CN114137924B - Assembly production system - Google Patents
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- CN114137924B CN114137924B CN202111441036.XA CN202111441036A CN114137924B CN 114137924 B CN114137924 B CN 114137924B CN 202111441036 A CN202111441036 A CN 202111441036A CN 114137924 B CN114137924 B CN 114137924B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention belongs to the technical field of agricultural machinery production, and particularly relates to an assembly production system which comprises a magnetic track, an assembly trolley, a positioning system and a control system; the magnetic force track comprises magnetic force lines paved along a production line; the assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit and a processing unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; the positioning system is used for acquiring real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; the control system is used for inputting the actual running paths of the assembly trolleys and sending navigation signals to the processing unit in combination with the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal. This application can also avoid production efficiency to reduce by a wide margin because of conveyer's problem when promoting expansibility.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery production, and particularly relates to an assembly production system.
Background
In the field of agricultural machinery production and processing, when the agricultural machinery is assembled and debugged, a conveyor belt is used as a conveying line to set a processing station and a debugging station in the prior art. The advantage is that the technology of the production line is mature, and the design and installation can be directly applied to a mature assembly line scheme.
However, since the assembly line in the existing assembly production system adopts a conveyor-type assembly line design, when the productivity of the assembly line cannot meet the current demand, the expansion of the assembly line is very troublesome, and a new assembly line is usually required to meet the demand, so that the operation process is very complex, and the assembly line occupies a position of a production workshop. If the remaining space of the workshop is not sufficient, the installation of the newly added pipeline is very troublesome. In addition, in the existing conveyor-type assembly line, once a problem occurs in a certain part of the conveyor, the whole assembly line needs to be stopped, and the assembly line can be restarted after the problem is treated, so that the production efficiency can be greatly reduced.
Disclosure of Invention
The invention aims to provide an assembly production system which can improve the expansion capacity and avoid the great reduction of the production efficiency caused by the problem of a conveying device.
The basic scheme provided by the invention is as follows:
an assembly production system comprises a magnetic track, an assembly trolley, a positioning system and a control system;
the magnetic force track comprises magnetic force lines paved along a production line; the assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit and a processing unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; the positioning system is used for acquiring real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; the control system is used for inputting the actual running paths of the assembly trolleys and sending navigation signals to the processing unit in combination with the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal.
Basic scheme theory of operation and beneficial effect:
in the prior art, the AGV trolley is used as a logistics transport vehicle and is not used as a precedent for replacing functional products of a production line. In the system, the inventor creatively directly uses the AVG trolley as an assembly trolley to load the material device for production and assembly, so that the AVG trolley plays a role in loading the material device and simultaneously plays a role in conveying the conveying belt.
Because this system is direct carries out the transportation of material through the assembly trolley, if the productivity of present assembly line can not satisfy actual demand, because the core of this application assembly line is assembly trolley and magnetic force track, assembly trolley direct production or order can, and magnetic force track then only needs to specifically set up according to the concrete overall arrangement of the surplus space in workshop. Even if the surplus space of the workshop is not particularly square, the assembly line can be expanded as long as the assembly trolley can pass through and the stations can be arranged, and the newly added magnetic force rail can be laid out in a branch line, a turnout way and the like. Compared with the prior art which needs to design a new assembly line, the assembly line has good expandability and can adapt to the actual space layout of a workshop. When the system operates, the positioning system (such as a Bluetooth indoor positioning system) can communicate with a position unit (such as a Bluetooth unit) of the assembly trolley, and the current position of the assembly trolley is obtained in real time. The control system can send a navigation signal to the assembly trolley by combining the current position of the assembly trolley, and even if the route has a turnout, the assembly trolley can be ensured to run along the preset route.
On the other hand, the system uses the assembly trolley to transport assembly materials, and the assembly trolley plays a role of a transmission device in the traditional assembly line. When the conveying device has a problem, namely, a certain trolley has a problem, the problem trolley is directly moved to the outside of the magnetic track for maintenance. The other trolleys can not cause any influence, and the production line can still continue to run. Although the overall assembly efficiency is still somewhat affected by the reduced number of assembly trolleys, the capability of handling anomalies in the conveyor is greatly improved as compared to the prior art where the entire assembly line is suspended. The efficiency stability of assembly box has been promoted.
