CN117509182A - Automatic feeding and discharging stacking production line adopting AGV trolley for transferring and production method thereof - Google Patents
Automatic feeding and discharging stacking production line adopting AGV trolley for transferring and production method thereof Download PDFInfo
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- CN117509182A CN117509182A CN202311614892.XA CN202311614892A CN117509182A CN 117509182 A CN117509182 A CN 117509182A CN 202311614892 A CN202311614892 A CN 202311614892A CN 117509182 A CN117509182 A CN 117509182A
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- conveyor belt
- agv
- agv trolley
- transfer path
- manipulator
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 59
- 238000007599 discharging Methods 0.000 title abstract description 8
- 239000000463 material Substances 0.000 claims abstract description 197
- 238000012546 transfer Methods 0.000 claims abstract description 83
- 238000012545 processing Methods 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 16
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 13
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 13
- 241001330002 Bambuseae Species 0.000 claims abstract description 13
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 13
- 239000011425 bamboo Substances 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 230000003028 elevating effect Effects 0.000 claims description 9
- 239000003381 stabilizer Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 4
- 239000002994 raw material Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 239000007858 starting material Substances 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 2
- 239000002023 wood Substances 0.000 abstract description 8
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention provides an automatic feeding and discharging stacking production line adopting AGV trolley transfer and a production method thereof, wherein the automatic feeding and discharging stacking production line comprises a PLC, a wireless communication link, a linear conveyor belt for conveying materials, an AGV trolley and a feeding manipulator positioned at the initial end of the production line, and an AGV transfer path is parallel to the conveyor belt; a vehicle inlet and outlet travel switch is arranged at the initial end of the transfer path; a plurality of photoelectric sensors which are arranged along a straight line and used for detecting whether materials exist beside the conveyor belt or not are arranged at the beginning end of the conveyor belt; the top of the AGV trolley is provided with lifting equipment for lifting the material rack; when the AGV trolley triggers the car inlet and outlet travel switch, the AGV trolley makes a plurality of round trips to continuously put a plurality of material frames along the transfer path, and when the material to be processed triggers all the photoelectric sensors, the material to be processed is transferred to the conveyor belt by the feeding manipulator and is sent to processing equipment in the middle of the production line for processing by the conveyor belt; the material transfer flow is optimized for the uncertain processing time of the bamboo and wood products, and can be compatible in terms of production time sequence.
Description
Technical Field
The invention relates to the technical field of bamboo and wood product processing, in particular to an automatic feeding and discharging stacking production line adopting AGV trolley transportation and a production method thereof.
Background
Because the bamboo and wood products of complex structure are complicated in process, manual operation is sometimes needed, the processing process often takes more time, the processing time of each bamboo and wood product is uncertain, when the materials of the processing process are conveyed by a conveyor belt, the conveyor belt can be stopped for waiting for the completion of the processing of the materials, the difficulty is brought to the material transfer design of an automatic production line based on the conveyor belt, and if the conveyor belt is integrated with a specially designed material transfer structure, the equipment cost is increased.
AGV dolly can be used to carry the material, consequently if can with the production time sequence cooperation of automatic production line based on the conveyer belt, can bring great facility for the material transportation of production line, also can effective control production line equipment cost.
Disclosure of Invention
The invention provides an automatic feeding and discharging stacking production line adopting AGV trolley transfer and a production method thereof, which can be used for material transfer of a conveyor belt-based automatic bamboo and wooden ware production line, and the transfer flow can be compatible in terms of production time sequence aiming at the uncertain processing time of bamboo and wooden ware.
The invention adopts the following technical scheme.
