An automatic loading and unloading system and method based on an AGV vehicle

Abstract

The present invention provides an automatic loading and unloading system and method based on an AGV cart, which includes a loading device and an unloading device. The loading device includes a loading transportation area and a first material storage area, and the unloading device includes an unloading transportation area and a second material storage area. Between the loading transportation area and the first material storage area, a longitudinal transmission belt is used to transport the material before processing, and between the unloading transportation area and the second material storage area, a longitudinal transmission belt is used to transport the material after processing. Columnar transmission belts are also provided at each station of the loading transportation station array and the unloading transportation station array. In the loading transportation area and the unloading transportation area, the material before processing / the material after processing is transported through the columnar transmission belts at each station. Between the loading transportation area and the unloading transportation area, the material after processing is transported through the columnar transmission belts. The AGV cart is used to receive the material after processing from the unloading device and send the material before processing to the loading device.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation, and particularly to an automatic loading and unloading system and method based on an AGV vehicle. Background Art

[0002] Workshop material transportation includes loading and unloading. Usually, the loading and unloading of materials are carried out separately, so two channels (loading channel and unloading channel) need to be walked respectively. Therefore, for the workshop, it is necessary to arrange spaces for two channels (loading channel and unloading channel) for material transportation, which occupies a lot of workshop space. Summary of the Invention

[0003] In order to overcome the above technical defects, the purpose of the present invention is to provide an automatic loading and unloading system and method based on an AGV vehicle with only a single transportation channel.

[0004] The present invention discloses an automatic loading and unloading system based on an AGV cart, which includes a loading device and an unloading device. The loading device includes a loading transportation area and a first material storage area, and the unloading device includes an unloading transportation area and a second material storage area; the loading transportation area includes a loading transportation work station array composed of several rows and several columns, the first material storage area includes a first storage work station array composed of several rows and several columns, the unloading transportation area includes an unloading transportation work station array composed of several rows and several columns, and the second material storage area includes a second storage work station array composed of several rows and several columns; the number of columns of the loading transportation work station array is the same as that of the first storage work station array, and the number of columns of the unloading transportation work station array is the same as that of the second storage work station array; the number of rows of the loading transportation work station array is greater than or equal to the number of rows of the unloading transportation work station array; row-direction transmission belts are provided at each work station of the loading transportation work station array, the first storage work station array, the unloading transportation work station array, and the second storage work station array; the loading transportation area and the first material storage area are connected by the row-direction transmission belts to transport the materials before processing, and the unloading transportation area and the second material storage area are connected by the row-direction transmission belts to transport the materials after processing; column-direction transmission belts are also provided at each work station of the loading transportation work station array and the unloading transportation work station array, and the work stations in the loading transportation area and the unloading transportation area are connected by the column-direction transmission belts to transport the materials before processing / the materials after processing; it further includes an intermediate material transportation device, which includes an intermediate material transportation array composed of several rows and several columns, and the number of rows of the intermediate material transportation array is greater than or equal to the number of rows of the unloading transportation work station array; the loading transportation area and the unloading transportation area are connected by the column-direction transmission belts to transport the materials after processing; the AGV cart is used to receive the materials before processing / the materials after processing of the loading device / unloading device and transport the materials before processing / the materials after processing to the loading device / unloading device.

[0005] Preferably, the AGV cart is arranged on the side of the loading device away from the unloading device and corresponds to the loading transportation area, and is used to transport the materials before processing to the loading transportation area; the AGV cart also receives the materials after processing that are sequentially transmitted from the unloading transportation area and the intermediate material transportation device to the loading transportation area.

[0006] Preferably, the first storage station array includes two layers. The first storage station array in the upper layer receives the pre-processed materials with material baskets, and the first storage station array in the lower layer is used to store the empty material baskets. It further includes a material picking device. The AGV cart transports the pre-processed materials contained in the material baskets to the loading transportation area. The loading transportation area transports the pre-processed materials contained in the material baskets to the first storage station array in the upper layer through the longitudinal transmission belt. The material picking device picks the pre-processed materials in the material baskets for processing, and the empty material baskets fall into the first storage station array in the lower layer.

[0007] Preferably, the first storage station array, the intermediate material transportation array, and the second storage station array are arranged in two rows.

[0008] Preferably, the loading transportation station array, the first storage station array, the unloading transportation station array, and the second storage station array are arranged in three columns.

