An AGV overall fully intelligent batching control system

Abstract

The present invention discloses an AGV overall fully intelligent batching control system, including a batching unit and a batching AGV trolley, wherein the batching unit is provided with a plurality of batching units, the batching unit includes a protective shell, a material flow control device and a controller are installed inside the protective shell, the material flow control device is connected to the controller, the output end of the material flow control device is connected to the discharge port, the discharge port is fixed on the protective shell, the controller is connected to the host computer control center by telecommunication, and the batching AGV trolley is connected to the host computer control center by telecommunication. The host computer control center of the system can control different batching units to automatically batch according to the settings, and the batching is accurate without human error; the system realizes the automation of batching and transportation, reduces labor costs, and improves production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of batching control, and in particular to an AGV overall fully intelligent batching control system. Background Art

[0002] Many industries in the market use powdered materials as production raw materials, especially some raw materials cannot be broken, damaged or squeezed during the metering process, such as the chemical industry, granulation industry, construction industry, special materials industry, etc. However, many industries in the market still use manual methods for batching and transportation. When there are many types of raw materials, multiple workers are required to batch the ingredients at the same time, and the degree of automation is low. In addition, the weight of the ingredients is mostly weighed manually, which depends entirely on the workers' work experience, and it is also difficult to avoid manual misoperation. Summary of the invention

[0003] The purpose of the present invention is to provide an AGV overall fully intelligent batching control system to solve the problems mentioned in the background technology. To achieve the above purpose, the present invention provides the following technical solutions: an AGV overall fully intelligent batching control system, including a batching unit and a batching AGV trolley, the batching unit is provided with multiple, the batching unit includes a protective shell, a material flow control device and a controller are installed inside the protective shell, the material flow control device is connected to the controller, the output end of the material flow control device is connected to the discharge port, the discharge port is fixed on the protective shell, the controller is connected to the host computer control center by telecommunication, and the batching AGV trolley is connected to the host computer control center by telecommunication;

[0004] The material flow control device includes a hopper, both sides of the hopper are connected to a silo bracket, the bottom of the silo bracket is fixed to a mounting plate, the bottom of the hopper is connected to a material receiving port, the material receiving port is located at one end of a conveying trough and is connected to the conveying trough, the bottom of the conveying trough is fixed to the top of a vibrating machine through a mounting bracket, the bottom of the vibrating machine is fixed to a mounting plate, a fixing plate is installed on the top notch of the conveying trough, a flow control mechanism is installed on the fixing plate, and the vibrating machine is connected to a controller.

[0005] Preferably, the flow control mechanism includes a driving motor, which is fixed on the upper top plate, the output end of the driving motor passes through the upper top plate to connect to the driving wheel, the driving wheel is connected to the driven wheel through a driving belt, the driven wheel is fixed on a rotating shaft, the upper end of the rotating shaft is connected to the upper top plate through a bearing, the lower end of the rotating shaft passes through the lower bottom plate and the fixed plate and extends into the conveying trough, the rotating shaft is connected to the lower bottom plate through a bearing, a column is connected between the lower bottom plate and the upper top plate, the bottom of the rotating shaft is connected to a flow rate control baffle, the lower bottom plate is connected to the fixed plate through a support fixed plate, and the driving motor is connected to a controller.

[0006] Preferably, a rotating shaft I is provided parallel to one side of the rotating shaft, the upper end bearing of the rotating shaft I is connected to the upper top plate, and the lower end passes through the lower bottom plate and the fixed plate and extends into the conveying trough, a synchronous wheel I is fixed on the rotating shaft I, and the synchronous wheel I is connected to the synchronous wheel through a synchronous belt, the synchronous wheel is located below the driven wheel, and is coaxially installed on the rotating shaft, and the bottom of the rotating shaft I is connected to the flow rate control baffle I.

