CN110092150B - Intelligent material conveying system for intelligent manufacturing - Google Patents
Intelligent material conveying system for intelligent manufacturing Download PDFInfo
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- CN110092150B CN110092150B CN201910422961.4A CN201910422961A CN110092150B CN 110092150 B CN110092150 B CN 110092150B CN 201910422961 A CN201910422961 A CN 201910422961A CN 110092150 B CN110092150 B CN 110092150B
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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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
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0291—Speed of the load carrier
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- 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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- 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
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses an intelligent material conveying system for intelligent manufacturing, which is used for solving the problems of how to reasonably calculate the priority value of an unmanned transport vehicle and reasonably distribute a route, how to reduce the time consumption of the re-branching of the unmanned transport vehicle and how to improve the working efficiency, and comprises a plurality of conveying trolleys, a grid track, a data acquisition module, a processor, a storage module, an analysis module and a control module; the analysis module analyzes the information of the conveying trolleys and the information of the grid tracks in the storage module to obtain the priority value of the conveying trolleys, the distributed running route and the running speed of the conveying trolleys; the conveying trolley runs to the end of the fourth track, just the first connecting mechanism or the second connecting mechanism is switched and completed, at the moment, the conveying trolley directly passes through the first arc-shaped track or the straight track, and the conveying trolley does not need to be stopped, so that the time is saved, and the efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent material conveying, in particular to an intelligent material conveying system for intelligent manufacturing.
Background
Intelligent manufacturing is a man-machine integrated intelligent system composed of intelligent machines and human experts, which can perform intelligent activities such as analysis, reasoning, judgment, conception and decision making during the manufacturing process. By the cooperation of human and intelligent machine, the mental labor of human expert in the manufacturing process is enlarged, extended and partially replaced. The concept of manufacturing automation is updated, and the manufacturing automation is expanded to flexibility, intellectualization and high integration.
The material conveying is to convey the material to a destination through conveying equipment; in patent CN102241325A, an intelligent material conveying system based on an automated guided vehicle and a method for using the same disclose that "a microprocessor unit processes received signals and sends instructions to relevant mechanism units of the automated guided vehicle, so that the automated guided vehicle performs actions such as acceleration, deceleration, turning, pausing, stopping, and branch selection, and finally conveys the materials on the automated guided vehicle to a destination", and the system has the following disadvantages: when in a branch road, the unmanned transport vehicle needs to decelerate, turn and stop; then inevitably when the road bifurcates, the unmanned transport vehicle consumes a long time, resulting in low efficiency.
Disclosure of Invention
The invention aims to provide an intelligent material conveying system for intelligent manufacturing, which realizes the connection between rails by the direction conversion between rail nodes, thereby making a running path of a conveying trolley in advance, enabling the trolley to run at the rail nodes according to a set route, stopping and reversing wirelessly, improving the overall speed of the conveying trolley and further improving the transportation efficiency.
The technical problem to be solved by the invention is as follows:
(1) how to reasonably calculate the priority value of the unmanned transport vehicle and reasonably distribute routes;
(2) how to reduce the time consumption of the re-branching path of the unmanned carrier and improve the working efficiency;
the purpose of the invention can be realized by the following technical scheme: an intelligent material conveying system for intelligent manufacturing comprises a plurality of conveying trolleys, a grid track, a data acquisition module, a processor, a storage module, an analysis module and a control module;
a plurality of the conveying trolleys walk on the grid track; the conveying trolleys are used for conveying materials; the data acquisition module is used for acquiring the information of the conveying trolley and the information of the grid track; the conveying trolley information comprises the number of the conveying trolley, the type of materials conveyed by the conveying trolley, the weight of the materials conveyed by the conveying trolley, the speed of the conveying trolley and the position of the conveying trolley on the grid track; the grid track information comprises position information of an arc track and a straight track in the track node; the data acquisition module transmits the acquired information of the conveying trolley and the acquired information of the grid tracks to the processor; the processor receives the conveying trolley information and the grid track information sent by the data acquisition module and sends the conveying trolley information and the grid track information to the storage module for storage; the analysis module is used for analyzing the information of the conveying trolley and the grid track in the storage module, and the specific analysis steps are as follows:
