CN115385001A - Automatic management system for end beam of crane, warehouse entry and exit method and medium - Google Patents
Automatic management system for end beam of crane, warehouse entry and exit method and medium Download PDFInfo
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- CN115385001A CN115385001A CN202210911700.0A CN202210911700A CN115385001A CN 115385001 A CN115385001 A CN 115385001A CN 202210911700 A CN202210911700 A CN 202210911700A CN 115385001 A CN115385001 A CN 115385001A
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- subsystem
- management system
- truss robot
- warehouse
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an automatic management system for crane end beams, a warehouse entering and exiting method and a medium, wherein the system comprises an electric control system and an upper management system; the electric control system comprises a truss robot subsystem, a shuttle vehicle subsystem and a plane conveying subsystem; the truss robot subsystem and the shuttle vehicle subsystem are connected with a local area network through a wireless communication base station; the plane conveying subsystem is connected to the same local area network through a first-stage switch; the upper management system comprises a management server and a scheduling server, and the management server and the scheduling server are accessed into the local area network through the secondary switch to realize data interaction between the upper management system and the electric control system. According to the invention, the truss robot subsystem, the shuttle vehicle subsystem and the plane conveying subsystem in the electric control system are accessed into the local area network through the Ethernet technology, and the upper management system and the electric control system are utilized to carry out data interaction in a wired local area network mode, so that the crane end beam is more efficient and convenient to access, and meets the requirements of automation and informatization.
Description
Technical Field
The invention relates to the technical field of numerical control, in particular to an automatic management system for crane end beams, a warehouse entering and exiting method and a computer readable storage medium.
Background
With the continuous improvement of the scientific and technical level, the sensor technology, the industrial Ethernet technology, the computer technology, the power electronic technology and the like are continuously and alternately fused, and the production operation mode of a manufacturing factory is continuously transited to the automatic and informatization mode. With the increase of enterprise capacity and the promotion of product informatization, a manual management mode lacking digital management is not suitable for the requirement of enterprise development, so that the product is easily disordered in management, and the product access efficiency is influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an automatic management system for an end beam of a crane.
The invention also aims to provide a warehousing method of the end beam of the crane.
The invention also aims to provide a method for delivering the end beam of the crane out of the warehouse.
It is a further object of the present invention to provide a computer readable storage medium.
One of the purposes of the invention is realized by adopting the following technical scheme:
an automatic management system for end beams of a crane comprises an electric control system and an upper management system;
the electric control system comprises a truss robot subsystem, a shuttle vehicle subsystem and a plane conveying subsystem; the truss robot subsystem and the shuttle vehicle subsystem are connected with a local area network through a wireless communication base station; the plane conveying subsystem is connected into the same local area network through a primary switch;
the upper management system comprises a management server and a scheduling server, wherein the management server and the scheduling server are connected into the local area network through a secondary switch to realize data interaction between the upper management system and the electric control system.
Furthermore, the plane conveying subsystem comprises conveying equipment and a main control cabinet, the conveying equipment is connected with the first-level switch through the main control cabinet, and the main control cabinet is used for controlling the running state of the conveying equipment.
Furthermore, the plane conveying subsystem also comprises a weighing module connected with the main control cabinet and used for measuring the weight of the workpiece.
Furthermore, the shuttle vehicle subsystem comprises a shuttle vehicle and a shuttle vehicle controller connected with the shuttle vehicle, the shuttle vehicle is positioned by a laser ranging sensor, and the shuttle vehicle controller is connected with the wireless communication base station by a wireless communication client.
Furthermore, the truss robot subsystem comprises a truss robot and a truss robot controller connected with the truss robot, the truss robot controller is connected with each driver of the truss robot, and the truss robot controller is connected with the wireless communication base station through a wireless communication client.
Furthermore, the upper management system further comprises a fault diagnosis server, and the fault diagnosis server is connected to the local area network through the secondary switch.
