CN114803346A

CN114803346A - Control method and control device for automatic loading and unloading production line and production line

Info

Publication number: CN114803346A
Application number: CN202210468756.3A
Authority: CN
Inventors: 肖廷; 王成威; 孙润根
Original assignee: Changde Sany Machinery Co Ltd
Current assignee: Changde Sany Machinery Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-07-29

Abstract

The application relates to the field of engineering machinery, in particular to a control method and a control device for an automatic loading and unloading production line and the production line. The control method of the automatic loading and unloading production line comprises the following steps: acquiring position information of raw materials; according to the position information of the raw materials, a cutting machine is appointed to cut the raw materials and generate a raw material transportation instruction; acquiring first feedback information of the raw material transport trolley, and generating a feeding instruction and a cutting instruction according to the first feedback information; acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; the third feedback information of the monitoring mechanism is acquired, finished product transportation instructions are generated according to the third feedback information, the full-flow operation of raw materials from warehouse-out, finished product cutting and finished product sorting and transportation is realized through information interaction between the central control system and each execution mechanism, manual participation is not needed, the intelligent production of a production line is guaranteed, the production efficiency is improved, and meanwhile the labor cost is saved.

Description

Control method and control device for automatic loading and unloading production line and production line

Technical Field

The application relates to the field of engineering machinery, in particular to a control method and a control device for an automatic loading and unloading production line and the production line.

Background

At present, the equipment manufacturing industry mainly adopts CNC (computerized Numerical Control) Numerical Control machine tools to realize blanking, machining, assembling and other work, but the existing CNC machining is based on large-scale human labor, and the production efficiency and the energy efficiency ratio are low.

Disclosure of Invention

In view of this, the present application provides a control method, a control device and a production line for an automatic loading and unloading production line, which solve or improve the technical problem of low labor efficiency due to the adoption of manpower in the equipment manufacturing industry in the prior art.

According to an aspect of the present application, the present application provides a control method for an automatic loading and unloading production line, the control method for the automatic loading and unloading production line includes: acquiring position information of the raw material; according to the position information of the raw materials, a cutting machine is designated to cut the raw materials and a raw material transportation instruction is generated, wherein the raw material transportation instruction is used for controlling a raw material transportation trolley to distribute the raw materials to the cutting machine; acquiring first feedback information of the raw material transport trolley, and generating a loading instruction and a cutting instruction according to the first feedback information, wherein the loading instruction is used for controlling a grabbing mechanism to grab the raw material to the cutting machine, and the cutting instruction is used for controlling the cutting machine to cut the raw material; acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information, wherein the sorting instruction is used for enabling the grabbing mechanism to sort the cut finished products; and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information, wherein the finished product transportation instruction is used for enabling a finished product transportation trolley to transport the cut finished product.

In one embodiment, when the raw material includes at least two types, the specifying a cutting machine to cut the raw material and generating a raw material transportation instruction according to the position information of the raw material includes: respectively appointing at least two cutting machines to cut the raw materials of at least two types one by one according to the position information of the raw materials of at least two types; acquiring position information of the cutting machines corresponding to the raw materials one by one; generating a first raw material transportation instruction according to the position information of the cutting machines in one-to-one correspondence with the raw materials, wherein the first raw material transportation instruction is used for controlling a first raw material transportation trolley to transport the raw materials; acquiring first ex-warehouse feedback information of the first raw material transport trolley; and generating a second raw material transportation instruction according to the first ex-warehouse feedback information and the position information of the cutting machine corresponding to the raw material, wherein the second raw material transportation instruction is used for controlling a second raw material transportation trolley to transport the raw material.

In an embodiment, when the raw materials are two, the obtaining first feedback information of the raw material transportation cart, and generating a feeding instruction and a cutting instruction according to the first feedback information includes: acquiring the first feedback information of the first raw material transport trolley; generating the feeding instruction, the cutting instruction and a stopping instruction according to the first feedback information of the first raw material transport trolley, wherein the stopping instruction is used for controlling the second raw material transport trolley to stop; acquiring unloading feedback information of the first raw material transport trolley; and generating a first transverse moving instruction and a first running instruction according to the unloading feedback information, wherein the first transverse moving instruction is used for controlling the first raw material transport trolley to transversely move to a control site, and the first running instruction is used for controlling the second raw material transport trolley to continuously run.

In one embodiment, the specifying a cutting machine to cut the raw material and generating a raw material transportation instruction according to the position information of the raw material includes: acquiring operation state information of a plurality of cutting machines; acquiring the currently idle cutting machine according to the operation state information; and appointing the cutter which is idle at present to cut the raw material and generate a raw material transportation instruction.

In one embodiment, when the idle cutters include at least two, the specifying the currently idle cutters to cut the stock material and generate stock transportation instructions includes: and designating the cutter which is nearest to the raw material and is currently idle to cut the raw material and generate a raw material transportation instruction.

In an embodiment, after the obtaining third feedback information of the monitoring mechanism and generating a finished product transportation instruction according to the third feedback information, the control method further includes: acquiring fourth feedback information of the grabbing mechanism; and generating a waste material transportation instruction according to the fourth feedback information of the grabbing mechanism, wherein the waste material transportation instruction is used for controlling a waste material transportation trolley to transport waste materials.

In an embodiment, the generating a waste transport instruction according to the fourth feedback information of the grabbing mechanism includes: generating a first waste material transporting instruction according to the fourth feedback information, wherein the first waste material transporting instruction is used for controlling a first waste material transporting trolley to transport waste materials; the method comprises the steps of obtaining feeding feedback information of a first waste material transport trolley, and generating a second transverse moving instruction and a second waste material transport instruction according to the feeding feedback information, wherein the second transverse moving instruction is used for controlling the first waste material transport trolley to transversely move to a control site, and the second waste material transport instruction is used for controlling the second waste material transport trolley to transport waste materials; wherein the waste transport instructions comprise the first waste transport instruction and the second waste transport instruction.

According to the second aspect of this application, this application provides a controlling means of unloading production line in automation, and this controlling means of unloading production line in automation includes: the raw material position information acquisition module is used for acquiring the position information of the raw material; the feedback information acquisition module is used for acquiring first feedback information of the raw material transport trolley, second feedback information of the cutting machine and third feedback information of the monitoring mechanism; the instruction generating module is used for generating a raw material transportation instruction, a loading instruction, a cutting instruction, a sorting instruction and a finished product transportation instruction; the raw material conveying instruction is used for controlling a raw material conveying trolley to start to distribute the raw materials to the cutting machine, the feeding instruction is used for enabling the grabbing mechanism to grab the raw materials, the cutting instruction is used for controlling the cutting machine to cut the raw materials, the sorting instruction is used for enabling the grabbing mechanism to sort cut finished products, and the finished product conveying instruction is used for enabling the finished product conveying trolley to convey the cut finished products.

