CN114655338B

CN114655338B - Heavy-load conveying equipment and conveying control method

Info

Publication number: CN114655338B
Application number: CN202210345537.6A
Authority: CN
Inventors: 丁华; 曹玉龙; 于兴林; 张�杰; 周鹏鹏; 王灵峰
Original assignee: Zhejiang Xitumeng Digital Technology Co ltd
Current assignee: Zhejiang Xitumeng Digital Technology Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-12-27
Anticipated expiration: 2042-03-31
Also published as: CN114655338A

Abstract

The invention discloses heavy-load conveying equipment and a conveying control method, wherein the heavy-load conveying equipment comprises a moving platform, a track, a loading area and an assembly area, the loading area and the assembly area are arranged along the track, the loading area comprises a driving device, a loading station and a first auxiliary station, a first driving assembly of the driving device drives the moving platform passing through the loading station to move to the first auxiliary station along the track, a second driving assembly drives the moving platform passing through the first auxiliary station to move to the assembly area along the track, and the output power of the first driving assembly is smaller than that of the second driving assembly; the assembly area comprises a plurality of assembly stations, the number of the mobile platforms is set to meet the condition that the sum of the lengths of the mobile platforms positioned in the loading area and the assembly area is larger than the length of the track of the assembly area, so that the mobile platforms driven to the initial assembly stations by the second driving assembly can push the mobile platforms on the rest assembly stations to realize unpowered conveying. The invention has simple and reliable structure and low production cost, and can be shared by various vehicle types.

Description

Heavy-load conveying equipment and conveying control method

Technical Field

The invention relates to the technical field of conveying equipment, in particular to heavy-load conveying equipment and a conveying control method.

Background

In the automatic assembly line of product organization such as machine-building, automobile assembly, part assembly, all need to use automatic material conveying system, it is used for loading the material that needs the transport in processes such as production, storage to can be according to the setting process on different worker's position, carry out automated control according to operating instruction, in order to make things convenient for corresponding workman's operation and operation. For the assembly of large-sized workpieces, various assembly lines of different types are involved, the assembly lines are effectively combined, conveying equipment, accompanying fixtures, detection equipment and the like are organically integrated together, and the assembly requirements of the workpieces can be met.

At present, in the process of transporting and assembling large cargos such as vehicles and the like, because the vehicles are heavy in weight, large in size and more in assembly processes, the vehicles are usually transported by adopting a heavy-load conveying line, and the heavy-load conveying line can support and drive the large cargos such as the vehicles and the like to advance, so that the structure style is single, and the common production requirements of various vehicle types are difficult to meet; in addition, with the development of the automobile industry, the types of automobiles are various, in order to meet the market demand, the updating period is shorter and shorter, the changes provide severe tests for automobile manufacturers, the original single automobile type is replaced by multiple automobile types, the single production mode of the automobile manufacturers has low production efficiency, low equipment universality and low utilization rate, and the requirements of the current market cannot be met. Moreover, the existing heavy-load conveying line is complex in structure and high in manufacturing cost, the overall reliability and assembly precision of the production line are difficult to guarantee, the control modes of all areas of the production line are mostly connected in series in a single mode, and the failure of a single area causes the shutdown of other areas or even the whole production line, so that the production cost is increased, the production efficiency is reduced, and the large-scale industrial, intelligent and controllable production is not facilitated.

In view of the above, it is necessary to design a heavy-duty conveying apparatus and a conveying control method, which improve the conventional situation.

Disclosure of Invention

The invention aims to solve the technical problems in the prior art, and provides heavy-duty conveying equipment and a conveying control method, which have the advantages of simple and reliable structure and low manufacturing cost, can ensure the overall reliability and assembly precision of a production line, and meet the common production requirements of various vehicle types.

In order to solve the technical problems in the background technology, the invention adopts the technical scheme that: provides a heavy-load conveying device, which comprises a moving platform, a track, an upper workpiece area and an assembling area,

the movable platforms are used for bearing workpieces, the plurality of movable platforms are arranged on the track and can run along the track, the workpiece loading area and the assembly area are arranged along the track,

the workpiece loading area comprises a driving device, a workpiece loading station and a first auxiliary station, the driving device comprises a first driving component and a second driving component, the first driving component is arranged at the workpiece loading station and used for driving the movable platform passing through the workpiece loading station to move to the first auxiliary station along the track, the second driving component is arranged at the first auxiliary station and used for driving the movable platform passing through the first auxiliary station to move to the assembly area along the track, and the output power of the first driving component is smaller than that of the second driving component;

the assembly area comprises a plurality of assembly stations, the plurality of assembly stations comprise initial assembly stations connected with the first auxiliary station, the number of the movable platforms is set to meet the condition that the sum of the lengths of the movable platforms positioned in the loading area and the assembly area is larger than the length of a track of the assembly area, so that the movable platforms driven to the initial assembly stations by the second driving assembly can push the movable platforms on the rest assembly stations through force transmission to realize unpowered conveying in the assembly area.

The heavy-duty conveying equipment adopting the structure bears and conveys workpieces through the mobile platform, the structure is simple and reliable, the equipment cost is reduced, a large amount of space is saved, multiple vehicle types can be shared, the requirement of flexible mixed lines of multiple vehicle types is met, the equipment utilization rate is improved, in addition, a hybrid driving device consisting of a first driving assembly and a second driving assembly with different output powers is adopted to carry out station division, state division and staged driving on the mobile platform, wherein the output power of the first driving assembly is smaller than that of the second driving assembly, the first driving assembly mainly realizes the rapid driving of a single mobile platform at an upper workpiece station, the second driving assembly provides main power for the movement of a plurality of mobile platforms in a powerless assembly area, the powerless conveying of the mobile platforms on a plurality of assembly stations is realized by utilizing the force transmission, the installation of a motor is reduced, the cost is saved, the maintenance fault point is reduced, and a driving control mode that the first driving assembly pursues the second driving assembly is implemented, different driving speeds can be controlled by setting different production beats, the production beat and the production speed and the flexible control can be ensured, the whole production line and the assembly precision can meet various production requirements.

Further, the assembly area comprises unpowered guide devices, the unpowered guide devices are arranged on two sides of the rail corresponding to the assembly stations and used for guiding and transmitting a moving platform running on the rail, and preferably, the unpowered guide devices are guide wheels.

Further, the heavy-duty conveying equipment further comprises a control device, the control device is electrically connected with the driving device, and the control device is used for controlling the output power of the first driving assembly and the second driving assembly according to the target production beat so as to control the moving speed of the moving platform.

Further, the control device includes at least:

the information receiving module is used for receiving externally transmitted information;

the information sending module is used for sending information to the outside;

the operation mode control module is used for controlling the corresponding area to execute a preset operation mode, and the preset operation mode comprises a manual control mode, an automatic control mode and the like;

the linkage condition judging module is used for judging the preset condition of executing the action in the corresponding region, and controlling the corresponding component to execute the corresponding action when the preset condition is met;

the emergency stop control module is used for controlling the corresponding area to stop running, and the system can be reset through a reset key after the fault is reset;

and the fault alarm module is used for sending alarm prompt information when detecting that a preset fault exists in the corresponding area.

Further, controlling means still includes beat setting module, beat setting module includes:

the beat setting unit is used for setting a preset production beat according to the requirement of the production progress;

the beat determining unit is used for determining a target production beat according to the preset production beat and a first standard production beat preset by a system; when the time value of the preset production beat is larger than that of the first standard production beat, determining the second standard production beat as a target production beat; when the time value of the preset production beat is smaller than that of the first standard production beat, determining the first standard production beat as a target production beat; the first standard production rhythm and the second standard production rhythm are production rhythms preset by a system, and the time value of the first standard production rhythm is smaller than that of the second standard production rhythm;

and the control unit controls the output power of the first driving assembly and the second driving assembly according to the target production beat so as to control the moving platform to move at the target moving speed.