The second purpose of the invention is realized by adopting the following technical scheme:
a warehousing method of a crane end beam is applied to the automatic management system of the crane end beam, and comprises the following steps:
the upper management system distributes storage positions according to the storage information of the end beam of the crane, generates a storage instruction and sends the storage instruction to the electric control system;
the electronic control system sequentially issues the warehousing instructions to the shuttle car subsystem and the plane conveying subsystem, and workpieces on corresponding stations are conveyed to the position to be warehoused through the shuttle car and conveying equipment;
and the electric control system sends the warehousing instruction to the truss robot subsystem, and the truss robot captures the workpiece on the position to be warehoused and transfers the workpiece to the corresponding warehouse position.
Further, the warehousing information is obtained by scanning identification codes on the end beams of the crane.
The third purpose of the invention is realized by adopting the following technical scheme:
the warehouse-out method of the crane end beam is applied to the automatic management system of the crane end beam, and comprises the following steps:
the upper management system generates a warehouse-out instruction according to the warehouse-out information and sends the warehouse-out instruction to the electric control system;
the electric control system sends the warehouse-out instruction to the truss robot subsystem, and the truss robot transfers the workpieces on the corresponding warehouse positions to the conveying equipment;
and the electronic control system sequentially issues the warehouse-out command to the plane conveying subsystem and the shuttle vehicle subsystem, and transports the workpieces to be warehoused out to a specified position through the conveying equipment and the shuttle vehicle to load and warehouse out.
The fourth purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium, on which a computer program is stored, which, when executed, implements the above-described method of warehousing or ex-warehousing of a crane end beam.
Compared with the prior art, the invention has the beneficial effects that:
the truss robot subsystem, the shuttle vehicle subsystem and the plane conveying subsystem in the electric control system are accessed into the local area network through the Ethernet technology, and the upper management system and the electric control system are utilized to carry out data interaction in a wired local area network mode to schedule and manage the access of the end beam of the crane, so that the access of the end beam of the crane is more efficient and convenient, and meets the requirements of automation and informatization.
Drawings
FIG. 1 is a schematic diagram of the location of various subsystems of the present invention in a production facility;
FIG. 2 is a schematic connection diagram of an automated management system for crane end beams according to the present invention;
FIG. 3 is a schematic flow chart of a warehousing method of the crane end beam;
FIG. 4 is a schematic flow diagram of the crane end beam ex-warehouse method of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
An automatic management system for end beams of a crane mainly aims at realizing automatic storage and taking of the end beams of the crane; the automatic management system mainly comprises an electric control system and an upper management system;
the electric control system comprises a truss robot subsystem, a shuttle vehicle subsystem and a plane conveying subsystem; the hardware machines of the subsystems can be arranged according to the space size in the production workshop. As shown in fig. 1, the shuttle car, the conveying apparatus and the truss robot may be arranged in the production shop in order from left to right.
As shown in fig. 2, the truss robot subsystem includes a truss robot and a truss robot controller connected thereto, and the truss robot drives the fixture to perform multidirectional movements in XYZ axes and the like through an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver and a fixture axis servo driver.
The X-axis servo driver, the Y-axis servo driver, the Z-axis servo driver and the fixture axis servo driver are connected with the truss robot controller through a PROFINET network protocol, the truss robot controller is in wireless communication connection with a wireless communication base station through a wireless communication client, and the truss robot subsystem is accessed into a local area network through the wireless communication base station.
The shuttle car subsystem comprises a shuttle car body and a shuttle car controller connected with the shuttle car body, wherein a laser ranging sensor is arranged on the shuttle car and connected with the shuttle car controller through a PROFINET network protocol, and the shuttle car controller realizes a positioning function according to positioning data uploaded by the laser ranging sensor.
The shuttle car controller is connected with the wireless communication base station through a wireless communication client, so that the shuttle car subsystem is accessed into a local area network in a wireless mode.
The plane conveying subsystem comprises conveying equipment and a main control cabinet connected with the conveying equipment, and the conveying equipment is connected with the first-stage switch through the main control cabinet, so that the plane conveying subsystem is connected into a local area network through the first-stage switch in a wired mode.
In some embodiments, the plane transport subsystem further includes a weighing module connected to the main control cabinet, and configured to measure the weight of the workpiece, and the main control cabinet may upload the measured weight of the workpiece to an upper management system via a local area network.
