Full-automatic carrying system

Abstract

The invention relates to the technical field of industrial automation, in particular to a full-automatic carrying system which achieves intelligent transfer of cleaning baskets through automatic cooperative operation of an AGV transport vehicle, an empty basket connection station and a conveyor. Specifically, the system constructs a three-level positioning detection network through a first annunciator arranged at a connection station, a second annunciator of a conveyor and a third annunciator of an AGV transport vehicle, and cooperates with linkage control of a first roller transmission part, a second roller transmission part and a third roller transmission part. Seamless connection and accurate butt joint among the three stations of the connection station, the AGV and the conveyor are achieved. According to the design, a traditional manual feeding and discharging mode is completely replaced, the manual single-time transfer time is shortened, the manual transfer efficiency is improved, the requirement for the production takt of a high-speed production line is met, and meanwhile the labor cost is remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation, and in particular to a full-automatic conveying system. BACKGROUND

[0002] At present, in the industrial automation production process, the loading and unloading operation of the cleaning basket still mainly relies on manual operation, and the following problems exist: the operator needs to frequently perform empty basket loading operation, and the single operation consumes a long time, which not only is low in efficiency and high in labor intensity, but also is difficult to match the production rhythm of the high-speed production line; taking a certain automobile part cleaning line as an example, 2 full-time personnel are needed to be configured to be responsible for the basket transfer every shift, which is very time-consuming and labor-intensive, and becomes a key bottleneck restricting the efficiency improvement of the production line.

[0003] In view of the above problems, the present application provides a full-automatic conveying system, which realizes automatic empty basket loading through an AGV transport vehicle to improve production efficiency. SUMMARY

[0004] The present application provides a full-automatic conveying system to solve the problem that the loading and unloading of the cleaning basket in the prior art needs to rely on manual operation, resulting in low production efficiency.

[0005] In a first aspect, a full-automatic conveying system comprises: an empty basket docking station for storing empty baskets and provided with a first roller transmission part and a first signaler; a conveyor comprising: a second roller transmission part, a loading area provided along the length direction of the second roller transmission part, the loading area being provided with a second signaler; an AGV transport vehicle comprising: a vehicle body, a driving wheel provided at the bottom of the vehicle body, a third roller transmission part provided at the top of the vehicle body, and a third signaler; wherein the AGV transport vehicle is configured to move to the empty basket docking station by the driving wheel, so that the third signaler is docked with the first signaler, and the first roller transmission part is aligned with the third roller transmission part, to automatically receive the empty baskets; the AGV transport vehicle is configured to move to the loading area, so that the third signaler is docked with the second signaler, and the third roller transmission part is aligned with the second roller transmission part, to automatically unload the empty baskets to the loading area.

[0006] Further, a full basket docking station for storing full baskets is further included, and the full basket docking station is provided with a fourth roller transmission part and a fourth signaler; the AGV transport vehicle moves to the full basket docking station by the driving wheel, so that the third signaler is docked with the fourth signaler, and the first roller transmission part is aligned with the fourth roller transmission part, to automatically unload the full baskets to the full basket docking station.

[0007] Further, the cleaning docking station is further provided, and the cleaning docking station is provided with a fifth roller transmission part and a fifth signal indicator; the AGV transport vehicle moves to the full basket docking station through the driving wheel, the third signal indicator is connected with the fifth signal indicator, and the first roller transmission part is aligned with the fifth roller transmission part, so that the full basket is automatically unloaded to the cleaning docking station.

[0008] Further, the AGV transport vehicle is further provided with an identification sensor; a two-dimensional code is arranged on the moving route of the AGV transport vehicle; the two-dimensional code contains coordinate information of each docking station, and the AGV transport vehicle adjusts the moving angle of the driving wheel according to the coordinate information, so that the third roller transmission part is accurately connected with the roller transmission part of each docking station.

[0009] Further, the standby position is further provided, and the standby position is used for parking and charging docking when the AGV transport vehicle is idle.

[0010] Further, the conveyor is provided with an assembly and stacking area and a discharging area; the assembly and stacking area is arranged between the feeding area and the discharging area.

