CN106241240A - A kind of loading and unloading method of soft readjustment docking height - Google Patents
A kind of loading and unloading method of soft readjustment docking height Download PDFInfo
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- CN106241240A CN106241240A CN201610788745.8A CN201610788745A CN106241240A CN 106241240 A CN106241240 A CN 106241240A CN 201610788745 A CN201610788745 A CN 201610788745A CN 106241240 A CN106241240 A CN 106241240A
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Mechanical Engineering (AREA)
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention belongs to automatization's loading and unloading control method field, the loading and unloading method of a kind of soft readjustment docking height, including being provided with AGV, to the production line of connection module and the production line AGV to connection module is set；Specifically comprise the following steps that (1) according to production line demand, AGV sends call signal to connection module, and production line is to connection module receiving calling signal, and the control module on AGV, according to the signal receiving connection module, drives AGV to arrive the loading and unloading website of production line；(2) AGV arrives loading and unloading website, and AGV performs the terminal information of task, and pre-recorded loading and unloading quay height information according to reality, adjusts the height of docking platform on AGV, docks with corresponding loading and unloading harbour；(3) docking platform on AGV docks with corresponding loading and unloading harbour, and AGV has coordinated loading and unloading action with production line.Compared with prior art, the present invention has application structure and carries out the advantage that flow process is simple, work efficiency is high.
Description
Technical field
The invention belongs to automatization's loading and unloading control method field, the loading and unloading of a kind of soft readjustment docking height
Method.
Background technology
Along with the development of industrial automation, AGV is more and more extensive in the application producing scene.Wherein utilize AGV and production
Line coordinates, and is combined into automatic wire charging material production system, owing to its automaticity is high, work efficiency is high, work accuracy is high, right
Original improvement of manufacturing line low cost and other advantages, becomes the popular equipment that factory automation is built.
But the loading and unloading docking calculation of existing application AGV, the function singleness of docking of AGV and production line, AGV and loading and unloading code
Carry out information by single docking system between Tou mutual, after AGV arrives production line loading and unloading website, by with harbour
Information is mutual, completes and the docking of harbour, performs corresponding loading and unloading task.In the case of docking with multiple harbours due to AGV,
Docking system between AGV with harbour can become corresponding complexity, and system stability can be subject to because the complexity of task
Impact to a certain extent.In order to avoid this situation, prior art is the situation of multilamellar for adaptive production line, and selecting will be raw
Produce line and install the mode concentrating harbour additional, the loading and unloading work of each production line is concentrated on a single harbour and completes, each life
Producing line to be connected by transmission structure between this harbour, between AGV and each production line, material exchange completes through this harbour,
Combined transmission structure by this harbour again be allocated or collect.The set-up mode of this concentration harbour, not only increase is known clearly and is
The manufacturing cost of system, and reduce the efficiency of loading and unloading.Therefore, application structure is simple, work efficiency is high how to provide one
Loading and unloading method, be a difficult problem urgently to be resolved hurrily in this area.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of application structure is simple, work efficiency is high
The loading and unloading method of soft readjustment docking height.
In order to solve above-mentioned technical problem, the present invention by the following technical solutions: a kind of soft readjustment docking height upper
Baiting method, to the production line of connection module and arranges the production line AGV to connection module including being provided with AGV；Described production line
Being provided with loading and unloading website, described loading and unloading website is provided with the loading and unloading harbour that some height are different；Described production line is to connection module
The elevation information of each loading and unloading harbour pre-recorded；Specifically comprise the following steps that
(1) according to production line demand, AGV sends call signal to connection module, and described production line receives calling to connection module
Signal, the control module on AGV, according to the signal receiving connection module, drives AGV to arrive the loading and unloading website of production line；
(2) AGV arrives loading and unloading website, and AGV performs the terminal information of task according to reality, and pre-recorded upper and lower
Dock elevation information, adjusts the height of docking platform on AGV, docks with corresponding loading and unloading harbour；
(3) docking platform on AGV docks with corresponding loading and unloading harbour, and AGV has coordinated loading and unloading action with production line.
