CN108856301B - Logistics path planning and control method for cold-rolled tray transportation line - Google Patents
Logistics path planning and control method for cold-rolled tray transportation line Download PDFInfo
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- CN108856301B CN108856301B CN201810726937.5A CN201810726937A CN108856301B CN 108856301 B CN108856301 B CN 108856301B CN 201810726937 A CN201810726937 A CN 201810726937A CN 108856301 B CN108856301 B CN 108856301B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/02—Feeding or supporting work; Braking or tensioning arrangements, e.g. threading arrangements
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Abstract
The invention relates to a logistics path planning and control method of a cold-rolled tray transportation line, which comprises the following steps: s1: dividing a working path; s2: presetting a working path for each tray, and sequentially dividing a plurality of target positions in the working path along the target movement direction; s3: and receiving a limit signal at each target position on a preset working path in real time, judging whether the tray is stopped and whether the target position is empty according to the limit signal, and controlling the tray to sequentially move to the next target position according to the preset working path if the tray is stopped at the current target position and the next target position in the target movement direction is empty for each tray, or else, waiting at the current target position. Compared with the prior art, the invention optimizes the actual logistics path on site, and provides path planning and automatic control, so that the loading tray automatically runs to the target position without manual intervention, various human errors are reduced, and the operation is stable and reliable.
Description
Technical Field
The invention relates to the technical field of cold rolling equipment, in particular to a logistics path planning and control method of a cold rolling tray transportation line.
Background
The tray transportation system used on the cold rolling unit is used as an important auxiliary device to undertake logistics transportation on a production line, and is a key factor influencing the whole production efficiency. At present, combine on-the-spot operating mode, tray transportation system can only adopt the mode of button manual operation: firstly, an operator selects a transport roller way to be acted on a touch screen operated by a transport system; then, an operator controls a roller way motor by pressing a button corresponding to the roller way action direction, so that the carrying tray on the roller way moves towards the specified direction, and the carrying tray can only act at two positions at each time.
The above mode has the following disadvantages:
1. the tray system is long in whole line, a plurality of operation platforms exist, and manual operation is needed in a segmented mode, so that the efficiency is reduced, and the labor cost is increased;
2. the logistics operation process has the actions of tray turning, turning around and the like, and the functional design only allows the actions of two positions on the line at one time, so that the operation becomes very complicated and wastes time;
3. the manual operation has larger uncertainty, which causes the error of material transportation;
4. the operation habits of different personnel increase the risk of equipment failure;
5. the positioning device adopted by the transport line equipment is an electromagnetic induction limit switch, the induction distance of the limit switch is quite limited, and the situation that frequent target position positioning is inaccurate exists.
Due to the problems, the logistics operation condition of the whole production site of the cold rolling mill is disordered and low in efficiency, a large amount of auxiliary time is consumed in the logistics operation aspect, the integral start-up rate of production equipment is severely limited, and the production cost is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a logistics path planning and control method of a cold rolling tray transportation line, which optimizes the actual logistics path on site and provides path planning and automatic control to enable the loading tray to automatically run to a target position without manual intervention, thereby reducing various human errors and having stable and reliable operation.