[0011] Further, the conveyor is provided with a plurality of stop mechanisms. The adjacent positions of the feeding area, the assembly and stacking area and the discharging area are respectively provided with at least one stop mechanism.

[0012] Further, the conveyor is provided with a sliding mechanism, and the sliding mechanism comprises a transverse sliding rail, a longitudinal sliding rail and a connecting seat; the longitudinal sliding rail is slidably connected with the transverse sliding rail through the connecting seat.

[0013] Further, the longitudinal sliding rail is connected with a layering manipulator. The layering manipulator realizes X-axis movement through the transverse sliding rail and realizes Z-axis lifting through the longitudinal sliding rail.

[0014] Further, the conveyor is connected with a grabbing manipulator. The layering manipulator clamps the empty basket and lifts the empty basket along the Z-axis to a preset position, so that the grabbing manipulator grabs the workpiece and places the workpiece in the empty basket.

[0015] Compared with the prior art, the above technical scheme provided by the embodiment of the application has the following advantages: This technical solution provides a fully automatic handling system, which realizes the intelligent transfer of empty baskets for cleaning baskets through the automated collaborative operation of the AGV transport vehicle, the empty basket docking station, and the conveyor. In detail, this fully automatic handling system constructs a three-level positioning detection network through the first signal device set at the empty basket docking station, the second signal device of the conveyor, and the third signal device of the AGV transport vehicle. Cooperating with the linkage control of the first roller transmission unit, the second roller transmission unit, and the third roller transmission unit, it realizes the seamless connection and precise docking between the three stations of the empty basket docking station, the AGV transport vehicle, and the conveyor. This design completely replaces the traditional manual loading and unloading method, shortens the manual single transfer time, improves the manual transfer efficiency, matches the production rhythm requirements of the high-speed production line, and significantly reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 This is a schematic diagram of the docking of various components in the fully automatic handling system of this application; Figure 2 This is a schematic diagram of the structure of the conveyor, sliding mechanism, and grabbing manipulator for this application; Figure 3 This is a schematic diagram of the structure of the empty basket docking station for this application; Figure 4 This is a schematic diagram of the structure of the AGV transport vehicle for this application; Figure 5 This is a schematic structural diagram of the conveyor of this application; Figure 6 This is a structural diagram of the sliding mechanism of this application.

[0020] Description of reference numerals: 1, empty basket connection station; 12, first signaler; 2, conveyor; 20, second roller transmission part; 21, second signaler; 22, feeding area; 23, feeding buffer area; 24, assembling and stacking area; 241, assembling area; 242, stacking area; 25, full basket buffer area; 26, discharging area; 27, stop mechanism; 28, sliding mechanism; 281, transverse sliding rail; 282, longitudinal sliding rail; 283, connecting seat; 284, layering robot; 285, clamping mechanism; 29, grabbing robot; 3, AGV transport vehicle; 32, third roller transmission part; 33, third signaler; 4, full basket connection station; 5, cleaning connection station; 6, standby position; 7, charging station; 8, telescopic stop. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0022] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplicity, the elements and settings of particular examples in the following description are described in some instances. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application can repeat reference numerals and / or letters in various examples. Such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or settings discussed.

[0023] For the purpose of description, spatial relative terms, such as "inner", "outer", "inward", "outward", "lower", "bottom", "upper", "top", "front", "rear", and the like, can be used to describe the relative position relationship or movement of one element or feature to another element or feature as shown in the drawings. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "below" or "under" another element or feature will be subsequently oriented as "above" or "over" the other element or feature. Therefore, the example term "under" can include both upward and downward positions. The device can be additionally oriented (rotated by 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0024] In order to solve the problem of low production efficiency caused by the need for manual operation for loading and unloading the cleaning basket in the prior art.

[0025] It should be noted that the cleaning basket without workpieces is called an empty basket, and the cleaning basket full of workpieces is called a full basket.

