CN111099238A - Intelligent AGV tray supply and warehousing system - Google Patents
Intelligent AGV tray supply and warehousing system Download PDFInfo
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- CN111099238A CN111099238A CN202010040916.5A CN202010040916A CN111099238A CN 111099238 A CN111099238 A CN 111099238A CN 202010040916 A CN202010040916 A CN 202010040916A CN 111099238 A CN111099238 A CN 111099238A
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- tray
- frame
- lifting
- baffle
- palletizing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
本发明提供一种智能化AGV托盘供应和仓储系统，属于仓储技术领域。它解决了现有的仓储分拣过程中采用人工的方式，存在浪费劳动力和分拣入库效率低的问题。本发明包括码垛机构、托盘机构、AGV、计算机、摄像装置以及仓库区域；码垛机构包括码垛机器人、输送机构、第二控制装置、安全光栅，多个安全光栅组成一个工作区域；托盘机构包括机架，机架上安装有与挡板机构、升降机构及第一控制装置；仓库区域具有由多个安全光栅围成的外墙和若干均匀设置的库位；计算机分别通信连接码垛机构、托盘机构、AGV、摄像装置以及仓库区域的安全光栅；仓库区域旁还设有AGV充电座。本发明具有节省人力、提高分拣入库效率的优点。
The invention provides an intelligent AGV pallet supply and storage system, which belongs to the technical field of storage. It solves the problems of wasting labor and low efficiency of sorting and warehousing in the manual method used in the existing warehousing and sorting process. The invention includes a palletizing mechanism, a pallet mechanism, an AGV, a computer, a camera device and a warehouse area; the palletizing mechanism includes a palletizing robot, a conveying mechanism, a second control device, a safety grating, and a plurality of safety gratings form a working area; the pallet mechanism It includes a rack on which a baffle mechanism, a lifting mechanism and a first control device are installed; the warehouse area has an outer wall surrounded by a plurality of safety gratings and a number of evenly arranged storage positions; the computer communicates and connects the stacking mechanism respectively. , pallet mechanism, AGV, camera device and safety grating in the warehouse area; there is also an AGV charging stand next to the warehouse area. The invention has the advantages of saving manpower and improving the efficiency of sorting and warehousing.
Description
Technical Field
The invention belongs to the technical field of warehousing, and particularly relates to an intelligent AGV tray supply and warehousing system.
Background
With the rapid development of the modern logistics industry, the work of detecting, sorting, warehousing and managing various goods is heavy, wherein the goods are heavy, various and large in quantity, and the quality problem is the main reason. These increasingly prominent problems occur not only in the logistics industry, but also in the factory manufacturing industry; in the logistics industry or the manufacturing industry, the detection, sorting and warehousing management of the products adopts the traditional manual sorting, manual carrying and manual warehousing operation; the efficiency is low, the detection quality effect is not obvious, and the labor intensity is high, which is a problem always existing; meanwhile, due to manual operation, the height of the goods shelf is limited, the space utilization rate of the low-layer goods shelf is low, and potential safety hazards exist in the high-layer goods shelf. The prior art generally adopts conveyer cooperation manual work, has solved the transportation function of goods, reduces the hand labor power, still exists the condition that needs manual sorting, manual work warehouse entry, and its fundamental problem does not solve. How to utilize modern industrial technology, liberation workman's labour, it is this system's main problem to improve letter sorting warehouse entry efficiency.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intelligent AGV tray supply and storage system which saves labor and improves sorting and warehousing efficiency.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: an intelligent AGV tray supply and storage system comprises a stacking mechanism, a tray mechanism, an AGV, a computer, a camera device and a storage area; the stacking mechanism comprises a stacking robot, a conveying mechanism arranged beside the stacking robot, a second control device in communication connection with the stacking robot, and a safety grating in communication connection with the second control device, wherein a plurality of safety gratings form a working area; the stacking robot is provided with a stacking tool and is positioned in a working area; the conveying mechanism is partially arranged in the working area; the working area comprises a first working surface matched with the second control device and a second working surface matched with the conveying mechanism; the stacking robot is positioned in the central area of a working area, and tray positioning seats positioned on the left side and the right side of the stacking robot are arranged in the working area; the safety grating forms a working area through a plurality of mounting brackets, and each mounting bracket comprises a bracket main body fixed on the ground and a first connecting block connected with the safety grating; the safety grating is provided with a first barrier strip arranged at the top of the safety grating and a second barrier strip arranged at the bottom of the safety grating, and the first barrier strip and the second barrier strip are parallel to the ground; the working area is provided with a material opening for material to enter and exit, and the material opening is arranged on two sides of the second control device; the tray mechanism comprises a rack, and a baffle mechanism matched with the tray, a lifting mechanism matched with the tray to lift the tray and a first control device for controlling the lifting mechanism are arranged on the rack; the baffle mechanism comprises a baffle abutted against the tray and a support frame used for mounting the baffle on the rack; the lifting mechanism comprises a lifting support, a lifting hook plate for lifting the tray, a first driving mechanism for driving the lifting support to reciprocate along the width direction of the rack and a second driving mechanism for driving the lifting support to reciprocate along the height direction of the rack; the rack comprises a first fixing plate connected with the lifting support, a horizontal guide rail used for matching with the first fixing plate to slide in a reciprocating manner along the width direction of the rack, a second fixing plate used for mounting the horizontal guide rail and the first driving mechanism, and a lifting guide rail used for matching with the second fixing plate to slide in a reciprocating manner along the length direction of the rack, wherein the first fixing plate is connected with the first driving mechanism, and the second fixing plate is connected with the second driving mechanism; the warehouse area is provided with an outer wall formed by a plurality of safety gratings and a plurality of uniformly arranged warehouse positions, and the tray mechanism is positioned between the warehouse area and the stacking mechanism; the computer is respectively in communication connection with the stacking mechanism, the tray mechanism, the AGV, the camera device and the safety grating of the warehouse area; the other AGV charging seat that still is equipped with of warehouse region.
