CN117163184A

CN117163184A - Backpack jacking AGV system for cab split charging line

Info

Publication number: CN117163184A
Application number: CN202310794183.8A
Authority: CN
Inventors: 钱衡; 杨柳; 杨鸥; 章文誉; 吴峰; 王春波; 戈振国; 闫皓; 李波
Original assignee: Xuzhou Xugong Special Construction Machinery Co Ltd
Current assignee: Xuzhou Xugong Special Construction Machinery Co Ltd
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-12-05

Abstract

The invention relates to a knapsack jacking AGV system for a cab split charging line, and relates to the technical field of automatic guided vehicles. The device comprises a vehicle body, a dispatching system, a jacking device, a navigation positioning system, a driving system, a power charging system and an obstacle avoidance safety device; scheduling system: the automatic operation mode and the manual operation mode are included; jacking device: jacking by adopting a 4-fulcrum lead screw; navigation positioning system: the method comprises the steps of including a laser radar sensor and 3D SLAM navigation; a driving system: two-wheel differential driving and servo control system; and a power supply charging system: including automatic online charging and manual charging; obstacle avoidance mode: the device comprises a laser obstacle avoidance button, a surrounding edge touching button, an audible and visual alarm button and a scram button. The beneficial effects of the invention are as follows: the assembly line of the cab assembly workshop can realize automation and transportation automation, reduce human deviation and reduce labor intensity; intelligent, task rational planning, route rational planning, raise the efficiency. And (3) visualization: task state visualization and running state visualization.

Description

Backpack jacking AGV system for cab split charging line

Technical Field

The invention relates to a knapsack jacking AGV system for a cab split charging line, and relates to the technical field of automatic guided vehicles.

Background

Engineering machine tool class driver's cabin partial shipment line includes the driver's cabin such as backhoe loader driver's cabin, skid steer loader driver's cabin, small-size loader driver's cabin, assembly process flow: cab preparation, seat assembly and assembly, valve assembly and assembly, steering column and steering gear assembly and assembly, and assembly line of the whole machine on the cab.

Because the upper part of the cab is sealed and the lower part is not sealed, the cab needs to be lifted by using devices such as a jack and the like during assembly, the cab is put on a station to fall down for assembly, the jack is used, but the installation space is separated by a left upright post and a right upright post to form a space with a position limitation, so that materials can only be put beside the station, the assembly of the cab is time-consuming and labor-consuming, the installation procedure is increased, the disassembly and assembly of the structure are not facilitated, and great inconvenience is brought to the assembly of the cab.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a back-carrying jacking AGV system for a cab split charging line, wherein the cab split charging line adopts 3 back-carrying jacking automatic guide transport vehicles (Automated Guided Vehicle, AGVs), the back-carrying jacking AGVs can operate according to the process route requirements of a predefined cab split charging line, cab tools of the station are jacked on a fixed station to complete cab assembly, and meanwhile, the 3 back-carrying jacking AGVs can also bear the task of material transportation to complete a complete machine assembly line on the cab.

The invention is realized by the following technical scheme: a knapsack jacking AGV system for a cab split charging line comprises a vehicle body, a scheduling system, a jacking device, a navigation positioning system, a driving system, a power charging system and an obstacle avoidance safety device;

scheduling system: the automatic operation mode and the manual operation mode are included;

jacking device: jacking by adopting a 4-fulcrum lead screw;

navigation positioning system: the method comprises the steps of including a laser radar sensor and 3D SLAM navigation;

a driving system: two-wheel differential driving and servo control system;

and a power supply charging system: including automatic online charging and manual charging;

obstacle avoidance safety device: the device comprises a laser obstacle avoidance button, a surrounding edge touching button, an audible and visual alarm button and a scram button.

The manual operation mode of the dispatching system only responds to the action instruction of the manual operator; the automatic operation mode only responds to the action instruction of the dispatching system;

the dispatching system performs operation according to the predefined technological route requirement of the cab sub-assembly line;

the scheduling system can customize the type and the running speed of the vehicle in scheduling software, and realize the differential management of the AGVs.