The purpose of the invention can be realized by the following technical scheme:
a logistics path planning and control method of a cold-rolled tray transport line comprises an elevated warehouse, an elevated warehouse track, a first transport roller way, a first rotary table, a second transport roller way, a preparation station transport vehicle, a preparation station, a third transport roller way, an inlet transport vehicle, a cold rolling unit, an outlet transport vehicle, a fourth transport roller way, a third rotary table, a fourth rotary table, a fifth transport roller way and a sixth transport roller way, wherein the elevated warehouse track, the first transport roller way, the first rotary table, the second transport roller way, the third transport roller way, the fourth transport roller way, the third rotary table, the fourth rotary table and the fifth transport roller way are sequentially arranged along a transport direction, the fourth rotary table, the fifth transport roller way, the elevated warehouse track, the first transport roller way and the first rotary table are sequentially arranged, and the third rotary table, the fourth transport roller way, the sixth transport roller way, the third transport roller way, the fourth transport roller way, the fifth transport roller way, the second transport roller way, The second rotary table and the second transport roller table are arranged in sequence, the inlet of the sixth transport roller table is opposite to the inlet of the fourth transport roller table, the third rotary table and the fourth rotary table can be transported in forward and reverse directions, the second rotary table is positioned on the left side of the first rotary table, the third rotary table is positioned on the left side of the fourth rotary table, the third transport roller table is positioned on the left side of the second transport roller table, the inlet of the third transport roller table is aligned with the outlet of the second transport roller table, the preparation station is positioned on the left side of the inlet of the third transport roller table, the preparation station transport vehicle transports among the outlet of the second transport roller table, the preparation station and the inlet of the third transport roller table, the cold rolling unit is positioned on the left side of the third transport roller table, the inlet of the uncoiler of the cold rolling unit is respectively aligned with the outlet of the third transport roller table and the outlet of the sixth transport roller table, and, the inlet transport vehicle is transported among an outlet of the third transport roller way, an inlet of an uncoiler of the cold rolling unit and an outlet of the sixth transport roller way, the outlet transport vehicle is transported among an outlet of a coiler of the cold rolling unit and an inlet of the fourth transport roller way, an elevated warehouse transport trolley is arranged on the elevated warehouse track, and the elevated warehouse is positioned on the right side of the elevated warehouse track;
the method comprises the following steps:
s1: dividing a working path, comprising:
a path for automatically sending the coil to a preparation station is a transportation path for the tray on a first transportation roller way, a first turntable, a second turntable and a second transportation roller way in sequence;
the automatic coiling path is a conveying path of the tray on a third conveying roller way;
automatically sending the coil to an elevated warehouse storage path, which is a transportation path of the tray on a fourth transportation roller way, a third turntable, a fourth turntable and a fifth transportation roller way in sequence;
the coiled material turning rolling path is a conveying path of the tray on a fourth conveying roller way, a third turntable, a fourth turntable, a fifth conveying roller way inlet, a fourth turntable, a third turntable, a fourth conveying roller way and a sixth conveying roller way in sequence;
s2: presetting a working path for each tray, and sequentially dividing a plurality of target positions in the working path along the target movement direction;
s3: and receiving a limit signal at each target position on a preset working path in real time, judging whether the tray is stopped and whether the target position is empty according to the limit signal, and controlling the tray to sequentially move to the next target position according to the preset working path if the tray is stopped at the current target position and the next target position in the target movement direction is empty for each tray, or else, waiting at the current target position.
Every target location department sets gradually first limit switch, second limit switch, third limit switch and fourth limit switch along the tray side respectively, first limit switch and fourth limit switch are used for gathering stop limit signal, second limit switch and third limit switch are used for gathering speed reduction limit signal, when receiving the speed reduction limit signal that is located direction of transportation low reaches department on the target location, then the transport speed of control tray reduces, when receiving the stop limit signal that is located direction of transportation low reaches department on the target location, then the transport speed of control tray is zero, and the state of tray is for stopping accurately, when not receiving speed reduction limit signal and stop limit signal, then the target location is empty.
The cold-rolled tray conveying line further comprises a PLC (programmable logic controller), and an automatic operation control button and a touch screen which are respectively connected with the PLC, wherein the PLC is respectively connected with a first conveying roller way, a first rotary table, a second conveying roller way, a third conveying roller way, a fourth conveying roller way, a third rotary table, a fourth rotary table, a fifth conveying roller way, a sixth conveying roller way, a first limit switch, a second limit switch, a third limit switch and a fourth limit switch.
The first limit switch, the second limit switch, the third limit switch and the fourth limit switch are all photoelectric limit switches.
The pre-rolled coiled material is automatically delivered to a path of a preparation station, a transport vehicle of the preparation station is delivered to the preparation station for a head cutting process, the pre-rolled coiled material subjected to the head cutting process is delivered to an inlet of an automatic head feeding path through the transport vehicle of the preparation station, the pre-rolled coiled material subjected to the head cutting process is delivered to an uncoiler through the automatic head feeding path and the inlet transport vehicle, the coiled material produced by a coiling machine is delivered to an overhead warehouse storage path through an outlet transport vehicle and is automatically delivered to the overhead warehouse for warehousing, and when the head turning rolling process exists, the coiled material produced by the coiling machine is delivered to the uncoiler for continuous production through the outlet transport vehicle, the head turning of the coiled material in the head turning rolling path and the inlet transport vehicle.
