CN110002159A - A kind of cut-to-length automatic feeding cart system and its control method - Google Patents
A kind of cut-to-length automatic feeding cart system and its control method Download PDFInfo
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- CN110002159A CN110002159A CN201910279138.2A CN201910279138A CN110002159A CN 110002159 A CN110002159 A CN 110002159A CN 201910279138 A CN201910279138 A CN 201910279138A CN 110002159 A CN110002159 A CN 110002159A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 144
- 230000005540 biological transmission Effects 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 20
- 238000007599 discharging Methods 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 5
- 229910052710 silicon Inorganic materials 0.000 claims description 5
- 239000010703 silicon Substances 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 206010011469 Crying Diseases 0.000 claims description 4
- 230000017105 transposition Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of cut-to-length automatic feeding cart system and its control methods, belong to transformer manufacturing field.A kind of cut-to-length automatic feeding cart system of the present invention, comprising: provide the silicon steel coiled strip discharge end of silicon steel coiled strip for cut-to-length；AGV cart system, the AGV cart system include: AGV trolley；And navigation identification, the navigation identification are located between the silicon steel coiled strip discharge end and the feeding port of cut-to-length；Silicon steel coiled strip cut-to-length automatic charging device, the silicon steel coiled strip cut-to-length automatic charging device are fixed on AGV trolley upper end.Use the automatic feeding cart of moveable cut-to-length, silicon steel coiled strip outbound to cut-to-length feeding whole process is automated, one silicon steel coiled strip stereo garage can provide silicon steel coiled strip for multiple cut-to-lengths, considerably increase the service efficiency of silicon steel coiled strip stereo garage, save human cost, improving production efficiency.
Description
Technical field
The invention belongs to transformer manufacturing field, in particular to a kind of cut-to-length automatic feeding cart system and its controlling party
Method.
Background technique
Transformer core workshop opens the silicon steel coiled strip to get off often more, the traditional side of putting of material stock from slitting line
Formula is laid in workshop, and this method takes up a large area and extracts inconvenience.
Our team provide a kind of suspension transformer silicon steel sheet coiled strip tiered warehouse facility in a patent, application number:
201721087026.X, stereo garage can realize the automatic access of coiled strip, and a kind of silicon steel coiled strip is provided in another patent
Cut-to-length automatic charging device, application number: 2018116190907, but the silicon steel coiled strip cut-to-length automatic charging device is fixed
Between stereo garage and cut-to-length.
Inventor has found at least to have the following deficiencies: in background technique during realizing the embodiment of the present invention
Since the silicon steel coiled strip cut-to-length automatic charging device of automation transhipment is fixed, silicon steel coiled strip stereo garage
It needs that apart relatively closely automatic charging could be completed between cut-to-length, and a silicon steel coiled strip stereo garage can only serve a cross
Trimming causes silicon steel coiled strip stereo garage often to leave unused and wastes its resource, if silicon steel coiled strip stereo garage and cut-to-length distance are farther out just
Automatic charging cannot be completed, just greatly reduces the practicability of silicon steel coiled strip stereo garage in this way.
Summary of the invention
The purpose that the present invention has a kind of cut-to-length automatic feeding cart system and its control method is to solve to deposit in the prior art
The above problem, solve due to automation transhipment silicon steel coiled strip cut-to-length automatic charging device it is immovable, silicon steel
It needs that apart relatively closely automatic charging could be completed between coiled strip stereo garage and cut-to-length, and a silicon steel coiled strip stereo garage can only take
It is engaged in causing silicon steel coiled strip stereo garage often to leave unused in a cut-to-length and wasting silicon steel coiled strip stereo garage resource, if silicon steel coiled strip is vertical
Body library and cut-to-length distance just cannot complete automatic charging farther out, just greatly reduce the practicability of silicon steel coiled strip stereo garage in this way
The problem of.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of cut-to-length automatic feeding cart system, comprising:
The silicon steel coiled strip discharge end of silicon steel coiled strip is provided for cut-to-length；
AGV cart system, the AGV cart system include:
AGV trolley；With
Navigation identification, the navigation identification are located between the silicon steel coiled strip discharge end and the feeding port of cut-to-length；
Silicon steel coiled strip cut-to-length automatic charging device, it is small that the silicon steel coiled strip cut-to-length automatic charging device is fixed on AGV
Vehicle upper end.
The both ends of the navigation identification, which have, parks mark, it is described park to identify be imprinted on the upper of the discharge end and cut-to-length
On the ground of material mouth lower end.
Lifting platform, the lifting platform upper surface are equipped in the ground of the feeding port lower end of the discharge end and cut-to-length
It is concordant with ground；
A kind of automatical feeding system of cut-to-length includes turn-key system, in the lifting platform there is lifting platform to control mould
Block and remote communication module, the motor in lifting platform are electrically connected with the lifting platform control module, the lifting platform control module
It is electrically connected by the remote communication module with the turn-key system.
