CN113636299A - Tray butt joint conveying system based on AGV and assembly line of co-altitude not - Google Patents
Tray butt joint conveying system based on AGV and assembly line of co-altitude not Download PDFInfo
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- CN113636299A CN113636299A CN202110966690.6A CN202110966690A CN113636299A CN 113636299 A CN113636299 A CN 113636299A CN 202110966690 A CN202110966690 A CN 202110966690A CN 113636299 A CN113636299 A CN 113636299A
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- tray
- agv
- lift
- assembly line
- lifting
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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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/04—Roller-ways having driven rollers all rollers driven
-
- 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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
-
- 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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/64—Switching conveyors
- B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
- B65G47/643—Switching conveyors by a linear displacement of the switching conveyor in a vertical plane
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a tray butt-joint conveying system based on AGVs (automatic guided vehicles) with different heights and an assembly line, which comprises a lifter arranged at the front end of the assembly line, wherein the lifter comprises a portal frame, a lifting arm and a conveying belt, the lifting arm is mounted on the portal frame to lift, the conveying belt is mounted on the lifting arm to bear and convey trays, and when the AGVs move to a transfer station, the lifting arm and the conveying belt are driven to transfer the trays from the AGVs to the assembly line or from the assembly line to the AGVs. The automatic tray transfer device can realize automatic transfer of trays and articles between the AGV and the assembly line.
Description
Technical Field
The invention relates to object carrying equipment, in particular to a tray butt-joint conveying system based on AGV (automatic guided vehicles) with different heights and an assembly line.
Background
At present, many planar AGVs (automatic Guided vehicles) exist in the market, and the purpose of conveying trays and objects on the trays in a plane can be achieved. However, in practical use, the tray needs to be transported to a production line with a certain height, and at the moment, the operation needs to be assisted by a manual or manually operated stacking forklift, so that not only is the equipment cost high, but also manual operation is needed, and complete unmanned and automatic operation cannot be realized, and improvement is needed for the purpose.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a tray butt-joint conveying system based on AGV with different heights and a production line so as to realize transfer butt-joint of articles at different height positions.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides a tray butt joint conveying system based on co-altitude AGV and assembly line, is including setting up in the lifting machine of assembly line front end, the lifting machine includes portal, lift arm and conveyer belt, the lift arm adorn in the portal is in order to go up and down, the conveyer belt adorn in order to bear and carry the tray on the lift arm, when the AGV moves the transfer station, through the drive the lift arm reaches the conveyer belt comes the tray to transport the assembly line or transports the AGV from the assembly line from the AGV.
Furthermore, the upper part of the conveying belt is arranged on the upper surface of the lifting arm, two ends of the conveying belt are respectively wound around the driving wheels arranged on the lifting arm, and the driving wheel at least one end is connected to the conveying power module.
Further, the lifting arm is provided with rollers at the outer side positions of two ends of the conveying belt respectively, and the upper surface of the upper cylinder of each roller is flush with the conveying belt.
Furthermore, a lifting frame is arranged, and the lifting arm is fixedly arranged on the lifting frame, so that the lifting arm can lift on the gantry along with the lifting frame.
Furthermore, the door frame is provided with a lifting power module and a lifting transmission mechanism, and the lifting frame is in transmission connection with the lifting power module through the lifting transmission mechanism so as to drive the lifting frame to lift.
Further, a guide rail is arranged on the upright post of the door frame, and the lifting frame is connected with the door frame in a sliding mode through the guide rail to lift.
Further, a tray groove is formed in the bottom of the tray, and the lifting arm can be contained in the tray groove to lift the tray.
Further, when the two ends of the tray are bridged on the lifting arm and the assembly line, the conveying belt and the assembly line are synchronously conveyed.
Further, the AGV guide slot that the AGV top surface setting was adjusted well with the tray groove, when the AGV moves the transfer station, the lift arm is located the AGV guide slot.
Furthermore, a detection sensor is arranged to detect whether the tray exists on the lifting arm, and when the tray exists, a detection signal is output to the control cabinet to control the lifting arm and the conveying belt to act.