And one side of the first turntable, the second turntable, the third turntable and the fourth turntable is also provided with a standby transport roller way for temporarily storing the trays.
Compared with the prior art, the invention has the following advantages: the method has the advantages of optimizing the actual logistics path on site, having compact layout of cold rolling tray transport lines and high space utilization rate, and providing path planning and automatic control to ensure that the carrying tray automatically runs to a target position without manual intervention, reducing various human errors and having stable and reliable operation. The system has the advantages of hardware detection and software judgment, safety, reliability and high stability, can liberate manpower, and greatly improves the field logistics operation efficiency, thereby improving the labor efficiency and the production yield.
Drawings
FIG. 1 is a schematic layout of a cold rolling pallet transport line;
FIG. 2 is a schematic diagram of a limit switch layout;
fig. 3 is a schematic view of the rotating disc rotating to the proper position.
In the figure, 1, an elevated warehouse, 2, elevated warehouse rails, 201, elevated warehouse coil conveying vehicles, 3, a first conveying roller way, 4, a first turntable, 5, a second turntable, 6, a second conveying roller way, 7, preparation station conveying vehicles, 8, a preparation station, 9, a third conveying roller way, 10, an inlet conveying vehicle, 11, a cold rolling unit, 111, an uncoiler, 112, a coiler, 12, an outlet conveying vehicle, 13, a fourth conveying roller way, 14, a third turntable, 15, a fourth turntable, 16, a fifth conveying roller way, 17, a sixth conveying roller way, 18, a standby conveying roller way, 19, a first limit switch, 20, a second limit switch, 21, a third limit switch, 22, a fourth limit switch, 23, a turning-around turntable, 24 and a tray.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the cold-rolled pallet transport line includes an elevated warehouse 1, an elevated warehouse track 2, a first transport roller way 3, a first rotary table 4, a second rotary table 5, a second transport roller way 6, a preparation station transport cart 7, a preparation station 8, a third transport roller way 9, an inlet transport cart 10, a cold-rolling mill train 11, an outlet transport cart 12, a fourth transport roller way 13, a third rotary table 14, a fourth rotary table 15, a fifth transport roller way 16 and a sixth transport roller way 17, the elevated warehouse track 2, the first transport roller way 3, the first rotary table 4, the second rotary table 5, the second transport roller way 6, the third transport roller way 9, the fourth transport roller way 13, the third rotary table 14, the fourth rotary table 15 and the fifth transport roller way 16 are sequentially arranged along a transport direction, the fourth rotary table 15, the fifth transport roller way 16, the elevated warehouse track 2, the first transport roller way 3 and the first rotary table 4 are sequentially arranged, the third rotary table 14, the fourth rotary table 15, the fourth, A fourth transport roller way 13, a sixth transport roller way 17, a second rotary table 5 and a second transport roller way 6 are arranged in sequence, the inlet of the sixth transport roller way 17 is opposite to the inlet of the fourth transport roller way 13, a third rotary table 14 and the fourth rotary table 15 can be transported in forward and reverse directions, the second rotary table 5 is positioned on the left side of the first rotary table 4, the third rotary table 14 is positioned on the left side of the fourth rotary table 15, the third transport roller way 9 is positioned on the left side of the second transport roller way 6, the inlet of the third transport roller way 9 is aligned with the outlet of the second transport roller way 6, the preparation station 8 is positioned on the left side of the inlet of the third transport roller way 9, the transport vehicle 7 of the preparation station is transported among the outlet of the second transport roller way 6, the preparation station 8 and the inlet of the third transport roller way 9, the cold rolling unit 11 is positioned on the left side of the third transport roller way 9, and the inlet 111, The outlet of the sixth transportation roller way 17 is aligned, the outlet of the coiler 112 of the cold rolling unit 11 is aligned with the inlet of the fourth transportation roller way 13, the inlet transport vehicle 10 is transported between the outlet of the third transportation roller way 9 and the inlet of the uncoiler 111 of the cold rolling unit 11 and the outlet of the sixth transportation roller way 17, the outlet transport vehicle 12 is transported between the outlet of the coiler 112 of the cold rolling unit 11 and the inlet of the fourth transportation roller way 13, the elevated warehouse track 2 is provided with an elevated warehouse coil transport vehicle 201, and the elevated warehouse 1 is positioned on the right side of the elevated warehouse track 2. In the figure 1, the whole space of the cold rolling tray conveying line is arranged in parallel in five rows, the structure is compact, and the space utilization rate is high. A turning-around turntable 23 is arranged on the path of the third conveying roller way 9, the turning-around turntable 23 turns around the pre-rolled coil material which is delivered after the preparation station 8 is turned around, and the pre-rolled coil material which is turned around continues to be conveyed to the uncoiler 111 along the third conveying roller way 9.