A kind of automatical feeding system of the cut-to-length include turn-key system, stereo garage control system, AGV scheduling system,
Cut-to-length uncoiler and pivoted arm control module, the turn-key system respectively with stereo garage control system, AGV scheduling system, horizontal cut
Line uncoiler and pivoted arm control module communication connection；
There is the first remote communication module, the pivoted arm control module is long-range logical by described first in pivoted arm control module
News module is connect with the turn-key system telecommunication.
The silicon steel coiled strip discharge end is a kind of suspension transformer silicon steel sheet coiled strip tiered warehouse facility；
There is firm banking, the silicon steel between the AGV trolley and the silicon steel coiled strip cut-to-length automatic charging device
Coiled strip cut-to-length automatic charging device is fixedly connected by firm banking with AGV trolley；
Clump weight is fixed on the AGV trolley.
The silicon steel coiled strip cut-to-length automatic charging device includes: firm banking, articulated arm and for driving articulated arm to revolve
The driving mechanism turned, articulated arm are rotatablely connected on the fixed base by the driving mechanism；The length direction of articulated arm is equipped with
First guide rail slidably connects horizontal slider on the first guide rail, is additionally provided on articulated arm for driving horizontal slider to lead first
The first straight line transmission device slided on rail；There is the second guide rail, the length direction of the second guide rail is led with first on horizontal slider
The length direction of rail is perpendicular, and lifting slider is slidably connected on the second guide rail, is additionally provided on horizontal slider for driving lifting
The second straight line transmission device that sliding block slides on the second guide rail；The lifting slider front end is equipped in silicon steel coiled strip inner ring
Accept the feeding arm of silicon steel coiled strip.
The first straight line transmission device includes first servo motor and first ball screw, and first ball screw is located at back
On pivoted arm, the first nut of first ball screw is fixed on feeding arm, and first servo motor is connected by first ball screw
Feeding arm；
The second straight line transmission device includes the second servo motor and the second ball-screw, and second ball-screw is set
On feeding arm, the second nut of second ball-screw is fixed on transposition arm, and the second servo motor passes through the second ball
Lead screw connects transposition arm.
There is the card for firm banking and articulated arm to be fixed on to fixed position between the firm banking and articulated arm
Position portion；
The detent portion has cylinder, voussoir and V-groove, and voussoir is located at the end of cylinder output shaft, cylinder and V-groove point
Be not fixed on firm banking and articulated arm, when close to switch and sender plate closest to when, the voussoir for cooperating with V-groove is just
To the notch of V-groove.
It further include compression pump and the electronic switch portion for controlling cylinder opening and closing, the compression pump is connected by pipeline and cylinder
It connects, the electronic switch portion being arranged on cylinder is electrically connected with the pivoted arm control module.
A kind of control method of cut-to-length automatical feeding system, which comprises
Step 1: turn-key system receives crying for cut-to-length uncoiler and expects to request, and sends out material task and control to stereo garage and be
System；
Step 2: transmission discharging finishes signal to turn-key system after stereo garage control system completes discharging task；
Step 3: turn-key system receives transmission material containing task after discharging finishes signal and gives AGV scheduling system；
Master control is given after the discharge port position of step 4:AGV scheduling system call AGV trolley arrival silicon steel coiled strip tiered warehouse facility
System sends the ready signal of splicing；
Step 5: turn-key system sends splicing task and gives pivoted arm control module, and silicon steel coiled strip is horizontal cuts for the control of pivoted arm control module
Splicing is sent to turn-key system by remote communication module after line automatic charging device completion splicing task and finishes signal；
Step 6: turn-key system receives transmission feeding task after splicing finishes signal and gives AGV scheduling system；
Step 7:AGV, which dispatches system call AGV trolley, will expect after being transported to the feeding port position of cut-to-length uncoiler, AGV
Scheduling system sends feeding to turn-key system and finishes signal to turn-key system；
Step 8: turn-key system control sends feeding task and gives pivoted arm control module；
Step 9: pivoted arm control module control silicon steel coiled strip cut-to-length automatic charging device completes feeding task and draws back to send
Expect arm.
The invention has the advantages that the present invention provides a kind of cut-to-length automatic feeding cart system, the system can with it is vertical
Automatic butt between body library discharging pallet fork, completes the transhipment of stereo garage discharging.Meanwhile the present invention can also be with cut-to-length uncoiler
Automatic butt completes cut-to-length automatic charging and discharging.Using the automatic feeding cart of moveable cut-to-length, silicon steel coiled strip is gone out
Library is automated to cut-to-length feeding whole process, one silicon steel coiled strip stereo garage can provide silicon steel coil for multiple cut-to-lengths
Material, considerably increases the service efficiency of silicon steel coiled strip stereo garage, saves human cost, improving production efficiency.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of AGV trolley in the present invention；
Fig. 2 is the side view of AGV trolley in the present invention；
Fig. 3 is the three-dimensional structure diagram of the feeding arm of silicon steel coiled strip cut-to-length automatic charging device；
Fig. 4 is the three-dimensional structure diagram of the positioning region of silicon steel coiled strip cut-to-length automatic charging device；
Fig. 5 is the side view of silicon steel coiled strip cut-to-length automatic charging device；
Fig. 6 is the three-dimensional structure diagram of the articulated arm of silicon steel coiled strip cut-to-length automatic charging device.
