CN112978258A

CN112978258A - Unstacking and stacking workstation combining AGV transportation and automatic production, unstacking and stacking method and application

Info

Publication number: CN112978258A
Application number: CN201911311844.7A
Authority: CN
Inventors: 孙忠平; 朱宏来; 顾超; 刘寅; 李佳杰; 王益坤
Original assignee: HASCO Vision Technology Co Ltd
Current assignee: HASCO Vision Technology Co Ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2021-06-18

Abstract

The invention discloses a destacking workstation, a destacking method and application combining AGV transportation and automatic production. The middle indexing position is adjacent to the stacking position; the destacking position is used to receive the target material stack from the previous process; the middle indexing position is provided with a rotatable frame body with a vertical axis, and the rotatable frame body There is a telescopic fork that can selectively touch the holding positions of different heights in the target material stack; the stacking position is used for stacking the target material transferred by the telescopic fork or the target material after further processing.

Description

Unstacking and stacking workstation combining AGV transportation and automatic production, unstacking and stacking method and application

Technical Field

The invention relates to an unstacking and stacking workstation combining AGV transportation and automatic production, an unstacking and stacking working method and application, which can be widely applied to the fields of automatic production and logistics and is an innovation of a traditional production mode.

Background

With the continuous improvement of labor cost, the demand of automation is also getting bigger and bigger, in order to alleviate the cost of manpower, simultaneously in order to follow the trend of times, unstacker and stacker as a device that breaks into parts and breaks into parts, in recent years by the wide application of each trade. The unstacker and the stacker are not simple as the labor of a substitute, have huge excellent potential energy which people do not have and long continuous working time, and have the capabilities of high accuracy and severe environment resistance. With the continuous development of various industries, the stacker and the unstacker play more and more important roles, can accurately and efficiently complete the operation of the stacker and the unstacker, can reduce the labor intensity of workers and improve the product quality. The disassembling and stacking machine is mainly used for stacking and carrying materials such as cartons, plastic boxes, bags and the like, is widely applied to the production of beverages, bottled water, flour, chemical fertilizers, cement and the like, relates to the subject fields of mechanics, electrical appliance hydraulic pressure and air pressure technology, automatic control technology, sensor technology, single chip microcomputer technology, computer technology and the like, and becomes an important component in a modern mechanical manufacturing and production system. The stacker disassembling and stacking machine can replace manual high-efficiency equipment, and the stacker disassembling and stacking machine can work unwillingly as long as a production task is available.

However, in the prior art, when the problems are faced, as mentioned above, the proportion of manual participation is too large, or a simple unstacking or stacking operation is adopted, and the efficiency and the automation degree are naturally lower. In addition, if the enterprise is manually disassembled and stacked, the production efficiency of the enterprise on the same day is affected by the conditions of leave asking of employees, reduction of hands and the like. Moreover, because the two independent devices are adopted, the occupancy rate to the space arrangement is high; the service object is single and is used for warehousing and logistics. That is, the existing unstackers and stackers have single function types, and can not perform unstacking and stacking operations on the same object at the same time;

disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects in the prior art, and provide the unstacking and stacking workstation which can integrate the unstacking and stacking functions, is matched with an automatic production line and an AGV (automatic guided vehicle) material transferring workstation, promotes the realization of unmanned workshop, has small floor area, and is suitable for a compact space and a place with high space utilization rate and combines AGV transportation and automatic production.

The technical problem to be solved can be implemented by the following technical scheme.

The utility model provides a combine AGV transportation and automated production's work station of breaking a pile of jam which characterized in that includes:

the unstacking position is used for receiving a target material stack from a previous process; and

the middle transfer position is adjacent to the unstacking position and is provided with a rotatable frame body with a vertical rotating shaft, and the rotatable frame body is provided with a telescopic fork which can selectively contact the supporting positions with different heights in the target material stack; and

and the stacking position is adjacent to the middle indexing position and is used for stacking the target materials conveyed by the telescopic fork or the target materials after further processing.