The historical condition of the AGVs is displayed through a background database, the operation efficiency is traced, fault statistics is carried out, and the position, state, information and the like of each AGV in the system are dynamically displayed in real time;

when the system has the following faults, the AGV alarms and prompts, and fault information is displayed on a dispatching system platform at the same time: information such as abnormal power supply, failure in self-checking and the like of the AGV, abnormal current feedback, off-line alarming, obstacle detection, abnormal electric quantity, emergency stop of equipment and other fault alarming;

scheduling system man-machine interaction interface content: interface menus, monitoring of running conditions of each AGV, equipment anomaly records, anomaly alarm interfaces, solution prompt interfaces for various anomaly alarms, battery electric quantity conditions, secret settings and the like;

the detection of the obstacle is at least provided with two stages of areas, when the obstacle is detected to enter the safety warning area, the AGV operates in a decelerating mode, and when the obstacle is detected to enter the dangerous area, the AGV automatically stops and sends out an audible and visual alarm prompt; the AGV automatically resumes operation after the obstacle is removed;

once the fault occurs, the AGV automatically alarms with sound and light; the failed AGV can switch to a manual mode to leave the working area to a safe position;

the AGV is provided with a sudden stop switch, and the AGV stops immediately when the switch is pressed at any time and has a red light to flash;

the positions and the walking routes of all the trolleys can be checked on the map in real time, and the positions and the walking routes of all the trolleys are changed in real time according to the state change of the trolleys. The completed order and the order to be executed can be checked, and the execution records are counted and summarized.

The jacking device comprises a servo motor and a vehicle-mounted jacking mechanism, wherein the jacking device adopts an electric servo control mode, and the jacking speed is executed according to a dispatching system instruction; the vehicle-mounted jacking mechanism adopts a screw rod mechanism, and the synchronism is mechanically ensured; the adoption of the guide mechanism increases the stability.

The laser radar sensor is used for positioning and detecting obstacles;

the 3D SLAM navigation positioning map building system based on the laser radar can acquire radar pose of the radar and built three-dimensional point cloud maps in real time, and can complete a one-stop positioning map building scheme of processing and analysis by matching with a scheduling system.

The driving system adopts a bilateral differential driving wheel and 4 universal wheels, the integrated differential wheel set can reduce the height of the whole vehicle, reduce the size of the whole vehicle, is simple to control, and can efficiently complete curve, straight line and rotary motion.

The power supply charging system has an electric quantity indication, the touch screen displays the electric quantity of the battery in real time, and charging is automatically triggered when the electric quantity is insufficient;

the power supply charging system comprises the following specific steps:

1) After the AGV reaches a charging station and stops correctly, a photoelectric device of the charger can detect a reflecting plate on the AGV body, the extended brush block is connected with the vehicle brush plate, charging is started after communication is established, and the charger charges according to a BMS request;

2) After the battery is full, the charger automatically retracts to finish charging;

3) In the charging process, the BMS sends a charging termination instruction to the charger, and the charger retracts to terminate charging.

The obstacle avoidance safety device comprises:

1) The 3D laser radar has an obstacle avoidance function; the periphery of the vehicle is provided with a safety touch edge as a passive safety protection mode;

2) The AGV obstacle detection angle is fully covered within a range of 360 degrees, the detection distance is within a range of 200mm, and the safety distance on two sides of the vehicle is 300-500 mm;

3) When an obstacle or a human body touches the safety touch edge, the vehicle immediately stops, and the vehicle is released again after being confirmed manually;

4) Pressing the emergency stop button to immediately stop the vehicle; after the emergency stop button is released, the previous action is continuously executed;

5) The AGV has light prompt and sound alarm under the states of stopping, waiting, running, turning, failure and the like;

6) Error indication: when the AGV fails, a display screen on the AGV panel can display a corresponding Chinese information prompt, and maintenance personnel can rapidly overhaul according to the prompt information;

7) The AGV power circuit has an overvoltage and overcurrent protection function;

8) When the AGV accidentally breaks away from the working path, the AGV immediately stops and alarms, and waits for the staff to remove the fault.

The cab split charging line adopts 3 to bear the jacking AGVs.

