CN110641941B - Vertical transfer-hanging synchronous accompanying system and control method thereof - Google Patents
Vertical transfer-hanging synchronous accompanying system and control method thereof Download PDFInfo
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- CN110641941B CN110641941B CN201911045436.1A CN201911045436A CN110641941B CN 110641941 B CN110641941 B CN 110641941B CN 201911045436 A CN201911045436 A CN 201911045436A CN 110641941 B CN110641941 B CN 110641941B
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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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Abstract
The invention discloses a vertical transfer-hanging synchronous accompanying system and a control method thereof, wherein the vertical transfer-hanging synchronous accompanying system comprises an upper line accompanying device and a lower line accompanying device, wherein the upper line accompanying device and the lower line accompanying device are respectively positioned on an upper line station and a lower line station of a chain plate conveying line; the structure of the upper line following device is the same as that of the lower line following device, and the upper line following device and the lower line following device comprise a rack, a translation trolley, a lifting mechanism, a positioning device, a return mechanism, a lifting mechanism, a body support leg detection device and a body detection device, wherein the lifting mechanism can move horizontally on the translation trolley; the invention overcomes the defect of intermittent operation in the prior art, improves the conveying efficiency of workpieces, realizes the continuous conveying of the workpieces by the chain plates under the condition of not influencing the completion of the transferring and hanging actions of the workpieces, overcomes the defect of single action of the conventional single-machine equipment, completes the intellectualization of the equipment, improves the automation and intellectualization degree of the equipment, saves the time cost, improves the production efficiency and has high universality.
Description
Technical Field
The invention belongs to the technical field of automatic automobile conveying, and particularly relates to a vertical turning and hanging synchronous accompanying system and a control method thereof.
Background
In an automatic automobile conveying process, a lifter conveys a workpiece (such as a white automobile body) in a vertical space, a plate chain (a plate conveyor) conveys the workpiece (such as the white automobile body) in a horizontal space, and conveying transfer workpieces between the plate chain and the lifter intermittently run (namely, when the transfer action of the workpiece is not completed, the plate chain stops for waiting, and after the transfer action of the workpiece is completed, the plate chain can be started to run), so that the plate chain conveying line is forced to be frequently started and stopped, the working hour is wasted, the transfer hanging rhythm of the workpiece is seriously influenced, and the conveying efficiency of equipment is reduced.
The existing plate chain and elevator are in an intermittent transfer hanging mode, and mainly because some transfer equipment can only realize single horizontal or vertical actions (for example, a side top machine can only realize vertical (ascending and descending) actions of a workpiece but cannot realize following movement along with a conveying line in the horizontal direction, and follow-up equipment can only realize reciprocating movement in the horizontal direction but cannot realize movement in the vertical direction, and the follow-up equipment cannot realize continuous (non-stop) movement of the plate chain.
Disclosure of Invention
The invention provides a vertical transfer-hanging synchronous accompanying system and a control method thereof, aiming at realizing continuous operation of a plate chain, improving the conveying efficiency of workpieces and realizing continuous operation of the plate chain under the condition of not influencing the completion of the transfer-hanging action of the workpieces.
In order to solve the technical problems, the technical scheme of the invention is as follows: the vertical rotary hanging synchronous accompanying system is characterized in that: the chain plate conveying line comprises an upper line following device and a lower line following device, wherein the upper line following device and the lower line following device are respectively positioned on an upper line station and a lower line station of a chain plate conveying line; the structure of the on-line following device is the same as that of the off-line following device, the device comprises a frame, a translation trolley, an elevating mechanism, a positioning device, a return mechanism, an automobile body supporting leg detection device and an automobile body detection device, wherein the translation trolley can horizontally slide in the frame, the elevating device is fixed in the translation trolley, the automobile body supporting leg of a chain plate conveying line can penetrate through the elevating mechanism, the translation trolley can lift a workpiece on the chain plate conveying line through an elevating bracket in the elevating mechanism after the translation trolley follows the chain plate conveying line through the positioning device, the return mechanism is fixed on the frame and used for driving the translation trolley to return, the supporting leg detection device is used for detecting whether an automobile body supporting leg entering the translation trolley exists on the chain plate conveying line, and the automobile body detection device is used for detecting whether an automobile body exists on a station.
