CN117842893A - Automatic feeding and discharging device based on AGV and automatic green ceramic chip transferring method - Google Patents
Automatic feeding and discharging device based on AGV and automatic green ceramic chip transferring method Download PDFInfo
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- CN117842893A CN117842893A CN202410032495.XA CN202410032495A CN117842893A CN 117842893 A CN117842893 A CN 117842893A CN 202410032495 A CN202410032495 A CN 202410032495A CN 117842893 A CN117842893 A CN 117842893A
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- 239000000919 ceramic Substances 0.000 title abstract description 15
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- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 238000001514 detection method Methods 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 5
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- 230000016776 visual perception Effects 0.000 description 2
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Abstract
The invention provides an automatic feeding and discharging device based on an AGV (automatic guided vehicle) and an automatic green ceramic chip transferring method, which belong to the technical field of transferring, and comprise an AGV body, a dragging mechanism and a lifting mechanism, wherein the dragging mechanism and the lifting mechanism are arranged on the AGV body, and the dragging mechanism comprises a supporting plate, a horizontal linear module arranged on the supporting plate and a dragging pin arranged on a horizontal sliding block of the horizontal linear module; the dragging pin is used for grabbing the material conveying tool. The lifting mechanism can drive the dragging mechanism to reach a designated height; wherein, elevating system's lift slide is connected in the relative both sides of backup pad. According to the automatic feeding and discharging device based on the AGV and the automatic green ceramic chip transferring method, provided by the invention, the automatic feeding and discharging device based on the AGV body design can automatically complete the process of feeding from a material taking area to a feeding area, so that the period of transferring materials is greatly reduced, the production efficiency is improved, and the labor intensity is reduced.
Description
Technical Field
The invention belongs to the technical field of transfer, and particularly relates to an automatic feeding and discharging device based on an AGV and an automatic green ceramic chip transfer method based on the AGV.
Background
The tool of the 6inch green ceramic chip production line is a basket-type tool, and the basket-type tool has the advantages of small occupied space, easy taking and placing, high taking and placing speed and the like in the production process, has irreplaceability in the 6inch green ceramic chip production line and is widely applied.
At present, the transport mode of basket of flowers frock is through the manual work with the basket of flowers that fills the material transport to the material loading end of workstation from the goods shelves, and in the material course of working, the material of processing passes through processing station, clean station, detection station from the material loading end of workstation and reaches the unloading end, and the manual work is carried the material to the goods shelves from the unloading end again, accomplishes the circulation of material at this workstation.
Disclosure of Invention
The embodiment of the invention provides an automatic feeding and discharging device based on an AGV and an automatic green ceramic chip transferring method based on the AGV, and aims to solve the problems of high labor intensity, long turnover time and low production efficiency of green ceramic chip production line tooling transferring.
In combination with the first aspect, in order to achieve the above object, the present invention adopts the following technical scheme: the utility model provides an automatic unloader that goes up based on AGV, include:
AGV body;
the dragging mechanism is arranged on the AGV body and comprises a supporting plate, a horizontal linear module arranged on the supporting plate and a dragging pin arranged on a horizontal sliding block of the horizontal linear module; the dragging pin is used for grabbing the material conveying tool; and
the lifting mechanism is arranged on the AGV body and can drive the dragging mechanism to reach a specified height; wherein, elevating sliding plates of the elevating mechanism are connected to two opposite sides of the supporting plate.
With reference to the first aspect, in one implementation manner, the dragging pin is a telescopic pin, and a dragging hole into which the telescopic pin is inserted is formed in the material conveying tool.
With reference to the first aspect, in an implementation manner, the dragging mechanism further includes guide plates symmetrically disposed on two sides of the horizontal linear module, and the guide plates can support the material conveying tool.
With reference to the first aspect, in one implementation manner, a guide step is disposed on a side, close to the horizontal linear module, of the guide plate, the guide step extends along a sliding direction of the horizontal slider, and an upper surface of the guide step is lower than an upper surface of the guide plate.
With reference to the first aspect, in one implementation manner, a roller is disposed on a side of the guiding step facing the horizontal linear module or on the guiding step, and the roller is used for supporting the material conveying tool.
With reference to the first aspect, in one implementation manner, the horizontal sliding block is provided with a dragging sliding plate, and the dragging pin is arranged at a dragging end of the dragging sliding plate; the dragging end of the dragging slide plate is provided with an in-place detection sensor, and the in-place detection sensor is used for detecting whether the material conveying tool is dragged in place.