In addition, the existing production line still exists in the whole production line even when not in use, and the production line occupies very space and is very messy. In this application, an assembly trolley for carrying out device transport can be scattered to park in different places of a workshop or to park in a special parking interval when not in use, and an assembly line only needs to leave a magnetic track (namely magnetic force lines) on a road surface. Under daily conditions, the space of the workshop can be used more flexibly, and only an assembly line is arranged on the ground, so that the workshop is very clean and tidy.
In conclusion, the expansion capacity is improved, and meanwhile, the production efficiency can be prevented from being greatly reduced due to the problem of the conveying device.
Further, the production line includes an assembly line and a debug line; the debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the number of the branch sections is multiple, and each branch section is provided with a debugging station; the debugging station is provided with a calling unit which is communicated with the control system; the calling unit is used for sending a calling signal to the control system; and the control system is used for planning a debugging path for the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal.
The beneficial effects are that: in such an arrangement, one debug line may be provided with a plurality of debug stations. When a certain debugging station is used for debugging a piece of equipment, a worker on the debugging station can send a calling signal to a control system through a calling unit on the debugging station, the control system can plan a path of an assembly trolley which is about to enter a debugging line, the assembly trolley is sent to the debugging station corresponding to the calling signal, and the product debugging order on the production line is ensured.
Besides, by adopting the mode of parallel debugging of a plurality of debugging stations, the magnetic track has the characteristic of strong expansibility, and when the production efficiency is improved, the corresponding number of branch sections and debugging stations can be increased according to the production efficiency and the debugging efficiency, so that the debugging speed is matched with the assembling speed.
Further, the control system is further used for sequentially planning paths of assembly trolleys which enter the debugging line subsequently according to the sequence of receiving the call signals when the number of the received call signals is more than one, and sequentially navigating the assembly trolleys to the debugging stations corresponding to the call signals.
The beneficial effects are that: the debugging allocation mode can ensure the order of debugging work.
Further, the assembly trolley is also provided with an obstacle avoidance unit for detecting obstacles and sending detection data to the processing unit; the processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacle.
The beneficial effects are that: in this arrangement, if there is an obstacle in the travel path of the assembly trolley, such as a material that inadvertently falls beside the magnetic belt, the processing unit may slow down or halt the travel of the assembly trolley, thereby avoiding the collision of the assembly trolley with the obstacle and causing damage to the assembly trolley or its loaded device.
Further, the controlling the running speed of the assembly trolley according to the detection data of the obstacle includes analyzing the distance between the obstacle and the assembly trolley, and if the obstacle is within a preset deceleration range, the processing unit controls the assembly trolley to decelerate to a preset creep speed; if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
The beneficial effects are that: in such a way, when an obstacle collides with the assembly trolley, the assembly trolley is decelerated and then stopped, and the situation that the material device on the assembly trolley is thrown out due to sudden braking can be avoided due to the natural transition. In addition, in this way, when the obstacle is only close to the magnetic track and does not collide with the assembly trolley, the assembly trolley runs by means of a deceleration passage, and the running stability of the road section where the obstacle exists can be ensured.
Further, the assembly trolley further comprises a prompt unit; the processing unit is also used for controlling the prompting unit to send out a preset prompt when an obstacle exists in the deceleration range of the assembly trolley.
The beneficial effects are that: when the obstacle exists in the deceleration range, the processing unit can control the prompting unit to send out a preset prompt, so that workers can know the situation and timely process the obstacle, the transportation efficiency of the assembly trolley is guaranteed, and the overall efficiency of the production line is guaranteed today.
Further, the control system is also used for setting a deceleration range and a pause range of the assembly trolley and the obstacle.
The beneficial effects are that: the manager can set a corresponding deceleration range and a pause range according to the actual stacking condition on the production line field so as to adapt the obstacle avoidance function of the assembly trolley to the actual field.
Further, the control system is also used for setting a safe distance, a safe speed and a safe turning angle; the safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed;
the assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and is used for detecting the turning angle during running and sending the turning angle to the processing unit; the processing unit is also used for analyzing the minimum distance between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control system, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control system; the processing unit is also used for sending the initial distance of the detected obstacle to the control system, and the control system is also used for recording the initial distance and the initial position corresponding to the initial distance;
the control system is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded or not; if so, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control system to carry out running analysis; if the minimum distance is greater than the safety distance, the control system sends an original speed running signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control system analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control system sends an original speed running signal to the current processing unit; if the safety turning angle is larger than the safety turning angle, the control system sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at a safe speed after receiving the safe driving signal.
