CN113213184A - Adopt from travelling car's integrated system of processing of tiled - Google Patents
Adopt from travelling car's integrated system of processing of tiled Download PDFInfo
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- CN113213184A CN113213184A CN202110351101.3A CN202110351101A CN113213184A CN 113213184 A CN113213184 A CN 113213184A CN 202110351101 A CN202110351101 A CN 202110351101A CN 113213184 A CN113213184 A CN 113213184A
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- 238000000034 method Methods 0.000 claims abstract description 23
- 238000003754 machining Methods 0.000 claims description 13
- 238000009826 distribution Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000005570 vertical transmission Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 239000002699 waste material Substances 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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/02—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge
- B65G63/022—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge for articles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a flat-laying type integrated processing system adopting self-moving trolleys, which is characterized in that a grid type processing space is laid on the ground, a certain number of self-moving trolleys are correspondingly configured, in the process of fixing the advancing route of the self-moving trolleys, tasks are disassembled, the processing process is decomposed into a plurality of subtasks and is finished by different self-moving trolleys, the local queuing time is saved, and the controller is matched with the grid type processing space and the whole operation of the self-moving trolleys to control the whole advancing, so that the whole working hour is shortened. The small machine tool can be randomly paved in practical application, is convenient to set, can meet the arrangement of a flat or slightly gentle slope ground only by ensuring that the moving time of the self-moving trolley between two grids is equal, can build a system at a basically reasonable position based on requirements at any time, and is convenient for standardized production of related components; the loss in the loading, unloading and distribution processes is avoided, the engineering process is ensured, and the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of parts, components or accessories of machine tools, such as profiling devices or control devices, in particular to a flat-laying integrated processing system adopting a self-moving trolley.
Background
Machine tools, also called machine tools or machine tools, are generally classified into metal cutting machines, forging machines, woodworking machines, etc., but parts requiring high precision and fine surface roughness are generally finished by cutting on the machine tools.
In fact, in the field of actual machining, there are also many small machine tools, which are generally used to perform some small operations in a large workpiece; because the volume is slightly small and the mobility is large, a field cannot be separately developed for the machine tools in practical application, the waste of resources exists due to the adoption of a fixed field, and meanwhile, the small machine tools are mostly used for processing small parts, the process is complex and tedious, so that the loss is overlarge in the actual loading, unloading and distribution processes, and the engineering process is directly delayed.
Disclosure of Invention
The invention solves the problems in the prior art and provides an optimized tiled integrated processing system adopting a self-moving trolley.
The technical scheme adopted by the invention is that the tiled integrated processing system adopting the self-moving trolley comprises a grid type processing space paved on the ground, and a plurality of self-moving trolleys are arranged corresponding to the grid type processing space in a matched manner; the number of the self-moving trolleys is less than or equal to the grid number of the grid type processing space; and a controller is arranged by matching the grid type processing space and the self-moving trolley.
Preferably, the grid type processing space comprises a plurality of sub-processing spaces, the sub-processing spaces are arranged in an array mode, and the distance between any two sub-processing spaces is larger than or equal to the outer diameter of the self-moving trolley; and a sensing unit is arranged in cooperation with any sub-processing space and is arranged in cooperation with the controller.
Preferably, the sensing unit comprises one or more groups of infrared sensors which are matched and arranged in the sub-processing space.
Preferably, a signal emitter is arranged in cooperation with the sub-processing space, and the signal emitter is arranged in cooperation with the controller.
Preferably, the bottom of any one of the self-moving trolleys is provided with a moving wheel, a processing station is arranged on any one of the self-moving trolleys, and processing equipment and a mechanical arm are arranged on the self-moving trolley corresponding to any one of the processing stations; the moving wheel, the processing equipment and the mechanical arm are arranged in a matched manner with the controller.
