CN114505711A - Multi-station intelligent accurate feeding method based on RGV system - Google Patents

Multi-station intelligent accurate feeding method based on RGV system Download PDF

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Publication number
CN114505711A
CN114505711A CN202210027935.3A CN202210027935A CN114505711A CN 114505711 A CN114505711 A CN 114505711A CN 202210027935 A CN202210027935 A CN 202210027935A CN 114505711 A CN114505711 A CN 114505711A
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Prior art keywords
trolley body
stop block
trolley
distance
photoelectric switch
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CN202210027935.3A
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CN114505711B (en
Inventor
赵俊威
何凤琼
黄建山
史闯业
林志良
康嘉
庄朝锋
林军
陈益王
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FUJIAN WEINO CNC CO LTD
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FUJIAN WEINO CNC CO LTD
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/08—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of slides or chutes
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention relates to the technical field of intelligent manufacturing, in particular to a multi-station intelligent accurate feeding method based on an RGV system, which replaces the traditional crane hoisting mode by the RGV trolley system, but in the RGV trolley system, the requirement of the precision is high because the trolley body can be ensured to be butted with the track of each station or each temporary storage mechanism, otherwise, a slide seat is difficult to automatically transfer between the trolley body and each station or temporary storage mechanism, in the invention, a correction stop block, a positioning stop block and a U-shaped photoelectric switch with specific structures and position relations are designed, and a specific control instruction is preset by an upper computer, so that a lower computer controls a first driving mechanism and a second driving mechanism to complete the action according to the time sequence according to the information fed back by the U-shaped photoelectric switch, and large and complex workpieces can be accurately, efficiently and automatically conveyed to a numerical control machine tool of the corresponding station for processing, the positioning precision can reach within 10 microns.

Description

Multi-station intelligent accurate feeding method based on RGV system
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a multi-station intelligent accurate feeding method based on an RGV system.
Background
The numerical control machine tool can realize automatic processing of workpieces, for automatic processing of workpieces in batches, in order to improve production efficiency, a plurality of numerical control machine tool stations can be set according to different workpiece specifications generally, a processing program is set for each station according to the process requirement of each workpiece, and the workpieces with different specifications are respectively sent to the corresponding numerical control machine tools for processing.
For large-scale complex workpieces, rough machining, semi-finish machining and finish machining are needed, firstly, the workpieces need to be conveyed to a rough machining numerical control machine tool for rough machining, after the rough machining is finished, the workpieces need to be conveyed to a semi-finish machining numerical control machine tool for machining, after the semi-finish machining is finished, the workpieces also need to be conveyed to a finish machining numerical control machine tool for finish machining, in the prior art, a hoisting mode is mostly adopted, the workpieces on a temporary storage mechanism are conveyed to the rough machining numerical control machine tool for rough machining through a crane, after the rough machining is finished, the workpieces need to be transferred to the semi-finish machining numerical control machine tool for semi-finish machining through the hoisting mode again, after the semi-finish machining is finished, the workpieces need to be transferred to the semi-finish machining numerical control machine tool for finish machining through the hoisting mode again, and the large workpieces need to be manually matched and are easy to shake under the inertia effect in the transferring process, the positioning difficulty on the numerical control machine tool is high, subsequent adjustment and positioning are needed, and the problems of low efficiency and low precision exist.
Therefore, how to accurately, efficiently and automatically convey large and complex workpieces to a numerical control machine tool corresponding to a station for processing becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to realize that large-scale complicated work piece is carried to the digit control machine tool of corresponding station accurately, high-efficiently, automizedly and is processed.