The electronic control system is also connected with an LED display system, and the operating data of each subsystem can be displayed through the display system, so that a user can know the operating condition of each subsystem conveniently. And each subsystem is provided with a respective controller, and even if the upper management system is not connected with each subsystem, each subsystem can independently complete corresponding control operation.
In this embodiment, to achieve the purpose of automation, each subsystem is accessed to a local area network, and is connected to the upper management system through the local area network, so as to ensure that the data interaction between the electronic control system and the upper management system can be achieved.
The upper management system comprises a management server and a scheduling server, wherein the management server and the scheduling server are accessed into a local area network through a secondary switch, acquire the operation data of each subsystem through the local area network, and issue control instructions to each subsystem through the local area network.
The dispatching server is internally provided with a warehouse dispatching system, the warehouse dispatching system acquires data uploaded by each subsystem through a local area network and issues instructions to each subsystem to control each subsystem to sequentially execute corresponding operations so as to complete the whole automatic warehousing and ex-warehousing process.
And a warehouse management system is arranged in the management server, and is used for carrying out information management on the crane end beams entering and leaving the warehouse, so that the effect of inventory management is realized.
In some embodiments, the upper management system further includes a fault diagnosis server, and the fault diagnosis server accesses the local area network via the secondary switch; and the fault diagnosis server acquires the operation data of each subsystem through the local area network and diagnoses the operation state of each subsystem.
Example two
The embodiment provides a warehousing method of a crane end beam, which is applied to the automatic management system of the crane end beam, and as shown in fig. 3, the warehousing method comprises the following steps:
step S1: scanning an identification code on the end beam of the crane by a scanner in advance to obtain warehousing information corresponding to the end beam of the crane, and uploading the warehousing information to an upper management system;
step S2: the upper management system distributes warehouse positions according to the warehouse-in information of the end beam of the crane, generates corresponding warehouse-in instructions according to the distributed warehouse positions, and sends the warehouse-in instructions to the electric control system;
and step S3: the electronic control system issues the warehousing instruction to the shuttle car subsystem, the shuttle car runs to a corresponding station according to the received warehousing information, and workpieces to be warehoused on the station are conveyed to conveying equipment of the warehousing station;
and step S4: the electronic control system sends an instruction to the plane conveying subsystem, and the workpieces to be warehoused are conveyed to the positions to be warehoused through conveying equipment; meanwhile, the plane conveying subsystem can cooperate with conveying equipment to adjust the warehousing posture of the workpiece according to the state of the workpiece so as to facilitate the grabbing of the truss robot;
step S5: after the plane conveying subsystem adjusts the workpieces in place, the upper management system applies for warehousing information, and generates and distributes warehouse positions after receiving the warehousing application information; and the electric control system sends the warehouse location information to the truss robot subsystem, and the truss robot captures the workpiece at the position to be warehoused and transfers the workpiece to the corresponding warehouse location.
EXAMPLE III
The embodiment provides a method for unloading a crane end beam, which is applied to the automatic management system for the crane end beam, and as shown in fig. 4, the method for unloading the crane end beam comprises the following steps:
step S1: workpiece information of corresponding specifications is input through an upper management system, and the upper management system automatically distributes warehouse-out information or manually specifies corresponding warehouse positions;
step S2: the upper management system generates a warehouse-out instruction according to the warehouse-out information and sends the warehouse-out instruction to the truss robot subsystem, and the truss robot is controlled to move to a corresponding warehouse position to grab workpieces out of the warehouse and transport the workpieces to the area where the plane conveying subsystem is located;
and step S3: the electric control system issues an instruction to the plane conveying subsystem, and the conveying equipment is controlled to convey the workpiece to the cross-connecting area after receiving the workpiece;
and step S4: and the electronic control system issues an instruction to the shuttle subsystem, and the shuttle transports the workpiece to a corresponding position for loading and unloading after the workpiece is handed over by the shuttle.
EXAMPLE III
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed, implementing the method for warehousing an end beam of a crane or the method for ex-warehousing an end beam of a crane described above.