s1: calculating the priority value of the conveying trolley according to the type of the conveying materials and the weight of the conveying materials of the conveying trolley; setting the type of the material as Ai, and recording the value corresponding to Ai as Bi;
s2: identifying the materials conveyed by the conveying trolley, matching the identified result with the type Ai of the materials and acquiring corresponding Bi;
s3: obtaining a priority value Yi by using a formula Yi ═ Bi ═ j1+ (1/Gi) × j2+ Hi × j3, wherein Gi represents the weight of the materials conveyed by the conveying trolley; hi represents the total distance of the driving route; j1, j2 and j3 are preset proportionality coefficients; the higher the value corresponding to the type of the material is, the higher the priority value is; the smaller the weight of the materials conveyed by the conveying trolley is, the larger the priority value is; the longer the total distance of the path is, the larger the priority value is;
s4: the transport trolley distributes a running route and the running speed of the transport trolley according to the priority value;
the analysis module sends the calculated speed and the calculated running route of the conveying trolley to the control module; the control module is used for respectively controlling the speed of the conveying trolley and the direction of a driving wheel of the conveying trolley and controlling track nodes in the grid track according to the speed and the running route of the conveying trolley;
preferably, the transport vehicle described in S4 allocates the travel route and the travel speed of the transport vehicle according to the priority value, and the specific allocation steps are as follows:
SS 1: numbering a plurality of trolley tracks in the grid tracks and arc tracks and straight tracks in the track nodes, wherein the numbering of the trolley tracks is marked as Li, and i is 1 … … n; the serial number of the arc track in the track node is marked as Mi, i is 1 … … n; the number of the straight track is marked as Ni, i is 1 … … n;
SS 2: measuring the driving distances of the conveying trolley on Li, Mi and Ni, and recording the driving distances corresponding to Li, Mi and Ni as Kai, Kbi and Kci respectively, wherein i is 1 … … n;
SS 3: counting Li to pass through according to the starting position of the trolley and the position of the trolley to be conveyed, and sequentially passing through the tracks numbered with Li, Mi and Ni according to the order of the priority values;
SS 4: numbering the passing track sets numbered with Li, Mi and Ni according to the passing sequence to form a driving route; counting the total distance of the driving route; using formulas
Acquiring a total distance Hi of the driving route;
preferably, the data acquisition module further comprises a displacement acquisition unit and an angle acquisition unit; the displacement acquisition unit is used for acquiring the motion displacement of the first bottom plate, the second bottom plate, the first arc-shaped track and the straight track; the angle acquisition module is used for acquiring the rotation angles of the first arc-shaped track and the straight track;
preferably, the grid track is composed of a plurality of track nodes and a plurality of trolley tracks; the trolley track comprises a first track, a second track, a third track and a fourth track, and the track node comprises a first connecting mechanism and a second connecting mechanism;
the first connecting mechanism comprises a connecting plate, one end of the connecting plate is fixedly connected with a first arc-shaped rail, the other end of the connecting plate is fixedly connected with a second arc-shaped rail, the center of the bottom end of the connecting plate is fixedly arranged on a main shaft of a first motor through a bolt, the bottom end of the first motor is fixedly arranged on a piston rod of a first electric push rod through a bolt, and the bottom end of the first electric push rod is fixedly arranged at the center of the upper end face of a first bottom plate through a bolt;
the second connecting mechanism comprises a straight track, the center of the bottom end of the straight track is fixedly arranged on a main shaft of a second motor through a bolt, the bottom end of the second motor is fixedly arranged on a piston rod of a second electric push rod through a bolt, and the bottom end of the second electric push rod is fixedly arranged at the center of the upper end face of a second bottom plate through a bolt; the bottom end surfaces of the first bottom plate and the second bottom plate are provided with moving wheels;
a first support is installed at the bottom end of the first rail, one end of a first air cylinder and a first air compressor for providing power for the first air cylinder are fixedly installed on the side wall of the first support through bolts, a second support is installed at the bottom end of the second rail, one end of a second air cylinder and a second air compressor for providing power for the second air cylinder are fixedly installed on the side wall of the second support through bolts, third supports are installed at the bottom ends of a third rail and a fourth rail, and one end of a piston rod of the first air cylinder is fixedly connected with one side of a second bottom plate through bolts; one end of a piston rod of the second cylinder is fixedly connected with one side of the first bottom plate through a bolt;
