CN108946023B - Send processing method and system with charge free - Google Patents
Send processing method and system with charge free Download PDFInfo
- Publication number
- CN108946023B CN108946023B CN201810928763.0A CN201810928763A CN108946023B CN 108946023 B CN108946023 B CN 108946023B CN 201810928763 A CN201810928763 A CN 201810928763A CN 108946023 B CN108946023 B CN 108946023B
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- Prior art keywords
- carrier
- charge free
- request
- carrier quantity
- sending
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Classifications
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses one kind to send processing method and system with charge free.Wherein, which includes: equipment, and for the first request signal to be sent to manufacturing execution system, first request signal carries request carrier quantity and device identification；The manufacturing execution system sends instruction with charge free for generating overloading tool according to the request carrier quantity and the device identification, and the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；It sends overloading tool with charge free instruction and is handed down to automated material conveyer；The automated material conveyer is moved at the equipment for sending instruction with charge free according to overloading tool and will send carrier with charge free；And carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.The present invention, which is solved, in turn results in the lower technical problem of equipment capacity since the prior art can only once transport a carrier.
Description
Technical field
The present invention relates to materials to send field with charge free, sends processing method and system with charge free in particular to one kind.
Background technique
The productive temp of each equipment is also different in the productive temp difference of each process, the same process in factory, in order to guarantee
The productive temp of whole factory is consistent, therefore the carrier quantity that each process equipment needs to move in or move out is different.Currently, common factory
Interior manufacturing execution system (by the transmitting of information, is carried out to since order placement to the product generating process that product is completed
Management) the disposable carrying for only sending out a carrier instructs and gives automated material conveyer (Automatic Material
Handling System, AMHS), specifically, manufacturing execution system is according to on-line equipment control system (Inline
Equipment Control System, LCS) request signal of equipment feed inlet of forwarding screened, only filter out one
Carrier issues control command by sending control system (Dispatch Control System, DCS) with charge free and removes to automated material
System is sent, it is primary that automated material conveyer controls automated guided vehicle (Automated Guided Vehicle, AGV)
Property only carries a carrier and only carries a carrier to the feed inlet of equipment (Equipment, EQ) or from equipment discharge port.
However, equipment productive temp is than very fast, AGV transporting velocity is relatively slow, if can only once transport according to traditional
A defeated carrier is designed, and be will cause product conveying speed and is not caught up with productive temp, stops production with will lead to equipment interval, lead
Cause equipment capacity lower.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides one kind to send processing method and system with charge free, at least to solve since the prior art is primary only
A carrier can be transported and in turn result in the lower technical problem of equipment capacity.
According to an aspect of an embodiment of the present invention, it provides one kind and sends processing system with charge free, comprising: equipment, for by the
One request signal is sent to manufacturing execution system, and first request signal carries request carrier quantity and device identification；Institute
Manufacturing execution system is stated, sends instruction with charge free for generating overloading tool according to the request carrier quantity and the device identification, it is described
Overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；Overloading tool is sent with charge free instruction to be handed down to
Automated material conveyer；The automated material conveyer will send load with charge free for sending instruction with charge free according to overloading tool
Tool is moved at the equipment；And carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.
Optionally, first request signal includes feed intake request signal, discharging request signal.
Optionally, in the case where first request signal feeds intake request signal for described in, the automated material is removed
Send system according to overloading tool send with charge free instruction control be mounted with the automated guided vehicle for sending carrier with charge free be moved to it is described
The feeding port of equipment.
Optionally, the automated material conveyer is for executing following steps according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free: judging the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, the carrier of sending with charge free is all carried to the throwing
Material mouth；The request carrier quantity be greater than it is described send carrier quantity with charge free, and described to send carrier with charge free in varying numbers in 0 the case where
Under, the carrier of sending with charge free is all carried to the feeding port；Carrier quantity is sent with charge free described in being less than in the request carrier quantity,
And the request carrier is in varying numbers in the case where 0, and the carrier of the request carrier quantity is carried to the feeding port.
Optionally, the equipment is also used to that first carrier is put into the feeding port in the automated guided vehicle
In the case where, sending, which feeds intake, completes signal；The feeding port is left into the feelings inside the equipment in first carrier
It feeds intake under condition, described in holding and completes signal, to the last a carrier leaves the feeding port into the feelings inside the equipment
Under condition, feed intake described in sending request signal again.
Optionally, in the case where first request signal is the discharging request signal, the automated material is removed
System is sent to send the discharge port that instruction control automated guided vehicle is moved to the equipment with charge free according to overloading tool.
Optionally, the automated material conveyer is for executing following steps according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free: judging the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, by the request carrier quantity of the discharge port
Carrier all move；The request carrier quantity be greater than it is described send carrier quantity with charge free, and described to send carrier with charge free in varying numbers
In the case where 0, the carrier for sending carrier quantity described in the discharge port with charge free is moved；It is less than institute in the request carrier quantity
It states and sends carrier quantity with charge free, and the request carrier is in varying numbers in the case where 0, by the request carrier number of the discharge port
The carrier of amount is moved.