[0026] As shown in Figures 1 to 6 , the applicant provides a full-automatic handling system, which comprises: an empty basket docking station 1, in this embodiment, the empty basket docking station 1 is an AGV trolley, used for storing empty baskets, and provided with a first roller transmission part and a first signal 12; a conveyor 2, comprising a second roller transmission part 20 and a loading area 22 arranged along the conveying direction of the second roller transmission part 20, the loading area 22 being provided with a second signal 21; an AGV transport vehicle 3, comprising: a vehicle body; a drive wheel arranged at the bottom of the vehicle body; a third roller transmission part 32 arranged at the top of the vehicle body; a third signal 33; wherein the AGV transport vehicle 3 is configured to move to the empty basket docking station 1 by the drive wheel, so that the third signal 33 is docked with the first signal 12, and the first roller transmission part is aligned with the third roller transmission part 32, to automatically receive the empty basket; the AGV transport vehicle 3 is configured to move to the loading area 22, so that the third signal 33 is docked with the second signal 21, and the third roller transmission part 32 is aligned with the second roller transmission part 20, to automatically unload the empty basket to the loading area 22.

[0027] As shown in Figure 3 , the empty basket docking station 1 is used for centralized storage of empty baskets, and the first roller transmission part and the first signal 12 provided thereby provide a hardware basis for subsequent automatic operation.

[0028] As shown in Figure 4 , the AGV transport vehicle 3 serves as a mobile carrier, integrating the third roller transmission part 32, the third signal 33, the drive wheel and other key components. It should be understood that the AGV transport vehicle 3 also has a control end to maintain the normal operation of the entire AGV transport vehicle, and also stores a preset program (which includes movement route, position coordinate data, etc.), so that the AGV transport vehicle can realize autonomous navigation and accurate positioning through the preset program.

[0029] As shown in Figure 2 and Figure 5 , the conveyor 2 is a core transmission device in the material processing flow line. Along its length direction, the loading area 22 is provided for the empty basket to perform loading operation, thereby constituting a complete material processing flow line. It should be understood that such a conveyor 2 can be a link in the entire production line, or can exist as an independent loading unit to provide preparation for subsequent work of the production line.

[0030] During use, the AGV transport vehicle 3 receives feedback from a terminal device (such as a computer or mobile phone) regarding the production line's need for empty baskets, or the AGV transport vehicle 3 directly receives feedback from the production line regarding the need to load empty baskets. At this time, the control terminal inside the AGV transport vehicle 3 drives the drive wheels of the AGV transport vehicle 3 to first travel to the empty basket docking station 1, and establishes a communication connection with the first signal device 12 through the third signal device 33. This communication connection can be achieved (such as infrared, RFID, or Bluetooth). After confirming the docking position, the AGV transport vehicle 3 approaches the empty basket docking station 1 to achieve docking between the first roller transmission unit and the third roller transmission unit 32.

[0031] In detail, when the AGV transport vehicle 3 moves to the area close to the empty basket docking station 1, the first signaler 12 communicates and senses with the third signaler 33, and the control end inside the AGV transport vehicle drives the driving wheel to roll, so that the third roller transmission part 32 of the AGV transport vehicle approaches and docks with the first roller transmission part.

[0032] After the first roller conveyor and the third roller conveyor 32 are docked, they are activated synchronously to smoothly transfer the empty baskets from the first roller conveyor to the third roller conveyor 32 on the AGV transport vehicle 3. It should be noted that the first roller conveyor and the third roller conveyor 32 are flush with each other to facilitate the transfer of the empty baskets from the empty basket docking station 1 to the AGV transport vehicle 3.

[0033] The AGV 3 then moves along a predetermined route to the loading area 22, where it confirms its position again via docking with the signal indicator. The AGV 3 then approaches the loading area 22, docking the third roller conveyor 32 with the second roller conveyor 20. The third roller conveyor 32 and the second roller conveyor 20 then operate in coordination, allowing the AGV 3 to unload the empty baskets onto the conveyor 2. This design allows the AGV 3 to automatically transport empty baskets for use on the production line, resolving the inefficiency of manual empty basket handling in the prior art.

[0034] In one embodiment of the present invention, a retractable stopper 8 is provided at the empty basket docking station 1 and the AGV transport vehicle 3 , respectively.

