CN213737221U

CN213737221U - AGV trolley capable of achieving automatic unmanned waste recovery

Info

Publication number: CN213737221U
Application number: CN202021562306.3U
Authority: CN
Inventors: 刀荣贵; 吕小波; 陶培胜; 姜永愿; 陈继安
Original assignee: Hongta Tobacco Group Co Ltd
Current assignee: Hongta Tobacco Group Co Ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2021-07-20
Anticipated expiration: 2030-07-31

Abstract

The utility model provides a can realize automatic unmanned waste recovery's AGV dolly, belongs to the automation field, can realize automatic unmanned waste recovery's AGV dolly, automatic unmanned waste recovery's AGV dolly include dump bin, box turnover machine, AGV dolly, the dump bin adopt standard tray and frame fixed equipment to constitute, the frame is no longer than the tray edge, forms the dump bin container. The AGV trolley loads the waste recovery service on the basis by means of the existing AGV carrying system. The box turnover machine consists of a conveying device, a box turnover device and a sliding groove. The conveying device is used for conveying the waste bin into the bin and discharging the waste bin out of the bin. The invention saves the use of manpower resources of forklifts and reduces the potential safety hazard of collision of forklifts in workshops. The waste recovery only needs one key to give an instruction and is automatically completed. The system is reliable in operation and can meet the requirement of factory workshop waste recovery.

Description

AGV trolley capable of achieving automatic unmanned waste recovery

Technical Field

The invention belongs to the field of automation, and particularly relates to an AGV capable of realizing automatic unmanned waste recovery.

Background

According to statistics, the cigarette production workshop produces about 10 boxes of waste material per hour, and a forklift worker is required to carry the waste material box to a waste material room and take the waste material box back in time. Since the scrap box is generally far from the scrap room and has a narrow space, the forklift worker is working continuously in the production shop. On the other hand, agvs (automated Guided vehicles), i.e., "automated Guided vehicles", have been widely used in logistics handling equipment in factory workshops, and the operation mode of manual forklifts cannot be seen in production workshops with high automation degree. On the route that fork truck shuttled back and forth to AGV, still often production personnel walk about, the potential safety hazard is outstanding. The problem that needs to solve at present is to reduce artifical fork truck's use, and can in time retrieve the production waste material again.

Disclosure of Invention

The invention aims to overcome the problems to be solved in the prior art, and provides a waste recycling system for an automated unmanned AGV, which is used for transporting production waste to a specified place by adopting an intelligent unmanned AGV in a factory or a workshop, dumping the production waste and recycling a turnover waste box. It is characterized in that the system mainly comprises: the device comprises a waste bin, an AGV trolley and a box turnover machine.

In order to realize the purpose, the invention is realized by adopting the following technical scheme: the AGV trolley for automatic unmanned waste recovery comprises a waste box, a box turnover machine and an AGV trolley, wherein the waste box is formed by fixedly assembling a standard tray and a frame, the frame does not exceed the edge of the tray and forms a waste box container, the AGV trolley loads waste recovery service on the basis by means of the conventional AGV carrying system, the box turnover machine comprises a conveying device, a box turnover device and a sliding groove group, and the conveying device is used for conveying the waste box to enter the box and exit the box; the box overturning device is used for overturning and dumping the waste box and overturning the waste box back to the waste box; the chute is used for guiding the falling direction of the waste material.

Preferably, the conveying device consists of a support A, a conveying motor, a transmission chain, a transmission shaft, a conveying belt, a material detector A, a material detector B and a trolley detector, the conveying device is in an I shape formed by the support, the conveying motor is installed at the bottom of the support A and is connected with the support through the transmission shaft, the conveying belt is installed at two ends of the transmission shaft, the material detector A and the material detector B are distributed and installed on two sides of the conveying belt, and the trolley detector is installed at the bottom of the support A.

Preferably, the turnover device comprises support B, upset arm, upset motor, rolling over a seat bearing, trip shaft, turnover control electrical installation, support B install in the conveyor tail end, the upset motor is installed at support B's one end top, the pivot and the rolling over a seat bearing of upset motor are connected, rolling over a seat bearing and a turnover shaft are connected, be provided with the upset arm on the trip shaft, placed the dump bin on the upset arm, the spout is installed on the inclined plane of turning over a device's another side, turnover control electrical installation sets up and is used for controlling turnover angle in the both ends of trip shaft.

Preferably, turn over case control electric installation by the holding ring, detect a support, detect a A, detect a B, detect a C, a few font support, alarm, proximity switch A, proximity switch B, limit switch A, limit switch B and constitute, it fixes on the holding ring to detect a support, and the holding ring is installed on the trip shaft, and can adjust the angular position who detects a support through the rotation of holding ring. The detection face support is provided with a detection face A, a detection face B and a detection face C, the detection face A, the detection face B and the detection face C are made of metal materials, the n-shaped support is mounted on the box turnover device support, an alarm, a proximity switch A, a proximity switch B, a limit switch A and a limit switch B are mounted on the support, and the alarm is used for displaying the running state of the box turnover machine.