In order to solve the technical problems, the invention adopts the technical scheme that:
a multi-station intelligent precise feeding method based on an RGV system, wherein the RGV system comprises:
an X-direction track;
the plurality of stations are distributed on the side part of the X-direction track, each station is provided with a numerically-controlled machine tool body, and each numerically-controlled machine tool is connected with a first Y-direction track;
the RGV comprises a trolley body and a first driving mechanism connected to the trolley body, wherein the first driving mechanism is used for driving the trolley body to move along the X-direction track, and a second Y-direction track is arranged at the upper part of the trolley body, so that when the trolley body moves to any station, the second Y-direction track is in butt joint with the first Y-direction track of the station;
the temporary storage mechanisms are arranged on the side parts of the X-direction rails and are provided with first Y-direction rails, so that when the trolley body moves to any one temporary storage mechanism, the second Y-direction rail is in butt joint with the first Y-direction rail on the temporary storage mechanism;
the sliding seat is connected with the first Y-direction rail and the second Y-direction rail in a sliding fit mode respectively and used for loading workpieces;
the second driving mechanism is used for driving the sliding seat to transfer on the first Y-direction track and the second Y-direction track;
the side, facing the X-direction track, of each first Y-direction track is provided with one correcting stop block;
the two sides of each correction baffle block are symmetrically distributed with the positioning baffle blocks respectively;
the U-shaped photoelectric switch is arranged on the side part of the trolley body, so that when the trolley body moves to a specific position along the X-direction track, one of the correcting check blocks or one of the positioning check blocks is positioned in the U-shaped photoelectric switch groove, and a signal of the U-shaped photoelectric switch is triggered to change;
the lower computer is electrically connected with the first driving mechanism, the second driving mechanism and the optical U-shaped photoelectric switch respectively; specifically, the lower computer may include one or more PLCs, may include a frequency converter, and the like;
the upper computer is electrically connected with the lower computer; specifically, the upper computer may be a PC;
the multi-station intelligent accurate feeding method of the RGV system comprises the following steps:
the upper computer presets the X-direction coordinate value of each station, the distance between the positioning stop block and the correction stop block, and presets the X-direction coordinate value of each temporary storage mechanism, the distance between the positioning stop block and the correction stop block;
the upper computer sends an instruction to the lower computer according to feeding request information input by a user, wherein the content of the feeding request information comprises that a sliding seat on any station or any temporary storage mechanism is moved to another station or another temporary storage mechanism;
the lower computer executes an instruction, and controls the first driving mechanism and the second driving mechanism to complete actions according to the time sequence according to the signal of the U-shaped photoelectric switch, wherein the instruction is specifically as follows:
controlling the first driving mechanism to drive the trolley body to move along the X-direction track;
comparing whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is within a preset distance range or not in the moving process of the trolley body; if the distance is within the preset distance range, when the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by any positioning stop block to enable the signal of the U-shaped photoelectric switch groove to change, the first driving mechanism is controlled to drive the trolley to move in a deceleration mode along the X-direction track for a certain positioning distance and then stop, the positioning distance is equal to the distance between the correction stop block and the positioning stop block, when the trolley stops, whether the U-shaped photoelectric switch groove on the target position side is blocked by the correction stop block to enable the signal of the U-shaped photoelectric switch groove to change is judged, and if the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by the correction stop block, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track;
if the distance is not within the preset distance range, when the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by the positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to continuously move along the X-direction track at the original speed.
Furthermore, in the RGV system, the X-direction width of the positioning stop block is wider than that of the correcting stop block, and the X-direction width of the correcting stop block is narrower and is about larger than the optical line width of the U-shaped photoelectric switch;
in the multi-station intelligent accurate feeding method of the RGV system, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the side of the target position is blocked by the correction stop block or not is judged, so that the signal changes, and if so, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track.
Further, in the RGV system, stations and temporary storage mechanisms are arranged on two sides of the X-direction track, and U-shaped photoelectric switches are arranged on two sides of the trolley body;
in the multi-station intelligent accurate feeding method of the RGV system, an upper computer presets an X-direction coordinate value, a distance between a positioning stop block and a correcting stop block and a Y-direction coordinate value of each station, presets an X-direction coordinate value, a distance between the positioning stop block and the correcting stop block and a Y-direction coordinate value of each temporary storage mechanism, and compares whether the absolute value of the difference value between the current X-direction coordinate value and the X-direction coordinate value of a target position of a trolley body is within a preset distance range or not in the moving process of the trolley body;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to move in a speed reduction mode along the X-direction track for a positioning distance and then stop, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the signal to change is judged, and if the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the first Y-direction track on the corresponding side.
Further, in the method, in the moving process of the trolley body, whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is within a preset distance range or not is compared; if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to change the signal, the first driving mechanism is controlled to drive the trolley to decelerate by 85-95% along the X-direction track and then move for a short distance at a constant speed, and then the trolley stops.
Further, in the method, in the moving process of the trolley body, comparing whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is within a preset distance range; if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to change the signal of the groove, the first driving mechanism is controlled to drive the trolley to decelerate 90% along the X-direction track and then move a small distance at a very low speed at a constant speed, the small distance is automatically calculated by the upper computer according to the positioning distance and the preset acceleration, and the specific calculation is that the distance of the trolley moving from 100% speed to 10% speed according to the preset acceleration is subtracted from the positioning distance, and the distance of the trolley stopping moving from 10% speed according to the preset acceleration deceleration is subtracted.
And further, the preset distance for judging whether the trolley body is close to the preset station or the temporary storage mechanism is greater than the positioning distance.
Furthermore, the groove direction of the U-shaped photoelectric switch is the horizontal direction.
Further, the distance between the correcting stop block and the positioning stop block can be adjusted.