[0009] The present invention also discloses an automatic loading and unloading method based on an AGV cart. Based on the above automatic loading and unloading system based on an AGV cart, it includes: the AGV cart transports a plurality of material baskets with pre-processed materials to the loading transportation area. If the number of the material baskets is more than the number of stations in the first storage station array, it is determined that the number of the material baskets accumulated in each column is the least, and the extra material baskets are transported to the stations in this column.

[0010] Preferably, it further includes: the loading transportation station array alternately transports the pre-processed materials to the first material storage area and receives the processed materials from the intermediate material transportation device at intervals of a first preset time. When the AGV cart transports the pre-processed materials to the loading transportation area, and the unloading transportation area transports the processed materials to the loading transportation area through the intermediate material transportation device, the priority of the loading transportation station array transporting the pre-processed materials to the first material storage area is higher than the priority of the loading transportation station array receiving the processed materials from the intermediate material transportation device.

[0011] Preferably, the loading transportation station array alternately transports the pre-processed materials to the first material storage area and receives the processed materials from the intermediate material transportation device at intervals of a first preset time, and it further includes: when the automatic loading and unloading system is started, within a second preset time, the loading transportation station array only transports the pre-processed materials to the first material storage area.

[0012] Preferably, the feeding and transporting station array alternately transports the pre - processed materials to the first material storage area and receives the post - processed materials from the intermediate material transporting device at intervals of a first preset time. It also includes: obtaining the storage quantity of the empty material baskets in the lower - layer first storage station array. If the storage quantity exceeds a first preset threshold, the feeding and transporting station array only receives the post - processed materials from the intermediate material transporting device until the storage quantity of the empty material baskets in the lower - layer first storage station array is less than a second preset threshold.

[0013] Preferably, it further includes: when the number of the material baskets in the second storage area is greater than the maximum load capacity of the AGV cart, the excess material baskets are temporarily stored on the intermediate material transporting device.

[0014] After adopting the above - mentioned technical solution, compared with the prior art, it has the following beneficial effects:

[0015] 1. By arranging the intermediate material transporting device between the feeding device and the discharging device, and arranging the column - direction transmission belt and the row - direction transmission belt, the material can be transported between the feeding device and the discharging device without affecting their respective feeding and discharging processes, so that only one channel can be used for the feeding process and the discharging process in the workshop, reducing the space occupation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the automatic loading and unloading system provided by the present invention;

[0017] Figure 2 It is a schematic diagram of the automatic loading and unloading system for the loading process provided by the present invention;

[0018] Figure 3 It is a schematic diagram of the automatic loading and unloading system for the loading process provided by the present invention;

[0019] Figure 4 It is a schematic diagram of the automatic loading and unloading system for the unloading process provided by the present invention;

[0020] Figure 5 It is a schematic diagram of the automatic loading and unloading system for the unloading process provided by the present invention;

[0021] Figure 6 It is a schematic diagram of the automatic loading and unloading system for the unloading process provided by the present invention.

[0022] Among them: 1 - feeding device, 2 - discharging device, 3 - first material storage area, 4 - feeding and transporting area, 5 - second material storage area, 6 - discharging and transporting area, 7 - intermediate material transporting device, 8 - AGV cart, 9 - material basket. DETAILED DESCRIPTION OF THE INVENTION

[0023] The advantages of the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0024] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0025] The terms used in the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0027] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0028] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a mechanical connection or an electrical connection, or it may be the communication inside two elements. It may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] In the following description, suffixes such as "module", "component", or "unit" used to denote elements are only for the convenience of explaining the present invention and have no specific meaning in themselves. Therefore, "module" and "component" can be used interchangeably.

[0030] See the attached Figures 1-6 , the present invention discloses an automatic loading and unloading system based on an AGV cart 8, which includes a loading device 1 and an unloading device 2. The loading device 1 includes a loading transportation area 4 and a first material storage area 3. Here, the material storage refers to temporary storage. In fact, in subsequent processes, other devices (not mentioned in the present invention, including material processing devices, loading devices, etc.) will continuously take away materials from the first material storage area 3. The unloading device 2 includes an unloading transportation area 6 and a second material storage area 5. Here, the material storage is also temporary storage. In previous processes, other devices (not mentioned in the present invention, including material processing devices, loading devices, etc.) will continuously transport materials to the second material storage area 5. The loading transportation area 4 and the unloading transportation area 6 can be understood as transportation channels. Through the loading transportation area 4, the materials (materials before processing, which can also be understood as raw materials) transported by the AGV cart 8 are transported to the first material storage area 3 or to the unloading transportation area 6. Through the unloading transportation area 6, the materials (materials after processing) are transported to the loading transportation area 4 for subsequent discharging.