The logistics path planning and control method of the cold-rolled tray transportation line comprises the following steps:
s1: dividing a working path, comprising:
a path Aa for automatically sending the coil to a preparation station is a transportation path of the tray 24 on the first transportation roller bed 3, the first turntable 4, the second turntable 5 and the second transportation roller bed 6 in sequence;
an automatic winding path Bb, which is a transport path of the tray 24 on the third transport table 9;
automatically sending the coil to an elevated warehouse storage path Cc which is a transportation path of the tray 24 on the fourth transportation roller way 13, the third rotating disc 14, the fourth rotating disc 15 and the fifth transportation roller way 16 in sequence;
the coiled material turning rolling path Dd is a transportation path of the tray 24 on the fourth transportation roller way 13, the third turntable 14, the fourth turntable 15, the fifth transportation roller way 16 inlet, the fourth turntable 15, the third turntable 14, the fourth transportation roller way 13 and the sixth transportation roller way 17 in sequence.
S2: a working path is preset for each tray 24, and a plurality of target positions are sequentially divided in the target movement direction within the working path.
S3: and receiving limit signals of all target positions on a preset working path in real time, judging whether the tray 24 is stopped and whether the target position is empty according to the limit signals, and controlling the tray 24 to orderly move to the next target position according to the preset working path if the tray 24 is stopped at the current target position and the next target position in the target movement direction is empty for each tray 24, or else, waiting at the current target position.
A first limit switch 19, a second limit switch 20, a third limit switch 21 and a fourth limit switch 22 are respectively arranged at each target position along the side edge of the tray 24 in sequence, the first limit switch 19 and the second limit switch 20 are positioned at one end of the tray 24, the third limit switch 21 and the fourth limit switch 22 are positioned at the other end of the tray 24, as shown in fig. 2, the first limit switch 19 and the fourth limit switch 22 are used for collecting stop limit signals, the second limit switch 20 and the third limit switch 21 are used for collecting deceleration limit signals, when the deceleration limit signals positioned at the downstream of the target position in the transportation direction are received, the transportation speed of the tray 24 is controlled to be reduced, when the stop limit signals positioned at the downstream of the target position in the transportation direction are received, the transportation speed of the tray 24 is controlled to be zero, the state of the tray 24 is controlled to be accurate, when the deceleration limit signals and the stop limit signals are not received, the target position is null. Meanwhile, a photoelectric limit switch for rotating in place is also arranged on the rotary table, a rotary encoder is arranged in the rotary table, as shown in fig. 3, the rotary table rotates for 90 degrees at one time, and the butt joint of paths is realized through the rotation of the rotary table.
The cold-rolled tray conveying line further comprises a PLC (programmable logic controller), and an automatic operation control button and a touch screen which are respectively connected with the PLC, the PLC is respectively connected with a first conveying roller way 3, a first rotary table 4, a second rotary table 5, a second conveying roller way 6, a third conveying roller way 9, a fourth conveying roller way 13, a third rotary table 14, a fourth rotary table 15, a fifth conveying roller way 16, a sixth conveying roller way 17, a first limit switch 19, a second limit switch 20, a third limit switch 21 and a fourth limit switch 22. In practical application, a program for automatically operating the on-line tray 24 according to a certain planned path is added in a PLC of the tray 24 transportation system, and meanwhile, corresponding control program data blocks are added; an automatic operation control button is additionally arranged on a system operation table, and related operation information indication is additionally arranged on a touch screen.