[0007] Preferably, the batching AGV trolley includes a base, a driving mechanism is fixedly installed inside the base, the driving mechanism is provided with two driving wheels respectively connected to both sides, the driving wheels are fixed in the base through bearing brackets, the driving wheels are located on both sides of the middle part of the base, the two ends of the base are connected to the universal driven wheels twice through brackets, the driving mechanism is connected to the industrial computer, the industrial computer is fixedly installed in the base, a base is fixed above the base, an electronic scale platform is installed on the base, the electronic scale platform is connected to the industrial computer, the electronic scale platform is connected to a bearing seat above, positioning cameras are installed on both sides of the bearing seat, One end of the bearing seat is connected to an operating table, a touch control screen is installed on the top of the operating table, the touch control screen is connected to an industrial computer, a battery is installed inside the bearing seat, the battery is connected to a drive mechanism and an industrial computer, a visual camera, an automatic driving camera and an emergency stop button are installed on the front side of the bearing seat, a power switch is installed on the rear side of the bearing seat, the power switch, visual camera, positioning camera, automatic driving camera and emergency stop button are connected to the industrial computer, laser radar rangefinders are installed on the four corners of the base, the laser radar rangefinders are located on the front and rear ends of the base, and the industrial computer is connected to the host computer control center by telecommunications.

[0008] Preferably, the batching unit further comprises a placing table, the protective shell is fixed on the placing table, and a cavity door is hinged on a side of the protective shell.

[0009] Preferably, the shapes of the flow rate control baffle and the flow rate control baffle I correspond to the cross-sectional structure of the conveying trough.

[0010] Preferably, the top surface of the vibrating machine is distributed at an angle of 45° along the vertical direction.

[0011] Preferably, the driving mechanism comprises a driving motor I, an output end of the driving motor I is connected to a reducer structure, and an output end of the reducer structure is connected to a driving wheel.

[0012] The technical effects and advantages of the present invention are as follows: the upper computer control center of the system can control different batching units to automatically batch according to the settings, and the batching is accurate without human error; the batching AGV cart is used for transportation, and the batching AGV cart is equipped with a visual camera and adopts visual resolution technology. The cart can find the route to the destination by itself according to vision, without the need to travel along the prescribed route, which is more flexible and convenient; the system realizes the automation of batching and transportation, reduces labor costs, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention;

[0014] Figure 2 It is a structural schematic diagram of the material flow control device of the present invention;

[0015] Figure 3 It is a front view of the material flow control device of the present invention;

[0016] Figure 4 This is a schematic diagram of the installation of the flow rate control baffle of the present invention;

[0017] Figure 5 It is a structural schematic diagram of the batching AGV trolley of the present invention;

[0018] Figure 6 It is a bottom view of the batching AGV trolley of the present invention.

[0019] In the figure: 1-batching unit, 2-batching AGV trolley, 3-protective shell, 4-discharging port, 5-hopper, 6-silo bracket, 7-mounting plate, 8-receiving port, 9-conveyor trough, 10-mounting bracket, 11-vibrator, 12-fixed plate, 13-drive motor, 14-upper top plate, 15-drive wheel, 16-driven wheel, 17-rotating shaft, 18-lower bottom plate, 19-column, 20-flow rate control baffle, 21-rotating shaft I, 22-synchronous wheel I, 23-synchronous belt, 24-synchronous wheel, 25- Flow rate control baffle Ⅰ, 26-support fixing plate, 27-placing table, 28-chamber door, 29-base, 30-drive motor Ⅰ, 31-reducer structure, 32-drive wheel, 33-universal driven wheel, 34-industrial computer, 35-base, 36-electronic scale platform, 37-bearing seat, 38-positioning camera, 39-operating table, 40-touch control screen, 41-battery, 42-visual camera, 43-automatic driving camera, 44-emergency stop button, 45-laser radar rangefinder, 46-barrel. DETAILED DESCRIPTION

[0020] In order to make the technical means for realizing the present invention, the creative features, the objectives and effects to be achieved easy to understand, the present invention is further explained below in conjunction with specific diagrams. In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection or a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two components.

