CN111158310A - Windmill switching control method, system and storage medium - Google Patents

Windmill switching control method, system and storage medium Download PDF

Info

Publication number
CN111158310A
CN111158310A CN201911333902.6A CN201911333902A CN111158310A CN 111158310 A CN111158310 A CN 111158310A CN 201911333902 A CN201911333902 A CN 201911333902A CN 111158310 A CN111158310 A CN 111158310A
Authority
CN
China
Prior art keywords
windmill
positioning
conveying
servo motor
switching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911333902.6A
Other languages
Chinese (zh)
Inventor
徐观旺
艾久文
李庆
李军辉
杨猛
陈振城
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Mino Automotive Equipment Co Ltd
Original Assignee
Guangzhou Mino Automotive Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Mino Automotive Equipment Co Ltd filed Critical Guangzhou Mino Automotive Equipment Co Ltd
Priority to CN201911333902.6A priority Critical patent/CN111158310A/en
Publication of CN111158310A publication Critical patent/CN111158310A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/35Nc in input of data, input till input file format
    • G05B2219/35349Display part, programmed locus and tool path, traject, dynamic locus
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention discloses a windmill switching control method, a system and a storage medium, wherein a multi-shaft servo motor positioning mechanism is adopted to replace an air cylinder, and a windmill switching mechanism on the servo positioning mechanism can flexibly move in the X/Y/Z direction; the servo positioning mechanism sets a target position for each trolley windmill mechanism positioning hole, and when one conveying trolley reaches the windmill switching station, the servo motor positioning mechanism can accurately run to the target position relative to the numbered conveying trolley. The windmill switching system can switch windmill mechanisms of various trolleys, and more than 4 types of vehicles can be produced on one white vehicle body welding production line; meanwhile, the invention can reduce the requirement of the windmill switching mechanism on consistency of a large number of windmill mechanism positioning holes of the conveying trolley, reduce the precision adjustment difficulty of the windmill mechanism positioning holes and shorten the adjustment time of the windmill mechanism positioning holes. The invention can be widely applied to the technical field of automatic equipment.

