CN104401678B - Full-automatic intelligent Work transfer method - Google Patents

Full-automatic intelligent Work transfer method Download PDF

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Publication number
CN104401678B
CN104401678B CN201410485248.1A CN201410485248A CN104401678B CN 104401678 B CN104401678 B CN 104401678B CN 201410485248 A CN201410485248 A CN 201410485248A CN 104401678 B CN104401678 B CN 104401678B
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China
Prior art keywords
agv
workpiece
machine
feeding
full
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CN201410485248.1A
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CN104401678A (en
Inventor
李文
张志毅
齐维闯
马寅
张世欣
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CRRC Qingdao Sifang Co Ltd
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CRRC Qingdao Sifang Co Ltd
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Publication of CN104401678A publication Critical patent/CN104401678A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02Control or detection
    • B65G2203/0208Control or detection relating to the transported articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02Control or detection
    • B65G2203/0266Control or detection relating to the load carrier(s)

Abstract

A kind of full-automatic intelligent Work transfer method, comprises the steps: 1), each for production line workbench position is set to feeding table position, machine table position according to function, becomes sample platform position, buffer table position;2) path and priority that between each workpiece material stock platform, workpiece transmits, are formulated;3), machine table position notice AGV, complete from feeding table position to the transport of machine table position for triggering AGV time empty outside machine table position, after completion of processing, AGV is to becoming the feeding of sample platform position;4), as not being empty outside machine table position, AGV carries out condition adjudgement before next workpiece transport automatically;5), as become sample platform position the most full up, then the workpiece on feeding table position is delivered to into sample platform by AGV, otherwise AGV not feeding;6), such as buffer table position sum be discontented with, then machine table position workpiece is transported to buffer table position and deposits by AGV;Otherwise AGV then judges to next one transport transfer;It is achieved thereby that the intellectuality of real meaning, full-automatic workpiece transport.