Described soft readjustment docking height, i.e. AGV can regulate lifting voluntarily according to the harbour of differing heights on production line
Highly.The loading and unloading method that the present invention provides, by advance at same loading and unloading station to connection module record of the production line of AGV
The elevation information of each loading and unloading harbour of point, after AGV arrives loading and unloading website, quickly according to the actually blanking of production line
Demand, the height of regulation docking platform, make docking platform to achieve a butt joint with corresponding loading and unloading harbour rapidly.Apply this
Bright loading and unloading method, is not required to build on a production line unified docking harbour, and unified docking harbour and each production line it
Between transmission structure, it is not required that producing setting up complicated mutual system between connection module and each loading and unloading harbour at AGV
System.AGV, simply according to the demand of actual harbour, regulates docking platform height, it is achieved docking, completes loading and unloading task.Therefore,
Compared with prior art, the present invention has application structure and carries out the advantage that flow process is simple, work efficiency is high.
In order to avoid the delivery mistake on AGV, or the practical situation of loading and unloading harbour does not corresponds with required execution task
And affect stability and the efficiency of loading and unloading action, the present invention provides following two method to set up:
First method is: the call signal of described step (1) includes feeding signal or blanking signal, and harbour identification
Signal.Call signal is divided into feeding signal or blanking signal, and harbour identification signal；AGV can first according to feeding signal or
Blanking signal and oneself state, it may be judged whether material can be accepted, whether deposit material, it may be judged whether task can be performed, if nothing
Method performs corresponding task, then without setting out.By feedback one refusal signal, AGV will call another AGV to connection module；Or
In certain time, AGV cannot arrive loading and unloading website, then this AGV is called by AGV by connection module by stopping, calling another
AGV.This kind of set-up mode, when the delivery situation on AGV and actual execution task do not correspond, can quickly regulate, it is to avoid produce
Accident, and guarantee production efficiency.
Preferably, in described step (2), after AGV arrives loading and unloading website, according to call signal, send the request of correspondence
Signal, AGV to connection module according to request signal, it is judged that whether corresponding loading and unloading harbour can perform feeding or blanking task；AGV
After judging to perform this task to connection module, sending production line answer signal, production line receives production line response to connection module
After signal, AGV regulates docking platform height, docks with corresponding loading and unloading harbour.Believed by feeding between AGV and loading and unloading harbour
Number or blanking signal, and the mode of production line answer signal dock before mutual, can ensure that loading and unloading harbour can perform
Corresponding task, it is to avoid when not corresponding with actual execution task due to the situation on loading and unloading harbour or corresponding production line, occur
Production accident, or it is delayed manufacturing schedule.
Second method is: in described step (2), and after AGV arrives loading and unloading website, connection module is sent on harbour by AGV
Blanking signal, described harbour loading and unloading signal includes: feeding signal or blanking signal, and harbour identification signal；Described production
Line first receives feeding signal or blanking signal, the control module on AGV to connection module, sentences according to feeding signal or blanking signal
Break and whether can perform feeding or blanking task.Use this kind of method, AGV can first according to feeding signal or blanking signal and self
State, it may be judged whether can accept material, whether deposit material, it may be judged whether can perform task, if can not be i.e. without according to code
Head identifies that signal performs docking, and AGV can call an other AGV to connection module, performs corresponding task.Delivery feelings on AGV
When condition and actual execution task do not correspond, can quickly regulate, it is to avoid production accident, and guarantee production efficiency.
Preferably, after control module judges to perform this task, sending AGV answer signal, AGV receives AGV to connection module
After answer signal, sending harbour identification signal, AGV, according to harbour identification signal, regulates docking platform height, with corresponding loading and unloading
Harbour docks.By feeding signal or blanking signal between AGV and loading and unloading harbour, and the mode of AGV answer signal is carried out
Mutual before docking, can ensure that AGV can perform the actual task of loading and unloading harbour, it is to avoid due to the delivery situation on AGV and reality
When border execution task does not corresponds, production development accident, or it is delayed manufacturing schedule.
Preferably, between described loading and unloading website and AGV, it is provided with alignment system, after described AGV arrives loading and unloading website, profit
With alignment system, correcting car body position, described alignment system can ensure that the para-position between AGV and loading and unloading website is accurate, for AGV
Dock, between docking platform with loading and unloading harbour, the basis accurately providing good.
