CN113619984A - Intelligent storage device, intelligent processing equipment and control method thereof - Google Patents
Intelligent storage device, intelligent processing equipment and control method thereof Download PDFInfo
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- CN113619984A CN113619984A CN202111076175.7A CN202111076175A CN113619984A CN 113619984 A CN113619984 A CN 113619984A CN 202111076175 A CN202111076175 A CN 202111076175A CN 113619984 A CN113619984 A CN 113619984A
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- 230000008569 process Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 description 6
- 210000002268 wool Anatomy 0.000 description 6
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention discloses an intelligent storage device, an intelligent processing device and a control method thereof, wherein the intelligent storage device comprises: the material rack that has at least two-layer charging tray and promote the rotatory actuating mechanism of charging tray, every layer of charging tray all disposes recognition device alone, and the charging tray is equipped with a plurality of material levels that distribute around its rotation axis, and the material level can be followed the charging tray and rotated to its recognition device department that corresponds the layer. Intelligent processing equipment includes: the robot carries objects between the material rack and the processing device, the warehousing device, the processing device and the robot are all connected with the control system, the control system determines the material level number of the object to be conveyed as a task number according to the processing task and the processing state of the processing device, and the robot and the material tray adjust the position according to the task number to store or take out the object to be conveyed. The invention has high scanning efficiency, can realize automatic picking and placing position positioning by matching with a robot, has a protection function and prevents the damage of instruments caused by human intervention.
Description
Technical Field
The invention relates to the technical field of intelligent warehousing, in particular to an intelligent warehousing device, intelligent processing equipment and a control method of the intelligent processing equipment.
Background
With the continuous development of new technologies, the processing efficiency of a workpiece directly affects the whole production cycle of a corresponding product, for example, an electrode which is crucial to the mold industry, the feeding mode of the electrode is automatically completed by a robot instead of the traditional mode of manually operating a machine tool, and in the process, an intelligent storage device is required to be matched with the robot to automatically grab or store the electrode.
At present, a common intelligent storage device generally adopts a 360-degree fixed layer rack, a 180-degree fixed layer rack or an one-way fixed layer rack, electrode bar codes are read in a single mode, the efficiency is very low, the production cycle of a die is influenced, original storage information can be disordered when other electrodes are placed into the racks by workers, and a robot is collided when the electrodes are taken and placed, so that equipment is damaged.
Therefore, it is an urgent technical problem in the art to provide an intelligent storage device with higher efficiency of reading object information.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the intelligent storage device, the intelligent processing equipment and the control method of the intelligent storage device.
The technical scheme adopted by the invention is that the intelligent storage device is designed, and comprises the following components: the material rack that has at least two-layer charging tray and promote the rotatory actuating mechanism of charging tray, every layer of charging tray all disposes recognition device alone, and the charging tray is equipped with a plurality of material levels that distribute around its rotation axis, and the material level can be followed the charging tray and rotated to its recognition device department that corresponds the layer.
Further, all the material trays are coaxially fixed on the upright column from top to bottom; when the driving mechanism pushes the upright post to rotate, all the material trays rotate synchronously. The material levels of two adjacent charging trays are aligned up and down, the material levels on the same vertical line are taken as a column, the identification devices are vertically arranged on one side of the material rack, and each column of material levels of the material rack simultaneously reach the identification devices on the corresponding layers respectively.
Further, the work or material rest is arranged in the machine shell, the machine shell is provided with a work or material rest door capable of being opened, an electromagnetic lock is further installed between the work or material rest door and the machine shell, and the work or material rest door and the machine shell are locked when the electromagnetic lock is closed.
Further, the identification means comprises: the in-place sensor is used for detecting whether an object exists at the material level or not, and the scanning gun is used for scanning the bar code of the object; the scanning gun starts scanning when the in-position sensor detects an object.