According to the third aspect of the present application, the present application provides an automatic feeding and discharging production line, and this automatic feeding and discharging production line includes: a stock repository for storing stock material; a stock cutting unit comprising one or more cutters for cutting the stock material and a finished product sorting line for sorting cut finished products; the logistics unit is used for transporting the raw materials and the cut finished products, and comprises a raw material transport trolley and a finished product transport trolley, wherein the raw material transport trolley is used for transporting the raw materials, and the finished product transport trolley is used for transporting the cut finished products; the grabbing mechanisms are respectively arranged in the raw material warehouse and the raw material cutting unit and are used for grabbing and feeding the raw materials and grabbing and sorting the cut finished products; the monitoring mechanism is arranged on the sorting line and used for monitoring the sorting state of the cut finished products; the control device is in communication connection with the raw material cutting unit, the material flow unit, the grabbing mechanism and the monitoring mechanism respectively.

In one embodiment, the control device comprises: and the finished product transport trolley calling program is installed on any mobile terminal and used for calling the finished product transport trolley according to the third feedback information of the monitoring mechanism.

The application provides a control method and a control device for an automatic feeding and discharging production line and the production line. The control method comprises the following steps: acquiring position information of the raw material; according to the position information of the raw materials, a cutting machine is appointed to cut the raw materials and generate a raw material transportation instruction; acquiring first feedback information of the raw material transport trolley, and generating a feeding instruction and a cutting instruction according to the first feedback information; acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information. The control method realizes the full-flow operation from the warehouse-out of the raw materials to the finished product cutting to the finished product sorting and transporting through the information interaction between the central control system and each actuating mechanism, can complete all the work without manual participation, ensures the intelligent production of the production line, improves the production efficiency and saves the labor cost.

Drawings

Fig. 1 is a schematic flow chart illustrating a control method for an automatic loading and unloading production line according to an embodiment of the present application.

Fig. 2 is a schematic flow chart illustrating a raw material transportation control method in the control method of the automatic loading and unloading production line according to another embodiment of the present application.

Fig. 3 is a schematic flow chart illustrating a control method for feeding and cutting raw materials in the control method for an automatic loading and unloading production line according to another embodiment of the present disclosure.

Fig. 4 is a schematic flow chart illustrating a raw material transportation control method in the control method of the automatic loading and unloading production line according to another embodiment of the present application.

Fig. 5 is a schematic flow chart illustrating a waste transportation control method in a control method of an automatic loading and unloading production line according to another embodiment of the present disclosure.

Fig. 6 is a schematic flow chart illustrating a waste transportation control method in a control method of an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 7 is a schematic diagram illustrating an operation of a control device of an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 8 is a schematic structural diagram of an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 9 is a schematic structural diagram of a material storage and a grabbing mechanism in an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 10 is a schematic structural diagram of a warehouse location in an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 11 is a schematic structural view of a fixed cross beam in an automatic loading and unloading production line according to another embodiment of the present disclosure.

Fig. 12 is a partially enlarged view for embodying a point a in fig. 11.

Fig. 13 is a schematic structural view illustrating a front-and-back moving frame in an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 14 is a schematic structural view of a left-right moving frame in an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 15 is a schematic structural view of a tooling gripper in an automatic loading and unloading production line according to another embodiment of the present application.

Fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the application.

Description of reference numerals: 1. a stock repository; 11. a library location; 2. a raw material transport trolley; 20. a grabbing mechanism; 21. fixing the cross beam; 211. a support rail; 212. a first limit track; 213. a first drive rack; 22. moving the frame back and forth; 221. a first movable roller; 222. a first limit roller; 223. a first motor reducer; 224. a roller track; 225. a second limit track; 226. a second drive rack; 23. moving the cross beam left and right; 231. a second movable roller; 232. a second limiting roller; 234. a second motor reducer; 235. a reversing sprocket set; 236. a balance cylinder; 24. lifting the Z rod; 25. a tooling gripper; 251. a vacuum chuck; 252. an electro-permanent magnetic chuck; 3. a cutter; 4. cutting the platform; 5. a material rack; 6. a finished product transport trolley; 7. a waste transport trolley; 8. a blanking area; 100. a control device; 101. a raw material position information acquisition module; 102. a feedback information acquisition module; 103. an instruction generation module; 600. an electronic device; 601. a processor; 602. a memory; 603. an input device; 604. and an output device.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic flow chart illustrating a control method for an automatic loading and unloading production line according to an embodiment of the present disclosure. As shown in fig. 1, the control method of the automatic loading and unloading production line specifically includes the following steps:

step 100: position information of the raw material is acquired.

The raw material is a manufacturing material required for manufacturing equipment, such as steel plates, steel materials, etc. with different types and shapes, and the raw material will be described by taking the steel plate as an example. It is understood that the steel plates are usually stored in a steel plate warehouse, the steel plate warehouse may include a plurality of positions, each position is correspondingly placed with only one type of steel plate, and the position information of the raw material refers to the specific position of the steel plate for processing in the steel plate warehouse. After a steel plate cutting task is newly established in the central control system, the task designates a certain steel plate, and the specific stock space can be confirmed according to the type of the steel plate. In addition, the storage position in the steel plate storage can be a plane storage position, the process for setting the plane storage position is simple, and the storage position can also be a three-dimensional storage position, and the three-dimensional storage position occupies relatively less area of a field. Therefore, the specific library position adopted depends on the specific application scenario, and the application does not further limit the library position.

Step 200: and according to the position information of the raw material, the specified cutting machine cuts the raw material and generates a raw material transportation instruction.

The cutting machines are equipment for cutting the steel plate, can be laser cutting machines, each cutting machine comprises two cutting platforms, when the first cutting platform performs cutting action, the second cutting platform can perform feeding action of the steel plate through the grabbing mechanism, so that after the cutting work of the first cutting platform is completed, the positions of the second cutting platform are exchanged, and the cutting efficiency is improved; the raw material transportation instruction is a control instruction which is generated by the central control system and used for controlling the raw material transportation trolley to distribute raw materials to the cutting machine. Because under different scenes, one or more cutting machines can be arranged, and the system can appoint the best cutting machine to cut the steel plate according to the idle condition of the current cutting machine and the position away from the steel plate library. And then, the central control system sends a control instruction to the grabbing mechanism in the steel plate warehouse, so that the manipulator truss of the grabbing mechanism moves to the corresponding steel plate warehouse position, the electromagnetic and vacuum mixed sucker grabs the steel plate and moves the steel plate to the raw material transport trolley, and the central control system generates a corresponding raw material transport instruction according to the distance between the cutting machine and the steel plate warehouse, so that the steel plate can be conveyed to the cutting machine through the raw material transport trolley for cutting.