Further, the RGV system further comprises:
an alarm device electrically and mechanically connected to the lower node;
in the method, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the signal to change is judged, if yes, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track, and if not, an alarm is given.
The invention has the beneficial effects that: when large and complex workpieces need to be processed, a traditional crane hoisting mode is replaced by an RGV trolley system, but in the RGV trolley system, the trolley body needs to be ensured to be capable of being butted with tracks of all stations or all temporary storage mechanisms, the precision requirement is high, otherwise, a sliding seat is difficult to automatically transfer between the trolley body and all stations or temporary storage mechanisms, in the invention, a correction stop block, a positioning stop block and a U-shaped photoelectric switch with specific structures and position relations are designed, and a specific control instruction is preset by an upper computer, so that a lower computer controls a first driving mechanism and a second driving mechanism to complete actions according to time sequence according to information fed back by the U-shaped photoelectric switch, wherein the instruction is specifically:
controlling the first driving mechanism to drive the trolley body to move along the X-direction track;
comparing whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is within a preset distance range or not in the moving process of the trolley body; if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to enable the signal of the groove to be changed, the first driving mechanism is controlled to drive the trolley to move at a very low speed for a positioning distance after the speed of the trolley is reduced by 90% along the X-direction track, the positioning distance is equal to the distance between the correction stop block and the positioning stop block, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the signal of the U-shaped photoelectric switch to be changed is judged, and if the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by the correction stop block, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track;
if the distance is not within the preset distance range, when the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to continuously move along the X-direction track at the original speed.
In the above instructions, through the coordinate judgment of the trolley body, the time sequence is changed by the signal of the U-shaped photoelectric switch on the side of the target position, so that the first driving mechanism drives the trolley to move to a preset station or a temporary storage mechanism along the X-direction track in advance, the deviation of the trolley body from the X-direction stop position caused by inertia is avoided, the accurate positioning of the trolley body on the X-direction is ensured, the U-shaped photoelectric switch on the side of the target position is blocked by the correcting block to change the signal of the U-shaped photoelectric switch on the side of the target position, so that the calibration of the trolley body on the X-direction stop position is ensured, the accuracy of the trolley body from the X-direction stop position is ensured, and the sliding seat is allowed to be transferred between the first Y-direction track and the second Y-direction track on the premise that the first Y-direction track and the second Y-direction track are accurately butted.
The positioning stop blocks are arranged on the two sides of the correction stop block, so that the trolley body can move forward and backward by the method;
through the improvement of the multi-station intelligent accurate feeding method based on the RGV system, large and complex workpieces can be accurately, efficiently and automatically conveyed to a numerical control machine tool of a corresponding station for processing, and the positioning accuracy can reach within 10 micrometers.
Drawings
FIG. 1 is a top view of an RGV system in accordance with embodiments of the present invention;
FIG. 2 is a top view of an RGV cart of an RGV system in accordance with embodiments of the present invention;
FIG. 3 is an X-direction view of the partial structure of an RGV system in accordance with an embodiment of the present invention;
FIG. 4 is a top view of a partial structure of an RGV system in accordance with embodiments of the present invention;
FIG. 5 is a Y-direction view of a mounting plate of an RGV system in accordance with embodiments of the present invention;
FIG. 6 is a top view of a mounting plate of an RGV system in accordance with embodiments of the present invention;
description of the reference symbols:
1. an X-direction track; 2. a station; 21. a numerical control machine tool body; 22. a first Y-direction track; 3. an RGV trolley; 31. a trolley body; 32. a second Y-direction track; 4. a temporary storage mechanism; 5. a slide base; 6. correcting the stop block; 7. positioning a stop block; 8. a U-shaped photoelectric switch; 9. mounting a plate; 10. a slotted hole; 11. a sliding table; 12. a hydraulic cylinder; 13. and a limiting block.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Example 1
Referring to fig. 1 to 6, a multi-station 2 intelligent precise feeding method based on an RGV system includes:
an X-direction track 1;
the plurality of stations 2 are distributed on the side part of the X-direction track 1, each station 2 is provided with a numerical control machine tool body 21, and each numerical control machine tool is connected with a first Y-direction track 22;