The cab split charging line is provided with 5 stations, the 1 st station is a preparation station, the 2 nd, 3 rd and 4 th stations are operation stations, the 4 th station is provided with 2 ground lifting devices, the 5 th station is a complete machine assembly line after the cab assembly is completed, the 1 st station is an unmanned station, and the 2 nd, 3 rd, 4 th and 5 th stations are manned stations.

The process route of the cab split charging line comprises the following specific steps:

1) The assembled cab is manually sent to the whole machine assembly line at the 5 th station, a release button is pressed, after goods are released, the AGV carries the empty tool to run to an AGV waiting area, two storage areas are automatically observed, and occupied storage areas and unoccupied storage areas are identified;

2) If only one storage area is occupied, the AGV sends the carried empty tooling to the unoccupied storage area, and the empty tooling is sent to the occupied storage area, and the cab is jacked up to send the empty tooling to the 1 st station and waits at the 1 st station;

3) If the AGV returns to the waiting area from the 5 th station, observing that both storage areas are unoccupied, and continuing waiting in the waiting area by the AGV until a cab to be installed is placed in one of the storage areas;

4) Repeating step 2);

5) When the calling button is operated at the 2 nd station, the AGV at the 1 st station automatically operates to the 2 nd station; if the AGV is not parked at the 1 st station, the dispatching system does not respond to the call;

6) After the station 2 is assembled, a release button is pressed down in time to release the station AGV; when the 3 rd station calls the AGV, the scheduling system allows the AGV to travel to the 3 rd station; if the AGV at the 2 nd station is not released or the AGV is not available, the dispatching system does not respond to the call of the 3 rd station;

7) After the AGV finishes assembly at the 3 rd station, an operator presses a release button in time to release the AGV at the station; after calling the AGV at the 4 th station, the AGV runs from the 3 rd station to the 4 th station; if the 3 rd station has no AGV or is not released, the dispatching system does not respond to the call of the 4 th station;

8) After the AGV reaches the 4 th station, a cab and a tool are put down, and the AGV automatically goes to a charging station for charging;

9) After the 4 th station is assembled, after a release button of the station is pressed, the AGV returns from the charging station or the 5 th station calls the AGV, and the cab tool of the station is jacked again;

10 If the system is abnormal, the AGV can not charge the system and automatically returns to the 4 th station;

11 After calling the AGV at the 5 th station, the AGV runs from the 4 th station to the 5 th station; if the AGV is not available or not released at the 4 th station, the call is invalid;

12 The AGV reaches the 5 th station, an operator sends the assembled cab into the whole machine assembly line after the assembly is completed, and presses a release button of a button station of the station, so that the AGV carries the empty tooling to automatically run to an AGV waiting area;

13 Each AGV repeats the above steps.

The beneficial effects of the invention are as follows: the assembly line of the cab assembly workshop is required, so that automation is realized, automation in carrying is realized, the artificial deviation is reduced, and the labor intensity is reduced; the AGV is provided with a knapsack jack-up mechanism, so that automatic lifting operation is realized, and the cab can be accurately positioned to a target position. The AGV is equipped with automatic guidance system, through technologies such as laser navigation, tape guidance, visual recognition or inertial navigation, realizes accurate location and navigation control to the AGV, and the AGV can accurately travel on the partial shipment line and accomplish the task. AGVs are equipped with various sensors, such as laser sensors, infrared sensors, ultrasonic sensors, etc., for detecting obstacles, personnel and other vehicles in the surrounding environment to ensure safety during travel, and if any dangerous conditions are detected, the AGVs may take appropriate action, such as stopping movement or alerting, via a safety system. The AGV communicates with the main control system on the sub-packaging line to receive task instructions, transmission state information and real-time data, can realize cooperative work and data interaction with other equipment, and improves the operation efficiency and the production capacity of the whole cab sub-packaging line.

Drawings

The invention is further described below with reference to the drawings and examples.

FIG. 1 is a schematic block diagram of the structure of the present invention;

FIG. 2 is a schematic block diagram of an obstacle avoidance safety device of the present invention;

FIG. 3 is a flow chart of a cab split charging line process route of the present invention;

FIG. 4 is a process flow diagram of a power charging system of the present invention;

fig. 5 is a schematic diagram of states one to six according to an embodiment of the present invention.

