Product transfer method applied to gypsum board production line and AGV collaborative transfer system

Abstract

The invention discloses a product transfer method applied to a gypsum board production line and an AGV collaborative transfer system. The product transfer method comprises the steps that S1, a first AGV forklift is adopted to take and place packaged gypsum boards to a flat AGV transfer trolley from the production line; s2, the plasterboards are transferred to a stacking site from a production line through a flat AGV transfer trolley; s3, at the stacking site, a second AGV forklift is adopted for taking down the gypsum boards from the flat AGV transfer trolley and stacking the gypsum boards; according to the same loading capacity, the first AGV forklift has unit mileage running energy consumption lower than that of the second AGV forklift, and the flat AGV transfer trolley has unit mileage running energy consumption lower than that of the first AGV forklift and / or the second AGV forklift. According to the invention, vehicle types with different driving energy consumption are used through partition and function division, energy consumption is reduced, smooth and safe operation is realized through design of a working mechanism, a frame, a counterweight and the like of each AGV, and the whole process can be automatically carried out under an unmanned control condition.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent logistics, and specifically to a product transfer method and an AGV collaborative transfer system applied to a gypsum board production line. Background Art

[0002] In a gypsum board production line, stacked and packaged gypsum board products are transferred from the production line to a warehouse for stacking storage. Currently, forklifts are directly used in the production plants of gypsum board enterprises to transfer the packaged gypsum board products and stack them. Since the rear body of the forklift needs to have a relatively heavy weight to balance the weight of the transferred gypsum board, the forklift is heavy and the power system has a high power, resulting in high energy consumption throughout the transfer process of the gypsum board. Moreover, most of the forklifts currently used in the production plants of gypsum board enterprises are manually driven and operated, and automation and intelligence have not been achieved. Summary of the Invention

[0003] To solve the technical problems in the above background art, the present invention provides a product transfer method and an AGV collaborative transfer system applied to a gypsum board production line.

[0004] The technical solution of the present invention is as follows:

[0005] The present invention first provides a product transfer method applied to a gypsum board production line, including the steps of:

[0006] S1, using a first AGV forklift to pick up and place the packaged gypsum board from the production line onto a flatbed AGV transfer vehicle;

[0007] S2, using the flatbed AGV transfer vehicle to transfer the gypsum board from the production line to the stacking location;

[0008] S3, at the stacking location, using a second AGV forklift to remove the gypsum board from the flatbed AGV transfer vehicle and stack it;

[0009] Among them, with the same loading capacity, the first AGV forklift has a lower unit mileage driving energy consumption than the second AGV forklift, and the flatbed AGV transfer vehicle has a lower unit mileage driving energy consumption than the first AGV forklift and / or the second AGV forklift.

[0010] Further, for the product transfer method applied to a gypsum board production line as described above, with the same loading capacity, the flatbed AGV transfer vehicle has a lower unit mileage driving energy consumption than the second AGV forklift.

[0011] Further, for the product transfer method applied to a gypsum board production line as described above, with the same loading capacity, the flatbed AGV transfer vehicle (2) has a lower unit mileage driving energy consumption than the first AGV forklift (1).

[0012] Furthermore, for the product transfer method applied to the gypsum board production line as described above, the second AGV forklift is provided with a counterweight, while the first AGV forklift is not.

[0013] Furthermore, for the product transfer method applied to the gypsum board production line as described above, both the first AGV forklift and the second AGV forklift are provided with counterweights, and the counterweight set on the first AGV forklift is lower than that on the second AGV forklift.

[0014] Furthermore, for the product transfer method applied to the gypsum board production line as described above, in step S1, the first AGV forklift is used to pick up and place the packaged gypsum boards from the gypsum board packaging station on the production line to the flatbed AGV transfer vehicle.

[0015] Furthermore, for the product transfer method applied to the gypsum board production line as described above, in step S1, the first AGV forklift is used to pick up and place the packaged gypsum boards from the gypsum board temporary storage station on the production line to the flatbed AGV transfer vehicle.