Fig. 7 is the structure sectional view of carrier；
Fig. 8 is a kind of method flow diagram of the control method of cut-to-length automatic feeding cart system of the present invention.
Specific embodiment
Further to illustrate that the present invention reaches the technical means and efficacy that predetermined goal of the invention is taken, once combine attached
Figure and preferred embodiment, to specific embodiment, structure, feature and its effect applied according to the present invention, detailed description is as follows.
In the following description, what different " embodiment " or " embodiment " referred to is not necessarily the same embodiment, in addition, one or more realities
Applying the special characteristic, structure or feature in example can be combined by any suitable form.
Firstly the need of explanation, in each embodiment of the present invention, related term are as follows:
Transformer silicon steel sheet coiled strip tiered warehouse facility is hung, is a kind of suspension transformer silicon steel sheet of inventor's earlier application patent
Coiled strip tiered warehouse facility -201721087026.X.
Silicon steel coiled strip cut-to-length automatic charging device is that a kind of silicon steel coiled strip cut-to-length of inventor's earlier application patent is automatic
Automatic charging device in charging method and device, application number: 2018116190907.
AGV cart system possesses AGV trolley in the prior art and integrates silicon steel coiled strip cut-to-length automatic charging device
New device to AGV trolley, AGV cart system are the prior art.
AGV trolley 20, also commonly referred to as AGV trolley, which refer to, magnetically or optically waits homing guidances device, Neng Gouyan equipped with electricity
Defined guide path traveling, has the transport vehicle of safeguard protection and various transfer functions, is not required to driver in industrial application
Carrier, with chargeable battery be its power resources.Its travelling route and behavior can be generally controlled by computer,
Or its travelling route, electromagnetism rail are set up using electromagnetic path (electromagnetic path-following system)
Road sticks on floor, and automatic guided vehicle then relies on message brought by electromagnetic path to be moved and acted.
It is mark navigation channel that AGV trolley determines its traveling-position that navigation identification, which is during AGV trolley traveling,.
Pivoted arm control module is the control that control pivoted arm rotates splicing discharging in silicon steel coiled strip cut-to-length automatic charging device
Module, pivoted arm control module are the prior art.
Turn-key system, by the master control system of stereo garage control system, AGV scheduling system and pivoted arm control module comprehensively control
System.
Stereo garage control system is a kind of circuit control system hung inside transformer silicon steel sheet coiled strip tiered warehouse facility,
It with turn-key system communication connection, mutually receives and sends messages, stereo garage control system is the prior art.
AGV dispatches system, and for the turn-key system for controlling AGV trolley, it is existing control system that AGV, which dispatches system,.
Pivoted arm control module is the control module of silicon steel coiled strip cut-to-length automatic charging device, and pivoted arm control module is existing
There is control system.
In the following, will by several specific embodiments to cut-to-length automatic feeding cart scheme provided in an embodiment of the present invention into
Explanation is discussed in detail in row.
Fig. 1 to Fig. 8 is please referred to, it illustrates a kind of cut-to-length automatic feeding cart systems of one embodiment of the invention offer
Overall schematic, the cut-to-length automatic feeding cart system, comprising:
The silicon steel coiled strip discharge end of silicon steel coiled strip is provided for cut-to-length；
AGV cart system, the AGV cart system include:
AGV trolley 20；With
Navigation identification, the navigation identification are located between the silicon steel coiled strip discharge end and the feeding port of cut-to-length；
Silicon steel coiled strip cut-to-length automatic charging device, it is small that the silicon steel coiled strip cut-to-length automatic charging device is fixed on AGV
20 upper end of vehicle.
In above-described embodiment, the silicon steel coiled strip discharge end for providing silicon steel coiled strip for cut-to-length is silicon steel coiled strip tiered warehouse facility,
Discharge end provides silicon steel coiled strip for cut-to-length, and the AGV trolley 20 for using the prior art more mature on AGV cart system transports silicon
Coil of strip material is able to satisfy transport demand since AGV trolley precision in the prior art is up to grade completely, and due to
It is existing mature technology, therefore input cost can be save；Silicon steel coiled strip cut-to-length automatic charging device is integrated into AGV trolley
On 20, irremovable silicon steel coiled strip cut-to-length automatic charging device is become movable fixture by the invention, has been abandoned traditional
Silicon steel coiled strip cut-to-length automatic charging device is transported the intelligence of silicon steel coiled strip by fixed thoughtcast, and AGV cart system can have
The carrier arrangement of multiple silicon steel coiled strip cut-to-length automatic charging devices with AGV trolley 20, can intelligence be multiple horizontal cut
Line transports silicon steel coiled strip.