the RGV trolley 3 is connected to the X-direction track 1, the RGV trolley 3 comprises a trolley body 31 and a first driving mechanism connected to the trolley body 31, the first driving mechanism is used for driving the trolley body 31 to move along the X-direction track 1, a second Y-direction track 32 is arranged at the upper part of the trolley body 31, and when the trolley body 31 moves to any station 2, the second Y-direction track 32 is in butt joint with the first Y-direction track 22 of the station 2;
the temporary storage mechanisms 4 are arranged on the side portions of the X-direction rails 1, the temporary storage mechanisms 4 are provided with first Y-direction rails 22, and when the trolley body 31 moves to any one temporary storage mechanism 4, the second Y-direction rails 32 are in butt joint with the first Y-direction rails 22 on the temporary storage mechanism 4;
the sliding base 5 is connected with the first Y-direction rail 22 and the second Y-direction rail 32 in a sliding fit mode, and the sliding base 5 is used for loading a workpiece;
a second driving mechanism for driving the transfer of the carriage 5 on the first Y-direction rail 22 and the second Y-direction rail 32;
a plurality of correcting stoppers 6, wherein one correcting stopper 6 is arranged on one side of each first Y-direction track 22 facing the X-direction track 1;
the two sides of each correction stop block 6 are symmetrically distributed with the positioning stop blocks 7 respectively;
the U-shaped photoelectric switch 8 is arranged on the side part of the trolley body 31, so that when the trolley body 31 moves to a specific position along the X-direction track 1, one of the correcting stoppers 6 or one of the positioning stoppers 7 is positioned in the groove of the U-shaped photoelectric switch 8, and the signal of the U-shaped photoelectric switch is changed;
the lower computer is electrically connected with the first driving mechanism, the second driving mechanism and the U-shaped photoelectric switch 8 respectively;
the upper computer is electrically connected with the lower computer;
the multi-station 2 intelligent accurate feeding method of the RGV system comprises the following steps:
the upper computer presets the X-direction coordinate value of each station 2 and the distance between the positioning stop block and the correction stop block, and presets the X-direction coordinate value of each temporary storage mechanism 4 and the distance between the positioning stop block and the correction stop block;
the upper computer sends an instruction to the lower computer according to the feeding request information input by a user, wherein the content of the feeding request information comprises that a sliding seat 5 on any station 2 or any temporary storage mechanism 4 is moved to another station 2 or another temporary storage mechanism 4;
the lower computer executes an instruction, and controls the first driving mechanism and the second driving mechanism to complete actions according to a time sequence according to a signal fed back by the U-shaped photoelectric switch 8, wherein the instruction is specifically as follows:
controlling the first driving mechanism to drive the trolley body 31 to move along the X-direction track 1;
comparing whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body 31 and the X-direction coordinate value of the target position is within a preset distance range or not in the moving process of the trolley body 31;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch 8 on the target position side of the trolley body 31 is blocked by the positioning stop 7 to enable the signal to change, the first driving mechanism is controlled to drive the trolley to move in a decelerating manner along the X-direction track for a positioning distance which is equal to the distance between the correcting stop 6 and the positioning stop 7, when the trolley stops, whether the groove of the U-shaped photoelectric switch 8 on the target position side is blocked by the correcting stop 6 to enable the signal to change is judged, and if so, the second driving mechanism is controlled to drive the sliding seat 5 to move between the second Y-direction track 32 and the corresponding first Y-direction track 22;
if the distance is not within the preset distance range, the first driving mechanism is controlled to drive the trolley to continuously move along the X-direction track at the original speed.
In the RGV system, the second driving mechanism may be a slide table 11 provided at the upper portion of the carriage body 31 and movable in the Y direction, the upper part of the sliding table 11 is provided with a hydraulic cylinder 12 in the numerical direction, the upper part of a piston rod of the hydraulic cylinder 12 is provided with a limit block 13, the lower part of the sliding seat 5 is provided with a sliding groove matched with the first Y-direction track 22 and the second Y-direction track 32, the lower part of the sliding seat 5 is provided with a limiting groove matched with the limiting block 13, when it is necessary to transfer the carriage 5 between the first Y-direction rail 22 and the second Y-direction rail 32, it is only necessary to move the slide table 11 to below the carriage 5, through the jacking of pneumatic cylinder 12, make stopper 13 and spacing groove cooperation, control slip table 11 again and remove, drive slide 5 along first Y to track 22 and second Y to track 32 removal, realize the Y of slide 5 to shifting, pneumatic cylinder 12 drives stopper 13 and descends and break away from the spacing groove after shifting.