[0035] like Figure 4 As shown, using the retractable stoppers 8 on the AGV transport vehicle 3 as an example, these retractable stoppers 8 are located on either side of the outward side of the second roller transmission unit 20. Together, these retractable stoppers 8 and the sidewalls of the AGV transport vehicle 3 create a space for loading a basket. When the AGV transport vehicle 3 is loaded with an empty basket, the second roller transmission unit 20 does not roll, and the retractable stoppers 8 extend to confine the basket within this space and prevent it from falling off the AGV transport vehicle 3.

[0036] When the AGV transport vehicle 3 is docked with the empty basket docking station 1, the third signal 33 of the AGV transport vehicle establishes a communication connection with the first signal 12 of the docking station. After the control end in the AGV transport vehicle 3 receives the connection signal, the control end controls the retractable stopper 8 to perform the retraction action, and the third roller transmission part 32 starts to roll. At the same time, the control end of the empty basket docking station 1 receives the connection signal through the first signal 12, controls the retractable stopper 8 on the empty basket docking station 1 to retract, and drives the first roller transmission part to roll, so that the empty basket on the empty basket docking station 1 is smoothly transferred to the AGV transport vehicle 3, and the automatic transfer of the empty basket is completed. When the transfer is completed, the respective control ends control the respective retractable stoppers to extend, for example, the retractable stopper 8 on the AGV transport vehicle 3 re-extends to constrain the basket, so as to avoid the basket from falling off the AGV transport vehicle 3 during transportation.

[0037] In addition, in other embodiments, other types of docking stations can be configured with retractable stoppers 8 according to actual needs. Through the retraction action of the retractable stopper 8, the positioning and fixing of the basket are realized, the stability of the basket during transmission or temporary storage is ensured, and then the AGV transport vehicle 3 can smoothly transport the empty basket to the conveyor 2.

[0038] In specific embodiments of the present application, the conveyor 2 is provided with a second roller transmission part 20 along the conveying direction, which is uniformly arranged along the length direction of the conveyor 2, and a plurality of second roller transmission parts 20 jointly constitute a rolling surface supporting the movement of the basket. According to different functions, the conveying belt composed of the second roller transmission part 20 is divided into a plurality of regions, in addition to the feeding area 22 mentioned above, it also includes an assembly stacking area 24 arranged between the feeding area 22 and the discharging area 26, and the discharging area 26.

[0039] In actual application, when the AGV transport vehicle 3 unloads the empty basket to the feeding area 22, the second roller transmission part 20 on the conveyor 2 is started immediately to drive the empty basket to move along the transmission direction until it is transported to the assembly stacking area 24. In the specific embodiments of the present application, the assembly and stacking area 24 is further divided into an assembly area 241 and a stacking area 242. The assembly area 241 is used to assemble workpieces into empty baskets, and the stacking area 242 is responsible for storing baskets filled with workpieces. When the baskets filled with workpieces are stacked to a preset number of layers (such as four layers or five layers), the second roller conveying part 20 is started again to convey the stacked basket group to the unloading area 26, waiting for the AGV transport vehicle 3 to transport. In addition, the unloading area 26 is equipped with a second signal 21. When the AGV transport vehicle 3 approaches, the third signal 33 on the vehicle automatically docks with the second signal 21 of the unloading area 26, guiding the AGV transport vehicle 3 to stop accurately. After docking is completed, the third roller conveying part 32 on the AGV transport vehicle 3 seamlessly connects with the corresponding roller conveying part of the unloading area 26, so that the baskets filled with workpieces are smoothly transferred to the AGV transport vehicle 3, completing the entire circulation process.

[0040] In some specific embodiments, the conveyor 2 further includes a plurality of stop mechanisms 27. At least one stop mechanism 27 is provided at the adjacent positions of the loading area 22, the assembly and stacking area 24, and the unloading area 26.

[0041] For example, when the conveyor 2 is running, after the second roller conveying part 20 of the loading area 22 receives the empty baskets conveyed by the AGV transport vehicle 3, the stop mechanism 27 at the predetermined position rises to ensure that the empty baskets are positioned in the assembly area 241. After assembly is completed, when the baskets are filled with workpieces, they are conveyed to the stacking area 242. When the stacking area 242 is full, for example, four layers, the conveyor belt rolls again to convey the four layers of baskets filled with workpieces to the unloading area 26. The stop mechanism 27 at the unloading area 26 extends to ensure that the four layers of baskets filled with workpieces stop at the unloading area 26, waiting for the AGV transport vehicle 3 to take them away. This design solves the problem of inaccurate positioning of the traditional conveyor 2, and avoids damage to the baskets through the cooperation of multiple area division and stop mechanisms 27.