Optionally, the equipment is also used to leave the feelings that the discharge port is put into the automated guided vehicle in carrier
Under condition, issues discharging completion signal and sent out again after to the last a carrier leaves the discharge port according to carrier quantity performed
The discharging request signal out.
Optionally, the request carrier it is in varying numbers in it is described send carrier quantity with charge free in the case where, the homing guidance
Transport vehicle is also used to be used to indicate the inconsistent alarm signal of quantity and is sent to the equipment；The equipment, is also used to basis
The alarm signal issues alarm.
Optionally, system further include: on-line equipment control system is asked for issuing described first again in the equipment
When seeking signal, whether a collection of carrier transports completion before judging, if do not completed, does not retransmit the first request signal and is sent to institute
State manufacturing execution system, and output error message.
Optionally, the manufacturing execution system is for executing following steps according to the request carrier quantity and the equipment
Mark generates overloading tool and sends instruction with charge free: in the case where receiving first request signal, screening meets the load of preset condition
Tool, determine described in send carrier quantity with charge free, and generate and send carrier quantity and the institute for sending carrier parameter information with charge free with charge free comprising described
It states overloading tool and sends instruction.
According to another aspect of an embodiment of the present invention, it additionally provides one kind and sends processing method with charge free, comprising: manufacturing execution system
The first request signal that receiving device is sent, first request signal carry request carrier quantity and device identification；According to
The request carrier quantity and the device identification generate overloading tool and send instruction with charge free, and the overloading tool sends instruction with charge free comprising sending load with charge free
Tool quantity and the parameter information for sending carrier with charge free；It sends overloading tool with charge free instruction and is sent to automated material conveyer, wherein
It is sent with charge free instruction according to overloading tool by the automated material conveyer and will send carrier with charge free and be moved to the equipment, and root
Carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.
According to another aspect of an embodiment of the present invention, it additionally provides one kind and sends processing method with charge free, comprising: equipment is asked first
Signal is asked to be sent to manufacturing execution system, first request signal carries request carrier quantity and device identification；Wherein, by
The manufacturing execution system generates overloading tool according to the request carrier quantity and the device identification and sends instruction, the overloading with charge free
Tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；The manufacturing execution system, which has the overloading, sends
Instruction is sent to be sent to automated material conveyer, wherein to be had by the automated material conveyer according to the overloading and sent
It send instruction that will send carrier with charge free to be moved at the equipment, and is carried out according to the request carrier quantity and the carrier quantity of sending with charge free
Carrier transport.
According to another aspect of an embodiment of the present invention, it additionally provides one kind and sends processing method with charge free, comprising: on-line equipment control
The first request signal from equipment is sent to manufacturing execution system by system, and first request signal carries request carrier
Quantity and device identification；Wherein, it is generated by the manufacturing execution system according to the request carrier quantity and the device identification
Overloading tool sends instruction with charge free, and the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；The system
It makes execution system to send instruction with charge free and be sent to automated material conveyer overloading tool, wherein by the automated material
Conveyer sends instruction with charge free and will send carrier with charge free and is moved at the equipment according to overloading tool, and according to the request carrier number
Amount and the carrier quantity of sending with charge free carry out carrier transport；When the equipment issues first request signal again, before judgement
Whether a collection of carrier transports completion；If do not completed, the first request signal is not retransmited and is sent to the manufacturing execution system,
And output error message.
In embodiments of the present invention, carrier quantity will be requested to report to manufacturing execution system by equipment, manufacture executes system
System generates corresponding overloading tool and sends instruction with charge free, and automated material conveyer, which sends instruction with charge free according to overloading tool, will send carrier with charge free
It is moved at the equipment, and according to request carrier quantity and sends the progress carrier transport of carrier quantity with charge free, reached primary conveying
The purpose of multiple carriers to realize the technical effect for improving equipment capacity, and then is solved since the prior art is primary only
A carrier can be transported and in turn result in the lower technical problem of equipment capacity.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 (a) is a kind of structural schematic diagram for optionally sending processing system with charge free according to an embodiment of the present invention；
Fig. 1 (b) is another structural schematic diagram for optionally sending processing system with charge free according to an embodiment of the present invention；
Fig. 2 (a) is a kind of signal for sending process flow with charge free for optionally sending processing system with charge free according to an embodiment of the present invention
Figure；
Fig. 2 (b) be it is according to an embodiment of the present invention it is another optionally send processing system with charge free send showing for process flow with charge free
It is intended to；
Fig. 3 is a kind of flow diagram for optionally sending processing method with charge free according to an embodiment of the present invention；
Fig. 4 is another flow diagram for optionally sending processing method with charge free according to an embodiment of the present invention；
Fig. 5 is another optional flow diagram for sending processing method with charge free according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment for sending processing system with charge free is provided, Fig. 1 (a) is real according to the present invention
That applies example sends processing system with charge free, and as shown in Fig. 1 (a), this is sent processing system with charge free and includes:
Equipment 10, for the first request signal to be sent to manufacturing execution system 12, first request signal is carried
Request carrier quantity and device identification；The manufacturing execution system 12, for according to the request carrier quantity and the equipment
Mark generates overloading tool and sends instruction with charge free, and the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter letter of carrier with charge free
Breath；It sends overloading tool with charge free instruction and is handed down to automated material conveyer 14；The automated material conveyer 14 is used
It is moved at the equipment 10 in sending instruction with charge free according to overloading tool and will send carrier with charge free；And according to the request carrier quantity and
The carrier quantity of sending with charge free carries out carrier transport.