In the method, by designing the correcting stop 6, the positioning stop 7 and the optical U-shaped photoelectric switch 8 with specific structures and position relationships and presetting specific control instructions through the upper computer, the lower computer controls the first driving mechanism and the second driving mechanism to complete actions according to information fed back by the U-shaped photoelectric switch 8 and time sequences, specifically, the instructions are as follows:
controlling the first driving mechanism to drive the trolley body 31 to move along the X-direction track 1; comparing whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body 31 and the X-direction coordinate value of the target position is within a preset distance range or not in the moving process of the trolley body 31;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch 8 on the target position side of the trolley body 31 is blocked by the positioning stop 7 to enable the signal to change, the first driving mechanism is controlled to drive the trolley to move in a decelerating manner along the X-direction track for a positioning distance which is equal to the distance between the correcting stop 6 and the positioning stop 7, when the trolley stops, whether the groove of the U-shaped photoelectric switch 8 on the target position side is blocked by the correcting stop 6 to enable the signal to change is judged, and if so, the second driving mechanism is controlled to drive the sliding seat 5 to move between the second Y-direction track 32 and the corresponding first Y-direction track 22;
if the distance is not within the preset distance range, when the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by the positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to continuously move along the X-direction track at the original speed.
In the above instructions, the first driving mechanism drives the trolley to decelerate in advance before moving to the preset station 2 or the temporary storage mechanism 4 by combining the coordinate judgment of the trolley body 31 and the signal change time sequence of the U-shaped photoelectric switch 8 at the target position side, thereby avoiding the deviation of the X-direction stop position caused by the inertia of the trolley body 31, ensuring the accurate positioning of the trolley body 31 in the X direction, the stopping position of the trolley in the X direction is calibrated through feedback information generated by the correcting block 6 blocking the U-shaped photoelectric switch 8 on the target position side, thereby ensuring the accuracy of the trolley body 31X to the stop position, that is, the carriage 5 is allowed to move between the first Y-direction rail 22 and the second Y-direction rail 32 on the premise of ensuring the accurate butt joint of the first Y-direction rail 22 and the second Y-direction rail 32.
Example 2
The multiple-station 2 intelligent precise feeding method based on the RGV system of embodiment 1, wherein in the RGV system, the X-direction width of the positioning block 7 is wider than that of the correcting block 6, and the X-direction width of the correcting block 6 is narrower and is about wider than the light width of the U-shaped photoelectric switch 8;
in the multistation 2 intelligent accurate feeding method of the RGV system, when the trolley stops, whether the U-shaped photoelectric switch 8 on the target position side is shielded by the correction stop 6 to enable the signal to change is judged, and if so, the second driving mechanism is controlled to drive the sliding seat 5 to move between the second Y-direction track 32 and the corresponding first Y-direction track 22.
In the method, through structural improvement of the positioning stop block 7 and the correction stop block 6, specifically, the width of the positioning stop block 7 in the X direction is wider than that of the correction stop block 6, the width of the correction stop block 6 in the X direction is narrower and is about wider than the width of the optical line of the U-shaped photoelectric switch 8, so that information feedback generated when the U-shaped photoelectric switch 8 on the target position side of the trolley is shielded by the positioning stop block 7 in the moving process is effective, misjudgment caused by interference is avoided, the accuracy of driving the trolley body 31 in the X direction to move and position by the first driving mechanism is ensured, the width of the correction stop block 6 in the X direction is narrower, and the advantages of the width and the width of the U-shaped photoelectric switch are that errors in judgment can be reduced, so that the positioning accuracy is further ensured.
Example 3
The multiple-station 2 intelligent accurate feeding method based on the RGV system in embodiment 1, wherein in the RGV system, the two sides of the X-direction track 1 are both provided with the station 2 and the temporary storage mechanism 4, and the two sides of the trolley body 31 are both provided with the U-shaped photoelectric switches 8;
in the multi-station 2 intelligent accurate feeding method of the RGV system, an upper computer presets an X-direction coordinate value, a distance between a positioning stop block and a correcting stop block and a Y-direction coordinate value of each station 2, presets an X-direction coordinate value, a distance between a positioning stop block and a correcting stop block and a Y-direction coordinate value of each temporary storage mechanism 4, and compares whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body 31 and the X-direction coordinate value of a preset target position is within a preset distance range or not in the moving process of the trolley body 31;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch 8 on the target position side of the trolley body 31 is blocked by the positioning stop 7 to change the signal, the first driving mechanism is controlled to drive the trolley to move in a decelerating manner along the X-direction track for a positioning distance and then stop, when the trolley stops, whether the groove of the U-shaped photoelectric switch 8 on the target position side is blocked by the correction stop 6 to change the signal is judged, and if so, the second driving mechanism is controlled to drive the sliding seat 5 to move between the second Y-direction track 32 and the first Y-direction track 22 on the corresponding side.