Compared with the prior art, the automatic tray conveying device can lift the tray and the articles on the tray in the height direction and convey the trays and the articles in the horizontal direction, so that the automatic transfer of the trays and the articles between the AGV with different heights and a production line can be conveniently realized, the conveying operation efficiency is improved, and the purposes of completely unmanned and automatic conveying are realized.
Drawings
FIG. 1 is a schematic view of a tray butt-joint conveyor system of the present invention based on AGV's of different heights and an assembly line;
FIG. 2 is a schematic diagram of an AGV entering a transfer station according to the present invention;
FIG. 3 is a first state view of the present invention during transfer of trays;
FIG. 4 is a second state of the present invention during transfer of trays;
FIG. 5 is a third state of the present invention during transfer of trays;
FIG. 6 is the fourth state diagram of the present invention when in the tray;
FIG. 7 is a fifth state view of the present invention when in a pallet;
fig. 8 is a schematic view of the hoist of the present invention.
Detailed Description
The embodiment of the invention provides a tray butt-joint conveying system based on AGVs (automatic guided vehicles) with different heights and an assembly line, which is provided with a lifter capable of moving in two directions and can realize lifting in the height direction and conveying in the horizontal direction, so that a tray and objects (for the sake of simplicity, the tray and the objects are referred to as the tray) on the tray are conveniently lifted to a higher height from a lower height, and then the tray is moved to the other end from one end of a lifting arm, and the aim of conveying the tray on the ground to the assembly line with a certain height is fulfilled. On the contrary, the tray butt-joint conveying system based on the AGVs with different heights and the assembly line can also transfer the trays to the AGVs with lower heights from a higher assembly line. Therefore, the invention can better meet the requirements of automation and unmanned ground transportation and assembly line butt joint.
Referring to FIGS. 1-8, the structure of a tray butt-joint conveying system and its mechanisms and components based on AGV and flow lines of different heights according to embodiments of the present invention is shown. The present invention will be described in further detail below with reference to the drawings and specific embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments.
As shown in fig. 1-8, an embodiment of the present invention provides a tray docking conveyor system based on AGVs of different heights and a flow line, which provides a solution for docking a flat-handling AGV100 with a conveyor line 300 having a certain height. This tray butt joint conveying system based on co-altitude AGV and assembly line comprises mechanisms and parts such as AGV100, tray 200, assembly line 300 and lifting machine 400, and wherein lifting machine 400 sets up in the front end of assembly line 300 for accomplish the butt joint operation of plane transport AGV100 and assembly line 300.
As shown in fig. 1-8, the elevator 40 is composed of a gantry 1, an elevator motor 2, a reducer 3, an elevator transmission mechanism 4, a guide rail 5, an elevator frame 6, an elevator arm 7, a conveying motor 8, a conveyor belt 9, an unpowered roller 10, a detection sensor 11, a control cabinet 12 and other mechanisms and components, wherein the elevator motor 2, the reducer 3 and the like constitute an elevator power module 401, and the conveying motor 8 and the like constitute a conveying power module 402. Among these mechanisms and components, the lift arm 7 is mounted to the gantry 1 to be lifted, the conveyor belt 9 is mounted to the lift arm 7 to carry and convey the tray 200, and when the AGV100 travels to the transfer station, the tray 200 is transferred from the AGV100 to the assembly line 300 or from the assembly line 300 to the AGV100 by driving the lift arm 7 to be lifted in the vertical direction and the conveyor belt 9 to be translated in the horizontal direction. In particular, in order to facilitate the control of the movement of the elevator 400, the lifting frame 6 is particularly provided with a plurality of detection sensors 11, which may be photoelectric sensors (such as correlation or reflection infrared sensors, etc.), respectively disposed on the vertical bars 61 at the four corners of the lifting frame 6 for detecting whether the tray 200 exists on the lifting arm 7, and when the tray 200 exists, the detection sensors 11 output detection signals to the control cabinet 12 (which may be a local or remote controller of another type) for controlling the movement of the lifting arm 7 and the conveyor belt 9.