Transport process in above-described embodiment is that silicon steel coiled strip tiered warehouse facility acquisition cut-to-length will expect to request, silicon steel coil
Expect that the silicon steel coiled strip in it is transported to its discharge port by tiered warehouse facility, AGV cart system will be in it in silicon steel coiled strip tiered warehouse facility
Silicon steel coiled strip be transported to its discharge port after, send 20 row of AGV trolley for being fixed with silicon steel coiled strip cut-to-length automatic charging device
It sails to the discharge port of silicon steel coiled strip tiered warehouse facility, after then silicon steel coiled strip cut-to-length automatic charging device takes over silicon steel coiled strip, AGV
Trolley 20 is driven to again at cut-to-length charging, and the silicon steel coiled strip taken over is attached to cross by silicon steel coiled strip cut-to-length automatic charging device
Feeding work is completed on trimming, since silicon steel coiled strip cut-to-length automatic charging device is fixed on AGV trolley, as long as AGV
Trolley precision is enough, and AGV trolley is travelled to scheduled charging and discharge position, silicon steel coiled strip cut-to-length automatic charging device
Accurately carry out charging and unloading work.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, the navigation identification
Both ends, which have, parks mark, on the ground for parking the feeding port lower end that mark is imprinted on the discharge end and cut-to-length.
In above-described embodiment, in order to enable the silicon steel coiled strip cut-to-length automatic charging device on AGV trolley more accurately to fill
Silicon steel coiled strip is unloaded, therefore is arranged at the discharge port and cut-to-length feeding port of silicon steel coiled strip tiered warehouse facility for keeping AGV trolley smart
That really parks parks mark, and parking mark can be for reflector, the stopper projection for docking with AGV trolley, this protrusion can be with
As anchor point, the small roof of AGV to the anchor point can be accurately positioned；It is also possible to some pinpoint conducive to AGV trolley
The pattern of pattern or special substance；
When AGV trolley monitors that this parks mark, it is three-dimensional that silicon steel coiled strip is accurately parked under the auxiliary for parking mark
At the discharge port and cut-to-length feeding port in warehouse, the technical program is accurate and quick for solving the problems, such as that the small logo of AGV is parked.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, it is located at the discharge end
With lifting platform is equipped in the ground of the feeding port lower end of cut-to-length, the lifting platform upper surface is concordant with ground.
In above-described embodiment, since the upper material head potential range ground level of the cut-to-length of different model is inconsistent,
In the case where a kind of height of cut-to-length automatic feeding cart is certain, can be arranged in the ground of the feeding port lower end of cut-to-length
Lifting platform, when a kind of cut-to-length automatic feeding cart is travelled to lifting platform upper end, lifting platform is risen or fallen, and compensates a kind of horizontal cut
The too high or too low height of line automatic feeding cart allows a kind of normal feeding of cut-to-length automatic feeding cart.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, a kind of cut-to-length
Automatical feeding system include turn-key system, there is in the lifting platform lifting platform control module and remote communication module, lifting
Motor in platform is electrically connected with the lifting platform control module, the lifting platform control module by the remote communication module with
The turn-key system electrical connection.
Have lifting platform control module and remote communication module in above-described embodiment, in lifting platform, lifting platform control module with
A kind of turn-key system communication connection of cut-to-length automatic feeding cart system, it is ensured that lifting platform is under the control of turn-key system,
Turn-key system can according to actual needs control the lifting of lifting platform.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, a kind of cut-to-length
Automatical feeding system include turn-key system, stereo garage control system, AGV scheduling system, cut-to-length uncoiler and pivoted arm control
Module, the turn-key system dispatch system, cut-to-length uncoiler and pivoted arm control module with stereo garage control system, AGV respectively
Communication connection；
There is the first remote communication module, the pivoted arm control module is long-range logical by described first in pivoted arm control module
News module is connect with the turn-key system telecommunication.
In above-described embodiment, moved since silicon steel coiled strip cut-to-length automatic charging device is delivered by AGV trolley, it is each
Item instruction, which needs to cooperate under the control of turn-key system, to be completed, therefore stereo garage control system, AGV dispatch system, cut-to-length is opened
Volume machine and pivoted arm control module need to make a total system, and then accurate with turn-key system communication connection simultaneously
Control a kind of accurate transport silicon steel coiled strip of cut-to-length automatic feeding cart system.