[0016] Furthermore, for the product transfer method applied to the gypsum board production line as described above, steps S1 - S3 are all automatically carried out under the condition of unmanned operation.

[0017] The present invention also provides an AGV collaborative transfer system, including a first AGV forklift, a flatbed AGV transfer vehicle, and a second AGV forklift, which are used to execute the product transfer method applied to the gypsum board production line as described above.

[0018] Furthermore, for the AGV collaborative transfer system as described above, the first AGV forklift, the flatbed AGV transfer vehicle, and the second AGV forklift all move automatically under the condition of unmanned operation and execute the product transfer method of steps S1 - S3.

[0019] Beneficial Effects

[0020] The product transfer method applied to the gypsum board production line provided by the present invention, based on the optimization goal of driving energy consumption, reduces energy consumption by using different vehicle models with different driving energy consumptions in different areas and with different functions, thereby effectively reducing the gypsum board transfer cost.

[0021] The AGV collaborative transfer system designed by the present invention has carried out professional designs on the working mechanism, frame, counterweight, etc. of each AGV trolley according to the characteristics of the gypsum products picked up on the production line, the characteristics of stacking at the stacking location, and the characteristics of product transfer and process connection between different vehicle models. On the basis of reducing the driving energy consumption in the production line and the transfer process, it simultaneously realizes smooth and safe operation and provides conditions for automated and intelligent operation.

[0022] The product transfer method applied to the gypsum board production line provided by the present invention can be automatically carried out under the condition of no manual control throughout the process, realizing the automation and intelligence of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the drawings:

[0024] Figure 1 is a flowchart of the product transfer method applied to the gypsum board production line of the present invention.

[0025] Figure 2 is a working schematic diagram of the product transfer method applied to the gypsum board production line of the present invention;

[0026] Figure 3 is a schematic diagram of the first AGV forklift of the present invention;

[0027] Figure 4 is a schematic diagram of the flat AGV transfer vehicle of the present invention;

[0028] Figure 5 is a schematic diagram of the second AGV forklift of the present invention.

[0029] The components represented by the reference numerals in the drawings are:

[0030] 1. First AGV forklift; 11. First vehicle body; 12. Support feet; 2. Flat AGV transfer vehicle; 21. Plate-type vehicle body; 3. Second AGV forklift; 31. Second vehicle body. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] As Figure 1 and Figure 2 shown, the present invention first provides a product transfer method applied to a gypsum board production line, including the steps of:

[0032] S1. Use the first AGV forklift 1 to pick up and place the packaged gypsum board from the production line to the flat AGV transfer vehicle 2;

[0033] S2. Use the flat AGV transfer vehicle 2 to transfer the gypsum board from the production line to the stacking location;

[0034] S3. At the stacking location, use the second AGV forklift 3 to remove the gypsum board from the flat AGV transfer vehicle 2 and stack it;

[0035] In some embodiments, in the above step S1, the first AGV forklift 1 is used to pick up and place the packaged gypsum board from the gypsum board packaging station of the production line to the flat AGV transfer vehicle 2.

[0036] In other embodiments, in the above step S1, the first AGV forklift 1 is used to pick up and place the packaged gypsum board from the gypsum board temporary storage station of the production line to the flat AGV transfer vehicle 2.

[0037] However, whether it is the gypsum board packing station or the gypsum board temporary storage station on the production line, there will be a frame at the station location to match the height of the packing station or the temporary storage station with the conveying structure of the production line, so as to avoid damage to the gypsum board caused by a height difference.

[0038] According to this characteristic on the production line, the first AGV forklift 1 specifically includes a first vehicle body 11. The first vehicle body 11 is a vertical vehicle body with a small lateral dimension and a large longitudinal dimension, reducing the lateral dimension of the first vehicle body 11 and improving the flexibility and passability of the first vehicle body 11. Two horizontal parallel supporting feet 12 extend forward from the bottom of the first vehicle body 11. The fork of the first AGV forklift 1 is located above the two supporting feet 12. A gantry for the vertical sliding of the fork and a lifting mechanism for driving the fork to lift are provided on the first vehicle body 11. The lifting mechanism can be selected, for example, a hydraulic cylinder or a driving motor, specifically as Figure 3 shown. When picking up the gypsum board, the supporting feet 12 can extend under the packing station or the temporary storage station without affecting the fork of the forklift to pick up the gypsum board.