[0042] To further optimize the work coordination of each area of the conveyor, the conveyor 2 is additionally provided with a loading buffer area 23 and a full basket buffer area 25. The loading buffer area 23 is located between the loading area 22 and the assembly area 241. Its core function is to ensure the continuity of the assembly line. When the AGV transport vehicle 3 repeatedly conveys empty baskets, the loading buffer area 23 can temporarily store the empty baskets, so that the assembly line always has an appropriate amount of empty basket reserves, avoiding the interruption of workpiece assembly due to a shortage of empty baskets, and ensuring smooth material turnover. The full basket buffer area 25 is provided between the stacking area 242 and the unloading area 26. The provision of the full basket buffer area 25 is also based on process optimization considerations. This area is used to temporarily store baskets filled with workpieces, and accumulates a certain number of full baskets before the AGV transport vehicle 3 arrives, so that the AGV transport vehicle 3 can quickly complete loading after it arrives, improving transportation efficiency and reducing equipment waiting time.

[0043] It should also be noted that the conveyor 2 is equipped with motion detection units (such as position sensors, photoelectric switches) in different areas (such as the loading area 22, the assembly and stacking area 24, the unloading area 26, etc.) to provide real-time feedback on the completion status of the core action in this area. The second roller transmission unit 20 completes the preset action in the current area (such as the loading area 22 completes the empty basket reception, and the assembly area 241 completes the workpiece filling), and the motion detection unit sends an "action completion signal" to the conveyor control end. The control end then drives the second roller transmission unit 20 to start and transfer the basket to the next area. This design ensures that when the core action in the previous area has not been completed, the second roller transmission unit 20 remains stationary, avoiding work interference caused by the early transfer of baskets in different areas, and ensuring the orderly connection of the operation processes in each area.

[0044] In a specific embodiment of the present invention, the conveyor 2 is provided with a sliding mechanism 28 . The sliding mechanism 28 is provided between the assembly area 241 and the palletizing area 242 and is capable of sliding between the assembly area 241 and the palletizing area 242 .

[0045] The sliding mechanism 28 includes a transverse slide rail 281, a longitudinal slide rail 282, and a connecting seat 283. The transverse slide rail 281 is arranged on one side of the conveyor 2 along the length of the conveyor 2. In this embodiment, the transverse slide rail 281 is arranged across the loading buffer area 23, the assembly area 241, and the palletizing area 242, that is, it extends horizontally through these three areas.

[0046] A longitudinal slide rail 282 is arranged in a direction perpendicular to the conveyor 2 , and the longitudinal slide rail 282 is slidably connected to the transverse slide rail 281 via a connecting seat 283 .

[0047] Detailed, such as Figure 6 As shown, a stacking robot 284 is connected to the end of the longitudinal slide 282 away from the connecting seat 283. The stacking robot 284 is moved along the length of the conveyor 2 via the transverse slide 281, and is lifted and lowered along the Z axis, perpendicular to the conveyor 2, via the longitudinal slide 282. The stacking robot 284 utilizes a rectangular frame design, with its internal dimensions precisely matching the outer contour of the empty basket, ensuring a tight nesting of the two. Multiple sets of clamping mechanisms 285 are evenly distributed along the circumference of the inner contour of the stacking robot 284. When the stacking robot 284 descends to enclose the empty basket, each clamping mechanism 285 simultaneously extends inward, applying a clamping force from multiple directions to secure the basket within the robot, completing the gripping operation. When the empty basket needs to be released, the clamping mechanisms 285 retract in the opposite direction, releasing the empty basket and enabling safe and precise unloading.