When the tray mechanism works, a plurality of trays are placed between the baffle mechanisms through a forklift, the baffles on the baffle mechanisms abut against the side faces of the trays, the positions of the trays are fixed, when the lowest tray is required to be taken out, the lifting support is driven to a proper position through the second driving mechanism, then the lifting support is driven through the first driving mechanism, the lifting groove plate can be inserted into a groove of the tray, at the moment, the second driving mechanism acts again to lift the penultimate tray and the tray on the upper end of the penultimate tray together, the AGV automatically runs to the position of the tray mechanism to take the lowest tray away to place on a tray positioning seat of the stacking mechanism, when required, the moving distance of the second driving mechanism can be set, the setting of the number of the trays to be taken away from the lowest tray is realized, the operation is convenient, and the use is safe. The first control device is a structure that an existing common industrial computer or other control equipment is installed in a housing, the first control device is connected to the side face of a rack through threads, the AGV is a transport vehicle which is provided with an electromagnetic or optical automatic guide device, can run along a specified guide path, and has safety protection and various transfer functions, and the AGV belongs to the category of a wheel-type Mobile Robot (WMR). In industrial application, the driver's transportation vehicle is not required, and the rechargeable battery is used as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be established by using an electromagnetic track (electromagnetic track), the electromagnetic track is adhered to the floor, and the unmanned vehicle (Driverless) moves and moves according to the information brought by the electromagnetic track, which is not described herein again.
Pile up neatly mechanism during operation, conveying mechanism carries the work area with the material in, then pile up neatly machine people snatchs the material through the pile up neatly frock and places on the tray, when someone enters into the work area, safety grating gives second controlling means with signal transmission, shut down pile up neatly machine people and conveying mechanism through built-in procedure after the second controlling means processing signal, make pile up neatly machine people and conveying mechanism stop work immediately, prevent that pile up neatly machine people from hindering the people when working, also prevent that conveying mechanism constantly moves and lead to the material to fall out conveying mechanism, factor of safety is high, simple structure simultaneously, can be applicable to multiple production line. The safety grating is a photoelectric device for preventing people from approaching the moving machinery, and can prevent casualties, and the moving machinery comprises a punch, a winder, a stacker, an elevator and the like. The safety barrier may be used to replace conventional mechanical barriers or other mechanical protection and may also increase the serviceability of the device. The safety grating can also be matched with mechanical equipment (such as some semi-automatic equipment) to improve the operability and efficiency. The stacking robot and the stacking tool are common devices in the field, and the second control device is a conventional device in which an existing industrial computer and a touch display screen are installed in a housing, and are not described again.
The AGV transports the tray with the placed materials on the stacking mechanism out of a material outlet, then moves the tray to a warehouse area through a specified installation route, places the tray on an appointed warehouse position, finally stops at an AGV charging seat to charge and waits for a next instruction, and the route and the warehouse position are controlled by a computer. The sorting and warehousing method has the advantages of saving manpower and improving sorting and warehousing efficiency.
The camera device can monitor and record all conditions of the whole site, when potential safety hazards exist, the camera device can send signals to the computer, and the computer sends out an alarm and controls all mechanisms to stop running, so that safety accidents are prevented.
First working face sets up at second controlling means both ends, and second controlling means and first working face are located same face, can make things convenient for the workman to operate second controlling means, and the second working face of conveying mechanism one end can be when personnel are close to conveying mechanism in addition, and the signal that will detect sends for second controlling means to make conveying mechanism shut down, because conveying mechanism also has the possibility that causes the damage to personnel.
