Rack transfer system of optical communication AGV (Automatic Guided Vehicle)

Abstract

The invention relates to a material rack transfer system of an optical communication AGV. The material rack transfer system comprises the optical communication AGV, a rotary butt joint mechanism and a rotary curing oven. The optical communication AGV performs signal interaction with the nodes in the advancing process, and the map construction of the optical communication AGV adopts an SLAM system of laser fused two-dimensional codes; a material frame is arranged in the rotary curing oven, synchronous belt wheels are adopted for transmission, a material frame main shaft drives a plurality of workpieces to rotate through the synchronous belt wheels, and a self-positioning module in butt joint with the optical communication AGV is arranged on the material frame. The rotary butt joint mechanism is used for achieving butt joint of the driving motor and the material frame. Compared with the prior art, the method has the advantages that full-process automation is achieved, manual intervention is not needed, optical communication can be used for military places where wireless signals cannot be used, and the problem that traffic control is difficult to achieve through optical communication is solved through the storage location division method.

Description

Technical Field

[0001] The present invention relates to an automatic material turnover system in the field of industrial automation, and in particular to a material rack transfer system of an optical communication AGV. Background Art

[0002] The research and development background of the AGV material transfer system stems from the development needs of industrial automation and intelligent manufacturing. With the high degree of automation of modern production lines, traditional manual handling methods can no longer meet the production requirements of high speed, high efficiency and low cost. The increasing demand for improving production efficiency, reducing labor costs and reducing error rates in industries such as manufacturing and logistics has led to the widespread application of AGV technology. The AGV material transfer system can flexibly respond to complex production environments through unmanned automatic handling, realize the automatic transfer of materials from one workstation to another, and greatly improve the operating efficiency of the production line. At the same time, intelligent scheduling systems and advanced navigation technologies (such as laser navigation, QR code navigation, etc.) further enhance the accuracy and reliability of the AGV system, providing important support for the sustainable development of intelligent manufacturing. Under the general trend of green environmental protection and energy saving and consumption reduction, the AGV system can also reduce energy consumption by optimizing routes, energy-saving management and other means, which meets the sustainable development requirements of modern enterprises.

[0003] The existing rotary curing furnace uses a motor to drive the workpiece to rotate, and usually requires manual loading and unloading. When the material is heavy, a forklift or other workpiece is needed to assist in loading and unloading. When there are many materials, manual clamping is cumbersome. The existing AGV transportation system usually uses wireless signal transmission. In some military sites, wireless signals cannot be used, and only optical communication signal transmission can be used. A major difficulty of the optical communication AGV transfer system is that its signal transmission method depends on optical communication nodes. When running between multiple target points, it is difficult to perform traffic control. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a material rack transfer system for an optical communication AGV, which has full process automation without the need for human intervention. Optical communication can be used in military sites where wireless signals cannot be used, and the problem of traffic control that is difficult to achieve with optical communication can be avoided by dividing the storage locations.

[0005] The present invention reduces the number of nodes required by dividing the area. At the same time, interaction is only performed when entering and leaving the area, and two different paths are set between the areas. Different paths are divided for different target points in the area, so there is no need for traffic control, reducing the complexity of the optical communication AGV handling system.

[0006] The automatic curing system first transports the products on the winding production line to the curing furnace through the AGV, then starts the curing furnace and cures according to the set temperature curve, and finally transports the cured products out. Analysis of the automatic curing equipment control process, after the initialization is completed, interact with the AGV to realize the automatic feeding of the AGV, the automatic start of the curing furnace, and the automatic discharge of the AGV. First, the AGV issues a delivery command (request to enter the furnace), the curing furnace opens the door (allows to enter the furnace), and the AGV completes the delivery (allows to leave the furnace); then the AGV completes the task and returns to the starting point, and the curing furnace starts to heat automatically (pre-curing and curing); finally, after the curing is completed, the AGV issues a pickup command (request to enter the furnace), the curing furnace opens the door (allows to enter the furnace), and the AGV completes the pickup (allows to leave the furnace).

[0007] The present invention provides a material rack transfer system for an optical communication AGV, comprising: an optical communication AGV, a rotary docking mechanism, and a rotary curing furnace;

[0008] The optical communication AGV exchanges signals with nodes during the process of traveling, adjusts subsequent processes during the transportation process, and realizes the automation of the whole process; the map construction of the optical communication AGV adopts the SLAM system of laser fusion QR code;

[0009] The rotary curing furnace is provided with a material rack, which is driven by a synchronous pulley. The main shaft of the material rack drives multiple workpieces to rotate through the synchronous pulley. The material rack is provided with a self-positioning module that is docked with the optical communication AGV. The self-positioning module limits the X-axis and Y-axis directions of the material rack and can compensate for part of the positioning accuracy of the optical communication AGV, making the rise and fall of the material rack smooth and reliable. On the one hand, it limits the freedom of the X-axis and Y-axis of the trolley to prevent the trolley from shaking during transportation. On the other hand, it can make certain error compensation for the lifting process of the AGV trolley to prevent lifting failure due to positioning error.