[0021] Example 1

[0022] like Figure 1-Figure 4 An AGV overall fully intelligent batching control system shown includes a batching unit 1 and a batching AGV trolley 2, wherein the batching unit 1 is provided with a plurality of batching units, the batching unit 1 includes a protective shell 3 and a placement table 27, the protective shell 3 is fixed on the placement table 27, a cavity door 28 is hinged on the side of the protective shell 3, a material flow control device and a controller are installed inside the protective shell 3, the material flow control device is connected to the controller, the output end of the material flow control device is connected to the discharge port 4, the discharge port 4 is fixed on the protective shell 3, the controller is connected to the host computer control center by telecommunication, and the batching AGV trolley 2 is connected to the host computer control center by telecommunication;

[0023] The material flow control device includes a hopper 5, both sides of the hopper 5 are connected to a silo bracket 6, the bottom of the silo bracket 6 is fixed on a mounting plate 7, the bottom of the hopper 5 is connected to a material receiving port 8, the material receiving port 8 is located at one end of a conveying trough 9 and is connected to the conveying trough 9, the bottom of the conveying trough 9 is fixed to the top of a vibrator 11 through a mounting bracket 10, the bottom of the vibrator 11 is fixed to the mounting plate 7, the top surface of the vibrator 11 is distributed at an angle of 45° in the vertical direction, a fixing plate 12 is installed on the top notch of the conveying trough 9, a flow control mechanism is installed on the fixing plate 12, and the vibrator 11 is connected to a controller;

[0024] The flow control mechanism includes a driving motor 13, which is fixed on an upper top plate 14. The output end of the driving motor 13 passes through the upper top plate 14 to connect to a driving wheel 15. The driving wheel 15 is connected to a driven wheel 16 through a driving belt. The driven wheel 16 is fixed on a rotating shaft 17. The upper end of the rotating shaft 17 is connected to the upper top plate 14 through a bearing. The lower end of the rotating shaft 17 passes through a lower bottom plate 18 and a fixed plate 12 and extends into the conveying trough 9. The rotating shaft 17 is connected to the lower bottom plate 18 through a bearing. A column 19 is connected between the lower bottom plate 188 and the upper top plate 14. The bottom of the rotating shaft 17 is connected to a flow rate control baffle 20. A rotating shaft Ⅰ21 is provided parallel to the side, the upper end bearing of the rotating shaft Ⅰ21 is connected to the upper top plate 14, and the lower end passes through the lower bottom plate 18 and the fixed plate 12 to extend into the conveying trough 9, and a synchronous wheel Ⅰ22 is fixed on the rotating shaft Ⅰ21, and the synchronous wheel Ⅰ22 is connected to the synchronous wheel 24 through a synchronous belt 23. The synchronous wheel 24 is located below the driven wheel 16 and is coaxially installed on the rotating shaft 17. The bottom of the rotating shaft Ⅰ21 is connected to the flow rate control baffle Ⅰ25, and the shapes of the flow rate control baffle 20 and the flow rate control baffle Ⅰ25 correspond to the cross-sectional structure of the conveying trough 9. The lower bottom plate 18 is connected to the fixed plate 12 through the support fixed plate 26, and the driving motor 13 is connected to the controller.

[0025] Example 2

[0026] like Figure 1-Figure 6 An AGV overall fully intelligent batching control system shown includes a batching unit 1 and a batching AGV trolley 2, wherein the batching unit 1 is provided with a plurality of batching units, the batching unit 1 includes a protective shell 3 and a placement table 27, the protective shell 3 is fixed on the placement table 27, a cavity door 28 is hinged on the side of the protective shell 3, a material flow control device and a controller are installed inside the protective shell 3, raw materials can be added to the material flow control device at regular intervals through the cavity door 28, the material flow control device is connected to the controller, the output end of the material flow control device is connected to the discharge port 4, the discharge port 4 is fixed on the protective shell 3, the controller is connected to the host computer control center by telecommunication, and the batching AGV trolley 2 is connected to the host computer control center by telecommunication;

