CN113619971B - AGV trolley material conveying system and control method thereof - Google Patents

Abstract

The invention relates to an AGV trolley material conveying system, wherein a fixed material rack beside a route line of a moving trolley is pulled by the AGV trolley, a second discharge port on the moving trolley is gradually opened in the moving process of the AGV trolley, so that loading of a turnover box provided with parts onto the fixed material rack beside the route line is realized, meanwhile, a first discharge port of the fixed material rack beside the route line is also opened, further, loading of an unloaded turnover box onto the moving trolley is realized, namely, the purpose of automatically loading the turnover box is realized.

Description

AGV trolley material conveying system and control method thereof

Technical Field

The invention relates to the field of automatic equipment for automobile production, in particular to an AGV trolley material conveying system and a control method thereof.

Background

In the field of automatic assembly of automobiles, the whole automobile is often assembled manually, because the number of parts of the automobile is large, different types of parts are often required to be assembled, the specific assembly mode is as shown in fig. 7, in a material distribution area (warehouse), a transfer box is transported to a mobile trolley in a manual transportation mode, then a forklift worker transports the mobile trolley to a line-side fixed material rack of an automatic production line by using a forklift, the worker transports the transfer box on the mobile trolley to the line-side fixed material rack for assembly of the automatic production line, and in the conveying system,

chinese patent CN202110260769.7 has appeared which discloses a docking material rack of an AGV system, comprising a rack frame, the rack frame is provided with a plurality of obliquely arranged slides, a blocking release mechanism and a cylinder, the slides are used for bearing a material turnover box, the blocking release mechanism comprises a swing arm, a rotating shaft, a connecting rod, a front catch and a rear catch, the rotating shaft is rotatably connected below the slides, the rotating shaft is parallel to the loading plane of the slides and extends along the width direction of the slides, a first end of the swing arm is fixedly connected with the rotating shaft, a second end of the swing arm is driven by the cylinder, a middle part of the connecting rod is fixedly connected with the rotating shaft, the connecting rod extends along the depth direction of the slides, the front catch extending from below the slides to above the slides is fixedly arranged at the front end of the connecting rod, and the rear catch extending from below the slides to above the slides is fixedly arranged at the rear end of the connecting rod. The turnover box can be controlled to slide down singly through the single cylinder, the structure is simple, the control is easy, and the cost is low;

the invention improves the butt-joint material rack in the warehouse, when a moving trolley (AGV pulls) passes through the improved material rack, the materials on the improved material rack are loaded on the moving trolley through the rotation of the bottom frame of the improved material rack and the extension of the limiting column, the traditional loading mode of manual carrying is broken, the labor cost is greatly saved, and the conveying efficiency is improved, but the patent does not solve the loading problem of a turnover box on a fixed material rack beside a subsequent moving trolley, so that the efficiency of a conveying system of the AGV trolley materials is relatively low,

later, in order to solve the technical problem, a chinese patent publication CN202010034229.2 is also disclosed, which discloses an automatic feeding system and a control method thereof, wherein the automatic feeding system comprises: the automatic feeding device comprises an upper feeding trolley, a line edge material rack and an AGV (automatic guided vehicle), wherein the upper feeding trolley is connected with the AGV; the upper line skip car is provided with an inclined first material frame layer, an inclined second material frame layer is erected on the line edge material frame, the inclination direction of the second material frame layer is consistent with that of the first material frame layer, and the highest end of the second material frame layer is as high as the lowest end of the first material frame layer; a discharging switch mechanism is arranged on one side, close to the line edge material rack, of the on-line material truck, and the discharging switch mechanism is used for conducting or blocking the first material rack layer and the second material rack layer; the feeding rack is provided with a material box detection mechanism, the material box detection mechanism is used for detecting whether the material box in the first rack layer is moved away, and the AGV tractor is connected with the material box detection mechanism and used for controlling the AGV tractor to move when the material box in the first rack layer is moved away;

although the technical problem on the other fixed work or material rest of line is loaded to turnover case on the travelling car has been solved to above-mentioned patent, but during this patent of in-service use, certain problem still can appear, need be furnished with other fixed work or material rest of special messenger's online, trample the running-board, trigger the shelves pole switch, thereby reach and load the other fixed work or material rest of line with turnover case on the travelling car, when the travelling car is being pulled to the travelling car and is arriving the other fixed work or material rest of line when the other fixed work or material rest of line is unmanned, then the AGV dolly can stop by other fixed work or material rest of line all the time, wait for the special messenger to step on, realize that the turnover case on the travelling car loads on the other fixed work or material rest of line, so, can waste a large amount of time.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide an AGV trolley material conveying system, which aims to solve the technical problem of automatic loading and unloading of a turnover box of a moving trolley and a turnover box on a fixed material rack beside a line.