[0010] The rotary docking mechanism is used to achieve the docking of the drive motor and the material rack. The drive motor and the material rack realize transmission through the rotary docking mechanism, which is used for automatic handling of AGV and realizes unmanned clamping; the rotary docking mechanism includes a cylinder and a rotary motor. The rotary docking mechanism is arranged on the side wall of the rotary curing furnace, and the drive motor is installed outside the rotary curing furnace. The rotary motor is placed outside the rotary curing furnace to prevent the rotary motor from being affected by the high temperature of the rotary curing furnace and reducing its life.

[0011] Furthermore, the rotary docking mechanism is arranged below the control cabinet; the rotary docking mechanism is installed on a special base for the bracket.

[0012] Furthermore, the self-positioning module includes: a material rack and base self-positioning unit, and a material rack and optical communication AGV self-positioning unit, which are positioned by two sets of V-shaped blocks and pins, one horizontal and one vertical.

[0013] Furthermore, the V-block is a rotatable long roller, and the pin is provided with a V-groove to guide and limit the XY directions of the material rack, and to make certain error compensation for the lifting process of the AGV trolley to prevent the trolley from shaking during transportation.

[0014] Furthermore, it also includes an AGV automatic charging device to realize the automation of the entire process, without the need for manual charging of the AGV; the optical communication AGV automatically goes to the AGV automatic charging device for charging when there is no task.

[0015] Furthermore, the map of the optical communication AGV is constructed between the curing area and the material picking area; first, the surrounding environment is scanned in real time by using a laser radar, and a local map is generated through the scanning data; during the movement of the AGV, the SLAM algorithm combines the data from sensors such as the IMU and odometer to perform self-positioning and simultaneously construct a global environment map.

[0016] Furthermore, the map construction of the optical communication AGV uses laser radar to achieve path planning and obstacle avoidance in a large range, and calibrates the precise position of the AGV through QR codes at key locations. Laser radar is used to achieve path planning and obstacle avoidance in a large range, and optical communication points need to be set up near special sites, such as the location of the landing rack and the automatic charging pile. The QR code navigation method is used to correct the errors generated during long-distance transportation, provide more stable and accurate information, and improve the positioning accuracy near the site. The integration of these two navigation methods can reduce posture drift and enhance the robustness of the overall navigation.

[0017] Furthermore, in the rotary docking mechanism, two extension rods are provided at the shaft end of the rotary motor, corresponding to two holes on the rotating disk of the material rack main shaft. The extension rods enter the corresponding holes through the telescopic movement of the cylinder and the rotation of the rotary motor, so that the driving motor can drive the material rack main shaft to rotate.

[0018] Furthermore, the extension rod includes a first extension rod and a second extension rod which are rigidly connected to each other. The first extension rod is equipped with a spring compression to improve the rigid collision during the docking process. When the second extension rod rotates by a rotating motor to find a hole position, a rolling bearing is installed at the front end of the second extension rod to improve hard friction.

[0019] The working method is: when docking begins, the cylinder moves first, driving the motor forward until the extension rod contacts the rotating disk, and then the motor starts to rotate slowly. During the rotation, the extension rod falls into the two corresponding holes of the rotating disk, completing the connection between the motor shaft and the main shaft; when disengaging, the motor stops rotating, the cylinder moves, driving the motor backward, the extension rod disengages from the rotating disk, and the material rack can be moved out freely.

[0020] Furthermore, the optical communication AGV communicates through an optical communication device, which includes an optical module. The optical module is an integrated optical transceiver module composed of a transmitter and a receiver. The transmitter includes a driver integrated circuit and a laser, and the receiver includes a photoelectric converter and a release limiting integrated circuit.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] (1) The rotary drive motor is separated from the transfer rack, and there is no circuit connection or power supply requirement during transportation;

[0023] (2) The motor can be placed outside the curing furnace without being moved and is not affected by the high temperature of the curing furnace;

[0024] (3) The entire process is automated, with no need for manual operation;

[0025] (4) It uses optical communication and can be used in military and other places where wireless signals cannot be used;

[0026] (5) By adopting storage location division, the optical communication process does not require traffic control, reducing the complexity of the optical communication AGV handling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the area division diagram of the rack transfer system of the optical communication AGV;

[0028] Figure 2 It is a structural schematic diagram of the material rack and the rotary docking mechanism;

[0029] Figure 3 It is a structural schematic diagram of a rotary curing furnace;

[0030] Figure 4 It is a structural schematic diagram of the rotary docking mechanism.