preferably, the conveying trolley is an unmanned conveying trolley, and a weight sensor for acquiring the weight of the materials conveyed by the conveying trolley, a controller for controlling the running direction of the conveying trolley and a motion controller for controlling the speed of the conveying trolley are arranged in the conveying trolley;
the invention has the beneficial effects that:
(1) the data acquisition module acquires information of the conveying trolley and information of the grid track and sends the information to the processor, the analysis module analyzes the information to obtain a priority value of the conveying trolley and a distribution running route and the running speed of the conveying trolley, and the control module respectively controls the speed of the conveying trolley and the direction of a driving wheel of the conveying trolley and controls track nodes in the grid track according to the speed and the running route of the conveying trolley so that the conveying trolley moves to a position to be conveyed according to the distribution running route; the accurate transportation of the materials is realized;
(2) the invention obtains the priority value Yi by using a formula Yi ═ Bi ═ j1+1/Gi ═ j2+ Hi × j3, reasonably arranges the running sequence of the transport trolley on the grid track according to the priority value, and improves the working efficiency;
(3) the time for switching through the first connecting mechanism or the second connecting mechanism is the time for the conveying trolley b to travel on the fourth track; the running speed of the conveying trolley is obtained by the ratio of the running distance to the running time of the fourth track; therefore, the conveying trolley runs to the end of the fourth track, just after the first connecting mechanism or the second connecting mechanism is switched, the conveying trolley directly passes through the first arc-shaped track or the straight track, and the conveying trolley does not need to be stopped, so that the time is saved, and the efficiency is improved;
(4) according to the invention, the connection between the rails is realized through the direction conversion between the rail nodes, so that the running path of the conveying trolley is made in advance, the trolley runs at the rail nodes according to the set route, and the wireless stopping and reversing are realized, thereby improving the overall speed of the conveying trolley and further improving the transportation efficiency.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a functional block diagram of an intelligent material handling system for intelligent manufacturing in accordance with the present invention;
FIG. 2 is a top view of the grid track of the present invention;
fig. 3 is a front view of the track node of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention is an intelligent material conveying system for intelligent manufacturing, including a plurality of conveying trolleys, a grid track, a data acquisition module, a processor, a storage module, an analysis module and a control module;
a plurality of conveying trolleys walk on the grid track; the conveying trolleys are used for conveying materials; the data acquisition module is used for acquiring the information of the conveying trolley and the information of the grid track; the conveying trolley information comprises the number of the conveying trolley, the type of materials conveyed by the conveying trolley, the weight of the materials conveyed by the conveying trolley, the speed of the conveying trolley and the position of the conveying trolley on the grid track; the grid track information comprises position information of an arc track and a straight track in the track node; the data acquisition module transmits the acquired information of the conveying trolley and the acquired information of the grid track to the processor; the processor receives the conveying trolley information and the grid track information sent by the data acquisition module and sends the conveying trolley information and the grid track information to the storage module for storage; the analysis module is used for analyzing the information of the conveying trolley and the grid track in the storage module, and the specific analysis steps are as follows:
s1: calculating the priority value of the conveying trolley according to the type of the conveying materials and the weight of the conveying materials of the conveying trolley; setting the type of the material as Ai, and recording the value corresponding to Ai as Bi; the value corresponding to Ai is represented as the demand of Ai, and the higher the demand is, the higher the set value of Bi is; in the conveying process, the conveying is performed with higher priority;
s2: identifying the materials conveyed by the conveying trolley, matching the identified result with the type Ai of the materials and acquiring corresponding Bi;
s3: obtaining a priority value Yi by using a formula Yi ═ Bi ═ j1+1/Gi ═ j2+ Hi × j3, wherein Gi represents the weight of the materials conveyed by the conveying trolley; hi represents the total distance of the driving route; j1, j2 and j3 are preset proportionality coefficients; the higher the value corresponding to the type of the material is, the higher the priority value is; the smaller the weight of the materials conveyed by the conveying trolley is, the larger the priority value is; the longer the total distance of the path is, the larger the priority value is; the weight of a conveying trolley, the total distance of a traveling route and the type of materials are set according to a formula, the conveying is given priority according to the fact that the higher the Bi value is, namely the trolley with higher material conveying demand passes through, the larger the Bi value is, the higher the priority value is, the longer the traveling route is, the higher the priority is, the conveying is given priority according to the total distance of the traveling route, namely the trolley with long traveling distance passes through, the length of the traveling route and the high priority value are provided by the formula, and the passing of the trolley with less materials is given priority according to the weight of the conveying trolley conveying materials, the larger the weight of the conveying trolley is, and the lower the priority value is provided by the formula; obtaining a priority value calculation formula Yi ═ Bi ═ j1+1/Gi × j2+ Hi × j3 according to the three conditions of the formula;