Optionally, first request signal includes feed intake request signal, discharging request signal.
Wherein, device identification includes at least one of: device id, Port ID corresponding to equipment.
Optionally, described in the case where first request signal feeds intake request signal for described in as shown in Fig. 1 (b)
Automated material conveyer sends instruction control with charge free according to overloading tool and is mounted with the homing guidance transport for sending carrier with charge free
Vehicle 16 is moved to the feeding port of the equipment.
Optionally, the automated material conveyer is for executing following steps according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free: judging the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, the carrier of sending with charge free is all carried to the throwing
Material mouth；The request carrier quantity be greater than it is described send carrier quantity with charge free, and described to send carrier with charge free in varying numbers in 0 the case where
Under, the carrier of sending with charge free is all carried to the feeding port；Carrier quantity is sent with charge free described in being less than in the request carrier quantity,
And the request carrier is in varying numbers in the case where 0, and the carrier of the request carrier quantity is carried to the feeding port.
Optionally, the equipment is also used to that first carrier is put into the feeding port in the automated guided vehicle
In the case where, sending, which feeds intake, completes signal；The feeding port is left into the feelings inside the equipment in first carrier
It feeds intake under condition, described in holding and completes signal, to the last a carrier leaves the feeding port into the feelings inside the equipment
Under condition, feed intake described in sending request signal again.
Optionally, in the case where first request signal is the discharging request signal, the automated material is removed
System is sent to send the discharge port that instruction control automated guided vehicle is moved to the equipment with charge free according to overloading tool.
Optionally, the automated material conveyer is for executing following steps according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free: judging the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, by the request carrier quantity of the discharge port
Carrier all move；The request carrier quantity be greater than it is described send carrier quantity with charge free, and described to send carrier with charge free in varying numbers
In the case where 0, the carrier for sending carrier quantity described in the discharge port with charge free is moved；It is less than institute in the request carrier quantity
It states and sends carrier quantity with charge free, and the request carrier is in varying numbers in the case where 0, by the request carrier number of the discharge port
The carrier of amount is moved.
Optionally, the equipment is also used to leave the feelings that the discharge port is put into the automated guided vehicle in carrier
Under condition, issues discharging completion signal and sent out again after to the last a carrier leaves the discharge port according to carrier quantity performed
The discharging request signal out.
Optionally, the request carrier it is in varying numbers in it is described send carrier quantity with charge free in the case where, the homing guidance
Transport vehicle is also used to be used to indicate the inconsistent alarm signal of quantity and is sent to the equipment；The equipment, is also used to basis
The alarm signal issues alarm.
Optionally, system further include: on-line equipment control system is asked for issuing described first again in the equipment
When seeking signal, whether a collection of carrier transports completion before judging, if do not completed, does not retransmit the first request signal and is sent to institute
State manufacturing execution system, and output error message.
Optionally, the manufacturing execution system is for executing following steps according to the request carrier quantity and the equipment
Mark generates overloading tool and sends instruction with charge free: in the case where receiving first request signal, screening meets the load of preset condition
Tool, determine described in send carrier quantity with charge free, and generate and send carrier quantity and the institute for sending carrier parameter information with charge free with charge free comprising described
It states overloading tool and sends instruction.
In the following, the process flow of sending with charge free for sending processing system with charge free of the present embodiment is described as shown in Fig. 2 (a),
In, Fig. 2 (a) is specially the process flow that feeds intake:
Step a, EQ send Load Request, carrier quantity (n), Port ID.
Step b, LCS send Load Request, carrier quantity (n), Port ID.
It, will in the carrier quantity that the settable feeding port of equipment end (i.e. EQ in Fig. 2 (a)) for having U-shaped Port needs to put into
Load Request signal (the i.e. above-mentioned request signal that feeds intake), carrier quantity (quantity of i.e. above-mentioned carrier to be transported),
Port ID (i.e. above-mentioned feeding port mark) together by LCS (Inline Equipment Control System, it is online to set
Standby control system) it is reported to MES (Manufacturing Execute System, manufacturing execution system).
Step c, MES issue overloading tool and send instruction with charge free.
After MES knows the carrier quantity that equipment feeding port needs, it can link according to the actual situation with DCS, needs are issued
The Carrier-information (carrier ID transports source position, conveying destination locations etc.) that overloading tool sends instruction with charge free is handed down to by DCS
AMHS。
Step d, AMHS issue internal schedule instruction.