Preferably, the control of the system comprises the steps of:
step 1: configuring a system;
step 2: acquiring a processing task, and compiling a processing scheme to obtain a corresponding task tree;
and step 3: acquiring an execution scheme based on the grid information and the self-moving trolley information;
and 4, step 4: comprehensively planning all tasks to be executed, and performing task duplicate removal on any self-moving trolley;
and 5: and performing machining.
Preferably, in the step 1, the configuration system includes configuring the transverse length W and the longitudinal length H of the sub-processing space, configuring the moving speed v of the self-moving trolley, the processing time t, and a processing procedure corresponding to any self-moving trolley.
Preferably, the step 3 comprises the steps of:
step 3.1: grading the task tree from a leaf node to a root node to obtain one or more child nodes corresponding to a first-level parent node;
step 3.2: acquiring initial positions of all current self-moving trolleys relative to a grid type processing space;
step 3.3: configuring a self-moving trolley for the child nodes corresponding to one or more current parent nodes based on a distance nearest principle;
step 3.4: refreshing the positions of all the current self-moving trolleys relative to the grid type processing space, and if the self-moving trolleys used in the step 3.3 are applied to subsequent processing tasks, configuring the homing positions of the self-moving trolleys to the execution positions of subsequent procedures based on the nearest distance principle;
step 3.5: folding the processed father node and the corresponding child nodes to serve as new child nodes, taking the father node corresponding to the new child node as a new father node, returning to the step 3.3 until the configuration of the self-moving trolley corresponding to the root node is completed, and then carrying out the next step;
step 3.6: an execution scheme is obtained.
Preferably, task deduplication is performed if either self-moving cart is performed in two consecutive processing steps.
Preferably, in the step 5, the starting position, the handover position and the destination position of the self-moving car in all the movements in the time interval are acquired, an action route is planned, and a starting instruction of the controller is acquired from the self-moving car to start working.
The invention provides an optimized flat-bed integrated processing system adopting self-moving trolleys, which is characterized in that a grid type processing space is paved on the ground, a certain number of self-moving trolleys are arranged corresponding to the grid type processing space, in the process of fixing the advancing route of the self-moving trolleys, tasks are disassembled, so that the processing process is decomposed into a plurality of subtasks and is finished by different self-moving trolleys, the local queuing time is saved, and the controller is matched with the grid type processing space and the integral operation of the self-moving trolleys to control the integral advancing, so that the integral working hour is finally shortened.
The small machine tool can be randomly paved in practical application, the whole machine tool is convenient to set, the arrangement of the flat or slightly gentle slope ground can be met only by ensuring that the moving time of the self-moving trolley between two grids is equal, a system can be built at a basically reasonable position at any time based on requirements, and related components can be conveniently produced in a standardized manner; the loss in the loading, unloading and distribution processes is avoided, the engineering process is ensured, and the working efficiency is high.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic structural diagram of the grid-type processing space of the present invention during mass production;
FIG. 3 is a schematic structural view of the self-moving cart of the present invention with the processing equipment and robotic arms omitted;
FIG. 4 is a diagram illustrating a structure of a task tree in step 3 according to the present invention.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
The invention relates to a flat-laying type integrated processing system adopting self-moving trolleys, which comprises a grid type processing space laid on the ground, wherein a plurality of self-moving trolleys 1 are arranged corresponding to the grid type processing space in a matched manner; the number of the self-moving trolleys 1 is less than or equal to the grid number of the grid type processing space; and a controller is arranged by matching the grid type processing space and the self-moving trolley 1.
The grid type processing space comprises a plurality of sub-processing spaces 2, the sub-processing spaces 2 are arranged in an array mode, and the distance between any two sub-processing spaces 2 is larger than or equal to the outer diameter of the self-moving trolley 1; and a sensing unit is arranged in cooperation with any sub-processing space 2 and is arranged in cooperation with the controller.
The sensing unit comprises one or more groups of infrared sensors 3 arranged in the sub-processing space 2 in a matching manner.
And a signal emitter 4 is arranged in cooperation with the sub-processing space 2, and the signal emitter 4 is arranged in cooperation with the controller.