In the RGV system, the stations 2 and the temporary storage mechanism 4 are arranged on both sides of the X-direction track 1, so that the field space is fully utilized, in the method, the coordinate value in the X direction and the coordinate value in the Y direction of each station 2 are preset by the upper computer, therefore, whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body 31 and the X-coordinate value of the preset target position is within the preset distance range or not and whether the U-shaped photoelectric switch 8 on the target position side is blocked by the positioning stop 7 or not is compared in the moving process of the trolley body 31, therefore, whether the speed of the trolley body 31 is controlled to be reduced and stopped is judged, specifically, whether the current X-direction coordinate value of the trolley body 31 and the X-direction coordinate value of the target station 2 needing to be stopped are within a preset distance range can be compared in the moving process of the trolley body 31, this is used as a condition for detecting whether or not the signal of the U-shaped photoelectric switch 8 on the target position side triggers the follow-up operation.
If the upper computer presets that the RGV trolley 3 needs to be in butt joint with one station 2 on the left side of the X-direction track 1, in the process that the trolley body 31 moves to the station 2 on the left side, whether the absolute value of the difference value between the current X-direction coordinate value of the trolley body 31 and the X-direction coordinate value of the positioning device of the station 2 is within a preset range is judged, if yes, the trolley body 31 is decelerated and continuously moves for a certain distance along the X-direction track and then stops when the U-shaped photoelectric switch 8 on the left side of the trolley body 31 is blocked by the positioning stop 7 arranged on the station 2, and after the trolley body is judged to move in place through the correction stop 6, the sliding seat 5 is subsequently controlled to move to the first Y-direction track 22 on the left side through the second driving mechanism, or the sliding seat 5 moves to the trolley body 31 from the first Y-direction track 22 on the left side.
Example 4
The multiple-station 2 intelligent accurate feeding method based on the RGV system described in embodiment 1, wherein in the method, when the trolley body 31 is moving, the absolute value of the difference between the current X-direction coordinate value of the trolley body 31 and the preset coordinate value of the target station 2 is compared to determine whether the absolute value is within the preset distance range; if the distance is within the preset distance range, when the U-shaped photoelectric switch 8 on the target station 2 side of the trolley body 31 is blocked by the positioning stop dog 7 arranged on the station 2, the first driving mechanism is controlled to drive the trolley to decelerate 90% along the X-direction track and then move for a short distance at a constant speed, and then the trolley stops.
Example 5
The multiple-station 2 intelligent accurate feeding method based on the RGV system described in embodiment 1, wherein in the method, when the trolley body 31 is moving, the absolute value of the difference between the current X-direction coordinate value of the trolley body 31 and the coordinate value of the preset target station 2 is compared to determine whether the absolute value is within a preset distance range; if the distance is within the preset distance range, when the U-shaped photoelectric switch 8 of the target station 2 of the trolley body 31 is blocked by the positioning stop dog 7 arranged on the station 2, the first driving mechanism is controlled to drive the trolley to decelerate 90% along the X-direction track and then move a small distance at a very low speed at a constant speed, the small distance is automatically calculated by the upper computer according to the positioning distance and the preset acceleration, and the specific calculation is that the distance between the positioning stop dog of the station 2 and the stop dog of the team is subtracted by the distance that the trolley moves from 100% speed to 10% speed according to the preset acceleration and the distance that the trolley stops moving from 10% speed according to the preset acceleration deceleration.
Example 6
The multistation 2 intelligent accurate feeding method based on the RGV system in embodiment 1 is used for judging whether the trolley body is close to a preset station or whether the preset distance of the temporary storage mechanism is greater than the positioning distance.
Example 7
The multiple-station 2 intelligent precise feeding method based on the RGV system described in embodiment 1, wherein the light emitting direction of the U-shaped photoelectric switch 8 is a vertical direction.
Example 8
The multiple station 2 intelligent precision feeding method based on the RGV system described in embodiment 1, wherein the distance between the correcting stopper 6 and the positioning stopper 7 is adjustable.
The side part of the trolley body 31 can be provided with a mounting plate 9, as an implementation mode, a slotted hole 10 can be arranged on the mounting plate 9, and the positioning stop 7 and the correcting stop 6 are fixed at the slotted hole 10 through bolts and gaskets; the distance between the positioning stop dog 7 and the correcting stop dog 6 can be measured through an upper computer, the position of the positioning stop dog 7 can be fixed, the stop position of the distance adjusting can be preset through modification, the correcting stop dog can be moved in the slotted hole 10 after the stop position is changed, and a signal is sent to the U-shaped photoelectric switch 8 when the stop position is guaranteed.
Example 9
The multiple-station 2 intelligent precision feeding method based on the RGV system in embodiment 1, wherein the RGV system further comprises:
an alarm device electrically and mechanically connected to the lower node;
in the method, when the trolley stops, whether the U-shaped photoelectric switch 8 on the target position side is shielded by the correction stop 6 to change the signal is judged, if so, the second driving mechanism is controlled to drive the sliding seat 5 to move between the second Y-direction track 32 and the corresponding first Y-direction track 22, and if not, an alarm is given.