Step 300: the method comprises the steps of obtaining first feedback information of a raw material transport trolley, and generating a feeding instruction and a cutting instruction according to the first feedback information.

The raw material transport Vehicle may be an AGV (Automated Guided Vehicle, which is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions, and the AGV belongs to the category of a wheeled mobile robot, a transport Vehicle without a driver in industrial application, a rechargeable battery is used as a power source, a traveling route and behavior thereof can be controlled by a computer, or a traveling route thereof is set up by an electromagnetic Rail) or an RGV (Rail Guided Vehicle, also called a Rail shuttle Vehicle, which can be used for a warehouse in various high-density storage modes, a Vehicle passage can be designed to be arbitrarily long, and a forklift does not need to travel into a roadway during operation), and characteristics of the AGV will be exemplified later; the first feedback information is a feedback signal sent to the central control system by the raw material transport trolley after the raw material transport trolley loads the steel plate and reaches the designated landmark control point, and the feedback signal is used for expressing that the raw material transport trolley reaches the control landmark point and can carry out subsequent feeding work; the feeding instruction is a control instruction which is generated by the central control system and used for controlling the grabbing mechanism to grab the raw materials to the cutting machine, and the cutting instruction is a control instruction which is generated by the central control system and used for controlling the cutting machine to cut the raw materials. After receiving the first feedback information sent by the raw material transport trolley, the central control system confirms that the current follow-up operation can be continuously carried out and generates a corresponding feeding instruction and a corresponding cutting instruction, and automatically sends the feeding instruction and the cutting instruction under the condition of ensuring the operation safety, so that the intellectualization and the high efficiency of the production process are effectively ensured.

It should be noted that, in the process of information interaction between the raw material transport trolley and the central control system, the central control system may include an AGV central control system and a cutting machine central control system. The raw material transport trolley, namely the AGV trolley, arrives the control location mark point, and then the AGV central control system can receive the arrival signal given by the trolley, and because the AGV central control system and the cutting machine central control system have the communication protocol of the central control system, the cutting machine central control system can send an instruction to the AGV central control system, so that the production line can execute the next action, namely the operations of feeding, cutting and the like. It is understood that the AGV central control system and the cutting machine central control system can be replaced by a master control system, and the master control system is integrated more highly, so that the specific implementation device of the central control system is determined according to specific application scenes, and the application does not limit the central control system and the cutting machine central control system further.

Step 400: and acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information.

The second feedback information refers to a cutting completion signal sent by the cutting machine to the central control system after the cutting machine completes the cutting of the steel plate, and the central control system can judge that the cutting machine has completed the cutting work of the steel plate at present after receiving the second feedback information, and can sort the finished products obtained by cutting. The sorting instruction is a control instruction generated by the central control system, and the control instruction is used for enabling the grabbing mechanism to sort the cut finished products, so that the occupied time of the finished products on the cutting platform is shortened, and the automation degree of the production line and the operation efficiency are further improved.

Step 500: and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information.

The monitoring mechanism refers to a monitoring device which can monitor a whole production line or a certain device on the production line, such as a camera or a sensor and the like, and the monitoring mechanism is arranged at a finished product tooling; the third feedback information refers to feedback information generated by the monitoring mechanism according to the current monitoring result, and when the third feedback information is generated, the number of finished products at the finished product tooling is represented and the number is the largest, and the finished products need to be transferred; the finished product transport instruction is another control instruction generated by the central control system, and the control instruction is used for enabling the finished product transport trolley to transport the cut finished products; the finished product transport trolley is an AGV trolley for transporting the finished products. Therefore, the control method provided by the application finishes links such as raw material cutting completion from ex-warehouse to finished product transportation and finished product transportation, realizes full-flow intelligent processing and transportation of the steel plate, improves efficiency, does not need manual assistance, and reduces labor cost.

The application provides a control method of an automatic feeding and discharging production line, which comprises the following steps: acquiring position information of the raw material; according to the position information of the raw materials, a cutting machine is appointed to cut the raw materials and generate a raw material transportation instruction; acquiring first feedback information of the raw material transport trolley, and generating a feeding instruction and a cutting instruction according to the first feedback information; acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information. The control method realizes the full-flow operation from the warehouse-out of the raw materials to the finished product cutting and then to the finished product sorting and transportation through the information interaction between the central control system and each actuating mechanism, can be completed without manual participation, realizes the intelligent production of the production line, improves the production efficiency and saves the labor cost.

It is worth mentioning that the control method for the automatic loading and unloading production line is also suitable for the situation that the number of the available cutting machines is one, for example, the current order amount is small, a plurality of cutting machines are not required to be used simultaneously, or only the cutting scene of a single type raw material is aimed at, and the like. At this moment, need not to carry out the appointed of cutting machine, adopt a cutting machine collocation raw materials travelling bogie and finished product travelling bogie's mode to carry out the raw materials cutting and can realize high-efficient production to travelling bogie's utilization ratio has been improved. In a possible implementation manner, fig. 2 is a schematic flow chart of a raw material transportation control method in a control method of an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 2, when the central control system receives two or more new tasks, that is, when two or more steel plates need to be cut, step 200 may include the following steps (for example, the following scenario that the central control system receives two new tasks):

step 210: and respectively appointing two cutting machines to cut the two raw materials in a one-to-one correspondence mode according to the position information of the two raw materials.

Known through the above, two kinds of steel sheets are deposited in two storehouse positions, according to the position of storehouse position and the idle condition of current cutting machine, carry out the appointed of cutting machine respectively to two kinds of steel sheets to make the cutting machine can be fully called, improve work efficiency.

Step 220: and acquiring the position information of the cutting machines corresponding to the raw materials one by one.

Step 230: and generating a first raw material transportation instruction according to the position information of the cutting machines in one-to-one correspondence with the raw materials.

The first raw material transportation instruction is a control instruction which is generated by the central control system and used for controlling the first raw material transportation trolley to transport raw materials. Wherein, first raw materials travelling bogie is the AGV dolly, and this AGV dolly is exclusively used in the transportation that carries out the steel sheet, because it is used for transporting first kind of steel sheet, for being different from the AGV dolly that is used for transporting second kind of steel sheet, names it as first raw materials travelling bogie. It should be understood that in different scenarios, the first feedstock transport vehicle may be used interchangeably with the second feedstock transport vehicle described hereinafter. The central control system respectively designates the cutting machine and the raw material transport trolley for different types of steel plates, so that two cutting tasks can be performed in succession, the waiting time is shortened, and the processing period is shortened.