The automatic feeding and discharging stacking production line for transferring AGV trolleys comprises a PLC, a wireless communication link, a linear conveyor belt for conveying materials, the AGV trolleys and a feeding manipulator located at the initial end of the production line, wherein a transfer path for the AGV trolleys to travel is located beside the conveyor belt and parallel to the conveyor belt; a vehicle inlet and outlet travel switch is arranged at the initial end of the transfer path; a plurality of photoelectric sensors which are arranged along a straight line and used for detecting whether materials exist beside the conveyor belt or not are arranged at the beginning end of the conveyor belt; the AGV small roof is provided with lifting equipment for lifting the material rack; after the AGV dolly that has the material frame gets into the transfer path and triggers car and import travel switch, the AGV dolly makes a round trip many times in order to put a plurality of material frames in succession along the transfer path, after the material that waits to process at material frame top triggers all photoelectric sensor, production line start material loading manipulator and conveyer belt, transfer the material to conveyer belt department to the processing equipment at production line middle part is carried by the conveyer belt and is processed.
A stacking manipulator for taking out and stacking finished products is arranged at the tail end of the production line; the tail end of the transfer path is provided with a vehicle rear end limit switch; the quantity of the materials which can be placed by the material rack is a fixed value; the AGV uses the starting point of the transfer path, continuously places a plurality of material frames along the transfer path to trigger all the photoelectric sensors, and the number of the material frames required by all the photoelectric sensors is also a fixed value; when the material on each material rack is transferred to the conveyor belt by the material loading manipulator, the AGV trolley obtains the material loading times of the material loading manipulator through the wireless communication link to judge whether the material rack is empty or not, and conveys the empty material rack to the tail end of the transfer path, and the stacking manipulator takes out finished products processed by the production line from the conveyor belt and stacks the finished products on the material rack at the tail end of the transfer path.
The finished product quantity that the material frame can put is the fixed value, and when the finished product of pile up neatly manipulator conveying belt department pile up neatly in the material frame, AGV dolly judges according to pile up neatly number of times of pile up neatly manipulator whether the material frame has been fully filled with the finished product to transport the material frame of full load finished product to the finished product storehouse.
The PLC positions a material frame according to a shot image of a feeding port at the starting end of a transfer path by the camera and controls the feeding manipulator to suck the material to be processed, and a pressure sensor for measuring the bearing load of the sucker is arranged at the sucker; the pressure sensor is connected with the PLC, and when the load carried by the sucker measured by the pressure sensor is smaller than a threshold value, the PLC judges that the sucker cannot reliably transfer materials to the conveyor belt and sends manual intervention request information to a manager at a far end.
The material to be processed at the top of the material frame is a wooden device or a bamboo device with complex appearance; after receiving the manual intervention request information of the PLC, a manager at a far end observes the material to be processed through the camera by a wireless communication link and remotely controls the feeding manipulator to transfer the material to be processed to the conveyor belt.
The material frame is the rectangle frame that possesses four stabilizer blades, and the stabilizer blade height of material frame is greater than the AGV dolly, AGV dolly roof portion is equipped with the elevating system that can lift the material frame, and when carrying the material frame, the AGV dolly drills into material frame bottom to elevating system lifts the material frame and goes, reaches the destination after, elevating system descends and makes the material frame place on the ground.
The stacking manipulator is a gantry manipulator supported by a truss; the AGV trolley stops running when the AGV trolley linearly runs from the starting end of the transfer path to the triggering vehicle rear end limit switch, and the lifting mechanism descends to place the material frame at the discharge hole below the truss and drills out from the lower part of the material frame; the gantry manipulator positions the material rack at the discharge port according to the camera at the truss and stacks the finished product on the empty material rack.
When the processing equipment processes materials, the conveying surface of the conveyor belt stops moving, the time period of the conveying surface is not less than 20 seconds, and the processing equipment comprises automatic processing equipment, semi-automatic processing equipment or manual processing stations.
When the AGV trolley takes the starting end of the transfer path as the starting point, after two material frames are continuously placed along the transfer path, all photoelectric sensors at the starting end of the conveyor belt are triggered, and the PLC judges that enough materials to be processed are placed at the feeding port.