The first limit switch 19, the second limit switch 20, the third limit switch 21 and the fourth limit switch 22 are all photoelectric limit switches. On the roll table material level of tray 24 transportation line, use photoelectricity limit switch to replace original electromagnetic induction switch spacing for carry the target location discernment that targets in place of tray 24, overcome electromagnetic induction limit switch and have the inaccurate defect of regular target location.
The pre-rolled coiled material is automatically delivered to a preparation station path Aa through the automatic coil delivery, the preparation station transport vehicle 7 is delivered to a preparation station 8 for a head cutting process, the pre-rolled coiled material subjected to the head cutting process is delivered to an inlet of an automatic coiling path Bb through the preparation station transport vehicle 7, the pre-rolled coiled material subjected to the head cutting process is delivered to an uncoiler 111 through the automatic coiling path Bb and an inlet transport vehicle 10, the coiled material produced by a coiling machine 112 is automatically delivered to an elevated warehouse storage path Cc through an outlet transport vehicle 12 for warehousing, and when the head turning rolling process exists, the coiled material produced by the coiling machine 112 is delivered to the uncoiler 111 through the outlet transport vehicle 12, the head turning of the coiled material in a head turning rolling path Dd and the inlet transport vehicle 10 for continuous production.
One side of the first rotary table 4, the second rotary table 5, the third rotary table 14 and the fourth rotary table 15 is also provided with a standby transport roller table 18 for temporarily storing trays 24. And the spare conveying roller way 18 is aligned with the corresponding turnplate row, so that the space is reasonably utilized to the maximum extent.
The automatic operation program of the cold rolling tray transport line judges whether the loading tray 24 at the current position is stopped or not according to the detection of the photoelectric position limit of the material level, and simultaneously judges whether the next position of the loading tray 24 in the target motion direction is a vacant position or not, and the condition that the loading tray 24 moves to the target direction in the automatic mode can be met only if the loading tray 24 is stopped at the current position and the next position in the motion direction is a vacant position; if the conditions are satisfied, the loading tray 24 at the current position is automatically and orderly moved to the target position according to the preset path by pressing the automatic operation mode button. If the object carrying trays 24 are located at different positions of the preset path and the current state of the tray 24 at each position meets the logic condition of automatically moving towards the target direction, the automatic operation mode button is pressed, the object carrying trays 24 in the preset path range can orderly and automatically move towards the target position and form a waiting queue according to the sequence, and after the target position tray 24 is removed, the tray 24 at a position behind the target position can be automatically supplemented until all the trays 24 in the preset path range are transferred out of the area. Whole year thing tray 24 carries out automatic operation's process according to the route of predetermineeing in the middle of the procedure, and existing hardware detects, has software to judge again, safe and reliable, and stability is high, and can liberate the manual work, has greatly improved on-the-spot commodity circulation operating efficiency to improve labor efficiency, improved production output.
The working process is as follows:
after preparing a pre-rolled coil by an elevated warehouse 1, the pre-rolled coil is delivered to the position A of an inlet A of a first conveying roller 3 in a tray 24 line through an elevated warehouse track 2 and an elevated warehouse coil conveying vehicle 201, the pre-rolled coil is delivered to the position (a) of a preparation station gallery through a tray 24 automatically delivered to a preparation station path Aa, the pre-rolled coil is delivered to a preparation station gallery, the pre-rolled coil is delivered to a preparation station 8 through a preparation station conveying vehicle 7 to carry out a head cutting process, the pre-rolled coil is delivered to the position B of a starting point of a Bb automatic coiling path through the preparation station conveying vehicle 7, the head-cut coil is delivered to the position B through the Bb path, the head-cut coil is delivered to an uncoiler 111 through an inlet conveying vehicle 10, the produced coil is stored in a coiling machine 112, the produced coil is delivered to a Cc coil to a starting point C of a storage path of the elevated warehouse through an outlet conveying vehicle 12, and the Cc coil is delivered to a position C position through the storage path of the elevated warehouse, and (7) warehousing. However, there is a special turning rolling process (continuous rolling), that is, the output coil is sent to the initial point C of the storage path Cc of the elevated warehouse automatically by the outlet transport vehicle 12, and then is sent to the rolling path Dd of the coil turning around, and through the combined action of the third turntable 14 and the fourth turntable 15 on the outlet side, after the output coil is turned around at the inlet of the fifth transport roller 16, the output coil is sent to the position d by the rolling path Dd of the coil turning around, and then is sent to the uncoiler 111 by the inlet transport vehicle 10 to continue the production. The production process is carried out in a cold rolling mill train 11.