Further, the quantity of assembly district is two, including first assembly district and second assembly district, heavy-duty conveying equipment still including setting gradually first switching district, second switching district and the lower district along the track line, first assembly district sets up go up the district with between the first switching district, the second assembly district sets up the second switching district with between the lower district.

Further, the first transfer area comprises a second auxiliary station and a first transfer station, the second auxiliary station is arranged between a last assembly station of the first assembly area and the first transfer station, and the second auxiliary station and the first transfer station are both provided with a first driving assembly for driving the mobile platform passing through the last assembly station to sequentially move to the first transfer station and the second transfer area along the track;

the second transfer area comprises a third auxiliary station and a second transfer station, the third auxiliary station is arranged between the second transfer station and an initial assembly station of the second assembly area, a first driving assembly is arranged at the second transfer station and used for driving the mobile platform passing through the second transfer station to run to the third auxiliary station along the track, a second driving assembly is arranged at the third auxiliary station and used for driving the mobile platform passing through the third auxiliary station to run to the second assembly area along the track, and the number of the mobile platforms is set to meet the condition that the sum of the lengths of the mobile platforms in the second transfer area and the second assembly area is larger than the track length of the second assembly area, so that the mobile platforms driven to the initial assembly station by the second driving assembly can push the mobile platforms on the rest assembly stations through force transmission to realize unpowered transmission in the second assembly area;

the workpiece unloading area comprises a fourth auxiliary station and a workpiece unloading station, the fourth auxiliary station is arranged between the last assembly station of the second assembly area and the workpiece unloading station, and the fourth auxiliary station and the workpiece unloading station are both provided with first driving assemblies used for driving a moving platform passing through the last assembly station to move to the workpiece unloading station along the track.

Further, the track is the annular track that seals, the track turns to the department and is provided with the revolving stage that is used for realizing that the moving platform goes the in-process and turns to, makes the moving platform can circulate and travel in this track system, go up a district, first assembly area, first switching district, second assembly area with down the district follows the track is end to end setting in proper order.

Furthermore, the quantity of revolving stage is four, including first revolving stage, second revolving stage, third revolving stage and fourth revolving stage, first revolving stage setting is in the one side that upper part district and lower part district are connected, and the second revolving stage setting is in the one side that first switching district and second switching district are connected, and the third revolving stage setting is in the one side that second switching district and first switching district are connected, and the fourth revolving stage setting is in the one side that lower part district and upper part district are connected.

Further, the control device comprises a first controller, a second controller, a third controller and a fourth controller, the workpiece loading area comprises the first controller, the first transfer area comprises the second controller, the second transfer area comprises the third controller, the workpiece unloading area comprises the fourth controller, the first controller, the second controller, the third controller and the fourth controller are respectively used for controlling the movement of the moving platform of the corresponding area according to a target production rhythm, and the areas can be controlled individually and in a multi-stage connection manner;

the control device further comprises a master controller, and the master controller is electrically connected with the first controller, the second controller, the third controller and the fourth controller respectively.

By adopting the structure, the whole area of the production line is divided, and each area is provided with the independent controller, thereby realizing independent control and independent operation among the areas, realizing the mutual interlocking of the areas through the interlocking condition of the flow control of the areas, ensuring the whole reliability of the production line and the operation precision of system linkage, simultaneously, each independent controller is also respectively connected with the master controller, achieving single-stage control and multi-stage joint debugging, realizing the normal operation of other areas when a single area fails, coordinating multi-station assembly, meeting the requirement of the common assembly production of multiple workpieces, and saving the labor waste and cost waste caused by the whole shutdown of the system.

Further, go up a district, first switching district, second switching district and down a district all is provided with the recognition device who is connected with controlling means electricity, recognition device includes at least:

the position information acquisition module is used for acquiring the position information of the mobile platform in a corresponding area in real time;

the assembly information acquisition module is used for acquiring the assembly information of the workpieces on the mobile platform in the corresponding area in real time;

and the information sending module is used for sending the collected position information and the collected assembly information to the control device.

Further, the first controller is electrically connected with the identification device of the workpiece loading area, and the first controller further comprises:

the preset workpiece information writing module is used for writing the preset workpiece information of the workpiece in the workpiece loading area into a preset storage address;

the initial assembly information receiving module is used for receiving initial assembly information of the workpiece on the mobile platform, which is acquired by the identification device of the workpiece loading area;

and the initial information comparison module is used for comparing whether the preset workpiece information is consistent with the initial assembly information or not, and if the preset workpiece information is consistent with the initial assembly information, controlling the first driving assembly to drive the mobile platform to move to a first auxiliary station along a track.

Further, the fourth controller is electrically connected to the identification device of the lower part area, and the fourth controller further includes:

the preset assembly target information writing module is used for writing the preset assembly target information into a preset storage address;

the assembly information receiving module is used for receiving the assembly information of the workpiece on the mobile platform, which is acquired by the identification device in the workpiece unloading area;

the target information comparison module is used for comparing whether the preset assembling target information is consistent with the assembling information;

and the control module is used for controlling the unloading area to execute workpiece unloading operation if the preset assembling target information is consistent with the assembling information, and controlling the mobile platform of the unloading area to continue running along the track until the preset assembling target information is consistent with the assembling information if the preset assembling target information is inconsistent with the assembling information.

Adopt above-mentioned structure, be equipped with an identification device at above-mentioned every work area, the accessible is gone up the position and is write in preset work piece information, go up the district, first switching district, the assembly information of work piece is gathered in real time in four regions in second switching district and lower district, with the control work piece assembly condition, thereby realize managing and controlling the assembly maturity of work piece at each station circulation in-process, distinguish work piece assembly information in lower district, compare with preset target assembly information, the information comparison is unanimous, the assembly progress reaches when hundred percent indicates that the assembly is accomplished, satisfy the condition of rolling off the production line, the work piece can roll off the production line. Through setting up recognition device, the accessible is to the reading of work piece assembly information and is carried out the management and control of production flow, makes production controllable, the transparentization.

Another aspect of the present invention also provides a conveyance control method applied to the heavy load conveyance apparatus described above, including:

receiving a workpiece online instruction;

controlling a first driving assembly to drive the mobile platform to stop at an upper workpiece station according to the upper workpiece instruction, and waiting for receiving the workpiece;

after the moving platform receives the workpiece, controlling the first driving assembly to drive the moving platform to move to a first auxiliary station along a track, and controlling a second driving assembly arranged on the first auxiliary station to drive the moving platform to move to an assembly area along the track, wherein the output power of the first driving assembly is smaller than that of the second driving assembly;

the assembly area comprises a plurality of assembly stations, the plurality of assembly stations comprise initial assembly stations connected with the first auxiliary station, the number of the movable platforms is set to meet the condition that the sum of the lengths of the movable platforms positioned in the loading area and the assembly area is larger than the length of a track of the assembly area, so that the movable platforms driven to the initial assembly stations by the second driving assembly push the movable platforms on the rest assembly stations through force transmission to realize unpowered conveying in the assembly area.