In order to achieve the above object, the present invention provides an AGV cart material conveying system, including:

fixing a material rest beside the wire;

the first material rack layer is obliquely and fixedly arranged on the fixed material rack beside the wire, and a first feeding hole is formed in the high end of the first material rack layer;

the second material rack layer is obliquely and fixedly arranged on the fixed material rack beside the wire, an included angle between the second material rack layer and the first material rack layer is an acute angle, and the lower end of the second material rack layer is provided with a first discharge hole;

one end of the first fixing rod is fixedly arranged on the line side fixing material rack, the other end of the first fixing rod is obliquely and upwards arranged outside the line side fixing material rack along the moving direction of the AGV trolley, and the first fixing rod is positioned beside the first feeding hole;

the first stop lever is arranged at the first discharge port in a vertically moving mode;

the first connecting rod is fixedly connected with the first stop lever;

the moving trolley is detachably connected with the AGV trolley;

the third material frame layer is obliquely and fixedly arranged on the movable trolley, and the lower end of the third material frame layer is provided with a second discharge hole;

the fourth material frame layer is obliquely and fixedly arranged on the movable trolley, and a second feeding hole is formed in the high end of the fourth material frame layer;

one end of the second fixing rod is fixedly arranged on the moving trolley, the other end of the second fixing rod is obliquely and upwards arranged outside the moving trolley along the moving direction of the AGV trolley, and the second fixing rod is positioned beside the second feeding hole;

the second stop lever is arranged at the second discharge port in a vertically moving mode;

the second connecting rod is fixedly connected with the second stop lever;

when the AGV trolley drives the moving trolley to move, the first feeding hole is selectively communicated with the second discharging hole, and the second feeding hole is selectively communicated with the first discharging hole;

the second connecting rod is selectively abutted against the first fixing rod, so that the second blocking rod is driven to move upwards, and the opening of the second discharge hole is continuously enlarged;

and the second fixed rod is selectively abutted with the first connecting rod so as to drive the first stop lever to move upwards, so that the opening of the first discharge hole is continuously enlarged.

As a further description of the above technical solution:

a plurality of movable rods are fixedly connected to the first stop rod and the second stop rod, a plurality of sleeves are fixedly arranged on the movable trolley and the fixed material rack beside the line, guide grooves are formed in the sleeves, bosses are fixedly arranged on the movable rods, and one movable rod is arranged in one guide groove in one sleeve through the boss on the movable rod;

the movable trolley is further fixedly provided with a first limiting rod, the second stop rod selectively abuts against the first limiting rod, the other wire fixing rack is further fixedly provided with a second limiting rod, and the first stop rod selectively abuts against the second limiting rod.

As a further description of the above technical solution:

the first limiting rod and the second limiting rod are obliquely arranged, the first limiting rod is arranged on the moving trolley in a bolt and nut detachable mode, and the second limiting rod is arranged on the line side fixing rack in a bolt and nut detachable mode.

As a further description of the above technical solution:

the first material rack layer, the second material rack layer, the third material rack layer and the fourth material rack layer are identical in structure, the first material rack layer comprises a bottom frame and a plurality of rotating rollers, the bottom frame is fixedly arranged on the line-side fixed material rack, and the plurality of rotating rollers are arranged in the bottom frame in an equidistant rotating mode;

the second stop lever and the first stop lever are both hinged with movable hinge rods, the movable hinge rods are hinged with fixed hinge connecting rods, one fixed hinge connecting rod is hinged on one rotating roller in the third material frame layer, and the other fixed hinge connecting rod is hinged on one rotating roller in the second material frame layer;

the rotating roller includes:

the large shaft is rotatably arranged in the bottom frame;

and the small shaft is eccentrically and fixedly arranged on the top surface of the large shaft and is hinged with the fixed hinge connecting rod.

As a further description of the above technical solution:

the inclination angle of the first fixing rod and the second fixing rod is larger than 45 degrees and smaller than 60 degrees.