Since silicon steel coiled strip cut-to-length automatic charging device moves under the delivery of AGV trolley, silicon steel coiled strip cut-to-length is certainly
Dynamic feeding device needs remote communication module and turn-key system to keep constant communication, and is controlled by top control module.
Silicon steel coiled strip cut-to-length automatic charging device also must be equipped with battery due to mobile characteristic, with for
It is powered, and pivoted arm control module controls task data of the pivoted arm to handle turn-key system sending.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, the pivoted arm controls mould
Block is PLC controller.
In above-described embodiment, using PLC controller can intelligence processing each task, pivoted arm control module execute it is each
When kind task, confirmation message need to be only received, it can therein intelligent program executes the control operation of pivoted arm, the technical program
The transmitting quantity for simplifying information needed, realizes the intelligent operation of pivoted arm.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, the silicon steel coiled strip goes out
Material end is a kind of suspension transformer silicon steel sheet coiled strip tiered warehouse facility；
There is firm banking 2, the silicon between the AGV trolley 20 and the silicon steel coiled strip cut-to-length automatic charging device
Coil of strip material cut-to-length automatic charging device is fixedly connected by firm banking 2 with AGV trolley 20；
In above-described embodiment, in order to be fixed on silicon steel coiled strip cut-to-length automatic charging device is stronger on AGV trolley,
And it is automatic that the connection between energy AGV trolley and silicon steel coiled strip cut-to-length automatic charging device can sustain silicon steel coiled strip cut-to-length
Feeding device carries the weight of silicon steel coiled strip, so needing to add firm banking 2, to stablize fixed AGV trolley and silicon steel coiled strip
Cut-to-length automatic charging device.
Further, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention, on the AGV trolley 20
It is fixed with clump weight.
In above-described embodiment, AGV trolley 20 is when transporting silicon steel coiled strip, due to silicon steel coiled strip cut-to-length automatic charging device
It is silicon steel coiled strip to be carried by one end, therefore the gravity of AGV trolley 20 can be unbalance, and since silicon steel coiled strip has ground
Certain altitude, therefore one clump weight for being used to balance silicon steel coiled strip of setting can offset silicon steel coil material strip on AGV trolley 20
The uneven gravity come, and clump weight is arranged on AGV trolley 20, therefore it is not when carrying silicon steel coiled strip, it is same safe
Stablize, the present embodiment efficiently solve single unit system power that silicon steel coiled strip is come due to height higher band it is uneven caused by safety
Problem.
Referring to FIG. 8, a kind of control of the cut-to-length automatic feeding cart system provided it illustrates one embodiment of the invention
The method flow diagram of method, this method comprises:
101, turn-key system receives crying for cut-to-length uncoiler and expects to request, and sends out material task and control to stereo garage and be
System；
102, transmission discharging finishes signal to turn-key system after stereo garage control system completes discharging task；
103, turn-key system receives transmission material containing task after discharging finishes signal and gives AGV scheduling system；
Master control system is given after the discharge port position of 104, AGV scheduling system call AGV trolleies arrival silicon steel coiled strip tiered warehouse facilities
System sends the ready signal of splicing；
105, turn-key system sends splicing task and gives pivoted arm control module, and pivoted arm control module controls silicon steel coiled strip cut-to-length
Splicing is sent to turn-key system by remote communication module after automatic charging device completion splicing task and finishes signal；
106, turn-key system receives transmission feeding task after splicing finishes signal and gives AGV scheduling system；
After material is transported to the feeding port position of cut-to-length uncoiler by 107, AGV scheduling system call AGV trolleies, AGV tune
Degree system sends feeding to turn-key system and finishes signal to turn-key system；
108, turn-key system control sends feeding task and gives pivoted arm control module；
109, pivoted arm control module control silicon steel coiled strip cut-to-length automatic charging device completes feeding task and draws back feeding
Arm.
In above-described embodiment, turn-key system receives crying for cut-to-length uncoiler and expects to request, and sends out material task to solid
Library control system；Transmission discharging finishes signal to turn-key system after stereo garage control system completes discharging task；Turn-key system connects
It receives transmission material containing task after discharging finishes signal and gives AGV scheduling system；AGV dispatches system call AGV trolley and reaches silicon steel coil
The turn-key system transmission ready signal of splicing is given after expecting the discharge port position of tiered warehouse facility；Turn-key system send splicing task to
Pivoted arm control module, pivoted arm control module control silicon steel coiled strip cut-to-length automatic charging device pass through communication after completing splicing task
Module sends splicing to turn-key system and finishes signal；Turn-key system receives after splicing finishes signal and sends feeding task to AGV
Scheduling system；AGV, which dispatches system call AGV trolley, will expect after being transported to the feeding port position of cut-to-length uncoiler, AGV scheduling system
It unites and finishes signal to turn-key system to turn-key system transmission feeding；Turn-key system control sends feeding task and controls mould to pivoted arm
Block；Pivoted arm control module control silicon steel coiled strip cut-to-length automatic charging device completes feeding task and draws back feeding arm.