Description

Windmill switching control method, system and storage medium
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a windmill switching control method, a windmill switching control system and a storage medium.
Background
Along with the development of the times, the demand of automobiles is rapidly increased, the automatic welding production lines of body-in-white of various automobile manufacturers are more and more, and the automobile production lines need more and more compatible automobile types. In order to realize compatibility of multiple vehicle types, a positioning pin windmill mechanism suitable for multiple different vehicle types needs to be added on the conveying trolley, and a windmill switching system is needed to realize switching of the windmill mechanism. When different vehicle types need to be switched in a white vehicle body welding production line, after a conveying trolley arrives at a windmill switching station from a previous station, a plurality of cylinders push a windmill switching mechanism to advance, positioning pins of the windmill switching mechanism are gradually inserted into positioning holes of the windmill mechanism, the windmill switching mechanism drives the windmill mechanism to rotate and switch to the corresponding vehicle type after the cylinders extend out of place, then all the cylinders retract to a standby position, and the conveying trolley is conveyed to the next station.
However, in the above-mentioned control scheme of the windmill switching system, the position of the cylinder in the X/Z direction is fixed, so that only the windmill mechanism of one kind of trolley can be switched, and the requirement of collinear production of more than 4 different types of vehicles cannot be met; the conveying trolleys on the white body welding production line are large in number, the cylinder has high requirement on the consistency of the positioning holes of the windmill mechanisms of the conveying trolleys, and the precision adjustment difficulty is large; the locating pin of the windmill switching mechanism is easy to wear, and the service life of the locating pin is short.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, a system, and a storage medium for controlling windmill switching, which reduce the difficulty in adjustment and are beneficial to improving the service life of a positioning pin.
In a first aspect, an embodiment of the present invention provides a method for controlling windmill switching, including:
acquiring the position information of a positioning pin inserted into a positioning hole of the windmill mechanism on each conveying trolley;
configuring motion information of the multi-axis servo motor positioning mechanisms on two sides of the conveying trolley, wherein the motion information comprises an original point of the multi-axis servo motor positioning mechanism, inching action of the multi-axis servo motor positioning mechanism and positioning action of the multi-axis servo motor positioning mechanism;
configuring origin information of a servo motor;
controlling a motor of a multi-shaft servo motor positioning mechanism to move, recording the current position of the motor, and determining that the current position is the windmill switching target position of the conveying trolley with the current number;
copying the information of the windmill switching target position to all conveying trolleys;
conveying the conveying trolley with the current number to the next station, conveying the conveying trolley with the other number to a windmill switching station, and recording the windmill switching target position of the conveying trolley with the other number until the windmill switching target positions of all the conveying trolleys with the numbers are recorded;
according to the production vehicle type needing to be switched, the multi-shaft servo motor positioning mechanism is operated to the position of a windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all numbered conveying trolleys in the record;
controlling a motor of the windmill switching mechanism to rotate the windmill mechanism to a target vehicle type;
and controlling the multi-shaft servo motor positioning mechanism to return to the standby position, and conveying the conveying trolley to the next station.
Further, the method also comprises the following steps:
configuring RFID label information of the conveying trolley;
and the serial number of the conveying trolley is a trolley serial number stored in the RFID label.
Further, the step of controlling the movement of the motor of the multi-axis servo motor positioning mechanism, recording the current position of the motor, and determining that the current position is the windmill switching target position of the transport cart of the current number further includes, before recording the current position of the motor, the step of:
and inserting a positioning pin of the windmill switching mechanism into each windmill mechanism positioning hole of the conveying trolley.
Further, information of the windmill switching target position is stored in a data register.
Further, the method also comprises the following steps:
when the positioning pin of the windmill switching mechanism is about to be inserted into the positioning hole of the windmill mechanism, the interference between the positioning pin and the edge of the positioning hole is detected, and then the corresponding servo motor is moved to enable the positioning pin to be inserted into the positioning hole.
Further, the step of operating the multi-axis servo motor positioning mechanism to the windmill mechanism positioning hole position corresponding to the production vehicle type according to the windmill switching target positions of all the numbered conveying trolleys in the record for the production vehicle type to be switched as required comprises the following steps:
when the production vehicle type needs to be switched, controlling the servo motor positioning mechanism to return to the standby position;