[0031] The loading transportation area 4 includes a loading transportation work station array composed of several rows and several columns. The first material storage area 3 includes a first storage work station array composed of several rows and several columns. The unloading transportation area 6 includes an unloading transportation work station array composed of several rows and several columns. The second material storage area 5 includes a second storage work station array composed of several rows and several columns. Generally speaking, this array is several work stations arranged in rows and columns.

[0032] The number of columns of the loading transportation work station array is the same as that of the first storage work station array, so that the materials for the loading transportation work station array can be accurately transported to the first storage work station array. The number of columns of the unloading transportation work station array is the same as that of the second storage work station array, so that the materials on the second storage work station array can be accurately transported to the unloading transportation work station array. The number of rows of the loading transportation work station array is greater than or equal to the number of rows of the unloading transportation work station array to ensure that the loading transportation work station array can receive materials from the unloading transportation work station array.

[0033] Each station in the feeding and transporting station array, the first storage station array, the discharging and transporting station array, and the second storage station array is provided with a row-direction transmission belt. Between the feeding and transporting area 4 and the first material storage area 3, the row-direction transmission belt is used to transport the material before processing. Between the discharging and transporting area 6 and the second material storage area 5, the row-direction transmission belt is used to transport the material after processing. The row-direction transmission belt enables the materials on the stations of each array to be transmitted in the row direction, which is the up-and-down transmission in the figure.

[0034] Each station in the feeding and transporting station array and the discharging and transporting station array is also provided with a column-direction transmission belt. Each station in the feeding and transporting area 4 and the discharging and transporting area 6 is used to transport the material before processing / the material after processing through the column-direction transmission belt. The column-direction transmission belt enables the materials on the stations of each array to be transmitted in the column direction, which is the left-and-right transmission in the figure.

[0035] It can be understood that the row-direction transmission is mostly (not all) the material transmission inside the feeding device 1 and the discharging device 2, and the column-direction transmission is mostly (not all) the material transmission between the feeding device 1 and the discharging device 2.

[0036] It also includes an intermediate material transporting device 7, which is used to connect the feeding device 1 and the discharging device 2. The intermediate material transporting device 7 includes an intermediate material transporting array composed of several rows and several columns, and the number of rows of the intermediate material transporting array is greater than or equal to the number of rows of the discharging and transporting station array to ensure that the intermediate material transporting array can receive the materials from the discharging and transporting station array. Between the feeding and transporting area 4 and the discharging and transporting area 6, the column-direction transmission belt is used to transport the material after processing.

[0037] The AGV cart 8 is used to receive the material before processing / the material after processing of the feeding device 1 / the discharging device 2, and transport the material before processing / the material after processing to the feeding device 1 / the discharging device 2. Here, there are two schemes. One is to use the original feeding channel for both feeding and discharging, that is, the AGV cart 8 is arranged on one side of the feeding device 1. The other is to use the original discharging channel for both feeding and discharging, that is, the AGV cart 8 is arranged on one side of the discharging device 2.

[0038] The preferred embodiment provided by the present invention adopts the first scheme. Specifically, the AGV cart 8 is arranged on the side of the feeding device 1 far from the discharging device 2 and corresponds to the feeding and transporting area 4. On the one hand (see the appendix Figures 1-3 ), it is used to transport the material before processing to the feeding and transporting area 4, that is, the feeding process. On the other hand (see the appendix Figures 4-6 ), the AGV cart 8 also receives the material after processing transmitted from the discharging and transporting area 6 and the intermediate material transporting device 7 to the feeding and transporting area 4 in sequence, that is, the discharging process.

[0039] Preferably, the first storage station array includes two layers. The upper-layer first storage station array receives the pre-processed materials with the material basket 9, and the lower-layer first storage station array is used to store the empty material baskets. It further includes a material picking device, which is used to receive the pre-processed materials in the material basket 9 from the upper-layer first storage station array, and then the empty material basket enters the lower-layer first storage station array immediately. Specifically, the AGV cart 8 transports the pre-processed materials contained in the material basket 9 to the loading transportation area 4. The loading transportation area 4 transports the pre-processed materials contained in the material basket 9 to the upper-layer first storage station array through the longitudinal conveyor belt. The material picking device picks up the pre-processed materials in the material basket 9 for processing, and the empty material basket then falls into the lower-layer first storage station array.