Step 240: and acquiring first ex-warehouse feedback information of the first raw material transport trolley.

First ex-warehouse feedback information indicates the signal that first raw materials travelling bogie sent to the center control system after through predetermined management and control landmark point, when the center control system received this signal after, can judge that first raw materials travelling bogie has left the steel sheet storehouse this moment, and another raw materials travelling bogie can begin to transport the steel sheet, perhaps first raw materials travelling bogie this moment and another raw materials travelling bogie between the distance has reached safe distance, another raw materials travelling bogie begins to transport the second kind of steel sheet this moment and can not take place basically with the circumstances that first raw materials travelling bogie collides with.

It should be noted that the first ex-warehouse feedback information may also be sent by a PLC sensing device that controls coverage at a landmark. When a trolley passes through or stops, the PLC sensing device automatically sends an electric signal to the central control system. The specific generation manner of the first ex-warehouse feedback information should depend on a specific application scenario, and the application does not further limit this.

Step 250: and generating a second raw material transportation instruction according to the first ex-warehouse feedback information and the position information of the cutting machine corresponding to the raw material.

The second raw material transportation instruction is a control signal which is generated by the central control system and used for controlling the second raw material transportation trolley to transport raw materials. The second raw material transport trolley is also an AGV trolley, the AGV trolley is different from the AGV trolley for transporting the first steel plate, the second raw material transport trolley is named as the second raw material transport trolley, and the first raw material transport trolley and the second raw material transport trolley can be replaced mutually under necessary conditions. After the central control system acquires the first ex-warehouse feedback information, the central control system can judge that the distance between the current first raw material transport trolley and the second raw material transport trolley is larger than the minimum safe distance, so that a second raw material transport instruction is generated immediately, the second raw material transport trolley starts to transport the second steel plate after receiving the instruction, and on the premise of ensuring the transport safety, the production line can simultaneously carry out ex-warehouse operation on the two steel plates, so that the processing efficiency of the production line is greatly improved.

By analogy, when the newly-built tasks of the middle control system are more than two, other types can be gradually carried out according to the process, such as the third type or the fourth type, the raw material transportation of the steel plate only needs to adjust the safety distance between the AGV trolley and the vehicle correspondingly according to the running speed of the AGV trolley, and therefore the specific process is not repeated.

Specifically, fig. 3 is a schematic flow chart of a control method for feeding and cutting raw materials in the control method for an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 3, when the raw materials are two, step 300 may specifically include:

step 310: and acquiring first feedback information of the first raw material transport trolley.

Step 320: and generating a feeding instruction, a cutting instruction and a stopping instruction according to the first feedback information of the first raw material transport trolley.

The parking instruction refers to a control instruction which is generated by the central control system and used for controlling the second raw material transport trolley to park. According to the above content, the first feedback information is a feedback signal sent by the raw material transport trolley to the central control system after the raw material transport trolley reaches a preset control location, when the feedback signal is generated, it is indicated that the first raw material transport trolley is stopped and is about to perform subsequent feeding work, and at this time, the second transport trolley also needs to stop running to prevent collision with the first raw material transport trolley, so that the central control system controls the feeding and cutting of the steel plate and also performs parking processing on the second raw material transport trolley at the same time after receiving the first feedback information, thereby preventing the occurrence of an accident of collision between two trolleys.

Step 330: and acquiring the unloading feedback information of the first raw material transport trolley.

And the unloading feedback information is feedback signals sent out after the first raw material transport trolley finishes steel plate loading on the first raw material transport trolley to the cutting platform.

Step 340: and generating a first traverse command and a first operation command according to the unloading feedback information.

The first traversing instruction is a control instruction which is generated by the central control system and used for controlling the first raw material transport trolley to traverse to the control site, and the first operating instruction is a control instruction which is generated by the central control system and used for controlling the second raw material transport trolley to continuously run. After the steel plate on the first raw material transport trolley is unloaded, the central control system controls the first raw material transport trolley to move transversely to the control landmark point for waiting, and meanwhile, the central control system can control the second raw material transport trolley to continuously run because the first raw material transport trolley leaves the main running track at the moment and the possibility of two-vehicle collision does not exist, so that the second steel plate is transported to a second cutting platform at the cutting machine or cutting platforms of other cutting machines for waiting cutting. Through the process, the material taking and feeding efficiency of the whole production line in the process of synchronously cutting and processing two steel plates is improved.

Optionally, fig. 4 is a schematic flow chart of a raw material transportation control method in the control method of the automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 4, since the production line may include a plurality of cutting machines, such as cutting machine M1, cutting machine M2, cutting machine M3, and cutting machine M4, step 200 may further include:

step 201: the method includes acquiring operation state information of a plurality of cutting machines.

The working state includes an operating state and a non-operating state, i.e., whether a steel plate is being processed or waiting for processing on a cutting platform of the cutting machine.

Step 202: and acquiring the current idle cutting machine according to the operation state information.

According to the operation state information fed back by each cutting machine, whether the four cutting machines are idle is comprehensively evaluated and judged, the cutting tasks are assigned to the idle cutting machines preferentially, and the efficiency is further improved.

Step 203: and designating the currently idle cutting machine and generating a raw material transportation instruction.

The idle cutting machine is used as a specified object of the cutting task, the cutting equipment is fully utilized, and the waiting time of the cutting task is reduced.

It is understood that when the idle cutting machines include at least two, then the nearest current idle cutting machine of appointed distance raw and other materials cuts raw and generates raw materials transportation instruction in step 203, so can further shorten the distance of raw materials transportation, and then improve transportation efficiency.

In another possible implementation manner, fig. 5 is a schematic flow chart of a waste transportation control method in a control method of an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 5, after step 500, the control method may further include the following steps:

step 610: and acquiring fourth feedback information of the grabbing mechanism.

The grabbing mechanism is a device which is arranged on the cutting platform and used for sorting and blanking the cut finished products, stacking the cut finished products onto the material rack, and the fourth feedback information is a sorting completion signal fed back by the grabbing mechanism after the cut finished products are sorted.

Step 620: and generating a waste material transportation instruction according to the fourth feedback information of the grabbing mechanism.

The waste material transport instruction is a control instruction which is generated by the central control system and used for controlling the waste material transport trolley to transport waste materials, wherein the waste material transport trolley can be an AGV trolley or an RGV trolley, and is preferably the AGV trolley. After the cutting finished product has been sorted to the finished product frock, the cutting platform is last still to have the waste material frame that forms after the steel sheet cutting, snatchs the mechanism so and can also embrace the fork with the waste material frame and sort to the waste material travelling bogie on for the waste material travelling bogie can consign it, in time clears up the cutting platform, in order to continue to use, reduces the waste material and to the occupation time of equipment, further improves production efficiency.