[0039] Wheels are provided at the bottom of both the first vehicle body 11 and the supporting feet 12.

[0040] The setting of the supporting feet 12 is beneficial to moving the load-bearing fulcrum of the first AGV forklift 1 forward, and at the same time making the fork located above the supporting feet 12. In this way, it is not necessary to set a counterweight at the rear of the first AGV forklift 1 or only set a small counterweight to meet the stability requirements of the first AGV forklift 1 when transporting gypsum boards, reducing the overall vehicle weight of the first AGV forklift 1, and thus reducing the driving energy consumption of the first AGV forklift 1.

[0041] When transporting the gypsum board from the production line to the stacking place, only the weight of the gypsum board and the driving movement need to be considered. According to this characteristic, the flat AGV transfer vehicle 2 adopts a rectangular plate-shaped vehicle body 21. A plurality of pairs of wheels are provided at the bottom of the plate-shaped vehicle body 21. A controller for driving and steering control is provided on the flat AGV transfer vehicle 2. For details, see Figure 4 shown. The top of the plate-shaped vehicle body 21 is used to carry the gypsum board. The overall structure of the flat AGV transfer vehicle 2 is simple and light in weight.

[0042] In addition, the ground clearance of the bottom surface of the plate-shaped vehicle body 21 is greater than the ground clearance of the top surfaces of the two supporting feet 12, so that the two supporting feet 12 can be inserted under the plate-shaped vehicle body 21, so that the first AGV forklift 1 can place the gypsum board on the plate-shaped vehicle body 21.

[0043] In addition, at the gypsum board stacking location, the gypsum boards are stacked together. The gypsum board stack is large in volume and heavy in weight. To avoid damaging the gypsum board, there cannot be an insertion gap at the bottom of the gypsum board stack. According to this characteristic, as Figure 5As shown, the second AGV forklift 3 includes a second vehicle body 31. The forklift forks are arranged on the front side of the second vehicle body 31, and wheels are provided at the bottom of the second vehicle body 31.

[0044] To balance the weight of the gypsum board when the forklift forks pick up the gypsum board, the second vehicle body 31 adopts a horizontal vehicle body, which is long, extends front and back, and has a large vehicle body weight, increasing the distance between the center of gravity of the second vehicle body 31 and the load-bearing fulcrum of the second AGV forklift 3, and increasing the moment of the gravity of the second vehicle body 31 to improve the weight of the gypsum board that the forklift forks can lift. A gantry for the forklift forks to slide vertically and a lifting mechanism for lifting the forklift forks are provided on the front side of the second vehicle body 31. The lifting mechanism also selects, for example, a hydraulic cylinder or a driving motor, etc. However, since the second AGV forklift 3 picks up a large amount of goods and has a large weight at a time, the working power of the lifting mechanism selected by the second AGV forklift 3 is greater than that of the lifting mechanism of the first AGV forklift 1, and the driving power during the driving process of the second AGV forklift 3 is also greater than that of the first AGV forklift 1, resulting in a higher working energy consumption of the second AGV forklift 3 than that of the first AGV forklift 1.

[0045] Furthermore, to meet the requirement of balancing the weight of the gypsum board on the forklift forks during stacking, a counterweight is provided on the second vehicle body 31, and preferably located at the rear side of the second vehicle body 31 to increase the distance between the center of gravity of the second vehicle body 31 and the fulcrum of the whole vehicle.