[0027] The material flow control device includes a hopper 5, both sides of the hopper 5 are connected to a silo bracket 6, the bottom of the silo bracket 6 is fixed on a mounting plate 7, the bottom of the hopper 5 is connected to a material receiving port 8, the material receiving port 8 is located at one end of a conveying trough 9 and is connected to the conveying trough 9, the bottom of the conveying trough 9 is fixed to the top of a vibrator 11 through a mounting bracket 10, the bottom of the vibrator 11 is fixed to the mounting plate 7, the top surface of the vibrator 11 is distributed at an angle of 45° in the vertical direction, a fixing plate 12 is installed on the top notch of the conveying trough 9, a flow control mechanism is installed on the fixing plate 12, and the vibrator 11 is connected to a controller;

[0028] The flow control mechanism includes a driving motor 13, which is fixed on an upper top plate 14. The output end of the driving motor 13 passes through the upper top plate 14 to connect to a driving wheel 15. The driving wheel 15 is connected to a driven wheel 16 through a driving belt. The driven wheel 16 is fixed on a rotating shaft 17. The upper end of the rotating shaft 17 is connected to the upper top plate 14 through a bearing. The lower end of the rotating shaft 17 passes through a lower bottom plate 18 and a fixed plate 12 and extends into the conveying trough 9. The rotating shaft 17 is connected to the lower bottom plate 18 through a bearing. A column 19 is connected between the lower bottom plate 188 and the upper top plate 14. The bottom of the rotating shaft 17 is connected to a flow rate control baffle 20. A rotating shaft Ⅰ21 is provided parallel to the side, the upper end bearing of the rotating shaft Ⅰ21 is connected to the upper top plate 14, and the lower end passes through the lower bottom plate 18 and the fixed plate 12 to extend into the conveying trough 9, and a synchronous wheel Ⅰ22 is fixed on the rotating shaft Ⅰ21, and the synchronous wheel Ⅰ22 is connected to the synchronous wheel 24 through a synchronous belt 23, and the synchronous wheel 24 is located below the driven wheel 16 and is coaxially installed on the rotating shaft 17, and the bottom of the rotating shaft Ⅰ21 is connected to the flow rate control baffle Ⅰ25, and the shapes of the flow rate control baffle 20 and the flow rate control baffle Ⅰ25 correspond to the cross-sectional structure of the conveying trough 9, the lower bottom plate 18 is connected to the fixed plate 12 through the support fixed plate 26, and the driving motor 13 is connected to the controller;

[0029] The batching AGV trolley 2 includes a base 29, and a driving mechanism is fixedly installed inside the base 29. The driving mechanism is provided with two, each including a driving motor I 30. The output end of the driving motor I 30 is connected to a reducer structure 31, and the output end of the reducer structure 31 is connected to a driving wheel 32. The driving wheel 32 is fixed in the base 29 through a bearing bracket. The driving wheel 32 is located on both sides of the middle part of the base 29. Both ends of the base 29 are connected to universal driven wheels 33 through brackets. The driving motor I 30 is connected to an industrial computer 34, and the industrial computer 34 is fixedly installed in the base 29. A base 35 is fixed above the base 29, and an electronic scale platform 36 is installed on the base 35. The electronic scale platform 36 is connected to the industrial computer 34, and a bearing seat 37 is connected above the electronic scale platform 36. Positioning cameras 38 are installed on both sides of 37, an operating table 39 is connected to one end of the bearing seat 37, a touch control screen 40 is installed on the top of the operating table 39, and the touch control screen 40 is connected to the industrial computer 34. A battery 41 is installed inside the bearing seat 37, and the battery 41 is connected to the drive motor I 30 and the industrial computer 34. A visual camera 42, an automatic driving camera 43 and an emergency stop button 44 are installed on the front side of the bearing seat 37, and a power switch is installed on the rear side of the bearing seat 37. The power switch, visual camera 42, positioning camera 38, automatic driving camera 43 and emergency stop button 44 are connected to the industrial computer 34. Lidar rangefinders 45 are installed on the four corners of the base 29, and the lidar rangefinders 45 are located on both sides of the front and rear ends of the base 35. The industrial computer 34 is connected to the host computer control center by telecommunications;