The invention also provides intelligent processing equipment, which comprises: the storage device, the processing device and the robot are all connected with the control system; the storage device adopts the intelligent storage device, and the robot carries the objects between the material rack and the processing device.
Furthermore, each material level is provided with a unique serial number, the control system determines the material level serial number of the object to be conveyed as a task number according to the processing task and the processing state of the processing device, and the robot and the material tray adjust the positions according to the task number to store or take out the object to be conveyed.
Furthermore, the robot has only one operating position in each layer of charging tray, and the material level can rotate to the operating position of the corresponding layer of the charging tray along with the charging tray.
The invention also provides a control method of the intelligent processing equipment, which comprises the following steps:
after the intelligent processing equipment is started, the intelligent storage device executes scanning action;
the control system determines the material level number of the object to be conveyed as a task number according to the processing task and the processing state of the processing device;
judging whether the task number is correct or not;
if so, calculating the number of layers and the number of rows of the material level of the object to be conveyed according to the task number, moving the robot to an operation position of the number of layers, pushing the material tray to rotate by the driving mechanism, rotating the material level to the operation position, and storing or taking the object to be conveyed by the robot;
if the task number is incorrect, an alarm signal is sent out.
Wherein the scanning action comprises: the driving mechanism pushes the material tray to rotate, all material levels of the material tray are sequentially transferred to the identification devices on the corresponding layers of the material tray, and the information of the objects acquired by the identification devices and the serial numbers of the material levels of the objects are stored in the database.
Further, the task number is determined in the following manner: the control system determines information of the object to be conveyed according to the current processing task of the processing device, determines that the robot stores or takes out the object to be conveyed according to the processing state of the current processing task, and acquires a corresponding material level number from the database as a task number according to the information of the object to be conveyed.
Further, the control system judges whether human midway intervention exists in real time, and if yes, the intelligent storage device executes scanning again. In one embodiment, the control system determines whether the opening and closing state of the rack door of the intelligent storage device changes, and if so, determines that human intervention is in the midway.
Furthermore, the material rack door of the intelligent storage device is always in a locking state in the running process of the intelligent processing equipment.
Compared with the prior art, the invention has the following beneficial effects:
1. the intelligent storage device is provided with a plurality of recognition devices for automatically scanning and recording the information of the objects, and the multi-layer material trays are simultaneously scanned in the rotating process of the material rack, so that the scanning efficiency is obviously improved;
2. the specific position information of the object to be conveyed is automatically calculated according to the task number, the robot moves to the corresponding layer number, and the driving mechanism transfers the corresponding material level to the operating position of the robot, so that the position positioning of the taking and placing positions of the robot is realized;
3. when the man-made intervenes midway, the intelligent storage device can scan all material levels of the material rack again, so that the robot is prevented from colliding when taking and placing the electrodes, and articles and instruments are effectively protected.
Drawings
The invention is described in detail below with reference to examples and figures, in which:
FIG. 1 is a schematic side view of a smart storage device according to the present invention;
FIG. 2 is another schematic view of the smart storage device of the present invention;
fig. 3 is a flow chart illustrating a control method according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The principles of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1 and 2, the smart storage device according to the present invention is suitable for storing objects, where the stored objects have identifiers such as bar codes or chips, and the identifiers include information such as types and serial numbers of the objects, and the objects include, but are not limited to, workpieces, objects, and the like. Particularly, intelligent storage device includes work or material rest 1, actuating mechanism 2 and recognition device 3, work or material rest 1 has stand 11 and installs two-layer charging tray 12 at least on stand 11, and the shape of charging tray 12 is circular, and all charging trays 12 are fixed on stand 11 from top to bottom coaxial, and actuating mechanism 2 can adopt servo motor, and the output shaft and the 11 transmission of stand of motor are connected, sends pulse signal to the motor, and the motor promotes charging tray 12 and rotates along stand 11, and the axis of charging tray 12 is its rotation axis. It is that work or material rest 1 is static under the normal condition, and when intelligent storage device received the instruction and need take out the article, control system drive servo motor drove the charging tray and changes to the assigned position, and at the blowing in-process, work or material rest 1 can control the rotation as required manual operation.