A moving wheel 5 is arranged at the bottom of any one of the self-moving trolleys 1, a processing station 6 is arranged on any one of the self-moving trolleys 1, and processing equipment and a mechanical arm (not shown in the figure) are arranged on the self-moving trolley 1 corresponding to any one of the processing stations 6; the moving wheel 5, the processing equipment and the mechanical arm are arranged in a matching way with the controller.
In the invention, the self-moving trolley 1 is a carrier which receives the instruction of a controller and drives a moving wheel 5 to move by a built-in motor, the self-moving trolley 1 processes a workpiece on a processing station 6 through processing equipment, and the processed workpiece is placed on the processing station 6 of the next self-moving trolley 1 through a self mechanical arm; to ensure accurate placement, several sensors, including but not limited to in-position sensors, distance sensors, should be provided in conjunction with the processing station 6 and the processing equipment.
In the invention, the grid type processing space can be tiled, namely, matched with a horizontal ground, or can be tiled in an area with a certain gentle slope, and only the moving wheels 5 of the self-moving trolley 1 can be ensured to smoothly move up and down on the ground, and certainly, the grid type processing space can be in a non-ground environment, which is a content easily understood by a person skilled in the art and can be set by the person skilled in the art according to the requirement.
In the invention, in the actual operation process, in order to fully utilize the space, even a multilayer grid type processing space can be arranged in the same space, and vertical transmission is carried out through a vertical transmission mechanism; for the convenience of control and conversion, the running time of the vertical transmission mechanism in the case is generally integral multiple of the unit time of the current conventional mechanism; the current conventional unit time refers to the time from the moving cart 1 moving between the adjacent grids.
In the invention, the grid type processing space is composed of the sub-processing spaces 2 and the channels 7 between the sub-processing spaces 2, the sub-processing spaces 2 are arranged in an array, and the channels 7 are enough to pass through the movable trolley 1; generally, the machining operation should be performed in the sub-machining space 2, so that tracking using a sensing unit is required, and generally, the self-moving carriage 1 is tracked using the infrared sensor 3 as a "door"; since the grid-type processing space is actually open, in order to ensure that the self-moving trolley 1 rapidly enters the corresponding space 2 to work, the infrared sensors 3 can be arranged around the sub-processing spaces 2.
In the invention, as the sub-processing spaces 2 are arranged in an array manner, on the horizontal plane, the controller can control the sub-processing spaces according to the advancing distance only by sending the advancing command to the self-moving trolley 1; however, there is a case where the system is applied to a ground surface with a certain gradient, and at this time, although the sub-processing spaces 2 are still arranged in an array, it may not be accurate to calculate according to the distance or the number of grids, so that the signal transmitter 4 may be arranged in the sub-processing spaces 2, the signal transmitter 4 is controlled by the controller to transmit a signal to guide the self-moving cart 1, and accordingly, a signal receiver should be arranged in the self-moving cart 1.
In the invention, the grid type processing space based on the arrangement can be composed of the sub-processing space 2 and a circle of half channels 7 surrounded by the outer edge of the sub-processing space, the channels 7 at the edge part are complete channels 7 or channels for surrounding are additionally arranged, and the required sensing units are arranged in the sub-processing space 2, so that the structure is simple, and the batch production and stacking are convenient.
The control of the system comprises the following steps:
step 1: configuring a system;
in the step 1, the configuration system comprises the configuration of the transverse length W and the longitudinal length H of the sub-processing space 2, the configuration of the moving speed v and the processing time t of the self-moving trolley 1, and the processing procedure corresponding to any self-moving trolley 1.
In the present invention, in principle, to simplify the work flow, it should be ensured that the time from the travelling carriage 1 through each sub-machining space 2 (and its passage 7) is uniform.