[0030] The process flow and working principle of the present invention are as follows: the manager inputs the batching order into the upper computer control center, and the upper computer control center automatically distributes the order to the controller of the batching unit 1 according to the type and weight of the required raw materials. At the same time, the upper computer control center sends a command to the industrial computer 34 of the batching AGV trolley 2, and a material holding barrel 46 is placed on the bearing seat 37 of the batching AGV trolley 2. The industrial computer 34 controls the driving motor I30 to drive the driving wheel 32 to move. The batching AGV trolley 2 can be positioned according to the positioning camera 38. After determining the position, the automatic driving mode can be turned on, and the trolley 2 can travel along the route set between the required batching unit 1. During the driving process, the trolley 2 can be driven by the activation The optical radar rangefinder 45 tests the distances on both sides and the front and rear, observes the road conditions ahead through the automatic driving camera 43, and feeds back the detected data to the industrial computer 34. The industrial computer 34 adjusts the running direction of the batching AGV 2 in real time until it runs to the designated batching unit 1, so that the material barrel 46 is located below the discharge port 4; or after the batching AGV 2 determines the position through the positioning camera 38, the visual camera 42 uses the visual resolution technology, and cooperates with the laser radar rangefinder 45 to find the route to the designated batching unit 1 by itself, without having to travel along the prescribed route; when the batching AGV 2 and the material barrel 46 are in place, the batching AGV 2 is controlled by the industrial computer 34. The feedback signal is given to the host computer control center, and the host computer control center controls the controller of the batching unit 1 for operation. The controller controls the vibration machine 11 to start, and the vibration machine 11 vibrates to drive the powdered raw material to move forward along the conveying trough 9. At this time, the flow rate control baffle 20 and the flow rate control baffle Ⅰ25 are parallel to the inner wall of the conveying trough 9. The flow rate control baffle 20 and the flow rate control baffle Ⅰ25 are all opened, and the powdered raw material is transported from the conveying trough 9 to the material barrel 46. The electronic scale platform 36 weighs the powdered raw material inside the material barrel 46 in real time, and feeds back to the host computer control center through the industrial computer 34. When the weight of the raw material in the material barrel 46 is about to reach the set value; the host computer control center The controller starts the drive motor 13, and the drive motor 13 drives the rotating shaft 17 to rotate through the drive wheel 15 and the drive belt. At the same time, the synchronous wheel 15 drives the rotating shaft Ⅰ21 to move through the synchronous belt 16 and the synchronous wheel Ⅰ17. The rotating shaft 17 and the rotating shaft Ⅰ21 respectively drive the flow rate control baffle 20 and the flow rate control baffle Ⅰ25 to rotate gradually, so that the powder raw materials passing through are gradually reduced. The controller then performs frequency conversion control on the vibrator 11, fits the natural frequency of the equipment by changing the vibration frequency, and controls the vibration amplitude of the vibrator 11 at the same time, so that the raw materials inside the material barrel 46 can accurately reach the set value, and then the batching AGV trolley 2 delivers the raw materials in the material barrel 46 to the specified location.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV overall fully intelligent batching control system, including a batching unit and a batching AGV trolley, characterized in that: The batching unit is provided with a plurality of batching units, and the batching unit includes a protective shell, a material flow control device and a controller are installed inside the protective shell, the material flow control device is connected to the controller, the output end of the material flow control device is connected to the discharge port, and the discharge port is fixed on the protective shell, the controller signal is connected to the host computer control center, and the batching AGV trolley signal is connected to the host computer control center; The material flow control device comprises a hopper, both sides of the hopper are connected to a silo bracket, the bottom of the silo bracket is fixed to a mounting plate, the bottom of the hopper is connected to a material receiving port, the material receiving port is located at one end of