As a further description of the above technical solution:

the inclination angle of the first material frame layer is 5-10 degrees.

As a further description of the above technical solution:

the lowest ends of the first material frame layer and the fourth material frame layer are provided with cushion pads.

The invention also provides a control method of the AGV trolley material conveying system, which comprises the following steps: s1, loading the turnover box with the parts on the third material rack layer of the moving trolley in a material loading area, and then starting the AGV trolley, wherein the AGV trolley drives the moving trolley to move to the fixed material racks beside the line according to a preset path; s2, when an assembling worker beside the line fixed material rack sees that the movable trolley approaches to the assembling worker, the turnover box on the first material rack layer is placed on the second material rack layer; s3, when the AGV enters the line-side fixed material rack, decelerating (preventing the AGV from having too high speed and enabling the turnover box not to enter the first material rack layer or the fourth material rack layer, driving the AGV to leave the line-side fixed material rack and finally enabling the turnover box to fall outside the line-side fixed material rack and the movable trolley from the third material rack layer or the second material rack layer), and continuing to recover the original speed until the AGV leaves the line-side fixed material rack and drives into a material distribution area; s4, after the AGV drives into the material distribution area, stopping moving under the combined action of a sensor and a controller, taking out the turnover box on the fourth material rack layer on the moving trolley by a warehouse manager, and then filling parts in the turnover box; and S5, repeating the processes S1-S4.

Compared with the prior art, the invention has the beneficial effects that:

(I): loading a turnover box on a third material rack layer of the mobile trolley in the material distribution area, then opening the AGV trolley to enable the AGV trolley to pull the mobile trolley to move, when the mobile trolley moves to be arranged side by side with the line-side fixed material rack, at the moment, a second discharge port and a second feed port are completely overlapped with each other, a first discharge port and a second feed port are completely overlapped with each other, however, under the action of a first stop lever and a second stop lever, the turnover box (with parts) on the third material rack layer can not slide into the first material rack layer, and the turnover box (without parts) on the second material rack layer can not slide into a fourth material rack layer to recover empty turnover boxes, and the second connecting rod of the mobile trolley continuously abuts against the first fixed rod of the line-side fixed material rack along with the forward movement of the AGV trolley, and simultaneously pulls the mobile trolley to continuously move forward, and because the first fixed rod is arranged along the moving direction of the trolley in an inclined way, the second connecting rod continuously climbs upwards along the first fixed rod, and because the second stop rod is arranged on the moving trolley in an up-and-down moving way and is fixedly connected with the second connecting rod, at the moment, the second stop rod can move upwards to open the second discharge hole, so that the turnover box flows into the first rack layer of the line-side fixed rack for being used by an assembler, the opening principle of the first stop rod is consistent with the opening principle of the second stop rod, and the statement is not made, it can be understood that the power source for opening the second discharge hole by the second stop rod is the AGV trolley, the AGV trolley is an intelligent trolley, and when the moving trolley enters the line-side fixed rack by controlling a control program thereof fast, the speed of the turnover box is reduced until the mobile trolley drives off the side fixed material rack, the normal speed is recovered, so that when the turnover box does not slide into the first material rack layer, the second discharge port is completely separated from the first feed port, the first material rack layer and the second material rack layer are obliquely arranged, the turnover box can slide out by means of the gravity of the turnover box when the first stop lever or the second stop lever is opened, the inclination angle of the first material rack layer and the second material rack layer is an acute angle, the purpose of loading on one material rack layer (loading of the turnover box with parts) is achieved, the purpose of receiving on the other material rack layer (discharging of an empty turnover box) is achieved, a special person is not required to be arranged beside the side fixed material rack, the purpose of automatic loading and receiving of the turnover box can be achieved, the operation efficiency of the system is greatly increased, and the intelligent degree is higher;

(II): the first limiting rod is arranged to enable the second stop rod to abut against the first limiting rod in a natural state, so that the purpose of closing the second discharge port is achieved, the movable rod is fixedly connected with the second stop rod, the movable rod is arranged in the sleeve in a sliding mode through the boss, the sleeve is fixedly arranged on the movable trolley, when the second connecting rod continuously abuts against the first fixing rod, the second stop rod continuously ascends, so that the purpose of opening the second discharge port is achieved, the effects of the first limiting rod and the second limiting rod are consistent with the above effects, and excessive statement is not made;

