CN109733825A

CN109733825A - Aerial AGV sheet conveying method and system

Info

Publication number: CN109733825A
Application number: CN201910150159.4A
Authority: CN
Inventors: 周晶; 熊长炜; 邓杨逍; 冯国驹
Original assignee: Dongguan Polytechnic
Current assignee: Dongguan Polytechnic
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2019-05-10

Abstract

The invention discloses an aerial AGV sheet conveying method and system, wherein an AGV track is arranged above numerical control machining equipment, two ends of the AGV track are fixed on a factory building and arranged in an overhead manner, and the vertical height from the AGV track to the numerical control machining equipment is 2-4 m; the system comprises an AGV track, a patrol vehicle, a fire truck and an AGV feeding vehicle, wherein the patrol vehicle is provided with a camera device and an infrared imaging device, the fire truck is provided with a fire spray device, and the AGV feeding vehicle is provided with a lifting type material taking and placing device; setting the left end of the AGV track as a feeding station, the right end of the AGV track as a blanking station, and the middle section of the AGV track as a material taking and placing station; the feeding station feeds the to-be-processed sheet materials through a lifting type material taking and placing device of the AGV feeding car; the material taking and placing station places the sheet material to be processed on the numerical control processing equipment through a lifting material taking and placing device, and takes the processed sheet material on the processing equipment; and the blanking station carries out blanking on the processed sheet materials through a lifting type material taking and placing device of the AGV feeding vehicle.

Description

A kind of aerial AGV sheet stock delivery method and system

Technical field

The present invention relates to sheet stock conveying technology, in particular to a kind of aerial AGV sheet stock delivery method and system.

Background technique

Original process is to sort blanking using artificial loading, and human cost is high, and by hand in the major part that will appear Error and unfavorable condition, production efficiency is relatively low and yields is not high, and production cost is higher.

Summary of the invention

In view of the above deficiencies, the object of the present invention is to provide a kind of aerial AGV sheet stock delivery method and systems, realize The efficient conveying of sheet stock.

A kind of the technical solution adopted by the present invention are as follows: aerial AGV sheet stock delivery method, which is characterized in that including walking as follows It is rapid:

1) AGV track being set in the top of numerically controlled processing equipment, the both ends of the AGV track are fixed on workshop, in aerial setting, and Vertical height apart from numerically controlled processing equipment is in 2 ~ 4m；In setting gradually inspection car, fire fighting truck and AGV stack pallet on AGV track, The inspection car is provided with cam device, infreared imaging device, and the fire fighting truck is provided with fire-fighting spray device, the AGV Stack pallet is provided with lift and takes discharging device；The left end of AGV track is set as feeding station, right end is set as blankers Position, middle section are set as picking and placing material station；

5) inspection car, fire fighting truck and AGV stack pallet are moved to the feeding station of AGV track left end, and pass through the liter of AGV stack pallet Drop formula takes discharging device to carry out to be processed materials and parts feeding；

3) inspection car, fire fighting truck and AGV stack pallet, which move right, expects station to pick-and-place, wherein inspection car is located at forefront, carries out Routine inspection and safety inspection, fire fighting truck exclude fire hazard behind inspection car, AGV stack pallet immediately Behind fire fighting truck, discharging device is taken to place to be processed materials and parts on numerically controlled processing equipment by lift, and by process equipment On machined materials and parts feeding；

4) inspection car, fire fighting truck and AGV stack pallet continue to move right to discharge station, and pass through the lift of AGV stack pallet Discharging device is taken to carry out machined materials and parts blanking.

Further, the routine inspection includes the processing situation inspection of machined materials and parts, and the safety inspection includes adding The operating condition inspection of construction equipment.

Further, it is described processing situation inspection include machined materials and parts checked whether completing the process and machined sheet stock The qualified or not detection of part；The operating condition inspection of the process equipment includes that process equipment checks whether on fire.

Further, fire fighting truck is behind inspection car, the case where according to inspection car safety inspection, carries out to fire hazard It excludes, if safety inspection goes out numerically controlled processing equipment and do not have on fire, the fire-fighting spray device of fire fighting truck is without starting, if peace Full inspection finds that numerically controlled processing equipment is on fire, then the fire-fighting spray device starting of fire fighting truck.

Further, the numerically controlled processing equipment includes multiple rows of or multiple row, and correspondingly, the AGV track includes multiple rows of Or multiple row.

A kind of aerial AGV sheet stock transportation system for implementing the method, which is characterized in that including workshop, workshop is provided with Numerically controlled processing equipment is provided with AGV track above numerically controlled processing equipment, and the both ends of the AGV track are fixed on workshop, in aerial Setting, and the vertical height apart from numerically controlled processing equipment is in 2 ~ 4m；Inspection car, fire fighting truck and AGV are disposed on AGV track Stack pallet, the inspection car are provided with cam device, infreared imaging device, and the fire fighting truck is provided with fire-fighting spray device, The AGV stack pallet is provided with lift and takes discharging device；The left end of the AGV track is set as feeding station, right end setting For discharge station, middle section is set as picking and placing material station.