Further, the output control method further includes:

setting a preset production tempo according to the requirement of the production progress;

when the time value of the preset production beat is larger than that of the first standard production beat, determining the second standard production beat as a target production beat; when the time value of the preset production beat is smaller than that of the first standard production beat, determining the first standard production beat as a target production beat; the first standard production tempo and the second standard production tempo are production tempos preset by a system, and the time value of the first standard production tempo is smaller than the time value of the second standard production tempo;

and controlling the output power of the first driving assembly and the second driving assembly according to the target production rhythm, and further controlling the mobile platform to move at the target moving speed.

Further, the number of the assembly areas is two, and the heavy-duty conveying equipment comprises a first assembly area and a second assembly area, the heavy-duty conveying equipment comprises an upper part area, a first assembly area, a first transfer area, a second assembly area and a lower part area which are sequentially arranged along a track in an end-to-end manner, the control device comprises a first controller, a second controller, a third controller and a fourth controller, the upper part area comprises the first controller, the first transfer area comprises the second controller, the second transfer area comprises the third controller, the lower part area comprises the fourth controller, and correspondingly, the conveying control method further comprises:

the first controller, the second controller, the third controller and the fourth controller respectively control the mobile platforms of the corresponding areas to move according to target production beats.

Further, the control device further includes a master controller, the master controller is electrically connected to the first controller, the second controller, the third controller and the fourth controller, correspondingly, the conveying control method further includes:

and the master controller controls the mobile platforms in all the areas to move simultaneously.

Further, the workpiece loading area, the first transfer area, the second transfer area and the workpiece unloading area are all provided with identification devices electrically connected with a control device, and correspondingly, the conveying control method further comprises the following steps:

acquiring position information of the mobile platform in a corresponding area and assembly information of workpieces on the mobile platform in the corresponding area in real time;

and sending the collected position information and the collected assembly information to the control device.

Further, the first controller is electrically connected with the identification device of the upper workpiece area, and before the first driving assembly is controlled to drive the moving platform to move along the track to the first auxiliary station, the conveying control method further comprises the following steps:

writing preset workpiece information of the workpiece loading area into a preset storage address;

receiving initial assembly information of the workpiece on the mobile platform, which is acquired by the identification device of the workpiece loading area;

comparing whether the preset workpiece information is consistent with the initial assembly information or not, and if the preset workpiece information is consistent with the initial assembly information, controlling the first driving assembly to drive the mobile platform to move to a first auxiliary station along a track; and if the preset workpiece information is inconsistent with the initial assembly information, sending alarm prompt information to prompt maintenance personnel to maintain data.

Further, the fourth controller is electrically connected to the recognition device of the work unloading zone, and before the work unloading, the conveying control method further includes:

writing preset assembling target information into a preset storage address;

receiving assembly information of the workpiece on the mobile platform, which is acquired by an identification device of a workpiece unloading area;

comparing whether the preset assembling target information is consistent with the assembling information;

if the preset assembly target information is consistent with the assembly information, controlling the workpiece unloading area to execute workpiece offline operation;

and if the preset assembling target information is inconsistent with the assembling information, controlling the mobile platform of the unloading area to continuously run along the track until the preset assembling target information is consistent with the assembling information.

The heavy-load conveying equipment and the conveying control method provided by the invention have the following beneficial effects:

1. the movable platform is used for bearing and conveying workpieces, the structure is simple and reliable, the equipment cost is reduced, a large amount of space is saved, the movable platform can be shared by multiple vehicle types, the requirement of flexible mixed lines of the multiple vehicle types is met, and the equipment utilization rate is improved.

2. The invention adopts a hybrid driving device consisting of a first driving component and a second driving component with different output powers to drive the mobile platform in different positions, states and stages, wherein the output power of the first driving component is smaller than that of the second driving component, the first driving component mainly realizes the rapid driving of a single mobile platform at the workpiece loading position, the second driving component provides the main power for the movement of a plurality of mobile platforms in a powerless assembly area, the powerless conveying of the mobile platforms on a plurality of assembly positions is realized by utilizing the force transmission, the motor installation is reduced, the cost is saved, the maintenance fault point is reduced, and the driving control mode that the first driving component catches up with the second driving component is realized.

3. The heavy-duty conveying system is divided into a plurality of areas according to the production line flow, and comprises an upper assembly area, a first transfer area, a second assembly area and a lower assembly area which are sequentially arranged end to end along a track, wherein the other areas except the unpowered assembly area are provided with independent controllers, so that the independent control and the independent operation among the areas are realized, the mutual linkage of the areas is realized through the interlocking condition of the flow control of the areas, the integral reliability of the production line and the operation precision of system linkage are ensured, meanwhile, the independent controllers are respectively connected with a main controller, the single-stage control and the multi-stage joint regulation are realized, the normal operation of the other areas when a single area fails is realized, the multi-station assembly coordination is realized, the requirement of the joint assembly and production of the parts is met, and the labor waste and the cost waste caused by the integral shutdown of the system are saved.

4. According to the invention, the plurality of working areas are provided with the identification devices, the assembly information of the workpieces is acquired in real time in the plurality of areas so as to monitor the assembly condition of the workpieces, and the identification devices are arranged, so that the assembly maturity of the workpieces is managed and controlled in the circulation process of each station, and the transparentization, informatization and controllability of an assembly line of an intelligent manufacturing production factory are realized.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a heavy-duty conveying apparatus according to the present embodiment;

FIG. 2 is a schematic structural diagram of a workpiece loading area of the heavy-duty conveying apparatus according to the present embodiment;

FIG. 3 is a first flowchart of a transportation control method according to the present embodiment;

FIG. 4 is a second flowchart of the transportation control method according to the present embodiment;

FIG. 5 is a third flowchart of the conveyance control method according to the present embodiment;

FIG. 6 is a fourth flowchart of the conveyance control method according to the present embodiment;

FIG. 7 is a fifth flowchart of the transportation control method according to the present embodiment;

fig. 8 is a sixth flowchart of the conveyance control method according to the present embodiment.

Wherein the reference numerals in the figures correspond to:

1-a first rotating table, 2-a workpiece loading station, 3-a first auxiliary station, 4-a first assembling area, 5-a second auxiliary station, 6-a first transfer station, 7-a second rotating table, 8-a third rotating table, 9-a second transfer station, 10-a third auxiliary station, 11-a second assembling area, 12-a fourth auxiliary station, 13-a workpiece unloading station, 14-a fourth rotating table, 15-a first transition station, 16-a second transition station, 17-a first driving assembly and 18-a second driving assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1 to fig. 2, the present embodiment provides a heavy-duty conveying apparatus, which can be used in a vehicle assembly line, heavy-duty cargo transportation, and other scenarios.

The heavy-duty conveying equipment of the embodiment at least comprises a moving platform, a track, a loading area and an assembling area,

the moving platforms are used for bearing workpieces, the moving platforms are arranged on the track and can run along the track, the workpiece loading area and the assembling area are arranged along the track,

the workpiece loading area comprises a driving device, a workpiece loading station 2 and a first auxiliary station 3, the driving device comprises a first driving assembly 17 and a second driving assembly 18, the first driving assembly 17 is arranged at the workpiece loading station 2 and used for driving the moving platform passing through the workpiece loading station 2 to move to the first auxiliary station 3 along the track, the second driving assembly 18 is arranged at the first auxiliary station 3 and used for driving the moving platform passing through the first auxiliary station 3 to move to the assembly area along the track, and the output power of the first driving assembly 17 is smaller than that of the second driving assembly 18;

the assembly area comprises a plurality of assembly stations, the plurality of assembly stations comprise a starting assembly station connected with the first auxiliary station 3, and the number of the moving platforms is set to meet the condition that the sum of the lengths of the moving platforms positioned in the workpiece loading area and the assembly area is larger than the length of the track of the assembly area, so that the moving platforms driven to the starting assembly station by the second driving component 18 can push the moving platforms on the rest assembly stations through force transmission to realize unpowered conveying in the assembly area.