(III): the second limiting rod is detachably connected with the line side fixing rack through a bolt and a nut, so that the inclination angle of the second limiting rod can be changed, the height of the initial position of the first stop rod is changed, and the first stop rod can be suitable for turnover boxes with different heights;

(IV): the rotating roller is arranged to reduce the friction force between the turnover box and the bottom frame, so that the turnover box can quickly flow into the first material frame layer or the fourth material frame layer by means of the gravity of the turnover box, the movable rod is arranged in the sleeve in a sliding mode, the movable hinge rod is hinged to the movable rod through the second stop rod, the fixed hinge rod is hinged to the movable hinge rod, and the rotating roller is arranged in the bottom frame in a rotating mode, so that a three-link mechanism is achieved, namely, the movable rod is driven to move up and down, so that the rotating roller can rotate;

(V): the inclination angle of the first fixing rod and the second fixing rod is larger than 45 degrees, so that when the AGV trolley moves a small distance, the first blocking rod or the second blocking rod can be lifted by a large distance, the first discharge hole and the second discharge hole can be quickly opened, and the purpose of quickly transferring the turnover box is finally realized, the inclination angle is smaller than 60 degrees, and the effect of preventing the second fixing rod from being too violent in rigid collision with the first connecting rod is achieved, so that the service lives of a fixed material rack beside a line and the movable trolley are influenced;

(VI): the inclination angle of the first material rack layer is 5-10 degrees, so that the transfer box is prevented from falling off the first material rack layer too fast (the acceleration is changed through the inclination angle), when the transfer box flows into the tail end of the first material rack layer, the risk of falling off the first material rack layer due to the fact that the transfer box on the first material rack layer is too fast (due to the fact that parts are filled in the transfer box on the first material rack layer, namely the mass is large, and the inertia is in direct proportion to the mass, the falling-off condition is easy to occur), and finally the situation that an assembly worker is injured by a smashing phenomenon is prevented;

(seventh): set up the effect that the blotter played the buffering, thereby prevent that turnover case and the other fixed work or material rest of line and travelling car rigid collision from influencing the other fixed work or material rest of line and travelling car's normal use too fiercely.

Drawings

FIG. 1 is a perspective view of an AGV cart material transport system of the present invention;

FIG. 2 is a perspective view of a mobile cart of an AGV cart material transport system of the present invention;

FIG. 3 is a perspective view of a line side stationary rack of an AGV cart material transport system of the present invention;

FIG. 4 is an interface diagram of a fixed rack beside the line and a moving cart of the AGV cart material conveying system of the present invention;

FIG. 5 is a flowchart of a method for controlling an AGV material transport system according to the present invention;

FIG. 6 is a schematic diagram of the power of the turning rollers of an AGV cart material transport system of the present invention;

FIG. 7 is a perspective view of a first rack level of an AGV cart material transport system of the present invention.

In the figure: 1. fixing a material rest beside the wire; 11. a first material frame layer; 111. a first feed port; 112. a bottom frame; 113. a rotating roller; 1131. a large shaft; 1132. a small shaft; 12. a second material frame layer; 121. a first discharge port; 13. a first fixing lever; 14. a first bar; 15. a first connecting rod; 16. a second limiting rod; 2. an AGV trolley; 3. moving the trolley; 31. a third material rack layer; 311. a second discharge port; 32. a fourth shelf layer; 321. a second feed port; 33. a second fixing bar; 34. a second bar; 35. a second connecting rod; 36. a first limit rod; 4. a turnover box; 5. a sleeve; 51. a guide groove; 6. a movable hinge rod; 7. a fixed hinge connecting rod; 8. a movable rod; 81. and (4) a boss.

Detailed Description

To explain the technical content, structural features, attained objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the scope of the invention.

To achieve the above object, the present invention provides an embodiment:

the invention relates to an AGV material conveying system, which comprises:

referring to fig. 1, the AGV cart 2 plays a role of towing the moving cart 3 to move, and is connected to the moving cart 3 by a hook, the specific structure of the AGV cart 2 is the prior art, and it is not stated herein that the AGV cart 2 can not only provide power for the moving cart 3, but also the AGV cart 2 can automatically travel according to a predetermined path, the accuracy of the traveling path is high, and the purpose of automatically controlling the vehicle speed can be met, and in the present application, the path requirement of the moving cart 3 and the vehicle speed thereof have certain requirements, and therefore, the AGV cart 2 is selected here to meet the design requirement.