Adopt the automatic production method of going up unloading pile up neatly production line that AGV dolly was transported, adopt the automatic unloading pile up neatly production line that goes up that adopts AGV dolly to transport of claim 3, its characterized in that: comprises the following steps of;
s1, carrying a material frame to a feeding port at the beginning end of a transfer path by an AGV trolley, wherein the round trip times are not less than two times until all photoelectric sensors at the beginning end of a conveyor belt are triggered, and judging that enough materials to be processed are placed at the feeding port by a PLC;
s2, starting a feeding manipulator by a PLC; transferring the materials to be processed on the material rack at the feeding port to a conveyor belt, and starting the conveyor belt at the same time;
s3, acquiring the feeding times of a feeding manipulator by the AGV through a wireless communication link, judging whether a material frame for empty materials exists at a feeding port, and conveying the empty material frame to the tail end of a transfer path for placing finished products by a stacking manipulator;
s4, acquiring stacking action times of a stacking manipulator by the AGV through a wireless communication link, judging whether a material frame filled with finished products exists at a discharge port, conveying the material frame filled with the finished products to an external finished product warehouse, and returning to the discharge port again;
and S4, after all the material racks at the AGV trolley feeding port are conveyed to the tail end of the transfer path, the PLC judges that the current processing batch of the production line is fed, and the material racks carrying materials to be processed at the AGV trolley raw material warehouse are conveyed to the feeding port for the next processing batch of the production line.
According to the invention, the AGV trolley is adopted to transfer materials and finished products, so that a plurality of material racks can be placed at a feeding port at one time, the uncertain factors of the processing time length in the bamboo and wood product processing process can be compatible, the production time sequence compatibility of feeding and finished product warehousing is better, and meanwhile, the AGV trolley and the original structure of the conveyor belt are mutually independent, so that the conveyor belt does not need to be greatly modified, and the equipment modification cost is greatly saved.
The invention adopts the sucker to pick up the material, thereby avoiding damage to the surface of the fine bamboo and wood products, and simultaneously, in order to prevent the sucker from being unable to reliably absorb due to the irregularity of the surface of the bamboo and wood products, the invention also determines the load carried by the sucker through the pressure sensor to judge whether the sucker can reliably pick up the current material, and timely introduces manual intervention according to the judgment result, thereby avoiding damage to the fine bamboo and wood products to the greatest extent in the production process.
According to the invention, the AGV trolley transfers the material rack through the transfer path parallel to the conveyor belt, so that the transfer time is greatly saved, the AGV trolley is easy to manage and control by field personnel, and the AGV trolley can be matched with the conveyor belt well to achieve better reliability.
According to the invention, as the AGV trolley is integrated with the camera and the photoelectric sensor for avoiding the obstacle, the AGV trolley traveling paths of the finished product warehouse and the raw material warehouse outside the transfer path beside the conveyor belt can be flexibly scheduled by using the genetic intelligent algorithm to form the AGV trolley scheduling algorithm according to the obstacle distribution among the warehouse and each processing machine position, and the compatibility of the AGV trolley traveling paths on the production site is better.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of the principles of the present invention;
FIG. 3 is a schematic illustration of the present invention;
in the figure: 1-a lifting mechanism; 2-a feeding manipulator; 3-a conveyor belt; 4-processing equipment; 5-stacking mechanical arms; 6-truss; 7, a material rack; 8-a photosensor; 9-AGV dolly.
Detailed Description
As shown in the figure, an automatic feeding and discharging stacking production line adopting AGV trolley transfer is adopted, the production line comprises a PLC, a wireless communication link, a linear conveyor belt 3 for conveying materials, an AGV trolley 9 and a feeding manipulator 2 positioned at the initial end of the production line, and a transfer path of the AGV trolley is positioned beside the conveyor belt and parallel to the conveyor belt; a vehicle inlet and outlet travel switch is arranged at the initial end of the transfer path; a plurality of photoelectric sensors 8 which are arranged along a straight line and used for detecting whether materials exist beside the conveyor belt or not are arranged at the beginning end of the conveyor belt; the AGV small roof is provided with lifting equipment for lifting the material rack; after the AGV dolly that has the material frame gets into the transfer path and triggers car access travel switch, the AGV dolly makes a round trip many times in order to put a plurality of material frames in succession along the transfer path, after the material that waits to process at material frame top triggers all photoelectric sensor, production line start material loading manipulator and conveyer belt, transfer the material to conveyer belt department to process by the processing equipment 4 at conveyer belt to the production line middle part.