s4: the transport trolley distributes a running route and the running speed of the transport trolley according to the priority value;
the analysis module sends the calculated speed and the calculated running route of the conveying trolley to the control module; the control module is used for respectively controlling the speed of the conveying trolley and the direction of a driving wheel of the conveying trolley and controlling track nodes in the grid track according to the speed and the running route of the conveying trolley;
the transport trolley in the S4 allocates the driving route and the driving speed of the transport trolley according to the priority value, and the specific allocation steps are as follows:
SS 1: numbering a plurality of trolley tracks in the grid tracks and arc tracks and straight tracks in the track nodes, wherein the numbering of the trolley tracks is marked as Li, and i is 1 … … n; the serial number of the arc track in the track node is marked as Mi, i is 1 … … n; the number of the straight track is marked as Ni, i is 1 … … n;
SS 2: measuring the driving distances of the conveying trolley on Li, Mi and Ni, and recording the driving distances corresponding to Li, Mi and Ni as Kai, Kbi and Kci respectively, wherein i is 1 … … n;
SS 3: counting Li to pass through according to the starting position of the trolley and the position of the trolley to be conveyed, and sequentially passing through the tracks numbered with Li, Mi and Ni according to the order of the priority values; the concrete expression is that two conveying trolleys are set and marked as a conveying trolley a and a conveying trolley b; when the conveying trolley a needs to enter the second track or the third track through the first track and the conveying trolley b needs to enter the second track or the third track through the fourth track, the priority values of the conveying trolley a and the conveying trolley b are judged firstly; if the priority value of the conveying trolley a is larger than that of the conveying trolley b; the control module enables the second arc-shaped track or the straight track to be matched with the two ends of the second track or the third track by controlling the first connecting mechanism or the second connecting mechanism; when the conveying trolley a passes through the second arc-shaped track or the straight track, the control module controls the first connecting mechanism or the second connecting mechanism to switch, so that the first arc-shaped track or the straight track is matched with the two ends of the second track or the third track; the time for switching the first connecting mechanism or the second connecting mechanism is the time for the conveying trolley b to travel on the fourth track; the running speed of the conveying trolley is obtained by the ratio of the running distance of the fourth track to the running time; therefore, the conveying trolley b runs to the end of the fourth track, just after the first connecting mechanism or the second connecting mechanism is switched, the conveying trolley b directly passes through the first arc-shaped track or the straight track, and the conveying trolley b does not need to stop, so that the time is saved, and the efficiency is improved;
SS 4: numbering the passing track sets numbered with Li, Mi and Ni according to the passing sequence to form a driving route; counting the total distance of the driving route;using formulas
Acquiring a total distance Hi of the driving route;
the data acquisition module also comprises a displacement acquisition unit and an angle acquisition unit; the displacement acquisition unit is used for acquiring the motion displacement of the first bottom plate, the second bottom plate, the first arc-shaped track and the straight track; the angle acquisition module is used for acquiring the rotation angles of the first arc-shaped track and the straight track;
the grid track is composed of a plurality of track nodes and a plurality of trolley tracks; the trolley track comprises a first track 1, a second track 4, a third track 5 and a fourth track 6, and the track node comprises a first connecting mechanism 2 and a second connecting mechanism 3;
the first connecting mechanism 2 comprises a connecting plate 22, one end of the connecting plate 22 is fixedly connected with a first arc-shaped rail 21, the other end of the connecting plate 22 is fixedly connected with a second arc-shaped rail 23, the center of the bottom end of the connecting plate 22 is fixedly arranged on a main shaft of a first motor 26 through a bolt, the bottom end of the first motor 26 is fixedly arranged on a piston rod of a first electric push rod 25 through a bolt, and the bottom end of the first electric push rod 25 is fixedly arranged at the center of the upper end face of a first bottom plate 24 through a bolt;
the second connecting mechanism 3 comprises a straight rail 31, the center of the bottom end of the straight rail 31 is fixedly installed on the main shaft of the second motor 32 through a bolt, the bottom end of the second motor 32 is fixedly installed on the piston rod of the second electric push rod 33 through a bolt, and the bottom end of the second electric push rod 33 is fixedly installed at the center of the upper end face of the second bottom plate 34 through a bolt; the bottom end surfaces of the first bottom plate 24 and the second bottom plate 34 are provided with moving wheels 27;