Description

Full-automatic intelligent Work transfer method
Technical field
The present invention relates to a kind of Work transfer method, a kind of full-automatic intelligent Work transfer method.
Background technology
Traditional workpiece load mode is that automatic logistics transport vehicle (AGV) carries out point-to-point workpiece transport between each position.In the case of each flow chart does not exist abnormal (each operation accessory all can be supplied on time), the production requirement of production line can be met.If but occur abnormal in some operation, the running orbit of AGV need to carry out manual intervention, skips abnormity point and carries out the hauling operation of lower operation, etc. again carrying out manual intervention after abnormality processing, meets feeding, discharge requirement.So, streamline certainly will cause the repeatedly interruption of workpiece automatic transportation, waste of manpower resource, automaticity are restricted.
And, according to the difference of product manufactured by production line, the activity duration of each operation is the most different.Traditional Transportation mode was previously set the most because of track, the shipping time of stream carrier vehicle, it is impossible to meet the automatic transportation requirement of workpiece when multi-product in production line mixes product.
Summary of the invention
Present invention is primarily aimed at solution the problems referred to above and deficiency, it is provided that a kind of multiple product that can be used for mixes the full-automatic intelligent Work transfer method of product demand.
The present invention is achieved in that a kind of full-automatic intelligent Work transfer method, comprises the steps:
1), each for production line workbench position is set to feeding table position, machine table position according to function, becomes sample platform position, buffer table position;
2), formulating path and priority that between each workpiece material stock platform, workpiece transmits, wherein machine table position in feeding table position is one-level, and machine table position becomes sample platform position to be two grades, and machine table bit buffering platform position is three grades;Buffer table position becomes sample platform position to be level Four;
3), machine table position is by proximity transducer notice AGV mounted thereto, meeting outside machine table position on the premise of sky, triggering AGV and complete the workpiece transport operation from feeding table position to machine table position, after system feedback completion of processing to be processed, AGV is to becoming the feeding of sample platform position;
4) if not being empty outside machine table position, AGV does not carry out the feeding of feeding table position, but automatically carries out condition adjudgement before the workpiece transport of next priority, sample platform position the most full up;
5) if becoming sample platform position the most full up, then the workpiece on feeding table position is delivered to into sample platform by AGV, otherwise AGV not feeding, but automatically carries out condition adjudgement before the workpiece transport of next priority, i.e. buffer table position is the most full up;
6) if buffer table position sum is discontented with, then machine table position workpiece is transported to buffer table position and deposits by AGV;Otherwise AGV then judges to the transport transfer of next priority, i.e. buffer table position deliver to into the precondition of sample platform position be outside machine table position for empty, become sample platform position quantity the most full up, the deposited workpiece in buffer table position to be more than zero.
Full-automatic intelligent Work transfer method of the present invention, have the advantage that (1) can realize the uninterrupted operation of workpiece transport, even if certain position occurs abnormal as being ready to transport workpiece the most to schedule, AGV can skip this step automatically, carries out the hauling operation of workpiece between other positions according to priority;(2) intellectuality of real meaning, full-automatic workpiece transport operation are achieved, it is not necessary to manually participate in adjusting, be not take up human resources;(3) can meet the production and transport requirement of multiple product, can meet the mixed movement requirement produced of a production line multi-product (similar products), flexibility degree is high;(4) can meet after the production outline of topical procedure adjusts in production line, the movement requirement of workpiece, strong adaptability.
In order to reach more preferable effect, full-automatic intelligent Work transfer method of the present invention, use following measure further:
1, described machine table position is welding deflection machine, and it can rotate welding and the feeding, discharge of outer side stage position simultaneously carrying out interior side stage position by 180 °;The state of outside workpiece, feeds back to turn-key system by the implementation status of welding procedure, and the logical judgment for AGV transport vehicle provides information needed.
2, the AGV track of described production line is provided with sensor, for determining being accurately positioned of AGV and operation post position;Described AGV telescopic arm lifting height adapts with the size of workpiece and fixture, and is stored in advance in AGV system data by this numerical value, and AGV telescopic arm length direction adapts to the position of each position with track, and is stored in advance in AGV system data by this numerical value.
3, described AGV is carried out by Bluetooth wireless transmission mode by PLC program control, the communication between itself and control system.
Accompanying drawing explanation
Fig. 1 is each position layout scattergram of production line of the embodiment of the present invention.
Fig. 2 is the logic relation picture of the embodiment of the present invention.
Each piece number explanation in figure:
1-workpiece, the discharge pedestal position of 102-workpiece, the Workpiece storage platform position of 391-automatic welding machine people, the loading bay position after 122-automatic welding, the lodging bench position of unnecessary material after 183-automatic welding.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the discharge pedestal position that No. 102 platform positions are workpiece 1;No. 391 platform positions are the Workpiece storage platform position of automatic welding machine people, are responsible for the charging before workpiece welding and the discharging of postwelding;No. 122 platform positions are the loading bay position after automatic welding.No. 183 platform positions are the lodging bench position of unnecessary material after automatic welding.
The transport path of former workpiece is 102 391 183 122, if occurring abnormal in some operation, the running orbit of AGV need to carry out manual intervention, skips abnormity point and carries out the hauling operation of lower operation, etc. again carrying out manual intervention after abnormality processing.So, streamline certainly will cause the repeatedly interruption of workpiece automatic transportation, waste of manpower resource, automaticity are restricted.And, the activity duration of each operation of production line is also fixed and sets, it is impossible to meet the Production requirement of different product.
Existing workpiece transport path is: 102 391 122 or 102 391 183 122.Transport priority is: 102 391 is one-level, and 391 122 is two grades, and 391 183 is three grades, and 183 122 is level Four.
As in figure 2 it is shown, be the transport logical relation of workpiece.First workpiece to be transported is deposited in 391 positions, by proximity transducer notice motor dolly (AGV) being arranged on platform position, on the premise of satisfied 391 outer side stage positions are sky, trigger motor dolly and completes the workpiece transport operation of 102 to 391.If not being empty outside 391, AGV transport vehicle does not carry out the feeding of 102 positions, but automatically carries out condition adjudgement before the workpiece transport of next priority;After welding 391 (workpiece automatically being recorded, being judged this position by the ruuning situation system of welding procedure is to need to weld or the most welded complete), to 122 one of them position feeding (precondition is that at least one position in two platform positions must be empty for);If 122 is all full, then AGV judges the situation of 183 buffered stations, if 183 sums are discontented, then the workpiece of 391 are transported to 183 and deposit;If 183 workpiece are the fullest, AGV then meets condition to the transport transfer judgement of next priority.183 discharging when, and precondition is to be more than zero by empty, 122 quantity the most full up, 183 deposited workpiece outside 391.
Automatic welding machine people comprises Robot Welding Cell and welding deflection machine composition, described welding deflection machine is 391 positions, it can rotate welding and the feeding, discharge of outer side stage position ensureing simultaneously to carry out interior side stage position by 180 °, it is possible to carries out being automatically positioned, compressing.The state of workpiece outside 391, feeds back to turn-key system by the implementation status of equipment welding procedure, and the logical judgment for AGV transport vehicle provides information needed.
The AGV track of described production line is provided with sensor, for determining being accurately positioned of AGV and operation post position.AGV telescopic arm lifting height by concrete workpiece and fixture shape determine, by regarding school by suitable height value record in AGV system data.Length direction is preset to the installation site of each position by track.AGV transport vehicle is carried out by Bluetooth wireless transmission mode by PLC program control, the communication between its body and control system.Around its body and telescopic arm can realize, upper and lower action, it is achieved the automatic transportation operation of workpiece.
As it has been described above, plan content given in conjunction with the accompanying drawings and embodiments, similar technical scheme can be derived.In every case it is the content without departing from technical solution of the present invention, any simple modification, equivalent variations and modification above example made according to the technical spirit of the present invention, all still fall within the range of inventive technique scheme.