Specifically, every moving platform all includes the reference column platform of liftable, the reference column platform is set up to be able to go up and down predetermineeing station department, moving platform connects when getting the work piece, the reference column platform rises to predetermineeing the union piece position, realizes the location to the fixed bolster that is used for fixed work piece, and then realizes getting and fix a position receiving the work piece, receives the work piece after the reference column platform drives the work piece descends initial position, has guaranteed the stability of work piece on moving platform, and can the sharing of multiple motorcycle type. In practical application, the positioning column platform moves along with the moving platform and goes up and down at a preset station, a sliding contact line structure can be arranged at the preset station in a specific implementation mode, electric connection with the positioning column platform is achieved through the sliding contact line structure, logic control is conducted through a controller of the preset station, and then the positioning column platform goes up and down at the preset station.

The heavy-duty conveying equipment adopting the structure carries and conveys workpieces through the mobile platform, the structure is simple and reliable, the equipment cost is reduced, a large amount of space is saved, multiple vehicle types can be shared, the requirement of flexible mixed lines of multiple vehicle types is met, the equipment utilization rate is improved, in addition, a hybrid driving device consisting of the first driving assembly 17 and the second driving assembly 18 with different output powers is adopted to carry out station division, state division and staged driving on the mobile platform, wherein the output power of the first driving assembly 17 is smaller than that of the second driving assembly 18, the first driving assembly 17 mainly realizes the rapid driving of a single mobile platform at the workpiece loading station 2, the second driving assembly 18 provides the main power for the movement of a plurality of mobile platforms in a powerless assembly area, the unpowered conveying of the mobile platforms on a plurality of assembly stations is realized by utilizing the force transmission, the installation of a motor is reduced, the cost is saved, the maintenance points are reduced, and the driving control mode that the first driving assembly 17 catches up with the second driving assembly 18 is implemented, different driving speeds can be controlled by setting different production beats, the speed control beat can be used for controlling the production line, the production beat, the flexible assembly accuracy can be ensured, and various production accuracy requirements can be met.

In practical application, the first driving assembly 17 mainly realizes the rapid operation of a single moving platform on a specific station and provides beat control, so the output power of the first driving assembly 17 is small, and the second driving assembly 18 mainly realizes the transmission of a plurality of moving platforms in a non-power assembly area and provides main power for the non-power transmission of the moving platforms, so the output power of the first driving assembly 17 is large. Specifically, the first driving assembly 17 includes a first driving motor and a first driving wheel, an output shaft of the first driving motor is connected with the first driving wheel, and the first driving wheel directly contacts with the moving platform to drive the moving platform to move; the second driving assembly 18 includes a second driving motor and a second driving wheel, an output shaft of the second driving motor is connected to the second driving wheel, and the second driving wheel directly contacts with the moving platform to drive the moving platform to move.

Preferably, the assembly area further comprises unpowered guide devices, and the unpowered guide devices are arranged on two sides of the rail corresponding to the assembly stations and used for guiding and transferring the moving platform running on the rail. Preferably, the unpowered guide may be a guide wheel.

In this embodiment, the heavy-duty conveying equipment further includes a control device, the control device is electrically connected to the driving device, and the control device is configured to control the output powers of the first driving assembly 17 and the second driving assembly 18 according to the target production tact, so as to control the moving speed of the moving platform.

In a possible embodiment, the control device comprises at least:

the information sending module is used for sending information to the outside;

and the fault alarm module is used for sending alarm prompt information when detecting that the corresponding area has the preset fault.

In a possible embodiment, the control device further comprises a beat setting module, and the beat setting module comprises:

the beat determining unit is used for determining a target production beat according to the preset production beat and a first standard production beat preset by a system; specifically, when the time value of the preset tact is greater than the time value of the first standard tact, determining the second standard tact as a target tact; when the time value of the preset production beat is smaller than that of the first standard production beat, determining the first standard production beat as a target production beat; the first standard production rhythm and the second standard production rhythm are production rhythms preset by a system, and the time value of the first standard production rhythm is smaller than that of the second standard production rhythm;

and the control unit controls the output power of the first driving assembly 17 and the second driving assembly 18 according to the target production rhythm, and further controls the mobile platform to move at the target moving speed.

Specifically, the tact refers to the time when the moving platform passes through a fixed position/fixed area, for example, the tact is 90s, and may refer to the time required for the moving platform to move from the first assembling station to the second assembling station for 90s, that is, the tact means that the moving platform continuously moves at a speed of 90s through one assembling station to complete the corresponding production progress.

For example, in a possible embodiment, the first standard production cycle preset by the system is 90s, the second standard production cycle is 180s, and when a workpiece is on line, an operator needs to set the preset production cycle according to the production schedule requirement. For example, when the current production progress demand is general or a production task is required to be completed at a slower speed in order to take account of other production lines, and the like, an operator sets a preset production tempo to be 200s and is greater than a standard production tempo preset by the system for 90s, the system is determined to intermittently operate with a second standard production tempo of 180s as a target production tempo; and when the production progress requirement is that the production task is finished at a higher speed, the operator sets the preset production tempo to be 60s and is smaller than the standard production tempo which is preset by the system by 90s, and then the system is determined to continuously run by taking the first standard production tempo of 90s as a target production tempo. The difference between the intermittent operation and the continuous operation is the difference in the operation speed, and in the intermittent operation mode, the average moving speed of the mobile platform is less than that of the mobile platform in the continuous operation. Through the whole operation cycle of above-mentioned mode control system, the production beat of standard is predetermine to the system, takes into account actual production progress demand simultaneously, realizes the nimble control to production beat, speed, ensures heavy-duty conveying system steady operation simultaneously, guarantees whole reliability of production line, assembly precision, has satisfied the requirement of the flexible mixed line of multi-vehicle type, has improved equipment utilization. Of course, in other possible embodiments, different standard takt times and preset takt times may be set according to actual production requirements, which is not limited herein.

Specifically, the controlling the output powers of the first driving assembly 17 and the second driving assembly 18 according to the target production tempo, and further controlling the moving platform to move at the target moving speed specifically includes:

obtaining a target linear velocity v2 of the second driving wheel according to the running distance L1 of the mobile platform between two adjacent assembly stations and a target production beat;

obtaining the peripheral speed of the second driving motor according to the target linear speed v2, the deceleration ratio of the second driving motor and the circumference of the second driving wheel, wherein the peripheral speed represents the actual rotating speed of the second driving motor;

according to the corresponding proportional relation between the peripheral speed and the frequency converter, solving the conversion parameter of the frequency converter;

controlling the output power of the second driving motor according to the conversion parameters of the frequency converter;

and the number of the first and second groups,

acquiring a preset initial speed v1 of the first driving wheel, wherein the preset initial speed v1 represents the speed of the first driving wheel at a position which is one station before a position where the second driving wheel is located, and at the moment, the first driving wheel drives the moving platform to run at a high speed to the position where the second driving wheel is located at the preset initial speed v1, namely v1 is greater than v2;

acquiring a distance length L2 between a first driving wheel and a second driving wheel;

obtaining a deceleration time t according to the distance length L2, the preset initial speed v1 and the target linear speed v2, wherein the deceleration time t represents that when the first driving wheel drives the mobile platform to run to the second driving wheel after the deceleration time t, the speeds of the two driving wheels are the same and are both v2;

and controlling the output power of the first driving motor according to the deceleration time t, the preset initial speed v1 and the target linear speed v2 so as to realize the operation mode that the first driving wheel catches up with the second driving wheel.