AMHS can be issued to be moved to after the completion of internal schedule instruction control AGV loads the carrier that equipment (i.e. EQ) needs and be set
It is waited at standby feeding port.
It will do it signal confirmation between equipment and AGV, the carrier quantity of needs can also be told AGV by equipment, and AGV can be by vehicle
On carrier quantity checked, if both sides quantity is consistent, carry out transmission carrier movement；If quantity is inconsistent, then AGV can be returned
Signal annunciator, specific logical specification are as follows:
The carrier quantity (n) and carrier quantity (k) relationship on AGV that equipment needs are as follows:
As n=k, carrier can be put into equipment feeding port to equipment, AGV by the consistent signal of AGV return information quantity；
As n > k, the inconsistent signal of AGV return information quantity can issue alarm to equipment, equipment, as long as k is not equal to 0,
Carrier can be still put into equipment feeding port by AGV, but can only put into k carrier.
The inconsistent signal of n < k, AGV return information quantity can issue alarm to equipment, equipment, if n not equal to 0, AGV according to
So the carrier that equipment needs can be put into equipment feeding port, but n carrier can only be put into.
Multiple carriers are transported at EQ feeding port and wait by step e, AGV.
Step f, EQ send Load Request, carrier quantity (n).
First carrier is transported to EQ feeding port by step g, AGV.
Step h, first carrier leave feeding port and enter inside equipment.
Step i, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
Step j, EQ send Load Request, carrier quantity (n-1).
Second carrier is transported to EQ feeding port by step k, AGV.
Step l, second carrier leave feeding port and enter inside equipment.
Step m, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
Step n, EQ send Load Request, carrier quantity (n-2).
The last one carrier is transported to EQ feeding port by step o, AGV.
Step p, the last one carrier leave feeding port and enter inside equipment.
Step q, EQ send Load Complete, carrier quantity (0).
Step r, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
The upper non-carrier of step s, port, into next circulation.
In the following, the process flow of sending with charge free for sending processing system with charge free of the present embodiment is described as shown in Fig. 2 (b),
In, Fig. 2 (b) is specially the process flow that discharges:
Step A, EQ send Load Request, carrier quantity (n), Port ID.
There is carrier on Port, the equipment end (i.e. EQ in Fig. 2 (b)) of U-shaped Port sends the carrier quantity n for needing to exit.
Step B, LCS send Load Request, carrier quantity (n), Port ID.
Step C, MES issue overloading tool and send instruction with charge free.
After MES knows the carrier quantity that equipment discharge port needs to exit, it can link, will be needed with DCS according to the actual situation
It issues overloading tool and sends the Carrier-information (carrier ID transports source position, conveying destination locations etc.) of instruction with charge free and be handed down to by DCS
AMHS。
Step D, AMHS issue internal schedule instruction.
AMHS can issue internal schedule instruction control AGV and be moved to the waiting of equipment discharge outlet.
Step E, AGV are moved to the waiting of EQ discharge outlet.
Step F, first carrier reach discharge port and can retreat.
Step G, EQ send Load Request, carrier quantity (n-0).
First carrier is transported on vehicle by step H, AGV from EQ discharge port.
Step I, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
Step J, second carrier reach discharge port and can retreat.
Step K, EQ send Load Request, carrier quantity (n-1).
Second carrier is transported on vehicle by step L, AGV from EQ discharge port.
Step M, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
Step N, the last one carrier reach discharge port and can retreat.
Step O, EQ send Load Request, carrier quantity (1).
Step P, EQ send Load Complete, carrier ID, Port ID.
Load Complete, carrier ID, Port ID are transmitted to MES by LCS.
Step Q, EQ send Load Complete, carrier quantity (0).
The last one carrier is transported on vehicle by step R, AGV from EQ discharge port, and AGV is moved to specified destination.
Step S, Port have next group carrier to retreat, into next circulation.
In the carrier quantity that the settable discharge port of equipment end for having U-shaped Port needs to move, Unload Request is believed
Number and carrier quantity pass through LCS together and be reported to MES system.After MES system knows the carrier quantity that equipment discharge port needs, meeting
According to the actual situation with DCS system link, by need issue send with charge free instruction Carrier-information (carrier quantity, transport source position,
Transport destination locations etc.) AMHS system is handed down to by DCS system.
AMHS system can issue internal schedule instruction control AGV and be moved to the waiting of equipment discharge outlet.
It will do it signal confirmation between equipment and AGV, equipment also can will need the carrier quantity moved to tell AGV, AGV meeting
The carrier quantity that itself is received is checked, and if both sides quantity is consistent, carries out transmission carrier movement；If quantity is inconsistent, then
AGV meeting return signal annunciator, specific logical specification are as follows:
It is as follows that equipment needs the carrier quantity (n) moved to receive carrier quantity (k) relationship for needing to move with AGV:
As n=k, the consistent signal of AGV return information quantity can move carrier from equipment discharge port to equipment, AGV；
As n > k, the inconsistent signal of AGV return information quantity can issue alarm to equipment, equipment, as long as k is not equal to 0,
Carrier can still be put from equipment discharge port and be moved by AGV, but the k carrier that can only move.
The inconsistent signal of n < k, AGV return information quantity can issue alarm to equipment, equipment, if n not equal to 0, AGV according to
So the carrier moved can be needed to move from equipment discharge port equipment, but the n carrier that can only move.
In embodiments of the present invention, carrier quantity will be requested to report to manufacturing execution system by equipment, manufacture executes system
System generates corresponding overloading tool and sends instruction with charge free, and automated material conveyer, which sends instruction with charge free according to overloading tool, will send carrier with charge free
It is moved at the equipment, and according to request carrier quantity and sends the progress carrier transport of carrier quantity with charge free, reached primary conveying
The purpose of multiple carriers to realize the technical effect for improving equipment capacity, and then is solved since the prior art is primary only
A carrier can be transported and in turn result in the lower technical problem of equipment capacity.
Embodiment 2
According to embodiments of the present invention, a kind of embodiment of the method for sending processing method with charge free is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 3 be it is according to an embodiment of the present invention send processing method with charge free, as shown in figure 3, this method comprises the following steps:
Step S302, the first request signal that manufacturing execution system receiving device is sent.
Wherein, first request signal carries request carrier quantity and device identification.
Step S304 generates overloading tool according to the request carrier quantity and the device identification and sends instruction with charge free.
Wherein, the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free.
Step S306 sends overloading tool with charge free instruction and is sent to automated material conveyer.
Wherein, it is sent with charge free instruction according to overloading tool by the automated material conveyer and will send carrier with charge free and be moved to institute
It states at equipment, and carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.
In the following, from the angle of MES, be divided into two feed inlet, discharge port aspects, to the present embodiment send with charge free processing method into
Row explanation:
It is screened according to the Load Request signal of the equipment feed inlet received and carrier quantity, it will be qualified
Carrier issues control instruction to AMHS by DCS system, controls AGV and once only transports multiple carriers to equipment feed inlet；Such as sieve
Carrier quantity of the satisfactory carrier quantity selected less than device request, the automatic issuing message annunciator of meeting, but still
Control instruction can be given by DCS to AMHS, controlled AGV and once only transported multiple carriers to equipment feed inlet.Such as: equipment is asked
It asks and wants 6 carriers, but MES screening only has 2 carriers to meet the requirements, the carrying instruction of 2 carriers can be still issued by DCS,
AGV can carry 2 carriers to equipment feed inlet.
According to the Unload Request signal and carrier quantity of the equipment discharge port received, control is issued by DCS system
System instruction controls AGV and is moved to equipment discharge port to AMHS；As judged that AGV carrier capacity is less than equal to device uninstallation request
Carrier quantity can be given multiple control instruction to AMHS by DCS, control more AGV and arrive equipment discharge port in batches.Such as:
Device request will move out 6 carriers, but AGV can only once transport 5 carriers, and carrying for the first time can be still issued by DCS and is referred to
It enables, AGV can arrive equipment discharge port and first preceding 5 carriers are moved；Second of carrying is issued by DCS again to instruct to other one
AGV, second AGV can arrive equipment discharge port and the 6th carrier moved again.
Fig. 4 be it is according to an embodiment of the present invention send processing method with charge free, as shown in figure 4, this method comprises the following steps:
First request signal is sent to manufacturing execution system by step S402, equipment.
First request signal carries request carrier quantity and device identification；Wherein, by the manufacturing execution system
Overloading tool is generated according to the request carrier quantity and the device identification and sends instruction with charge free, and the overloading tool sends instruction with charge free and includes group
It send carrier quantity and sends the parameter information of carrier with charge free；The manufacturing execution system is sent overloading tool with charge free instruction and is sent to automatically
Compound material conveyer, wherein carrier will be sent with charge free by sending instruction with charge free according to overloading tool by the automated material conveyer
It is moved at the equipment, and carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.
In the following, being divided into two feed inlet, discharge port aspects from the angle of equipment, sending processing method with charge free to the present embodiment
It is illustrated:
The carrier quantity that feeding port or discharge port need AGV once to carry can be respectively set on equipment operation interface
(such as table 1), to guarantee that production is not interrupted.
Table 1
(1) feed inlet:
A) when no carrier is empty on Port at the beginning, equipment issues LDRQ (Load Request) signal and carrier number
Amount, MES/DCS can notify AGV to transport first multiple carrier and wait to Port mouthfuls by AMHS；
B) after first carrier is put on Port by AGV, equipment issues LDCM (Load Complete) signal；
C) first carrier leaves after Port enters equipment inside, and equipment keeps LDCM (Load Complete) signal；
D) after second carrier is put on Port by AGV, equipment keeps LDCM (Load Complete) signal；
E) second carrier leaves after Port enters equipment inside, and equipment keeps LDCM (Load Complete) signal；
……
F) after the last one carrier is put on Port by AGV, equipment keeps LDCM (Load Complete) signal；
G) the last one carrier leaves after Port enters equipment inside, and equipment issues LDRQ (Load Request) signal,
MES/DCS can notify AGV to transport the multiple carriers of next group and wait to Port mouthfuls by AMHS.