The assembly device comprises a line side fixed material rack 1, an assembly worker stands beside the line side fixed material rack 1, and the assembly worker takes parts in a turnover box 4 on a first material rack layer 11 to assemble an automobile, please refer to fig. 3, and combines the drawing with fig. 4, wherein the line side fixed material rack comprises a first material rack layer 11, the right-side inclined fixed material rack layer is fixedly arranged on the line side fixed material rack 1, the right end of the line side fixed material rack layer is provided with a first feeding hole 111, a second material rack layer 12, the right-side inclined fixed material rack layer is fixedly arranged on the line side fixed material rack 1, and the right end of the line side fixed material rack layer is provided with a first discharging hole 121; the first fixing rod 13 is fixedly arranged on the right side in front of the top of the line side fixing rack 1 in a forward and upward inclining mode; the first connecting rod 15 is fixedly connected with the first stop rod 14 and is positioned on the right side of the front part of the middle part of the fixed material rack 1 beside the line; the second limiting rod 16 is arranged beside the line fixed material rack 1 in a bolt and nut detachable inclined mode (the inclination angle of the second limiting rod 16 can be changed, so that the height of the initial position of the first stop rod 14 is changed, the first stop rod 14 can be suitable for turnover boxes 4 with different heights, and the first stop rod 14 abuts against the second limiting rod 16; the first blocking rod 14 is located between the first rack layer 11 and the second rack layer 12.

The moving trolley 3 is fixedly connected with the AGV trolley 2, a warehouse administrator places a fully loaded turnover box 4 on a third material frame layer 31 of the moving trolley 3 to realize the transfer of the turnover box 4 from a warehouse to the line-side fixed material frame 1, please refer to fig. 2 and combine with fig. 4, the moving trolley comprises the third material frame layer 31, the third material frame layer is fixedly arranged on the moving trolley 3 in a manner of inclining rightwards, and a second discharge hole 311 is formed in the left end of the moving trolley; the fourth material frame layer 32 is fixedly arranged on the movable trolley 3 in a manner of inclining towards the right and downwards, and the left end of the fourth material frame layer is provided with a second feeding hole 321; the second fixing rod 33 is obliquely and fixedly arranged at the right side in front of the middle part of the moving trolley 3 forwards and downwards, and the second connecting rod 35 is fixedly connected with the second stop rod 34 and is positioned at the right side in front of the top of the moving trolley 3; the first limiting rod 36 is arranged on the movable trolley 3 in an inclined mode in a bolt and nut detachable mode, so that the second stop lever 34 abuts against the first limiting rod 36; the second stopper 34 is located between the third rack layer 31 and the fourth rack layer 32.

It is worth noting that: the first rack layer 11, the second rack layer 12, the third rack layer 31 and the fourth rack layer 32 have the same structure, the first rack layer 11 includes a bottom frame 112 and a plurality of rotating rollers 113, the bottom frame 112 is fixedly disposed on the line side fixed rack 1, the plurality of rotating rollers 113 are rotatably disposed in the bottom frame 112 at equal intervals, as shown in fig. 3 and in combination with fig. 6-7, two sleeves 5 (guide grooves 51, specifically rectangular grooves are disposed in the sleeves 5) are respectively fixedly disposed at the front and rear sides of the middle portion of the bottom frame 112 of the third rack layer 31 of the mobile cart 3, two movable rods 8 (a hinge 81 is integrally formed on the movable rod 8, wherein the shape of the boss 81 is also rectangular and is mutually adapted to the guide grooves 51) are taken out, and a second baffle 34 (both ends of the second baffle 34 are threaded and a movable rod 6 is hinged thereon), two ends of a second stop lever 34 are connected with two movable levers 8 through threads, then the two movable levers 8 are respectively inserted into a sleeve 5, finally, a fixed hinge rod 7 is taken out and respectively hinged on a movable hinge rod 6 and a rotating roller 113, the rotating roller 113 is arranged to reduce the friction force between the turnover box 4 and a bottom frame 112, so that the turnover box 4 can quickly flow into a first material frame layer 11 or a fourth material frame layer 32 by means of the gravity of the turnover box 4, the movable hinge rod 8 is arranged in the sleeve 5 in a sliding manner, the movable hinge rod 6 is hinged on the movable lever 8 through the second stop lever 34, the fixed hinge rod 7 is hinged on the movable hinge rod 6, the rotating roller 113 is arranged in the bottom frame 112 in a rotating manner, so that a three-link mechanism is realized, namely, the rotation of the rotating roller 113 can be realized by driving the movable lever 8 to move up and down, and because a large shaft 1131 and a small shaft 1132 of the rotating roller 113 are arranged eccentrically, when the large shaft 1131 rotates around the axis of the small shaft 1132, the large shaft 1131 makes irregular movement, so as to provide power for the movement of the turnover box 4 on the third material shelf layer 31, that is, the opening of the second material outlet 311 and the driving of the turnover box 4 to slide downwards can be performed synchronously, and the bottom rotating roller 113 is adopted to drive the turnover box 4 to slide, which can also prevent the turnover box 4 from turning over due to the fact that the second material outlet 311 is not completely opened, the turnover box 4 is abutted against the second blocking rod 34, and the situation that the turnover box 4 turns over is generated, the three-link structure is also arranged on the second material shelf layer 12, so as to provide power for the movement of the turnover box 4 on the second material shelf layer 12, and no excessive statement is made here.

