by the film supply mechanism through the first film clamping assembly arranged on the AGV trolley, the AGV trolley clamps the film head of the packaging film through the film clamping assembly, so that the goods can be driven to rotate in situ, the packaging film is wound on the surface of the goods, and the film winding operation is completed, and the AGV trolley can drive the goods to move to the next station for processing by self after the film winding is completed.

Drawings

FIG. 1 is a schematic diagram of an AGV with self-wrapping function according to an embodiment of the present invention;

FIG. 2 is a schematic view of a partial structure of an AGV system with a self-wrapping function according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another embodiment of an AGV with self-wrapping function according to the present invention;

FIG. 4 is a schematic diagram showing a portion of another embodiment of an AGV system with self-wrapping film functionality of the present invention;

FIG. 5 is a schematic diagram of an AGV according to an embodiment of the AGV with self-winding function of the present invention;

FIG. 6 is a second schematic view of an AGV trolley according to an embodiment of the AGV system with the self-winding film function of the present invention.

Reference numerals:

a film supply mechanism 1;

a packaging film 10, a film frame 11;

the device comprises a stand column 101, a second film clamping assembly 102, a film breaking assembly 103, a mounting frame 104, a rotating shaft 105 and a rotating frame 106;

an AGV car 2;

the device comprises a conveying mechanism 21, a first film clamping assembly 22, a mounting seat 23, a groove 24 and a sensor 25;

a clamping jaw 221 and a driving mechanism 222;

cargo 100.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

1-2, the present invention provides an AGV wrapping machine comprising:

the film supply mechanism 1 comprises a film frame 11 and a vertical column 101, wherein the film frame 11 is arranged on the vertical column 101 in a vertically sliding manner, and the film frame 11 is used for placing a packaging film 10;

the AGV comprises an AGV trolley 2, wherein an article placing area is formed at the upper part of the AGV trolley 2, a first film clamping assembly 22 is further arranged on the AGV trolley 2, the first film clamping assembly 22 is positioned on one side of the article placing area, and the first film clamping assembly 22 forms an openable clamping area; the AGV cart 2 is configured to move the load and also for spinning at the film supply mechanism 1, and the first film clamping assembly 22 is configured to clamp the film head of the packaging film.

Specifically, the AGV dolly is last to be configured with the first film clamping assembly 22 that is used for centre gripping packaging film 10 by itself, and in the use, the film head of the packaging film 10 on the film frame 11 is held by first film clamping assembly 22, then, the AGV dolly rotation to draw out the packaging film from film frame 11 and twine the goods surface at AGV dolly top.

Further, for the film supply mechanism 1, the representation entity of the film supply mechanism 1 may adopt a film supply manner in a conventional winding machine, which is not limited and described herein.

In order to enable the film supplying mechanism 1 to convey the film head of the packaging film on the film frame 11 to the AGV cart, so as to facilitate the accurate and reliable clamping of the first film clamping assembly 22. The film supply mechanism 1 further comprises a second film clamping assembly 102, a film breaking assembly 103 and a mounting frame 104, wherein the mounting frame 104 can move relative to the upright post 101, and the second film clamping assembly 102 and the film breaking assembly 103 are arranged on the mounting frame 104; the mounting rack 104 is configured to drive the second film clamping assembly 102 and the film breaking assembly 103 to be close to or far away from the AGV, the second film clamping assembly 102 is configured to clamp the end of the packaging film to be close to or far away from the AGV, and the film breaking assembly 103 is configured to break the packaging film 10 between the goods on the AGV and the film frame 11.

Specifically, in the actual use process, the AGV trolley drives the goods to move to the film supply mechanism 1, then, the mounting rack 104 moves relative to the column 101 and approaches to the AGV trolley, the mounting rack 104 drives the second film clamping component 102 to approach to the AGV trolley synchronously, and then the second film clamping component 102 is utilized to convey the film head of the packaging film 10 to the first film clamping component 22. The membrane head of packaging film 10 is by behind first centre gripping subassembly is cliied, and mounting bracket 104 drives second and presss from both sides membrane module 102, disconnected membrane module 103 and resets, then, the AGV dolly rotation to make packaging film 10 can be by the outside of supreme winding in goods down.