(2) discharge port:
A) when no carrier is empty on Port at the beginning, equipment issues UDCM (Unload Complete) signal；
B) equipment can cache quantity according to carrier and issue UDRQ (Unload Request) signal in advance, and MES/DCS can lead to
It crosses AMHS and notifies AGV to Port mouthfuls of waitings；
C) first carrier leaves after Port enters AGV, and equipment issues UDCM (Unload Complete) signal；
D) second carrier leaves after Port enters AGV, and equipment keeps UDCM (Unload Complete) signal；
……
E) the last one carrier leaves after Port enters AGV, and equipment keeps UDCM (Unload Complete) signal；
F) equipment can cache quantity according to carrier and issue UDRQ (Unload Request) signal in advance, and MES/DCS can lead to
It crosses AMHS and notifies AGV to Port mouthfuls of waitings.
Fig. 5 be it is according to an embodiment of the present invention send processing method with charge free, as shown in figure 5, this method comprises the following steps:
The first request signal from equipment is sent to manufacturing execution system by step S502, on-line equipment control system.
First request signal carries request carrier quantity and device identification；Wherein, by the manufacturing execution system
Overloading tool is generated according to the request carrier quantity and the device identification and sends instruction with charge free, and the overloading tool sends instruction with charge free and includes group
It send carrier quantity and sends the parameter information of carrier with charge free；The manufacturing execution system is sent overloading tool with charge free instruction and is sent to automatically
Compound material conveyer, wherein carrier will be sent with charge free by sending instruction with charge free according to overloading tool by the automated material conveyer
It is moved at the equipment, and carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free.
Step S504, when the equipment issues first request signal again, whether a collection of carrier is transported before judging
It completes.
Step S506 does not retransmit the first request signal and is sent to the manufacturing execution system, and is defeated if do not completed
Malfunction false information.
In the following, from the angle of LCS, be divided into two feed inlet, discharge port aspects, to the present embodiment send with charge free processing method into
Row explanation:
(1) feed inlet:
Carrier quantity when the Load Request reported according to equipment feed inlet, LCS is by Load Request and carrier
Quantity is sent to MES, and MES can carry a collection of carrier to equipment feed inlet by sending instruction notification AGV under DCS with charge free.LCS judgement is set
Whether the standby carrier quantity (m) to be moved in of request and the carrier quantity (n) for issuing request are consistent.Such as n=m, indicate that equipment is moved in
This batch of carrier movement has been completed, and AGV may exit off equipment feed inlet.Such as: n ≠ m, even if feed inlet is empty, equipment sending
Move in the request of next group product carrier to be produced, LCS will not photos and sending messages (Load Request+ carrier quantity) give MES, together
When can issue error message to equipment and itself interface, prompt person intervention processing.
(2) discharge port:
Carrier quantity when the Unload Request reported according to equipment discharge port, LCS by Unload Request and
Carrier quantity is sent to MES, and MES can be by sending instruction notification AGV with charge free to equipment feed inlet under DCS.LCS judges that device request is wanted
Whether the carrier quantity (n) of the carrier quantity (m) and sending request that move out is consistent.Such as n=m, it is dynamic to indicate that AGV moves out this batch of carrier
It has been completed that, AGV may exit off equipment feed inlet.Such as: n ≠ m, even if discharge port be it is empty, equipment sending move out next group
Produce the request for the product carrier completed, LCS will not photos and sending messages (Unload Request+ carrier quantity) give MES, while can send out
False information malfunction to equipment and itself interface, prompt person intervention processing.
Through the above steps, carrier quantity will be requested to report to manufacturing execution system by equipment, manufacturing execution system is raw
Instruction is sent with charge free at corresponding overloading tool, and automated material conveyer, which sends instruction with charge free according to overloading tool, will send carrier movement with charge free
It to the equipment, and according to request carrier quantity and sends the progress carrier transport of carrier quantity with charge free, it is multiple to have reached primary conveying
The purpose of carrier to realize the technical effect for improving equipment capacity, and then is solved since the prior art can only once transport
A defeated carrier in turn results in the lower technical problem of equipment capacity.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (18)
1. one kind sends processing system with charge free characterized by comprising
Equipment, for the first request signal to be sent to manufacturing execution system, first request signal carries request carrier
Quantity and device identification；
The manufacturing execution system sends finger with charge free for generating overloading tool according to the request carrier quantity and the device identification
It enables, the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；Send overloading tool with charge free finger
Order is handed down to automated material conveyer；
The automated material conveyer is moved to the equipment for sending instruction with charge free according to overloading tool and will send carrier with charge free
Place；And carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free；
The automated material conveyer is for executing following steps according to the request carrier quantity and described sending carrier with charge free
Quantity carries out carrier transport:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, the carrier of sending with charge free is all carried to institute
State the feeding port of equipment；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier of sending with charge free is all carried to the feeding port；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity is carried to the feeding port.