The invention has the following advantages that AGV is characterized by wheel type mobile, compared with walking, creep or other non-wheeled shiftings Mobile robot has the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.In material conveying Common other equipment are compared, the zone of action of AGV without being laid with the fixed device such as track, support saddle frame, not by place, road and The limitation in space.Therefore, in automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, warp Ji, flexible manless production.Overhead type AGV Track desigh, cooperation inspection car, fire fighting truck and AGV stack pallet, preset one Line, left end feeding, right end blanking, a plurality of line is expansible, and material can wear layer up and down.

Explanation and specific embodiment with reference to the accompanying drawing, the invention will be further described.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the present embodiment；

Fig. 2 is the fit structure schematic diagram of AGV track, inspection car, fire fighting truck and AGV stack pallet；

Fig. 3 is the fit structure schematic diagram that lift takes discharging device and discharge station；

Fig. 4 is the fit structure schematic diagram that lift takes discharging device and numerically controlled processing equipment；

In figure: numerically controlled processing equipment 1；AGV track 2；Workshop 3；Inspection car 4；Fire fighting truck 5；AGV stack pallet 6；Detection device 7；Disappear Anti- spray device 8；Lift takes discharging device 9.

Specific embodiment

Embodiment one

Referring to Fig. 1 to 4, aerial AGV sheet stock delivery method, includes the following steps: provided by the present embodiment

1) AGV track 2 is set in the top of numerically controlled processing equipment 1, the both ends of the AGV track 2 are fixed on workshop 3, set in aerial It sets, and the vertical height apart from numerically controlled processing equipment 1 is in 2 ~ 4m；In set gradually on AGV track 2 inspection car 4, fire fighting truck 5 and AGV stack pallet 6, the inspection car 4 are provided with cam device, infreared imaging device (being merged into detection device 7), the fire-fighting Vehicle 5 is provided with fire-fighting spray device 8, and the AGV stack pallet 6 is provided with lift and takes discharging device 9；By the left end of AGV track 2 It is set as feeding station, right end is set as discharge station, and middle section is set as picking and placing material station；

5) inspection car 4, fire fighting truck 5 and AGV stack pallet 6 are moved to the feeding station of 2 left end of AGV track, and pass through AGV stack pallet 6 lift takes discharging device 9 to carry out to be processed materials and parts feeding；

3) inspection car 4, fire fighting truck 5 and AGV stack pallet 6, which move right, expects station to pick-and-place, wherein inspection car 4 is located at forefront, It carries out routine examination and safety inspection, fire fighting truck 5 excludes fire hazard behind inspection car, AGV stack pallet 6 It behind fire fighting truck, takes discharging device to place to be processed materials and parts on numerically controlled processing equipment 1 by lift, and will add Machined materials and parts feeding on construction equipment 1；The routine inspection includes the processing situation inspection of machined materials and parts, the peace Total inspection includes the operating condition inspection of process equipment；It is described processing situation inspection include machined materials and parts complete the process with No inspection and the qualified or not detection of machined materials and parts；The operating condition inspection of the process equipment includes that process equipment is on fire Whether check；Fire fighting truck 5 is behind inspection car 4, the case where according to inspection car safety inspection, arranges fire hazard It removes, if safety inspection goes out numerically controlled processing equipment 1 without on fire, the fire-fighting spray device 8 of fire fighting truck is without starting, if peace Full inspection finds that numerically controlled processing equipment 1 is on fire, then the fire-fighting spray device 8 of fire fighting truck 5 starts.

4) inspection car 4, fire fighting truck 5 and AGV stack pallet 6 continue to move right to discharge station, and pass through AGV stack pallet 6 Lift take discharging device 9 to carry out machined materials and parts blanking.

Implement the aerial AGV sheet stock transportation system of the method, including workshop 3, workshop 3 are provided with numerically controlled processing equipment 1, The top of numerically controlled processing equipment 1 is provided with AGV track 2, and the both ends of the AGV track 2 are fixed on workshop 3, in aerial setting, and away from Vertical height from numerically controlled processing equipment 1 is in 2 ~ 4m；Inspection car 4, fire fighting truck 5 and AGV feeding are disposed on AGV track 2 Vehicle 6, the inspection car 4 are provided with cam device, infreared imaging device, and the fire fighting truck 5 is provided with fire-fighting spray device 8, The AGV stack pallet 6 is provided with lift and takes discharging device 9；The left end of the AGV track 2 is set as feeding station, and right end is set It is set to discharge station, middle section is set as picking and placing material station.