Claims (6)
1. A logistics path planning and control method of a cold-rolled tray transportation line is characterized in that the cold-rolled tray transportation line comprises an elevated warehouse, an elevated warehouse track, a first transportation roller way, a first rotary table, a second transportation roller way, a preparation station transportation vehicle, a preparation station, a third transportation roller way, an inlet transportation vehicle, a cold rolling unit, an outlet transportation vehicle, a fourth transportation roller way, a third rotary table, a fourth rotary table, a fifth transportation roller way and a sixth transportation roller way, wherein the elevated warehouse track, the first transportation roller way, the first rotary table, the second transportation roller way, the third transportation roller way, the fourth transportation roller way, the third rotary table, the fourth rotary table and the fifth transportation roller way are sequentially arranged along a transportation direction, the fourth rotary table, the fifth transportation roller way, the elevated warehouse track, the first transportation roller way and the first rotary table are sequentially arranged, and the third rotary table, the fourth transportation roller way, the fifth transportation roller way, a sixth conveying roller way, a second rotary table and a second conveying roller way are sequentially arranged, the inlet of the sixth conveying roller way is opposite to the inlet of the fourth conveying roller way, the third rotary table and the fourth rotary table can be conveyed in a forward and reverse direction, the second rotary table is positioned on the left side of the first rotary table, the third rotary table is positioned on the left side of the fourth rotary table, the third conveying roller way is positioned on the left side of the second conveying roller way, the inlet of the third conveying roller way is aligned with the outlet of the second conveying roller way, a preparation station is positioned on the left side of the inlet of the third conveying roller way, a preparation station transport vehicle is conveyed among the outlet of the second conveying roller way, the preparation station and the inlet of the third conveying roller way, a cold rolling unit is positioned on the left side of the third conveying roller way, the inlet of an uncoiler of the cold rolling unit is respectively aligned with the outlet of the third conveying roller way and the outlet of the sixth conveying roller way, the inlet transport vehicle is transported among an outlet of the third transport roller way, an inlet of an uncoiler of the cold rolling unit and an outlet of the sixth transport roller way, the outlet transport vehicle is transported among an outlet of a coiler of the cold rolling unit and an inlet of the fourth transport roller way, an elevated warehouse transport trolley is arranged on the elevated warehouse track, and the elevated warehouse is positioned on the right side of the elevated warehouse track;
the method comprises the following steps:
s1: dividing a working path, comprising:
a path for automatically sending the coil to a preparation station is a transportation path for the tray on a first transportation roller way, a first turntable, a second turntable and a second transportation roller way in sequence;
the automatic coiling path is a conveying path of the tray on a third conveying roller way;
automatically sending the coil to an elevated warehouse storage path, which is a transportation path of the tray on a fourth transportation roller way, a third turntable, a fourth turntable and a fifth transportation roller way in sequence;
the coiled material turning rolling path is a conveying path of the tray on a fourth conveying roller way, a third turntable, a fourth turntable, a fifth conveying roller way inlet, a fourth turntable, a third turntable, a fourth conveying roller way and a sixth conveying roller way in sequence;
s2: presetting a working path for each tray, and sequentially dividing a plurality of target positions in the working path along the target movement direction;
s3: and receiving a limit signal at each target position on a preset working path in real time, judging whether the tray is stopped and whether the target position is empty according to the limit signal, and controlling the tray to sequentially move to the next target position according to the preset working path if the tray is stopped at the current target position and the next target position in the target movement direction is empty for each tray, or else, waiting at the current target position.