By adopting the reverse calculation method, the target linear velocity v2 of the second driving wheel is obtained according to the known running distance L1 and the target production rhythm, the target output power of the second driving motor is reversely calculated according to the target linear velocity v2, the second driving wheel speed required by the target production rhythm is realized by controlling the output power of the second driving motor, the speed change of the first driving wheel is realized by obtaining the speed reduction time t required by the first driving wheel to reach the target linear velocity v2 from the preset initial velocity v1 through the distance length L2 on the basis of the known second driving wheel speed, the running mode that the first driving wheel catches up with the second driving wheel is realized, the moving platform is driven to move at the target moving speed, the requirement of the production rhythm is met, meanwhile, the stable handover between stations is realized, and the production efficiency and the running stability of the production line are improved. And only need set up the production beat according to the production demand, and then realize the speed regulation and control to drive assembly, the computational method is simple, high-efficient, and beat, speed control are more nimble, satisfy the various production demands of mill.

In this embodiment, as shown in fig. 1, the number of the assembly areas is two, and the heavy-duty conveying equipment further includes a first transfer area, a second transfer area, and a lower assembly area that are sequentially disposed along the track, where the first assembly area 4 is disposed between the upper assembly area and the first transfer area, the second assembly area 11 is disposed between the second transfer area and the lower assembly area, and a trajectory P in fig. 1 represents a moving path of the moving platform on the track. In practical application, the first assembly area 4 is used for assembling a front trim of a vehicle; the second assembly region 11 is used for vehicle rear interior trim assembly; the first switching area and the second switching area are used for butting an external assembly system, specifically, the external assembly system receives a workpiece from the first switching area and carries out assembly, and the assembled workpiece is sent to the second switching area; the lower workpiece area is used for detecting the assembly maturity of the workpiece, and executing lower workpiece operation or enabling the workpiece which is not assembled to continue to move to the upper workpiece area for repeated assembly until the workpiece is assembled and is unloaded. Of course, in other possible embodiments, the number of the assembly areas and the number of the moving platforms may be set differently, and the positions and the purposes of the stations may also be different according to actual production requirements, which is not described herein again, and in this embodiment, the detailed description is given only by taking the above-mentioned heavy-duty conveying system as an example.

Specifically, the first transfer area comprises a second auxiliary station 5 and a first transfer station 6, the second auxiliary station 5 is arranged between a last assembly station of the first assembly area 4 and the first transfer station 6, and the second auxiliary station 5 and the first transfer station 6 are both provided with a first driving assembly 17 for driving a moving platform passing through the last assembly station to sequentially run to the first transfer station 6 and the second transfer area along a track;

the second transfer area comprises a third auxiliary station 10 and a second transfer station 9, the third auxiliary station 10 is arranged between the second transfer station 9 and an initial assembly station of the second assembly area 11, a first driving component 17 is arranged at the second transfer station 9 and used for driving the moving platform passing through the second transfer station 9 to move to the third auxiliary station 10 along the track, a second driving component 18 is arranged at the third auxiliary station 10 and used for driving the moving platform passing through the third auxiliary station 10 to move to the second assembly area 11 along the track, and the number of the moving platforms is set to satisfy that the sum of the lengths of the moving platforms in the second transfer area and the second assembly area 11 is larger than the track length of the second assembly area 11, so that the moving platforms driven to the initial assembly station by the second driving component 18 can push the moving platforms on the other assembly stations through force transmission to realize unpowered transmission in the second assembly area 11;

the workpiece discharging area comprises a fourth auxiliary station 12 and a workpiece discharging station 13, the fourth auxiliary station 12 is arranged between the tail assembling station of the second assembling area 11 and the workpiece discharging station 13, and the fourth auxiliary station 12 and the workpiece discharging station 13 are respectively provided with a first driving assembly 17 for driving a moving platform passing through the tail assembling station to move to the workpiece discharging station 13 along a rail.

Preferably, the track is an annular closed track, a rotating platform for realizing steering of the mobile platform in the running process of the track is arranged at the steering position of the track, so that the mobile platform can run in the track system in a circulating mode, and the loading area, the first assembling area 4, the first transferring area, the second assembling area 11 and the unloading area are sequentially arranged end to end along the track.

Illustratively, the rotating platform comprises a rotating motor, a rotation in-place switch and a locking device, wherein the rotating motor is electrically connected with the control device and is used for driving the rotating platform to rotate, the rotation in-place switch is used for detecting whether the rotating platform rotates to a preset position, the rotation in-place switch further comprises a forward transmission in-place switch and a reverse transmission in-place switch which are respectively used for detecting whether the rotating platform is forward transmitted in place or reversely rotated in place, and the locking device is used for locking or unlocking the position of the rotating platform.

In this embodiment, the number of the rotating tables is four, and the rotating tables include a first rotating table 1, a second rotating table 7, a third rotating table 8 and a fourth rotating table 14, the first rotating table 1 is disposed on one side of the upper part area connected to the lower part area, the second rotating table 7 is disposed on one side of the first transferring area connected to the second transferring area, the third rotating table 8 is disposed on one side of the second transferring area connected to the first transferring area, and the fourth rotating table 14 is disposed on one side of the lower part area connected to the upper part area.

In a possible embodiment, the hardware structure of the partitions is illustrated in order on the track,

a workpiece loading area: comprises a first rotating platform 1, a workpiece loading station 2 and a first auxiliary station 3, wherein,

the workpiece loading station 2 comprises an occupation detection device, a speed reduction switch, a stop switch, a first driving assembly 17 and a positioning mechanism;

first supplementary station 3 is used for connecting upper part station 2 and assembly station, realizes handing-over of moving platform between first drive assembly 17 and the second drive assembly 18, specifically contains occupation detection device, speed reduction switch, stop switch and second drive assembly 18.

First assembly region 4: the device comprises a plurality of assembly stations, wherein each assembly station comprises an unpowered guide device;

a first transfer area: comprising a second auxiliary station 5, a first transfer station 6 and a second rotary table 7, wherein,

the second auxiliary station 5 is used for connecting the assembly station with the first transfer station 6, the rapid transmission and the beat control of the mobile platform in the area are realized through the first driving component 17, and the register of the mobile platform of the previous station is also provided when the external assembly station is butted for working, and the register specifically comprises an occupation detecting device, a speed reducing switch, a stop switch and the first driving component 17;

the first transfer station 6 contains an occupancy detection device, a speed reduction switch, a stop switch, a first drive assembly 17 and a positioning mechanism.

A second transfer area: comprising a third rotating table 8, a second transfer station 9 and a third auxiliary station 10, wherein,

the second transfer station 9 comprises an occupancy detection device, a speed reduction switch, a stop switch, a first drive assembly 17 and a positioning mechanism;

the third auxiliary station 10 is used for connecting the second switching station 9 and the assembling station to realize the handover of the mobile platform between the stations, and specifically comprises an occupation detection device, a speed reduction switch, a stop switch and a second driving assembly 18;

second assembly region 11: the assembly device comprises a plurality of assembly stations, wherein each assembly station comprises an unpowered guide device;

a lower part area: comprising a fourth auxiliary station 12, a workpiece discharge station 13 and a fourth rotating table 14, wherein,

the fourth auxiliary station 12 is used for connecting the assembly station with the workpiece unloading station 13, the first driving component 17 is used for realizing rapid transmission and beat control of the moving platform in the area, and the storage of the moving platform of the previous station is also provided when the workpiece unloading station 13 works, and the fourth auxiliary station specifically comprises an occupation detecting device, a speed reducing switch, a stop switch and the first driving component 17;

lower station 13 contains occupation detection device, speed reduction switch, stop switch, first drive assembly 17 and positioning mechanism, and in this embodiment, lower station 13 is for overhauing the station in fact for detecting, maintaining moving platform, and discern the work piece assembled state, and the work piece of accomplishing the assembly is actually carried out the lower through fourth rotary platform behind lower station 13.