[0046] Looking at the three types of vehicles, between the first AGV forklift 1 and the second AGV forklift 3, although both are forklifts, since the load-bearing fulcrum of the second AGV forklift 3 is located behind the forklift forks, the second AGV forklift 3 has to set a counterweight to balance the weight of the gypsum board on the forklift forks during stacking, which leads to a heavier overall vehicle weight of the second AGV forklift 3. The load-bearing fulcrum of the first AGV forklift 1 extends forward and is located below the forklift forks, so that the first AGV forklift 1 does not need a counterweight, or a counterweight is set, but the weight of the counterweight will also be lower than that of the counterweight set by the second AGV forklift 3, which makes the weight of the first AGV forklift 1 less than that of the second AGV forklift 3. Furthermore, with the same loading capacity, the first AGV forklift 1 has a lower unit mileage driving energy consumption than the second AGV forklift 3.

[0047] For the flatbed AGV transporter 2, although the amount of gypsum board transported by the flatbed AGV transporter 2 at a time is several times that of the first AGV forklift 1's single pick-up amount, if calculated with the same loading capacity, due to the simple structure and light weight of the flatbed AGV transporter 2, the unit mileage driving energy consumption of the flatbed AGV transporter 2 is usually lower than that of the first AGV forklift 1, or at least lower than the unit mileage driving energy consumption of the second AGV forklift 3.

[0048] The present invention also provides an AGV collaborative transportation system, including the above-mentioned first AGV forklift 1, flatbed AGV transporter 2, and second AGV forklift 3, which is used to execute the product transportation method applied to the gypsum board production line as described above.

[0049] To improve the transfer efficiency of gypsum boards, AGV automatic guidance modules are installed on the first AGV forklift 1, the flatbed AGV transfer vehicle 2, and the second AGV forklift 3, enabling the first AGV forklift 1, the flatbed AGV transfer vehicle 2, and the second AGV forklift 3 to move automatically under unmanned operation conditions and execute the product transfer method in steps S1 - S3, making steps S1 - S3 automatically proceed under unmanned operation conditions.

[0050] Among them, in the AGV collaborative transfer system, there is also a cloud monitoring platform for real-time data exchange with the first AGV forklift 1, the flatbed AGV transfer vehicle 2, and the second AGV forklift 3.

[0051] In addition, in the AGV collaborative transfer system, UWB positioning tags are installed at the packing / temporary storage station. A laser rangefinder and a vision camera are respectively set on the fork of the first AGV forklift 1 and the first vehicle body 11. The three cooperate to locate and identify the edge position of the gypsum board at the packing station or the temporary storage station.

[0052] A pressure sensor array can also be installed on the fork of the first AGV forklift 1 to monitor the load distribution in real time, ensure the balanced force at the four corners of the fork, and prevent the gypsum board from tipping or slipping during fork picking or transfer.

[0053] An RFID grid is embedded on the surface of the flatbed AGV transfer vehicle 2. Readers are installed on both the first AGV forklift 1 and the second AGV forklift 3 to cooperate with the RFID grid to identify and locate the flatbed AGV transfer vehicle 2.

[0054] A laser profile scanner is also installed on the plate - type vehicle body 21 of the flatbed AGV transfer vehicle 2 to verify the placement position of the gypsum board, compare it with the preset position data, and trigger re - positioning if the deviation > 3mm.

[0055] In addition to respectively setting a laser rangefinder and a vision camera on the fork and the second vehicle body 31 of the second AGV forklift 3 to locate and identify the edge position of the gypsum board, a 3D ToF camera (3D Time - of - Flight camera) is also installed to construct a stack - type point cloud model in real time.

[0056] Other vision cameras and ranging sensors are also installed on the second AGV forklift 3 to measure the distance between the second vehicle body 31 and the existing stack.

[0057] A torque sensor can also be set on the fork of the second AGV forklift 3 to monitor the force on the fork and dynamically adjust the lifting speed.

[0058] The second AGV forklift 3 adopts an incremental stacking algorithm. After each layer is completed, it scans the actual stack type and automatically corrects the placement coordinates of the next layer.

[0059] In addition, the cloud monitoring platform uses Time-Sensitive Networking (TSN) to transmit control instructions, and the clock synchronization accuracy is < 1 μs. In addition, the cloud monitoring platform updates the global path map every 200 ms to avoid cross paths.

[0060] In addition, the driving path of the flatbed AGV transfer vehicle 2 can be preset, or magnetic strips can be laid on the ground corresponding to the path.