The storage medium in this embodiment and the method in the foregoing embodiments are based on another aspect of the same inventive concept, and the method implementation process has been described in detail in the foregoing, so that those skilled in the art can clearly understand the structure and implementation process of the storage medium in this embodiment according to the foregoing description, and for the sake of brevity of the description, details are not repeated here.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. An automatic management system for end beams of a crane is characterized by comprising an electric control system and an upper management system;
the electric control system comprises a truss robot subsystem, a shuttle vehicle subsystem and a plane conveying subsystem; the truss robot subsystem and the shuttle vehicle subsystem are connected with a local area network through a wireless communication base station; the plane conveying subsystem is connected into the same local area network through a primary switch;
the upper management system comprises a management server and a scheduling server, wherein the management server and the scheduling server are connected into the local area network through a secondary switch to realize data interaction between the upper management system and the electric control system.
2. The automatic management system for the end beams of the cranes as claimed in claim 1, wherein the plane transportation subsystem comprises a transportation device and a main control cabinet, the transportation device is connected with the primary switch through the main control cabinet, and the main control cabinet is used for controlling the running state of the transportation device.
3. The automated crane end beam management system of claim 2, wherein the planar transport subsystem further comprises a weighing module coupled to the main control cabinet for measuring a weight of a workpiece.
4. The automated management system for the end beams of the cranes of claim 1, wherein the shuttle subsystem comprises a shuttle and a shuttle controller connected with the shuttle, the shuttle is positioned by a laser ranging sensor, and the shuttle controller is connected with the wireless communication base station by a wireless communication client.
5. The automated crane end beam management system of claim 1, wherein the truss robot subsystem comprises a truss robot and a truss robot controller connected thereto, the truss robot controller is connected to each drive of the truss robot, and the truss robot controller is connected to the wireless communication base station via a wireless communication client.
6. The automated management system for crane end beams as claimed in claim 1, wherein the upper management system further comprises a fault diagnosis server, and the fault diagnosis server is accessed to the local area network through the secondary switch.
7. The warehousing method of the crane end beam is applied to the automatic management system of the crane end beam as claimed in any one of claims 1 to 6, and comprises the following steps:
the upper management system distributes storage positions according to the storage information of the end beam of the crane, generates a storage instruction and sends the storage instruction to the electric control system;
the electronic control system sequentially issues the warehousing instructions to the shuttle car subsystem and the plane conveying subsystem, and workpieces on corresponding stations are conveyed to positions to be warehoused through the shuttle car and conveying equipment;
and the electric control system sends the warehousing instruction to the truss robot subsystem, and the truss robot captures the workpiece on the position to be warehoused and transfers the workpiece to the corresponding warehouse position.
8. The warehousing method of the crane end beam as claimed in claim 7, wherein the warehousing information is obtained by scanning an identification code on the crane end beam.
9. The method for unloading the crane end beam from the warehouse is applied to the automatic management system of the crane end beam as claimed in any one of claims 1 to 6, and comprises the following steps:
the upper management system generates a warehouse-out instruction according to the warehouse-out information and sends the warehouse-out instruction to the electric control system;
the electric control system sends the warehouse-out instruction to the truss robot subsystem, and the truss robot transfers the workpieces on the corresponding warehouse positions to the conveying equipment;
and the electronic control system sequentially issues the warehouse-out command to the plane conveying subsystem and the shuttle vehicle subsystem, and transports the workpieces to be warehoused out to a specified position through the conveying equipment and the shuttle vehicle to load and warehouse out.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed, implements the method of any one of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911700.0A CN115385001A (en) | 2022-07-28 | 2022-07-28 | Automatic management system for end beam of crane, warehouse entry and exit method and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911700.0A CN115385001A (en) | 2022-07-28 | 2022-07-28 | Automatic management system for end beam of crane, warehouse entry and exit method and medium |
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| CN115385001A true CN115385001A (en) | 2022-11-25 |
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| CN202210911700.0A Pending CN115385001A (en) | 2022-07-28 | 2022-07-28 | Automatic management system for end beam of crane, warehouse entry and exit method and medium |
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| CN114348515A (en) * | 2022-01-18 | 2022-04-15 | 上海数升自动化装备有限公司 | Intelligent stereoscopic warehouse for wheels and operation method thereof |
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