As a further improvement of the technical scheme, the stacking device further comprises a first chain conveyor for conveying the target material stack from the previous working procedure to the unstacking position, and a second chain conveyor for conveying the target material or the stacking body thereof to the next working procedure.

As a further improvement of the technical scheme, point positions of the unstacking position, the middle indexing position and the stacking position are arranged in a right angle or a straight line.

Still as the further improvement of this technical scheme, the bottom of rotatable frame body is equipped with a ring flange, the ring flange is connected with the pivot of the rotation motor of this rotatable frame body.

As a further improvement of the present technical solution, the retractable fork has two parallel guide rails for the retractable displacement thereof along the horizontal direction, the parallel guide rails are disposed on the horizontal plane of a positioning plate, the positioning plate has a plurality of vertical guide rails capable of maintaining the vertical displacement thereof, and the plurality of vertical guide rails are respectively disposed inside the plurality of vertical columns of the rotatable frame body.

Another technical problem to be solved by the present invention is to provide a method for unstacking a stack-unstacking workstation using the above-mentioned AGV transport and automated production combined method, which includes the following steps:

(1) the unstacking and stacking workstation sends a signal to the AGV management and control system to call the AGV;

(2) the AGV sends the material stack to a material supply station of the first chain conveyor, and the AGV management and control system sends a material placement completion signal to the workstation;

(3) after receiving the placing completion signal, the workstation starts to work, and the material stack is conveyed to the unstacking position by the first chain conveyor;

(4) after the telescopic fork moves up and down to judge the material taking position, the telescopic fork horizontally extends to the unstacking position, and the uppermost layer of material is taken and then returns to the original position;

(5) the rotatable frame body rotates, and the telescopic fork conveys the materials to a material disposal station;

(6) the telescopic fork brings the materials treated in the step (5) back to the original position;

(7) adjusting the up-down position of the telescopic fork to place the material in the step (6) in a stacking position for stacking;

(8) repeating the steps (4) to (7) or repeating the steps (1) to (7) until the stacking is finished;

(9) the second chain conveyor conveys the stacks at the stacking position to a whole stack material distributing station;

(10) and the workstation sends a signal to the AGV management and control system, and calls the AGV to carry away.

The invention also provides an application of the unstacking and packing method in empty boxes and packing.

Further, the material handling station in the step (5) is a manipulator boxing station.

The unstacking and stacking workstation and the unstacking and stacking method provided by the invention have the following advantages and outstanding effects:

firstly, the invention adopts the technical scheme to integrate the unstacking and stacking;

secondly, the space utilization rate is high;

the cooperation of an automatic production line and an AGV can be matched;

and fourthly, the production efficiency can be improved, and the labor cost can be reduced.

Drawings

FIG. 1 is a schematic block diagram of the unstacking station of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a side view of the body mechanism of the unstacking station of the present invention;

FIG. 4 is a block diagram of a linear layout implementation of the unstacking station of the present invention;

fig. 5 is a block diagram of a right angle layout implementation of the unstacking station of the present invention.

In the figure, 1, a chain conveyor, 2, a chain conveyor motor, 3, an empty box stack, 4, a unstacking station, 5, a movable telescopic fork, 6, a driving motor, 7, a chain conveyor motor, 8, a stacking station, 9, a chain conveyor, 10, a speed reducer, 11, a flange plate, 12, a rotating motor, 13, a lifting motor, 14, a lifting chain, 15, a telescopic fork slide rail, 16, a chain conveyor chain, 17, a pile arranging and distributing station, 18, a box loading station, 19, a main body mechanism, 20, an empty box supplying station, 21, a mechanical arm, 22, a positioning plate and 23, stand columns are arranged.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

The invention provides an integrated unstacking and stacking function on the basis of the prior art, can be matched with an automatic production line and an AGV (automatic guided vehicle) material transferring workstation, is an indispensable part for realizing unmanned workshop, occupies small area, is suitable for a place with compact spatial layout and has high space utilization rate. In the use performance, the advantages of the disassembling and stacking machine are integrated, manual management is not needed, the production quantity is not needed to be considered, and conditions such as industrial injury, insurance medical treatment and the like are not needed to be provided.