Furthermore, the stacking robot is located in the center area of the working area, and tray positioning seats located on the left side and the right side of the stacking robot are arranged in the working area. The stacking robot is arranged at the center of a working area, the space utilization rate can be improved, meanwhile, the tray positioning seats are placed on two sides of the stacking robot, materials can be placed on the stacking robot conveniently, and the space utilization rate can be improved. Wherein the tray is positioned by two baffles which clamp the tray in the middle.
Furthermore, conveying mechanism including the power roller line that is used for the straight line to carry the material, with the oblique power roller line of power roller line butt joint and with pile up neatly machine people complex frock roller line, oblique power roller line second working face below, frock roller line be located the workspace. Wherein power roller line, oblique power roller line and frock roller line are common roller conveyer on the market, power roller line is used for carrying the material straight line to oblique power roller line, oblique power roller line is used for inclining the material and making the material fall down, make the material change into the level from original vertical placing and place, carry frock roller line at last, frock roller line can be dynamic also can be unpowered, frock roller line is used for supplying the pile up neatly machine people to use the pile up neatly frock to take away the material, the top of oblique power roller line is equipped with the second working face, this working face can carry out personnel's detection to the conveying mechanism position, prevent that personnel from getting into in the workspace from the conveying mechanism position.
Furthermore, the outer side surface of the second control device is flush with the first working surface. The outer side face of the second control device is flush with the first working face, so that a worker can conveniently operate in front of the second control device, and the safety grating cannot be triggered.
Furthermore, the safety grating forms a working area through a plurality of mounting brackets, and each mounting bracket comprises a bracket main body fixed on the ground and a first connecting block connected with the safety grating. The safety grating is installed on the ground through the installation support, and then the safety grating is installed on the installation support through the first connecting block, so that the structure is simple, and the operation is convenient.
Furthermore, the safety grating is provided with a second connecting block matched with the first connecting block, and the second connecting block is uniformly arranged along the length direction of the safety grating. The safety grating is installed on the mounting bracket through the cooperation of the first connecting block and the second connecting block, and the second connecting block is uniformly arranged along the length direction of the safety grating, so that the safety grating is more firmly fixed with the mounting bracket.
Furthermore, the safety grating is provided with a first blocking strip arranged at the top of the safety grating and a second blocking strip arranged at the bottom of the safety grating, and the first blocking strip and the second blocking strip are parallel to the ground. The first blocking strip, the second blocking strip and the safety grating form a rectangular frame, the first blocking strip and the second blocking strip can physically block personnel, so that the personnel cannot directly walk into a safety grating area, and can also play a role in fixing two adjacent safety gratings, so that the two adjacent safety gratings can be on the same straight line.
Furthermore, the height of the first barrier rib is lower than 1.5m, and the height of the second barrier rib is higher than 0.1 m. The height of normal people is higher than 1.5m, so need bow or bow when personnel need enter into work area, and the second that blocks strip is higher than will be higher than 0.1m moreover, therefore personnel still need lift the foot, when personnel's foot stretched into work area earlier, safety grating has sent the signal for second controlling means for pile up neatly machine people and conveying mechanism shut down, consequently can protect the personnel that enter by force well, factor of safety is high.
Furthermore, the working area is provided with material openings for the materials to enter and exit, and the material openings are arranged on two sides of the second control device. The material opening is used for the material to pass in and out, and pile up neatly machine people and conveying mechanism must shut down when the material passes in and out, and the material opening sets up can improve space utilization in second controlling means both sides for the material opening just corresponds the tray positioning seat of pile up neatly machine people both sides, and the workman can directly drive fork truck and take out the tray on the tray positioning seat, gets the material convenience.
Furthermore, the frame include with promote the first fixed plate of leg joint, be used for cooperating first fixed plate along the reciprocal horizontal guide rail that slides of frame width direction, be used for installing horizontal guide rail and first actuating mechanism's second fixed plate, be used for cooperating the reciprocal lifting guide rail that slides of second fixed plate along frame length direction, first fixed plate be connected with first actuating mechanism, the second fixed plate be connected with second actuating mechanism. The horizontal guide rail and the lifting guide rail are standard parts common in the field, and the details are not repeated here. First actuating mechanism can be cylinder or pneumatic cylinder, and first actuating mechanism can drive first fixed plate and slide on horizontal guide to drive and promote the support and remove, and second actuating mechanism is current gear motor or servo motor, and second actuating mechanism passes through sprocket chain or rack and pinion's structure and is connected with the second fixed plate, and the second fixed plate can be driven by second actuating mechanism and move on lifting guide, and the running accuracy is high, and the operation is stable moreover.
Furthermore, the support frame have with the frame can dismantle the bracing piece of being connected, the bracing piece keep away from the one end of baffle and be equipped with the external screw thread, the frame have with bracing piece complex through-hole. The bracing piece inserts in the through-hole of frame, then fixes through the nut, and this kind of setting not only can make things convenient for the installation of support frame, but also can adjust the support frame, stretches into the length of frame through the change bracing piece and realizes installing not unidimensional tray, and application scope is wide, can also set up the scale certainly on the bracing piece, more convenient the regulation.