Step 2: acquiring a processing task, and compiling a processing scheme to obtain a corresponding task tree;
in the invention, for processing tasks, two situations may occur in the process of compiling a processing scheme, one is to obtain a task tree, namely, clear partial order relation may exist between tasks, and the other is to obtain a plurality of unordered tasks, namely, tasks are finished respectively without clear relation; for the latter case, the collision can be avoided by directly completing the rotation of the self-moving trolleys 1 in turns and fixing the route; the steps 3-5 are mainly directed to the former case.
And step 3: acquiring an execution scheme based on the grid information and the information of the self-moving trolley 1;
the step 3 comprises the following steps:
step 3.1: grading the task tree from a leaf node to a root node to obtain one or more child nodes corresponding to a first-level parent node;
step 3.2: acquiring initial positions of all the current self-moving trolleys 1 relative to the grid type processing space;
step 3.3: configuring a self-moving trolley 1 for a child node corresponding to one or more current parent nodes based on a distance nearest principle;
step 3.4: refreshing the positions of all the current self-moving trolleys 1 relative to the grid-type processing space, and if the self-moving trolleys 1 used in the step 3.3 are applied to subsequent processing tasks, configuring the homing positions of the self-moving trolleys to the execution positions of subsequent procedures based on the nearest distance principle;
step 3.5: folding the processed father node and the corresponding child nodes to be used as new child nodes, and returning the father node corresponding to the new child node to the step 3.3 as the new father node until the configuration of the self-moving trolley 1 corresponding to the root node is completed and then carrying out the next step;
step 3.6: an execution scheme is obtained.
In the present invention, the root node is the largest parent node, and both the child node and the parent node may be leaf nodes, for example, for the parent node G2 which is not the root node, it is the parent node of G1, but is also the child node of G3.
In the invention, after the task tree is obtained, the task tree is basically disassembled and graded, for example, a root node G5 of the task tree comprises an independent child node G4 and a string of multi-layer node sets, under the condition, the root node G5 is taken as the last level, and the top ends of the independent child node G4 and the multi-layer node sets are the penultimate levels, and so on; however, when the number of machining steps of the individual child node G4 is too long, the individual child node G4 may be arranged at a level substantially corresponding to the number of machining steps, as indicated by the broken line and the corresponding G4'.
In the invention, a child node corresponding to a first-level parent node is processed, operation is carried out based on a processing procedure needing processing and the current position of the self-moving trolley 1, and the distance nearest principle means that the self-moving trolley 1 which is the closest to the current processing procedure is configured to operate.
In the invention, in step 3.4, the heading of the self-moving trolley 1 which has given out the workpiece should be pointed to the position near the position to be applied next time, and the priority of the heading is lower, the self-moving trolley 1 should be actively avoided, and the self-moving trolley 1 is only required to be ensured to be in place in the next operation process.
In the invention, after the father node of the first level is processed, the father node of the first level becomes a child node and continues the subsequent operation.
And 4, step 4: comprehensively planning all tasks to be executed, and performing task duplicate removal on any self-moving trolley 1;
if any one of the self-moving carriages 1 is executed in two consecutive working processes, task deduplication is performed.
In the invention, when one self-moving trolley 1 is executed in two continuous processing procedures, the duplication is directly removed, and the self-moving trolley is reserved for executing the two processing procedures, so that the time for returning to a certain position is saved.
And 5: and performing machining.
In the step 5, the starting position, the handover position and the destination position of the self-moving trolley 1 in all the movements in the time interval are obtained, an action route is planned, and a starting instruction of the controller is obtained from the self-moving trolley 1 to start working.
Claims (10)
1. The utility model provides an adopt from integrated system of processing of floor formula of travelling car which characterized in that: the system comprises a grid type processing space paved on the ground, and a plurality of self-moving trolleys are arranged corresponding to the grid type processing space in a matched mode; the number of the self-moving trolleys is less than or equal to the grid number of the grid type processing space; and a controller is arranged by matching the grid type processing space and the self-moving trolley.