The technical scheme is further limited, the translation trolley comprises a guide rail, a trolley body travel switch, a collision block and a limiting seat, wherein the guide rail is fixed on the top surface of the rack, the trolley body can horizontally move on the guide rail through a self roller, the trolley body travel switch is distributed on the guide rail along the movement direction of the trolley body, the trolley body travel switch is used for feeding back a position signal of the trolley body, the collision block is fixed on the trolley body and used for triggering the trolley body travel switch, the limiting seat is fixed on the end part of the guide rail, and the limiting seat can limit the trolley body on the guide rail; the automatic feeding device is simple in structure, low in production cost, stable in operation, long in service life, automatic in realization and high in universality.
The technical scheme is further limited, the lifting mechanism comprises lifting components and driving components, the symmetrical lifting components are fixed in the vehicle body, and the two sets of lifting components realize synchronous lifting action through the driving components; the lifting assembly comprises a guide seat, a lifting bracket, a slide rail, a high-position limit switch and a low-position limit switch, the guide seat is fixed on the rack, the slide rail fixed on the lifting bracket is connected with the guide seat in a sliding manner, the high-position limit switch and the low-position limit switch are fixed on the rack, the high-position limit switch is used for limiting the lifting height of the lifting bracket, and the low-position limit switch is used for limiting the descending position of the lifting bracket; the driving assembly comprises chain wheels, transmission shafts, driving motors and chains, wherein the two chain wheels which are symmetrically arranged are fixed on the top end of the vehicle body through one transmission shaft and one bearing; the automatic feeding device is simple in structure, low in production cost, stable in operation, long in service life, automatic in realization and high in universality.
The technical scheme is further limited, the positioning devices are symmetrically arranged at the front end of the vehicle body and comprise a cylinder support, a positioning cylinder and a swing arm, the positioning cylinder and the swing arm are hinged with the cylinder support through a pin shaft, a push rod of the positioning cylinder is hinged with the swing arm through a pin shaft, and the swing arm horizontally rotates through the positioning cylinder; the automatic feeding device is simple in structure, low in production cost, stable in operation, long in service life, automatic in realization and high in universality.
The technical scheme is further limited, the return mechanism comprises a return cylinder, the return cylinder is fixed on the rack, and a push rod in the return cylinder is hinged with the vehicle body through a pin shaft; the automatic feeding device is simple in structure, low in production cost, stable in operation, long in service life, automatic in realization and high in universality.
The control method of the vertical transfer-hanging synchronous accompanying system comprises the following specific steps: 1) and (3) online transferring and hanging: an upper line follower device is positioned at an upper line station and below an upper line lifter, a lifting bracket waits for being in place at a high position after being lifted, a swing arm in a positioning device is in a retraction state, a PLC control system sends a signal to the upper line lifter, the upper line lifter receives the signal and detects whether a workpiece is on the bracket of the upper line lifter, if the workpiece is on, a vehicle body hanger of the upper line lifter descends from high altitude to the upper line position of a chain plate, after the lifting bracket in the follower device is connected to a white vehicle body at the high position, a vehicle body detection device and a high position limit switch send signals to the PLC control system, a vehicle body support leg detection device sends a signal back to the PLC control system after detecting that a vehicle body support leg signal is on the chain plate, the PLC control system sends an instruction to the positioning device, a positioning cylinder in the positioning device pushes the swing arm to intercept the vehicle body support leg, and when the interception is successful, the positioning cylinder swing arm catches the vehicle body support leg, the support legs of the vehicle body drag the vehicle body to move horizontally, at the moment, the vehicle body and the chain plates are in a synchronous running state, namely, the positioning of the support legs of the vehicle body is completed, the white vehicle body falls onto the