In practice, the operation of the workstations in each zone is closely related to the operation of workstations in the preceding and following zones. Specifically, the following explains the functional components included in the work station and the operational relationship among the work stations, by taking the workpiece work station 2, the first auxiliary work station 3, and the assembly area as an example:

go up a workstation 2, first supplementary station 3 and all include the binding clasp and occupy-place detection device that are connected with controlling means electricity respectively, go up a workstation 2 and still include the elevating gear who is connected with the controller electricity, elevating gear is used for driving the moving platform and goes up and down, and the binding clasp is used for locking or unblock moving platform position on the track, occupies-place detection device and is used for detecting whether have on the corresponding station states moving platform, occupy-place detection device can be for occupying the switch.

In a possible embodiment, the control device is used for controlling the first driving assembly 17 to drive the moving platform passing through the upper workpiece station 2 to orbit to the first auxiliary station 3 when the driving condition of the first driving assembly 17 is met, and the control device is used for controlling the second driving assembly 18 to drive the moving platform passing through the first auxiliary station 3 to orbit to the assembly area when the driving condition of the second driving assembly 18 is met. Mutual interlocking is realized through interlocking conditions among stations, the overall reliability of a production line and the operation precision of system linkage are guaranteed, and the smooth operation of conveying work of heavy-load conveying equipment is guaranteed.

Exemplarily, after the mobile platform enters the workpiece loading station 2, the occupation detection device detects that the mobile platform reaches the workpiece loading station, if the mobile platform receives the workpiece, the control device controls the clamp to unlock the mobile platform, so that the mobile platform can move under the driving of the first driving assembly 17, if the mobile platform does not receive the workpiece, the control device controls the clamp to lock the mobile platform, then the control lifting device drives the mobile platform to ascend to a preset workpiece loading position, wait for receiving the workpiece, after the mobile platform receives the workpiece, the control lifting device drives the mobile platform to descend to an initial position, and control the clamp to unlock the mobile platform, so that the mobile platform can run to the first auxiliary station 3 under the driving of the first driving assembly 17, that is, the driving condition of the first driving assembly 17 includes: the assembly area does not have pause, the occupation detection device of the workpiece loading station 2 detects that the workpiece loading station 2 is provided with a mobile platform and a clamping device unlocking mobile platform. When the occupancy detection device at the first auxiliary station 3 detects that the mobile platform reaches the first auxiliary station 3, and the clamp at the first auxiliary station 3 is in an unlocked state with respect to the mobile platform, the second driving assembly 18 is controlled to drive the mobile platform passing through the first auxiliary station 3 to move to the assembly area along the track, that is, the driving conditions of the second driving assembly 18 include: the assembly area is not paused, and the occupation detection device at the first auxiliary station 3 detects that a moving platform and a clamp unlocking moving platform are arranged on the first auxiliary station 3.

In a possible embodiment, in addition to providing a separate lifting device at the preset station to perform the lifting operation, the aforementioned manner of providing the trolley wire structure at the preset station may be adopted. Exemplarily, each mobile platform comprises a liftable positioning column platform for receiving and taking positioning workpieces, the positioning column platform moves along with the mobile platform, a sliding contact line structure is arranged at a station (such as an upper station, a first transfer station, a second transfer station and a lower station) where lifting operation needs to be performed, when the mobile platform passes through the station provided with the sliding contact line structure, the sliding contact line structure is electrically connected with the positioning column platform to realize power supply, and logic control is performed through a controller corresponding to the station to realize the lifting of the positioning column platform at the corresponding station.

Preferably, the workpiece loading station 2 further comprises a speed reducing switch and a stop switch, the speed reducing switch is used for adjusting the moving speed of the moving platform when the moving platform moves to a preset speed reducing position, and the stop switch is used for turning off the first driving assembly 17 when the moving platform moves to a preset stop position so as to stop the moving platform, so that the accurate stop of the moving platform is ensured.

Preferably, the workpiece loading station 2 further comprises a positioning mechanism for limiting the stop position of the moving platform on the rail. In practical application, when the first driving assembly 17 stops providing the driving force, the mobile platform can continuously move for a certain distance due to inertia, and the positioning mechanism is used for locking the actual stop position of the mobile platform, so that the mobile platform can be accurately stopped to a specified position, and the overall reliability and the assembly precision of the production line are further ensured.

For example, taking the fourth rotating table 14 and the first rotating table 1 as an example, the operational relationship between the stations will be described:

the moving platform at the unloading station 13 enters the fourth rotating table 14, and the fourth rotating table 14 needs to satisfy the following conditions: (1) The occupancy detection device at the fourth carousel 14 is not triggered, i.e. there is no moving platform at the fourth carousel 14; (2) The rotation-to-position switch of the fourth rotation stage 14 indicates that the fourth rotation stage 14 has rotated by a predetermined angle, i.e. the fourth rotation stage 14 is rotated to the position; (3) The locking device has locked the position of the fourth rotating table 14, i.e. the fourth rotating table 14 is locked in place; when the above conditions are satisfied, the control device controls the first driving assembly 17 to drive the moving platform to the fourth rotating platform 14. After the moving platform moves to the fourth rotating platform 14, the clamping device at the fourth rotating platform 14 locks the moving platform, the locking device of the fourth rotating platform 14 unlocks the fourth rotating platform 14, and at this time, it is determined whether the fourth rotating platform 14 meets the rotating conditions, wherein the rotating conditions include: revolving stage vacancy or full position, the locking device unblock and the limit switch of revolving stage target in place, the fourth revolving stage 14 is rotatory after the condition satisfies, it locks to rotate to preset position back locking device, judge whether satisfy the condition of rolling off the production line, the work piece rolls off the production technology parameter that sets up when needing to satisfy the work piece online, identification device (like radio frequency identification equipment, RFID) reads the production parameter of work piece and initial parameter unanimity that sets up then represents the work piece and can roll off the production line, confirm the binding clasp unblock moving platform on the fourth revolving stage 14 after the completion of lower, moving platform leaves fourth revolving stage 14 after satisfying the condition of advancing and enters into on the first revolving stage 1 in upper workpiece district, at this moment, moving platform advances the condition and is: the clamp unlocks the moving platform, the first rotating table 1 is locked in place, the first rotating table 1 rotates in place, and no moving platform is arranged at the first rotating table 1. As can be seen from the above, the action trigger of the mobile platform is composed of a plurality of conditions, and each condition is associated with each other.

In possible implementation mode, except unpowered assembly stations, each station comprises an occupation switch, a speed reduction switch and a stop switch, and the purpose is to enable the heavy-load mobile platform to be accurate in parking position and improve assembly precision and assembly efficiency.

In a possible implementation mode, a first transition station 15 is arranged between the first rotating platform 1 and the fourth rotating platform 14, a second transition station 16 is arranged between the second rotating platform 7 and the third rotating platform 8, the transition station provides a traffic passage for artificial material pulling or AGV trolley material pulling, when people or AGV trolleys pass through the transition station, the moving platform is not allowed to advance to the transition station, when no people or AGV trolleys pass through the transition station, the transition station allows the moving platform to enter as a moving platform temporary storage station, when the next rotating platform rotates to the transition station, the moving platform on the transition station is allowed to advance, the transition station is also an important component for realizing regional independent control, the function of communicating adjacent stations is realized, and the requirement of material transportation in actual production is met while the conveying line is ensured to be smooth.