Meanwhile, after winding is completed, the mounting frame 104 is close to the AGV again, and the film breaking component 103 on the mounting frame 104 cuts off the packaging film 10 between the goods and the film frame 11, so that the AGV trolley 2 can move to the next station by carrying the goods. The film breaking assembly 103 can break the packaging film 10 by means of a cutter or a heating wire, and the like, and meanwhile, the film breaking assembly 103 is also provided with a welding function so as to weld the end part of the packaging film wound on the goods on the surface of the packaging film after the film is broken, and the welding manner can be an electric heating plate heating welding manner.

For the specific structural form of the first film clamping assembly 22 and the second film clamping assembly 102, a structural form of a clamping jaw may be adopted, the clamping jaw opens and closes to clamp or release the packaging film 10, and reference may be made to a structure for clamping the end of the film in a conventional winding machine, which is not limited or described herein.

In addition, because the membrane frame 11 and the mounting frame 104 all need to move about, correspondingly, can, be provided with first drive module and second drive module on the stand 101, first drive module is used for driving membrane frame 11 and slides from top to bottom on stand 101, the second drive module is used for driving mounting frame 104 to rotate or slide. Specifically, when winding, first drive module drive film frame 11 reciprocates to make the goods surface along the comprehensive winding packaging film of direction of height. First drive module can adopt motor drive chain endless movement to drive film frame 11 through the chain and reciprocate, specific drive mode can refer to the mode that conventional coiler drive film frame goes up and down. The second driving module is configured according to the operation mode of the mounting frame 104, for example: the mounting frame 104 is rotated, and the second driving module may use an air cylinder or an electric push rod to drive the mounting frame 104 to rotate, which is not limited and described herein.

Further, as shown in fig. 5-6, for the first film clamping assembly 22 on the AGV, for the convenience of installation, the film clamping assembly includes two clamping jaws 221 and a driving mechanism 222, the two clamping jaws 221 are movably disposed on the AGV, the clamping area is formed between the two clamping jaws 221, and the driving mechanism 222 is used for driving the clamping jaws 221 to slide to open and close the clamping area.

Specifically, the first film clamping assembly 22 employs two relatively movable clamping jaws 221 to satisfy the requirement of clamping the film head of the packaging film 10, the clamping area is formed between the two clamping jaws 221, and the driving mechanism 222 is used to drive the clamping jaws 221 to act. Wherein the jaws 221 are rotatably disposed on the AGV cart and the drive mechanism 222 is used to drive the jaws 221 to rotate. Specifically, for convenience of installation, the AGV trolley may be provided with a mounting seat 23, the mounting seat 23 is provided with two rotatable gears (not labeled), the two gears are meshed together, each gear is provided with the clamping jaw, and the driving mechanism 222 is used for driving one of the gears to rotate. The driving mechanism 222 may adopt a motor, the driving mechanism 222 drives the gear to rotate, and the two clamping jaws 221 are driven by the two gears meshed together to synchronously rotate in different directions, so as to open and close the clamping area.

Further, in order to reduce the influence of the first clamping film assembly 22 on the working process during the transportation process and the normal winding process. Grooves 24 are respectively arranged on two sides of the mounting seat 23 of the AGV trolley, and the grooves 24 are configured to accommodate the corresponding clamping jaws 221 after the clamping jaws 221 are turned over and opened.

Specifically, when the first film clamping assembly 22 is not required to clamp the packaging film 10, the first film clamping assembly 22 is opened, and the two clamping jaws rotate towards two sides respectively and finally rotate into the groove 24. Therefore, the exposed part of the clamping jaw in the non-use state can be smaller, so that the clamping jaw is prevented from being damaged by goods when the goods are loaded and unloaded. In addition, after the surface of the goods is wound with a certain number of turns of packaging films, the two clamping jaws can be automatically opened and separated from the packaging films, so that the packaging films can be tightly wound on the surface of the goods.

Still further, the top of the AGV car 2 is provided with a laterally arranged transport mechanism 21.

Specifically, the top of the AGV trolley 2 is provided with a conveying mechanism 21, so that the conveying mechanism 21 can be used for placing the goods, and the goods can be conveyed out by the conveying mechanism 21 when unloading is finished after the film winding. The conveying mechanism 21 may be a conveyor belt, a conveyor chain, a conveyor roller, etc., and is not limited or described herein. The conveying mechanism 21 is a conveying roller arranged at the top of the AGV trolley; or the conveying mechanism 21 is a conveying belt arranged at the top of the AGV; alternatively, the conveying mechanism 21 is a conveying chain plate arranged at the top of the AGV.