support legs of the vehicle body by the lifting bracket, when the falling action is completed, the lifting bracket is lowered in place, and then the low-position limit switch is triggered, namely, the transfer action is completed, the low-position limit switch sends a signal to the PLC, the PLC controls the swinging arm in the positioning device to reset, after the swinging arm is separated from the support legs of the vehicle body, the workpiece is moved away along with the chain plates, after the vehicle body is moved in place through inertia displacement, the limit switch is triggered, the limit switch feeds back the signal to the PLC, the PLC controls the reset cylinder to push the vehicle body to reset, after the vehicle body is reset, the reset switch is triggered and sends the signal to the PLC, the PLC controls the lifting bracket to be lifted to a high position to wait for receiving the workpiece, the high-position limit switch sends a signal to the on-line lifter, and the actions are repeated; 2) off-line transferring: the lower line follower device is positioned at the lower line station of the chain plate and below the lower line elevator, the lifting bracket waits for being in place at a low position after falling, the swing arm of the positioning device is in a withdrawing state, the vehicle body hanger in the lower line elevator is at a low position of a lifting stroke, the vehicle body support leg detection device sends a signal to the PLC control system after detecting that a vehicle body support leg signal exists on the chain plate, the PLC controls the positioning cylinder to push the swing arm to intercept the vehicle body support leg, when the interception is successful, the vehicle body support leg can drag the vehicle body to move horizontally, at the moment, the vehicle body and the chain plate are in a synchronous running state, namely, the positioning of the workpiece and the lifting bracket is completed, the lifting bracket lifts the white vehicle body to separate from the vehicle body support leg on the chain plate, when the lifting action is completed, the lifting bracket rises to the proper position and triggers the high position limit switch to send the signal to the PLC control system, and the PLC control system sends the signal to the positioning device, the PLC controls the swinging arm in the positioning device to return, the swinging arm is separated from the vehicle body supporting legs, the vehicle body supporting legs on the chain plates independently run, after the vehicle body is in place through inertial displacement, the limit switch is triggered, a signal is fed back to the PLC by the limit switch, the vehicle body stops running, a workpiece just reaches the transferring position of the offline elevator, the lifting bracket is in a high-position waiting vehicle receiving state, a signal is sent to the PLC by the vehicle body detection device after the vehicle body is detected to be in a white state, the PLC controls the offline elevator to grab the white vehicle body on the lifting bracket, after the white vehicle body is separated from the lifting bracket, a displacement signal of a vehicle body hanging frame in the offline elevator is sent to the PLC, the PLC sends a signal to the return cylinder, the return cylinder pushes the vehicle body to run reversely, meanwhile, the lifting bracket starts to fall to a low position, the lifting bracket stops falling after triggering the low-position limit switch, and stops the vehicle body walking action after triggering the return switch, the homing switch sends a signal to the PLC, the PLC controls the offline lifter to detect whether the workpiece is completely transferred, namely, the vehicle body hanger is in an idle state, the offline lifter begins to descend to a workpiece grabbing position to wait for receiving, and the actions are repeated.
Has the advantages that: the invention overcomes the defect of intermittent operation in the prior art, improves the conveying efficiency of workpieces, realizes the continuous conveying of the workpieces by the chain plates under the condition of not influencing the completion of the transferring and hanging actions of the workpieces, overcomes the defect of single action of the conventional single-machine equipment, completes the intellectualization of the equipment, improves the automation and intellectualization degree of the equipment, saves the time cost, improves the production efficiency and has high universality.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a perspective view of a follower device in the present invention.
Fig. 4 is a front view of the follower device of the present invention.
Fig. 5 is a right side view of fig. 4.
Fig. 6 is a top view of fig. 4.
Fig. 7 is a state diagram of the use of the present invention.
Fig. 8 is a control system diagram of the present invention.