The following is a schematic description of the specific structure and the operation principle thereof.

A novel unstacking and stacking workstation combining AGV transportation and automatic production is shown in figures 1-4 and is a schematic linear layout structure; the main body mechanism 19 is a frame structure, the lower part of which is connected with the rotating shaft of the rotating motor 6 through a flange 11, and the speed reducer 10 is used in cooperation with the rotating motor 6. The inside ends of the four vertical columns 23 of the main mechanism 19 are provided with guide rails convenient for the positioning plate 22 to move up and down, the positioning plate 22 is provided with parallel horizontal guide rails (namely, telescopic fork slide rails 15), and the movable telescopic forks 5 can be driven by the driving motor 6 to extend back and forth along the telescopic fork slide rails 15 and extend into the bottom of the empty box stack 3 placed in the unstacking station 4. In the vertical direction, the positioning plate 22 can slide up and down along the vertical track thereof under the traction of the lifting chain 14 driven by the lifting motor 13, so that the movable telescopic fork 5 can accurately touch the target empty box body.

The hollow box stack 3 is conveyed to the unstacking station 4 by a chain conveyor 1 driven by a motor 2. The other side is a stacking station 8, and materials stacked on the station can be carried away to the next station by a chain conveyor 9 driven by a motor 7. In the figure, the position of the chain 16 of the chain conveyor is also indicated (the chain positions of the

chain conveyors

1 and 9 are approximately at the same level).

The structure principle and the working process of the invention are further explained in the following with the attached drawings:

the empty box stack is conveyed to a chain conveyor for unstacking through an AGV, the selection of the in-out mode of the conveyor depends on the production mode and the layout on site, taking the linear layout of fig. 1 as an example, the whole stack can be left in and right out, and can also be right in and left out, the chain conveyor 1 conveys the empty stack 3 to the unstacking station 4, the movable telescopic fork 5 extends out (the movable telescopic fork can be forwardly and reversely telescopic) to unstack (one empty stack is disassembled each time), the lifting motor 13 and the lifting chain 14 control the number of unstacking layers, the telescopic fork returns to the original working point after unstacking is finished, the rotating motor 6 acts to rotate to the boxing station to pack materials (the materials are workpieces produced by an automatic production line), after boxing is finished, the telescopic fork drives the empty boxes to extend out for receiving materials and then return to the original position, the rotating motor 6 continues to act, the rotating motor rotates to the stacking station 8 for stacking, and 5 boxes are stacked into a stack after 5 times of repeated circulation. The CT cycle period time of the workstation can be flexibly adjusted according to the CT time of an automatic production line.

Fig. 5 is a right-angle layout structure of the present invention, and for convenience of description, the labeled information in other views is correspondingly embodied in fig. 5. In the following, mainly this view is used for illustration, and the right-angle layout and the linear layout are the same in terms of their working principle, and the right-angle layout is used as an example for further illustration:

the unstacking and stacking workstation sends a signal to an AGV management and CONTROL system RCS (ROBOT CONTROL SYSTEM) to call the AGV, the AGV conveys an empty box stack to an empty box supply station 20 of a chain conveyor 1, the RCS sends an empty box placement completion signal to the workstation, the workstation starts to work after receiving the placement completion signal, the chain conveyor 1 conveys the empty box stack to an unpacking station 4, a main mechanism 19 lifts a motor 13 to act, a movable telescopic fork 5 moves up and down through a program to judge a box taking position, then the movable telescopic fork 5 horizontally extends to the unpacking station 4, the uppermost empty box is taken and then returns to the original position, a rotating motor 6 acts, the main mechanism 19 rotates 90 degrees anticlockwise, the movable telescopic fork 5 horizontally extends the empty box to a manipulator packing station 18, the manipulator 21 puts the material into the empty box, the movable telescopic fork 5 takes the box with the material placed therein to return to the original position, the lifting motor 13 acts, the movable telescopic fork 5 stretches out to horizontally place the box filled with the materials on a stacking station 8 of a chain conveyor 7, the steps are repeated five times, a stack is full (a stack is five boxes by default), the chain conveyor 7 conveys the full stack to a whole stack material sending station 17, and then the workstation sends a signal to an AGV management and control system RCS to call the AGV to convey the full stack. (note: in the present application, the default unpacking step is to sequentially unpack from top to bottom, and the stacking step is to sequentially stack from bottom to top.)