With reference to the first aspect, in an implementation manner, the dragging mechanism further includes a limiting plate disposed on the guide plate, and the limiting plate may be pressed on the bottom plate of the dragging tool.
With reference to the first aspect, in one implementation manner, a reinforcing plate is disposed between the lifting slide plate and the supporting plate.
With reference to the first aspect, in one implementation manner, the lifting mechanism further includes a bracket symmetrically disposed on the AGV body and lifting linear modules symmetrically disposed on inner sides of the two brackets, and the lifting slide plate is disposed on a lifting slide block of the lifting linear module; the lower part of the bracket is provided with a shield, a control module is arranged in the shield, and a scram button and an operation panel are arranged on the shield; the side of guard shield still is provided with the camera.
In a second aspect, an embodiment of the present invention further provides an automatic green tile transferring method based on an AGV, where the method is characterized by using the automatic feeding and discharging device based on the AGV, and the method includes:
the AGV body reaches the material taking area according to a preset instruction;
judging whether a material conveying tool of the material taking area has materials or not;
if the material exists, the lifting mechanism adjusts the dragging mechanism to the material taking height according to the height position of the material conveying tool;
the dragging pin of the dragging mechanism is connected with the material conveying tool, and the material conveying tool is dragged to the AGV body;
after the material is taken, the AGV body reaches a feeding area according to a preset instruction;
judging the height position of the feeding station, and adjusting the height of the dragging mechanism by the lifting mechanism according to the feeding height position;
the dragging mechanism stretches out to push out the material conveying tool to the material loading station.
Compared with the prior art, the automatic feeding and discharging device based on the AGV and the automatic green ceramic chip transferring method have the beneficial effects that: the dragging mechanism and the lifting mechanism are integrated on the AGV body, and the dragging mechanism and the lifting mechanism can be driven to operate to the appointed position based on the flexible walking characteristic of the AGV body.
When the material is taken, the AGV body reaches a material taking area according to a preset instruction; judging whether a material conveying tool of the material taking area has materials or not; if the material exists, the lifting mechanism adjusts the dragging mechanism to the material taking height according to the height position of the material conveying tool; the dragging pin of the dragging mechanism extends out to drag the material conveying tool to the AGV body; after the material is taken, the AGV body runs to reach a feeding area according to a preset instruction; judging the height position of the feeding station, and adjusting the height of the dragging mechanism by the lifting mechanism according to the feeding height position; the dragging mechanism stretches out to push out the material conveying tool to the material loading station. This kind of automatic unloader that goes up based on AGV automobile body design can accomplish the process of getting to the material loading district material loading from getting the material district automatically, greatly reduced the cycle of transporting the material, promoted production efficiency, reduced intensity of labour.
Drawings
Fig. 1 is a schematic perspective view of an automatic feeding and discharging device based on an AGV according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a three-dimensional structure of an automatic feeding and discharging device based on an AGV according to an embodiment of the present invention;
fig. 3 is a schematic three-dimensional structure diagram of an automatic feeding and discharging device based on an AGV according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of an automatic feeding and discharging device based on an AGV according to an embodiment of the present invention (with a cover removed);
fig. 5 is a schematic perspective view of an automatic feeding and discharging device based on an AGV according to an embodiment of the present invention (with a shield removed);
fig. 6 is a schematic perspective view of a dragging mechanism and a material conveying tool of an automatic loading and unloading device based on an AGV according to an embodiment of the present invention;
fig. 7 is a schematic perspective view of a dragging mechanism of an automatic loading and unloading device based on an AGV according to an embodiment of the present invention;
fig. 8 is a schematic perspective view of a material transporting tool according to an embodiment of the present invention;
reference numerals illustrate:
1. a lifting mechanism; 101. a lifting slide plate; 102. a reinforcing plate; 2. a shield; 3. an emergency stop button; 4. a material conveying tool; 401. a drag hole; 5. AGV body; 6. a drag mechanism; 601. a support plate; 602. a guide plate; 603. a guide step; 604. a roller; 605. an in-place detection sensor; 606. a drag pin; 607. dragging the slide plate; 608. a limiting plate; 7. a camera; 8. an operation panel; 9. a control module; 10. and (5) balancing weights.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 8, an automatic feeding and discharging device based on an AGV according to the present invention will now be described. The automatic loading and unloading device based on the AGV comprises an AGV body 5; automatic guided vehicles (Automated Guided Vehicle, AGVs for short), also known as auto guided vehicles, auto guided vehicles.