Wherein, workshop width: 50 meters；Factory building height: 8 meters；Device layout a: line, six equipment；Supplied materials: workprint material Piece (sheet stock to be processed)；Discharging: sheet stock (machined sheet stock) after processing；Logistics mode: aerial AGV track, more aerial AGV are small Vehicle；Trolley payload: 20KG；Crab traversing speed: 0-6 meter per second；Scheduling mode: full-automatic scheduling and manual dispatching combine； Interface mode: TCP/IP interface can be docked with MES etc.；Rail safety coefficient: > 2.5.It also should be noted that extension side Just, can leveling extension, can upper and lower level extension dock with other equipment simply, only need to a simple interface unit, be not necessarily to be transformed System.AGV trolley is responsible for being put on platform material or taking away from platform, and what is taken away is material basket, is integrally taken away, can To use hook.

Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row Route line and behavior, or it is set up using electromagnetic path (electromagnetic path-following system) Travelling route, electromagnetic path are sticked on floor or are maked somebody a mere figurehead on workshop (the present embodiment uses overhead type), and automatic guided vehicle is then Message brought by electromagnetic path is followed to be moved and acted.It is AGV in sheet stock conveying in place of the application main innovation Application, form efficient aerial AGV sheet stock delivery method and system be the prior art for the technology of AGV itself, This is not repeated them here.

Embodiment two

The present embodiment is basically the same as the first embodiment, the difference is that, the numerically controlled processing equipment 1 includes multiple rows of or more Column, correspondingly, the AGV track 2 include multiple rows of or multiple row.

Present invention is not limited to the embodiments described above, special using technology same as or similar to the above embodiments of the present invention Sign, and obtained a kind of other aerial AGV sheet stock delivery methods and system, it is within the scope of the present invention.

Claims

1. an aerial AGV sheet material conveying method, is characterized in that, comprises the steps:

The AGV track is set above the CNC machining equipment. The two ends of the AGV track are fixed in the workshop and are set overhead, and the vertical height from the CNC machining equipment is 2~4m; on the AGV track, patrol vehicles, fire trucks and AGV feeding vehicle, the inspection vehicle is provided with a camera device and an infrared imaging device, the fire truck is provided with a fire-fighting spray device, and the AGV feeding vehicle is provided with a lift-type pick and place device; set the left end of the AGV track to It is the loading station, the right end is set as the unloading station, and the middle section is set as the pick-and-place station;

The inspection vehicle, fire truck and AGV feeding vehicle move to the loading station at the left end of the AGV track, and feed the pieces to be processed through the lift-type pick-and-place device of the AGV feeding vehicle;

The inspection vehicle, fire truck and AGV feeding vehicle move to the right to the pick-and-place station. Among them, the inspection vehicle is located at the front for routine inspection and safety inspection. Excluded, the AGV feeding vehicle closely follows the fire fighting body, and places the to-be-processed sheet material on the CNC processing equipment through the lifting and unloading device, and reclaims the processed sheet material on the processing equipment;

The inspection vehicle, fire truck and AGV feeding vehicle continue to move to the right to the unloading station, and the processed pieces are unloaded through the lift-type pick-and-unload device of the AGV feeding vehicle.

2. The aerial AGV sheet material conveying method according to claim 1, wherein in step 3), the routine inspection includes the inspection of the processing condition of the processed sheet material, and the safety inspection includes the operation condition of the processing equipment examine.

3. The aerial AGV sheet material conveying method according to claim 2, characterized in that, in step 3), the processing condition check includes whether the processing of the processed sheet material is completed or not and whether the processed sheet material is qualified Whether it is detected; the operation status inspection of the processing equipment includes the inspection of whether the processing equipment is on fire.

4. The aerial AGV sheet material conveying method according to claim 3, characterized in that, in step 3), the fire truck closely follows the inspection vehicle body, and according to the safety inspection of the inspection vehicle, the hidden danger of fire is eliminated, If the safety inspection finds that the CNC machining equipment is not on fire, the fire-fighting spray device of the fire truck does not need to be activated.

5 . The aerial AGV sheet conveying method according to claim 1 , wherein in step 1), the numerical control processing equipment includes multiple rows or columns, and correspondingly, the AGV track includes multiple rows or multiple rows. 6 . List.

6. An aerial AGV sheet conveying system for implementing the method described in one of claims 1 to 5, characterized in that it comprises a workshop, the workshop is provided with numerically controlled processing equipment, and an AGV track is arranged above the numerically controlled processing equipment, and the AGV track The two ends of the AGV are fixed in the workshop and are set overhead, and the vertical height from the CNC processing equipment is 2~4m; the AGV track is equipped with a patrol vehicle, a fire truck and an AGV feeding vehicle in sequence, and the patrol vehicle is provided with a camera device. , Infrared imaging device, the fire truck is provided with a fire spray device, the AGV feeding vehicle is provided with a lift-type pick-and-place device; the left end of the AGV track is set as the feeding station, and the right end is set as the unloading station The middle section is set as the pick-and-place station.

7 . The aerial AGV sheet conveying system according to claim 6 , wherein the numerical control processing equipment includes multiple rows or columns, and correspondingly, the AGV track includes multiple rows or multiple columns. 8 .