conveying the conveying trolley to a windmill switching station;
reading trolley numbers stored in RFID labels of the conveying trolleys;
and operating the switching multi-shaft servo motor positioning mechanism to the position of the windmill mechanism positioning hole of the conveying trolley with the corresponding RFID number.
In a second aspect, an embodiment of the present invention provides a windmill switching control system, including an HMI, a PLC, a remote IO module, a switch, a frequency converter, a servo driver, a servo motor, and an RFID system; the HMI, the PLC, the remote IO module, the frequency converter, the servo driver and the RFID system are connected to the switch through network cables; the servo driver is connected with the servo motor; the frequency converter is connected to the windmill switching motor;
the HMI is used for displaying the running state of the current station;
the PLC is used for receiving signals of the sensor; controlling the speed of the frequency converter; and position control of the servo drive system;
the RFID system is used for identifying the serial number and the vehicle type information of the conveying trolley;
the remote IO module is used for receiving signals of the sensor;
the switch is used for connecting the HMI, the PLC, the remote IO module, the frequency converter and the servo driver;
the frequency converter is used for controlling the starting and running speed of the windmill switching rotating motor;
and the servo driver is used for controlling the movement of the multi-axis servo motor positioning mechanism.
In a third aspect, an embodiment of the present invention provides a windmill switching control system, including:
the first module is used for acquiring the position information of a positioning pin inserted into a positioning hole of the windmill mechanism on each conveying trolley;
the second module is used for configuring motion information of the multi-axis servo motor positioning mechanisms on two sides of the conveying trolley, and the motion information comprises an original point of the multi-axis servo motor positioning mechanism, a inching action of the multi-axis servo motor positioning mechanism and a positioning action of the multi-axis servo motor positioning mechanism;
the third module is used for configuring origin information of the servo motor;
the fourth module is used for controlling the movement of a motor of the multi-shaft servo motor positioning mechanism, recording the current position of the motor and determining that the current position is the windmill switching target position of the conveying trolley with the current number;
a fifth module, configured to copy information of the windmill switching target position to all the conveying trolleys;
the sixth module is used for conveying the conveying trolley with the current number to the next station, conveying the conveying trolley with the other number to the windmill switching station, and then recording the windmill switching target position of the conveying trolley with the other number until the windmill switching target positions of all the conveying trolleys with the numbers are recorded;
the seventh module is used for operating the multi-shaft servo motor positioning mechanism to the position of a windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all the numbered conveying trolleys in the record according to the production vehicle type needing to be switched;
the eighth module is used for controlling a motor of the windmill switching mechanism and rotating the windmill mechanism to the target vehicle type;
and the ninth module is used for controlling the multi-shaft servo motor positioning mechanism to return to a standby position and conveying the conveying trolley to the next station.
In a fourth aspect, an embodiment of the present invention provides a windmill switching control system, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the windmill switching control method according to the first aspect.
In a fifth aspect, embodiments of the present invention provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the windmill switching control method according to the first aspect.
One or more of the above-described embodiments of the present invention have the following advantages: the windmill switching system can switch windmill mechanisms of various trolleys, and more than 4 types of vehicles can be produced on one white vehicle body welding production line; meanwhile, the invention can reduce the requirement of the windmill switching mechanism on consistency of a large number of windmill mechanism positioning holes of the conveying trolley, reduce the precision adjustment difficulty of the windmill mechanism positioning holes and shorten the adjustment time of the windmill mechanism positioning holes.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a windmill switching system according to an embodiment of the invention;
FIG. 2 is a schematic view of a windmill mechanism according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a system configuration according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the overall steps of an embodiment of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
Because the existing windmill switching system can only switch the windmill mechanism of one trolley, the collinear production of more than 4 types of vehicles is difficult to realize in a white vehicle body welding production line; moreover, the uniformity of the positioning holes of the windmill mechanisms of the plurality of conveying trolleys is high, and the precision adjustment time of the windmill mechanisms is long.