The beneficial effects are that: when an obstacle is present, and in particular the obstacle does not stop the trolley, many times the obstacle is not cleaned immediately, but remains in place for a period of time. However, due to the obstacles, the following trolleys are decelerated to the creep speed and pass through the road sections with the obstacles, and the production efficiency of the production line is not affected little. When the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley can send the minimum distance and turning angle between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located to the control system. The following assembly trolleys have been made to have a reference to the speed of travel when the same road segment encounters the same obstacle.
Specifically, the processing unit sends the initial distance of the detected obstacle to the control system, and the control system records the initial distance and the initial position corresponding to the initial distance. By this initial distance and initial position, the position of the obstacle can be locked. When the subsequent assembly trolley encounters the same obstacle, a very similar initial distance is sent at the same initial position (the initial distance is rarely identical due to factors such as errors in signal transmission). Stated another way, if the initial distances are the same and the difference in the initial distances is less than the preset error, then a subsequent assembly trolley may be deemed to have arrived at the road segment where the obstacle is located. Therefore, the control system can call the corresponding minimum distance and turning angle to carry out running analysis, and provide a suggestion of running speed for the subsequent assembly trolley.
If the minimum distance is greater than the safety distance, the assembly trolley can always keep a larger distance with the obstacle when passing through the road section, and even no speed reduction is performed, no influence exists, so that the control system sends an original speed running signal to the current processing unit, the subsequent assembly trolley can directly run through the road section without speed reduction, and the production efficiency of the production line is ensured.
If the minimum distance is smaller than or equal to the safe distance, the turning condition of the road section needs to be known, because inertia exists during turning, if the turning angle is larger than the safe turning angle, the influence of the inertia is great, and if the running speed is high during passing, the assembly trolley (or a device in the state of the assembly trolley) can collide with an obstacle to be damaged, so that the control system sends a safe running signal to the current processing unit, and the subsequent assembly trolley can run at the safe speed through the road section. Because the safety speed is greater than the creep speed, even in this case, the passing efficiency of the assembly trolley can be increased, and the production efficiency of the production line can be ensured as much as possible. If the turning angle is smaller than or equal to the safe turning angle, the turning angle of the road section where the obstacle is located is small, and the influence of inertia is small, so that the control system sends an original speed running signal to the current processing unit, the subsequent assembly trolley directly runs through the road section without slowing down, and the production efficiency of the production line is ensured.
By the mode, the influence of the obstacle on the assembly trolley can be reduced as much as possible before the obstacle is cleaned, and the production efficiency of the production line is ensured.
Further, the electronic billboard is communicated with the control system and is used for displaying an operation guide manual.
The beneficial effects are that: through the operation instruction manual, corresponding instruction can be carried out to the staff on each station.
Further, the electronic sign has a plurality of.
The beneficial effects are that: the plurality of electronic signs can be installed on different stations so as to simultaneously guide the work of the staff on the different stations.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of the present invention.
Detailed Description
The following is a further detailed description of the embodiments:
example 1
In the prior art, the AGV trolley is used as a logistics transport vehicle and is not used as a precedent for replacing functional products of a production line. In the system, the inventor creatively directly uses the AVG trolley as an assembly trolley to load the material device for production and assembly, so that the AVG trolley plays a role in loading the material device and simultaneously plays a role in conveying the conveying belt.
As shown in fig. 1, an assembly production system includes a magnetic track, an assembly trolley, a positioning system, and a control system. In this embodiment, the control system is an industrial PC.
The magnetic track comprises magnetic lines of force laid along the production line. The assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit, a processing unit, an obstacle avoidance unit and a prompting unit. The magnetic navigation unit is used for carrying out path identification in cooperation with magnetic force lines. The positioning system is used for acquiring real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system. In this embodiment, the positioning system is an indoor bluetooth positioning system, and the location unit is a bluetooth module; in other embodiments, the positioning system may also use an indoor WIFI positioning system or a UWBLOC positioning system, and accordingly, the corresponding location unit may use a WIFI module or a UWBLOC tag.