The present embodiment can realize that whole intelligence transports silicon steel coiled strip, can be completed in the case where no supervision by whole system
Feeding task, turn-key system are MES system, and due to being controlled by a total MES system, can be with the global formula of system
It is that multiple cut-to-lengths complete feeding task.
Further, Fig. 1 to Fig. 6 is please referred to, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention,
The silicon steel coiled strip cut-to-length automatic charging device includes: firm banking 2, articulated arm 1 and the drive for driving articulated arm to rotate
Motivation structure, articulated arm 1 are rotatably connected on firm banking 2 by the driving mechanism；The length direction of articulated arm 1 is equipped with first
Guide rail 4 slidably connects horizontal slider 5 on first guide rail 4, is additionally provided on articulated arm 1 for driving horizontal slider 5 to lead first
The first straight line transmission device slided on rail 4；There is the second guide rail, the length direction of the second guide rail and first on horizontal slider 5
The length direction of guide rail 4 is perpendicular, and lifting slider 15 is slidably connected on the second guide rail, is additionally provided on horizontal slider 5 for driving
The second straight line transmission device that dynamic lifting slider 15 slides on the second guide rail；15 front end of lifting slider is equipped in silicon
The feeding arm 17 of coil of strip material inner ring undertaking silicon steel coiled strip.
In above-described embodiment, articulated arm 1 can rotate on firm banking 2, will be transported to the silicon steel coiled strip near cut-to-length
It is transferred on cut-to-length by articulated arm 1, it is sliding that the level that can be moved back and forth along 1 length direction of articulated arm is provided on articulated arm 1
Block 5, and the lifting slider 15 moved is risen or fallen along feeding arm 15, for lifting silicon steel coiled strip 6 and putting down silicon steel coiled strip 6
Silicon steel coiled strip 6 is delivered to discharge position on cut-to-length by feeding arm 17.
The driving mechanism of driving firm banking 2 and articulated arm 1 is that can rotate the driving that drives and can determine specific position
The kinetic energy of motor is passed through gear with limit switch, the motor positioned close to switch or optoelectronic switch by device, such as servo motor
Mechanism speed change simultaneously has the rotation angle of measurement gear mechanism or the complete driving device equipped with encoder or absolute type encoder,
For driving the mechanism to be driven rotation to the position to be driven.
First straight line transmission device is the device that can export straight line power, can for sequentially coaxially couple motor,
Retarder, clutch and driving member component, transmission component include the ball-screw coupled with clutch, are adapted with ball-screw
Ball nut, ball-screw can drive ball nut for linear motion.And then first straight line transmission device by straight line power with
Ball nut exports away；
First straight line transmission device can also be the linear transmission of gear, rack gear and servo motor composition, wherein watching
Motor driven gear rotation is taken, gear band carry-over bar exports straight line power.
It can be motor, retarder, clutch and the driving member component sequentially coaxially coupled to second straight line transmission device,
Transmission component includes the ball-screw coupled with clutch, and ball nut compatible with ball-screw, ball-screw can drive
Ball nut is for linear motion.And then first straight line transmission device exports away straight line power with ball nut；
Second straight line transmission device can also be the linear transmission of gear, rack gear and servo motor composition, wherein watching
Motor driven gear rotation is taken, gear band carry-over bar exports straight line power.
It is above-mentioned sliding by the articulated arm 1 of driving mechanism, first straight line transmission device and second straight line transmission device driving, level
Block 5 and lifting slider 15 can be realized to the rotation of silicon steel coiled strip and the control of front and back up and down, keep silicon steel coiled strip accurate
It is delivered on cut-to-length.
Above-described embodiment structure is simple, it is at low cost and reduce control assembly, it can be achieved that more efficiently and accurately control.
Further, Fig. 1 to Fig. 6 is please referred to, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention,
The first straight line transmission device includes first servo motor 12, first ball screw 13, and first ball screw 13 is located at revolution
On arm 1, the first nut 16 of first ball screw 13 is fixed on horizontal slider 5, and first servo motor 12 passes through the first ball
Lead screw 13 connects horizontal slider 5；The second straight line transmission device includes the second servo motor 14, the second ball-screw, described
Second ball-screw is located on horizontal slider 5, and the second nut of second ball-screw is fixed on lifting slider 15, and second
Servo motor 14 connects lifting slider 15 by the second ball-screw.
In above-described embodiment, first straight line transmission device is formed with first servo motor 12 and first ball screw 13, the
Two linear transmissions are formed with the second servo motor 14 and the second ball-screw, and servo motor and ball-screw are classical machine
Bed transmission combination, transmission efficiency and accuracy are quite high, and it is cheap due to developing its, are suitable for of the invention
The simple characteristic of structure.