In order to solve the technical problems, the technical scheme of the invention is that a multi-shaft servo motor positioning mechanism is adopted to replace an air cylinder, and a windmill switching mechanism on the servo positioning mechanism can flexibly move in the X/Y/Z direction; the servo positioning mechanism sets a target position for each trolley windmill mechanism positioning hole, and when one conveying trolley reaches the windmill switching station, the servo motor positioning mechanism can accurately run to the target position relative to the numbered conveying trolley.
As shown in fig. 3, the control system according to the embodiment of the present application is composed of an HMI, a PLC, a remote IO module, a switch, a frequency converter, a servo driver, a servo motor, and an RFID system. HMI, PLC, long-range IO module, converter, servo driver, RFID system are connected to the switch through the net twine, and servo driver links to each other with servo motor, and the converter links to each other with windmill switching motor.
The HMI is used for displaying the running state of the current station and can carry out certain operation on the equipment, and is provided with an Ethernet interface.
The PLC is used for receiving signals of the sensor, controlling the speed of the frequency converter and controlling the position of the servo driving system and is provided with an Ethernet interface.
And the remote IO module is used for receiving signals of the sensor and is provided with an Ethernet port.
The switch is used for connecting the HMI, the PLC, the remote IO module, the frequency converter and the servo driver and is provided with a plurality of Ethernet interfaces.
And the frequency converter is used for controlling the starting and running speed of the windmill switching rotating motor and is provided with an Ethernet interface.
And the servo driver is used for controlling the movement of the multi-axis servo motor positioning mechanism and is provided with an Ethernet interface.
The RFID system is used for identifying the serial number and the model information of the trolley and is provided with an Ethernet interface.
Referring to fig. 4, the windmill switching control method according to the embodiment of the present application includes the following steps:
step 1: a plurality of data registers are newly added in the PLC programming software and used for storing the positions of the windmill mechanism positioning holes of each conveying trolley, into which the windmill mechanism positioning pins are inserted; the windmill mechanism positioning hole of the embodiment of the present application is shown in fig. 2.
Step 2: compiling an operation program of the multi-shaft servo motor positioning mechanisms on the two sides of the conveying trolley in PLC programming software;
and step 3: operating and setting an origin of the servo motor on the HMI;
and 4, step 4: conveying the assembled conveying trolley with the serial number to the station;
and 5: as shown in fig. 1, the operation button on the moving panel or HMI moves the motor of the multi-axis servo positioning mechanism in the X/Y/Z direction, inserts the windmill switching mechanism positioning pin into each windmill mechanism positioning hole of the conveying trolley, and records the current position value of each axis servo motor as the windmill switching target position of the numbered trolley;
step 6: the recorded windmill switching target position values of all axes of the conveying trolleys with the current numbers are copied to windmill switching target position data registers of the servo motors of all the conveying trolleys with other numbers, so that the time for inserting positioning pins of a windmill switching mechanism into positioning holes of the mechanisms of the conveying trolleys by moving a servo positioning mechanism when the conveying trolleys with other numbers are switched can be shortened;
and 7: conveying the current conveying trolley to the next station;
and 8: conveying the other numbered conveying trolley to a windmill switching station;
and step 9: operating a button on a moving panel or an HMI (human machine interface) to enable a motor of a multi-axis servo positioning mechanism to move to a target position of a current numbering trolley, observing whether a positioning pin interferes with the edge of the positioning hole in the direction X, Z when the positioning pin of the windmill switching mechanism is about to be inserted into the positioning hole of the windmill mechanism, if so, moving the position of the servo motor in the corresponding direction to enable the positioning pin to be aligned with the positioning hole, and recording the current position value of each axis servo motor as the windmill switching target position of the numbering trolley;
step 10: repeating the steps 7-9 until the target positions of the servo positioning mechanism motors corresponding to all the numbered conveying trolleys are recorded;
step 11: in actual white automobile body welding production, when a production automobile type needs to be switched, the servo motor positioning mechanism returns to a standby position, the conveying trolley is conveyed to a windmill switching station, the RFID reads the number of the conveying trolley, the RFID sends the read information such as the trolley number to the PLC, the PLC controls the servo motor positioning mechanism to accurately run to the position of a positioning hole of the conveying trolley mechanism with the corresponding number, then the windmill switching mechanism drives the windmill mechanism to rotate to a target automobile type, the servo motor positioning mechanism returns to the standby position, and the conveying trolley is conveyed to the next station.
Corresponding to the method in fig. 4, an embodiment of the present application further provides a windmill switching control system, including:
the first module is used for acquiring the position information of a positioning pin inserted into a positioning hole of the windmill mechanism on each conveying trolley;