Claims (4)

1. a full-automatic intelligent Work transfer method, it is characterised in that:
1), each for production line workbench position is set to feeding table position, machine table position according to function, becomes sample platform position, buffer table position;
2), formulating path and priority that between each workpiece material stock platform, workpiece transmits, wherein machine table position in feeding table position is one-level, and machine table position becomes sample platform position to be two grades, and machine table bit buffering platform position is three grades;Buffer table position becomes sample platform position to be level Four;
3), machine table position is by proximity transducer notice AGV mounted thereto, meeting outside machine table position on the premise of sky, triggering AGV and complete the workpiece transport operation from feeding table position to machine table position, after system feedback completion of processing to be processed, AGV is to becoming the feeding of sample platform position;
4) if not being empty outside machine table position, AGV does not carry out the feeding of feeding table position, but automatically carries out condition adjudgement before the workpiece transport of next priority, sample platform position the most full up;
5) if becoming sample platform position the most full up, then the workpiece on feeding table position is delivered to into sample platform by AGV, otherwise AGV not feeding, but automatically carries out condition adjudgement before the workpiece transport of next priority, i.e. buffer table position is the most full up;
6) if buffer table position sum is discontented with, then machine table position workpiece is transported to buffer table position and deposits by AGV;Otherwise AGV then judges to the transport transfer of next priority, i.e. buffer table position deliver to into the precondition of sample platform position be outside machine table position for empty, become sample platform position quantity the most full up, the deposited workpiece in buffer table position to be more than zero.
Full-automatic intelligent Work transfer method the most according to claim 1, it is characterised in that: described machine table position is welding deflection machine, and it can rotate welding and the feeding, discharge of outer side stage position simultaneously carrying out interior side stage position by 180 °;The state of outside workpiece, feeds back to turn-key system by the implementation status of welding procedure, and the logical judgment for AGV provides information needed.
Full-automatic intelligent Work transfer method the most according to claim 1 or claim 2, it is characterised in that: the AGV track of production line is provided with sensor, for determining being accurately positioned of AGV and operation post position;Described AGV telescopic arm lifting height adapts with the size of workpiece and fixture, and is stored in advance in AGV system data by this numerical value, and AGV telescopic arm length direction adapts to the position of each position with track, and is stored in advance in AGV system data by this numerical value.
Full-automatic intelligent Work transfer method the most according to claim 3, it is characterised in that: described AGV is carried out by Bluetooth wireless transmission mode by PLC program control, the communication between itself and control system.
CN201410485248.1A 2014-09-22 2014-09-22 Full-automatic intelligent Work transfer method Active CN104401678B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347948A (en) * 2016-08-31 2017-01-25 广东嘉腾机器人自动化有限公司 Loading & unloading method using AGV

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Publication number Priority date Publication date Assignee Title
CN106200580A (en) * 2016-07-19 2016-12-07 苏州博众精工科技有限公司 A kind of orderly input and output material method of shunting
CN106241240B (en) * 2016-08-31 2018-05-11 广东嘉腾机器人自动化有限公司 A kind of loading and unloading method of soft readjustment docking height
CN106493579B (en) * 2016-10-31 2019-10-15 上海发那科机器人有限公司 A kind of panel beating system and its workflow
CN109324578B (en) * 2018-09-21 2021-01-22 京东方科技集团股份有限公司 Logistics control method and computer readable medium

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CN104007764A (en) * 2014-06-13 2014-08-27 苏州工业园区艾吉威自动化设备有限公司 Agv dispatching system

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CN101205014A (en) * 2006-12-15 2008-06-25 村田机械株式会社 Transportation vehicle system
CN101844681A (en) * 2010-05-15 2010-09-29 华中科技大学 Buffer area facing coating or assemble production line
CN102785042A (en) * 2011-05-16 2012-11-21 铁道部运输局 Automatic welding system and method for truck frame
CN104007764A (en) * 2014-06-13 2014-08-27 苏州工业园区艾吉威自动化设备有限公司 Agv dispatching system

Cited By (2)

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Publication number Priority date Publication date Assignee Title
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Address after: Chengyang District of Shandong city of Qingdao province Jinhong road 266111 No. 88

Applicant after: CRRC QINGDAO SIFANG CO., LTD.

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Applicant before: CSR Qingdao Sifang Locomotive and Rolling Stock Co., Ltd.

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