Referring to fig. 7, the present invention further provides a method for controlling an AGV cart material transport system, including the following steps: s1, a turnover box 4 with parts is loaded on a third material rack layer 31 of a moving trolley 3 in a material loading area, then an AGV trolley 2 is started, the AGV trolley 2 drives the moving trolley 3, and a fixed material rack 1 moves beside a preset path; s2, when an assembling worker beside the line side fixed material rack 1 sees that the moving trolley 3 approaches to the assembling worker, the turnover box 4 on the first material rack layer 11 is placed on the second material rack layer 12, and at the moment, the turnover box 4 is placed in the second material rack layer 12 no matter whether parts exist in the turnover box 4 on the first material rack layer 11 of the line side fixed material rack 1 or not, and a plurality of parts are reserved for subsequent assembling; s3, when the AGV trolley 2 enters the line-side fixed material rack 1, decelerating until the AGV trolley drives away the line-side fixed material rack 1, continuing to recover the original vehicle speed, and starting a material distribution area; s4, after the AGV trolley 2 enters the material loading area, under the combined action of the sensor and the controller, the AGV trolley stops moving, a warehouse manager takes out the turnover box 4 on the fourth material rack layer 32 on the movable trolley 3, and then the turnover box 4 is filled with parts; s5, repeating the process S1-S4;

the working principle is as follows: referring to fig. 1, and referring to fig. 5 and 6, the turnover box 4 is loaded on the third rack layer 31 of the mobile cart 3 in the material loading area, then the AGV cart 2 is opened, so that the AGV cart 2 pulls the mobile cart 3 to move, when the mobile cart 3 moves to be parallel to the fixed rack 1 beside the line, at this time, the second discharge port 311 and the second feed port 321 completely coincide with each other, the first discharge port 121 and the second feed port 321 completely coincide with each other, but under the action of the first blocking rod 14 and the second blocking rod 34, the turnover box 4 (with parts) on the third rack layer 31 cannot slide into the first rack layer 11, and the turnover box 4 (without parts) on the second rack layer 12 cannot slide into the fourth rack layer 32 to recover the empty turnover box 4, and the AGV cart 2 continues to move forward, meanwhile, the moving trolley 3 is dragged to move forwards continuously, in the moving process, the second connecting rod 35 of the moving trolley 3 is in continuous abutting joint with the first fixing rod 13 of the line-side fixed material rack 1, and the first fixing rod 13 is arranged along the moving direction of the trolley in an inclined mode, so that the second connecting rod 35 can be understood to climb upwards continuously along the first fixing rod 13, the second baffle rod 34 is arranged on the moving trolley 3 in an up-and-down mode, and the second baffle rod 34 is fixedly connected with the second connecting rod 35, so that the second baffle rod 34 can move upwards at the moment, the second discharge port 311 is opened, the turnover box 4 flows into the first material rack layer 11 of the line-side fixed material rack 1 to be used by an assembling worker, the opening principle of the first baffle rod 14 is consistent with the opening principle of the second baffle rod 34, and the situation that too much work is not done here can be understood, the power source for opening the second discharge hole 311 by the second baffle rod 34 is the AGV trolley 2, the AGV trolley 2 is an intelligent trolley, and the control program controls the AGV trolley to start decelerating when the moving trolley 3 enters the side fixed material rack 1 quickly, and the speed is restored to normal speed until the moving trolley 3 is driven away from the side fixed material rack 1 quickly, so that the turnover box 4 can be prevented from sliding into the first material rack layer 11 before sliding into the first material rack layer 11, the second discharge hole 311 is completely separated from the first feed hole 111, the first material rack layer 11 and the second material rack layer 12 are obliquely arranged, so that the turnover box 4 can slide out by means of the self gravity when the first baffle rod 14 or the second baffle rod 34 is opened, the inclination angle of the first material rack layer 11 and the second material rack layer 12 is an acute angle, one of the first material rack layer and the second material rack layer plays the purpose of feeding (the material rack 4 with parts enters the material rack), the other layer plays the purpose of receiving (the empty 4 flows out), so that the turnover box can be automatically received by the turnover box 4, and the turnover box can be automatically received by the turnover box, and the turnover box can be operated at a higher efficiency.

