CN213649753U - Loading and unloading carrying system - Google Patents

Loading and unloading carrying system Download PDF

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Publication number
CN213649753U
CN213649753U CN202022039681.6U CN202022039681U CN213649753U CN 213649753 U CN213649753 U CN 213649753U CN 202022039681 U CN202022039681 U CN 202022039681U CN 213649753 U CN213649753 U CN 213649753U
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Prior art keywords
trolley
loading
unloading
detector
module
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CN202022039681.6U
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邱梓铵
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Nanjing Taliang Numeric Control Tech Co ltd
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Nanjing Taliang Numeric Control Tech Co ltd
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Priority to CN202022039681.6U priority Critical patent/CN213649753U/en
Priority to PCT/CN2020/128532 priority patent/WO2022057062A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A feeding and discharging carrying system is used for feeding and receiving feeding and discharging carrying operation of a workstation and comprises a carrying device, a sensing device and a detecting and positioning device, wherein the carrying device comprises a path mark and a trolley, the sensing device comprises a sensor and a sensed element, and the detecting and positioning device comprises a detector and a sensed element. When the trolley moves to the position above the sensed element according to the path mark, the sensor senses the sensed element and transmits a signal to notify the module to drive the trolley to decelerate, and when the trolley moves to the loading and unloading position of the workstation region according to the path mark, the detector detects the sensed element and transmits a signal to notify the module to drive the trolley to stop at the loading and unloading position.

Description

Loading and unloading carrying system
Technical Field
A loading/unloading system for an automatic conveying apparatus is disclosed, which can move the conveying apparatus to an upper unloading position accurately.
Background
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guide device to enable the Vehicle to travel along a predetermined guide path, and the travel route and behavior of the Vehicle are controlled by a computer or set up by an electromagnetic rail attached to a floor, and the Vehicle travels according to information from the electromagnetic rail.
However, whether the trolley is guided to move electromagnetically or optically, errors are necessarily caused in positioning, and when the errors are too large, the loading and unloading operation between the trolley and the workstation is endangered. Therefore, it is an urgent subject to be improved by those skilled in the art to avoid the damage of the automated guided vehicle caused by errors.
SUMMERY OF THE UTILITY MODEL
The main objective of the present invention is to utilize the sensing device to decelerate the transporting device in advance, and then use the detecting and positioning device to detect and position the transporting device, so that the transporting device can be stopped at the predetermined loading/unloading position more accurately after entering the workstation area.
In order to achieve the above object, the present invention provides an upper and lower material transporting system for feeding and receiving material to and from a workstation, the upper and lower material transporting system comprising a transporting device, a sensing device and a detecting and positioning device, wherein the transporting device comprises a path indicator and a trolley, the trolley comprises a driving module, a deceleration module and a brake module, the driving module is connected to the deceleration module and the brake module, the path indicator passes through the workstation, and the trolley is shifted to an upper and lower material transporting position corresponding to the workstation according to the path indicator; the sensing device comprises a sensor and a sensed element, the sensor is arranged on the trolley, the sensed element is arranged on the path mark and is positioned in front of the feeding and discharging position, and the sensor is used for sensing the sensed element so as to inform the speed reduction device and the driving module of the trolley and reduce the speed of the trolley; the detecting and positioning device comprises a detector and a detected element, the detector is arranged on the trolley, the detected element is arranged on the workstation, and the detector is used for detecting the detected element so as to inform the brake module and the driving module of the trolley to stop the trolley at the loading and unloading position; when the trolley moves to the position above the sensed element according to the path mark, the sensor senses the sensed element to inform the speed reducer and the driving module to drive the trolley to decelerate, and when the trolley moves to the loading and unloading position of the workstation according to the path mark, the detector detects the sensed element to inform the brake module and the driving module of the trolley to drive the trolley to stop at the loading and unloading position.
In the above feeding and discharging conveying system, the inductor is an induction coil, and the sensed element is an induction sheet.
In the above loading/unloading handling system, the detector is a laser emitting device, and the detected device is a laser receiving device.
In the above loading/unloading handling system, the detector is an infrared emitting device, and the detected device is an infrared receiving device.
In the above loading/unloading handling system, the trolley includes an automated guided vehicle and a material table supported on the automated guided vehicle.
In the above loading/unloading handling system, the sensor is disposed on the unmanned carrying vehicle of the trolley, and the detector is disposed on the material table.
In the above loading/unloading handling system, the trolley includes a fixing bolt, and the fixing bolt fixes the material table on the automated guided vehicle.
In the above loading and unloading handling system, the detecting and positioning device includes two detectors, and the two detectors are respectively disposed at the front and rear ends of the material table, and when one of the detectors cannot detect the detected element, the other detector can be used to detect the detected element.
The purpose, technical content, features and effects achieved by the present invention will be more easily understood through the detailed description of the embodiments below.
Drawings
Fig. 1 is a schematic perspective view of a loading/unloading conveying system according to the present invention.
Fig. 2 is a schematic perspective view of a trolley of the loading and unloading conveying system of the present creation.
Fig. 3 is a schematic perspective view of the trolley of the loading/unloading conveying system according to the present invention.
Fig. 4 is a schematic perspective exploded view of a cart of the loading/unloading conveying system of the present invention.
Fig. 5 is a block diagram of the sensor and detector and the deceleration module of the present invention.
Fig. 6 is a schematic diagram of a region where a trolley of the loading/unloading handling system of the present invention is about to enter a workstation.
FIG. 7 is a schematic diagram of the loading/unloading handling system according to the present invention, in which the sensor senses the sensed component.
FIG. 8 is a schematic diagram of the loading/unloading conveying system according to the present invention, in which the detector detects the detected component.
Fig. 9 is a schematic diagram of another detector on the cart of the loading/unloading handling system of the present invention, which is located at the rear end of the material table, for detecting the detected component.
List of reference numerals: 1-a conveying device: 11-path marking; 111-a loading and unloading position; 12-a trolley; 121-a drive module; 122-a deceleration module; 123-a brake module; 124-automated guided vehicle; 125-material table; 126-a securing peg; 2-induction device: 21-a sensor; 22-a sensed element; 3-detecting and positioning device: 31-a detector; 32-a detected element; 4-a guiding device: 41-a guide wheel; 42-upright column; a W-workstation; w1-guide bracket; w2-guide groove.
Detailed Description
Referring to fig. 1 to 9, the present invention provides a loading/unloading carrying system for loading/unloading a work station W, wherein the loading/unloading carrying system includes a carrying device 1, a sensing device 2, a detecting and positioning device 3, and a guiding device 4, the work station W has an extended guiding support W1 and a guiding groove W2 formed on the guiding support W1, and an area surrounded by the guiding support W1 and an area occupied by the work station W can jointly form a work station area.
The carrying device 1 includes a path indicator 11 and a trolley 12, wherein the trolley 12 is provided with a control module, as shown in fig. 5, the control module includes a driving module 121, a deceleration module 122 and a brake module 123, the driving module 121 is connected to the deceleration module 122 and the brake module 123, the driving module 121 and the deceleration module 122 are used for controlling acceleration and deceleration of the trolley 12, and the brake module 123 is used for controlling braking of the trolley 12. In addition, as shown in fig. 2 to 4, the trolley 12 can be further divided into an automated guided vehicle 124 and a material platform 125 carried on the automated guided vehicle 124, and the trolley 12 further includes a fixing bolt 126, and the fixing bolt 126 connects and fixes the material platform 125 to the automated guided vehicle 124. The path indicator 11 passes through the work station W, and the trolley 12 is moved to the upper and lower positions 111 corresponding to the work station W according to the path indicator 11, so that the material loaded on the material table 125 of the trolley 12 can be smoothly supplied to the work station W, or the finished product or semi-finished product on the work station W can be received on the material table 125 of the trolley 12. In the present embodiment, as shown in fig. 1, since six stations W are provided in total in the station area, each station W is provided with the loading/unloading position 111 corresponding to the station W, and therefore six loading/unloading positions 111 are provided in total in the station area.
The sensing device 2 includes a sensor 21 and a sensed element 22, wherein the sensor 21 is disposed on the trolley 12, the sensed element 22 is disposed on the route indication 11 and in front of the loading/unloading position 111, and the sensor 21 is configured to sense the sensed element 22, so as to send a signal to notify the deceleration module 122 and the driving module 121 of the trolley 12 to decelerate the trolley 12. In the embodiment, since six work stations W are provided in the work station area, six sensed elements 22 are provided on the route indicator 11 to correspond to the six work stations W, the sensor 21 is an induction coil provided on the automated guided vehicle 124 of the trolley 12, the sensed elements 22 are an induction sheet, such as a metal sheet, which can be induced by the induction coil to generate an induction current, and the induction sheet is provided on the route indicator 11 and before the loading/unloading position 111.
The detecting and positioning device 3 includes a detector 31 and a detected element 32, wherein the detector 31 is disposed on the trolley 12, the detected element 32 is disposed on the guiding bracket W1 extended from the workstation W, and the detector 31 is used for detecting the detected element 32 to send a signal to notify the brake module 123 and the driving module 121 of the trolley 12 to stop the trolley 12 at the loading and unloading position 111. In the present embodiment, since six stations W are provided in the workstation area, six detected devices 32 provided on the pilot support W1 are provided to correspond to the six stations W, respectively, and the detector 31 is a laser emitting device and the detected device 32 is a laser receiving device. However, not limited thereto, the detector 31 may alternatively be an infrared emitting element, and the detected element 32 may alternatively be an infrared receiving element.
The guiding device 4 comprises a plurality of guiding wheels 41 and a column 42 connected to each guiding wheel 41, and the column 42 is disposed on the trolley 12 of the conveying device 1, and the guiding device 4 is used for positioning when the trolley 12 moves into the workstation area. When the trolley 12 is displaced into the workstation area according to the path indicator 11, the guide wheel 41 enters the guide groove W2 of the guide bracket W1 extending from the workstation W, and since the guide groove W2 is fixedly disposed on the workstation W through the guide bracket W1, the guide groove W2 is adjusted to the most accurate position during the setting, and after the guide wheel 41 enters the guide groove W2, the guide wheel 41 is limited by the guide groove W2, so that the position of the trolley 12 can be corrected, and the positioning error can be reduced.
When the trolley 12 moves to the position above the sensed element 22 according to the path indication 11, the sensor 21 on the automated guided vehicle 124 of the trolley 12 senses the sensed element 22 first, and at this time, the sensor 21 transmits a signal to notify the deceleration device 122 to decelerate and make the driving module 121 not accelerate, so as to decelerate the trolley 12, since the position of the sensed element 22 on the path indication 11 is located before the loading and unloading position 111, a buffer distance is kept between the loading and unloading position 111, thereby avoiding the problem that the trolley 12 cannot stop at the loading and unloading position 111 due to too late braking.
When the trolley 12 moves into the loading/unloading position 111 of the workstation W according to the path indication 11, the detector 31 disposed on the material table 125 of the trolley 12 detects the detected element 32, and at this time, the detector 31 transmits a signal to notify the braking module 123 to brake and the driving module 121 does not output power, so as to drive the trolley 12 to stop at the loading/unloading position 111. In the present invention, since the trolley 12 is decelerated before reaching the loading and unloading position 111, there is no problem that the trolley 12 cannot be stopped at the loading and unloading position 111 due to coming late to brake.
It is understood that, as shown in fig. 8, the detector 31 is disposed on the material table 125, and the detected element 32 is disposed on the guiding support W1 extending from the work station W and corresponding to the feeding and discharging position 111 of the work station W. As shown in fig. 9, when the trolley 12 travels to a position beyond the end of the guiding support W1, the detected element 32, which is originally scheduled to be disposed at the end of the guiding support W1, has no extended guiding support W1 for its disposition, so that it is necessary to adjust the position of the detected element 32 disposed on the guiding support W1, and at the same time, the detector 31, which is originally located at the front end of the material table 125, cannot detect the detected element 32 after the adjustment. Therefore, in the embodiment, the detecting and positioning device 3 disposed on the trolley 12 includes two detectors 31, and the two detectors 31 are respectively disposed on the front end and the rear end of the material table 125, when one of the detectors 31 located at the front end of the material table 125 cannot detect the detected element 32 after the adjustment position, the other detector 31 located at the rear end of the material table 125 can be used to detect the detected element 32 after the adjustment position.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, all the equivalent changes or modifications of the features and spirit described in the scope of the present application should be included in the scope of the claims of the present application.