Every layer of charging tray 12 all disposes recognition device 3 alone, and charging tray 12 is equipped with a plurality of material levels that distribute around its rotation axis, and when actuating mechanism 2 promoted stand 11 and rotates, all charging trays 12 synchronous revolution, the material level can be followed the charging tray 12 and rotated to its recognition device 3 departments that correspond the layer, scans the sign thing of the article on the material level through recognition device 3, utilizes the layered scanning of a plurality of recognition device 3 in order to improve scanning efficiency. During practical application, each material level is provided with a unique serial number, and the object information acquired by the identification device 3 and the serial number of the material level where the object is located are bound and stored in a database, so that the position of the object can be quickly positioned according to the object information.
In the preferred embodiment, all trays 12 have the same number of levels and are aligned up and down, the levels on the same tray 12 are taken as one layer, and the levels on the same vertical line, which is a straight line parallel to the axis of the tray 12, are taken as one column. Identification means 3 is at the vertical range of one side of work or material rest 1, and every row material level of work or material rest 1 arrives the identification means 3 department on corresponding layer separately simultaneously, and work or material rest 1 rotates at every turn and all can scan a row material level simultaneously promptly to the material level quantity of every charging tray 12 is N examples, and the scanning work that can all material levels completely is taken place to work or material rest 1 rotation N times, and scanning efficiency is showing and is improving.
As shown in fig. 1 and 2, the material rack 1 is arranged in the machine shell 4, the machine shell 4 is provided with an openable material rack door 5, an electromagnetic lock is further installed between the material rack door 5 and the machine shell 4, the material rack door 5 and the machine shell 4 are locked when the electromagnetic lock is closed, the electromagnetic lock is unlocked when opened, and the material rack door 5 can be opened or closed. In order to prevent man-made midway intervention, the electromagnetic lock locks the material rack door 5 and the machine shell 4 in the rotation process of the material rack 1, the material rack door 5 is not allowed to be opened, namely, the electromagnetic lock cannot be opened in the rotation process of the material rack 1, and the electromagnetic lock can be opened only after the material rack 1 stops rotating.
Further, in a preferred embodiment, the identification means 3 comprise: the device comprises an in-place sensor and a scanning gun, wherein the in-place sensor and the scanning gun are arranged at positions close to each other, the in-place sensor is used for detecting whether an object exists at a material level, the scanning gun is used for scanning a marker of the object to acquire object information, when a certain material level is transferred to the position of the identification device 3 of the corresponding layer, the in-place sensor firstly detects whether the object exists at the material level, if so, the scanning gun is started to work, the identification object of the object is scanned to acquire the object information, and if not, the scanning gun does not work. According to the invention, the in-place sensor in the identification device 3 is utilized to improve the identification accuracy, when the material level is provided with an object but the scanning gun cannot acquire the information of the object, alarm information can be sent out outwards to prompt a worker that the material level is abnormal, and the abnormal condition is timely processed to prevent the object or the intelligent storage device from being damaged. The in-place sensor can adopt a distance sensor, such as a photoelectric sensor or an infrared sensor, and can realize the object detection function.
It should be understood that the identification device 3 may also only include a scanning gun, and when a certain material level is transferred to the identification device 3 on the corresponding layer, the scanning gun is turned on to work, if the object information can be obtained, the material level has an object, and if the object information cannot be obtained, the material level has no object.
The invention also provides intelligent processing equipment with the storage device, the processing device of the processing equipment is used for processing the objects stored in the intelligent storage device, the processing equipment is provided with a robot for conveying the objects between the intelligent storage device and the processing device, and the storage device, the processing device and the robot are all connected with a control system. Each material level is provided with a unique serial number, the control system determines the material level serial number of the object to be conveyed as a task number according to the processing task and the processing state of the processing device, and the robot and the material tray adjust the positions according to the task number so as to store or take out the object to be conveyed. The control system is also connected with a human-computer interaction device, the object information of the storage device, the processing task and the processing state of the processing device and the like are displayed through a display interface of the human-computer interaction device, and a worker can input instructions to the control device by operating the human-computer interaction device, such as controlling the material rack to rotate and the like.
In order to reduce the control difficulty, the robot only has one operating position in each layer of the material tray 12, and the material level can rotate to the operating position of the corresponding layer of the material tray 12 along with the material tray. The robot may adopt a four-axis module, that is, the robot may adopt other forms by rotating the C axis on the basis of the XYZ and three axes, and the present invention is not limited to this.
In some embodiments, one side of the housing 4 of the smart storage device is open, the opening faces to the robot and the processing equipment, so that the robot can take and place objects, the other side of the housing 4 is provided with the rack door 5, and one side of the rack door 5 faces to the loading and unloading operation area where the worker is located. Of course, other designs may be used in practical applications, and the present invention is not limited to this.
As shown in fig. 3, the control method of the intelligent processing device includes the following steps:
after the intelligent processing equipment is started, the intelligent storage device executes scanning action, the scanning action is that the driving mechanism 2 pushes the material tray 12 to rotate, all material levels of the material tray are sequentially transferred to the identification devices 3 on the corresponding layers, and the information of the objects obtained by the identification devices 3 and the serial numbers of the material levels of the objects are stored in a database;
the control system determines the material level number of an object to be conveyed as a task number according to a processing task and a processing state of the processing device, the task number is determined in a mode that the control system determines information of the object to be conveyed according to the processing task of the processing device, the robot is determined to store the object to be conveyed into the intelligent storage device or the robot takes out the object to be conveyed from the intelligent storage device according to the processing state of the processing task, for example, if the processing state of the current processing task is completed, the robot is determined to store the object to be conveyed into the intelligent storage device, if the processing state of the current processing task is not completed, the robot is determined to take out the object to be conveyed from the intelligent storage device, and then the corresponding material level number is obtained from a database according to the information of the object to be conveyed as the task number;
judging whether the task number is correct or not;
if so, calculating the number of layers and the number of rows of the material level of the object to be conveyed according to the task number, moving the robot to an operation position of the number of layers, pushing the material tray to rotate by the driving mechanism, rotating the material level to the operation position, and storing or taking the object to be conveyed by the robot;
if the task number cannot be obtained or the task number is not matched with the material level number of the material rack, the task number is incorrect, and an alarm signal is sent out.
After the intelligent processing equipment is started, the control system judges whether human midway intervention exists or not in real time, and if yes, the intelligent warehousing device executes scanning action again. The control system judges whether a person is in midway interference according to whether the switching state of the material rack door of the intelligent storage device changes, if the switching state of the material rack door changes, the person is in midway interference, and if the switching state of the material rack door does not change, the person is not in midway interference.
In order to protect the intelligent storage device more effectively, the rack door of the intelligent storage device is always in a locking state in the running process of the intelligent processing equipment, namely the rack door is not allowed to be opened in the running process of the intelligent processing equipment, wherein the running process refers to the process of carrying action of a robot or the process of rotating a rack.
In the following, the control method of the embodiment is described in detail, the object is a blank electrode loaded into the fixture, the stack has 8 layers of trays, and each tray has 20 material levels.
An operator loads the wool electrode on a clamp for locking and attaches the bar code to a corresponding position of the clamp;
an operator puts prepared wool electrodes into the intelligent storage device, the material rack is manually operated to rotate left and right in the material placing process, the wool electrodes can be placed at will by manual placement, the types of clamps are consistent, the electrodes for clamping need to meet the designed length, width and height of the material disk, so that physical interference among all the electrodes is avoided, the material rack door is closed after the wool electrodes are placed, and the control system judges that the material loading is finished according to the condition that the material rack door is closed;
an operator starts the intelligent processing equipment;
the intelligent storage device executes scanning action, the scanning action is that the driving mechanism pushes the material tray to rotate, all material positions of the material tray are sequentially rotated to the identification devices of the corresponding layers of the material tray, the material tray rotates from the first row, 8 scanning guns can simultaneously scan codes after each row rotates in place, electrode information and the serial numbers of the material positions of the electrodes are bound and recorded into a database after the codes are scanned, and meanwhile, the material tray rotates to the second row to be read until the 20 th row is read;
after the scanning is finished, determining a task number according to a processing task and a processing state of the processing device, and after receiving the task number, calculating the number of layers and lines of the material level of the object to be conveyed according to the task number;
after the robot finishes calculating, moving to an operation position of the material rack corresponding to the number of layers, sending pulse information to the driving mechanism, enabling the driving mechanism to push the material tray to rotate, rotating the material level to the operation position, taking out the object to be conveyed by the robot, after the electrode is taken out, loading the processing device by the robot according to a processing task, and after the processing is finished, putting the electrode into the material level originally taken out by the intelligent storage device by the robot;
the calculation mode of the electrodes and the discharge electrodes is the same, the pre-feeding positions are coded, the zero position of the first layer marked by mechanical lettering is marked as No. 1, each layer of rotating disc is provided with 20 material positions, namely the material position number of the 1 st layer is 1-20, corresponding to the material position number, the zero position of the second layer is marked according to the code of the first layer, namely the material position number of the 2 nd layer is 21-40, and the like is carried out until the 8 th layer. When the intelligent storage device scans, firstly, the zero position of the material rack is transferred, the material rack is sequentially scanned from top to bottom, namely, the corresponding material levels are 1, 21, 41, 61, 81, 101, 121 and 141, the material level numbers and the electrode information are sequentially bound according to the coding rule, then when the robot takes the materials, according to the material level numbers corresponding to the task numbers, such as 19, the serial number is firstly divided by the quotient of 20 and then is added by 1 to obtain which layer of the material level is on the material rack, wherein 19/20+1=1, namely, the number of the layer is the 1 st layer; then, the number residue 20 is used to obtain which column, i.e. which position relative to the zero position of the tray, mod (19,20) =19, and the residue 19 is in the 19 th column. It should be noted that, when the remainder is 0, 20 is added to the remainder, i.e., in column 20.
In the storage process of the robot, synchronously updating electrode information of a database, wherein the electrode information is divided into processed electrode information, electrode information in the process of processing, electrode information to be processed, emergency part priority and the like;
after the machining of all the wool electrodes is completed, the control system prompts workers to perform blanking operation through the human-computer interaction device, the operators need to operate the human-computer interaction device to open a material rack door of the intelligent storage device, the driving mechanism can continue to rotate according to the task number of the robot before the intelligent machining equipment is not operated, the material rack door is in a locked state at the moment, the manual door opening is invalid, after the intelligent machining equipment is operated, the control system is switched to a manual operation state, the material rack stops rotating automatically at the moment, the material rack door is unlocked, the material rack door can be opened manually, the workers can control the material rack to rotate through the human-computer interaction device to take the electrodes in the blanking process, the next batch of wool electrodes to be machined are replaced again after the blanking is completed, and the next machining cycle begins.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (15)
1. Intelligent storage device includes: the work or material rest that has two-layer at least charging tray and promotion the rotatory actuating mechanism of charging tray, its characterized in that, every layer the charging tray all disposes recognition device alone, the charging tray is equipped with a plurality of material levels that distribute around its rotation axis, the material level can be followed the charging tray is rotatory to its recognition device department that corresponds the layer.
2. The intelligent warehousing device of claim 1, wherein all the trays are coaxially fixed on the column from top to bottom; when the driving mechanism pushes the upright post to rotate, all the material trays rotate synchronously.