[0040] In the preferred embodiment provided by the present invention, the first storage station array, the intermediate material transportation array, and the second storage station array are arranged in two rows. The loading transportation station array, the first storage station array, the unloading transportation station array, and the second storage station array are arranged in three columns. There is no limitation here, and the number of stations and the row and column arrangements of the arrays can be changed according to actual needs.

[0041] The present invention also discloses an automatic loading and unloading method based on the AGV cart 8. Based on the above automatic loading and unloading system based on the AGV cart 8, the method includes: the AGV cart 8 transports a plurality of material baskets 9 with pre-processed materials to the loading transportation area 4. If the number of material baskets 9 is more than the number of stations in the first storage station array, it is judged that the number of material baskets 9 received cumulatively in each column is the least, and the extra material baskets 9 are transported to the stations in this column.

[0042] For example, if it is detected that the number of stations in column 1 is the least, two material baskets 9 of the same batch are transported to column 1; if it is detected that the number of stations in column 2 is the least, two material baskets 9 of the same batch are transported to column 2; if it is detected that the number of stations in column 3 is the least, two material baskets 9 of the same batch are transported to column 3.

[0043] Preferably, it further includes: the loading transportation station array alternately transports the pre-processed materials to the first material storage area 3 and receives the processed materials from the intermediate material transportation device 7 at intervals of a first preset time. Thus, the loading and unloading processes are carried out in an orderly manner. Preferably, the interval time is 3 seconds.

[0044] Moreover, the present invention sets the priority of loading and unloading. When there is a conflict between the loading process and the unloading process, the loading process is prioritized. Specifically, when the AGV cart 8 transports the pre-processed materials to the loading transportation area 4, and the unloading transportation area 6 transports the post-processed materials to the loading transportation area 4 through the intermediate material transportation device 7, the priority of transporting the pre-processed materials from the loading transportation station array to the first material storage area 3 is greater than the priority of the loading transportation station array receiving the post-processed materials from the intermediate material transportation device 7.

[0045] Another priority setting is that when the automatic loading and unloading system is started, within the second preset time, only the pre-processed materials are transported from the loading transportation station array to the first material storage area 3. That is, when the system is just started, pre-processed materials are more needed for timely processing, and there is no material to be unloaded at this time. Therefore, only loading is carried out for a period of time first, and then loading and unloading are carried out at intervals.

[0046] There is also a transportation device between the loading device 1 and the unloading device 2 for picking up empty material baskets from the first storage station array on the lower layer of the loading device 1. The unloading device 2 takes the empty material baskets from the loading device 1 through this transportation device to load the post-processed materials into the empty material baskets for discharging when receiving them. When the storage quantity of the empty material baskets in the loading device 1 is too large, it is necessary to discharge as soon as possible to consume the storage of the empty material baskets. Therefore, the present invention also sets a priority setting to adjust the loading and unloading priority according to the number of empty material baskets in the loading device 1. Specifically, the storage quantity of the empty material baskets in the first storage station array on the lower layer is obtained. If the storage quantity exceeds the first preset threshold, the loading transportation station array only receives the post-processed materials from the intermediate material transportation device 7 until the storage quantity of the empty material baskets in the first storage station array on the lower layer is less than the second preset threshold.

[0047] Preferably, when the number of the material baskets 9 in the second storage area is greater than the maximum load capacity of the AGV cart 8, the extra material baskets 9 are temporarily stored on the intermediate material transportation device 7. Also, when the pre-processed materials transported by the AGV cart 8 cannot be received at one time in the loading transportation area 4, the extra materials are also temporarily stored on the intermediate material transportation device 7.