Still further, a sensor 25 for triggering the film clamping assembly to act is further arranged on the AGV.

Specifically, the sensor 25 is disposed at an end position of the conveyor 21, and the sensor 25 is used to detect whether the goods are conveyed in place on the conveyor 21.

As shown in fig. 1 and 2, the mounting bracket 104 is movable in a rotatable manner with respect to the upright 101.

As shown in fig. 3 and 4, the mounting bracket 104 is slidably movable relative to the mast 101.

In a preferred embodiment, the mounting frame 104 is further provided with a rotating shaft 105, the rotating shaft 105 is transversely arranged, the rotating shaft 105 is provided with a rotating frame 106, and the second film clamping assembly 102 and the film breaking assembly 103 are arranged on the rotating frame 106.

Specifically, the mounting frame 104 is provided with a rotatable rotating frame 106, and the rotating frame 106 can drive the second film clamping assembly 102 and the film breaking assembly 103 to rotate around the axis of the rotating shaft 105. In the use, when giving through supplying membrane mechanism 1 the AGV dolly supplies the membrane, because second press from both sides membrane module 102 and disconnected membrane module 103 wholly is the state of erectting, for the convenience first press from both sides membrane module 22 can accurate reliable centre gripping packaging film 10's membrane head, then drive swivel mount 106 orientation at mounting bracket 104 the in-process that AGV dolly direction removed, swivel mount 106 rotates in step to make second press from both sides membrane module 102 and disconnected membrane module 103 rotatory to the horizontality. In this way, the second film clamping assembly 102 and the film breaking assembly 103 can be enabled to avoid the first film clamping assembly 22 located below. At the same time, the second film clamping assembly 102 clamps the top of the film head of the packaging film, and the bottom of the film head hangs down under its own weight to be located between the two clamping jaws 221. The two jaws 221 are rotated to grip the lower portion of the packaging film 10, and then the second film clamping assembly 102 releases the packaging film 10, the mounting frame 104 is reset, and the rotating frame 106 is also rotated reversely to reset.

After the wrapping of the film on the surface of the goods is finished, the mounting frame 104 drives the second film clamping assembly 102 and the film breaking assembly 103 to approach the AGV trolley again, at this time, the rotating frame 106 does not rotate, after the second film clamping assembly 102 is clamped on the upper area of the packaging film 10, the film breaking assembly 103 is vertically arranged to vertically cut off the packaging film 10. The second film clamping assembly 102 may adopt a structure such as a clamping plate or the clamping jaw, and the film breaking assembly 103 may adopt a mode such as cutting by a cutter or hot cutting by a heating wire. In the actual use process, the welding membrane assembly 107 can be arranged, and the welding membrane assembly 107 can be used for welding the outermost packaging membrane and the inner packaging membrane together by means of a heating block, a heating plate or the like. Specific structures of the second film clamping assembly 102, the film breaking assembly 103 and the welding film assembly 107 can refer to structural configurations in a conventional film wrapping machine, and are not limited and described herein.

In the second embodiment, a first communication module is arranged on the film supply mechanism 1, a second communication module (not shown) is arranged on the AGV trolley 2, and the AGV trolley 2 is used for driving the goods to move and also used for rotating at the film supply mechanism 1; the first communication module is in communication connection with the second communication module.

Particularly, in the in-service use process, the goods that need twine the membrane packing are placed on AGV dolly 2, and AGV dolly 2 then can advance to supplying membrane mechanism 1 department by oneself. The film frame 11 of the film supply mechanism 1 is used for installing the packaging film 10, the packaging film 10 is placed on the film frame 11 in a film rolling mode, and the packaging film 10 is output outwards under the action of external force pulling.

When the AGV trolley 2 moves to the film supply mechanism 1, the first communication module and the second communication module are in communication connection with each other, and signals are sent between the first communication module and the second communication module, so that the film supply mechanism 1 can convey one end part of the packaging film 10 to the goods loaded by the AGV trolley 2; the AGV cart 2 will then spin in place, during which the wrapping film 10 will be wrapped around the surface of the load to complete the wrapping operation. The communication module may be a wireless communication module, for example: 4G module, 5G module, WIFI module or bluetooth module etc..