Specifically, fig. 6 is a schematic flow chart illustrating a waste transportation control method in the control method of the automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 6, the central control system can also issue two or more than two waste material transportation tasks to the grabbing mechanism and the waste material transportation cart at the same time, which will be exemplified below by two waste material transportation tasks. Step 620 may include:

step 6201: and generating a first waste material transportation instruction according to the fourth feedback information.

The first waste material transporting instruction is a control instruction which is generated by the central control system and used for controlling the first waste material transporting trolley to transport waste materials, wherein the first waste material transporting trolley is one of the two or more waste material transporting trolleys.

Step 6202: and acquiring feeding feedback information of the first waste material transport trolley, and generating a second transverse moving instruction and a second waste material transport instruction according to the feeding feedback information.

The feeding feedback information is a feedback signal sent by the central control system after the first waste transport trolley finishes loading the waste frame, and is used for prompting the central control system to perform subsequent control; the second transverse moving instruction is a control instruction which is generated by the central control system and used for controlling the first waste transport trolley to transversely move to the control site, and the second waste transport instruction is a control instruction which is generated by the central control system and used for controlling the second waste transport trolley to transport waste; wherein the waste transport instructions include a first waste transport instruction and a second waste transport instruction. After the first waste material transport trolley finishes the loading of the waste material frame, the transverse movement is controlled by the central control system, and meanwhile, the second waste material transport trolley can start to load the waste materials, so that the waste material frame is circularly conveyed, and the efficiency is improved.

In addition, the above situation is a situation that the number of the waste material frames is large, so that one waste material transportation trolley cannot be loaded and removed at a time. It should be understood that when the number of the waste frames is small, the first waste transport trolley travels to the position near the cutting machine to participate in waste transport, the second waste transport trolley waits at the position of a control place, namely the cutting machine is controlled by the central control system, and after the first waste transport trolley is driven out and new waste is generated at the cutting machine, the central control system generates a second waste transport instruction to the second waste transport trolley through control contact.

According to the second aspect of the application, the application also provides a control device for the automatic feeding and discharging production line.

The control device for an automatic loading and unloading production line provided by the present application will be described with reference to fig. 7, and fig. 7 is a schematic diagram illustrating the operation of the control device for an automatic loading and unloading production line according to another embodiment of the present application.

As shown in fig. 7, the control device 100 (hereinafter, referred to as "control device 100") of the automatic loading and unloading production line may specifically include: a raw material position information acquisition module 101, a feedback information acquisition module 102 and an instruction generation module 103. The raw material position information acquiring module 101 is configured to acquire position information of a raw material, the feedback information acquiring module 102 is configured to acquire first feedback information of the raw material transportation cart 2, second feedback information of the cutting machine 3, and third feedback information of the monitoring mechanism, and the instruction generating module 103 is configured to generate a raw material transportation instruction, a feeding instruction, a cutting instruction, a sorting instruction, and a finished product transportation instruction. In addition, the raw materials transportation instruction is used for controlling raw materials transportation trolley 2 to begin to distribute raw materials to cutting machine 3, the material loading instruction is used for enabling the grabbing mechanism to grab raw materials, the cutting instruction is used for controlling cutting machine 3 to cut raw materials, the sorting instruction is used for enabling the grabbing mechanism to sort cut finished products, and the finished product transportation instruction is used for enabling finished product transportation trolley 6 to transport the cut finished products.

The control device 100 provided by the present application includes a raw material position information acquisition module 101, a feedback information acquisition module 102, and an instruction generation module 103. The control device 100 can acquire the position information of the raw material; according to the position information of the raw materials, the specified cutting machine 3 cuts the raw materials and generates raw material transportation instructions; acquiring first feedback information of the raw material transport trolley 2, and generating a feeding instruction and a cutting instruction according to the first feedback information; acquiring second feedback information of the cutting machine 3, and generating a sorting instruction according to the second feedback information; and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information. The control method realizes the full-flow operation from the warehouse-out of the raw materials to the finished product cutting and then to the finished product sorting and transportation through the information interaction between the central control system and each actuating mechanism, can be completed without manual participation, ensures the intelligent production of the production line, improves the production efficiency and saves the labor cost.

In addition, according to the third aspect of this application, this application still provides an automatic unloading production line of going up.

The automated feeding and discharging line will be described with reference to fig. 8. Fig. 8 is a schematic structural diagram of an automatic loading and unloading production line according to another embodiment of the present application.

As shown in fig. 8, the method for controlling an automatic loading and unloading production line to be applied to the automatic loading and unloading production line may specifically include: a raw material warehouse 1, a raw material cutting unit, a logistics unit, a gripping mechanism 20, a monitoring mechanism, and the control device 100. The material storage 1 is used for storing processing materials such as steel plates, and may be a steel plate storage including a plurality of steel plate storage locations 11, wherein each storage location 11 is correspondingly placed with only one steel plate. The raw material cutting unit comprises one or more cutting machines 3 and a finished product sorting line, wherein the cutting machines 3 can be laser cutting machines 3 and are used for carrying out laser cutting on raw materials, and the sorting line is used for sorting finished products obtained after cutting.

Further, as shown in fig. 8, the raw material cutting unit may include different types of laser cutters 3, such as an 8m laser cutter 3 and a 10m laser cutter 3, at the same time, wherein the 8m laser cutter 3 may be used to machine a relatively thin steel plate, and the 10m laser cutter 3 may be used to machine a relatively thick steel plate. The figure illustrates two 8m laser cutting machines 3 and two 10m laser cutting machines 3, wherein the two 10m laser cutting machines 3 are disposed near the stock chest 1, it is understood that the positions and the number of the two laser cutting machines 3 may depend on the specific application scenario when the equipment layout is actually performed, and the application does not further limit the present invention.