3. The intelligent warehousing device of claim 2, wherein the material levels of two adjacent trays are aligned up and down, the material levels on the same vertical line are taken as a column, the identification devices are vertically arranged on one side of the rack, and each column of material levels of the rack simultaneously reach the identification devices of the corresponding layer.
4. The smart warehousing device of claim 1, wherein the rack is disposed in a cabinet, the cabinet is provided with an openable rack door, an electromagnetic lock is further installed between the rack door and the cabinet, and the electromagnetic lock locks the rack door and the cabinet when closed.
5. The smart warehousing device of claim 1, wherein the identification device comprises: the in-place sensor is used for detecting whether the material level has an object or not, and the scanning gun is used for scanning a bar code of the object; the scanning gun starts scanning when the in-place sensor detects an object.
6. Intelligent processing equipment includes: the storage device, the processing device and the robot are all connected with a control system; the intelligent warehouse device is characterized in that the intelligent warehouse device is the intelligent warehouse device according to any one of claims 1 to 5, and the robot carries objects between the material rack and the processing device.
7. The intelligent processing device according to claim 6, wherein each of the material levels is provided with a unique number, the control system determines the material level number of the object to be transported as a task number according to the processing task and the processing state of the processing device, and the robot and the material tray adjust positions according to the task number to store or take out the object to be transported.
8. The intelligent processing apparatus of claim 6, wherein the robot has only one operating position for each layer of the tray, and the material level can rotate with the tray to the operating position of its corresponding layer.
9. A control method of an intelligent processing apparatus employing the intelligent processing apparatus according to any one of claims 6 to 8, characterized by comprising the steps of:
after the intelligent processing equipment is started, the intelligent storage device executes scanning action;
the control system determines the material level number of the object to be conveyed as a task number according to the processing task and the processing state of the processing device;
calculating the number of layers and the number of rows of the material level of the object to be conveyed according to the task number, moving the robot to the operation position of the number of layers, pushing the material tray to rotate by the driving mechanism, rotating the material level to the operation position, and storing or taking out the object to be conveyed by the robot.
10. The control method of claim 9, wherein the act of scanning comprises: the driving mechanism pushes the material tray to rotate, all material levels of the material tray sequentially rotate to the identification devices on the corresponding layers of the material tray, and the material information acquired by the identification devices and the serial numbers of the material levels of the materials are stored in the database.
11. The control method according to claim 10, wherein the task number is determined in such a manner that: the control system determines information of the object to be conveyed according to the current processing task of the processing device, determines that the robot stores or takes out the object to be conveyed according to the processing state of the current processing task, and acquires a corresponding material level number from the database as a task number according to the information of the object to be conveyed.
12. The control method according to claim 9, wherein the control system determines whether there is human intervention halfway, and if so, the smart storage device executes the scanning operation again.
13. The control method according to claim 12, wherein the control system determines whether the state of a rack door switch of the smart stocker changes, and if so, determines that human intervention is in the middle.
14. The control method according to claim 9, wherein the rack door of the smart stocker is always locked during the operation of the smart process equipment.
15. The control method according to claim 9, wherein after the task number is acquired, whether the task number is correct or not is judged, if yes, the number of layers and the number of columns where the material level of the object to be conveyed is located are calculated according to the task number, and if not, an alarm signal is sent out.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116810579A (en) * | 2023-08-31 | 2023-09-29 | 辽宁沈阳禾睿智能制造有限责任公司 | Ceramic core intelligent robot polishes and equips elevating gear and polishing system |
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| CN116810579A (en) * | 2023-08-31 | 2023-09-29 | 辽宁沈阳禾睿智能制造有限责任公司 | Ceramic core intelligent robot polishes and equips elevating gear and polishing system |
| CN116810579B (en) * | 2023-08-31 | 2024-02-06 | 辽宁沈阳禾睿智能制造有限责任公司 | Ceramic core intelligent robot polishes and equips elevating gear and polishing system |
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