Further, the baffle plate comprises a first contact surface and a guide surface matched with the tray. The baffle carries out the butt through the side of first contact surface with the tray, then the guide face is located the side of first contact surface, and this guide face can play the effect that makes things convenient for the tray to put into, also makes things convenient for the tray to reciprocate along first contact surface for the tray inserts and can not interfered by the edge of first contact surface.
Furthermore, the lifting hook plate is provided with a hook piece for hooking the tray and a fixed frame in threaded connection with the lifting support, and the lifting support is provided with a threaded hole matched with the fixed frame. During the installation, only need insert fixed frame on promoting the support, then with fixed hole on the frame with promote screw hole on the support align the back lock in the screw can, simple to operate, easy operation can also set up a plurality of screw holes on promoting the support, through the position of adjusting fixed frame, supports the tray of multiple different specifications, application scope is wide.
Furthermore, the lifting support comprises a first fixing part connected with the lifting hook plate, a second fixing part connected with the rack and a reinforcing plate connected with the first fixing part and the second fixing part, and the first fixing part and the second fixing part are perpendicular to each other and are in an L shape. First fixed part links firmly with the second fixed part through modes such as welding, and this reinforcing plate can increase the intensity of first fixed part and second fixed part junction, and reinforcing plate accessible screw thread or welded mode are fixed in first fixed part and second fixed part junction, and the second fixed part passes through threaded connection's mode and installs in the frame, simple structure, and processing is convenient.
Furthermore, the rack further comprises a base used for being installed on the ground and a driving support used for installing a second driving mechanism, and the base is arranged on the outer side face of the rack. The base sets up in the outside of frame, can prevent that tray in the frame from interfering with the base, makes the frame bottom surface be used for fixed area bigger moreover, and whole equipment is more firm, and second actuating mechanism passes through screw or bolt and installs on the drive support, simple structure, and it is convenient to maintain.
Furthermore, the baffle is divided into two side baffles and a rear baffle, the two side baffles are respectively arranged on the left side surface and the right side surface of the rack, and the rear baffle is arranged on the rear side surface of the rack. The peripheral face of tray only has outside one side not contacted by the baffle, and when the tray was pushed into the frame, the tray got into through the side shield guide of both sides, then when tray butt backplate, the tray has installed in place convenient operation.
Further, the length dimension of the rear baffle is larger than that of the side baffle. Because the side guards cannot interfere with the support brackets beside, the length of the side guards is smaller than that of the rear guards, the support brackets can also play a role in guiding the trays, and the specific positioning is realized by a forklift and other transportation equipment.
Further, the height of the bottom surface of the rear baffle from the ground is smaller than that of a single tray. The rear baffle can limit a single tray, and the structure is simple.
Compared with the prior art, the intelligent AGV tray supply and storage system adopting the technical scheme has the following beneficial effects:
the intelligent AGV tray supply and storage system has the following advantages that:
1: adopt the work area that safe grating constitutes, locate the pile up neatly machine people in the work area, utilize the function of safe grating can detect personnel's entering rapidly to shut down the pile up neatly machine people, prevent that the pile up neatly machine people from hurting personnel, factor of safety is high, installs simple and conveniently moreover.
2: the stacking robot and the conveying mechanism are existing equipment in the field, the existing production equipment can be conveniently upgraded and modified by using the safety grating, the application range is wide, and the upgrading cost is low;
3: the automatic lifting of the tray is realized through the first driving mechanism and the second driving mechanism, so that the lowest tray can be conveniently taken out by a forklift and other machines, the operation of the forklift is greatly facilitated, the operation time is saved, and the automatic lifting device is safe, reliable and efficient to operate;
4: transfer the tray through current AGV, carry out the material through pile up neatly mechanism and stack on the tray, need not artifical the participation, whole journey can automatic operation, and the correct rate is high to high and storehouse position stack of work efficiency.
Drawings
FIG. 1 is a schematic layout of the present invention;
FIG. 2 is an isometric schematic view of a tray mechanism;
FIG. 3 is another angular schematic of FIG. 2;
FIG. 4 is a front view of the tray mechanism;
FIG. 5 is a side view of the tray mechanism;
FIG. 6 is a top view of the tray mechanism;
FIG. 7 is an enlarged view of A in FIG. 2;
FIG. 8 is an isometric schematic view of a palletising mechanism;
FIG. 9 is an enlarged view of B in FIG. 8;
fig. 10 is a top view of the palletising mechanism.