When the trolley stops, if the U-shaped photoelectric switch 8 on the corresponding side is not blocked by the correction stop 6 at the moment and the signal of the U-shaped photoelectric switch is changed, an alarm is given out, the follow-up action is stopped, and a worker is reminded to adjust.
The manual adjustment method comprises the following steps: the second Y-direction track 32 is ensured to be smoothly butted with the corresponding first Y-direction track 22 by moving the trolley, the correcting stop block 6 is moved in the slotted hole 10 to have a signal at the moment, the X-direction coordinate value at the moment is recorded, the coordinate value is the X-direction preset coordinate value of the station 2, the distance between the positioning stop block 7 and the correcting stop block 6 of the station 2 is measured again by the upper computer position measuring program, and the distance is set as the positioning distance.
In conclusion, by improving the multi-station intelligent accurate feeding method based on the RGV system, large and complex workpieces can be accurately, efficiently and automatically conveyed to a numerical control machine tool of a corresponding station for finish machining, and the positioning accuracy can reach within 10 micrometers.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

Claims (9)

1. The multi-station intelligent accurate feeding method based on the RGV system is characterized in that the RGV system comprises the following steps:
an X-direction track;
the plurality of stations are distributed on the side part of the X-direction track, each station is provided with a numerical control machine tool body, and each numerical control machine tool is connected with a first Y-direction track;
the RGV comprises a trolley body and a first driving mechanism connected to the trolley body, wherein the first driving mechanism is used for driving the trolley body to move along the X-direction track, and a second Y-direction track is arranged at the upper part of the trolley body, so that when the trolley body moves to any station, the second Y-direction track is in butt joint with the first Y-direction track of the station;
the temporary storage mechanisms are arranged on the side parts of the X-direction rails, and a first Y-direction rail is arranged on each temporary storage mechanism, so that when the trolley body moves to any temporary storage mechanism, a second Y-direction rail is in butt joint with the first Y-direction rail on the temporary storage mechanism;
the sliding seat is connected with the first Y-direction rail and the second Y-direction rail in a sliding fit mode respectively and used for loading workpieces;
the second driving mechanism is used for driving the sliding seat to transfer on the first Y-direction track and the second Y-direction track;
the side, facing the X-direction track, of each first Y-direction track is provided with one correcting stop block;
the two sides of each correcting block are respectively distributed with a positioning block;
the U-shaped photoelectric switch is arranged on the side part of the trolley body, so that when the trolley body moves to a specific position along the X-direction track, one of the correction check blocks or one of the positioning check blocks is positioned between the grooves of the U-shaped photoelectric switch to shield the U-shaped photoelectric switch and change the signal state of the U-shaped photoelectric switch;
the lower computer is electrically connected with the first driving mechanism, the second driving mechanism and the U-shaped photoelectric switch respectively;
the upper computer is electrically connected with the lower computer;
the multi-station intelligent accurate feeding method of the RGV system comprises the following steps:
the upper computer presets the X-direction coordinate value of each station, the distance between the positioning stop block and the correction stop block, and presets the X-direction coordinate value of each temporary storage mechanism, the distance between the positioning stop block and the correction stop block;
the upper computer sends an instruction to the lower computer according to feeding request information input by a user, wherein the content of the feeding request information comprises that a sliding seat on any station or any temporary storage mechanism is moved to another station or another temporary storage mechanism;
the lower computer executes an instruction, and controls the first driving mechanism and the second driving mechanism to complete actions according to the position of the trolley and a signal fed back by the U-shaped photoelectric switch, wherein the instruction specifically comprises the following steps:
controlling the first driving mechanism to drive the trolley body to move along the X-direction track;
comparing whether the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position are within a preset distance range or not in the moving process of the trolley body;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to move in a deceleration mode along the X-direction track for a certain positioning distance and then stop, the positioning distance is equal to the distance between the correction stop block and the positioning stop block, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the signal to change is judged, and if the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by the correction stop block, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track;
if the distance is not within the preset distance range, when the U-shaped photoelectric switch groove on the target position side of the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to continuously move along the X-direction track at the original speed.
2. The multiple station intelligent precision feed method based on an RGV system according to claim 1, wherein the X-direction width of the positioning stopper is wider than the X-direction width of the correcting stopper in the RGV system.
3. The RGV system-based multi-station intelligent precise feeding method according to claim 1, wherein in the RGV system, stations and temporary storage mechanisms are arranged on two sides of the X-direction track, and U-shaped photoelectric switches are arranged on two sides of the trolley body;
in the multi-station intelligent accurate feeding method of the RGV system, an upper computer presets an X-direction coordinate value, a distance between a positioning stop block and a correcting stop block and a Y-direction coordinate value of each station, presets an X-direction coordinate value, a distance between the positioning stop block and the correcting stop block and a Y-direction coordinate value of each temporary storage mechanism, and compares whether the current X-direction coordinate value of a trolley body and the X-direction coordinate value of a target position are within a preset distance range or not in the moving process of the trolley body;
if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side on the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to move for a certain positioning distance along the X-direction track in a decelerating mode and then stop, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the groove of the U-shaped photoelectric switch on the target position side to be blocked is judged, and if the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the first Y-direction track on the corresponding side.
4. The multi-station intelligent precise feeding method based on the RGV system according to claim 1, wherein in the method, the absolute value of the difference between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is compared to determine whether the absolute value is within a preset distance range or not during the movement of the trolley body; if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to change the signal, the first driving mechanism is controlled to drive the trolley body to decelerate by 85-95% along the X-direction track and then move at a constant speed for a short distance and then stop.
5. The multi-station intelligent precise feeding method based on the RGV system according to claim 1, wherein in the method, the absolute value of the difference between the current X-direction coordinate value of the trolley body and the X-direction coordinate value of the target position is compared to determine whether the absolute value is within a preset distance range or not during the movement of the trolley body; if the distance is within the preset distance range, when the groove of the U-shaped photoelectric switch on the target position side of the trolley body is blocked by any positioning stop block to enable the signal to change, the first driving mechanism is controlled to drive the trolley to decelerate 90% along the X direction track and then move a small distance at a constant speed, the small distance is automatically calculated by the upper computer according to the positioning distance and the preset acceleration, and the specific calculation is that the distance of the trolley moving from 100% speed to 10% speed according to the preset acceleration is subtracted from the positioning distance, and the distance of the trolley stopping moving from 10% speed according to the preset acceleration deceleration is subtracted.
6. The multi-station intelligent precise feeding method based on the RGV system according to claim 5, wherein the preset distance for judging whether the trolley body approaches the preset station or the temporary storage mechanism is greater than the positioning distance.
7. The RGV system-based multi-station intelligent precision feeding method according to claim 1, wherein the U-shaped photoelectric switch groove is in a horizontal direction.
8. The multiple station intelligent precision feed method based on an RGV system according to claim 1, wherein the distance between the correcting stopper and the positioning stopper is adjustable.
9. The multiple station intelligent precision feed method based on an RGV system according to claim 1, wherein the RGV system further comprises:
an alarm device electrically and mechanically connected to the lower node;
in the method, when the trolley stops, whether the groove of the U-shaped photoelectric switch on the target position side is blocked by the correction stop block to enable the signal to change is judged, if yes, the second driving mechanism is controlled to drive the sliding seat to move between the second Y-direction track and the corresponding first Y-direction track, and if not, an alarm is given.
CN202210027935.3A 2022-01-11 2022-01-11 Multi-station intelligent accurate feeding method based on RGV system Active CN114505711B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106628791A (en) * 2017-03-08 2017-05-10 江苏华章物流科技股份有限公司 Traveling positioning method for rail guided vehicle
CN108584255A (en) * 2017-12-26 2018-09-28 南京天地人自动化技术有限公司 Shuttle positioning identification system in length and breadth
CN110641935A (en) * 2019-09-19 2020-01-03 珠海格力智能装备有限公司 Warehouse-out control method and device based on RGV (reduced graphics volume) trolley, storage medium and control equipment
CN110789905A (en) * 2019-12-03 2020-02-14 深圳市鲸仓科技有限公司 Three-dimensional storage system and track robot, positioning device and positioning method thereof

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106628791A (en) * 2017-03-08 2017-05-10 江苏华章物流科技股份有限公司 Traveling positioning method for rail guided vehicle
CN108584255A (en) * 2017-12-26 2018-09-28 南京天地人自动化技术有限公司 Shuttle positioning identification system in length and breadth
CN110641935A (en) * 2019-09-19 2020-01-03 珠海格力智能装备有限公司 Warehouse-out control method and device based on RGV (reduced graphics volume) trolley, storage medium and control equipment
CN110789905A (en) * 2019-12-03 2020-02-14 深圳市鲸仓科技有限公司 Three-dimensional storage system and track robot, positioning device and positioning method thereof

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Denomination of invention: A Multi Station Intelligent and Accurate Feeding Method Based on RGV System

Granted publication date: 20220902

Pledgee: Industrial Bank Putian branch, Limited by Share Ltd.

Pledgor: FUJIAN WEINO CNC Co.,Ltd.

Registration number: Y2024980012798