The control system is pre-stored with a plurality of running paths, and the specific number of the running paths can be specifically set according to the turnout of the magnetic track. The control system is used for inputting the actual running path of each assembly trolley and sending a navigation signal to the processing unit in combination with the real-time positioning of the assembly trolley. Specifically, the control system can identify and authenticate each assembly trolley according to the serial number of the processing unit of each assembly trolley. The processing unit is used for controlling the assembly trolley to run according to the navigation signal.
The obstacle avoidance unit is used for detecting obstacles and sending detection data to the processing unit; in this embodiment, the obstacle avoidance unit is a laser obstacle sensor. The processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacle, specifically, the processing unit analyzes the distance between the obstacle and the assembly trolley, and if the obstacle is in a preset deceleration range, the processing unit controls the assembly trolley to decelerate to a preset creep speed; if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running. The processing unit is also used for controlling the prompting unit to send out a preset prompt when an obstacle exists in the deceleration range of the assembly trolley. In this embodiment, the prompting unit is a loudspeaker, and sends out a prompt in a preset voice mode.
The control system is also used for setting a deceleration range and a pause range of the assembly trolley and the obstacle. Therefore, the manager can set a corresponding deceleration range and a pause range according to the actual stacking condition on the production line field, so that the obstacle avoidance function of the assembly trolley is adapted to the actual field.
In this embodiment, the production line includes an assembly line and a debug line. The debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the number of the branch sections is multiple, and each branch section is provided with a debugging station; the debugging station is provided with a calling unit which is communicated with the control system and is used for sending a calling signal to the control system. In this embodiment, the calling unit is an electric control button, and sends a calling signal to the control system through an electric signal generated after the electric control button is pressed. And the control system is used for planning a debugging path for the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal. And the control system is also used for sequentially planning paths of assembly trolleys which enter the debugging line subsequently according to the sequence of receiving the calling signals when the number of the received calling signals is more than one, and sequentially navigating the assembly trolleys to the debugging stations corresponding to the calling signals. In such an arrangement, one debug line may be provided with a plurality of debug stations. When a certain debugging station is used for debugging a piece of equipment, a worker on the debugging station can send a calling signal to a control system through a calling unit on the debugging station, the control system can plan a path of an assembly trolley which is about to enter a debugging line, the assembly trolley is sent to the debugging station corresponding to the calling signal, and the product debugging order on the production line is ensured. Besides, by adopting the mode of parallel debugging of a plurality of debugging stations, the magnetic track has the characteristic of strong expansibility, and when the production efficiency is improved, the corresponding number of branch sections and debugging stations can be increased according to the production efficiency and the debugging efficiency, so that the debugging speed is matched with the assembling speed.
The specific implementation process is as follows:
because this system is direct carries out the transportation of material through the assembly trolley, if the productivity of present assembly line can not satisfy actual demand, because the core of this application assembly line is assembly trolley and magnetic force track, assembly trolley direct production or order can, and magnetic force track then only needs to specifically set up according to the concrete overall arrangement of the surplus space in workshop. Even if the surplus space of the workshop is not particularly square, the assembly line can be expanded as long as the assembly trolley can pass through and the stations can be arranged, and the newly added magnetic force rail can be laid out in a branch line, a turnout way and the like. Compared with the prior art which needs to design a new assembly line, the assembly line has good expandability and can adapt to the actual space layout of a workshop. When the system operates, the positioning system (such as a Bluetooth indoor positioning system) can communicate with a position unit (such as a Bluetooth unit) of the assembly trolley, and the current position of the assembly trolley is obtained in real time. The control system can send a navigation signal to the assembly trolley by combining the current position of the assembly trolley, and even if the route has a turnout, the assembly trolley can be ensured to run along the preset route.
On the other hand, the system uses the assembly trolley to transport assembly materials, and the assembly trolley plays a role of a transmission device in the traditional assembly line. When the conveying device has a problem, namely, a certain trolley has a problem, the problem trolley is directly moved to the outside of the magnetic track for maintenance. The other trolleys can not cause any influence, and the production line can still continue to run. Although the overall assembly efficiency is still somewhat affected by the reduced number of assembly trolleys, the capability of handling anomalies in the conveyor is greatly improved as compared to the prior art where the entire assembly line is suspended. The efficiency stability of assembly box has been promoted.