To optimize the above embodiment, the present invention provides another embodiment: the angle of inclination with first dead lever 13 and second dead lever 33 is 50 when playing when the little distance of AGV dolly 2 motion, and first pin 14 or second pin 34 can rise a great distance to can be quick open first discharge gate 121 and second discharge gate 311, finally realize the purpose of the quick reprinting of turnover case 4, can avoid second dead lever 33 and first connecting rod 15 rigid collision too fiercely again, and then influence the other fixed work or material rest 1 of line and the life of travelling car 3.

In order to optimize the above embodiment, the present invention provides another embodiment: the inclination angle of the first material frame layer 11 is 7 degrees, the phenomenon that the turnover box 4 falls off the first material frame layer 11 due to the fact that the turnover box 4 on the first material frame layer 11 is too fast (the acceleration is changed through the inclination angle) is prevented, when the turnover box flows into the tail end of the first material frame layer 11, due to the fact that the turnover box 4 on the first material frame layer 11 is filled with parts, namely the mass is large, inertia is in direct proportion to the mass, and therefore the situation that the turnover box easily falls off is caused, and finally the situation that assembly workers are injured by pounding is prevented; and the lowest end on first material frame layer 11 and fourth material frame layer 32 all is equipped with the blotter, sets up the effect that the blotter played the buffering, thereby prevents to have enough to meet need case 4 and the other fixed work or material rest 1 of line and the normal use of 3 fixed work or material rest 1 of travelling car 3 that the other fixed work or material rest 1 of line and travelling car are influenced by the rigid collision of travelling car 3 too violently.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (6)

1. An AGV cart material transport system, comprising:

a material rack (1) is fixed beside the wire;

the first material frame layer (11) is obliquely and fixedly arranged on the fixed material frame (1) beside the wire, and a first feeding hole (111) is formed in the high end of the first material frame layer;

the second material rack layer (12) is obliquely and fixedly arranged on the fixed material rack (1) beside the wire, an included angle between the second material rack layer and the first material rack layer (11) is an acute angle, and the lower end of the second material rack layer is provided with a first material outlet (121);

one end of the first fixing rod (13) is fixedly arranged on the line side fixing material frame (1), the other end of the first fixing rod is obliquely and upwards arranged outside the line side fixing material frame (1) along the moving direction of the AGV trolley (2), and the first fixing rod (13) is positioned beside the first feeding hole (111);

the first stop lever (14) is arranged at the first discharge hole (121) in a vertically moving mode;

the first connecting rod (15) is fixedly connected with the first stop lever (14);

the moving trolley (3) is detachably connected with the AGV trolley (2);

the third material frame layer (31) is obliquely and fixedly arranged on the movable trolley (3), and a second material outlet (311) is formed in the lower end of the third material frame layer;

the fourth material frame layer (32) is obliquely and fixedly arranged on the movable trolley (3), and a second feeding hole (321) is formed in the high end of the fourth material frame layer;

a second fixing rod (33), one end of which is fixedly arranged on the moving trolley (3), the other end of which is obliquely and upwards arranged outside the moving trolley (3) along the moving direction of the AGV trolley (2), and the second fixing rod (33) is positioned beside the second feeding hole (321);