2. The flatbed integrated processing system using self-moving cart of claim 1, wherein: the grid type processing space comprises a plurality of sub-processing spaces which are arranged in an array mode, and the distance between any two sub-processing spaces is larger than or equal to the outer diameter of the self-moving trolley; and a sensing unit is arranged in cooperation with any sub-processing space and is arranged in cooperation with the controller.
3. The flatbed integrated processing system using self-moving cart according to claim 2, wherein: the sensing unit comprises one or more groups of infrared sensors which are arranged in the sub-processing space in a matched mode.
4. A flat type integrated processing system using a self-moving carriage according to claim 2 or 3, wherein: and a signal emitter is arranged in cooperation with the sub-processing space and is arranged in cooperation with the controller.
5. The flatbed integrated processing system using self-moving cart of claim 1, wherein: the bottom of any one of the self-moving trolleys is provided with a moving wheel, a machining station is arranged on any one of the self-moving trolleys, and machining equipment and a mechanical arm are arranged on the self-moving trolley corresponding to any one of the machining stations; the moving wheel, the processing equipment and the mechanical arm are arranged in a matched manner with the controller.
6. The flatbed integrated processing system using self-moving cart of claim 1, wherein: the control of the system comprises the following steps:
step 1: configuring a system;
step 2: acquiring a processing task, and compiling a processing scheme to obtain a corresponding task tree;
and step 3: acquiring an execution scheme based on the grid information and the self-moving trolley information;
and 4, step 4: comprehensively planning all tasks to be executed, and performing task duplicate removal on any self-moving trolley;
and 5: and performing machining.
7. The integrated flatbed processing system with self-propelled carriages of claim 6, wherein: in the step 1, the configuration system comprises a transverse length W and a longitudinal length H for configuring the sub-processing space, a moving speed v for configuring the self-moving trolley, a processing time t and a processing procedure corresponding to any self-moving trolley.
8. The integrated flatbed processing system with self-propelled carriages of claim 6, wherein: the step 3 comprises the following steps:
step 3.1: grading the task tree from a leaf node to a root node to obtain one or more child nodes corresponding to a first-level parent node;
step 3.2: acquiring initial positions of all current self-moving trolleys relative to a grid type processing space;
step 3.3: configuring a self-moving trolley for the child nodes corresponding to one or more current parent nodes based on a distance nearest principle;
step 3.4: refreshing the positions of all the current self-moving trolleys relative to the grid type processing space, and if the self-moving trolleys used in the step 3.3 are applied to subsequent processing tasks, configuring the homing positions of the self-moving trolleys to the execution positions of subsequent procedures based on the nearest distance principle;
step 3.5: folding the processed father node and the corresponding child nodes to serve as new child nodes, taking the father node corresponding to the new child node as a new father node, returning to the step 3.3 until the configuration of the self-moving trolley corresponding to the root node is completed, and then carrying out the next step;
step 3.6: an execution scheme is obtained.
9. The integrated flatbed processing system with self-propelled carriages of claim 6, wherein: if any of the self-moving carriages is executed in two consecutive machining processes, task deduplication is performed.
10. The integrated flatbed processing system with self-propelled carriages of claim 6, wherein: in the step 5, the starting position, the handover position and the destination position of the self-moving trolley in all the movements in the time interval are obtained, an action route is planned, and the self-moving trolley obtains a starting instruction of the controller to start working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110351101.3A CN113213184B (en) | 2021-03-31 | 2021-03-31 | Adopt from travelling car's integrated system of processing of tiled |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110351101.3A CN113213184B (en) | 2021-03-31 | 2021-03-31 | Adopt from travelling car's integrated system of processing of tiled |
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| CN113213184A true CN113213184A (en) | 2021-08-06 |
| CN113213184B CN113213184B (en) | 2022-10-28 |
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| KR20000056734A (en) * | 1999-02-25 | 2000-09-15 | 윤종용 | Position inspecting apparatus for agv(automated guided vehicle) and method thereof |
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