a first support 11 is installed at the bottom end of the first rail 1, one end of a first air cylinder 13 and a first air compressor 12 for providing power for the first air cylinder 13 are fixedly installed on the side wall of the first support 11 through bolts, a second support 41 is installed at the bottom end of the second rail 4, one end of a second air cylinder 43 and a second air compressor 42 for providing power for the second air cylinder 43 are fixedly installed on the side wall of the second support 41 through bolts, third supports are installed at the bottom ends of the third rail 5 and the fourth rail 6, and one end of a piston rod of the first air cylinder 13 is fixedly connected with one side of the second bottom plate 34 through bolts; one end of a piston rod of the second cylinder 43 is fixedly connected with one side of the first bottom plate 24 through a bolt;
when the conveying trolley needs to travel from the first track 1 to the second track 4, the first air cylinder 13 drives the second bottom plate 34 to move forward to a set displacement distance, then the second electric push rod 33 drives the second motor 32 and the straight track 31 to move upward to the set displacement distance, so that the straight track 31 is flush with the first track 1 and the second track 4 in height, then the second motor 32 is controlled to drive the straight track 31 to rotate ninety degrees, so that two ends of the straight track 31 are matched with one end port of the first track 1 and one end port of the second track 4, and the conveying trolley sequentially passes through the first track 1, the straight track 31 and the second track 4; when the conveying trolley needs to travel from the first track 1 to the third track 5, the straight track 31 is restored to the starting position by controlling the second motor 32, the second electric push rod 33 and the first air cylinder 13, then the second air cylinder 43 drives the first bottom plate 24 to move forward to the set displacement distance, then the first electric push rod 25 drives the first motor 31 and the connecting plate 22 to move upward to the set displacement distance, so that the first arc-shaped track 21 and the second arc-shaped track 23 are aligned with the first track 1 and the third track 5, and then the first motor 32 is controlled to drive the connecting plate 22 to rotate ninety degrees; enabling two ends of the second arc-shaped track 23 to be respectively matched with one ends of the first track 1 and the third track 5, enabling the conveying trolley to sequentially run on the first track 1, the second arc-shaped track 21 and the third track 5, and enabling the conveying trolley to run in the second arc-shaped track 21 and then run in the third track 5 by controlling the running direction of the conveying trolley when the conveying trolley moves to one end of the second arc-shaped track 21; similarly, when the conveying trolley needs to move into the fourth track 6, the first motor 32 does not need to drive the connecting plate 22 to rotate, and two ends of the second arc-shaped track 21 are respectively matched with one end of the first track 1 and one end of the fourth track 6;
the conveying trolley is an unmanned carrying vehicle, and a weight sensor for collecting the weight of materials conveyed by the conveying trolley, a controller for controlling the running direction of the conveying trolley and a motion controller for controlling the speed of the conveying trolley are arranged in the conveying trolley;
the working principle of the invention is as follows: the data acquisition module is used for acquiring the information of the conveying trolley and the information of the grid track and sending the information to the processor, the processor sends the information to the storage module for storage, the analysis module is used for analyzing the information of the conveying trolley and the information of the grid track in the storage module to obtain the priority value of the conveying trolley and the distribution running route and the running speed of the conveying trolley, and the control module is used for respectively controlling the speed of the conveying trolley and the direction of a driving wheel of the conveying trolley and controlling track nodes in the grid track according to the speed and the running route of the conveying trolley so as to enable the conveying trolley to move to a position to be conveyed according to the distribution running route; obtaining a priority value Yi by using a formula Yi ═ Bi ═ j1+1/Gi ═ j2+ Hi × j3, wherein the priority value is greater when the value corresponding to the type of the material is greater; the smaller the weight of the materials conveyed by the conveying trolley is, the larger the priority value is; the longer the total distance of the path is, the larger the priority value is; the running sequence of the conveying trolleys on the grid tracks is reasonably arranged according to the priority values, so that the working efficiency is improved; the time for switching the first connecting mechanism or the second connecting mechanism is the time for the conveying trolley b to travel on the fourth track; the running speed of the conveying trolley is obtained by the ratio of the running distance of the fourth track to the running time; therefore, the conveying trolley runs to the end of the fourth track, just after the first connecting mechanism or the second connecting mechanism is switched, the conveying trolley directly passes through the first arc-shaped track or the straight track, and the conveying trolley