The unstacking and stacking workstation and the unstacking and stacking method thereof provided by the invention are a novel workstation integrating unstacking and stacking functions, which is provided for the existing independent unstacker and stacker, can be used for unstacking and stacking and has two functions, meanwhile, the workstation is provided with a communication module, supports standard communication protocols such as MODBUS and TCP/IP, can be matched with an AGV to transfer materials produced by an automatic production line, is high in space layout utilization rate, and can change the layout mode (linear layout and right-angle layout) according to the production area.

Claims

1. a destacking workstation combining AGV transportation and automated production, is characterized in that, comprises:

a destacking position for receiving the target stack from a previous process; and

A middle indexing position adjacent to the destacking position, the middle indexing position is provided with a rotatable frame body with a vertical axis of rotation, and a fork is provided on the rotatable frame body to selectively touch different parts of the target material stack telescopic forks with height brackets; and

A stacking position adjacent to the intermediate transfer position, the stacking position is used for stacking the target material transferred by the telescopic fork or the target material after further processing.

2. The depalletizing workstation combined with AGV transportation and automated production according to claim 1, characterized in that it also includes a first chain conveyor that transports the target material stack to the destacking position from the previous process, and The target material or its stack is transported to the second chain conveyor of the next process.

3. The depalletizing workstation combined with AGV transportation and automated production according to claim 1, wherein the points where the destacking position, the intermediate transfer position and the stacking position are located are arranged at right angles or in a straight line .

4. The destacking workstation combining AGV transportation and automated production according to claim 1, wherein the bottom of the rotatable frame body is provided with a flange, and the flange is connected to the rotatable frame body. The rotating shaft of the rotating motor is connected.

5. The destacking workstation combined with AGV transportation and automated production according to claim 1, wherein the telescopic fork has two parallel guide rails for telescopic displacement along the horizontal direction, and the parallel guide rails are arranged on the On the horizontal surface of a positioning plate, the positioning plate has a plurality of vertical guide rails that can keep the vertical displacement thereof, and the plurality of vertical guide rails are respectively arranged inside the plurality of vertical columns of the rotatable frame body.

6. a destacking method using the destacking workstation of claim 2 in conjunction with AGV transportation and automated production, is characterized in that, comprises the steps:

(1) The destacking workstation sends a signal to the AGV control system to call the AGV;

(2) The AGV transports the material stack to the material supply station of the first chain conveyor, and the AGV control system sends the material placement completion signal to the workstation;

(3) The workstation starts to work after receiving the placement completion signal, and the first chain conveyor transports the material stack to the destacking position;

(4) After the telescopic fork moves up and down to determine the reclaiming position, the telescopic fork extends horizontally to the unstacking position, and returns to the original position after taking the topmost material;

(5) The rotatable frame body rotates, and the telescopic fork sends the material to the material disposal station;

(6), the telescopic fork returns to the original position with the material disposed in step (5);

(7), adjust the upper and lower positions of the telescopic fork, and place the material in step (6) in the stacking position for stacking;

(8), repeat steps (4) to (7) or repeat steps (1) to (7), until the stacking is completed;

(9) The second chain conveyor transports the stacking of the stacking position to the whole stacking material dispatching station;

(10) The workstation sends a signal to the AGV control system to call the AGV to move away.

7. An application of the method for destacking and stacking according to claim 6 in empty box packing.

8 . The application according to claim 7 , wherein the material handling station in the step (5) is a manipulator packing station. 9 .