CN209852154U - Mecanum self-navigation automatic material exchange system - Google Patents
Mecanum self-navigation automatic material exchange system Download PDFInfo
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- CN209852154U CN209852154U CN201920677346.3U CN201920677346U CN209852154U CN 209852154 U CN209852154 U CN 209852154U CN 201920677346 U CN201920677346 U CN 201920677346U CN 209852154 U CN209852154 U CN 209852154U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model belongs to the technical field of material exchange, in particular to a Mecanum self-navigation automatic material exchange system, which comprises an AGV transportation platform car and an automatic double-push-pull conveying device, material/mould bears the tray, AGV transportation platform car includes the frame, the drive train is installed to the frame, the drive train is equipped with the train and hangs the module, the train hangs the module including hanging hydro-cylinder and lifting guide, be equipped with control box and on-vehicle computer on the frame, the downside of frame is equipped with visual sensor, V type guide pulley and location couple are installed to the frame, the supporting V type piece that is equipped with of V type guide pulley, the supporting ground positioner that is equipped with of location couple, ground positioner is connected with a plurality of gaskets, install the battery in the frame, the battery is connected with the interface that charges, the interface accordant connection that charges has the electric pile, automatic two push-and-pull conveyor install on the frame, automatic two push-and-.
Description
Technical Field
The utility model belongs to the technical field of the material exchange, concretely relates to mecanum is from automatic material exchange system that navigates.
Background
At present, in the production fields of manufacturers of automobiles, household appliances and the like, due to the fact that products are rapidly updated, upgraded and replaced, the types and specifications of corresponding materials and molds are continuously increased, meanwhile, in order to meet the mode of single-piece small-batch production, the turnover frequency of materials, molds and material trays in the manufacturing field is increased day by day, the materials, the molds and the material trays are limited by field layout and space, the channels of a working place are busy, and the improvement of safety and efficiency becomes the core pain point of field improvement day by day.
Automatic die changing and material conveying systems in a press by automobile and household appliance manufacturers are mature in mode, structure and application at present, but an automatic or less-manual application mode is not mature at present in an offline exchange system from a die preparation area to a die changing and material changing trolley (device) at a press end and a die (material tray) after die changing and material changing returns to a die preparation area.
The current mainstream operation mode is that the personnel operating the special equipment must be strictly and professionally trained by lifting a travelling crane or transferring the equipment by using a forklift, on one hand, the personnel need to be certified to go on duty, the willingness of the personnel to operate is reduced year by year, and the problem of insufficient personnel is faced; on the other hand, production fields are often provided with more devices and limited space, and meanwhile, the production fields cannot synchronously cross operation and cannot meet the requirements of efficiency and rhythm due to the uniqueness or interference of operation channels. On the actual operation scene, it is not enough to be restrained by the personnel, and the skill is not enough, and the space is limited, factors such as time are urgent, on-the-spot safety risk greatly increased, and the operating efficiency promotes the difficulty, and cross interference causes waiting and waste, leads to the cost also to be difficult to last or effectual reduction.
Although some trackless transfer trolleys operate at present, the structure of the existing trolley is relatively backward, the function is single, the trolley is only used as a transfer carrier in a workshop, manual control operation is needed, traction and exchange work of a mould (material) cannot be completed automatically, and the trolley is also matched with a forklift or a travelling crane.
Automatic guide transport trolley (hereinafter referred to as AGV) is also adopted in some production workshops with higher automation degree, but the load of the current AGV transfer trolley is mostly smaller, the heavy load working condition cannot be met, and the AGV transfer trolley is only used as a transfer carrier in the workshop, and all functions of multi-point accurate butt joint, positioning, carrying, conveying and the like cannot be met. There is still no suitable system solution in the field where heavy-duty, fully automated docking exchanges are required.
SUMMERY OF THE UTILITY MODEL
To the problem that the above-mentioned background art provided, the utility model aims at: aims to provide a Mecanum self-navigation automatic material exchange system. In order to realize the technical purpose, the utility model discloses a technical scheme as follows:
a Mecanum self-navigation automatic material exchange system comprises an AGV transportation platform car, an automatic double-push-pull conveying device and a material/mold bearing tray, wherein the AGV transportation platform car comprises a frame, a driving wheel system is mounted on the frame, the driving wheel system is provided with a wheel system suspension module, the wheel system suspension module comprises a suspension oil cylinder and a lifting guide rail, a control box and a vehicle-mounted computer are arranged on the frame, a vision sensor is arranged at the lower side of the frame, an area protection system is arranged on the frame and comprises an area scanner, a safety protection contact edge and an emergency stop switch, a V-shaped guide wheel and a positioning hook are mounted on the frame, a V-shaped block is arranged on the V-shaped guide wheel in a matching manner, a ground positioning device is arranged on the positioning hook in a matching manner, the ground positioning device is connected with a plurality of gaskets, a battery is mounted in the, the automatic double-push-pull conveying device comprises a push-pull power mechanism and a push-pull track, wherein the push-pull track is provided with a front deceleration/stop position detection assembly, a rear deceleration/stop position detection assembly and a back hook detection assembly, the push-pull track is provided with a push-pull hook and an unhooking assembly, and the material/mold bearing tray is provided with a stop block.
Further, the area scanner is provided with two opposite angles which are respectively mounted on the vehicle frame.
Further limited, the emergency stop switch is installed on the periphery of the frame.
The utility model has the advantages that:
1. in the system, a vision sensor is selected by an automatic navigation AGV of the Mecanum vehicle, and the whole automatic operation between the whole stations can be realized by presetting a ground navigation track;
2. the adoption of the Mecanum wheel structure can meet the requirements that the AGV automatic navigation material changing moving trolley carries materials/molds to move back and forth, and can also meet the requirements that the AGV automatic navigation material changing moving trolley rotates freely in a limited area space at 360 degrees in situ, and the combination transverse moving and oblique moving effects of the wheel train are better;
3. through an automatic telescopic charging mode that a cylinder on the charging pile is matched with a charging contact, a pull wire for a chargeable position does not need to be found manually, and the charging is safe, stable and reliable;
4. the utility model provides the high space utilization in mill's workshop promotes exchange speed, reduces invalid machine halt stand-by time, and improve equipment's use and switching efficiency realize that mould exchange and storage system's automation is connected, promote the automatic level of mill.
Drawings
The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic diagram of a front view of an embodiment of a Mecanum self-navigation automatic material exchange system according to the present invention;
FIG. 2 is a schematic left-side view of an embodiment of a Mecanum self-navigation automatic material exchange system according to the present invention;
FIG. 3 is a schematic diagram of a top view of an embodiment of a Mecanum self-navigation automatic material exchange system of the present invention;
FIG. 4 is a schematic structural diagram of an AGV transportation platform in an embodiment of the Mecanum self-navigation automatic material exchange system of the present invention;
FIG. 5 is a schematic diagram of a material/mold carrying tray in an embodiment of a Mecanum self-navigation automatic material exchange system of the present invention;
fig. 6 is a schematic structural diagram of an automatic dual push-pull conveyor according to an embodiment of the mecanum self-navigation automatic material exchange system of the present invention;
FIG. 7 is a schematic diagram of a wheel train suspension module in an embodiment of a Mecanum self-navigation automatic material exchange system of the present invention;
FIG. 8 is a schematic diagram of a charging state in an embodiment of a Mecanum self-navigation automatic material exchange system of the present invention;
FIG. 9 is a block diagram of an embodiment of a Mecanum self-navigation automatic material exchange system according to the present invention;
fig. 10 is a schematic view illustrating a feeding and discharging flow of an embodiment of the mecanum self-navigation automatic material exchange system of the present invention;
the main element symbols are as follows:
the device comprises a frame 1, a control box 2, a vehicle-mounted computer 3, a material/mold bearing tray 4, a stop block 41, an emergency stop switch 5, a safety protection contact edge 6, a vision sensor 7, a driving gear train 8, a gear train suspension module 8-1, a suspension oil cylinder 8-2, a lifting guide rail 8-3, an area scanner 9, a guide assembly 10, a bearing group 11, a V-shaped guide wheel 18, a positioning hook 19, a charging interface 20, a ground positioning device 21, a gasket 211, a push-pull power mechanism 22, a rear deceleration/stop position detection assembly 23, a front deceleration/stop position detection assembly 24, a back hook detection assembly 25, a push-pull rail 26, a push-pull hook 27, a charging pile 31, a charging contact 32, an air cylinder 33 and a tray detection assembly 35.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below with reference to the accompanying drawings and examples.
As shown in fig. 1-8, the utility model discloses a mecanum self-navigation automatic material exchange system, which comprises an AGV transport platform car, an automatic double push-pull conveyor, a material/mold carrying tray 40, the AGV transport platform car comprises a frame 1, the frame 1 is provided with a drive wheel train 8, the drive wheel train 8 is provided with a wheel train suspension module 8-1, the wheel train suspension module 8-1 comprises a suspension cylinder 8-2 and a lifting guide rail 8-3, the frame 1 is provided with a control box 2 and an on-board computer 3, the lower side of the frame 1 is provided with a vision sensor 7, the frame 1 is provided with an area protection system, the area protection system comprises an area scanner 9, a safety protection contact edge 6 and an emergency stop switch 5, the frame 1 is provided with a V-shaped guide wheel 18 and a positioning hook 19, the V-shaped guide wheel 18 is provided with a V-shaped block, the positioning, ground positioner 21 is connected with a plurality of gaskets 211, install the battery in the frame 1, the battery is connected with the interface 20 that charges, the interface 20 accordant connection that charges has a stake 31 of charging, it is connected with the interface 20 assorted contact 32 that charges to fill electric stake 31, contact 32 that charges is connected with cylinder 33, the top of frame 1 is equipped with direction subassembly 10 and bearing group 11, be equipped with tray detection subassembly 35 on the bearing group 11, automatic two push-and-pull conveyor install on frame 1, automatic two push-and-pull conveyor include push-and-pull power unit 22 and push-and-pull track 26, push-and-pull track 26 is equipped with preceding speed reduction/stop position detection subassembly 24 and back speed reduction/stop position detection subassembly 23 and moves back and collude detection subassembly 25, push-and-pull track 26 installs push-and-pull couple 27 and unh.
The two region scanners 9 are arranged on opposite angles of the two region scanners 1, and the two region scanners can be respectively installed on opposite angles of the vehicle frame 1, so that 360-degree dead angle-free safety protection of the AGV transportation platform vehicle can be guaranteed.
Wherein, scram switch 5 is installed around frame 1, meets emergency, can all can carry out emergency stop around.
In this embodiment, as shown in fig. 9 and 10, the ground positioning device 21 is installed at a desired position, and the installation height of the ground positioning device 21 is adjusted by the number of the spacers 211, so as to ensure the accuracy of the mold-loading tray moving platform 16 in the vertical direction after docking; as shown in fig. 6; before butt joint, a manual remote control AGV transporting platform vehicle raises the frame 1 to the highest position through the matching of a suspension oil cylinder 8-2 and a lifting guide rail 8-3, moves to a station a1 of a blanking line material preparation area to be in butt joint with a ground positioning device 21, and when a V-shaped guide wheel 18 on the trolley is observed to be in butt joint with a V-shaped block, the operating frame 1 descends to the lowest position, and a positioning hook 19 is in butt joint with the ground positioning device 21; the push-pull power mechanism 22 is operated to enable the push-pull hook 27 to move forward, the push-pull hook 27 automatically decelerates after moving to the front deceleration/stop position detection assembly 24, the push-pull hook 27 automatically hangs the material/mold bearing tray 4 after the push-pull hook 27 automatically stops, the push-pull hook 27 is operated to drive the material/mold bearing tray 4 to retreat, the push-pull hook 27 automatically decelerates when retreating to the rear deceleration/stop position detection assembly 23, and the push-pull device automatically stops after the push-pull hook 27 is pulled to the right position; the operation frame 1 is lifted to the highest position, and the butt joint state is released; the AGV transporting platform car walks along a ground track under the action of the vision sensor 7, the AGV transporting platform car walks to a loading and unloading area b1 station of a production line for butt joint, when a V-shaped guide wheel 18 on the car is observed to be in butt joint with a V-shaped block, the operating frame 1 descends to the lowest position, and the positioning hook 19 is in butt joint with the ground positioning device 21; the push-pull hook 27 is operated to move forward, the material/mold bearing tray 4 is pushed to the blanking area b1, after the material/mold bearing tray 4 is pushed to the blanking area b1, the push-pull hook 27 is separated from the material/mold bearing tray 4 through the unhooking assembly 14, and when the empty hook of the push-pull hook 27 retreats from the position of the retreating hook detection assembly 25, the movement is stopped; then the butt joint state of the AGV transportation platform vehicle is released; the visual sensor 7 moves back and forth on the traveling route, so that the material/mold in the material preparation area is conveyed to the blanking area.