In the figure, 1, a stacking mechanism; 2. a tray mechanism; 3. AGV; 4. a warehouse area; 41. an outer wall; 42. a library location; 5. a computer; 6. a camera device; 7. a charging seat; a1, a frame; a2, a baffle mechanism; a3, a lifting mechanism; a4, a first control device; a21, baffle; a22, a support frame; a31, lifting the bracket; a32, lifting a hook plate; a33, a first driving mechanism; a34, a second driving mechanism; a11, a first fixing plate; a12, horizontal guide rail; a13, a second fixing plate; a14, a lifting guide rail; a221, a support rod; a211, a first contact surface; a212, a guide surface; a321, hook sheet; a322, fixing frames; a311, a first fixing part; a312, a second fixing part; a313, a reinforcing plate; a15, a base; a16, driving the bracket; a213, side baffle plates; a214, a rear baffle; b1, a palletizing robot; b2, a conveying mechanism; b3, a second control device; b4, safety grating; b5, work area; b11, stacking tools; b51, a first working surface; b52, a second working surface; b6, a tray positioning seat; b21, a power roller line; b22, oblique power roller line; b23, tooling roller line; b7, mounting brackets; b71, a first connecting block; b41, a second connecting block; b42, a first barrier rib; b43, a second barrier rib; b53, opening the material.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
1-10, the present intelligent AGV3 tray supply and warehousing system includes a palletizing mechanism 1, a tray mechanism 2, an AGV3, a computer 5, a camera 6, and a warehouse area 4;
the tray mechanism 2 comprises a rack A1, a baffle mechanism A2 matched with the tray, a lifting mechanism A3 matched with the tray to realize lifting of the tray and a first control device A4 used for controlling the lifting mechanism A3 are installed on the rack A1; the baffle mechanism A2 comprises a baffle A21 abutted with the tray and a support frame A22 used for mounting the baffle A21 on the frame A1; the lifting mechanism A3 comprises a lifting bracket A31, a lifting hook plate A32 for lifting the tray, a first driving mechanism A33 for driving the lifting bracket A31 to reciprocate along the width direction of the machine frame A1 and a second driving mechanism A34 for driving the lifting bracket A31 to reciprocate along the height direction of the machine frame A1;
when the tray mechanism 2 works, a plurality of trays are placed between the baffle plate mechanisms A2 through a forklift, the baffle plates A21 on the baffle plate mechanisms A2 abut against the side surfaces of the trays, so that the positions of the trays are fixed, when the lowest tray needs to be taken out, the lifting bracket A31 is driven to a proper position by the second driving mechanism A34, then the lifting bracket A31 is driven by the first driving mechanism A33, so that the lifting groove plate can be inserted into a groove of the tray, at the moment, the second driving mechanism A34 acts again to lift the penultimate tray and the tray at the upper end of the penultimate tray together, the AGV3 automatically runs to the position of the tray mechanism 2 to take the lowermost tray away and place the lowermost tray on the tray positioning seat B6 of the stacking mechanism 1, when necessary, the setting of the number of the trays to be taken at the lowest position can be realized by setting the moving distance of the second driving mechanism A34, and the operation is convenient and the use is safe. The first control device a4 is a structure in which a conventional industrial computer 5 or other control equipment is installed in a housing, the first control device a4 is screwed to a side of the rack a1, the AGV3 is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and the AGV3 belongs to the category of a wheel-type Mobile Robot (WMR). In industrial application, the driver's transportation vehicle is not required, and the rechargeable battery is used as its power source. Generally, the computer 5 can be used to control the traveling route and behavior, or the electromagnetic track (electromagnetic track) is used to set the traveling route, the electromagnetic track is adhered to the floor, and the unmanned vehicle (drive) follows the information from the electromagnetic track to move and move the transportation vehicle, which will not be described again. The camera device 6 can monitor and record all conditions of the whole site, when potential safety hazards exist, the camera device 6 sends signals to the computer 5, and the computer 5 gives an alarm and controls all mechanisms to stop running, so that safety accidents are prevented.
The rack A1 comprises a first fixing plate A11 connected with a lifting bracket A31, a horizontal guide rail A12 used for matching the first fixing plate A11 to slide in a reciprocating mode along the width direction of the rack A1, a second fixing plate A13 used for installing the horizontal guide rail A12 and a first driving mechanism A33, and a lifting guide rail A14 used for matching the second fixing plate A13 to slide in a reciprocating mode along the length direction of the rack A1, wherein the first fixing plate A11 is connected with the first driving mechanism A33, and the second fixing plate A13 is connected with the second driving mechanism A34. The horizontal guide rail a12 and the lifting guide rail a14 are standard parts commonly used in the field, and are not described in detail here. First actuating mechanism A33 can be cylinder or pneumatic cylinder, first actuating mechanism A33 can drive first fixed plate A11 and slide on horizontal guide rail A12 to drive lift support A31 and remove, and second actuating mechanism A34 is current gear motor or servo motor, second actuating mechanism A34 is connected with second fixed plate A13 through the structure of sprocket chain or rack and pinion, second fixed plate A13 can be driven by second actuating mechanism A34 and remove on lift guide rail A14.