The dragging mechanism 6 is arranged on the AGV body 5, and the dragging mechanism 6 comprises a support plate 601, a horizontal linear module arranged on the support plate 601 and a dragging pin arranged on a horizontal sliding block of the horizontal linear module; the drag pin is used for grabbing the material conveying tool 4.
The lifting mechanism 1 is arranged on the AGV body 5 and can drive the dragging mechanism 6 to reach a designated height; wherein the lifting slide 101 of the lifting mechanism 1 is connected to opposite sides of the support plate 601.
Compared with the prior art, the automatic feeding and discharging device based on the AGV and the automatic green ceramic chip transferring method have the beneficial effects that: the dragging mechanism 6 and the lifting mechanism 1 are integrated on the AGV body 5, and the dragging mechanism 6 and the lifting mechanism 1 can be driven to run to a designated position based on the flexible running characteristic of the AGV body 5.
When the material is taken, the AGV body 5 reaches a material taking area according to a preset instruction; judging whether a material exists in a material conveying tool 4 of the material taking area; if the material exists, the lifting mechanism 1 adjusts the dragging mechanism 6 to the material taking height according to the height position of the material conveying tool 4; the dragging pin of the dragging mechanism 6 stretches out to drag the material conveying tool 4 to the AGV body 5; after the material is taken, the AGV body 5 runs to reach a feeding area according to a preset instruction; judging the height position of a feeding station, and adjusting the height of a dragging mechanism 6 by the lifting mechanism 1 according to the feeding height position; the dragging mechanism 6 stretches out to push the material conveying tool 4 out of the material loading station. This kind of automatic unloader that goes up based on AGV automobile body 5 design can accomplish the process of getting to the material loading district material loading from getting the material district automatically, greatly reduced the cycle of transporting the material, promoted production efficiency, reduced intensity of labour.
For feeding and discharging raw ceramic chips, a plurality of layers of guide grooves for inserting the raw ceramic chips are arranged in the material conveying tool 4.
In some embodiments, as shown in fig. 7, the dragging pin 606 is a telescopic pin, and the material transporting tool 4 is provided with a dragging hole 401 into which the telescopic pin is inserted. The telescopic pin can realize telescopic operation in a mode of an air cylinder, a hydraulic cylinder or a linear push rod. When the material is taken out, the telescopic pin is retracted firstly, the horizontal sliding block drives the telescopic pin to continue to move towards the material conveying tool 4 until the telescopic pin coincides with the dragging hole 401 on the material conveying tool 4, and the telescopic pin can be inserted into the dragging hole 401 after extending out; the horizontal sliding block returns to drag the material conveying tool 4 to the horizontal linear module.
Alternatively, the dragging pin can be a pneumatic claw, and the grabbing material conveying tool 4 can also slide along the horizontal linear module.
The drag pin may be a fixed pin, and the drag pin may be inserted by the operation of the lifting mechanism and the horizontal slider. The working mode is as follows: the lifting mechanism drives the dragging mechanism to descend below the material conveying tool 4 to be used for taking materials, the in-place detection sensor 605 contacts a locating plate on the collision line side bin, the horizontal sliding block of the dragging mechanism withdraws backwards by a certain distance to enable the telescopic pin to just face the dragging hole on the material conveying tool 4, then the lifting mechanism drives the dragging mechanism to ascend, the telescopic pin can be inserted into the dragging hole and then the dragging material taking is carried out, and in the mode, the telescopic pin is a fixed pin and does not need telescopic action; the process is opposite during blanking.
In some embodiments, as shown in fig. 6 and 7, the dragging mechanism 6 further includes guide plates 602 symmetrically disposed on two sides of the horizontal linear module, and the guide plates 602 can support the material transporting tool 4. The two guide plates 602 are supported on two sides of the bottom of the material conveying tool 4, and are used for stably supporting and guiding the material conveying tool 4.
In some embodiments, as shown in fig. 6 and 7, a guide step 603 is disposed on one side of the guide plate 602 near the horizontal linear module, the guide step 603 extends along the sliding direction of the horizontal slider, and the upper surface of the guide step 603 is lower than the upper surface of the guide plate 602. The bottom both sides of fortune material frock 4 slide along direction step 603, can avoid fortune material frock 4 to the risk of side skew.
In some embodiments, as shown in fig. 6 and 7, a roller 604 is disposed on a side of the guiding step 603 facing the horizontal linear module or on the guiding step 603, and the roller 604 is used for supporting the material conveying tool 4. The material transporting tool 4 is supported on the roller 604, sliding friction is converted into rolling friction, and flexibility of movement of the material transporting tool 4 is improved.