As shown in fig. 8, the logistics unit is used for transporting raw materials and cut finished products, and may specifically include a raw material transport cart 2 and a finished product transport cart 6, both of which may be provided with one or more carts, and may be AGV carts or RGV carts as AGV carts. The raw material transport trolley 2 is used for transporting the steel plates in the raw material warehouse 1 to the cutting machine 3, the finished product transport trolley 6 is used for transporting a finished product obtained after cutting together with the material rack 5 where the finished product is located to the blanking area 8, and finally, the mechanical arm or the manual work is used for discharging. The grabbing mechanisms are respectively arranged at the raw material warehouse 1 and the raw material cutting unit and used for grabbing raw materials, feeding raw materials, grabbing cut finished products, sorting cut finished products and stacking the cut finished products on corresponding material racks 5. The grabbing mechanism can be independently arranged equipment, can also be connected with the raw material cutting unit and can also be connected with an AGV trolley or an RGV trolley, and the specific arrangement mode is determined according to the requirements of application scenes. Monitoring mechanism sets up on the letter sorting line for the letter sorting state of monitoring cutting finished product, it can be camera or sensor etc. when cutting the finished product by snatching mechanism letter sorting to frock department and quantity reach the upper limit after, monitoring mechanism sends third feedback information to central control system or the application of installing on the mobile terminal that the staff holds, makes central control system or staff send finished product transportation instruction, in time will cut the finished product and shift the transportation, improves the timeliness of transportation and the high efficiency of production. Control device 100 respectively with raw materials cutting unit, commodity circulation unit, snatch mechanism and monitoring mechanism communication connection, utilize the information interaction between control device 100 and above-mentioned mechanism, realize the automated processing of steel sheet cutting, saved the manpower and improved generation efficiency greatly simultaneously.

It should be noted that the control device 100 may be a general central control system, or may be composed of a central control system and control systems installed in various mechanisms, and the specific implementation device should depend on specific application scenarios and application needs, which is not further limited in this application.

In addition, fig. 9 is a schematic structural view of a raw material warehouse and a grabbing mechanism in an automatic loading and unloading production line according to another embodiment of the present disclosure; fig. 10 is a schematic structural diagram of a warehouse location in an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 9 and 10, the steel plates in the raw material warehouse 1 can be dispatched by a traveling crane and placed in each warehouse position by the side after dispatching, so that the steel plates can be conveniently grabbed by a subsequent grabbing mechanism. Every position 11 is formed by square pipe welding, still welds the spacing side pipe of usefulness simultaneously in the benchmark side of material, and the material of being convenient for is put and is leaned on the benchmark, and the square pipe of using is welded to the flat-plate storehouse platform below, improves the position stability subaerial in storehouse, and is convenient for unload the hoist after the driving material loading is accomplished. Specifically, fig. 11 is a schematic structural diagram of a fixed cross beam in an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 9 and 11, the gripper mechanism 20 includes a raw material gripper mechanism 2020 and a finished product gripper mechanism 2020. The raw material grasping mechanism 20 and the finished product grasping mechanism 20 are both mobile manipulator structures, and they are named for distinguishing the grasping object and the mounting position because the grasping object and the mounting position are different. The grabbing mechanism 20 is arranged close to the raw material warehouse, the finished product grabbing mechanism 20 is arranged close to the cutting machine, and the finished product grabbing mechanism both comprise a fixed cross beam 21 fixed on a plant stand column, a front-back moving frame 22, a left-right moving cross beam 23, a lifting Z rod 24 and a tool gripper 25. The fixed cross beam 21 is installed on a support column of a factory building and used for providing a steel plate moving space, the front-back moving frame 22 can move along the length direction of the fixed cross beam 21, the left-right moving cross beam 23 is connected to the front-back moving frame 22 and can move along the width direction of the fixed cross beam 21, the first end of the lifting Z rod 24 is connected with the left-right moving cross beam 23, the second end of the lifting Z rod is connected with the tool gripper 25, the lifting of the lifting Z rod 24 drives the tool gripper 25 to lift, and after the tool gripper 25 grips a steel plate, the front-back moving frame 22 and the left-right moving cross beam 23 are driven to move front and back and left and right.

Fig. 12 is a partially enlarged view for embodying point a in fig. 11. As shown in fig. 11 and 12, when the fixed beam 21 is installed, firstly, a leveling instrument is used for marking, then, the supporting horn is welded to be used as an installation platform, then, the fixed beam 21 is installed on the supporting horn, and the straightness is adjusted to be horizontal and fixed. The top surface of the fixed beam 21 is provided with a supporting rail 211, and the side surfaces of the fixed beam 21 are respectively provided with a first limiting rail 212 and a first transmission rack 213, so that the front-back movement of the front-back movement frame 22 (front-back, i.e. X-direction in the figure, and left-right, i.e. Y-direction in the figure, which will not be described herein after) is realized thereon.

Fig. 13 is a schematic structural view illustrating a front-and-back moving frame in an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 13, the front-back moving frame 22 is connected to a first moving roller 221, a first limit roller 222 and a first motor reducer 223, wherein the first moving roller 221 can roll on the support rail 211 to realize front-back movement of the frame structure, the first limit roller 222 and the first limit rail 212 are matched to restrict the left and right positions of the frame, and the first limit gear is engaged with the first transmission rack 213 on the fixed beam 21 to realize front-back movement without being separated from the support rail 211. Two sides of the front-back moving frame 22 adopt two groups of motor reducer gear structures to realize double-drive movement. The top surface of the front-rear moving frame 22 is also provided with a roller rail 224, and the side surface of the front-rear moving frame 22 is provided with a second limit rail 225 and a second transmission rack 226, so that the left-right moving beam 23 can move left and right on the top surface of the front-rear moving frame 22.

Fig. 14 is a schematic structural view of a left-right moving frame in an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 14, the left-right moving beam 23 is provided with a second moving roller 231, a second limit roller 232 and a second motor reducer 234, wherein the second moving roller 231 rolls on the support rail 211, the second limit roller 232 cooperates with the second limit rail 225 to restrict the position of the left-right moving beam 23 when rolling and prevent the position from deviating from the rail, the second motor reducer 234 of the left-right moving beam 23 is installed at a middle position and is transmitted to the side gears through the transmission shaft, and the second limit gear is engaged with the second limit rack on the front-back moving frame 22 to realize the left-right moving without being separated from the rolling rail. Two ends of the bottom surface of the left and right moving cross beam 23 of the lifting Z rod 24 are connected to ensure the stability of the tool gripper 25 in gripping the steel plate. A lifting shaft motor reducer is arranged in the middle of the bottom of the left-right moving cross beam 23 and is transmitted to the reversing chain wheel sets 235 on the two sides through a transmission shaft to drive the double lifting Z rods 24 to do lifting movement, and meanwhile, four groups of balance cylinders 236 are adopted for configuration in order to overcome the gravity on the load, the lifting Z rods 24, the tool grippers 25 and the like in the vertical direction, so that energy conservation and consumption reduction are realized.

Fig. 15 is a schematic structural view of a tooling gripper in an automatic loading and unloading production line according to another embodiment of the present application. As shown in fig. 15, the tool gripper 25 adopts a mixed arrangement of a vacuum chuck 251 and an electro-permanent magnetic chuck 252, so that the adsorption capacity is ensured, and meanwhile, the phenomenon that a plurality of sheets are attracted by magnets is avoided, a thickness measuring device is added at a reference angle of work, so that only one sheet is ensured to be absorbed, and the possibility of influencing the subsequent process after a plurality of sheets are absorbed is reduced.