Preferably, the loading and unloading harbour vertical non-alignment of each differing heights, each harbour is longitudinal layered setting, each code
Head in the vertical direction alignment, makes the region alignment that docking platform docks in the horizontal direction with each layer harbour, as long as docking is flat
Platform is adjusted to the height of correspondence, can simplify docking step with corresponding loading and unloading harbour docking, improve stablizing of loading and unloading
Property.
Preferably, docked by correcting unit between described docking platform with loading and unloading harbour, improve the accurate of loading and unloading
Property and stability.
Preferably, described correcting unit is mechanical checkout device or photosignal correcting unit, according to the actual need installed
Ask, select mechanical checkout device or photosignal correcting unit.
Detailed description of the invention
Two kinds of detailed description of the invention relating to the present invention presented below.
Embodiment one:
The loading and unloading method of a kind of soft readjustment docking height that the present embodiment provides, it is upper and lower that application the present embodiment provides
The device of material method includes: is provided with AGV and to the production line of connection module and arranges the production line AGV to connection module；Described production
Line is provided with loading and unloading website, and described loading and unloading website is provided with the loading and unloading harbour that some height are different；Described production line docking mould
The elevation information of block each loading and unloading harbour pre-recorded.
Specifically comprise the following steps that
A, according to production line demand, AGV sends call signal to connection module, described call signal include feeding signal or under
Material signal, and harbour identification signal.Called AGV is according to feeding signal or blanking signal and oneself state, it may be judged whether
Material can be accepted, whether deposit material, it may be judged whether task can be performed, if corresponding task cannot be performed, then without setting out.Logical
Crossing feedback one refusal signal, AGV will call another AGV to connection module；When the control module on AGV judges to perform this
After task, AGV is driven to arrive the loading and unloading website of production line；
B, AGV arrive loading and unloading website, utilize the alignment system between loading and unloading website and AGV, correct car body position；
After c, car body position correction complete, production line according to call signal, sends the request signal of correspondence, institute to connection module
State request signal and include the terminal information up and down of correspondence, and loading and unloading signal or blanking signal；Connection module is believed by AGV according to request
Number, it is judged that whether corresponding loading and unloading harbour can perform feeding or blanking task；Connection module is judged to perform this task by AGV
After, send production line answer signal；
After d, production line receive production line answer signal to connection module, AGV regulates docking platform height, utilizes correction dress
Put docking, dock with corresponding loading and unloading harbour；
E, AGV have coordinated loading and unloading action with production line.
Embodiment two:
The loading and unloading method of a kind of soft readjustment docking height that the present embodiment provides, it is upper and lower that application the present embodiment provides
The device of material method includes: is provided with AGV and to the production line of connection module and arranges the production line AGV to connection module；Described production
Line is provided with loading and unloading website, and described loading and unloading website is provided with the loading and unloading harbour that some height are different；Described production line docking mould
The elevation information of block each loading and unloading harbour pre-recorded.
Specifically comprise the following steps that
A, according to production line demand, AGV sends call signal to connection module, and AGV control module docks mould according to production line
The call signal that block receives, drives AGV to arrive the loading and unloading website of production line；
B, AGV arrive loading and unloading website, utilize the alignment system between loading and unloading website and AGV, correct car body position；
After c, car body position correction complete, AGV sends harbour loading and unloading signal, described harbour loading and unloading signal to connection module
Including: feeding signal or blanking signal, and harbour identification signal；Described production line connection module is first received feeding signal or
Blanking signal, the control module on AGV, judge whether to perform feeding according to feeding signal or blanking signal or blanking is appointed
Business；If judge can not; feed back a refusal information, AGV can call an other AGV to connection module, performs corresponding task；If
After judgement can perform this task, then production line sends AGV answer signal to connection module；
Connection module is received after AGV answer signal by d, AGV, sends harbour identification signal, AGV according to harbour identification signal,
Regulation docking platform height, utilizes correcting unit to dock with corresponding loading and unloading harbour；
E, AGV have coordinated loading and unloading action with production line.
As a preferred version, the loading and unloading harbour vertical non-alignment of each differing heights, AGV and loading and unloading website it
Between in the case of para-position accurately, each harbour vertical non-alignment, make the region that docking platform docks in the horizontal direction with each harbour
Unanimously, simplify docking step, improve the stability of loading and unloading.