In some embodiments, as shown in fig. 6 and 7, a drag slide 607 is provided on the horizontal slider, and a drag pin is provided at a drag end of the drag slide 607; the dragging end of the dragging slide 607 is provided with an in-place detection sensor 605, and the in-place detection sensor 605 is used for detecting whether the material conveying tool 4 is dragged in place. After the material conveying tool 4 is dragged to touch the in-place detection sensor 605, the horizontal linear module stops working, and the in-place detection sensor 605 is arranged, so that the accuracy of the position of the material conveying tool 4 on the dragging mechanism 6 can be realized.
In some embodiments, as shown in fig. 6 and 7, the dragging mechanism 6 further includes a limiting plate 608 disposed on the guiding plate 602, where the limiting plate 608 may be pressed on the bottom plate of the material transporting tool 4 that is dragged in place. Limiting plate 608 suppresses fortune material frock 4, carries out spacingly to fortune material frock 4 in upper and lower direction, avoids fortune material frock 4 to rock and causes the risk that drops of raw ceramic piece when going up and down.
In some embodiments, as shown in fig. 6 and 7, a reinforcing plate 102 is provided between the lifting slide 101 and the support plate 601. The dragging mechanism 6 needs to drag to go up and down through the lifting slide 101, sets up reinforcing plate 102, can guarantee to drag the fastness that mechanism 6 and lifting slide 101 are connected, promotes the stability that fortune material frock 4 goes up and down.
In order to ensure the traveling stability of the AGV body 5, a counterweight 10 may be provided on the support plate 601 according to actual conditions.
In some embodiments, as shown in fig. 1 to 5, the lifting mechanism 1 further includes a bracket symmetrically disposed on the AGV body 5 and a lifting linear module symmetrically disposed inside the two brackets, and the lifting slide 101 is disposed on a lifting slide of the lifting linear module; the lower part of the bracket is provided with a shield 2, a control module 9 is arranged in the shield 2, and the shield 2 is provided with an emergency stop button 3 and an operation panel 8; the side of the shield 2 is also provided with a camera 7. The in-place detection sensor 605, the material sensor, the lifting mechanism 1, the dragging mechanism 6, the camera 7 and other mechanisms or electric elements in the mechanisms are all connected with the control module 9. The material sensor may optionally be provided on the shield 2.
Specifically, the traveling direction of the AGV body 5 is set to be the front-rear direction, and cameras 7 are respectively arranged on the two shields 2 so as to be convenient for collecting the information of the front-rear road conditions; an operator can control the actions of the lifting mechanism 1 and the dragging mechanism 6 through the operation panel 8; the emergency stop button 3 can be used for various actions of the manual brake device in case of emergency.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Based on the same inventive concept, the embodiment of the application also provides an automatic green ceramic tile transferring method based on the AGV, and the automatic feeding and discharging device based on the AGV is utilized, and the method comprises the following steps:
the AGV body 5 reaches the material taking area according to a preset instruction;
judging whether the material conveying tool 4 in the material taking area has materials or not through a material sensor;
if the material exists, the lifting mechanism 1 adjusts the dragging mechanism 6 to the material taking height according to the height position of the material conveying tool 4;
the dragging pin 606 of the dragging mechanism 6 is connected with the material conveying tool 4 (or the dragging pin 606 is telescopically inserted into the dragging hole 401, or the dragging pin 606 is inserted into the dragging hole 401 through the action adjustment of the lifting mechanism 1 and the horizontal linear module), so that the material conveying tool 4 is dragged to the AGV body 5;
after the material is taken, the AGV body 5 reaches a feeding area according to a preset instruction;
judging the height position of the feeding station through a position sensor, and adjusting the height of the dragging mechanism 6 by the lifting mechanism 1 according to the feeding height position;
the dragging mechanism 6 stretches out to push the material conveying tool 4 out of the material loading station.
The AGV body is provided with a PLC controller and a visual perception system, and the PLC controller is respectively connected with a laser navigation device and a two-dimensional code reader; the TOF camera and the high-definition camera in the visual perception system are used for realizing accurate positioning, and acquiring the relative pose of the material conveying tool, namely the relative error of the material conveying tool and the position to be stacked (stacked goods and stacked goods). The signal line of the laser navigation device is connected with the Lan port of the PLC; and the two-dimensional code reader and the PLC are used for data transmission through CANopen.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. Automatic unloader that goes up based on AGV, its characterized in that includes:
an AGV body (5);
the dragging mechanism (6) is arranged on the AGV body (5), and the dragging mechanism (6) comprises a supporting plate (601), a horizontal linear module arranged on the supporting plate (601) and a dragging pin (606) arranged on a horizontal sliding block of the horizontal linear module; the dragging pin (606) is used for grabbing the material conveying tool (4); and
the lifting mechanism (1) is arranged on the AGV body (5) and can drive the dragging mechanism (6) to reach a specified height; wherein, the lifting slide plate (101) of the lifting mechanism (1) is connected to two opposite sides of the supporting plate (601).