Further, the film supply mechanism 1 is positioned at one side of the film frame 11 to form a film winding area; AGV dolly 2 is located behind the membrane winding region, first communication module with the communication of second communication module, AGV dolly 2 is in the rotation of membrane winding region is so that the goods surface of wrapping film winding on AGV dolly 2.

Specifically, because AGV dolly 2 carries out the exchange of signal with the mode that supplies membrane mechanism 1 to adopt wireless communication, in order to make both can accurate timely communication, then set for in one side that supplies membrane mechanism 1 and twine the membrane region, after AGV dolly 2 removed to twine the membrane region, will mutual transmission signal between two communication module, and then start to twine the membrane operation.

Preferably, in order to ensure that the AGV 2 drives the goods to perform a high-quality film winding operation, a positioning portion (not shown) for positioning the AGV 2 is provided at one side of the film supplying mechanism 1. Specifically, for the AGV 2, the traveling route thereof may be set in advance, and the guidance mode for traveling the AGV 2 may be various, for example: electromagnetic navigation, visual navigation, laser navigation, and the like. And a positioning part is arranged on one side of the film supply mechanism 1, and the positioning part is set according to the navigation mode of the AGV trolley 2. If the positioning part is an electromagnetic induction part, the AGV trolley 2 adopts electromagnetic navigation, and the AGV trolley 2 is accurately positioned by an electromagnetic signal after moving to the positioning part; or, the positioning portion is an optical indicating component (such as a sign board or a reflecting board), and the AGV 2 adopts laser navigation or visual navigation so as to accurately position the AGV 2 by using the positioning portion.

Through adopting the AGV dolly to transport the goods, the AGV dolly moves to supplying membrane mechanism department can with supplying membrane mechanism to carry out the communication, and then start and supply membrane mechanism to supply the membrane outwards, and the AGV dolly can take the goods at the original place rotation and then realize twining the membrane operation with the completion with the surface of wrapping film winding at the goods, and, after twining the membrane completion, the AGV dolly can drive the goods by oneself again and remove and handle to next station, whole twine the membrane process and need not artifical assistance winding, can effectual reduction workman's intensity of labour, and simultaneously, owing to save the time of loading and unloading goods, and then can effectual improvement packing efficiency.

In another embodiment, the difference is: a first communication module in the film supply mechanism 1 adopts a first trigger module, and correspondingly, a second communication module on the AGV trolley 2 adopts a second trigger module. The first trigger module is used for being triggered by the AGV trolley so that the film supply mechanism 1 outputs the packaging film 10 outwards, and the second trigger module is used for triggering the AGV trolley to rotate after the film supply mechanism 1 outputs the packaging film.

Specifically, in the actual use process, the actions of the film supply mechanism 1 and the AGV trolley 2 are started in a triggering mode, and after the AGV trolley 2 moves to the film supply mechanism 1, the first triggering module is triggered by the AGV trolley 2 to start the film supply mechanism 1 to convey the packaging film 10 outwards; meanwhile, after the packaging film 10 is conveyed to the surface of the goods on the AGV cart 2, the second trigger module is triggered to start the AGV cart 2 to rotate.

The specific manner of triggering may take a variety of forms, such as: the first trigger module can be a switch device such as a travel switch, a photoelectric switch or a magnetic induction switch. Taking a travel switch as an example, after the AGV cart 2 moves in place, the travel switch is triggered, and the film supply mechanism 1 is started to convey the packaging film 10 outwards. The second trigger module can also be a switch device such as a travel switch, a photoelectric switch, a magnetic induction switch, etc., and the packaging film 10 is pulled to the goods through the clamping component to trigger the second trigger module. In addition, or the second triggering module may also adopt a timer, that is, after the AGV trolley 2 moves in place, the timer starts to count time, and after the set time is reached, the AGV trolley 2 is started to rotate, wherein the set time meets the requirement that the film supply mechanism 1 conveys the packaging film 10 to the outer surface of the goods, and the specific duration is not limited herein.

In a third embodiment, the present invention further provides a method for controlling an AGV system with a self-wrapping film function, including: the AGV dolly carries the goods and removes to supplying membrane mechanism department, supplies the packaging film of membrane mechanism output to carry to one side of goods, and the first membrane module that presss from both sides on the AGV dolly grips behind the membrane head of packaging film, and the rotation of AGV dolly is in order to make the packaging film winding at the surface of goods.

Specifically, in the in-service use in-process, the AGV dolly is used for transporting goods as the conveying equipment who carries goods promptly, drives the goods rotation as the rotating equipment in twining the membrane process again to the cooperation supplies membrane mechanism output packaging film and wrapping film on the winding of goods surface, and, still dispose first double-layered membrane module on the AGV dolly and hold the packaging film and satisfy the requirement of twining the packaging film.

The goods are placed on the AGV dolly to drive the goods through the AGV dolly and remove the transportation, the AGV dolly will carry the goods and remove to supplying membrane mechanism department. The AGV trolley moves to the film supply mechanism, and the AGV trolley and the film supply mechanism can be communicated with each other or triggered to start up the film winding operation. It is specific, after the AGV dolly removes to targetting in place, supply that the packaging film that membrane mechanism will put up the membrane to outwards carry so that the tip of packaging film is located the AGV dolly one side of goods, then, the AGV dolly just starts to rotate in order to drive the goods and rotate for the membrane frame that supplies membrane mechanism after grasping the packaging film through first double-layered membrane module, the AGV dolly drives the goods and rotates the in-process and makes the packaging film winding on the goods, and, rotation that the goods is not stopped, in order to pull out the continuous power that relies on the AGV dolly to rotate the production with the packaging film on the membrane frame and make the packaging film on the goods surface winding on the one hand, on the other hand still pulls out the following pivoted speed that the packaging film that will put up on the membrane corresponds, in order to satisfy the comprehensive effectual winding tectorial membrane in goods surface.

Further, the control method comprises the following steps: the AGV trolley carries the goods and moves to the film supply mechanism, and the film supply mechanism is triggered to enable the mounting rack to drive the second film clamping assembly to clamp the film head of the packaging film to be close to the goods on the AGV trolley;

after the mounting bracket moves and resets, the AGV dolly rotation drives the membrane head of packaging film and rotates together, supplies the membrane frame in the membrane mechanism to move along vertical in order to wrap the packaging film on the surface winding of goods.

Concretely, the AGV dolly moves and supplies membrane mechanism department both to carry out the communication or trigger operation back, and first film clamping component grasps the membrane head of the wrapping film that is carried by second film clamping component, then the AGV dolly drives goods and wrapping film's tip and rotates together. Like this, the AGV dolly drives the goods and rotates a week after, and the wrapping film on the goods just forms the overlap region, at this moment, first press from both sides membrane module alright reset with the release, the AGV dolly continues to rotate, alright in order to make the complete winding parcel of wrapping film in the outside of goods to rely on the adhesion between the overlapping wrapping film together, in order to drag the wrapping film on the membrane frame and continuously export.

Further, the control method includes: in the process that the mounting rack drives the film heads of the second film clamping assembly for clamping the packaging film to be close to the AGV trolley, the rotating rack rotates to enable the second film clamping assembly and the film breaking assembly to be transversely arranged, and meanwhile, the lower portion of the film heads of the packaging film clamped by the second film clamping assembly is drooping to be located in a clamping area formed by the first film clamping assembly.

Specifically, because AGV dolly self disposes independent first double-layered membrane module centre gripping packaging film and twines, in the membrane process is sent outward through supplying membrane mechanism, utilize the swivel mount to rotate so that second presss from both sides membrane module and disconnected membrane module horizontal layout, can make the packaging film of centre gripping on the second presss from both sides the membrane module can hang down to be located the clamping area that first double-layered membrane module formed, on the other hand can ensure that second on the swivel mount presss from both sides membrane module and disconnected membrane module smooth and easy the reseing in order to avoid interfering with the first double-layered membrane module that is in clamping state each other after first double-layered membrane module centre gripping packaging film.

Still further, the control method further comprises: in the autorotation process of the AGV trolley, the film frame is kept still at a set height position, so that the goods are wound with a plurality of circles of packaging films at the set height position.

The AGV trolley autorotates to drive the goods to wind the film, and the top and/or the bottom of the goods need to be wound with more circles of packaging films according to the packaging requirements. Therefore, when the AGV trolley rotates and needs to reinforce and wind the goods at the specific height position, the film frame moves up and down to the set height position and then stops moving, and at the moment, the AGV trolley continuously rotates until the surface of the goods is wound with the packaging film with the set number of turns.

Still further, the control method further includes: after the wrapping film is finished by winding the outer surface of the goods on the AGV trolley, the film supply mechanism cuts off the wrapping film, and the AGV trolley carries the goods and leaves the film supply mechanism.

Concretely, the AGV dolly drives the automatic completion of goods and twines the membrane operation back, cuts off the wrapping film between membrane frame and the goods by supplying membrane mechanism, then, the AGV dolly alright remove to next corresponding process position department with carrying the goods that twine the membrane packing.

The AGV trolley carries the goods to move, and further a fixed conveying line is not required to be configured for conveying the goods, so that the free moving area of the space in a factory is larger; and, utilize AGV dolly self to have the function of rotation, AGV dolly cooperation supplies membrane mechanism, alright in order to realize that the goods accomplishes the winding on the AGV dolly, need not additionally to dispose the pivoted chassis and twine the membrane operation, and then saved the process of frequent loading and unloading goods operation, more be favorable to improving the efficiency of twining the membrane packing and reduce workman's intensity of labour.

Claims

1. An AGV system having a self-winding film function, comprising:

the AGV trolley is configured to drive the goods to move and is also used for rotating at the film supply mechanism, and the first film clamping assembly is configured to clamp the film head of the packaging film.

2. The AGV system with the self-winding film function according to claim 1, wherein the film supply mechanism is configured with a first communication module, the AGV with the self-winding film function is configured with a second communication module, and the first communication module is in communication connection with the second communication module;

3. The AGV system with self-winding film function of claim 1, wherein said first film clamping assembly comprises two clamping jaws movably disposed on said AGV cart, two clamping jaws forming said clamping area therebetween, and a driving mechanism for driving said clamping jaws to slide to open and close said clamping area.

4. The AGV system with self-wrapping film function of claim 1, wherein a top of the AGV trolley is provided with a laterally arranged transport mechanism, the first film clamping assembly is arranged at one side of the transport mechanism, and the transport mechanism forms the storage platform.

5. The AGV system with self-winding film function according to any one of claims 1 to 4, wherein the film supply mechanism further comprises a second film clamping assembly, a film breaking assembly and a mounting frame, the mounting frame is movable relative to the upright, and the second film clamping assembly and the film breaking assembly are arranged on the mounting frame; the mounting bracket is configured to drive the second presss from both sides the membrane module with disconnected membrane module is close to or keeps away from the AGV dolly, the second presss from both sides the membrane module and is configured to the tip of centre gripping wrapping film and is close to or keeps away from the AGV dolly, disconnected membrane module is configured to with goods on the AGV dolly with between the membrane frame the wrapping film disconnection.

6. The AGV system with self-winding film function of claim 5, wherein the mounting bracket is rotatably disposed at one side of the column; alternatively, the mounting bracket may be slidably disposed on one side of the upright.

7. The AGV system with the self-winding film function according to claim 5, wherein a rotating shaft is further arranged on the mounting frame, the rotating shaft is arranged transversely, a rotating frame is arranged on the rotating shaft, and the second film clamping assembly and the film breaking assembly are arranged on the rotating frame.

8. A method for controlling an AGV system having a self-winding film function according to any one of claims 1 to 7, comprising: the AGV dolly carries the goods and removes to supplying membrane mechanism department, supplies the packaging film of membrane mechanism output to carry to one side of goods, and the first membrane module that presss from both sides on the AGV dolly grips behind the membrane head of packaging film, and the rotation of AGV dolly is in order to make the packaging film winding at the surface of goods.

9. The method of controlling an AGV system with a self-winding film function according to claim 8, wherein the method includes: the AGV trolley carries the goods to move to the film supply mechanism, and the film supply mechanism is triggered to enable the mounting rack to drive the second film clamping assembly to clamp the film head of the packaging film to be close to the goods on the AGV trolley;

10. The method of controlling an AGV system with a self-winding film function according to claim 8, wherein the method includes: in the process that the mounting rack drives the film heads of the second film clamping assembly for clamping the packaging film to be close to the AGV trolley, the rotating rack rotates to enable the second film clamping assembly and the film breaking assembly to be transversely arranged, and meanwhile, the lower portion of the film heads of the packaging film clamped by the second film clamping assembly is drooping to be located in a clamping area formed by the first film clamping assembly.