The support frame A22 is provided with a support rod A221 detachably connected with the frame A1, one end of the support rod A221 far away from the baffle A21 is provided with external threads, and the frame A1 is provided with a through hole matched with the support rod A221. The bracing piece A221 inserts in the through-hole of frame A1, then fixes through the nut, and this kind of setting not only can make things convenient for support frame A22's installation, but also can adjust support frame A22, stretches into the length of frame A1 through changing bracing piece A221 and realizes installing not unidimensional tray, and application scope is wide, can also set up the scale on bracing piece A221 certainly, more convenient regulation.
The shutter a21 includes a first contact surface a211 and a guide surface a212 that engages the tray. Baffle A21 passes through first contact surface A211 and butts with the side of tray, and then guide face A212 is located the side of first contact surface A211, and this guide face A212 can play the effect that makes things convenient for the tray to put into, also makes things convenient for the tray to move along first contact surface A211 and go up and down for the tray inserts and can not interfered by the edge of first contact surface A211.
The lifting hook plate A32 is provided with a hook piece A321 for hooking the tray and a fixed frame A322 in threaded connection with a lifting support A31, and the lifting support A31 is provided with a threaded hole matched with the fixed frame A322. During the installation, only need insert lifting support A31 with fixed frame A322 on, then with on the hole of fixed frame A322 with promote screw hole on the support A31 after the alignment lock in the screw can, simple to operate, easy operation can also set up a plurality of screw holes on promoting support A31, through the position of adjusting fixed frame A322, supports the tray of multiple different specifications, application scope is wide.
The lifting bracket a31 comprises a first fixing part a311 connected with a lifting hook plate a32, a second fixing part a312 connected with a frame a1 and a reinforcing plate a313 connecting the first fixing part a311 and the second fixing part a312, wherein the first fixing part a311 and the second fixing part a312 are mutually perpendicular and are in an L shape. The first fixing portion A311 is fixedly connected with the second fixing portion A312 in a welding mode and the like, the strength of the joint of the first fixing portion A311 and the second fixing portion A312 can be increased through the reinforcing plate A313, the reinforcing plate A313 can be fixed at the joint of the first fixing portion A311 and the second fixing portion A312 through threads or a welding mode, and the second fixing portion A312 is installed on the rack A1 in a threaded connection mode.
The frame A1 further comprises a base A15 for mounting on the ground and a driving bracket A16 for mounting a second driving mechanism A34, wherein the base A15 is arranged on the outer side surface of the frame A1. Base A15 sets up in the outside of frame A1, can prevent that the tray on the frame A1 from interfering with base A15, and it is bigger to make the area that frame A1 bottom surface is used for fixing moreover, and whole equipment is more firm, and second actuating mechanism A34 passes through the screw or the bolt is installed on drive bracket A16, simple structure, and it is convenient to maintain.
The baffle a21 is divided into two side baffles a213 and a rear baffle a214, the two side baffles a213 are respectively arranged on the left and right sides of the frame a1, and the rear baffle a214 is arranged on the rear side of the frame a 1. Only one side of the periphery of the tray towards the outside is not contacted by the baffle A21, when the tray is pushed into the rack A1, the tray enters through the guide of the side baffles A213 at the two sides, and then when the tray is abutted to the rear baffle A214, the tray is installed in place, and the operation is convenient.
The back baffle a214 has a greater length dimension than the side baffle a 213. Since the side guards a213 cannot interfere with the nearby support brackets, the length of the side guards a213 is less than the length of the tailgate a214, and the support brackets can also guide the pallets and be specifically positioned by forklifts and other transportation devices. Further, the height of the bottom surface of the tailgate A214 from the ground is less than the height of a single tray. The rear baffle A214 can limit a single tray and is simple in structure.
The palletizing mechanism 1 comprises a palletizing robot B1, a conveying mechanism B2 arranged beside a palletizing robot B1, a second control device B3 in communication connection with the palletizing robot B1, and a safety grating B4 in communication connection with a second control device B3, wherein a working area B5 is formed by a plurality of safety gratings B4; the palletizing robot B1 is provided with a palletizing tool B11, and the palletizing robot B1 is positioned in a working area B5; the conveying mechanism B2 is partially arranged in a working area B5;
when the stacking mechanism 1 works, the conveying mechanism B2 conveys materials into a working area B5, then the stacking robot B1 grabs and places the materials on a tray through a stacking tool B11, when a person enters the working area B5, the safety grating B4 sends signals to the second control device B3, the second control device B3 stops the stacking robot B1 and the conveying mechanism B2 through built-in programs after processing the signals, so that the stacking robot B1 and the conveying mechanism B2 stop working immediately, the phenomenon that the person is injured when the stacking robot B1 works is prevented, and the phenomenon that the conveying mechanism B2 runs continuously to cause the materials to fall out of the conveying mechanism B2 is also prevented. The safety grating B4 is a photoelectric device for preventing people from approaching the moving machine, such as punch, winder, stacker, elevator, etc. to avoid casualty. The security barrier B4 may be used to replace conventional mechanical barriers or other mechanical protections, and may also increase the serviceability of the device. The safety grating B4 can also be used to increase the operability and efficiency of mechanical devices (such as some semi-automatic devices). The robot palletizer B1 and the tooling palletizer B11 are common devices in the field, and the second controller B3 is a conventional device in which an existing industrial computer and a touch display screen are installed in a housing, and are not described herein again.
The working area B5 comprises a first working surface B51 cooperating with the second control device B3, a second working surface B52 cooperating with the transport mechanism B2; first working face B51 is arranged at two ends of second control device B3, second control device B3 and first working face B51 are located on the same plane, and workers can conveniently operate second control device B3, and second working face B52 at one end of conveying mechanism B2 can send detected signals to second control device B3 when people approach conveying mechanism B2, so that conveying mechanism B2 is stopped, and conveying mechanism B2 has the possibility of causing damage to the people.
The palletizing robot B1 is located in the center of the working area B5, and tray positioning seats B6 located on the left side and the right side of the palletizing robot B1 are arranged in the working area B5. Palletizing robot B1 installs the central point at work area B5 and puts, can improve space utilization, and tray positioning seat B6 is placed at palletizing robot B1 both sides simultaneously, can make things convenient for palletizing robot B1 to place the material, can improve space utilization moreover. The tray positioning seat B6 is provided with two baffle plates A21, and the two baffle plates A21 clamp the tray in the middle.
Conveying mechanism B2 includes power roller line B21, the oblique power roller line B22 of butt joint with power roller line B21 and the frock roller line B23 of cooperating with pile up neatly machine people B1 that are used for the straight line transported substance material, and oblique power roller line B22 second working face B52 below, frock roller line B23 is located work area B5. Wherein the power roller line B21, the oblique power roller line B22 and the tooling roller line B23 are all common roller conveyors in the market, the power roller line B21 is used for linearly conveying materials to the oblique power roller line B22, a bracket is arranged above the oblique power roller line B22, when the erected box touches the bracket in the conveying process, the box is turned over, so that the original vertical placement of the material is changed into the horizontal placement, and finally the material is conveyed to a tooling roller line B23, or the input box is horizontally placed, the tool roller line B23 can be powered or unpowered, the tool roller line B23 is used for the palletizing robot B1 to use the palletizing tool B11 to take away materials, a second working surface B52 is arranged above the oblique powered roller line B22, this work surface enables personnel inspection of the conveyor B2 position to prevent personnel from entering the work area B5 from the conveyor B2 position. Wherein oblique power roller line B22 can also be close to one side of pile up neatly machine people B1 with carton transportation deviation, makes things convenient for pile up neatly machine people B1 to operate.
The outer side of the second control device B3 is flush with the first working surface B51. The outer side surface of the second control device B3 is flush with the first working surface B51, so that the operation of workers in front of the second control device B3 can be facilitated, and the safety grating B4 cannot be triggered.
The safety light barrier B4 forms a working area B5 by a plurality of mounting brackets B7, and the mounting bracket B7 comprises a bracket main body fixed on the ground and a first connecting block B71 connected with the safety light barrier B4. The safety grating B4 is arranged on the ground through a mounting bracket B7, and then the safety grating B4 is arranged on a mounting bracket B7 through a first connecting block B71, so that the safety grating is simple in structure and convenient to operate.
The safety light barrier B4 has a second connecting block B41 matched with the first connecting block B71, and the second connecting blocks B41 are uniformly arranged along the length direction of the safety light barrier B4. The safety grating B4 is installed on the mounting bracket B7 through the cooperation of the first connecting block B71 and the second connecting block B41, and the second connecting block B41 is uniformly arranged along the length direction of the safety grating B4, so that the safety grating B4 is more firmly fixed with the mounting bracket B7.
The safety grating B4 is provided with a first barrier strip B42 arranged at the top of the safety grating B4 and a second barrier strip B43 arranged at the bottom of the safety grating B4, and the first barrier strip B42 and the second barrier strip B43 are parallel to the ground. The first barrier strip B42, the second barrier strip B43 and the safety grating B4 form a rectangular frame, the first barrier strip B42 and the second barrier strip B43 not only can physically block personnel, so that the personnel cannot directly walk into the safety grating B4 area, but also can play a role in fixing two adjacent safety gratings B4, and two adjacent safety gratings B4 can be on the same straight line.