[0048] The other side of the conveyor 2 is connected with a grabbing manipulator 29; the stacking manipulator 284 clamps the empty basket to lift along the Z axis to a preset position for the grabbing manipulator 29 to place the workpieces in the empty basket. It should be noted that the preset position refers to a target stop height of the stacking manipulator in the vertical direction Z axis. The height is not a fixed value, but is set according to the best working range of the cooperating grabbing manipulator, the size of the workpiece, and the actual working conditions such as the stacking layer height.

[0049] In actual operation, the operation process of the stacking manipulator 284 is as follows: first, move horizontally to above the feeding buffer area 23 through the transverse slide rail 281, then vertically descend along the Z axis, and accurately approach the empty basket in the feeding buffer area 23. When the empty basket is embedded in the inside of the stacking manipulator 284, the circumferentially arranged clamping mechanism 285 immediately extends inward to clamp the empty basket from multiple directions, completing stable grabbing. Then, the stacking manipulator 284 slides horizontally along the X axis to the assembly area 241, and lifts upward along the Z axis to form an adaptive height with the grabbing manipulator 29, so that the grabbing manipulator 29 performs workpiece loading operation. When the vision sensor (such as a camera) on the grabbing manipulator 29 senses that the stacking manipulator 284 has grabbed the empty basket, it quickly grabs the workpieces from the workpiece placement beside the conveyor 2 and places them in the empty basket in sequence until the empty basket is filled with full baskets of workpieces. At this time, the stacking manipulator 284 slides along the X axis again to transport the full basket to the stacking area 242 and returns to the feeding buffer area 23 to repeat the process of grabbing the empty basket, transferring, and loading until the stacking area 242 is filled with full baskets according to the preset requirements (such as four layers). When the stacking is completed, the control center of the conveyor 2 starts the second roller transmission part 20 to transfer the four full baskets to the full basket buffer area 25 in sequence, and sends a material transfer signal to the AGV transport vehicle 3. After receiving the signal, the AGV transport vehicle 3 drives to the unloading area 26. At this time, the second roller transmission part 20 operates again, and at the same time, the stacking manipulator 284 and the grabbing manipulator 29 stop working, and the control stop mechanism 27 is retracted to facilitate the docking with the AGV transport vehicle 3 to realize the automatic transfer of the full basket. The whole process does not need manual intervention, which significantly improves the material transfer efficiency and saves labor cost and operation time.

[0050] In an embodiment of the present application, the full-automatic conveying system further comprises a full-bucket connection station 4, which is provided with a fourth roller transmission part and a fourth signal indicator; the structure of the full-bucket connection station 4 is consistent with that of the empty-bucket connection station 1. The AGV transport vehicle 3 can be moved to the full-bucket connection station 4 through the driving wheel, so that the third signal indicator 33 is docked with the fourth signal indicator, and the first roller transmission part is aligned with the fourth roller transmission part, to automatically unload the full bucket to the full-bucket connection station 4. This design realizes unmanned and rapid unloading of the full bucket, and greatly improves the material conveying efficiency.

[0051] For subsequent processing of the full bucket, the system provides two options: the AGV transport vehicle 3 can transport the full bucket to the full-bucket connection station 4 for temporary storage, or directly to the cleaning connection station 5 for cleaning treatment.

[0052] For example, for the material bucket that needs to be cleaned, the control center at the end of the conveyor 2 or the terminal device (such as a mobile phone, a computer, etc.) transmits the cleaning requirement to the third signal indicator 33 in the AGV transport vehicle 3 through the signal indicator. When the control end located in the AGV transport vehicle 3 receives the signal of the cleaning requirement through the third signal indicator 33, an execution instruction is output to the driving wheel, so that the driving wheel drives the AGV transport vehicle 3 to move to the cleaning connection station 5.

[0053] The cleaning connection station 5 is provided with a fifth roller transmission part and a fifth signal indicator, and the structure of the cleaning connection station 5 is consistent with that of the empty-bucket connection station 1; the third signal indicator 33 in the AGV transport vehicle 3 is docked with the fifth signal indicator, and the first roller transmission part is aligned with the fifth roller transmission part, to automatically unload the full bucket to the cleaning connection station 5 for cleaning.

[0054] This scheme solves the problem of manual intervention in the traditional cleaning link, and through the design of the special cleaning connection station 5, the cleaning link is perfectly integrated into the automatic process, the cleaning efficiency is improved, and the secondary pollution caused by manual operation is completely avoided.