the second module is used for configuring motion information of the multi-axis servo motor positioning mechanisms on two sides of the conveying trolley, and the motion information comprises an original point of the multi-axis servo motor positioning mechanism, a inching action of the multi-axis servo motor positioning mechanism and a positioning action of the multi-axis servo motor positioning mechanism;
the third module is used for configuring origin information of the servo motor;
the fourth module is used for controlling the movement of a motor of the multi-shaft servo motor positioning mechanism, recording the current position of the motor and determining that the current position is the windmill switching target position of the conveying trolley with the current number;
a fifth module, configured to copy information of the windmill switching target position to all the conveying trolleys;
the sixth module is used for conveying the conveying trolley with the current number to the next station, conveying the conveying trolley with the other number to the windmill switching station, and then recording the windmill switching target position of the conveying trolley with the other number until the windmill switching target positions of all the conveying trolleys with the numbers are recorded;
the seventh module is used for operating the multi-shaft servo motor positioning mechanism to the position of a windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all the numbered conveying trolleys in the record according to the production vehicle type needing to be switched;
the eighth module is used for controlling a motor of the windmill switching mechanism and rotating the windmill mechanism to the target vehicle type;
and the ninth module is used for controlling the multi-shaft servo motor positioning mechanism to return to a standby position and conveying the conveying trolley to the next station.
The embodiment of the present invention further provides a windmill switching control system, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the windmill switching control method.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
Furthermore, the embodiment of the present invention also provides a storage medium, in which processor-executable instructions are stored, and when the processor-executable instructions are executed by a processor, the processor-executable instructions are used for executing the windmill switching control method.
In summary, compared with the prior art, the invention has the following advantages:
1. the windmill switching system can switch windmill mechanisms of various trolleys, and more than 4 types of vehicles can be produced on one white vehicle body welding production line, so that the system is more flexible and more flexible.
2. The requirement of the windmill switching mechanism on consistency of a large number of windmill mechanism positioning holes of the conveying trolley is reduced, the accuracy adjustment difficulty of the windmill mechanism positioning holes is reduced, and the adjustment time of the windmill mechanism positioning holes is shortened.
3. The positioning pin of the windmill switching mechanism can be accurately inserted into the positioning hole of the windmill mechanism, so that the abrasion of the positioning pin of the windmill switching mechanism is reduced, and the service life of the positioning pin of the windmill switching mechanism is prolonged.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A windmill switching control method is characterized in that: the method comprises the following steps:
acquiring the position information of a positioning pin inserted into a positioning hole of the windmill mechanism on each conveying trolley;
configuring motion information of the multi-axis servo motor positioning mechanisms on two sides of the conveying trolley, wherein the motion information comprises an original point of the multi-axis servo motor positioning mechanism, inching action of the multi-axis servo motor positioning mechanism and positioning action of the multi-axis servo motor positioning mechanism;
configuring origin information of a servo motor;
controlling a motor of a multi-shaft servo motor positioning mechanism to move, recording the current position of the motor, and determining that the current position is the windmill switching target position of the conveying trolley with the current number;
copying the information of the windmill switching target position to all conveying trolleys;
conveying the conveying trolley with the current number to the next station, conveying the conveying trolley with the other number to a windmill switching station, and recording the windmill switching target position of the conveying trolley with the other number until the windmill switching target positions of all the conveying trolleys with the numbers are recorded;
according to the production vehicle type needing to be switched, the multi-shaft servo motor positioning mechanism is operated to the position of a windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all numbered conveying trolleys in the record;
controlling a motor of the windmill switching mechanism to rotate the windmill mechanism to a target vehicle type;
and controlling the multi-shaft servo motor positioning mechanism to return to the standby position, and conveying the conveying trolley to the next station.
2. The windmill switching control method according to claim 1, wherein: further comprising the steps of:
configuring RFID label information of the conveying trolley;
and the serial number of the conveying trolley is a trolley serial number stored in the RFID label.
3. The windmill switching control method according to claim 1, wherein: in the step of controlling the movement of the motor of the multi-axis servo motor positioning mechanism, recording the current position of the motor, and determining that the current position is the windmill switching target position of the transport cart with the current number, the method further includes, before recording the current position of the motor, the steps of:
and inserting a positioning pin of the windmill switching mechanism into each windmill mechanism positioning hole of the conveying trolley.
4. The windmill switching control method according to claim 1, wherein: the information of the windmill switching target position is stored in a data register.
5. The windmill switching control method according to claim 1, wherein: further comprising the steps of:
when the positioning pin of the windmill switching mechanism is about to be inserted into the positioning hole of the windmill mechanism, the interference between the positioning pin and the edge of the positioning hole is detected, and then the corresponding servo motor is moved to enable the positioning pin to be inserted into the positioning hole.
6. The windmill switching control method according to claim 1, wherein: the step of operating the multi-shaft servo motor positioning mechanism to the position of the windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all the numbered conveying trolleys in the record of the production vehicle type to be switched according to the requirement comprises the following steps:
when the production vehicle type needs to be switched, controlling the servo motor positioning mechanism to return to the standby position;
conveying the conveying trolley to a windmill switching station;
reading trolley numbers stored in RFID labels of the conveying trolleys;
and operating the switching multi-shaft servo motor positioning mechanism to the position of the windmill mechanism positioning hole of the conveying trolley with the corresponding RFID number.
7. A windmill switching control system is characterized in that: the system comprises an HMI, a PLC, a remote IO module, a switch, a frequency converter, a servo driver, a servo motor and an RFID system; the HMI, the PLC, the remote IO module, the frequency converter, the servo driver and the RFID system are connected to the switch through network cables; the servo driver is connected with the servo motor; the frequency converter is connected to the windmill switching motor;
the HMI is used for displaying the running state of the current station;
the PLC is used for receiving signals of the sensor; controlling the speed of the frequency converter; and position control of the servo drive system;
the RFID system is used for identifying the serial number and the vehicle type information of the conveying trolley;
the remote IO module is used for receiving signals of the sensor;
the switch is used for connecting the HMI, the PLC, the remote IO module, the frequency converter and the servo driver;
the frequency converter is used for controlling the starting and running speed of the windmill switching rotating motor;
and the servo driver is used for controlling the movement of the multi-axis servo motor positioning mechanism.
8. A windmill switching control system is characterized in that: the method comprises the following steps:
the first module is used for acquiring the position information of a positioning pin inserted into a positioning hole of the windmill mechanism on each conveying trolley;
the second module is used for configuring motion information of the multi-axis servo motor positioning mechanisms on two sides of the conveying trolley, and the motion information comprises an original point of the multi-axis servo motor positioning mechanism, a inching action of the multi-axis servo motor positioning mechanism and a positioning action of the multi-axis servo motor positioning mechanism;
the third module is used for configuring origin information of the servo motor;
the fourth module is used for controlling the movement of a motor of the multi-shaft servo motor positioning mechanism, recording the current position of the motor and determining that the current position is the windmill switching target position of the conveying trolley with the current number;
a fifth module, configured to copy information of the windmill switching target position to all the conveying trolleys;
the sixth module is used for conveying the conveying trolley with the current number to the next station, conveying the conveying trolley with the other number to the windmill switching station, and then recording the windmill switching target position of the conveying trolley with the other number until the windmill switching target positions of all the conveying trolleys with the numbers are recorded;
the seventh module is used for operating the multi-shaft servo motor positioning mechanism to the position of a windmill mechanism positioning hole corresponding to the production vehicle type according to the windmill switching target positions of all the numbered conveying trolleys in the record according to the production vehicle type needing to be switched;
the eighth module is used for controlling a motor of the windmill switching mechanism and rotating the windmill mechanism to the target vehicle type;
and the ninth module is used for controlling the multi-shaft servo motor positioning mechanism to return to a standby position and conveying the conveying trolley to the next station.
9. A windmill switching control system is characterized in that: the method comprises the following steps:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, the at least one program causes the at least one processor to implement the windmill switch control method of any of claims 1-6.
10. A storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor executable instructions, when executed by a processor, are for performing the windmill switching control method of any of claims 1-6.
CN201911333902.6A 2019-12-23 2019-12-23 Windmill switching control method, system and storage medium Pending CN111158310A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911333902.6A CN111158310A (en) 2019-12-23 2019-12-23 Windmill switching control method, system and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911333902.6A CN111158310A (en) 2019-12-23 2019-12-23 Windmill switching control method, system and storage medium