Claims (8)

1. The utility model provides a go up unloading handling system for go up unloading handling operation of unloading that supplies and receive material to the workstation, its characterized in that should go up unloading handling system contains:
the carrying device comprises a path mark and a trolley, wherein the trolley comprises a driving module, a speed reducing module and a brake module, the driving module is connected with the speed reducing module and the brake module, the path mark passes through the workstation, and the trolley moves to an upper blanking position corresponding to the workstation according to the path mark;
the induction device comprises an inductor and an induced element, the inductor is arranged on the trolley, the induced element is arranged on the path mark and is positioned in front of the feeding and discharging position, and the inductor is used for inducing the induced element so as to inform the deceleration module and the driving module of the trolley to decelerate the trolley; and
the detection positioning device comprises a detector and a detected element, the detector is arranged on the trolley, the detected element is arranged on the workstation, and the detector is used for detecting the detected element so as to inform the brake module and the driving module of the trolley to stop the trolley at the loading and unloading position;
when the trolley moves to the position above the sensed element according to the path mark, the sensor senses the sensed element to inform the speed reduction module and the driving module to drive the trolley to reduce the speed, and when the trolley moves to the loading and unloading position of the workstation according to the path mark, the detector detects the sensed element to inform the brake module and the driving module of the trolley to drive the trolley to stop at the loading and unloading position.
2. The unloading handling system of claim 1, wherein the sensor is an induction coil and the sensed component is an induction sheet.
3. The system as claimed in claim 1, wherein the detector is a laser emitting device and the detected device is a laser receiving device.
4. The system as claimed in claim 1, wherein the detector is an infrared emitting device, and the detected device is an infrared receiving device.
5. The loading/unloading handling system recited in claim 1, wherein the trolley comprises an automated guided vehicle and a material table carried on the automated guided vehicle.
6. The loading/unloading handling system recited in claim 5, wherein the sensor is disposed on the automated guided vehicle of the trolley, and the detector is disposed on the material table.
7. The unloading handling system of claim 5, wherein the trolley includes a securing pin that secures the material table to the automated guided vehicle.
8. The loading/unloading handling system according to claim 5, wherein the detecting and positioning device comprises two detectors, and the two detectors are respectively disposed at the front and rear ends of the material table, when one of the detectors cannot detect the detected component, the other detector can be used to detect the detected component.
CN202022039681.6U 2020-09-16 2020-09-16 Loading and unloading carrying system Active CN213649753U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202022039681.6U CN213649753U (en) 2020-09-16 2020-09-16 Loading and unloading carrying system
PCT/CN2020/128532 WO2022057062A1 (en) 2020-09-16 2020-11-13 Loading/unloading transport system

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Application Number Priority Date Filing Date Title
CN202022039681.6U CN213649753U (en) 2020-09-16 2020-09-16 Loading and unloading carrying system

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WO (1) WO2022057062A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114890078A (en) * 2022-05-18 2022-08-12 嘉兴学院 AGV high accuracy production material butt joint operation control system

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US5676514A (en) * 1994-01-03 1997-10-14 Symorex, Ltd. Trolley car for material handling train
US8127687B2 (en) * 2008-05-09 2012-03-06 Caterpillar Inc. Material handling system including dual track assembly and method of operating same
US20090277748A1 (en) * 2008-05-09 2009-11-12 Caterpillar Inc. Modular manufacturing line including a buffer and methods of operation therefor
CN202956117U (en) * 2012-12-04 2013-05-29 金宝电子（中国）有限公司 Positioning detecting system and device
CN207791874U (en) * 2018-01-08 2018-08-31 南京大量数控科技有限公司 Automatic loading and unloading system with secondary contraposition
CN208120678U (en) * 2018-03-21 2018-11-20 云南昆岭薄膜工业有限公司 A kind of high maneuverability trackless intelligence AGV transport device
CN208979688U (en) * 2018-09-13 2019-06-14 南京我乐定制家具有限公司 A kind of automatic loading/unloading is vacillated vehicle
TWM577844U (en) * 2019-02-01 2019-05-11 大量科技股份有限公司 Material load/unload mechanism of automated guided vehicle having guided rail for correcting the position

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114890078A (en) * 2022-05-18 2022-08-12 嘉兴学院 AGV high accuracy production material butt joint operation control system

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