The bottom of tray 200 sets up tray groove 201 in this embodiment, and the top surface setting of AGV100 is with the AGV guide slot 101 that tray groove 201 was adjusted well, and when AGV100 ran to the transfer station, lift arm 7 can be located the AGV guide slot to and insert and hold in order to lift tray 200 in tray groove 201. When the lifting arm 7 is in the low position, the top surface of the lifting arm 7 is lower than the bottom wall of the tray groove 201, and the bottom surface of the lifting arm 7 is higher than the bottom wall of the guide groove 101, so that the lifting arm 7 can normally lift the tray 200; when the lifting arm 7 is at a high position, the bottom surface of the tray 200 is flush with the assembly line 300, so that the tray 200 can be translated between the assembly line 300 and the lifting arm 7, wherein when the two ends of the tray 200 are bridged between the lifting arm 7 and the assembly line 300, the conveyer belt 9 and the assembly line 300 are synchronously conveyed, and the tray 200 is ensured to be stably transported.
As shown in fig. 1 to 8, the upper portion of the conveyor belt 9 in the embodiment of the present invention is mounted on the upper surface of the lift arm 8 so that the conveyor belt 9 can carry and convey the pallet. Wherein, the concrete mounting structure of conveyer belt 9 does: the two ends of the conveyor belt 9 are wound around the driving wheels arranged on the lifting arms 7 respectively, wherein the driving wheel at least one end is connected to the conveying power module 402, and the conveying power module 402 comprises a conveying motor 8 which rotates forwards or backwards to drive the conveyor belt 9 to move horizontally, so that the tray 200 is conveyed in the horizontal direction. Here, the lifting arm 7 is provided with rollers 10 at positions outside both ends of the conveyor belt 9, and these rollers 10 may be unpowered rollers, which are mounted to the ends of the lifting arm 7 through respective roller shafts, and whose upper surfaces are flush with the conveyor belt 9, so that the tray 200 can be smoothly conveyed.
As shown in fig. 1-8, a special lifting frame 6 is specifically provided in the embodiment of the present invention to assemble the lifting arm 7. The lifting arm 7 is fixedly arranged on the lifting frame 6 in a welding mode and the like, the lifting frame 6 is in transmission connection with the lifting power module 401 through the lifting transmission mechanism 4, and therefore the lifting frame 6 can be driven to lift, and the lifting arm 7 can further lift on the portal frame 1 along with the lifting frame 6. In this embodiment, the lifting power module 401 and the lifting transmission mechanism 4 are both disposed on the gantry 1, wherein the lifting power module 401 specifically includes the lifting motor 2 and the speed reducer 3, both of which are coupled to each other by a shaft, and the output end of the speed reducer 3 is connected to the input end of the lifting transmission mechanism 4 to transmit power. Here, the lifting transmission mechanism 4 may be in various forms, such as a rack and pinion mechanism, a sprocket chain mechanism, etc., and since the lifting frame 6 is connected to the lifting transmission mechanism 4, it can be lifted and lowered by the driving of the lifting power module 401. Particularly, the guide rail 5 is arranged on the upright post of the portal frame 1, and the bottom of the lifting frame 6 can be provided with a sliding groove (not shown), so that the lifting frame 6 is in sliding connection with the portal frame 1 through the guide rail 5, and the lifting frame 6 can drive the lifting arm 7 to lift on the portal frame 1 along the guide rail 5, and the stable operation of the lifting frame 6 and the lifting arm 7 on the lifting frame is ensured. Of course, the lifting frame 6 can also be realized by a driving mechanism with linear motion such as an air cylinder or a hydraulic cylinder, a push rod and the like, and the description is omitted.
The structure, working principle and working process of the tray butt-joint conveying system based on AGV with different heights and assembly lines, and the components and parts thereof are explained below.