2. The logistics path planning and control method of the cold-rolled tray transportation line according to claim 1, wherein a first limit switch, a second limit switch, a third limit switch and a fourth limit switch are sequentially arranged at each target position along the side edge of the tray, the first limit switch and the fourth limit switch are used for collecting stop limit signals, the second limit switch and the third limit switch are used for collecting deceleration limit signals, when the deceleration limit signals positioned at the downstream of the transportation direction at the target position are received, the transportation speed of the tray is controlled to be reduced, when the stop limit signals positioned at the downstream of the transportation direction at the target position are received, the transportation speed of the tray is controlled to be zero, the state of the tray is stop standard, and when the deceleration limit signals and the stop limit signals are not received, the target position is empty.
3. The logistics path planning and control method of a cold-rolled tray transportation line according to claim 2, wherein the cold-rolled tray transportation line further comprises a PLC controller, and an automatic operation control button and a touch screen which are respectively connected with the PLC controller, wherein the PLC controller is respectively connected with the first transportation roller way, the first turntable, the second transportation roller way, the third transportation roller way, the fourth transportation roller way, the third turntable, the fourth turntable, the fifth transportation roller way, the sixth transportation roller way, the first limit switch, the second limit switch, the third limit switch and the fourth limit switch.
4. The method for planning and controlling the logistics path of a cold-rolled pallet transport line according to claim 2, wherein the first limit switch, the second limit switch, the third limit switch and the fourth limit switch are all photoelectric limit switches.
5. The logistics path planning and control method of the cold rolling tray transportation line according to claim 1, wherein the pre-rolled coil is automatically delivered to the preparation station path, the preparation station transportation vehicle is delivered to the preparation station for the head cutting process, the pre-rolled coil subjected to the head cutting process is delivered to the inlet of the automatic head feeding path through the preparation station transportation vehicle, the pre-rolled coil subjected to the head cutting process is delivered to the uncoiler through the automatic head feeding path and the inlet transportation vehicle, the coil produced by the coiling machine is automatically delivered to the elevated warehouse storage path through the outlet transportation vehicle for warehousing, and when the head turning rolling process exists, the coil produced by the coiling machine is delivered to the uncoiler for continuous production through the outlet transportation vehicle, the head turning of the coil in the head turning rolling path and the inlet transportation vehicle.
6. The logistics path planning and control method of a cold rolling tray transportation line according to claim 1, wherein one side of the first turntable, the second turntable, the third turntable and the fourth turntable is further provided with a standby transportation roller way for temporarily storing the trays.
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| NZ788259A (en) | 2019-04-08 | 2024-07-26 | Lineage Logistics Llc | Automatic transportation of pallets of goods |
| CN112061738B (en) * | 2020-09-14 | 2022-04-01 | 安徽工业大学 | Short bar drift diameter gauge in-line queuing type recovery feeding device and method |
| CN113335875A (en) * | 2021-06-18 | 2021-09-03 | 浙江德马科技股份有限公司 | Conveying mechanism and conveying line of new forms of energy raw materials |
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| DE102006046702A1 (en) * | 2006-10-02 | 2008-04-17 | Siemens Ag | Steckel mill with several conveying or working components |
| CN101947547B (en) * | 2010-08-06 | 2012-01-25 | 中色科技股份有限公司 | Collocation method for fusing intelligent plane warehouse and overhead warehouse in aluminum plate strip production equipment |
| EP2444171A1 (en) * | 2010-10-22 | 2012-04-25 | Siemens VAI Metals Technologies GmbH | Transport system, transport vehicle and method for transporting metal coils |
| CN102431756A (en) * | 2011-10-28 | 2012-05-02 | 中色科技股份有限公司 | Transportation system of hot rolled coil entering high rack warehouse after coil discharge |
| CN103010688A (en) * | 2012-11-29 | 2013-04-03 | 一重集团大连设计研究院有限公司 | Trolley type steel coil transport system |
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2018
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