the second stop lever (34) is arranged at the second discharge hole (311) in a vertically moving mode;

the second connecting rod (35) is fixedly connected with the second stop lever (34);

when the AGV trolley (2) drives the moving trolley (3) to move, the first feeding hole (111) is selectively communicated with the second discharging hole (311), and the second feeding hole (321) is selectively communicated with the first discharging hole (121);

the second connecting rod (35) is selectively abutted against the first fixing rod (13), so that a second stop lever (34) is driven to move upwards, and the opening of the second discharge hole (311) is continuously enlarged;

the second fixing rod (33) is selectively abutted with the first connecting rod (15), so that the first stop rod (14) is driven to move upwards, and the opening of the first discharge hole (121) is continuously enlarged;

a plurality of movable rods (8) are fixedly connected to the first stop lever (14) and the second stop lever (34), a plurality of sleeves (5) are fixedly arranged on the movable trolley (3) and the line side fixed material rack (1), guide grooves (51) are formed in the sleeves (5), bosses (81) are fixedly arranged on the movable rods (8), and one movable rod (8) is arranged in one guide groove (51) in one sleeve (5) through the bosses (81) on the movable rod;

a first limiting rod (36) is further fixedly arranged on the movable trolley (3), the second stop lever (34) selectively abuts against the first limiting rod (36), a second limiting rod (16) is further fixedly arranged on the line side fixing rack (1), and the first stop lever (14) selectively abuts against the second limiting rod (16);

the first rack layer (11), the second rack layer (12), the third rack layer (31) and the fourth rack layer (32) have the same structure, the first rack layer (11) comprises a bottom frame (112) and a plurality of rotating rollers (113), the bottom frame (112) is fixedly arranged on the line side fixed rack (1), and the plurality of rotating rollers (113) are arranged in the bottom frame (112) in a rotating mode at equal intervals;

the second stop lever (34) and the first stop lever (14) are hinged with movable hinge rods (6), the movable hinge rods (6) are hinged with fixed hinge connecting rods (7), one fixed hinge connecting rod (7) is hinged on one rotating roller (113) in the third material frame layer (31), and the other fixed hinge connecting rod (7) is hinged on one rotating roller (113) in the second material frame layer (12);

the rotating roller (113) includes:

a large shaft (1131) rotatably arranged in the bottom frame (112);

the small shaft (1132) is eccentrically and fixedly arranged on the top surface of the large shaft (1131) and is hinged with the fixed hinge connecting rod (7).

2. The AGV cart material transport system of claim 1, wherein: the first limiting rod (36) and the second limiting rod (16) are obliquely arranged, the first limiting rod (36) is detachably arranged on the movable trolley (3) through bolts and nuts, and the second limiting rod (16) is also detachably arranged on the line side fixing rack (1) through bolts and nuts.

3. The AGV cart material transport system of claim 1, wherein: the inclination angle of the first fixing rod (13) and the second fixing rod (33) is 45-60 degrees.

4. The AGV cart material transport system of claim 1, wherein: the inclination angle of the first material frame layer (11) is 5-10 degrees.

5. The AGV cart material transport system of claim 1, further comprising: the lowest ends of the first material frame layer (11) and the fourth material frame layer (32) are provided with cushion pads.

6. A method for controlling an AGV cart material transport system of any one of claims 1 to 5, further comprising:

a, loading a turnover box (4) with parts on a third material rack layer (31) of the moving trolley (3) in a material distribution area, then starting the AGV trolley (2), wherein the AGV trolley (2) drives the moving trolley (3) to move to the fixed material rack (1) beside the line according to a preset path;

b, when an assembling worker beside the wire side fixed material rack (1) sees that the movable trolley (3) approaches to the assembling worker, the turnover box (4) on the first material rack layer (11) is placed on the second material rack layer (12);

c, when the AGV trolley (2) enters the line side fixed material rack (1), decelerating until the AGV trolley leaves the line side fixed material rack (1), continuing recovering the original speed, and starting a material distribution area;

d, after the AGV trolley (2) enters the material loading area, stopping moving under the combined action of a sensor and a controller, taking out the turnover box (4) on the fourth material rack layer (32) on the moving trolley (3) by a warehouse manager, and then filling the turnover box (4) with parts;

f, repeating the processes A-D.

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