[0048] It should be noted that the embodiments of the present invention have good implementability and do not limit the present invention in any form. Any person skilled in the art may use the disclosed technical content to change or modify it into equivalent effective embodiments. However, as long as it does not depart from the technical content of the present invention, any modification, equivalent change or modification made to the above embodiments based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. An automatic loading and unloading method based on an AGV cart, which is used for an automatic loading and unloading system based on an AGV cart, and is characterized in that, An automatic loading and unloading system based on an AGV vehicle, including a loading device and an unloading device. The loading device includes a loading transportation area and a first material storage area, and the unloading device includes an unloading transportation area and a second material storage area; The loading transportation area includes a loading transportation work station array composed of several rows and several columns. The first material storage area includes a first storage work station array composed of several rows and several columns. The unloading transportation area includes an unloading transportation work station array composed of several rows and several columns. The second material storage area includes a second storage work station array composed of several rows and several columns. The number of columns of the loading transportation work station array is the same as that of the first storage work station array, and the number of columns of the unloading transportation work station array is the same as that of the second storage work station array. The number of rows of the loading transportation work station array is greater than or equal to the number of rows of the unloading transportation work station array; Row-direction conveyor belts are provided at each work station of the loading transportation work station array, the first storage work station array, the unloading transportation work station array, and the second storage work station array. Between the loading transportation area and the first material storage area, the row-direction conveyor belts are used to transport the pre-processed materials, and between the unloading transportation area and the second material storage area, the row-direction conveyor belts are used to transport the post-processed materials; Column-direction conveyor belts are also provided at each work station of the loading transportation work station array and the unloading transportation work station array. At each work station in the loading transportation area and the unloading transportation area, the column-direction conveyor belts are used to transport the pre-processed materials / post-processed materials; It further includes an intermediate material transportation device. The intermediate material transportation device includes an intermediate material transportation array composed of several rows and several columns, and the number of rows of the intermediate material transportation array is greater than or equal to the number of rows of the unloading transportation work station array. Between the loading transportation area and the unloading transportation area, the column-direction conveyor belts are used to transport the post-processed materials; The AGV vehicle is used to receive the pre-processed materials / post-processed materials of the loading device / unloading device and transport the pre-processed materials / post-processed materials to the loading device / unloading device; The automatic loading and unloading method includes: The AGV vehicle transports several material baskets with pre-processed materials to the loading transportation area. If the number of the material baskets is more than the number of work stations in the first storage work station array, it is judged that the number of the received material baskets in each column is the least, and the extra material baskets are transported to the work stations in this column. It also includes: The loading transportation work station array alternately transports the pre-processed materials to the first material storage area and receives the post-processed materials from the intermediate material transportation device at intervals of a first preset time; When the AGV vehicle transports the pre-processed materials to the loading transportation area and the unloading transportation area transports the post-processed materials to the loading transportation area through the intermediate material transportation device, the priority of the loading transportation work station array to transport the pre-processed materials to the first material storage area is higher than the priority of the loading transportation work station array to receive the post-processed materials from the intermediate material transportation device; Obtain the storage quantity of the empty material baskets in the lower-layer first storage station array. If the storage quantity exceeds the first preset threshold, the loading and transporting station array only receives the processed materials from the intermediate material transporting device until the storage quantity of the empty material baskets in the lower-layer first storage station array is less than the second preset threshold.

2. The automatic loading and unloading method based on an AGV cart according to claim 1, characterized in that The AGV cart is arranged on the side of the loading device away from the unloading device and corresponds to the loading and transporting area, and is used to transport the pre-processed materials to the loading and transporting area. The AGV cart also receives the processed materials sequentially transmitted from the unloading and transporting area and the intermediate material transporting device to the loading and transporting area.

3. The automatic loading and unloading method based on an AGV cart according to claim 2, characterized in that, The first storage station array includes two layers. The upper-layer first storage station array receives the pre-processed materials with material baskets, and the lower-layer first storage station array is used to store the empty material baskets. It further includes a material picking device. The AGV cart transports the pre-processed materials contained in the material baskets to the loading and transporting area. The loading and transporting area transports the pre-processed materials contained in the material baskets to the upper-layer first storage station array through the longitudinal transmission belt. The material picking device picks the pre-processed materials in the material baskets for processing, and the empty material baskets fall into the lower-layer first storage station array.

4. The automatic loading and unloading method based on an AGV cart according to claim 3, characterized in that, The loading and transporting station array, the intermediate material transporting array, and the unloading and transporting station array are arranged in two rows.

5. The automatic loading and unloading method based on an AGV trolley according to claim 4, wherein, The loading and transporting station array, the first storage station array, the unloading and transporting station array, and the second storage station array are arranged in three columns.

6. The automatic loading and unloading method based on an AGV cart according to claim 1, characterized in that, The loading and transporting station array alternately transports the pre-processed materials to the first material storage area and receives the processed materials from the intermediate material transporting device at intervals of the first preset time. It also includes: When the automatic loading and unloading system is started, within the second preset time, the loading and transporting station array only transports the pre-processed materials to the first material storage area.

7. The automatic loading and unloading method based on an AGV cart according to claim 6, characterized in that, It also includes: When the number of the material baskets in the second material storage area is greater than the maximum load capacity of the AGV cart, the excess material baskets are temporarily stored on the intermediate material transporting device.

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