[0031] Figure numerals: 1-driving motor; 2-rotating motor; 3-extension rod; 4-rotating disk; 5-material rack; 6-control cabinet; 7-rotating docking mechanism. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0033] Example 1

[0034] This embodiment reduces the number of nodes required by dividing the area. At the same time, interaction is only performed when entering and exiting the area, and two different paths are set between the areas. Different paths are divided for different target points in the area, so there is no need for traffic control, reducing the complexity of the optical communication AGV handling system. Figure 1 shown.

[0035] This embodiment provides a material rack transfer system for an optical communication AGV, such as Figure 2 , 3 , 4, including: optical communication AGV, rotary docking mechanism 7, rotary curing furnace;

[0036] The optical communication AGV exchanges signals with nodes during the process of traveling, adjusts subsequent processes during the transportation process, and realizes the automation of the whole process; the map construction of the optical communication AGV adopts the SLAM system of laser fusion QR code;

[0037] The rotary curing furnace is provided with a material rack 5, which is driven by a synchronous pulley. The main shaft of the material rack 5 drives multiple workpieces to rotate through the synchronous pulley. The material rack 5 is provided with a self-positioning module that is docked with the optical communication AGV. The self-positioning module limits the X-axis and Y-axis directions of the material rack 5, and can compensate for part of the positioning accuracy of the optical communication AGV; so that the material rack 5 can rise and fall smoothly and reliably; on the one hand, it limits the freedom of the X-axis and Y-axis of the trolley to prevent the trolley from shaking during transportation; on the other hand, it can make certain error compensation for the lifting process of the AGV trolley to prevent lifting failure due to positioning error.

[0038] The rotary docking mechanism 7 is used to achieve the docking of the drive motor 1 and the material rack 5. The drive motor 1 and the material rack 5 are driven by the rotary docking mechanism 7, which is used for automatic handling of AGV and unmanned clamping. The rotary docking mechanism 7 includes a cylinder and a rotary motor 2. The rotary docking mechanism 7 is arranged on the side wall of the rotary curing furnace, and the drive motor 1 is installed outside the rotary curing furnace. The rotary motor 2 is placed outside the rotary curing furnace to prevent the rotary motor 2 from being affected by the high temperature of the rotary curing furnace and reducing its life.

[0039] In a specific implementation, the rotary docking mechanism 7 is disposed below the control cabinet 6; the rotary docking mechanism 7 is installed on a dedicated base for the bracket.

[0040] In a specific implementation, the self-positioning module includes: a self-positioning unit between the rack 5 and the base, and a self-positioning unit between the rack 5 and the optical communication AGV, which are positioned by two sets of V-shaped blocks and pins, one horizontal and one vertical.

[0041] In a specific implementation, the V-block is a rotatable long roller, and the pin is provided with a V-groove to guide and limit the XY direction of the material rack 5, to make certain error compensation for the lifting process of the AGV trolley, and to prevent the trolley from shaking during transportation.

[0042] In a specific implementation, an AGV automatic charging device is also included to realize automation of the entire process without the need for manual charging of the AGV; the optical communication AGV automatically goes to the AGV automatic charging device for charging when there is no task.

[0043] In a specific implementation, the map of the optical communication AGV is constructed between the curing area and the material collection area; first, a laser radar is used to scan the surrounding environment in real time, and a local map is generated through the scanning data; during the movement of the AGV, the SLAM algorithm combines the data from sensors such as IMU and odometer to perform self-positioning and construct a global environment map.

[0044] In a specific embodiment, the map construction of the optical communication AGV uses laser radar to achieve path planning and obstacle avoidance in a large range, and calibrates the precise position of the AGV through a QR code at a key position. Laser radar is used to achieve path planning and obstacle avoidance in a large range, and optical communication points need to be set near special sites, such as the location of the landing rack 5 and the automatic charging pile. The QR code navigation method is used to correct the errors generated during long-distance transportation, provide more stable and accurate information, and improve the positioning accuracy near the site. The two navigation methods are integrated to reduce posture drift and enhance the robustness of the overall navigation.

[0045] In a specific embodiment, in the rotary docking mechanism 7, two extension rods 3 are provided at the shaft end of the rotary motor 2, corresponding to two hole positions on the main shaft rotating disk 4 of the material rack 5. The extension rods 3 enter the corresponding hole positions through the telescopic movement of the cylinder and the rotation of the rotary motor 2, so that the driving motor 1 can drive the main shaft of the material rack 5 to rotate.