In this embodiment, the control device includes a first controller, a second controller, a third controller and a fourth controller, the upper area includes the first controller, the first transfer area includes the second controller, the second transfer area includes the third controller, the lower area includes the fourth controller, the first controller, the second controller, the third controller and the fourth controller are respectively used for controlling the movement of the mobile platform in the corresponding area according to the target production rhythm, and each area can be controlled individually and controlled in a multi-stage manner;

Illustratively, taking the emergency stop control as an example, the emergency stop control modules of the first controller, the second controller, the third controller and the fourth controller are respectively used for independently controlling the emergency stop of each area without affecting other areas, and the emergency stop control module of the master controller is used for controlling all the areas to perform the emergency stop simultaneously. In a possible embodiment, the controller may include a control cabinet and a button box, the control cabinet includes a touch screen and other structures, and may be used to remotely set process parameters, process modes, and the like, and the button box includes an emergency stop button, a speed reduction button, a manual-automatic switching button, a rotary table forward rotation button, a rotary table reverse rotation button, a first driving assembly forward button, a first driving assembly backward button, and a switch button, and may be used to perform field control, such as performing field emergency stop, speed regulation, and other operations.

In this embodiment, the district of putting up, first switching district, second switching district and lower district all are provided with the recognition device who is connected with the controlling means electricity, and recognition device includes at least:

the assembly information acquisition module is used for acquiring the assembly information of the workpiece on the mobile platform in the corresponding area in real time;

In a possible embodiment, the first controller is electrically connected to the identification device of the workpiece loading area, and the first controller further comprises:

the initial information comparison module is used for comparing whether preset workpiece information is consistent with initial assembly information or not, if the preset workpiece information is consistent with the initial assembly information, the first driving component 17 is controlled to drive the mobile platform to move to the first auxiliary station 3 along the track, the second driving component 18 arranged on the first auxiliary station 3 is controlled to drive the mobile platform to move to the assembly area along the track, and the mobile platform driven to the initial assembly station by the second driving component 18 pushes the mobile platforms on the other assembly stations through force transmission to realize unpowered transmission in the assembly area; and if the preset workpiece information is inconsistent with the initial assembly information, sending alarm prompt information to prompt maintenance personnel to maintain data.

Specifically, the preset workpiece information refers to information of a preset workpiece scheduled to be assembled, and includes parameter information such as workpiece characteristic information, production cycle information and system preset cycle number, wherein the workpiece characteristic information includes various characteristic data information corresponding to the workpiece, the production cycle represents production speed, specifically refers to time when the mobile platform passes through a certain fixed position/fixed area, and the system preset cycle number refers to time when the workpiece needs to circularly run on a track for a specified number of cycles to complete an assembly task. The initial assembly information refers to actual workpiece information corresponding to an initial state before assembly of a workpiece actually mounted on the moving platform. The workpiece of the actual part is compared with the preset workpiece which is planned to be assembled before assembly, so that assembly errors are reduced, and the assembly precision, the assembly accuracy and the production efficiency are improved.

In a possible embodiment, the fourth controller is electrically connected to the identification device of the workpiece-placing region, and the fourth controller further includes:

the system comprises a preset assembly target information writing module, a preset storage address and a preset assembly target information writing module, wherein the preset assembly target information writing module is used for writing the preset assembly target information into the preset storage address, and specifically, the preset assembly target information refers to assembly state information corresponding to a planned workpiece assembly degree reaching one hundred percent;

the assembly information receiving module is used for receiving the assembly information of the workpiece on the mobile platform, which is acquired by the identification device of the workpiece unloading area, wherein the assembly information at the moment refers to the real-time assembly state information of the workpiece;

the target information comparison module is used for comparing whether preset assembly target information is consistent with the assembly information or not;

and the control module controls the unloading area to execute the offline operation of the workpiece if the preset assembling target information is consistent with the assembling information, and controls the mobile platform of the unloading area to continue to run along the track until the preset assembling target information is consistent with the assembling information if the preset assembling target information is inconsistent with the assembling information.

Adopt above-mentioned structure, be equipped with an identification device at above-mentioned every work area, the accessible is gone up a workstation 2 and is write in predetermineeing workpiece information, at last district, first switching district, the assembly information of work piece is gathered in four regions in second switching district and lower district in real time, with the control work piece assembly condition, thereby realize managing and controlling the assembly maturity of work piece at each station circulation in-process, distinguish workpiece assembly information at lower district, compare with predetermined target assembly information, the information comparison is unanimous, the assembly progress reaches when hundred percent indicates that the assembly is accomplished, satisfy the condition of taking off the production line, the work piece can go off the production line. The recognition device is arranged, so that the production flow can be controlled by reading the workpiece assembly information, and the production can be controlled and transparent.

The present embodiment further provides a conveying control method, which is applied to the heavy-duty conveying equipment in the foregoing embodiment, and fig. 3 is a flowchart of the conveying control method in the present embodiment, where the conveying control method includes:

s301: receiving a workpiece on-line instruction;

s303: controlling a first driving component 17 to drive the mobile platform to stop to the upper workpiece station 2 according to the on-line instruction, and waiting for receiving the workpiece;

s305: after the mobile platform receives the workpiece, controlling a first driving component 17 to drive the mobile platform to move to a first auxiliary station 3 along a track, and controlling a second driving component 18 arranged on the first auxiliary station 3 to drive the mobile platform to move to an assembly area along the track, wherein the output power of the first driving component 17 is less than that of the second driving component 18;

s307: the assembly area comprises a plurality of assembly stations, the plurality of assembly stations comprise a starting assembly station connected with the first auxiliary station 3, and the number of the movable platforms is set to satisfy that the sum of the lengths of the movable platforms positioned in the workpiece loading area and the assembly area is larger than the length of the track of the assembly area, so that the movable platforms driven to the starting assembly station by the second driving component 18 push the movable platforms on the rest assembly stations through force transmission to realize unpowered conveying in the assembly area.

As shown in fig. 4, in this embodiment, the output control method further includes:

s401: setting a preset production tempo according to the production progress requirement;

s403: determining a target production rhythm according to the preset production rhythm and a first standard production rhythm preset by a system; specifically, when the time value of the preset tact is greater than the time value of the first standard tact, determining the second standard tact as a target tact; when the time value of the preset production beat is smaller than that of the first standard production beat, determining the first standard production beat as a target production beat; the first standard production rhythm and the second standard production rhythm are production rhythms preset by a system, and the time value of the first standard production rhythm is smaller than that of the second standard production rhythm;

s405: and controlling the output power of the first driving assembly 17 and the second driving assembly 18 according to the target production beat, and further controlling the moving platform to move at the target moving speed.

In a possible embodiment, the number of the assembly areas is two, including a first assembly area 4 and a second assembly area 11, the heavy-duty conveying equipment includes an upper part area, a first assembly area 4, a first transfer area, a second assembly area 11 and a lower part area, which are sequentially arranged end to end along the track, the control device includes a first controller, a second controller, a third controller and a fourth controller, wherein the upper part area includes the first controller, the first transfer area includes the second controller, the second transfer area includes the third controller, and the lower part area includes the fourth controller, accordingly, the conveying control method further includes:

the first controller, the second controller, the third controller and the fourth controller respectively control the mobile platform in the corresponding area to move according to the target production beat.