As shown in fig. 8, the lifting arm 7 and the lifting frame 6 are welded into a whole, the lifting frame 6 is connected with the gantry 1 in a sliding way through the guide rail 5, and the up-and-down movement in the gantry 1 is realized through the power of the lifting transmission mechanism 4; the conveying belt 9 is assembled on the surface of the lifting arm 7 and can be driven to move leftwards or rightwards by the rotation of the conveying motor 8; the detection sensor 11 can be a photoelectric sensor and can detect whether the tray 13 is placed on the lifting arm 7 or not so as to judge whether the rotation of the lifting motor 2 and the conveying motor 8 is needed or controlled; the control cabinet 12 judges and controls the movement of each motor through the received signals of the 12 detection sensors.
The AGV100 can directly transport the tray 200 on the ground for flat transport. With the elevator 400 in place, the transfer of the pallet 200 between the lower AGV100 and the higher line 300 can be accomplished.
As shown in FIG. 2, the initial position of the lift arm 7 is at the lowest portion of the lift 400 as the AGV100 enters the transfer station.
As shown in FIG. 3, the AGV100 is shown transporting the pallet 200 into the lift 400, after which the pallet 200 is lifted to a height by the lift 400. Specifically, the method comprises the following steps: the AGV100 carries the tray 200 into the transfer station in the elevator 400, and the height of the lifting arm 7 can just enter the tray slot 201 of the tray 200; when the AGV100 stops after running to a certain position, the tray 200 triggers the detection sensor 11, the signal is transmitted to the control cabinet 12, and the control cabinet 12 controls the lifting power module 401 to work to lift the lifting arm 7 to a certain height; since the tray 200 is placed on the lifting arm 7 at this time, the lifting arm 7 lifts the tray 200 to a certain height (at this time, the bottom surface of the tray 200 is flush with the upper surface of the production line 300), at this time, the lifting arm 7 triggers the detection sensor 11 arranged on the lifter 400, the signal is transmitted to the control cabinet 12, the control cabinet 12 sends an instruction to control the lifting power module 401 to stop running, and at this time, the lifting arm 7 keeps the position still.
As shown in fig. 4-7, the process of the elevator 400 transferring the pallet 200 onto the pipeline 300 is shown. Specifically, the method comprises the following steps: after the lifting arm 7 lifts the tray 200 to a certain height, the detection sensor 11 preset on the lifter 400 is triggered, and after the control cabinet 12 receives a signal transmitted by the detection sensor 11, the lifting arm 7 is controlled to stop at the height position, then the conveying power module 402 is controlled to operate, and the conveying power module 402 drives the conveying belt 9 to rotate, so that the tray 200 is driven to move leftwards (i.e., to one side of the assembly line 300); when the tray 200 moves to a certain position, the detection sensor 11 arranged on the lifting arm 7 and close to one side of the production line 300 is triggered, the signal is transmitted to the control cabinet 12, and then the control cabinet 12 controls the transmission belt of the production line 300 to start rotating through the system; after the tray 200 moves to one end to contact the line 300, the line 300 and the conveyor 9 move the tray 200 in synchronization until the tray 200 is completely moved onto the line 300. At this time, the detection sensor 11 on the left side of the lift arm 7 is not triggered, and the conveyance power module 402 stops operating. And finishing the butt joint operation of plane carrying and assembly line.
If it is desired to transfer a tray 200 on the flow line 300 to an AGV100 on the floor, the operation is reversed and will not be described further.
The tray butt-joint conveying system based on the AGVs and the assembly line with different heights can realize automation and unmanned butt-joint of ground conveying AGVs and the assembly line, wherein the elevator is small in installation space, low in cost and large in lifting height range, and can meet the requirements of more use scenes.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that the scope of the present invention is not limited to the embodiments described above, and that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a tray butt joint conveying system based on co-altitude AGV and assembly line, a serial communication port, including setting up in the lifting machine of assembly line front end, the lifting machine includes portal, lifting arm and conveyer belt, lifting arm adorn in the portal is in order to go up and down, the conveyer belt adorn in lifting arm is last in order to bear and carry the tray, when the AGV moves the transfer station, through the drive lifting arm reaches the conveyer belt comes to transport the tray from the AGV to the assembly line or transports the AGV from the assembly line.