In addition, the existing production line still exists in the whole production line even when not in use, and the production line occupies very space and is very messy. In this application, an assembly trolley for carrying out device transport can be scattered to park in different places of a workshop or to park in a special parking interval when not in use, and an assembly line only needs to leave a magnetic track (namely magnetic force lines) on a road surface. Under daily conditions, the space of the workshop can be used more flexibly, and only an assembly line is arranged on the ground, so that the workshop is very clean and tidy.
Because the obstacle avoidance unit is arranged on the assembly trolley, if an obstacle exists on the running path of the assembly trolley, such as a material which falls beside the magnetic belt carelessly, the processing unit can enable the assembly trolley to slow down or stop running, so that the assembly trolley is prevented from colliding with the obstacle, and the assembly trolley or a loading device thereof is prevented from being damaged. Specifically, when the obstacle can collide with the assembly trolley, the assembly trolley can be decelerated and then stopped, and the situation that the material device on the assembly trolley is thrown out due to sudden braking can be avoided due to the natural transition. In addition, in this way, when the obstacle is only close to the magnetic track and does not collide with the assembly trolley, the assembly trolley runs by means of a deceleration passage, and the running stability of the road section where the obstacle exists can be ensured. And when the obstacle exists in the deceleration range, the processing unit can control the prompting unit to send out a preset prompt, so that workers can know the situation and process the obstacle in time, the transportation efficiency of the assembly trolley is guaranteed, and the overall efficiency of the production line is guaranteed today.
Example two
Unlike the first embodiment, the electronic billboard is also included in the present embodiment, and the electronic billboard is in communication with the control system, and is used for displaying an operation instruction manual. Through the operation instruction manual, corresponding instruction can be carried out to the staff on each station. The electronic sign has a plurality of, and a plurality of electronic signs can be installed on different stations to the staff on different stations carries out work direction simultaneously. The specific number of electronic signs can be set by one skilled in the art according to the number of stations to be directed.
Example III
Unlike the first embodiment, in this embodiment, the control system is further configured to set a safe distance, a safe speed, and a safe turning angle; the safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed. The assembly trolley is further provided with an angle detection unit, and the angle detection unit is electrically connected with the processing unit and is used for detecting the turning angle during running and sending the turning angle to the processing unit. In this embodiment, the angle detecting unit is a gyroscope.
The processing unit is also used for analyzing the minimum distance between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control system, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control system; the processing unit is also used for sending the initial distance of the detected obstacle to the control system, and the control system is also used for recording the initial distance and the initial position corresponding to the initial distance;
the control system is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded or not; if so, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control system to carry out running analysis; if the minimum distance is greater than the safety distance, the control system sends an original speed running signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control system analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control system sends an original speed running signal to the current processing unit; if the safety turning angle is larger than the safety turning angle, the control system sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at a safe speed after receiving the safe driving signal.
The specific implementation process is as follows:
when an obstacle is present, and in particular the obstacle does not stop the trolley, many times the obstacle is not cleaned immediately, but remains in place for a period of time. However, due to the obstacles, the following trolleys are decelerated to the creep speed and pass through the road sections with the obstacles, and the production efficiency of the production line is not affected little. When the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley can send the minimum distance and turning angle between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located to the control system. The following assembly trolleys have been made to have a reference to the speed of travel when the same road segment encounters the same obstacle.
Specifically, the processing unit sends the initial distance of the detected obstacle to the control system, and the control system records the initial distance and the initial position corresponding to the initial distance. By this initial distance and initial position, the position of the obstacle can be locked. When the subsequent assembly trolley encounters the same obstacle, a very similar initial distance is sent at the same initial position (the initial distance is rarely identical due to factors such as errors in signal transmission). Stated another way, if the initial distances are the same and the difference in the initial distances is less than the preset error, then a subsequent assembly trolley may be deemed to have arrived at the road segment where the obstacle is located. Therefore, the control system can call the corresponding minimum distance and turning angle to carry out running analysis, and provide a suggestion of running speed for the subsequent assembly trolley.