Description of the embodiments

1-4, a piggyback jacking AGV system for a cab split charging line comprises a vehicle body, a dispatching system, a jacking device, a navigation positioning system, a driving system, a power charging system and an obstacle avoidance safety device;

scheduling system: is a key component for managing and coordinating the operation tasks and actions of the AGV, and comprises an automatic operation mode and a manual operation mode; in the automatic operation mode, the scheduling system autonomously allocates and schedules the work of the AGVs according to preset tasks and priorities. In this mode, the scheduling system determines the optimal AGV route, task sequence, job time, etc. according to a series of algorithms and rules to maximize production efficiency and ensure reasonable utilization of resources. The automatic mode of operation is generally applicable to highly automated production environments where the AGVs may independently complete tasks, reducing human intervention. In manual work mode, an operator manually designates tasks and actions of the AGV through the dispatch system. In this mode, the dispatch system will communicate the task information to the corresponding AGVs based on the operator's instructions and provide real-time status monitoring and feedback information. Manual job modes are often suitable for situations where more flexible control and manual intervention is required, such as in special situations or when task priorities need to be temporarily adjusted.

The scheduling system reasonably distributes tasks to the AGVs according to the priorities of the tasks, the states of the vehicles and the production requirements, and ensures that the tasks are completed on time. And the optimal path is planned by utilizing map data and real-time traffic information provided by the navigation system, so that congestion and conflict are avoided, and the transportation efficiency is improved. Real-time communication and data interaction with other devices and systems, including integration with production planning systems, warehouse management systems, etc., are performed to achieve comprehensive production chain coordination. Abnormal conditions such as traffic conflict, equipment faults and the like in the operation process of the AGV are monitored and processed, corresponding measures are timely taken to ensure safety, and downtime is reduced as much as possible.

Jacking device: jacking by adopting a 4-fulcrum lead screw; the lifting device consists of 4 mutually perpendicular lead screws, wherein each lead screw is respectively fixed on one supporting column, and lifting operation is realized by rotating the lead screws through an electric device.

When 4 fulcrum screw rods are used for jacking, the four screw rods need to be ensured to apply force simultaneously so as to avoid instability caused by uneven lifting. The motion of the screw rods is controlled through the electric device, so that the lifting speed of each screw rod is kept consistent. When the screw rod is rotated, the distance between the support column and the jacking platform can be changed, so that the object is jacked. By adjusting the rotation movement of the 4 lead screws and the balanced distribution of force, the jacking process can be stable, and the stability of the jacking is ensured. The screw rod lifting utilizes the torque transmission principle of a screw pair to convert rotary motion into linear motion. The screw pitch on the screw rod and the friction force of the screw pair can generate vertical force, so that the object is lifted.

a driving system: two-wheel differential driving and servo control system;

The manual operation mode of the dispatching system only responds to the action instruction of the manual operator; the automatic operation mode only responds to the action instruction of the dispatching system; in the automatic operation mode, the scheduling system autonomously allocates and schedules the work of the AGVs according to preset tasks and priorities. In this mode, the scheduling system determines the optimal AGV route, task sequence, job time, etc. according to a series of algorithms and rules to maximize production efficiency and ensure reasonable utilization of resources. The automatic mode of operation is generally applicable to highly automated production environments where the AGVs may independently complete tasks, reducing human intervention.

In manual work mode, an operator manually designates tasks and actions of the AGV through the dispatch system. In this mode, the dispatch system will communicate the task information to the corresponding AGVs based on the operator's instructions and provide real-time status monitoring and feedback information. Manual job modes are often suitable for situations where more flexible control and manual intervention is required, such as in special situations or when task priorities need to be temporarily adjusted.

The laser radar sensor is used for positioning and detecting obstacles;

The system uses lidar sensors to acquire three-dimensional point cloud data in an environment. The laser radar calculates a point cloud by transmitting a laser beam and receiving the reflected laser beam, and measuring time difference and angle information. The laser radar is used for matching the acquired point cloud data with previous measurement by scanning the surrounding environment, and estimating the position and the posture of the laser radar. Through the continuous scanning and matching process, the system gradually builds up a three-dimensional map of the environment. In the motion process, the laser radar continuously acquires new point cloud data and matches the new point cloud data with a known map. Based on the result of the matching, the system can estimate its own position and attitude, and possibly the error range, in real time. Due to errors in the sensors and the positioning algorithm, the positioning estimate may deviate from the true position after a long run. To address this problem, the system periodically detects and closes the loop. That is, when the system returns to the previously scanned area, it will match and compare with the previous map, correct errors and optimize the map and positioning. Based on the established map and the real-time positioning information, the system can conduct path planning and navigation decision-making so as to realize an autonomous navigation function. By generating a path according to the target position and combining feedback from the sensor for real-time adjustment, the system can avoid the obstacle and reach the target position.

The driving system adopts a bilateral differential driving wheel and 4 universal wheels, the integrated differential wheel set can reduce the height of the whole vehicle, reduce the size of the whole vehicle, is simple to control, and can efficiently complete curve, straight line and rotary motion. This configuration provides flexibility and maneuverability to enable the AGV to move and steer in a variety of terrains and environments.

The bilateral differential drive wheels include two individually driven wheels, each driven by a separate motor. By controlling the rotational speed and direction of the drive wheels on both sides, respectively, forward, reverse and steering of the AGV can be achieved. When the driving wheels at the two sides rotate at the same speed and direction, the AGV can linearly advance or retreat; the robot can realize steering when the driving wheels on two sides rotate at different speeds or in opposite directions.

The 4 universal wheels are also configured to increase the maneuverability and flexibility of the AGV. The universal wheel is a specially designed wheel, can roll freely in multiple directions, can move forwards and backwards, and can slide laterally on a plane. Through installing 4 universal wheels, the robot can realize more flexible translation and steering capacity, and is better adapted to narrow space, complex environment and curve path.

The power supply charging system has an electric quantity indication, the touch screen displays the electric quantity of the battery in real time, and charging is automatically triggered when the electric quantity is insufficient; when the battery is in a shortage, the charging system can automatically trigger the charging process. By setting the threshold of the battery power, when the battery power is lower than the set threshold, the charging system can automatically start the charging equipment to charge so as to ensure that the battery has enough power supply.

The power supply charging system comprises the following specific steps:

In the charging process of the power supply charging system, a series of safety protection measures are adopted to ensure the safety of the charging process. Including monitoring battery temperature and preventing overheating, detecting battery voltage and current and preventing overshoot or overdischarge, monitoring the connection state between the charger and the battery, etc. If an abnormal condition is found, such as an excessive temperature or abnormal voltage of the battery, the charging machine automatically stops charging and sends an alarm.

Charge recording and data management: the charging system records relevant data of each charging process, such as charging time, charging amount, charging efficiency, etc. These data can be used for subsequent data analysis and management, helping to optimize charging strategies and improve system efficiency. Meanwhile, the charging system can also provide real-time charging state information and reports, so that operators can monitor and manage conveniently.

Fault diagnosis and maintenance: the charging system also needs to provide fault diagnosis and maintenance functions to ensure stability and reliability of the system. The states of the charger and the battery are monitored, faults are identified, corresponding alarm and fault codes are provided, and maintenance personnel can conveniently conduct fault troubleshooting and repairing. Meanwhile, regular maintenance and maintenance work is also an important link for ensuring the normal operation of the charging system.

The obstacle avoidance safety device comprises:

1) The 3D laser radar has an obstacle avoidance function; the laser radar scans the surrounding environment by utilizing laser beams, measures the distance and the position of an object, and obtains the position information of an obstacle in real time, and the safety contact edges are arranged around the vehicle as a passive safety protection mode;

The cab split charging line adopts 3 to bear the jacking AGVs.

In the embodiment of the invention shown in fig. 5, the cab process is divided into three zones as a whole:

1. rightmost 1 station: cab preparation;

2. the middle 2-4 stations are working areas;

1) 2 stations: assembly of a seat and assembly

2) 3 stations: valve assembly and fitting

3) 4 stations: steering column and steering gear assembly and assembly

3. The leftmost 5 stations are the cab on-line areas;

note that:

1. the "rack" in the table refers to "cab tool rack".

Agv3 to the material section discharge rack 4, take rack 5 with cab into the circulation line.

3. 3 AGVs of circulation line can charge according to factors such as 16min beat time and electric quantity.

4) Repeating step 2);

13 Each AGV repeats the above steps.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims

1. A bear jacking AGV system for driver's cabin partial shipment line, its characterized in that: the device comprises a vehicle body, a dispatching system, a jacking device, a navigation positioning system, a driving system, a power charging system and an obstacle avoidance safety device;

jacking device: jacking by adopting a 4-fulcrum lead screw;

a driving system: two-wheel differential driving and servo control system;

2. The back-pack lift AGV system for a cab assembly line of claim 1 wherein: the manual operation mode of the dispatching system only responds to the action instruction of the manual operator; the automatic operation mode only responds to the action instruction of the dispatching system;

3. The back-pack lift AGV system for a cab assembly line of claim 1 wherein: the jacking device comprises a servo motor and a vehicle-mounted jacking mechanism, wherein the jacking device adopts an electric servo control mode, and the jacking speed is executed according to a dispatching system instruction; the vehicle-mounted jacking mechanism adopts a screw rod mechanism, and the synchronism is mechanically ensured; the adoption of the guide mechanism increases the stability.

4. The back-pack lift AGV system for a cab assembly line of claim 1 wherein: the laser radar sensor is used for positioning and detecting obstacles;

5. The back-pack lift AGV system for a cab assembly line of claim 1 wherein: the driving system adopts a bilateral differential driving wheel and 4 universal wheels, the integrated differential wheel set can reduce the height of the whole vehicle, reduce the size of the whole vehicle, is simple to control, and can efficiently complete curve, straight line and rotary motion.

6. The back-pack lift AGV system for a cab assembly line of claim 1 wherein: the power supply charging system has an electric quantity indication, the touch screen displays the electric quantity of the battery in real time, and charging is automatically triggered when the electric quantity is insufficient;

the power supply charging system comprises the following specific steps:

(1) After the AGV reaches a charging station and stops correctly, a photoelectric device of the charger can detect a reflecting plate on the AGV body, the extended brush block is connected with the vehicle brush plate, charging is started after communication is established, and the charger charges according to a BMS request;

(2) After the battery is full, the charger automatically retracts to finish charging;

(3) In the charging process, the BMS sends a charging termination instruction to the charger, and the charger retracts to terminate charging.

7. The back-pack lift AGV system for a cab assembly line of claim 1 wherein said obstacle avoidance safety device comprises:

(1) The 3D laser radar has an obstacle avoidance function; the periphery of the vehicle is provided with a safety touch edge as a passive safety protection mode;

(2) The AGV obstacle detection angle is fully covered within a range of 360 degrees, the detection distance is within a range of 200mm, and the safety distance on two sides of the vehicle is 300-500 mm;

(3) When an obstacle or a human body touches the safety touch edge, the vehicle immediately stops, and the vehicle is released again after being confirmed manually;

(4) Pressing the emergency stop button to immediately stop the vehicle; after the emergency stop button is released, the previous action is continuously executed;

(5) The AGV has light prompt and sound alarm under the states of stopping, waiting, running, turning, failure and the like;

(6) Error indication: when the AGV fails, a display screen on the AGV panel can display a corresponding Chinese information prompt, and maintenance personnel can rapidly overhaul according to the prompt information;

(7) The AGV power circuit has an overvoltage and overcurrent protection function;

(8) When the AGV accidentally breaks away from the working path, the AGV immediately stops and alarms, and waits for the staff to remove the fault.

8. The back-pack lift AGV system for a cab assembly line of claim 1 wherein said cab assembly line uses 3 back-pack lift AGVs.

9. The back-pack jacking AGV system for a cab assembly line according to claim 1, wherein the cab assembly line is provided with 5 stations, the 1 st station is a preparation station, the 2 nd, 3 rd and 4 th stations are working stations, the 4 th station is provided with 2 ground lifting devices, the 5 th station is a complete machine assembly line after the cab assembly is completed, the 1 st station is an unmanned station, and the 2 nd, 3 rd, 4 th and 5 th stations are manned stations.

10. The back-pack lift AGV system for a cab racking line of claim 1, wherein said cab racking line process route comprises the steps of:

4) Repeating step 2);

13 Each AGV repeats the above steps.