2. The system of claim 1, wherein the conveyor belt is mounted on the upper surface of the lifting arm, and the two ends of the conveyor belt are respectively wound around the driving wheels provided on the lifting arm, wherein the driving wheel at least one end is connected to the conveying power module.
3. The AGV and flow line based tray butt-joint conveying system of claim 2, wherein said lifting arms are respectively provided with rollers at positions outside both ends of said conveying belt, and upper surfaces of said rollers are flush with said conveying belt.
4. The different height AGV and assembly line based tray butt joint transport system of claim 1 wherein a lift frame is provided and said lift arm is fixedly attached to said lift frame such that said lift arm follows said lift frame to lift on said gantry.
5. The different height AGV and assembly line based tray butt-joint conveying system of claim 4 wherein said gantry is provided with a lift power module and a lift transmission mechanism, said lift frame being drivingly connected to said lift power module through said lift transmission mechanism for driving said lift frame to raise and lower.
6. The different height AGV and assembly line based tray butt-joint conveying system of claim 4 wherein said mast is provided with guide rails, said lifting frame being slidably connected to said mast via said guide rails for elevation.
7. The different height AGV and in-line based pallet docking conveyor system of claim 1 wherein the bottom of the pallet is provided with a pallet slot into which said lift arm can be received to lift the pallet.
8. The system of claim 7, wherein the AGV top is provided with AGV guides aligned with the tray slots, and the lift arms are positioned within the AGV guides when the AGVs are traveling to the transfer station.
9. The system of claim 1, wherein the conveyor belt is synchronized with the assembly line for transporting the pallets as the pallets are moved across the lift arms and the assembly line.
10. The system for tray butt-joint conveying based on AGV and assembly line of different height according to any of claims 1-9, wherein a detection sensor is provided to detect whether there is a tray on the lifting arm, and when there is a tray, a detection signal is outputted to the control cabinet to control the lifting arm and the conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110966690.6A CN113636299A (en) | 2021-08-23 | 2021-08-23 | Tray butt joint conveying system based on AGV and assembly line of co-altitude not |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110966690.6A CN113636299A (en) | 2021-08-23 | 2021-08-23 | Tray butt joint conveying system based on AGV and assembly line of co-altitude not |
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| Publication Number | Publication Date |
|---|---|
| CN113636299A true CN113636299A (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110966690.6A Pending CN113636299A (en) | 2021-08-23 | 2021-08-23 | Tray butt joint conveying system based on AGV and assembly line of co-altitude not |
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| CN (1) | CN113636299A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260667A (en) * | 2021-12-07 | 2022-04-01 | 东风汽车零部件(集团)有限公司刃量具分公司 | Automatic interfacing apparatus with AGV tray |
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| CN113233160A (en) * | 2021-07-07 | 2021-08-10 | 江苏易库科技有限公司 | Jacking moves and carries tray transfer chain |
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| CN1749132A (en) * | 2005-09-14 | 2006-03-22 | 深圳怡丰自动化停车设备有限公司 | Automatic stereo storehouse for plate |
| CN102328829A (en) * | 2011-08-09 | 2012-01-25 | 山东矿机迈科建材机械有限公司 | Pallet loading and unloading device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260667A (en) * | 2021-12-07 | 2022-04-01 | 东风汽车零部件(集团)有限公司刃量具分公司 | Automatic interfacing apparatus with AGV tray |
| CN114260667B (en) * | 2021-12-07 | 2023-09-12 | 东风汽车零部件(集团)有限公司刃量具分公司 | Automatic butt joint device with AGV tray |
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Effective date of registration: 20220825 Address after: 528000 Room 202, floor 2, building A1, Xingzhong Chuangxia North fan industry center, Guicheng Street, Nanhai District, Foshan City, Guangdong Province Applicant after: Guangdong tusk robot Co.,Ltd. Address before: Room 305, building 12, Shahu Science Park, No. 183, Tinglan lane, Suzhou Industrial Park, Suzhou, Jiangsu 215127 Applicant before: Suzhou Kaiyi Intelligent Technology Co.,Ltd. |