Further, Fig. 4 to Fig. 5 is please referred to, in a kind of another embodiment of cut-to-length automatic feeding cart system of the present invention,
The clamping mechanism has cylinder 9, voussoir 8 and V-groove 7, and voussoir 8 is located at the end of 9 output shaft of cylinder, cylinder 9 and V-groove 7
Be separately fixed on firm banking 2 and articulated arm 1, when close to switch 11 and sender plate 10 closest to when, for and V-groove cooperate
8 face V-groove 7 of voussoir notch.
In above-described embodiment, it is provided between firm banking 2 and articulated arm 1 and is made of cylinder 9, voussoir 8 and V-groove 7
Articulated arm 1 and firm banking 2 can be effectively fixed on the predeterminated position of loading by retaining structure, and V-groove is inverted V type structure,
When voussoir 8 is stuck in the V-groove of inverted V type, the pressure between V-groove and voussoir 8 is bigger, and voussoir 8 is more stuck in the top of V-groove
Portion, it is more accurate to position, and since 6 weight of silicon steel coiled strip is very big, in handling, silicon steel coiled strip 6 may make articulated arm 1 inclined
This retaining structure is set when turning, therefore loading and unloading, can effectively solve the problems, such as this, so that its handling is more steady, enhance handling silicon
Safety when coil of strip material 6 when avoiding articulated arm 1 and carrying silicon steel coiled strip 6, is misplaced as caused by equilibrium problem on the whole
Problem, in addition the setting of cylinder 9 can further share the weight for the silicon steel coiled strip 6 that articulated arm 1 is born, and improve articulated arm 1
The service life of connection is rotated between firm banking 2.There is voussoir guided way 3, voussoir guided way 3 is fixed on fixed bottom outside voussoir 8
On seat 2, when being caught in V-groove 7 for voussoir 8, guiding role is provided for voussoir 8.
Further, there is compression pump and the electronic switch mechanism for controlling cylinder opening and closing, the compression pump outside cylinder
It is connected by pipeline and cylinder 9, the electronic switch mechanism being arranged on cylinder 9 is electrically connected with the control module.
In above-described embodiment, cylinder 9 needs to provide pressure-air by compression pump, and then as power；Cylinder 9 is by electronic cutting
Shutting mechanism controls its inflation and deflates, and is controlled by control module opening or closing for electronic switch mechanism.
The uncoiling head 18 of cut-to-length and the feeding arm 17 of silicon steel coiled strip cut-to-length automatic charging device mutually stagger in Fig. 7.
Mobile device 19 in Fig. 1 is used to provide power to pivoted arm.
Positioning device 21 in Fig. 2 is made of cylinder 9, voussoir 8 and V-groove 7.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used for solving in the present embodiment
It releases in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if this is specific
When posture changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. is used for description purposes only, it is not understood to indicate or imply it
Relative importance or the quantity for implicitly indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can
To explicitly or implicitly include at least one this feature.
The well-known components and common structure of component and the structure category industry that the present embodiment does not describe in detail or common hand
Section, does not describe one by one here.
Technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution
Conjunction is not present, also not the present invention claims protection scope within.
Claims (9)
1. a kind of cut-to-length automatic feeding cart system, comprising:
The silicon steel coiled strip discharge end of silicon steel coiled strip is provided for cut-to-length；
AGV cart system, the AGV cart system include:
AGV trolley (20)；With
Navigation identification, the navigation identification are located between the silicon steel coiled strip discharge end and the feeding port of cut-to-length；
Silicon steel coiled strip cut-to-length automatic charging device, the silicon steel coiled strip cut-to-length automatic charging device are fixed on AGV trolley
(20) upper end.
2. a kind of cut-to-length automatic feeding cart system as described in claim 1, which is characterized in that the both ends of the navigation identification have
Mark is parked, it is described to park on the ground for identifying the feeding port lower end for being imprinted on the discharge end and cut-to-length.
3. a kind of cut-to-length automatic feeding cart system as described in claim 1, which is characterized in that positioned at the discharge end and horizontal cut
Lifting platform is equipped in the ground of the feeding port lower end of line, the lifting platform upper surface is concordant with ground；
A kind of cut-to-length automatic feeding cart system includes turn-key system, have in the lifting platform lifting platform control module and
Remote communication module, the motor in lifting platform are electrically connected with the lifting platform control module, and the lifting platform control module passes through
The remote communication module is electrically connected with the turn-key system.
4. a kind of cut-to-length automatic feeding cart system as described in claim 1, which is characterized in that on a kind of cut-to-length is automatic
Truck system includes turn-key system, stereo garage control system, AGV scheduling system, cut-to-length uncoiler and pivoted arm control module, institute
Turn-key system is stated to connect with stereo garage control system, AGV scheduling system, cut-to-length uncoiler and the communication of pivoted arm control module respectively
It connects；
There is the first remote communication module, the pivoted arm control module passes through the first telecommunication mould in pivoted arm control module
Block is connect with the turn-key system telecommunication.