Detailed Description
As shown in fig. 1, 2 and 3, the vertical transfer-hanging synchronous accompanying system comprises an upper line accompanying device and a lower line accompanying device, wherein the upper line accompanying device and the lower line accompanying device are respectively positioned on an upper line station 1A and a lower line station 2A of a chain plate conveying line; the structure of the on-line following device is the same as that of the off-line following device, and the on-line following device comprises a rack 1, a translation trolley 2, a lifting mechanism 3, a positioning device 4, a return mechanism 5, a vehicle body leg detection device 6 and a vehicle body detection device 7, wherein the translation trolley can horizontally slide in the rack, the lifting device is fixed in the translation trolley, a vehicle body leg of a chain plate conveying line can pass through the lifting mechanism, a lifting bracket in the lifting mechanism can lift a workpiece on the chain plate conveying line after the translation trolley follows the chain plate conveying line through the positioning device, the return mechanism is fixed on the rack and used for driving the translation trolley to return, the vehicle body leg detection device is fixed on the ground and close to an inlet of the rack, the leg detection device is used for detecting whether a vehicle body leg entering the translation trolley exists on the chain plate conveying line or not, and the vehicle body detection device is fixed on the ground and close to an outlet of the rack, the vehicle body detection device is used for detecting whether a vehicle body exists on the station;
as shown in fig. 3, 4, 5 and 6, the translation trolley 2 includes a guide rail 21, a trolley body 22, a trolley body travel switch 23, a collision block 24 and a limiting seat 25, the guide rail is fixed on the top surface of the frame, the trolley body can horizontally move on the guide rail through a self roller, the trolley body travel switch 23 is distributed on the guide rail along the trolley body movement direction and is respectively a reset switch 231 and a limiting switch 232, the reset switch and the limiting switch are used for feeding back a position signal of the trolley body, the collision block is fixed on the trolley body, the collision block is used for triggering the reset switch and the limiting switch, the limiting seat is fixed on the end part of the guide rail, and the limiting seat can limit the trolley body on the guide rail and avoid the trolley body from being separated from the guide rail;
as shown in fig. 3, 4, 5 and 6, the lifting mechanism 3 includes a lifting assembly and a driving assembly, the symmetrical lifting assemblies are fixed in the vehicle body, and the two sets of lifting assemblies realize synchronous lifting action through the driving assembly; the lifting assembly comprises a guide seat 31, a lifting bracket 32, a slide rail 33, a high-position limit switch and a low-position limit switch, the guide seat is fixed on the rack, the slide rail fixed on the lifting bracket is connected with the guide seat in a sliding manner, the top end of the lifting bracket can support a workpiece, the high-position limit switch and the low-position limit switch are fixed on the rack, the high-position limit switch is used for limiting the lifting height of the lifting bracket, and the low-position limit switch is used for limiting the descending position of the lifting bracket;
the functions of the high-position limit switch and the low-position limit switch belong to the common knowledge in the field of elevators, are not drawn in the drawings, and do not influence the implementation of the technicians in the field;
as shown in fig. 3, 4, 5 and 6, the driving assembly includes a chain wheel 34, a transmission shaft 35, a driving motor 36 and a chain 37, two symmetrically disposed chain wheels are fixed on the top end of the vehicle body through a transmission shaft and two bearings, the transmission shaft is connected with the driving motor fixed on the vehicle body, the two chain wheels are fixedly connected with the lower ends of the lifting brackets in the two sets of lifting devices through two chains, and the chains are used for drawing the lifting brackets to do lifting movement; namely, two ends of the chain are respectively and fixedly connected with the corresponding chain wheel and the lower end of the lifting bracket;
as shown in fig. 3, 4, 5 and 6, the positioning devices 4 are symmetrically arranged at the front end of the vehicle body and comprise a cylinder support 41, a positioning cylinder 42 and a swing arm 43, the positioning cylinder and the swing arm are hinged with the cylinder support through a pin shaft, a push rod of the positioning cylinder is hinged with the swing arm through a pin shaft, and the swing arm horizontally rotates through the positioning cylinder;
as shown in fig. 3, 4, 5 and 6, the return mechanism 5 includes a return cylinder fixed on the frame, and a push rod in the return cylinder is hinged to the vehicle body through a pin.
The control method of the vertical transfer-hanging synchronous accompanying system comprises the following specific steps: 1) and (3) online transferring and hanging: as shown in fig. 3, 7 and 8, the upper line follower is located at the upper line station 1A and below the upper line elevator 8, the lifting bracket waits for being in place at a high position after being lifted, the swing arm in the positioning device is in a retraction state, the PLC control system sends a signal to the upper line elevator, the upper line elevator receives the signal and detects whether a workpiece (a white body) is on the bracket of the upper line elevator, if the workpiece is on, the body hanger of the upper line elevator descends from high altitude to the position where the chain plate is on line, the lifting bracket in the follower sends a signal to the body detection device (a visual sensor) and a high position limit switch (a roller travel switch) after the body hanger is connected to the white body at the high position, the body detection device (a proximity switch) sends a signal to the PLC control system after detecting that a body landing leg 10 signal is on the chain plate 9, and the PLC control system sends an instruction to the positioning device, a positioning cylinder in the positioning device pushes a swing arm to intercept the support legs of the vehicle body, when the interception is successful, the swing arm of the positioning cylinder hooks the support legs of the vehicle body, the support legs of the vehicle body can drag the vehicle body to move horizontally, at the moment, the vehicle body and a chain plate are in a synchronous running state, the support legs of the vehicle body are positioned, a white vehicle body 11 falls onto the support legs of the vehicle body by a lifting bracket, when the falling action is completed, the lifting bracket triggers a low-position limit switch (a roller type travel switch) after falling to the proper position, namely, the transferring action is completed, the low-position limit switch sends a signal to a PLC (programmable logic controller), the PLC controls the swing arm in the positioning device to return, after the swing arm is separated from the support legs of the vehicle body, a workpiece is moved away along with the chain plate, after the vehicle body is moved to the proper position by inertia, the limit switch (the roller type travel switch) is triggered, the limit switch feeds back a signal to the PLC, the PLC controls a return cylinder to push the vehicle body to return to the return switch (the roller type travel switch) and sends the signal to the PLC, the PLC controls the lifting bracket to rise to a high position to wait for receiving the workpiece, and the high position limit switch sends a signal to the online lifter to repeat the actions;
2) off-line transferring: as shown in fig. 3, 7 and 8, the lower line follower device is located at the link plate lower line station and below the lower line elevator 12, the lifting bracket waits to be in place at a low position after falling, the swing arm of the positioning device is in a retraction state, the vehicle body hanger in the lower line elevator is at a low position of a lifting stroke, the vehicle body leg detection device (proximity switch) detects that the vehicle body leg 8 signal is on the link plate 7 and then sends a signal back to the PLC control system, the PLC controls the positioning cylinder to push the swing arm to intercept the vehicle body leg, when the interception is successful, the vehicle body leg can drag the vehicle body to move horizontally, at the moment, the vehicle body and the link plate are in a synchronous operation state, namely, the positioning of the workpiece and the lifting bracket is completed, the lifting bracket lifts the white vehicle body and separates from the vehicle body leg on the link plate, and when the lifting bracket is lifted to the right position, the high limit switch is triggered to send a signal to the PLC control system, the PLC control system sends a signal to the positioning device, the PLC controls the swinging arm in the positioning device to return, the swinging arm is separated from the support leg of the vehicle body, the support leg of the vehicle body on the chain plate independently walks, the vehicle body is triggered to the limit switch after being in place through inertial displacement, the limit switch feeds back a signal to the PLC, the vehicle body stops running, a workpiece just reaches the transferring position of the offline lifter, the lifting bracket is in a high-position waiting pick-up state, a vehicle body detection device (a visual sensor) detects a white vehicle body and then sends a signal to the PLC, the PLC controls the offline lifter to grab the white vehicle body on the lifting bracket, after the white vehicle body is separated from the lifting bracket, the displacement signal of the vehicle body hanging frame in the offline lifter is sent to the PLC, the PLC sends a signal to the return cylinder, the return cylinder pushes the vehicle body to run reversely, meanwhile, the lifting bracket starts to descend to a low position, the lifting bracket stops descending action after being triggered to the low-position limit switch, after the vehicle body triggers the homing switch, the vehicle body stops moving, the homing switch sends a signal to the PLC, the PLC controls the offline elevator to detect whether the workpiece is completely transferred (namely, the vehicle body hanging rack is in an idle state), the offline elevator starts to descend to a workpiece grabbing position to wait for receiving, and the actions are repeated.
Those skilled in the art will appreciate that the details given herein are not exhaustive and are within the ordinary skill in the art.
Claims (2)
1. The control method of the vertical transfer-hanging synchronous accompanying system is characterized in that: the vertical transfer-hanging synchronous accompanying system comprises an upper line accompanying device and a lower line accompanying device, wherein the upper line accompanying device and the lower line accompanying device are respectively positioned on an upper line station and a lower line station of the chain plate conveying line; the structure of the on-line following device is the same as that of the off-line following device, and the on-line following device comprises a rack, a translation trolley, a lifting mechanism, a positioning device, a return mechanism, a vehicle body leg detection device and a vehicle body detection device, wherein the translation trolley can horizontally slide in the rack, the lifting mechanism is fixed in the translation trolley, a vehicle body leg of a chain plate conveying line can pass through the lifting mechanism, a lifting bracket in the lifting mechanism can lift a workpiece on the chain plate conveying line after the translation trolley follows the chain plate conveying line through the positioning device, the return mechanism is fixed on the rack and used for driving the translation trolley to return, the leg detection device is used for detecting whether a vehicle body leg entering the translation trolley exists on the chain plate conveying line, and the vehicle body detection device is used for detecting whether a vehicle body exists on a station;
the lifting mechanism comprises a lifting assembly and a driving assembly, the symmetrical lifting assemblies are fixed in the vehicle body, and the two sets of lifting assemblies realize synchronous lifting action through the driving assembly; the lifting assembly comprises a guide seat, a lifting bracket, a slide rail, a high-position limit switch and a low-position limit switch, the guide seat is fixed on the rack, the slide rail fixed on the lifting bracket is connected with the guide seat in a sliding manner, the high-position limit switch and the low-position limit switch are fixed on the rack, the high-position limit switch is used for limiting the lifting height of the lifting bracket, and the low-position limit switch is used for limiting the descending position of the lifting bracket; the driving assembly comprises chain wheels, transmission shafts, driving motors and chains, wherein the two chain wheels which are symmetrically arranged are fixed on the top end of the vehicle body through one transmission shaft and one bearing;
the positioning devices are symmetrically arranged at the front end of the vehicle body and comprise a cylinder support, a positioning cylinder and a swing arm, the positioning cylinder and the swing arm are hinged with the cylinder support through a pin shaft, a push rod of the positioning cylinder is hinged with the swing arm through a pin shaft, and the swing arm horizontally rotates through the positioning cylinder;
the return mechanism comprises a return cylinder, the return cylinder is fixed on the rack, and a push rod in the return cylinder is hinged with the vehicle body through a pin shaft;
the return mechanism comprises a return cylinder, the return cylinder is fixed on the rack, and a push rod in the return cylinder is hinged with the vehicle body through a pin shaft;
the control method based on the vertical transfer-hanging synchronous accompanying system specifically comprises the following steps: 1) and (3) online transferring and hanging: the upper line following device is positioned at an upper line station and below the upper line lifter, a lifting bracket in the upper line following device waits for being positioned at a high position after being lifted, a swing arm in the upper line following device is in a withdrawing state, the PLC control system sends a signal to the upper line lifter, the upper line lifter receives the signal and detects whether a white automobile body exists on the bracket of the upper line lifter, if the white automobile body exists, an automobile body hanger of the upper line lifter descends from high altitude to the upper line position of a chain plate, after the lifting bracket in the upper line following device is connected to the white automobile body at the high position, an automobile body detection device and a high position limit switch in the upper line following device send signals to the PLC control system, after an automobile body support leg detection device in the upper line following device detects that an automobile body support leg signal exists on the chain plate, a signal is sent back to the PLC control system, and the PLC control system sends an instruction to a positioning device in the upper line following device, a positioning cylinder in the positioning device pushes a swing arm to intercept the support legs of the vehicle body, when the interception is successful, the swing arm hooks the support legs of the vehicle body, the support legs of the vehicle body can drag the vehicle body in the upper line follow-up device to move horizontally, at the moment, the vehicle body and the chain plates are in a synchronous operation state, namely, the positioning of the support legs of the vehicle body is completed, a lifting bracket in the upper line follow-up device drops the white vehicle body onto the support legs of the vehicle body, when the dropping action is completed, the lifting bracket in the upper line follow-up device drops to the proper position to trigger a low-position limit switch in the upper line follow-up device, namely, the transfer action is completed, the low-position limit switch sends a signal to a PLC (programmable logic controller), the PLC controls the swing arm in the upper line follow-up device to return, the white vehicle body moves along with the chain plates after the swing arm is separated from the support legs of the vehicle body, the vehicle body in the upper line follow-up device is in proper position through inertia displacement, the limit switch triggers the limit switch to feed back the signal to the PLC, the PLC controls the return cylinder to push the vehicle body to return, the return switch is triggered and sends a signal to the PLC after the vehicle body in the on-line follow-up device returns, the PLC controls the lifting bracket in the on-line follow-up device to rise to a high position to wait for the white vehicle body to be connected, and the high position limit switch in the on-line follow-up device is triggered to send a signal to the on-line lifter, and the actions are repeated;