As another kind of preferred version: described correcting unit is mechanical checkout device or photosignal correcting unit, according to
Installing space and the cost needs of global design, select mechanical checkout device or photosignal correcting unit.
The announcement of book and teaching according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula changes and revises.Therefore, the invention is not limited in detailed description of the invention disclosed and described above, to the present invention's
Some modifications and changes should also be as falling in the scope of the claims of the present invention.Although additionally, this specification using
Some specific terms, but these terms are merely for convenience of description, the present invention does not constitute any restriction.
Claims (9)
1. the loading and unloading method of a soft readjustment docking height, it is characterised in that: include the production being provided with AGV to connection module
Line and the production line AGV to connection module is set；Described production line is provided with loading and unloading website, and described loading and unloading website is provided with some
The most different loading and unloading harbours；The elevation information of described production line each loading and unloading harbour pre-recorded to connection module；Specifically
Step is as follows:
(1) according to production line demand, AGV sends call signal to connection module, described production line to connection module receiving calling signal,
Control module on AGV, according to the signal receiving connection module, drives AGV to arrive the loading and unloading website of production line；
(2) AGV arrives loading and unloading website, and AGV performs the terminal information of task, and pre-recorded loading and unloading code according to reality
Grease head highness information, adjusts the height of docking platform on AGV, docks with corresponding loading and unloading harbour；
(3) docking platform on AGV docks with corresponding loading and unloading harbour, and AGV has coordinated loading and unloading action with production line.
The loading and unloading method of a kind of soft readjustment the most according to claim 1 docking height, it is characterised in that: described step
(1) call signal includes feeding signal or blanking signal, and harbour identification signal.
The loading and unloading method of a kind of soft readjustment the most according to claim 2 docking height, it is characterised in that: described step
(2) in, AGV arrives after loading and unloading website, according to call signal, sends the request signal of correspondence, AGV to connection module according to request
Signal, it is judged that whether corresponding loading and unloading harbour can perform feeding or blanking task；
After connection module is judged to perform this task by AGV, sending production line answer signal, production line receives production to connection module
After line answer signal, AGV regulates docking platform height, docks with corresponding loading and unloading harbour.
The loading and unloading method of a kind of soft readjustment the most according to claim 1 docking height, it is characterised in that: described step
(2), in, after AGV arrives loading and unloading website, AGV sends harbour loading and unloading signal, described harbour loading and unloading signal packet to connection module
Include: feeding signal or blanking signal, and harbour identification signal；Described production line connection module is first received feeding signal or under
Material signal, the control module on AGV, judge whether to perform feeding or blanking task according to feeding signal or blanking signal.
The loading and unloading method of a kind of soft readjustment the most according to claim 4 docking height, it is characterised in that: control module
After judgement can perform this task, send AGV answer signal, after AGV receives AGV answer signal to connection module, send harbour identification
Signal, AGV according to harbour identification signal, regulates docking platform height, docks with corresponding loading and unloading harbour.
A kind of soft readjustment the most according to claim 1 docking height loading and unloading method, it is characterised in that: described up and down
It is provided with alignment system between material website and AGV, after described AGV arrives loading and unloading website, utilizes alignment system, correct car body position
Put.
7. the loading and unloading method of height is docked according to a kind of soft readjustment described in claim 1 or 4, it is characterised in that: each
The loading and unloading harbour vertical non-alignment of differing heights.
The loading and unloading method of a kind of soft readjustment the most according to claim 5 docking height, it is characterised in that: described docking
Docked by correcting unit between platform with loading and unloading harbour.
The loading and unloading method of a kind of soft readjustment the most according to claim 6 docking height, it is characterised in that: described correction
Device is mechanical checkout device or photosignal correcting unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610788745.8A CN106241240B (en) | 2016-08-31 | 2016-08-31 | A kind of loading and unloading method of soft readjustment docking height |
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| CN201610788745.8A CN106241240B (en) | 2016-08-31 | 2016-08-31 | A kind of loading and unloading method of soft readjustment docking height |
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| CN106241240B CN106241240B (en) | 2018-05-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168271A (en) * | 2017-07-10 | 2017-09-15 | 张耀忠 | A kind of multiple production line is shipped to apparatus control system |
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| Publication number | Publication date |
|---|---|
| CN106241240B (en) | 2018-05-11 |
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