2. system according to claim 1, which is characterized in that first request signal includes the request signal that feeds intake.
3. system according to claim 2, which is characterized in that the automated material conveyer has according to the overloading
It sends instruction control with charge free and is mounted with the feeding port that the automated guided vehicle for sending carrier with charge free is moved to the equipment.
4. system according to claim 3, which is characterized in that
The equipment is also used in the case where first carrier is put into the feeding port by the automated guided vehicle, hair
It feeds intake out and completes signal；In the case where first carrier leaves the feeding port and enter the equipment inside, institute is kept
It states to feed intake and completes signal, to the last a carrier leaves the feeding port into the case where the equipment inside, sends out again
The request signal that feeds intake out.
5. system according to claim 3, which is characterized in that send carrier with charge free in described the request carrier is in varying numbers
In the case where quantity,
The automated guided vehicle is also used to be used to indicate the inconsistent alarm signal of quantity and is sent to the equipment；
The equipment is also used to be issued according to the alarm signal and alarm.
6. system according to claim 1, which is characterized in that further include:
On-line equipment control system, for a batch carrier before when the equipment issues first request signal again, judging
Whether transport is completed, if do not completed, first request signal is no longer sent to the manufacturing execution system, and export
Error message.
7. system according to claim 1, which is characterized in that the manufacturing execution system for execute following steps according to
The request carrier quantity and the device identification generate overloading tool and send instruction with charge free:
In the case where receiving first request signal, screening meets the carrier of preset condition, sends carrier with charge free described in determination
Quantity, and carrier quantity is sent in generation with charge free comprising described in and the overloading tool for sending carrier parameter information with charge free sends instruction with charge free.
8. one kind sends processing system with charge free characterized by comprising
Equipment, for the first request signal to be sent to manufacturing execution system, first request signal carries request carrier
Quantity and device identification；
The manufacturing execution system sends finger with charge free for generating overloading tool according to the request carrier quantity and the device identification
It enables, the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending the parameter information of carrier with charge free；Send overloading tool with charge free finger
Order is handed down to automated material conveyer；
The automated material conveyer is moved to the equipment for sending instruction with charge free according to overloading tool and will send carrier with charge free
Place；And carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free；
The automated material conveyer is for executing following steps according to the request carrier quantity and described sending carrier with charge free
Quantity carries out carrier transport:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, will be asked described in the discharge port of the equipment
The carrier of carrier quantity is asked all to move；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier for sending carrier quantity described in the discharge port with charge free is moved；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity of the discharge port is moved.
9. system according to claim 8, which is characterized in that first request signal includes discharging request signal.
10. system according to claim 9, which is characterized in that the automated material conveyer is according to the overloading
Tool sends the discharge port that instruction control automated guided vehicle is moved to the equipment with charge free.
11. system according to claim 10, which is characterized in that
The equipment is also used to issue out in the case where carrier leaves the discharge port and is put into the automated guided vehicle
Material completes signal, after to the last a carrier leaves the discharge port, issues the discharging again according to carrier quantity performed
Request signal.
12. system according to claim 10, which is characterized in that send load with charge free in described the request carrier is in varying numbers
In the case where having quantity,
The automated guided vehicle is also used to be used to indicate the inconsistent alarm signal of quantity and is sent to the equipment；
The equipment is also used to be issued according to the alarm signal and alarm.
13. system according to claim 8, which is characterized in that further include:
On-line equipment control system, for a batch carrier before when the equipment issues first request signal again, judging
Whether transport is completed, if do not completed, first request signal is no longer sent to the manufacturing execution system, and export
Error message.
14. system according to claim 8, which is characterized in that the manufacturing execution system is for executing following steps root
Overloading tool, which is generated, according to the request carrier quantity and the device identification sends instruction with charge free:
In the case where receiving first request signal, screening meets the carrier of preset condition, sends carrier with charge free described in determination
Quantity, and carrier quantity is sent in generation with charge free comprising described in and the overloading tool for sending carrier parameter information with charge free sends instruction with charge free.
15. one kind sends processing method with charge free characterized by comprising
The first request signal that manufacturing execution system receiving device is sent, first request signal carry request carrier quantity
And device identification；
Overloading tool is generated according to the request carrier quantity and the device identification and sends instruction with charge free, and the overloading tool sends instruction packet with charge free
Containing sending carrier quantity with charge free and send the parameter information of carrier with charge free；
It sends overloading tool with charge free instruction and is sent to automated material conveyer, wherein system is transported by the automated material
System sends instruction with charge free and will send carrier with charge free and is moved at the equipment according to overloading tool, and according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free；
Carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free, comprising:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, the carrier of sending with charge free is all carried to institute
State the feeding port of equipment；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier of sending with charge free is all carried to the feeding port；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity is carried to the feeding port.