2. The automatic loading and unloading device based on the AGV according to claim 1, wherein the dragging pin (606) is a telescopic pin, and the material transporting tool (4) is provided with a dragging hole (401) for inserting the telescopic pin (606).
3. The automatic loading and unloading device based on the AGV according to claim 1, wherein the dragging mechanism (6) further comprises guide plates (602) symmetrically arranged on two sides of the horizontal linear module, and the guide plates (602) can support the material conveying tool (4).
4. The automatic feeding and discharging device based on the AGV according to claim 3, wherein a guide step (603) is arranged on one side, close to the horizontal linear module, of the guide plate (602), the guide step (603) extends along the sliding direction of the horizontal sliding block, and the upper surface of the guide step (603) is lower than the upper surface of the guide plate (602).
5. The automatic loading and unloading device based on the AGV according to claim 4, wherein a roller (604) is arranged on one side of the guiding step (603) facing the horizontal linear module or on the guiding step (603), and the roller (604) is used for supporting the material conveying tool (4).
6. The automatic loading and unloading device based on the AGV according to claim 1, wherein a dragging slide plate (607) is arranged on the horizontal slide block, and the dragging pin (606) is arranged at the dragging end of the dragging slide plate (607); the dragging end of the dragging slide plate (607) is provided with an in-place detection sensor (605), and the in-place detection sensor (605) is used for detecting whether the material conveying tool (4) is dragged in place.
7. The automatic loading and unloading device based on the AGV according to claim 3, wherein the dragging mechanism (6) further comprises a limiting plate (608) arranged on the guide plate (602), and the limiting plate (608) can be pressed on the bottom plate of the material transporting tool (4) dragged in place.
8. The automatic loading and unloading device based on the AGV according to claim 1, wherein a reinforcing plate (102) is arranged between the lifting slide plate (101) and the supporting plate (601).
9. The automatic loading and unloading device based on the AGV according to claim 1, wherein the lifting mechanism (1) further comprises a bracket symmetrically arranged on the AGV body (5) and lifting linear modules symmetrically arranged on the inner sides of the two brackets, and the lifting slide plate (101) is arranged on a lifting slide block of the lifting linear modules; the lower part of the bracket is provided with a shield (2), a control module (9) is arranged in the shield (2), and an emergency stop button (3) and an operation panel (8) are arranged on the shield (2); the side of the shield (2) is also provided with a camera (7).
10. An automatic green tile transferring method based on an AGV, wherein the automatic green tile feeding and discharging device based on the AGV according to any one of claims 1 to 9 is used, and the method comprises the following steps:
the AGV body (5) reaches the material taking area according to a preset instruction;
judging whether a material conveying tool (4) in the material taking area has materials or not;
if the material exists, the lifting mechanism (1) adjusts the dragging mechanism (6) to the material taking height according to the height position of the material conveying tool (4);
a dragging pin (606) of the dragging mechanism (6) is connected with the material conveying tool (4), and the material conveying tool (4) is dragged to the AGV body (5);
after the material is taken, an AGV body (5) reaches a feeding area according to a preset instruction;
judging the height position of a feeding station, and adjusting the height of a dragging mechanism (6) by a lifting mechanism (1) according to the feeding height position;
the dragging mechanism (6) stretches out to push out the material conveying tool (4) to the material loading station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410032495.XA CN117842893A (en) | 2024-01-09 | 2024-01-09 | Automatic feeding and discharging device based on AGV and automatic green ceramic chip transferring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410032495.XA CN117842893A (en) | 2024-01-09 | 2024-01-09 | Automatic feeding and discharging device based on AGV and automatic green ceramic chip transferring method |
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| Publication Number | Publication Date |
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| CN117842893A true CN117842893A (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410032495.XA Pending CN117842893A (en) | 2024-01-09 | 2024-01-09 | Automatic feeding and discharging device based on AGV and automatic green ceramic chip transferring method |
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| Country | Link |
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| CN (1) | CN117842893A (en) |
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- 2024-01-09 CN CN202410032495.XA patent/CN117842893A/en active Pending
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