In one possible implementation, as shown in fig. 8, the logistics unit includes two or more feed material transfer carts 2 and two or more finished product transfer carts 6, illustrated as two feed material transfer carts 2. Wherein, two or more than two raw material transport trolleys 2 can be AGV trolleys or part of AGV trolleys is RGV trolleys; two or more finished transport trolleys 6 can be all AGV trolleys or part of AGV trolleys are RGV trolleys. The raw material transport trolley 2 and the finished product transport trolley 6 are provided with at least two production lines to simultaneously process two or more production tasks, the transfer efficiency of the steel plate is improved, the raw material transport time and the finished product transfer time are shortened, the resource allocation process is more flexible, and the production efficiency is further improved.

Specifically, as shown in fig. 8, the logistics unit may further include a waste transport cart 7 for performing a waste border transport, and the waste transport cart 7 may also be an AGV cart. When the sorting manipulator of the gripping mechanism finishes sorting the cut finished products, a finished product sorting completion signal is sent to the control device 100. After receiving the signal, the control device 100 can determine that the current finished product is sorted, and then successively generate a waste transport instruction and a waste sorting instruction, wherein the waste transport instruction is used for controlling the waste transport cart 7 to transport the waste, i.e., controlling the waste transport cart 7 to move to a sorting line, and the waste sorting instruction enables the sorting manipulator of the finished product grabbing mechanism to continue to carry out indiscriminate holding and fork sorting of the waste frame on the waste, and move the waste frame to the waste transport cart 7. The finished product grabbing mechanism 20 can further comprise a fork tooth tool, the fork tooth tool and the tool gripper 25 are connected to the left and right moving cross beam 23 together, and meanwhile the fork tooth tool and the tool gripper 25 are connected through an air cylinder, so that the problem that the distance between a plate and a workbench is too large when the fork tooth is closed to hit the plate and the plate is discharged can be solved. The fork tooth tool is opened and closed by driving a fork tooth guide rod to open and close through a transmission shaft by the same motor, so that the opening and closing stability of the fork tooth is ensured; meanwhile, movable cylinder blocking teeth are arranged on the fork teeth, when the fork teeth absorb waste materials, the baffle is opened, the material absorption is not influenced, when the fork teeth discharge the waste materials, the blocking teeth are closed, the waste materials are blocked, and the discharging is realized. In addition, the holding fork feeding process of the waste materials is as follows: the fork tooth is opened, the blocking tooth is opened, the sucker tool is lowered to the lowest → the plate is sucked, the sucker tool is lifted → the fork tooth is closed, the whole body moves to the position above the laser workbench → the fork tooth is opened, the sucker tool is lowered to the lowest → the sucker is used for discharging, the tool is lifted, and the fork tooth is closed; the process of holding, forking and blanking the waste materials comprises the following steps: fork tooth is opened, the blocking tooth is opened, the sucker tool is lifted to the highest position → the fork tooth is moved to the laser workbench to fork the plate material (the fork tooth is closed) → the whole body is moved to the upper part of the waste material transport trolley 7 → the fork tooth is opened and the blocking tooth is closed, the waste material falls onto the waste material transport trolley 7 → the blocking tooth is opened and the fork tooth is closed.

Specifically, the left and right moving cross beam 23 of the finished product sorting mechanism can also be directly guided by a linear guide rail, so that the transmission precision is improved.

Meanwhile, the waste material transport trolley 7 and the finished product transport trolley 6 can run on the same track, and conflict between paths can be avoided only by presetting control landmark points for the two trolleys respectively. Through waste material travelling bogie 7 for the continuity of the automated production process of production line is stronger, has further promoted intelligent degree and machining efficiency.

Optionally, as shown in fig. 8, the logistics unit includes at least two waste transport carts 7, so that the central control system of the control device 100 can issue two or more waste transport instructions simultaneously, after the first waste transport cart 7 receives the first waste transport instruction, completes receiving and laterally moves away from the control site, the second waste transport cart 7 can enter the control site according to the second waste transport instruction to continue receiving, and the waste receiving and delivering cycle is performed continuously.

In another possible implementation, the control device 100 may further include a finished transport cart calling program installed in any one of the mobile terminals, and the finished transport cart calling program is configured to call the finished transport cart 6 according to the third feedback information of the monitoring mechanism. When the monitoring mechanism monitors that the current tool placement amount reaches a certain amount, prompt information can be sent to a finished product transport trolley calling program to remind workers of remotely calling the finished product transport trolley 6 to transport finished products, so that remote control of a production line is realized, and the machining efficiency is improved. In addition, except that monitoring mechanism puts the monitoring of material to current frock, the manual work also can carry out the auxiliary monitoring to the windrow, need clear up the windrow before leaving the operation place like the staff, or the manual work judges that there is the current circumstances such as finished product travelling bogie 6 is idle, all can carry out the calling of finished product travelling bogie 6, so when not influencing production efficiency, save some energy.

The application provides a production process of unloading production line in this kind of automation is: after a processing task is newly built in the central control system, the central control system confirms the type of a required steel plate according to the task requirement and simultaneously appoints a cutting machine 3 and a sorting line for processing the steel plate, then a raw material transportation instruction is generated, the raw material transportation trolley 2 is moved to a corresponding storage position, the steel plate is grabbed by the grabbing mechanism and is arranged on the raw material transportation trolley 2, the steel plate is transported to the cutting machine 3 by the raw material transportation trolley 2, the steel plate is grabbed and fed to the cutting platform 4 by the grabbing mechanism at the position, after the cutting platform 4 cuts the steel plate, the central control system controls the grabbing mechanism to sort the cut finished product until the cut finished product on the tool reaches a certain number, the monitoring mechanism sends a feedback signal to the central control system, the central control system controls the finished product transportation trolley 6 to transport the finished product, and transports the finished product to a blanking position. Meanwhile, the production line can utilize a plurality of AGV trolleys to alternately run, two or more cutting tasks are carried out simultaneously, and the production efficiency of the production line is greatly improved.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 16. Fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 16, the electronic device 600 includes one or more processors 601 and memory 602.

The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium, and the processor 601 may execute the program information to implement the control method of the automatic loading and unloading production line of the various embodiments of the present application described above or other desired functions.

In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 603 may include, for example, a keyboard, mouse, etc.

The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.

Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 600 are shown in fig. 16, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.