By using a traditional transfer mode of a traveling crane and a forklift in cooperation with a trackless flat car (AGV), only transferring the material mold to a transport vehicle needs about 5-10 minutes, and 4-6 special operators are needed. In addition, the time for conveying the materials to the production line is 3-6 minutes or a relatively close station, the time for feeding and discharging the materials in the two stations is 30-40 minutes, and the times of users are 8-12. Most stamping workshops of domestic automobile factories are 2 production lines, the two lines are all started to be used for 60-80 minutes from a material preparation area to a material loading area, operators are 6-8, and users are 12-16 times;
adopting a manual operation mode of a Mecanum self-navigation automatic material exchange system, transferring materials from a material preparation station to a production loading station after butt joint, wherein the time for returning to two stations of one production line in the whole process is not more than 15 minutes, the time for using two lines is 25 minutes, and only 1-2 operators are needed;
the method adopts a system operation mode of a Mecanum self-navigation automatic material exchange system, the materials are transferred from a material preparation station to a production loading station after the materials are butted, the time for returning to one production line and two stations in the whole process is not more than 10 minutes, the time for two lines is 20 minutes, and all work can be completed by only 1 operator;
by comparing two AGV conveying products such as materials/molds, the traditional AGV transferring mode has long time loss, higher labor cost and lower efficiency, cannot meet the automatic production level and has creative space for improving value; the automatic production level is met, the time and labor cost in the operation mode are reduced, and meanwhile, the production efficiency of an automatic factory is greatly improved.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (3)
1. A Mecanum self-navigation automatic material exchange system is characterized in that: the automatic double-push-pull conveying device comprises an AGV transportation platform vehicle, an automatic double-push-pull conveying device and a material/mold bearing tray (40), wherein the AGV transportation platform vehicle comprises a vehicle frame (1), a driving wheel train (8) is installed on the vehicle frame (1), the driving wheel train (8) is provided with a wheel train suspension module (8-1), the wheel train suspension module (8-1) comprises a suspension oil cylinder (8-2) and a lifting guide rail (8-3), a control box (2) and a vehicle-mounted computer (3) are arranged on the vehicle frame (1), a vision sensor (7) is arranged on the lower side of the vehicle frame (1), the vehicle frame (1) is provided with an area protection system, the area protection system comprises an area scanner (9), a safety protection contact edge (6) and an emergency stop switch (5), and the vehicle frame (1) is provided with a V-shaped guide wheel (18), the automatic double-push-pull conveying device is characterized in that a V-shaped block () is arranged on the V-shaped guide wheel (18) in a matched mode, a ground positioning device (21) is arranged on the positioning hook (19) in a matched mode, the ground positioning device (21) is connected with a plurality of gaskets (211), a battery is installed in the frame (1), the battery is connected with a charging interface (20), the charging interface (20) is connected with a charging pile (31) in a matched mode, the charging pile (31) is connected with a charging contact (32) matched with the charging interface (20), the charging contact (32) is connected with an air cylinder (33), a guide assembly (10) and a bearing assembly (11) are arranged above the frame (1), a tray detection assembly (35) is arranged on the bearing assembly (11), the automatic double-push-pull conveying device is installed on the frame (1), and comprises a push-pull power mechanism (, the material/mould bearing tray is characterized in that the push-pull track (26) is provided with a front deceleration/stop position detection assembly (24), a rear deceleration/stop position detection assembly (23) and a unhooking detection assembly (25), a push-pull hook (27) and a unhooking assembly are installed on the push-pull track (26), and a stop block (41) is arranged on the material/mould bearing tray (4).
2. A mecanum self-navigating automated material exchange system according to claim 1, wherein: the two region scanners (9) are respectively arranged on the opposite angles of the carriage (1).
3. A mecanum self-navigating automated material exchange system according to claim 2, wherein: the emergency stop switch (5) is arranged around the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677346.3U CN209852154U (en) | 2019-05-13 | 2019-05-13 | Mecanum self-navigation automatic material exchange system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677346.3U CN209852154U (en) | 2019-05-13 | 2019-05-13 | Mecanum self-navigation automatic material exchange system |
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| Publication Number | Publication Date |
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| CN209852154U true CN209852154U (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920677346.3U Active CN209852154U (en) | 2019-05-13 | 2019-05-13 | Mecanum self-navigation automatic material exchange system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112918317A (en) * | 2020-04-06 | 2021-06-08 | 韩斌 | Safe and quick battery replacement battery and matched electric chassis thereof |
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
-
2019
- 2019-05-13 CN CN201920677346.3U patent/CN209852154U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112918317A (en) * | 2020-04-06 | 2021-06-08 | 韩斌 | Safe and quick battery replacement battery and matched electric chassis thereof |
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
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