[0046] In a specific embodiment, the extension rod 3 includes a first extension rod and a second extension rod which are rigidly connected to each other. The first extension rod is equipped with a spring compression to improve the rigid collision during the docking process. When the second extension rod rotates to find the hole position by the rotating motor 2, a rolling bearing is installed at the front end of the second extension rod 3 to improve hard friction.

[0047] The working method is: when docking begins, the cylinder moves first, driving the motor forward until the extension rod 3 contacts the rotating disk 4, and then the motor starts to rotate slowly. During the rotation, the extension rod 3 falls into the two corresponding holes of the rotating disk 4, completing the connection between the motor shaft and the main shaft; when disengaging, the motor stops rotating, the cylinder moves, driving the motor backward, the extension rod 3 disengages from the rotating disk 4, and the material rack 5 can be moved out freely.

[0048] In a specific embodiment, the optical communication AGV communicates through an optical communication device, which includes an optical module. The optical module is an integrated optical transceiver module composed of a transmitter and a receiver. The transmitter includes a driver integrated circuit and a laser, and the receiver includes a photoelectric converter and a release limiting integrated circuit.

[0049] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0050] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A rack transfer system for optical communication AGV, characterized in that: include: Optical communication AGV, rotary docking mechanism (7), rotary curing furnace; The optical communication AGV exchanges signals with nodes during the process of traveling, adjusts subsequent processes during the transportation process, and realizes the automation of the entire process; the map construction of the optical communication AGV adopts the SLAM system of laser fusion QR code; The rotary curing furnace is provided with a material rack (5) which is driven by a synchronous pulley. The main shaft of the material rack (5) drives the multiple workpieces to rotate through the synchronous pulley. The material rack (5) is provided with a self-positioning module which is connected to the optical communication AGV. The self-positioning module limits the X-axis and Y-axis directions of the material rack (5) and can compensate for part of the positioning accuracy of the optical communication AGV. The rotary docking mechanism (7) is used to achieve docking between the drive motor (1) and the material rack (5); the drive motor (1) and the material rack (5) achieve transmission through the rotary docking mechanism (7) and are used for automatic handling of AGV to achieve unmanned clamping; the rotary docking mechanism (7) comprises a cylinder and a rotary motor (2); the rotary docking mechanism (7) is arranged on the side wall of the rotary curing furnace; and the drive motor (1) is installed outside the rotary curing furnace.

2. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: The rotary docking mechanism (7) is arranged below the control cabinet (6); the rotary docking mechanism (7) is installed on a special base for the bracket.

3. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: The self-positioning module comprises: a material rack (5) and a base self-positioning unit, and a material rack (5) and an optical communication AGV self-positioning unit, and positioning is performed through two sets of V-shaped blocks and pins, one horizontal and one vertical.

4. The rack transfer system of an optical communication AGV according to claim 3, characterized in that: The V-shaped block is a rotatable long roller, and the pin is provided with a V-shaped groove, which guides and limits the XY directions of the material rack (5), compensates for errors in the lifting process of the AGV trolley, and prevents the trolley from shaking during transportation.

5. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: It also includes an AGV automatic charging device to realize the automation of the entire process, without the need for manual charging of the AGV; the optical communication AGV will automatically go to the AGV automatic charging device for charging when there is no task.

6. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: The map construction of the optical communication AGV is carried out between the curing area and the material collection area. First, the surrounding environment is scanned in real time by using a laser radar, and a local map is generated through the scanning data. During the movement of the AGV, the SLAM algorithm combines the data of the IMU and the odometer to locate itself and build a global environment map.

7. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: The map construction of the optical communication AGV uses laser radar to achieve path planning and obstacle avoidance in a large range, and calibrates the precise position of the AGV through QR codes at key locations.

8. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: In the rotary docking mechanism (7), two extension rods (3) are provided at the shaft end of the rotary motor (2), corresponding to two hole positions on the rotating disk (4) of the main shaft of the material rack (5). The extension rods (3) enter the corresponding hole positions through the telescopic movement of the cylinder and the rotation of the rotary motor (2), so that the driving motor (1) can drive the main shaft of the material rack (5) to rotate.

9. The rack transfer system of an optical communication AGV according to claim 8, characterized in that: The extension rod (3) comprises a first extension rod and a second extension rod which are rigidly connected to each other. The first extension rod is provided with a spring compression to improve rigid collision during docking. When the second extension rod is rotated by the rotary motor (2) to find the hole position, a rolling bearing is provided at the front end of the second extension rod to improve hard friction.

10. The rack transfer system of an optical communication AGV according to claim 1, characterized in that: The optical communication AGV communicates via an optical communication device, which includes an optical module. The optical module is an integrated optical transceiver module composed of a transmitter and a receiver. The transmitter includes a driver integrated circuit and a laser, and the receiver includes a photoelectric converter and a release-limiting integrated circuit.

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