The invention has the beneficial effects that:

the mode that the manual forklift shuttles back and forth to frequently carry the waste materials in a factory workshop is eliminated, and the automatic waste recycling production mode is realized. The use of manpower resources of forklifts is saved, and the potential safety hazard that the forklifts in a workshop collide is reduced. The waste recovery only needs one key to give an instruction and is automatically completed. The system is reliable in operation and can meet the requirement of factory workshop waste recovery.

Drawings

FIG. 1 is a schematic view of the waste bin configuration of the present invention;

FIG. 2 is a schematic diagram of the AGV principal structure of the present invention;

FIG. 3 is a schematic structural view of a box turnover machine according to the present invention;

FIG. 4 is a schematic diagram of the electrical apparatus for controlling the box turnover of the present invention;

FIG. 5 is a schematic diagram of the system of the present invention;

FIG. 6 is a schematic view of a panel of an electric control cabinet according to the present invention;

FIG. 7 is a diagram illustrating an empty AGV according to the present invention;

FIG. 8 is a state diagram of the cart loading and scrap box handling;

FIG. 9 is a state diagram before the trolley transfers the waste bin to the box turnover machine;

FIG. 10 is a state diagram of the cart after transferring the waste bin to the box turnover machine

The automatic detection device comprises a waste bin 1, a tray 11, a frame 12, an AGV trolley 2, a 21 vehicle body 22 tail frame 23 fork, a3 box turnover machine, a support A31, a 311 conveying motor, a 312 transmission chain, a 313 transmission shaft, a 314 conveying belt, a315 material detector A, a 316 material detector B, a 317 trolley detector, a32 support B, a 321 turnover arm, a 322 turnover motor, a 323 belt seat bearing, a 324 turnover shaft, 325-335 box turnover control electric devices, a positioning ring 325, a 326 detection surface support, a327 detection surface A, a 328 detection surface B, a 329 detection surface C, a 330 n-shaped support, an alarm 331, a332 proximity switch A, a 333 proximity switch B, a334 limit switch A, a 335 limit switch B and a33 chute.

Detailed Description

In order to facilitate the understanding and implementation of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the accompanying drawings and specific embodiments.

As shown in fig. 5, the system mainly includes: a waste bin 1, an AGV trolley 2 and a box turnover machine 3.

As shown in fig. 1, the waste bin 1 is formed by fixedly assembling a standard tray 11 and a frame 12, wherein the frame does not exceed the edge of the tray, thereby forming a waste bin container. Preferably, the standard tray size: length × width × height =1200mm × 1000mm × 150mm, four-way fork type.

As shown in fig. 2, the AGV 2 loads the waste recycling service based on the existing AGV transport system. The method comprises the following steps: an initial station is set as a production unit waste box 1, and a target station is set as a box turnover machine 3. The carrying process is set up: the empty-load state AGV trolley (as shown in figure 7) receives a waste recovery instruction and reaches a production unit waste box platform, loads and carries (as shown in figure 8) the waste box 1 to a waste material room, transfers the waste box 1 (as shown in figure 9) to a box turnover machine 3, and exits the AGV trolley 2 to wait (as shown in figure 10) for the box turnover machine 3 to finish dumping waste materials, then enters the box turnover machine 3 again, loads and takes back the empty waste box 1, and carries the empty waste box 1 to the original production unit AGV platform. When in use: and (3) reaching a waste recovery instruction up and down on the AGV management system computer, namely selecting a waste box platform of the waste unit to be recovered, and finishing the procedures of automatic loading, carrying, transferring and recovering the waste box after the recovery is confirmed. Preferably, in another embodiment, the AGV management system is integrated with the warehouse management system WMS, the user can issue the garbage collection command in the WMS, and the AGV management system can be used as an auxiliary task for changing and maintaining the garbage collection system.

As shown in fig. 3, the box turnover machine 3 is composed of a conveying device 31, a box turnover device 32, and a chute 33.

The conveying device 31 is used for conveying the waste bin 1 into and out of the bin; the box overturning device 32 is used for overturning and dumping the waste box 1 and overturning the waste box 1; the chute 33 is used to guide the direction in which the scrap falls.

The conveying device 31 is composed of a support, a conveying motor 311, a transmission chain 312, a transmission shaft 313, a conveying belt 314, a material detector A315, a material detector B316 and a trolley detector 317.