The height of the first barrier rib B42 is lower than 1.5m, and the height of the second barrier rib B43 is higher than 0.1 m. The height of a normal person is higher than 1.5m, so that when the person needs to enter the working area B5, the person needs to lower head or bend down, and the height of the second barrier strip B43 is higher than 0.1m, so that the person also needs to lift feet, when the feet of the person firstly extend into the working area B5, the safety grating B4 already sends a signal to the second control device B3, so that the palletizing robot B1 and the conveying mechanism B2 are stopped, and therefore the person who enters forcibly can be well protected. Here, first control device a4 and second control device B3 are communicatively connected to computer 5, and first control device a4 and second control device B3 perform calculations independently, so that the load on computer 5 can be reduced, and when total computer 5 fails, first control device a4 and second control device B3 can also function as a backup computer 5.
The working area B5 has a material opening B53 for the ingress and egress of material, and material openings B53 are provided on both sides of the second control means B3. The material opening B53 is used for material to pass in and out, and palletizing robot B1 and conveying mechanism B2 must shut down when the material passes in and out, and material opening B53 sets up and can improve space utilization in second controlling means B3 both sides for material opening B53 just corresponds the tray positioning seat B6 of palletizing robot B1 both sides, and the workman can directly drive fork truck and take out the tray on the tray positioning seat B6.
The AGV3 transports the pallet from the material outlet with the material already in place on the palletizer 1, then installs the specified route to move to the warehouse area 4, then places the pallet on the designated bay 42, and finally the AGV3 stops at the designated area for charging and waits for the next command, where the route and bay 42 positioning are controlled by the computer 5.
The warehouse area 4 is provided with an outer wall 41 enclosed by a plurality of safety light barriers B4 and a plurality of uniformly arranged warehouse positions 42, and the tray mechanism 2 is positioned between the warehouse area 4 and the stacking mechanism 1. The safety grating B4 can detect people entering the warehouse, when people enter the warehouse, the computer 5 controlling the operation of the AGV3 can receive signals of the safety grating B4, the computer 5 controls the AGV3 to stop operating, the AGV3 stops operating, people entering the warehouse carelessly can be prevented from being hit when the AGV3 moves, when the signals of the safety grating B4 are not sent any more for a period of time, the AGV3 can operate again, and the original task is restarted. The outer wall 41 of the warehouse area 4 is similar in construction to the working area B5 of the palletizer mechanism 1.
Preferably, the library sites 42 store the position data of each library site 42 on the computer 5 through encoding, and then the computer 5 calculates the path from the AGV3 to each library site 42 and then sends the path to the AGV3, so that the AGV3 can operate completely according to the instruction of the computer 5, thereby ensuring no error, and simultaneously, the path of the AGV3 can be corrected in real time through the assistance of the camera 6.
The computer 5 is respectively in communication connection with the palletizing mechanism 1, the pallet mechanism 2, the AGV3, the camera device 6 and the safety grating B4 of the warehouse area 4, wherein the connection modes can be wireless connection and wired connection, and the computer 5 and the AGV3 are connected through WIFI. The camera device 6 is a common binocular monitoring probe in the market, and can perform distance measurement and monitoring, and the camera device can be installed on a wall of a factory.
The AGV3 will automatically travel to the AGV3 charger 7 for charging standby when not running.
The materials, cartons, boxes and products are all the same object.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the palletizing mechanism 1, the tray mechanism 2, the AGV3, the warehouse area 4, the outer wall 41, the warehouse space 42, the computer 5, the camera device 6, the charging stand 7, the rack a1, the barrier mechanism A2, the lifting mechanism A3, the first control device A4, the barrier a21, the support a22, the lifting bracket a31, the lifting hook plate a32, the first drive mechanism a33, the second drive mechanism a34, the first fixing plate a11, the horizontal guide rail a12, the second fixing plate a13, the lifting guide rail a14, the support rod a221, the first contact surface a211, the guide surface a212, the hook plate a321, the fixing frame a322, the first fixing portion a311, the second fixing portion a312, the reinforcing plate a313, the base a15, the drive bracket a 9, the side barrier a 686213, the rear barrier a214, the palletizing robot B82 1, the conveying mechanism B56, the second control device B53, the safety light barrier B4, the first working area B867, the second working area B847, the working surface 368658, the palletizing surface B368658, the supporting rod a 52, the supporting, Tray positioning seat B6, power roller line B21, oblique power roller line B22, tooling roller line B23, mounting bracket B7, first connecting block B71, second connecting block B41, first stop bar B42, second stop bar B43, material opening B53, and the like, but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
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| CN202010040916.5A CN111099238A (en) | 2020-01-15 | 2020-01-15 | Intelligent AGV tray supply and warehousing system |
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| CN202010040916.5A CN111099238A (en) | 2020-01-15 | 2020-01-15 | Intelligent AGV tray supply and warehousing system |
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| CN115973661A (en) * | 2023-03-21 | 2023-04-18 | 苏州海豚之星智能科技有限公司 | Logistics conveying system and method based on latent robot |
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