In addition to the above methods and apparatuses, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the method of controlling an automated loading and unloading production line according to various embodiments of the present application described in the present specification.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program information, which, when executed by a processor, causes the processor to execute the steps in the method for controlling an automatic loading and unloading production line according to various embodiments of the present application.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A control method for an automatic feeding and discharging production line is characterized by comprising the following steps:

acquiring position information of the raw material;

according to the position information of the raw materials, a cutting machine is designated to cut the raw materials and a raw material transportation instruction is generated, wherein the raw material transportation instruction is used for controlling a raw material transportation trolley to distribute the raw materials to the cutting machine;

acquiring first feedback information of the raw material transport trolley, and generating a loading instruction and a cutting instruction according to the first feedback information, wherein the loading instruction is used for controlling a grabbing mechanism to grab the raw material to the cutting machine, and the cutting instruction is used for controlling the cutting machine to cut the raw material;

acquiring second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information, wherein the sorting instruction is used for enabling the grabbing mechanism to sort the cut finished products;

and acquiring third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information, wherein the finished product transportation instruction is used for enabling a finished product transportation trolley to transport the cut finished product.

2. The method for controlling an automatic loading and unloading production line according to claim 1, wherein when the raw materials include at least two types, the designating a cutting machine to cut the raw materials and generating a raw material transportation command according to the position information of the raw materials comprises:

respectively appointing at least two cutting machines to cut the raw materials of at least two types one by one according to the position information of the raw materials of at least two types;

acquiring position information of the cutting machines corresponding to the raw materials one by one;

generating a first raw material transportation instruction according to the position information of the cutting machines in one-to-one correspondence with the raw materials, wherein the first raw material transportation instruction is used for controlling a first raw material transportation trolley to transport the raw materials;

acquiring first ex-warehouse feedback information of the first raw material transport trolley;

and generating a second raw material transportation instruction according to the first ex-warehouse feedback information and the position information of the cutting machine corresponding to the raw material, wherein the second raw material transportation instruction is used for controlling a second raw material transportation trolley to transport the raw material.

3. The method for controlling the automatic loading and unloading production line as claimed in claim 2, wherein when the number of the raw materials is two, the obtaining of the first feedback information of the raw material transportation cart and the generating of the loading command and the cutting command according to the first feedback information comprise:

acquiring the first feedback information of the first raw material transport trolley;

generating the feeding instruction, the cutting instruction and a stopping instruction according to the first feedback information of the first raw material transport trolley, wherein the stopping instruction is used for controlling the second raw material transport trolley to stop;

acquiring unloading feedback information of the first raw material transport trolley;

and generating a first transverse moving instruction and a first running instruction according to the unloading feedback information, wherein the first transverse moving instruction is used for controlling the first raw material transport trolley to transversely move to a control site, and the first running instruction is used for controlling the second raw material transport trolley to continuously run.

4. The method for controlling the automatic loading and unloading production line according to claim 1, wherein the step of designating a cutting machine to cut the raw material and generating a raw material transportation command according to the position information of the raw material comprises the steps of:

acquiring operation state information of a plurality of cutting machines;

acquiring the currently idle cutting machine according to the operation state information;

and appointing the cutter which is idle at present to cut the raw material and generate a raw material transportation instruction.

5. The method for controlling an automatic loading and unloading production line according to claim 4, wherein when the number of idle cutting machines is at least two, the designating the currently idle cutting machine to cut the raw material and generating a raw material transportation command comprises:

and designating the cutter which is nearest to the raw material and is currently idle to cut the raw material and generate a raw material transportation instruction.

6. The method as claimed in claim 1, wherein after the obtaining of the third feedback information of the monitoring mechanism and the generating of the finished product transportation command according to the third feedback information, the method further comprises:

acquiring fourth feedback information of the grabbing mechanism;

and generating a waste material transportation instruction according to the fourth feedback information of the grabbing mechanism, wherein the waste material transportation instruction is used for controlling a waste material transportation trolley to transport waste materials.

7. The method for controlling an automatic loading and unloading production line according to claim 6, wherein the generating of the waste material transportation command according to the fourth feedback information of the grabbing mechanism comprises:

generating a first waste material transporting instruction according to the fourth feedback information, wherein the first waste material transporting instruction is used for controlling a first waste material transporting trolley to transport waste materials;

the method comprises the steps of obtaining feeding feedback information of a first waste material transport trolley, and generating a second transverse moving instruction and a second waste material transport instruction according to the feeding feedback information, wherein the second transverse moving instruction is used for controlling the first waste material transport trolley to transversely move to a control site, and the second waste material transport instruction is used for controlling the second waste material transport trolley to transport waste materials;

wherein the waste transport instructions include the first waste transport instructions and the second waste transport instructions.

8. The utility model provides an automatic controlling means of unloading production line in going up which characterized in that includes:

the raw material position information acquisition module is used for acquiring the position information of the raw material;

the feedback information acquisition module is used for acquiring first feedback information of the raw material transport trolley, second feedback information of the cutting machine and third feedback information of the monitoring mechanism;

the instruction generating module is used for generating a raw material transportation instruction, a loading instruction, a cutting instruction, a sorting instruction and a finished product transportation instruction;

the raw material conveying instruction is used for controlling the raw material conveying trolley to start to distribute the raw materials to the cutting machine, the feeding instruction is used for enabling the grabbing mechanism to grab the raw materials, the cutting instruction is used for controlling the cutting machine to cut the raw materials, the sorting instruction is used for enabling the grabbing mechanism to sort cut finished products, and the finished product conveying instruction is used for enabling the finished product conveying trolley to convey the cut finished products.

9. An automatic loading and unloading production line is characterized in that the control method of the automatic loading and unloading production line in claim 1 is applied, and comprises the following steps:

a stock repository for storing stock material;

a stock cutting unit including one or more cutters for cutting the stock material and a finished product sorting line for sorting cut finished products;

the logistics unit is used for transporting the raw materials and the cut finished products, and comprises a raw material transport trolley and a finished product transport trolley, wherein the raw material transport trolley is used for transporting the raw materials, and the finished product transport trolley is used for transporting the cut finished products;

the grabbing mechanisms are respectively arranged in the raw material warehouse and the raw material cutting unit and are used for grabbing and feeding the raw materials and grabbing and sorting the cut finished products;

the monitoring mechanism is arranged on the sorting line and used for monitoring the sorting state of the cut finished products;

the control device of claim 8, in communication with the stock cutting unit, the logistics unit, the grasping mechanism, and the monitoring mechanism, respectively.

10. The automated loading and unloading production line of claim 9, wherein the control device comprises:

and the finished product transport trolley calling program is installed on any mobile terminal and used for calling the finished product transport trolley according to the third feedback information of the monitoring mechanism.