5. a kind of cut-to-length automatic feeding cart system as described in claim 1, which is characterized in that the silicon steel coiled strip discharge end is
A kind of suspension transformer silicon steel sheet coiled strip tiered warehouse facility；
There are firm banking (2) between the AGV trolley (20) and the silicon steel coiled strip cut-to-length automatic charging device, the silicon
Coil of strip material cut-to-length automatic charging device is fixedly connected by firm banking (2) with AGV trolley (20)；
Clump weight is fixed on the AGV trolley (20).
6. a kind of cut-to-length automatic feeding cart system as described in claim 1, which is characterized in that the silicon steel coiled strip cut-to-length is certainly
Dynamic feeding device includes: firm banking (2), articulated arm (1) and the driving mechanism for driving articulated arm to rotate, articulated arm (1)
It is rotatably connected on firm banking (2) by the driving mechanism；The length direction of articulated arm (1) is equipped with the first guide rail (4), the
It slidably connects horizontal slider (5), is additionally provided on articulated arm (1) for driving horizontal slider (5) to lead first on one guide rail (4)
The first straight line transmission device slided on rail (4)；On horizontal slider (5) have the second guide rail, the length direction of the second guide rail with
The length direction of first guide rail (4) is perpendicular, slidably connects on the second guide rail lifting slider (15), on horizontal slider (5) also
Equipped with the second straight line transmission device for driving lifting slider (15) to slide on the second guide rail；Before the lifting slider (15)
End is equipped with the feeding arm (17) for accepting silicon steel coiled strip in silicon steel coiled strip inner ring.
7. a kind of cut-to-length automatic feeding cart system as claimed in claim 6, which is characterized in that the first straight line transmission device
Including first servo motor (12) and first ball screw (13), first ball screw (13) is located on articulated arm (1), the first rolling
The first nut (16) of ballscrew (13) is fixed on feeding arm (5), and first servo motor (12) passes through first ball screw
(13) feeding arm (5) are connected；
The second straight line transmission device includes the second servo motor (14) and the second ball-screw, and second ball-screw is set
On feeding arm (5), the second nut of second ball-screw is fixed on transposition arm (15), and the second servo motor (14) is logical
Cross the second ball-screw connection transposition arm (15).
8. a kind of cut-to-length automatic feeding cart system as claimed in claim 6, which is characterized in that the firm banking (2) and time
There is the detent portion for firm banking and articulated arm to be fixed on to fixed position between pivoted arm (1)；
There is cylinder (9), voussoir (8) and V-groove (7), voussoir (8) to be located at the end of cylinder (9) output shaft, gas in the detent portion
Cylinder (9) and V-groove (7) are separately fixed on firm banking (2) and articulated arm (1), when close switch (11) and sender plate (10)
Closest to when, the notch of voussoir (8) the face V-groove (7) for cooperating with V-groove.
It further include compression pump and the electronic switch portion for controlling cylinder opening and closing, the compression pump is connected by pipeline and cylinder (9)
It connects, the electronic switch portion being arranged on cylinder (9) is electrically connected with the pivoted arm control module.
9. a kind of control method of cut-to-length automatic feeding cart system, which is characterized in that the described method includes:
Step 1: turn-key system receives crying for cut-to-length uncoiler and expects to request, and sends out material task and give stereo garage control system；
Step 2: transmission discharging finishes signal to turn-key system after stereo garage control system completes discharging task；
Step 3: turn-key system receives transmission material containing task after discharging finishes signal and gives AGV scheduling system；
Turn-key system is given after the discharge port position of step 4:AGV scheduling system call AGV trolley arrival silicon steel coiled strip tiered warehouse facility
Send the ready signal of splicing；
Step 5: turn-key system sends splicing task and gives pivoted arm control module, and pivoted arm control module controls silicon steel coiled strip cut-to-length certainly
Splicing is sent to turn-key system by remote communication module after dynamic feeding device completion splicing task and finishes signal；
Step 6: turn-key system receives transmission feeding task after splicing finishes signal and gives AGV scheduling system；
Step 7:AGV, which dispatches system call AGV trolley, will expect after being transported to the feeding port position of cut-to-length uncoiler, AGV scheduling
System sends feeding to turn-key system and finishes signal to turn-key system；
Step 8: turn-key system control sends feeding task and gives pivoted arm control module；
Step 9: pivoted arm control module control silicon steel coiled strip cut-to-length automatic charging device completes feeding task and draws back feeding arm.
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| CN201910279138.2A CN110002159A (en) | 2019-04-09 | 2019-04-09 | A kind of cut-to-length automatic feeding cart system and its control method |
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