If the minimum distance is greater than the safety distance, the assembly trolley can always keep a larger distance with the obstacle when passing through the road section, and even no speed reduction is performed, no influence exists, so that the control system sends an original speed running signal to the current processing unit, the subsequent assembly trolley can directly run through the road section without speed reduction, and the production efficiency of the production line is ensured.
If the minimum distance is smaller than or equal to the safe distance, the turning condition of the road section needs to be known, because inertia exists during turning, if the turning angle is larger than the safe turning angle, the influence of the inertia is great, and if the running speed is high during passing, the assembly trolley (or a device in the state of the assembly trolley) can collide with an obstacle to be damaged, so that the control system sends a safe running signal to the current processing unit, and the subsequent assembly trolley can run at the safe speed through the road section. Because the safety speed is greater than the creep speed, even in this case, the passing efficiency of the assembly trolley can be increased, and the production efficiency of the production line can be ensured as much as possible. If the turning angle is smaller than or equal to the safe turning angle, the turning angle of the road section where the obstacle is located is small, and the influence of inertia is small, so that the control system sends an original speed running signal to the current processing unit, the subsequent assembly trolley directly runs through the road section without slowing down, and the production efficiency of the production line is ensured.
By the mode, the influence of the obstacle on the assembly trolley can be reduced as much as possible before the obstacle is cleaned, and the production efficiency of the production line is ensured.
The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (9)
1. An assembly production system, characterized in that: the device comprises a magnetic track, an assembly trolley, a positioning system and a control system;
the magnetic force track comprises magnetic force lines paved along a production line; the production line comprises an assembly line and a debugging line; the debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the number of the branch sections is multiple, and each branch section is provided with a debugging station;
the assembly trolley comprises a magnetic navigation unit, a position unit, a processing unit and an obstacle avoidance unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; the positioning system is used for acquiring real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; the control system is used for inputting the actual running paths of all the assembly trolleys and sending navigation signals to the processing unit by combining the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal;
the obstacle avoidance unit is used for detecting obstacles and sending detection data to the processing unit; the processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacle;
the control system is also used for setting a safe distance, a safe speed and a safe turning angle; the safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed.
2. The assembly production system of claim 1, wherein: the debugging station is provided with a calling unit which is communicated with the control system; the calling unit is used for sending a calling signal to the control system; and the control system is used for planning a debugging path for the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal.
3. The assembly production system of claim 2, wherein: and the control system is also used for sequentially planning paths of assembly trolleys which enter the debugging line subsequently according to the sequence of receiving the calling signals when the number of the received calling signals is more than one, and sequentially navigating the assembly trolleys to the debugging stations corresponding to the calling signals.
4. The assembly production system of claim 1, wherein: the control of the running speed of the assembly trolley according to the detection data of the obstacle comprises analyzing the distance between the obstacle and the assembly trolley, and if the obstacle is in a preset deceleration range, the processing unit controls the assembly trolley to decelerate to a preset creep speed; if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
5. The assembly production system of claim 1, wherein: the assembly trolley further comprises a prompt unit; the processing unit is also used for controlling the prompting unit to send out a preset prompt when an obstacle exists in the deceleration range of the assembly trolley.
6. The assembly production system of claim 1, wherein: the control system is also used for setting a deceleration range and a pause range of the assembly trolley and the obstacle.
7. The assembly production system of claim 1, wherein: the assembly trolley is also provided with an angle detection unit, the angle detection unit is a gyroscope, and the angle detection unit is electrically connected with the processing unit and is used for detecting the turning angle during running and sending the turning angle to the processing unit; the processing unit is also used for analyzing the minimum distance between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control system, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control system; the processing unit is also used for sending the initial distance of the detected obstacle to the control system, and the control system is also used for recording the initial distance and the initial position corresponding to the initial distance;
the control system is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded or not; if so, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control system to carry out running analysis; if the minimum distance is greater than the safety distance, the control system sends an original speed running signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control system analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control system sends an original speed running signal to the current processing unit; if the safety turning angle is larger than the safety turning angle, the control system sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the following assembly trolley to drive through the road section where the current obstacle is located at a safe speed after receiving the safe driving signal.
8. The assembly production system of claim 1, wherein: the electronic signboard is communicated with the control system and used for displaying an operation instruction manual.
9. The assembly production system of claim 8, wherein: the electronic billboard has a plurality of electronic billboards.
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