does not need to be stopped, so that the time is saved, and the efficiency is improved; when the conveying trolley needs to travel from the first track 1 to the second track 4, the first air cylinder 13 drives the second bottom plate 34 to move forward to a set displacement distance, then the second electric push rod 33 drives the second motor 32 and the straight track 31 to move upward to the set displacement distance, so that the straight track 31 is flush with the first track 1 and the second track 4 in height, then the second motor 32 is controlled to drive the straight track 31 to rotate ninety degrees, so that two ends of the straight track 31 are matched with one end port of the first track 1 and one end port of the second track 4, and the conveying trolley sequentially passes through the first track 1, the straight track 31 and the second track 4; when the conveying trolley needs to travel from the first track 1 to the third track 5, the straight track 31 is restored to the starting position by controlling the second motor 32, the second electric push rod 33 and the first air cylinder 13, then the second air cylinder 43 drives the first bottom plate 24 to move forward to the set displacement distance, then the first electric push rod 25 drives the first motor 31 and the connecting plate 22 to move upward to the set displacement distance, so that the first arc-shaped track 21 and the second arc-shaped track 23 are aligned with the first track 1 and the third track 5, and then the first motor 32 is controlled to drive the connecting plate 22 to rotate ninety degrees; enabling two ends of the second arc-shaped track 23 to be respectively matched with one ends of the first track 1 and the third track 5, enabling the conveying trolley to sequentially run on the first track 1, the second arc-shaped track 21 and the third track 5, and enabling the conveying trolley to run in the second arc-shaped track 21 and then run in the third track 5 by controlling the running direction of the conveying trolley when the conveying trolley moves to one end of the second arc-shaped track 21; similarly, when the conveying trolley needs to move into the fourth track 6, the first motor 32 does not need to drive the connecting plate 22 to rotate, and two ends of the second arc-shaped track 21 are respectively matched with one ends of the first track 1 and the fourth track 6, so that connection between the tracks is realized.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (4)
1. An intelligent material conveying system for intelligent manufacturing is characterized by comprising a plurality of conveying trolleys, a grid track, a data acquisition module, a processor, a storage module, an analysis module and a control module;
a plurality of the conveying trolleys walk on the grid track; the conveying trolleys are used for conveying materials; the data acquisition module is used for acquiring the information of the conveying trolley and the information of the grid track; the conveying trolley information comprises the number of the conveying trolley, the type of materials conveyed by the conveying trolley, the weight of the materials conveyed by the conveying trolley, the speed of the conveying trolley and the position of the conveying trolley on the grid track; the grid track information comprises position information of an arc track and a straight track in the track node; the data acquisition module transmits the acquired information of the conveying trolley and the acquired information of the grid tracks to the processor; the processor receives the conveying trolley information and the grid track information sent by the data acquisition module and sends the conveying trolley information and the grid track information to the storage module for storage; the analysis module is used for analyzing the information of the conveying trolley and the grid track in the storage module, and the specific analysis steps are as follows:
s1: calculating the priority value of the conveying trolley according to the type of the conveying materials and the weight of the conveying materials of the conveying trolley; setting the type of the material as Ai, and recording the value corresponding to Ai as Bi;
s2: identifying the materials conveyed by the conveying trolley, matching the identified result with the type Ai of the materials and acquiring corresponding Bi;
s3: obtaining a priority value Yi by using a formula Yi ═ Bi ═ j1+ (1/Gi) × j2+ Hi × j3, wherein Gi represents the weight of the materials conveyed by the conveying trolley; hi represents the total distance of the driving route; j1, j2 and j3 are preset proportionality coefficients; the higher the value corresponding to the type of the material is, the higher the priority value is; the smaller the weight of the materials conveyed by the conveying trolley is, the larger the priority value is; the longer the total distance of the path is, the larger the priority value is;
s4: the transport trolley distributes a running route and the running speed of the transport trolley according to the priority value;
the analysis module sends the calculated speed and the calculated running route of the conveying trolley to the control module; the control module is used for respectively controlling the speed of the conveying trolley and the direction of a driving wheel of the conveying trolley and controlling track nodes in the grid track according to the speed and the running route of the conveying trolley;
the conveying trolley is an unmanned conveying vehicle, and a weight sensor for acquiring the weight of materials conveyed by the conveying trolley, a controller for controlling the traveling direction of the conveying trolley and a motion controller for controlling the speed of the conveying trolley are arranged in the conveying trolley.