a conveying trough and is communicated with the conveying trough, the bottom of the conveying trough is fixed to the top of a vibrating machine through a mounting bracket, the bottom of the vibrating machine is fixed to a mounting plate, a fixing plate is installed on the top notch of the conveying trough, a flow control mechanism is installed on the fixing plate, and the vibrating machine is connected to a controller; The flow control mechanism includes a driving motor, the driving motor is fixed on the upper top plate, the output end of the driving motor passes through the upper top plate to connect the driving wheel, the driving wheel is connected to the driven wheel through a driving belt, the driven wheel is fixed on the rotating shaft, the upper end of the rotating shaft is connected to the upper top plate through a bearing, the lower end of the rotating shaft passes through the lower bottom plate and the fixed plate and extends into the conveying trough, the rotating shaft is connected to the lower bottom plate through a bearing, a column is connected between the lower bottom plate and the upper top plate, the bottom of the rotating shaft is connected to a flow rate control baffle, the lower bottom plate is connected to the fixed plate through a supporting fixed plate, and the driving motor is connected to a controller; A rotating shaft I is parallelly arranged on one side of the rotating shaft, the upper end bearing of the rotating shaft I is connected to the upper top plate, and the lower end passes through the lower bottom plate and the fixed plate and extends into the conveying trough, a synchronous wheel I is fixed on the rotating shaft I, and the synchronous wheel I is connected to the synchronous wheel through a synchronous belt, the synchronous wheel is located below the driven wheel, and is coaxially installed on the rotating shaft, and the bottom of the rotating shaft I is connected to the flow rate control baffle I; The batching AGV trolley includes a base, a driving mechanism is fixedly installed inside the base, the driving mechanism is provided with two driving wheels connected to both sides respectively, the driving wheels are fixed in the base through bearing brackets, the driving wheels are located on both sides of the middle part of the base, and the two ends of the base are connected to the universal driven wheels twice through brackets respectively, the driving mechanism is connected to the industrial computer, the industrial computer is fixedly installed in the base, a base is fixed above the base, an electronic scale platform is installed on the base, the electronic scale platform is connected to the industrial computer, the electronic scale platform is connected to a bearing seat above, positioning cameras are installed on both sides of the bearing seat, and the bearing seat is provided with a positioning camera. An operating table is connected to one end of the carrier, a touch control screen is installed on the top of the operating table, the touch control screen is connected to an industrial computer, a battery is installed inside the carrier, the battery is connected to a drive mechanism and an industrial computer, a visual camera, an automatic driving camera and an emergency stop button are installed on the front side of the carrier, a power switch is installed on the rear side of the carrier, the power switch, visual camera, positioning camera, automatic driving camera and emergency stop button are connected to the industrial computer, laser radar rangefinders are installed on the four corners of the base, the laser radar rangefinders are located on the front and rear ends of the base, and the industrial computer signal is connected to the host computer control center.

2. The AGV integrated fully intelligent batching control system according to claim 1 is characterized by: The batching unit also includes a placement table, the protective shell is fixed on the placement table, and a cavity door is hinged on the side of the protective shell.

3. The AGV integrated fully intelligent batching control system according to claim 1 is characterized in that: The shapes of the flow rate control baffle and the flow rate control baffle I correspond to the cross-sectional structure of the conveying trough.

4. The AGV integrated fully intelligent batching control system according to claim 1 is characterized by: The top surface of the vibrating machine is distributed at an angle of 45° along the vertical direction.

5. The AGV integrated fully intelligent batching control system according to claim 1 is characterized by: The driving mechanism comprises a driving motor I, an output end of the driving motor I is connected to a reducer structure, and an output end of the reducer structure is connected to a driving wheel.

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