[0061] The product transfer method applied to the gypsum board production line provided by the present invention is used to transfer packaged gypsum boards. By using three types of vehicles with different driving energy consumptions in different areas and with different functions, the energy consumption is reduced, thereby effectively reducing the gypsum board transfer cost.

[0062] In addition, according to the situation that the amount of gypsum picked up on the production line is small but frequent, and there is space below the production line, and for the stacking location, according to the situation that there is no space at the bottom when the gypsum boards are stacked, the single discharge weight is large, and only the loading and moving of gypsum boards are required during the transfer process, the working mechanisms, frames, counterweights, etc. of each AGV trolley are professionally designed, so that the three AGV trolleys have different powers and vehicle types, reducing the driving energy consumption during the production line and transfer processes, reducing the usage frequency of high-power forklifts, and on the basis of reducing the driving energy consumption during the production line and transfer processes, the smoothness and safety of the operation are achieved at the same time, and conditions for automated and intelligent operation are provided.

[0063] In addition, the product transfer method applied to the gypsum board production line can be automatically carried out under the condition of no human operation throughout the process, realizing the automation and intelligence of the operation.

[0064] The above are only the specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A product transfer method applied to a gypsum board production line, characterized in that, Including the steps: S1, using a first AGV forklift (1) to pick up and place the packed gypsum boards from the production line onto a flatbed AGV transfer vehicle (2); S2, using the flatbed AGV transfer vehicle (2) to transfer the gypsum boards from the production line to the stacking location; S3, at the stacking location, using a second AGV forklift (3) to remove the gypsum boards from the flatbed AGV transfer vehicle (2) and stack them; Wherein, in terms of the same loading capacity, the first AGV forklift (1) has a lower energy consumption per unit mileage than the second AGV forklift (3), and the flatbed AGV transfer vehicle (2) has a lower energy consumption per unit mileage than the first AGV forklift (1) and / or the second AGV forklift (3).

2. The product transfer method applied to a gypsum board production line according to claim 1, characterized in that, In terms of the same loading capacity, the flatbed AGV transfer vehicle (2) has a lower energy consumption per unit mileage than the second AGV forklift (3).

3. The product transfer method applied to a gypsum board production line as described in claim 2, characterized in that, In terms of the same loading capacity, the flatbed AGV transfer vehicle (2) has a lower energy consumption per unit mileage than the first AGV forklift (1).

4. The product transfer method applied to a gypsum board production line according to claim 1, characterized in that, The second AGV forklift (3) is provided with a counterweight, and the first AGV forklift (1) is not provided with a counterweight.

5. The product transfer method applied to a gypsum board production line according to claim 1, characterized in that, Both the first AGV forklift (1) and the second AGV forklift (3) are provided with counterweights, and the counterweight provided on the first AGV forklift (1) is lower than the counterweight provided on the second AGV forklift (3).

6. The product transfer method applied to a gypsum board production line according to claim 1, wherein, In step S1, using the first AGV forklift (1) to pick up and place the packed gypsum boards from the gypsum board packing station of the production line onto the flatbed AGV transfer vehicle (2).

7. The product transfer method applied to a gypsum board production line according to claim 1, characterized in that, In step S1, using the first AGV forklift (1) to pick up and place the packed gypsum boards from the gypsum board temporary storage station of the production line onto the flatbed AGV transfer vehicle (2).

8. The product transfer method applied to a gypsum board production line according to claim 1, characterized in that, Steps S1 - S3 are all automatically performed under the condition of no manual control.

9. An AGV cotransport system, characterized in that, Including a first AGV forklift (1), a flatbed AGV transfer vehicle (2), and a second AGV forklift (3), which are used to execute the product transfer method applied to the gypsum board production line according to any one of claims 1 - 8.

10. The AGV collaborative transportation system according to claim 9, characterized in that, The first AGV forklift (1), the flatbed AGV transfer vehicle (2), and the second AGV forklift (3) all move automatically under the condition of no manual control and execute the product transfer method of steps S1 - S3.

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