Preferably, the control device further includes a master controller, the master controller is electrically connected to the first controller, the second controller, the third controller and the fourth controller, correspondingly, the conveying control method further includes:

In a possible embodiment, the upper component area, the first transfer area, the second transfer area and the lower component area are each provided with an identification device electrically connected to the control device, and accordingly, as shown in fig. 5, the transportation control method further includes:

s501: acquiring position information of a mobile platform in a corresponding area and assembly information of workpieces on the mobile platform in the corresponding area in real time;

s503: and sending the collected position information and the collected assembly information to a control device.

In a possible embodiment, the first controller is electrically connected to the identification device of the loading area, and before controlling the first driving assembly 17 to drive the moving platform to orbit to the first auxiliary station 3, the loading area is correspondingly, as shown in fig. 6, the transportation control method further includes:

s601: writing preset workpiece information of the workpiece loading area into a preset storage address;

s603: receiving initial assembly information of a workpiece on a mobile platform, which is acquired by an identification device of a workpiece loading area;

s605: comparing whether preset workpiece information and initial assembly information are consistent or not;

s607: if the preset workpiece information is consistent with the initial assembly information, controlling a first driving component 17 to drive the moving platform to move to a first auxiliary station 3 along the track, controlling a second driving component 18 arranged on the first auxiliary station 3 to drive the moving platform to move to an assembly area along the track, and driving the moving platform driven to the initial assembly station by the second driving component 18 to push the moving platforms on the other assembly stations through force transmission to realize unpowered transmission in the assembly area;

s609: and if the preset workpiece information is inconsistent with the initial assembly information, sending alarm prompt information to prompt maintenance personnel to maintain data.

In a possible embodiment, the fourth controller is electrically connected to the recognition device of the workpiece dropping area, and before the workpiece dropping, in the workpiece dropping area, correspondingly, as shown in fig. 7, the conveying control method further includes:

s701: writing preset assembling target information into a preset storage address;

s703: receiving assembly information of the workpiece on the mobile platform, which is acquired by an identification device of the workpiece unloading area;

s705: comparing whether the preset assembling target information is consistent with the assembling information;

s707: if the preset assembling target information is consistent with the assembling information, controlling a workpiece unloading area to execute workpiece offline operation;

s709: and if the preset assembling target information is inconsistent with the assembling information, controlling the mobile platform of the unloading area to continuously run along the track until the preset assembling target information is consistent with the assembling information.

In a possible embodiment, in the downstream area, as shown in fig. 8, the transport control method further includes:

s801: collecting the number of rotation turns of a workpiece on a moving platform, when the moving platform drives the workpiece to move from an upper workpiece station 2 to a lower workpiece station 13 along a track, indicating that the workpiece rotates one turn, and completing a corresponding production process, wherein 1 is added to the number of cycle turns when each turn passes through the lower workpiece station 13;

s803: and when the number of rotation turns reaches the preset number of circulation turns of the system, representing that the assembly progress of the workpiece reaches one hundred percent, and controlling the workpiece unloading area to execute the offline operation of the workpiece.

The conveying control method provided by this embodiment is applied to the heavy-duty conveying apparatus in the above centralized embodiment, and the specific control method of each area corresponds to the structure of the heavy-duty conveying apparatus provided by the above several embodiments, and is implemented based on the hardware structure of the heavy-duty conveying apparatus, so that the control logic of each area in the above embodiment of the heavy-duty conveying apparatus is also applicable to the control conveying method provided by this embodiment, and will not be described in detail in this embodiment.

An embodiment of the present invention further provides a server, where the server includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the transportation control method provided in the foregoing method embodiment.

The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.

Embodiments of the present invention also provide a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a delivery control method in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement a delivery control method provided in the method embodiments.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Although the present invention has been described in connection with the preferred embodiments, it is not intended to be limited to the embodiments described herein, and various changes and modifications may be made without departing from the scope of the invention.

In this document, the terms front, back, upper, lower and the like in the drawings are used for the sake of clarity and convenience only for the components are located in the drawings and the positions of the components relative to each other. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The embodiments and features of the embodiments described herein above can be combined with each other without conflict.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A heavy-load conveying device is characterized by comprising a moving platform, a track, a loading area and an assembling area,

2. The heavy-duty conveying equipment according to claim 1, wherein the assembling area comprises unpowered guide devices, and the unpowered guide devices are arranged on two sides of the rail corresponding to the assembling stations and used for guiding and transferring a moving platform running on the rail.

3. The heavy-duty conveying apparatus according to claim 1, further comprising a control device electrically connected to the driving device, wherein the control device is configured to control output powers of the first driving assembly and the second driving assembly according to a target production cycle to control a moving speed of the moving platform.

4. A heavy load conveyor apparatus according to claim 3, wherein said control device comprises a beat setting module, said beat setting module comprising:

the tempo setting unit is used for setting a preset production tempo according to the requirement of production progress;

the beat determining unit is used for determining a target production beat according to the preset production beat and a first standard production beat preset by a system; when the time value of the preset production tempo is greater than the time value of the first standard production tempo, determining a second standard production tempo as the target production tempo; when the time value of the preset production tempo is smaller than the time value of the first standard production tempo, determining the first standard production tempo as the target production tempo; the first standard production rhythm and the second standard production rhythm are production rhythms preset by a system, and the time value of the first standard production rhythm is smaller than that of the second standard production rhythm;

and the control unit controls the output power of the first driving assembly and the second driving assembly according to the target production tempo, and further controls the mobile platform to move at a target moving speed.

5. The heavy-duty conveying equipment according to claim 3, wherein the number of said assembly areas is two, and said heavy-duty conveying equipment further comprises a first transfer area, a second transfer area and a lower piece area which are sequentially arranged along said track, said first assembly area is arranged between said upper piece area and said first transfer area, and said second assembly area is arranged between said second transfer area and said lower piece area.

6. The heavy-duty conveying equipment as claimed in claim 5, wherein the first transfer area comprises a second auxiliary station and a first transfer station, the second auxiliary station is arranged between a last assembly station of the first assembly area and the first transfer station, and a first driving component is arranged at each of the second auxiliary station and the first transfer station and used for driving the moving platform passing through the last assembly station to sequentially run to the first transfer station and the second transfer area along the track;

the workpiece discharging area comprises a fourth auxiliary station and a workpiece discharging station, the fourth auxiliary station is arranged between the tail assembling station of the second assembling area and the workpiece discharging station, and the fourth auxiliary station and the workpiece discharging station are both provided with first driving assemblies used for driving a moving platform passing through the tail assembling station to move to the workpiece discharging station along the rail.

7. The heavy load conveying equipment according to claim 5, wherein the track is an annular closed track, a rotating platform for realizing steering of the moving platform in the running process of the track is arranged at the steering position of the track, so that the moving platform can run in a circulating manner in the track system, and the loading area, the first assembling area, the first transferring area, the second assembling area and the unloading area are sequentially arranged end to end along the track.

8. The heavy load conveying equipment according to claim 5, wherein the control device comprises a first controller, a second controller, a third controller and a fourth controller, the upper part area comprises the first controller, the first transfer area comprises the second controller, the second transfer area comprises the third controller, the lower part area comprises the fourth controller, the first controller, the second controller, the third controller and the fourth controller are respectively used for controlling the movement of the moving platform of the corresponding area according to the target production rhythm, and the areas can be controlled individually and in a multi-stage manner;

9. The heavy load conveying equipment according to claim 5, wherein the upper member area, the first transfer area, the second transfer area and the lower member area are each provided with an identification device electrically connected with the control device, and the identification device at least comprises:

10. A conveyance control method applied to a heavy load conveyance apparatus according to any one of claims 1 to 9, the method comprising:

receiving a workpiece online instruction;