The tail end of the production line is provided with a stacking manipulator 5 for taking out and stacking finished products; the tail end of the transfer path is provided with a vehicle rear end limit switch; the quantity of the materials which can be placed by the material rack is a fixed value; the AGV uses the starting point of the transfer path, continuously places a plurality of material frames along the transfer path to trigger all the photoelectric sensors, and the number of the material frames required by all the photoelectric sensors is also a fixed value; when the material on each material rack is transferred to the conveyor belt by the material loading manipulator, the AGV trolley obtains the material loading times of the material loading manipulator through the wireless communication link to judge whether the material rack is empty or not, and conveys the empty material rack to the tail end of the transfer path, and the stacking manipulator takes out finished products processed by the production line from the conveyor belt and stacks the finished products on the material rack at the tail end of the transfer path.
The finished product quantity that the material frame can put is the fixed value, and when the finished product of pile up neatly manipulator conveying belt department pile up neatly in the material frame, AGV dolly judges according to pile up neatly number of times of pile up neatly manipulator whether the material frame has been fully filled with the finished product to transport the material frame of full load finished product to the finished product storehouse.
The PLC positions a material frame according to a shot image of a feeding port at the starting end of a transfer path by the camera and controls the feeding manipulator to suck the material to be processed, and a pressure sensor for measuring the bearing load of the sucker is arranged at the sucker; the pressure sensor is connected with the PLC, and when the load carried by the sucker measured by the pressure sensor is smaller than a threshold value, the PLC judges that the sucker cannot reliably transfer materials to the conveyor belt and sends manual intervention request information to a manager at a far end.
The material to be processed at the top of the material frame is a wooden device or a bamboo device with complex appearance; after receiving the manual intervention request information of the PLC, a manager at a far end observes the material to be processed through the camera by a wireless communication link and remotely controls the feeding manipulator to transfer the material to be processed to the conveyor belt.
The material frame is the rectangle frame that possesses four stabilizer blades, and the stabilizer blade height of material frame is greater than the AGV dolly, AGV dolly roof portion is equipped with elevating system 1 that can lift the material frame, and when carrying the material frame, the AGV dolly drills into material frame bottom to elevating system lifts the material frame and goes, reaches the destination after, elevating system descends and makes the material frame place on the ground.
The stacking manipulator is a gantry manipulator supported by a truss 6; the AGV trolley stops running when the AGV trolley linearly runs from the starting end of the transfer path to the triggering vehicle rear end limit switch, and the lifting mechanism descends to place the material frame at the discharge hole below the truss and drills out from the lower part of the material frame; the gantry manipulator positions the material rack at the discharge port according to the camera at the truss and stacks the finished product on the empty material rack.
When the processing equipment processes materials, the conveying surface of the conveyor belt stops moving, the time period of the conveying surface is not less than 20 seconds, and the processing equipment comprises automatic processing equipment, semi-automatic processing equipment or manual processing stations.
When the AGV trolley takes the starting end of the transfer path as the starting point, after two material frames are continuously placed along the transfer path, all photoelectric sensors at the starting end of the conveyor belt are triggered, and the PLC judges that enough materials to be processed are placed at the feeding port.