2) off-line transferring: the lower line following device is positioned at the lower line station of the chain plate and below the lower line lifter, a lifting bracket in the lower line following device waits for being in place at a low position after falling, a swing arm in the lower line following device is in a withdrawing state, a vehicle body hanger in the lower line lifter is at a low position of a lifting stroke, a vehicle body support leg detection device in the lower line following device detects that a vehicle body support leg signal exists on the chain plate and then sends a signal back to a PLC control system, the PLC controls the swing arm in the lower line following device to intercept the vehicle body support leg, when the interception is successful, the vehicle body support leg can drag the vehicle body in the lower line following device to horizontally move, at the moment, the vehicle body and the chain plate in the lower line following device are in a synchronous operation state, namely the positioning of the white vehicle body and the lifting bracket in the lower line following device is completed, the lifting bracket in the lower line following device lifts the white vehicle body and separates from the vehicle body support leg on the chain plate, when the lifting action is finished, a lifting bracket in the lower wire following device rises to a position to trigger a high-position limit switch in the lower wire following device to send a signal to a PLC control system, the PLC control system sends a signal to a positioning device in the lower wire following device, the PLC controls a swing arm in the lower wire following device to return, the swing arm is separated from a support leg of a vehicle body, the support leg of the vehicle body on a chain plate independently walks, the vehicle body in the lower wire following device is moved to the position through inertia and then triggers a limit switch in the lower wire following device, the limit switch feeds back a signal to the PLC, the vehicle body in the lower wire following device stops running, the white vehicle body just reaches a transfer position of the lower wire lifter, the lifting bracket in the lower wire following device is in the high position to wait for receiving the white vehicle body, a vehicle body detection device in the lower wire following device sends a signal to the PLC after detecting the white vehicle body, the PLC controls the lower wire lifter to grab the white vehicle body on the lifting bracket in the lower wire following device, after the white car body is separated from the lifting bracket, a displacement signal of a car body hanging rack in the off-line lifter is sent to the PLC, the PLC sends a signal to the off-line follow-up device, a return cylinder in the off-line follow-up device pushes the car body to run reversely, meanwhile, the lifting bracket in the off-line follow-up device starts to descend to a low position, the lifting bracket triggers a low position limit switch in the off-line follow-up device and then descends to stop, the car body in the off-line follow-up device triggers a return switch, the car body walking action stops, the return switch in the off-line follow-up device sends a signal to the PLC, the PLC controls the off-line lifter to detect whether the white car body is completely transferred, namely, the car body hanging rack is in an idle state, the off-line lifter starts to descend to a position for grabbing the white car body to wait for receiving the white car body, and the actions are repeated.
2. The method for controlling a vertical-hung synchronous traveling system according to claim 1, wherein: the translation trolley comprises a guide rail, a trolley body travel switch, a collision block and a limiting seat, wherein the guide rail is fixed on the top surface of the rack, the trolley body can horizontally move on the guide rail through a self roller, the trolley body travel switch is distributed on the guide rail along the movement direction of the trolley body, the trolley body travel switch is used for feeding back a position signal of the trolley body, the collision block is fixed on the trolley body and used for triggering the trolley body travel switch, the limiting seat is fixed on the end part of the guide rail, and the limiting seat can limit the trolley body on the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110641941A (en) | 2020-01-03 |
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Denomination of invention: Vertical hanging synchronous accompanying system and its control method Effective date of registration: 20220325 Granted publication date: 20211130 Pledgee: Bank of China Limited by Share Ltd. Shiyan branch Pledgor: HUBEI MENGCHENG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2022980003079 |
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Denomination of invention: Vertical hanging synchronous accompanying system and its control method Granted publication date: 20211130 Pledgee: Bank of China Limited by Share Ltd. Shiyan branch Pledgor: HUBEI MENGCHENG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2024980007332 |