The material detector a315 is used to detect that the waste bin 1 is in position at the in-bin position in order to automatically activate the conveyor 31 to convey the waste bin 1 to the turn-over position. Preferably, the material detector A315 adopts a reflective photoelectric sensor, and a light source end and a receiving end are respectively arranged at the front side and the rear side (relative to the AGV trolley) of the bracket; preferably, the end of the material detector a315 near the AGV cart is mounted to the lower portion of the rack to prevent the end detector from being damaged by scrap box 1.

The material detector B316 is used for detecting that the waste bin 1 is fed into the bin to be positioned so as to automatically start the box turnover device 32 to feed and pour the waste bin 1. Preferably, the material detector B316 adopts a reflective photoelectric sensor, and the light source end and the receiving end are respectively installed at the front and rear (relative to the AGV cart) sides of the rack.

The trolley detector 317 detects whether the AGV trolley 2 is in place or not by detecting the tailstock 22 of the AGV trolley 2, and when the trolley detector 317 detects the trolley tailstock 22, it indicates that the trolley has not finished placing all the actions of the waste bin 1, and at this time, the trolley detector 317 cannot start the conveying device 31 under the linkage with the material detector a 315. Preferably, the cart detector 317 employs a reflection type sensor.

When the conveying device 31 starts to operate, the conveying motor 311 drives the transmission chain 312, the transmission chain 312 drives the transmission shaft 313, the transmission shaft 313 drives the conveying belts 314 on the two sides of the bracket to synchronously rotate, and finally the waste bin 1 on the conveying belts 314 is driven to move.

The box turning device 32 is composed of a support, a turning arm 321, a turning motor 322, a bearing 323 with a seat, a turning shaft 324 and box turning control electric devices 325-335.

The turnover arm 321 is used for forking the waste bin 1 and dumping materials by rotating and lifting the waste bin 1; the overturning shaft 324 is fixed on the bracket by a bearing 323 with a seat; the turnover control electric devices 325-335 are used for positioning the position of the waste bin 1.

As shown in fig. 4, the box-turning control electric device is composed of a positioning ring 325, a detection surface bracket 326, a detection surface a327, a detection surface B328, a detection surface C329, a bracket 330 shaped like a Chinese character 'ji', an alarm 331, a proximity switch a332, a proximity switch B333, a limit switch a334 and a limit switch B335.

The detection surface mount 326 is fixed to a positioning ring 325, the positioning ring 325 is mounted on the flip shaft 324, and the angular position of the detection surface mount 326 can be adjusted by the rotation of the positioning ring 325. The detection surface support 326 is provided with a detection surface A327, a detection surface B328 and a detection surface C329, and the detection surface A327, the detection surface B328 and the detection surface C329 are all made of metal materials.

The inverted V-shaped bracket 330 is arranged on the bracket of the box turnover device, and an alarm 331, a proximity switch A332, a proximity switch B333, a limit switch A334 and a limit switch B335 are arranged on the inverted V-shaped bracket. Preferably, proximity switch A332 and proximity switch B333 employ inductive sensors. The alarm 331 is used to display the operation state of the box turnover machine 3, and generally, it is set that a green light is on to indicate that the box turnover machine 3 is opened and has no task and no fault idle state, a green light and a blue light are simultaneously on to indicate that the box turnover machine 3 has a task normal working state, a red light is on to indicate that the box turnover machine 3 has a fault, and all lights are off to indicate that the box turnover machine 3 is not powered on or that an indicator light is broken.

When the box turning device 32 is started to operate, the turning motor 322 drives the turning shaft 324 to drive the turning arm 321 to rotate and rise, then the turning arm 321 drives the waste box 1 to rise and rotate the waste box 1 to face downwards, and the waste material falls down along the chute under the action of gravity.

The operation principle of the turnover control electric device 325-335 is set as follows:

wherein, set up and turn over case positioning position: proximity switch a332 and proximity switch B333 are used to correspond to detection plane a 327. When the turnover arm 321 drives the waste box 1 to lift, the detection surface A327 on the detection surface support 326 is detected by the proximity switch B333, the turnover motor 322 stops, and the waste box 1 is in a material pouring position; and setting a delay to pour the waste bin 1, starting the reversing motor 322 to reverse after the delay is finished, driving the waste bin 1 to descend by the reversing arm 321, detecting the detecting surface A327 of the detecting surface bracket 326 by the proximity switch A332, stopping the reversing motor 322, and putting the empty waste bin 1 back to the inner end position of the conveying device 31.

Secondly, set up the spacing protection of case turnover: limit switch a334 corresponds to detection plane B328 and limit switch B335 corresponds to detection plane C329. When the turnover arm 321 drives the waste box 1 to be lifted, if the detection surface A327 on the detection surface support 326 is not effectively detected by the proximity switch B333, the turnover motor 322 cannot stop, and the turnover motor 322 is forced to stop when the detection surface C329 is continuously rotated to contact the limit switch B333, so as to avoid the damage of the parts of the box turnover machine; similarly, when the tilting arm 321 drives the waste bin 1 to descend, if the detection surface a327 of the detection surface bracket 326 is not effectively detected by the proximity switch a332, the tilting motor 322 does not stop, and continues to rotate until the detection surface B328 contacts the limit switch a334, at which time the tilting motor 322 is forced to stop.