16. one kind sends processing method with charge free characterized by comprising
The first request signal that manufacturing execution system receiving device is sent, first request signal carry request carrier quantity
And device identification；
Overloading tool is generated according to the request carrier quantity and the device identification and sends instruction with charge free, and the overloading tool sends instruction packet with charge free
Containing sending carrier quantity with charge free and send the parameter information of carrier with charge free；
It sends overloading tool with charge free instruction and is sent to automated material conveyer, wherein system is transported by the automated material
System sends instruction with charge free and will send carrier with charge free and is moved at the equipment according to overloading tool, and according to the request carrier quantity and institute
It states and sends the progress carrier transport of carrier quantity with charge free；
Carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free, comprising:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, will be asked described in the discharge port of the equipment
The carrier of carrier quantity is asked all to move；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier for sending carrier quantity described in the discharge port with charge free is moved；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity of the discharge port is moved.
17. one kind sends processing method with charge free characterized by comprising
The first request signal from equipment is sent to manufacturing execution system, the first request letter by on-line equipment control system
Number carry request carrier quantity and device identification；Wherein, by the manufacturing execution system according to the request carrier quantity and
The device identification generates overloading tool and sends instruction with charge free, and the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending carrier with charge free
Parameter information；The manufacturing execution system sends overloading tool with charge free instruction and is sent to automated material conveyer, wherein by
The automated material conveyer sends instruction with charge free and will send carrier with charge free and is moved at the equipment according to overloading tool, and according to
The request carrier quantity and the carrier quantity of sending with charge free carry out carrier transport；
When the equipment issues first request signal again, whether a collection of carrier transports completion before judging；
If do not completed, first request signal is no longer sent to the manufacturing execution system, and output error message；
Wherein, carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free, comprising:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, the carrier of sending with charge free is all carried to institute
State the feeding port of equipment；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier of sending with charge free is all carried to the feeding port；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity is carried to the feeding port.
18. one kind sends processing method with charge free characterized by comprising
The first request signal from equipment is sent to manufacturing execution system, the first request letter by on-line equipment control system
Number carry request carrier quantity and device identification；Wherein, by the manufacturing execution system according to the request carrier quantity and
The device identification generates overloading tool and sends instruction with charge free, and the overloading tool sends instruction with charge free comprising sending carrier quantity with charge free and sending carrier with charge free
Parameter information；The manufacturing execution system sends overloading tool with charge free instruction and is sent to automated material conveyer, wherein by
The automated material conveyer sends instruction with charge free and will send carrier with charge free and is moved at the equipment according to overloading tool, and according to
The request carrier quantity and the carrier quantity of sending with charge free carry out carrier transport；
When the equipment issues first request signal again, whether a collection of carrier transports completion before judging；
If do not completed, first request signal is no longer sent to the manufacturing execution system, and output error message；
Wherein, carrier transport is carried out according to the request carrier quantity and the carrier quantity of sending with charge free:
Judge the request carrier quantity and the relationship sent with charge free between carrier quantity；
In the case where the request carrier quantity sends carrier quantity with charge free equal to described in, will be asked described in the discharge port of the equipment
The carrier of carrier quantity is asked all to move；
Carrier quantity is sent with charge free described in being greater than in the request carrier quantity and the carrier of sending with charge free is in varying numbers in the case where 0,
The carrier for sending carrier quantity described in the discharge port with charge free is moved；
Carrier quantity is sent with charge free described in being less than in the request carrier quantity and the request carrier is in varying numbers in the case where 0,
The carrier of the request carrier quantity of the discharge port is moved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810928763.0A CN108946023B (en) | 2018-08-15 | 2018-08-15 | Send processing method and system with charge free |
| PCT/CN2018/113639 WO2020034433A1 (en) | 2018-08-15 | 2018-11-02 | Dispatching processing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810928763.0A CN108946023B (en) | 2018-08-15 | 2018-08-15 | Send processing method and system with charge free |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108946023A CN108946023A (en) | 2018-12-07 |
| CN108946023B true CN108946023B (en) | 2019-11-22 |
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|---|---|---|---|
| CN201810928763.0A Active CN108946023B (en) | 2018-08-15 | 2018-08-15 | Send processing method and system with charge free |
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| WO (1) | WO2020034433A1 (en) |
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| CN113112106A (en) * | 2020-01-13 | 2021-07-13 | 北大方正集团有限公司 | Printed circuit board production management system, method, device and readable storage medium |
| CN116300734A (en) * | 2023-03-01 | 2023-06-23 | 西安奕斯伟材料科技有限公司 | Handling control method, device, equipment and medium |
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| WO2020034433A1 (en) | 2020-02-20 |
| CN108946023A (en) | 2018-12-07 |
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