2. The intelligent material conveying system for intelligent manufacturing according to claim 1, wherein the conveying trolley in the step S4 allocates the traveling route and the traveling speed of the conveying trolley according to the priority value, and the allocation steps are as follows:
SS 1: numbering a plurality of trolley tracks in the grid tracks and arc tracks and straight tracks in the track nodes, wherein the numbering of the trolley tracks is marked as Li, and i is 1 … … n; the serial number of the arc track in the track node is marked as Mi, i is 1 … … n; the number of the straight track is marked as Ni, i is 1 … … n;
SS 2: measuring the driving distances of the conveying trolley on Li, Mi and Ni, and recording the driving distances corresponding to Li, Mi and Ni as Kai, Kbi and Kci respectively, wherein i is 1 … … n;
SS 3: counting Li to pass through according to the starting position of the trolley and the position of the trolley to be conveyed, and sequentially passing through the tracks numbered with Li, Mi and Ni according to the order of the priority values;
SS 4: numbering the passing track sets numbered with Li, Mi and Ni according to the passing sequence to form a driving route; counting the total distance of the driving route; using formulas
And acquiring the total distance Hi of the driving route.
3. The intelligent material conveying system for intelligent manufacturing of claim 1, wherein the data acquisition module further comprises a displacement acquisition unit and an angle acquisition unit; the displacement acquisition unit is used for acquiring the motion displacement of the first bottom plate, the second bottom plate, the first arc-shaped track and the straight track; the angle acquisition module is used for acquiring the rotation angles of the first arc-shaped track and the straight track.
4. The intelligent material handling system for intelligent manufacturing of claim 1, wherein the grid track is comprised of a number of track nodes and a number of car tracks; the trolley track comprises a first track (1), a second track (4), a third track (5) and a fourth track (6), and the track node comprises a first connecting mechanism (2) and a second connecting mechanism (3);
the first connecting mechanism (2) comprises a connecting plate (22), one end of the connecting plate (22) is fixedly connected with a first arc-shaped rail (21), the other end of the connecting plate (22) is fixedly connected with a second arc-shaped rail (23), the center of the bottom end of the connecting plate (22) is fixedly installed on a main shaft of a first motor (26) through a bolt, the bottom end of the first motor (26) is fixedly installed on a piston rod of a first electric push rod (25) through a bolt, and the bottom end of the first electric push rod (25) is fixedly installed at the center of the upper end face of a first bottom plate (24) through a bolt;
the second connecting mechanism (3) comprises a straight track (31), the center of the bottom end of the straight track (31) is fixedly installed on a main shaft of a second motor (32) through a bolt, the bottom end of the second motor (32) is fixedly installed on a piston rod of a second electric push rod (33) through a bolt, and the bottom end of the second electric push rod (33) is fixedly installed at the center of the upper end face of a second bottom plate (34) through a bolt; the bottom end surfaces of the first bottom plate (24) and the second bottom plate (34) are provided with moving wheels (27);
a first support (11) is installed at the bottom end of the first rail (1), one end of a first air cylinder (13) and a first air compressor (12) providing power for the first air cylinder (13) are fixedly installed on the side wall of the first support (11) through bolts, a second support (41) is installed at the bottom end of the second rail (4), one end of a second air cylinder (43) and a second air compressor (42) providing power for the second air cylinder (43) are fixedly installed on the side wall of the second support (41) through bolts, third supports are installed at the bottom ends of the third rail (5) and the fourth rail (6), and one end of a piston rod of the first air cylinder (13) is fixedly connected with one side of the second bottom plate (34) through bolts; one end of a piston rod of the second air cylinder (43) is fixedly connected with one side of the first bottom plate (24) through a bolt.
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| CN113379761B (en) * | 2021-05-25 | 2023-04-28 | 重庆顺多利机车有限责任公司 | Linkage method and system of multiple AGVs and automatic doors based on artificial intelligence |
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