[0055] In an embodiment of the present application, the AGV transport vehicle 3 further comprises an identification sensor, such as a camera; a two-dimensional code is provided on the moving route of the AGV transport vehicle 3; the two-dimensional code contains the coordinate information of each connection station, and the AGV transport vehicle 3 adjusts the moving angle of the driving wheel according to the information, so that the third roller transmission part 32 is accurately docked with the roller transmission part of each connection station.

[0056] In some other embodiments, the two-dimensional code representing the position information can also be replaced by a signal indicator, and the position calibration of the AGV transport vehicle 3 is realized through signal docking.

[0057] In the embodiment, the recognition sensor at the bottom of the AGV transport vehicle 3 continuously scans the two-dimensional code mark laid on the ground during driving. Each two-dimensional code contains the accurate coordinate information of the location, and the control system of the AGV transport vehicle 3 adjusts the angle and speed of the driving wheel according to the data in real time. For example, when moving to the turning place near the docking station, the AGV transport vehicle 3 scans the two-dimensional code to obtain the turning radius information, and the control end in the AGV transport vehicle 3 automatically calculates the optimal steering parameters according to the preset program to adjust the rotation angle and speed of the driving wheel, thereby realizing reaching the docking station that needs to be approached. The scheme solves the problem of accumulated error of the AGV transport vehicle 3 caused by long-term operation, and improves the positioning accuracy of the AGV transport vehicle 3 through two-dimensional code positioning.

[0058] It should be noted that in the embodiment, the two-dimensional code is a set of coordinate system data, each set of data corresponds to a position information (including angle information and distance information), and the coordinate system data is pre-recorded and stored in the control end in the AGV transport vehicle 3. The control end is pre-set with a program for processing and analyzing the two-dimensional code to control the AGV transport vehicle 3 to accurately move to the required position.

[0059] In actual use, the recognition sensor is a camera. When the camera scans the two-dimensional code on the ground, the two-dimensional code image is first denoised, enhanced and edge detected to locate the "back" mark of the two-dimensional code. The control end uses a preset program to call a decoding algorithm (such as ZXing or ZBar) to analyze the binary data in the two-dimensional code, and repairs possible data damage through Reed-Solomon error correction coding. The analyzed data contains the coordinates or path instructions of the docking station. The control end of the AGV matches these information with the preset map, combines with the real-time positioning algorithm (such as SLAM or odometer feedback) to correct the position error, and finally adjusts the angle and speed of the driving wheel to realize accurate docking with the roller transmission part of the docking station. The whole process does not need manual intervention, the error can be controlled within millimeter level, and the stable operation of the full-automatic handling system is ensured.

[0060] In an embodiment of the application, the full-automatic handling system includes a standby position 6, which is used for parking and charging the AGV transport vehicle when it is idle.

[0061] When the system is idle, the AGV transport vehicle 3 will automatically return to the standby position 6 under the control of the control end according to the terminal demand. The standby position 6 is provided with a special charging interface, for example, when the power of the AGV transport vehicle 3 is lower than 20%, it will automatically dock for charging. At the same time, the ground of the standby position 6 is provided with special marks, and the AGV transport vehicle 3 is accurately positioned through the recognition sensor to ensure the accurate parking position. The scheme solves the problem of disordered parking and charging management of the AGV transport vehicle 3 through intelligent scheduling and automatic charging design.

[0062] In actual use, in order to ensure the safety of the AGV transport vehicle 3, a charging station 7 can be additionally provided for charging the AGV transport vehicle 3. After charging, the AGV transport vehicle 3 can be moved to the standby position 6 to wait for the call.

[0063] In summary, the full-automatic conveying system of the technical scheme can realize the high automation of the whole conveying process through the cooperation of the AGV transport vehicle 3, the conveyor 2 and the docking of each connection station. The system first uses two-dimensional code positioning, which can make the AGV transport vehicle 3 accurately reach each connection station and accurately dock and transfer the baskets through the signal communication connection after reaching each connection station, thereby realizing the seamless connection between different stations.