As shown in fig. 5, the box turnover machine 3 is electrically linked to realize the principle of automatic operation: the AGV trolley 2 transfers the waste bin 1 to the conveying device 31 of the box turnover machine 3, then quits waiting (fig. 10), the material detector A315 detects the waste bin 1, the trolley detector 317 does not detect the trolley tail frame 22, the conveying motor 311 is automatically started, the conveying belt 314 conveys the waste bin 1 to the inner end of the conveying device 31, the conveying motor 311 is stopped when the conveying belt is detected by the material detector B; as shown in fig. 4, at this time, the turnover motor 322 is automatically started, the turnover arm 321 lifts the waste bin 1 until the detection surface a327 on the detection surface support 326 is detected by the proximity switch B333, and the turnover motor 322 is stopped; after a period of time delay, the overturning motor 322 is started to rotate reversely, the overturning arm 321 lowers the waste box 1, the detection surface A327 on the detection surface support 326 is detected by the proximity switch A332, and the overturning motor 322 is stopped; as shown in fig. 5, at this time, the conveying motor 311 is started to rotate reversely, the conveying belt 314 conveys the waste bin 1 until it is detected by the material detector a315, and the conveying motor 311 is stopped. The AGV trolley 2 can now enter the box turnover machine 3 to retrieve the waste bin 1.

As shown in fig. 6, the electric control cabinet of the box turnover machine is provided with a manual function for removing faults or overhauling and debugging. The manual operation method comprises the following steps: the knob is switched to a manual gear, the buttons of tray in, tray out, turning up and turning down are continuously pressed as required, and the equipment stops once the button is released.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a can realize automatic unmanned waste recovery's AGV dolly which characterized in that: the AGV trolley for automatic unmanned waste recovery comprises a waste box, a box turnover machine and an AGV trolley, wherein the waste box is formed by fixedly assembling a standard tray and a frame, the frame does not exceed the edge of the tray and forms a waste box container, the AGV trolley loads waste recovery service on the basis by means of the conventional AGV carrying system, the box turnover machine comprises a conveying device, a box turnover device and a sliding groove group, and the conveying device is used for conveying the waste box to enter the box and exit the box; the box overturning device is used for overturning and dumping the waste box and overturning the waste box back to the waste box; the chute is used for guiding the falling direction of the waste material.

2. The AGV car of claim 1, wherein said AGV car is capable of automated unmanned waste recovery, and further comprising: the conveying device comprises a support A, a conveying motor, a transmission chain, a transmission shaft, a conveying belt, a material detector A, a material detector B and a trolley detector, wherein the conveying device comprises an I-shaped support, the conveying motor is arranged at the bottom of the support A and is connected with the support A through the transmission chain, the conveying belt is arranged at two ends of the transmission shaft, the material detector A and the material detector B are distributed and arranged on two sides of the conveying belt, and the trolley detector is arranged at the bottom of the support A.

3. An AGV cart for automated unmanned waste recovery according to claim 1 or 2, further comprising: the turnover device comprises a support B, a turnover arm, a turnover motor, a bearing with a seat, a turnover shaft and an electrical turnover control device, wherein the support B is arranged at the tail end of the conveying device, the turnover motor is arranged at the top of one end of the support B, a rotating shaft of the turnover motor is connected with the bearing with the seat, the bearing with the seat is connected with the turnover shaft, the turnover arm is arranged on the turnover shaft, a waste bin is placed on the turnover arm, a chute is arranged on the inclined plane of the other side of the turnover device, and the electrical turnover control device is arranged at two ends of the turnover shaft and used for controlling the turnover angle.

4. An AGV capable of automated unmanned waste recycling according to claim 3 further comprising: the box turnover control electrical device is composed of a positioning ring, a detection face support, a detection face A, a detection face B, a detection face C, a reversed V-shaped support, an alarm, a proximity switch A, a proximity switch B, a limit switch A and a limit switch B, wherein the detection face support is fixed on the positioning ring, the positioning ring is installed on a turnover shaft, the angle position of the detection face support can be adjusted through the rotation of the positioning ring, the detection face A, the detection face B and the detection face C are arranged on the detection face support, the detection face A, the detection face B and the detection face C are made of metal materials, the reversed V-shaped support is installed on the box turnover device support, the alarm, the proximity switch A, the proximity switch B, the limit switch A and the limit switch B are installed on the reversed V-shaped support, and the alarm is used for displaying the running state of a box turnover machine.