Adopt the automatic production method of going up unloading pile up neatly production line that AGV dolly was transported, adopt the automatic unloading pile up neatly production line that goes up that adopts AGV dolly to transport of claim 3, its characterized in that: comprises the following steps of;
s1, carrying a material frame to a feeding port at the beginning end of a transfer path by an AGV trolley, wherein the round trip times are not less than two times until all photoelectric sensors at the beginning end of a conveyor belt are triggered, and judging that enough materials to be processed are placed at the feeding port by a PLC;
s2, starting a feeding manipulator by a PLC; transferring the materials to be processed on the material rack at the feeding port to a conveyor belt, and starting the conveyor belt at the same time;
s3, acquiring the feeding times of a feeding manipulator by the AGV through a wireless communication link, judging whether a material frame for empty materials exists at a feeding port, and conveying the empty material frame to the tail end of a transfer path for placing finished products by a stacking manipulator;
s4, acquiring stacking action times of a stacking manipulator by the AGV through a wireless communication link, judging whether a material frame filled with finished products exists at a discharge port, conveying the material frame filled with the finished products to an external finished product warehouse, and returning to the discharge port again;
and S4, after all the material racks at the AGV trolley feeding port are conveyed to the tail end of the transfer path, the PLC judges that the current processing batch of the production line is fed, and the material racks carrying materials to be processed at the AGV trolley raw material warehouse are conveyed to the feeding port for the next processing batch of the production line.
In this example, the AGV dolly stores the route of traveling, when the AGV dolly uses the transfer route top as the starting point, when putting the material frame in succession along the transfer route to the size of material frame in aspect of length, width is as the route reference, so that the material frame of putting can arrange without interval in succession.
In this example, the camera of material loading manipulator department is located sucking disc and manipulator's junction portion department, and when carrying out manual intervention, the operator changes the field of vision of camera through the removal of material loading manipulator to select reasonable suction position at the material top.
Claims (10)
1. Adopt automatic unloading pile up neatly production line of going up of AGV dolly transportation, its characterized in that: the production line comprises a PLC, a wireless communication link, a linear conveyor belt for conveying materials, an AGV trolley and a feeding manipulator positioned at the initial end of the production line, wherein a transfer path traveled by the AGV trolley is positioned beside the conveyor belt and parallel to the conveyor belt; a vehicle inlet and outlet travel switch is arranged at the initial end of the transfer path; a plurality of photoelectric sensors which are arranged along a straight line and used for detecting whether materials exist beside the conveyor belt or not are arranged at the beginning end of the conveyor belt; the AGV small roof is provided with lifting equipment for lifting the material rack; after the AGV dolly that has the material frame gets into the transfer path and triggers car and import travel switch, the AGV dolly makes a round trip many times in order to put a plurality of material frames in succession along the transfer path, after the material that waits to process at material frame top triggers all photoelectric sensor, production line start material loading manipulator and conveyer belt, transfer the material to conveyer belt department to the processing equipment at production line middle part is carried by the conveyer belt and is processed.
2. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley according to claim 1, wherein: a stacking manipulator for taking out and stacking finished products is arranged at the tail end of the production line; the tail end of the transfer path is provided with a vehicle rear end limit switch; the quantity of the materials which can be placed by the material rack is a fixed value; the AGV uses the starting point of the transfer path, continuously places a plurality of material frames along the transfer path to trigger all the photoelectric sensors, and the number of the material frames required by all the photoelectric sensors is also a fixed value; when the material on each material rack is transferred to the conveyor belt by the material loading manipulator, the AGV trolley obtains the material loading times of the material loading manipulator through the wireless communication link to judge whether the material rack is empty or not, and conveys the empty material rack to the tail end of the transfer path, and the stacking manipulator takes out finished products processed by the production line from the conveyor belt and stacks the finished products on the material rack at the tail end of the transfer path.
3. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley according to claim 2, wherein: the finished product quantity that the material frame can put is the fixed value, and when the finished product of pile up neatly manipulator conveying belt department pile up neatly in the material frame, AGV dolly judges according to pile up neatly number of times of pile up neatly manipulator whether the material frame has been fully filled with the finished product to transport the material frame of full load finished product to the finished product storehouse.
4. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley according to claim 2, wherein: the PLC positions a material frame according to a shot image of a feeding port at the starting end of a transfer path by the camera and controls the feeding manipulator to suck the material to be processed, and a pressure sensor for measuring the bearing load of the sucker is arranged at the sucker; the pressure sensor is connected with the PLC, and when the load carried by the sucker measured by the pressure sensor is smaller than a threshold value, the PLC judges that the sucker cannot reliably transfer materials to the conveyor belt and sends manual intervention request information to a manager at a far end.
5. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley of claim 4, wherein: the material to be processed at the top of the material frame is a wooden device or a bamboo device with complex appearance; after receiving the manual intervention request information of the PLC, a manager at a far end observes the material to be processed through the camera by a wireless communication link and remotely controls the feeding manipulator to transfer the material to be processed to the conveyor belt.
6. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley according to claim 2, wherein: the material frame is the rectangle frame that possesses four stabilizer blades, and the stabilizer blade height of material frame is greater than the AGV dolly, AGV dolly roof portion is equipped with the elevating system that can lift the material frame, and when carrying the material frame, the AGV dolly drills into material frame bottom to elevating system lifts the material frame and goes, reaches the destination after, elevating system descends and makes the material frame place on the ground.
7. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley of claim 6, wherein: the stacking manipulator is a gantry manipulator supported by a truss; the AGV trolley stops running when the AGV trolley linearly runs from the starting end of the transfer path to the triggering vehicle rear end limit switch, and the lifting mechanism descends to place the material frame at the discharge hole below the truss and drills out from the lower part of the material frame; the gantry manipulator positions the material rack at the discharge port according to the camera at the truss and stacks the finished product on the empty material rack.
8. The automated loading and unloading palletizing line employing the transfer of an AGV trolley of claim 3, wherein: when the processing equipment processes materials, the conveying surface of the conveyor belt stops moving, the time period of the conveying surface is not less than 20 seconds, and the processing equipment comprises automatic processing equipment, semi-automatic processing equipment or manual processing stations.
9. The automated loading and unloading palletizing line adopting the transfer of the AGV trolley according to claim 2, wherein: when the AGV trolley takes the starting end of the transfer path as the starting point, after two material frames are continuously placed along the transfer path, all photoelectric sensors at the starting end of the conveyor belt are triggered, and the PLC judges that enough materials to be processed are placed at the feeding port.
10. Adopt the automatic production method of going up unloading pile up neatly production line that AGV dolly was transported, adopt the automatic unloading pile up neatly production line that goes up that adopts AGV dolly to transport of claim 3, its characterized in that: comprises the following steps of;
s1, carrying a material frame to a feeding port at the beginning end of a transfer path by an AGV trolley, wherein the round trip times are not less than two times until all photoelectric sensors at the beginning end of a conveyor belt are triggered, and judging that enough materials to be processed are placed at the feeding port by a PLC;
s2, starting a feeding manipulator by a PLC; transferring the materials to be processed on the material rack at the feeding port to a conveyor belt, and starting the conveyor belt at the same time;
s3, acquiring the feeding times of a feeding manipulator by the AGV through a wireless communication link, judging whether a material frame for empty materials exists at a feeding port, and conveying the empty material frame to the tail end of a transfer path for placing finished products by a stacking manipulator;
s4, acquiring stacking action times of a stacking manipulator by the AGV through a wireless communication link, judging whether a material frame filled with finished products exists at a discharge port, conveying the material frame filled with the finished products to an external finished product warehouse, and returning to the discharge port again;
and S4, after all the material racks at the AGV trolley feeding port are conveyed to the tail end of the transfer path, the PLC judges that the current processing batch of the production line is fed, and the material racks carrying materials to be processed at the AGV trolley raw material warehouse are conveyed to the feeding port for the next processing batch of the production line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311614892.XA CN117509182A (en) | 2023-11-29 | 2023-11-29 | Automatic feeding and discharging stacking production line adopting AGV trolley for transferring and production method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311614892.XA CN117509182A (en) | 2023-11-29 | 2023-11-29 | Automatic feeding and discharging stacking production line adopting AGV trolley for transferring and production method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117509182A true CN117509182A (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311614892.XA Pending CN117509182A (en) | 2023-11-29 | 2023-11-29 | Automatic feeding and discharging stacking production line adopting AGV trolley for transferring and production method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117509182A (en) |
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2023
- 2023-11-29 CN CN202311614892.XA patent/CN117509182A/en active Pending
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