[0064] In actual application, the system can greatly reduce the labor cost and improve the production safety by reducing human intervention. The modular design of the system has good expansibility and can flexibly adjust the station configuration according to the production needs.

[0065] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0066] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0067] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0068] In the present application, unless specifically defined otherwise, the terms "mount", "connected", "connecting", "fixed", "linking", and the like should be construed broadly and can include various forms of connections, such as connection and detachable connection, or integral connection; mechanical connection, or electrical connection; direct connection, or indirect connection via an intermediate medium; internal communication between two elements, or interaction between two elements. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.

[0069] In the present application, unless specifically defined otherwise, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Under", "below" and "under" of a first feature to a second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0070] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application.

[0071] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, any modifications and variations of the present application within the scope of the claims of the present application and their equivalents are intended to be included in the present application.

[0072] The above is a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A fully automatic handling system, characterized in that: include: An empty basket docking station, used for storing empty baskets, and provided with a first roller transmission part and a first signaler; The conveyor comprises: a second roller transmission portion, a loading area provided along the length direction of the second roller transmission portion, and a second signal device provided in the loading area; The AGV transport vehicle comprises: a vehicle body, a driving wheel provided at the bottom of the vehicle body, a third roller transmission part provided at the top of the vehicle body, and a third signaler; In which, the AGV transport vehicle is configured to move to the empty basket docking station through the driving wheel, dock the third signal device with the first signal device, and align the first roller transmission part with the third roller transmission part to automatically receive the empty basket; the AGV transport vehicle is configured to move to the loading area, dock the third signal device with the second signal device, and align the third roller transmission part with the second roller transmission part to automatically unload the empty basket to the loading area.

2. The fully automatic handling system according to claim 1, characterized in that: It also includes a full basket docking station for storing full baskets, and the full basket docking station is provided with a fourth roller transmission part and a fourth signal device; The AGV transport vehicle moves to the full basket docking station through the driving wheels, docks the third signaler with the fourth signaler, and aligns the first roller transmission part with the fourth roller transmission part to automatically unload the full basket to the full basket docking station.

3. The fully automatic handling system according to claim 2, characterized in that: It also includes a cleaning docking station, which is equipped with a fifth roller transmission part and a fifth signaler; The AGV transport vehicle moves to the cleaning docking station through the driving wheel, docks the third signaler with the fifth signaler, and aligns the first roller transmission part with the fifth roller transmission part to automatically unload the full basket to the cleaning docking station.

4. The fully automatic handling system according to claim 1, characterized in that: The AGV transport vehicle also includes an identification sensor; A QR code is provided on the moving route of the AGV transport vehicle; The QR code contains the coordinate information of each docking station. The AGV transport vehicle adjusts the moving angle of the drive wheel according to the coordinate information so that the third roller transmission part can be accurately docked with the roller transmission part of each docking station.

5. The fully automatic handling system according to claim 1, characterized in that: It also includes a standby position, which is used for parking and charging docking of the AGV transport vehicle when it is idle.

6. A fully automatic handling system according to any one of claims 1 to 5, characterized in that: The conveyor is provided with an assembly and stacking area and a material unloading area; The assembly and palletizing area is arranged between the loading area and the unloading area.

7. The fully automatic handling system according to claim 6, characterized in that: The conveyor includes several stop mechanisms; At least one stop mechanism is respectively provided at adjacent positions of the loading area, the assembly and stacking area, and the unloading area.

8. The fully automatic handling system according to claim 1, characterized in that: The conveyor is provided with a sliding mechanism, which includes a transverse slide rail, a longitudinal slide rail and a connecting seat; The longitudinal slide rail is slidably connected to the transverse slide rail via the connecting seat.

9. The fully automatic handling system according to claim 8, characterized in that: The longitudinal slide rail is connected to a stacking robot; The stacking robot realizes X-axis movement through the transverse slide rail and realizes Z-axis lifting through the longitudinal slide rail.

10. The fully automatic handling system according to claim 9, characterized in that: The conveyor is connected to a grabbing robot; The stacking robot clamps the empty basket and lifts it along the Z axis to a preset position for the grasping robot to grasp the workpiece and place it in the empty basket.

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