Publications (1)

Publication Number Publication Date
CN111158310A true CN111158310A (en) 2020-05-15

Family

ID=70557731

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911333902.6A Pending CN111158310A (en) 2019-12-23 2019-12-23 Windmill switching control method, system and storage medium

Country Status (1)

Country Link
CN (1) CN111158310A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008152355A (en) * 2006-12-14 2008-07-03 Honda Motor Co Ltd Position correction device, position correction method, and program
CN104670831A (en) * 2015-01-27 2015-06-03 奇瑞汽车股份有限公司 Vehicle model switching device and switching control method
CN106425236A (en) * 2016-11-30 2017-02-22 安徽瑞祥工业有限公司 Multi-vehicle fixture switching system and switching method thereof
CN108247255A (en) * 2018-03-24 2018-07-06 上海晓奥汽车销售有限公司 For the switching system of vehicle body conveying carrier
CN109676296A (en) * 2019-02-02 2019-04-26 宁波吉利汽车研究开发有限公司 Windmill mechanism switching station and switching system
CN110355600A (en) * 2019-08-20 2019-10-22 嘉善优博自动化设备有限公司 A kind of switching equipment with windmill mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008152355A (en) * 2006-12-14 2008-07-03 Honda Motor Co Ltd Position correction device, position correction method, and program
CN104670831A (en) * 2015-01-27 2015-06-03 奇瑞汽车股份有限公司 Vehicle model switching device and switching control method
CN106425236A (en) * 2016-11-30 2017-02-22 安徽瑞祥工业有限公司 Multi-vehicle fixture switching system and switching method thereof
CN108247255A (en) * 2018-03-24 2018-07-06 上海晓奥汽车销售有限公司 For the switching system of vehicle body conveying carrier
CN109676296A (en) * 2019-02-02 2019-04-26 宁波吉利汽车研究开发有限公司 Windmill mechanism switching station and switching system
CN110355600A (en) * 2019-08-20 2019-10-22 嘉善优博自动化设备有限公司 A kind of switching equipment with windmill mechanism

Similar Documents

Publication Publication Date Title
US6968260B2 (en) Vehicle drive control apparatus, vehicle drive control method and program therefor
DE60127908T2 (en) Robot control
CN103116348B (en) production line control system and control method thereof
EP1681607B1 (en) Bending apparatus comprising means for performing setup operations
CN102804087B (en) Controller support device, simulation method of control program
US4484286A (en) Numerical control system
CN107921640A (en) Tele-manipulator system and its method of operation
US4429266A (en) Method of controlling an industrial robot
Brusoni et al. Making design rules: A multidomain perspective
CN100480911C (en) Method for controlling technical processes
JP3316004B2 (en) Configurable machine tool control
EP0201081A2 (en) Control apparatus
JP2012094159A (en) Method and system for controlling machine tool using direct transfer of machine working data
Sierla et al. Automatic assembly planning based on digital product descriptions
Reinhart et al. Automatic configuration (plug & produce) of industrial ethernet networks
CN100460159C (en) Off line programming tool for industrial robot
US20070192707A1 (en) Numerical controller
CN204585226U (en) A kind of application multi-axis motion controller on a robotic arm
CN105573253B (en) A kind of industrial robot group control system and method
US8706302B2 (en) Method for offline programming of an NC-controlled manipulator
US20040236462A1 (en) Numerical control apparatus for machine tool
US20180043534A1 (en) Method And Apparatus For Planning And/Or Control Of A Robot Application
US6167406A (en) System, method and article of manufacture for building an enterprise-wide data model
CN103608736B (en) Control device of electric motor
US8078294B2 (en) Conditional download of data from embedded historians

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination