CN203287937U - Industrial flexible manufacturing automated logistics system - Google Patents

Industrial flexible manufacturing automated logistics system Download PDF

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CN203287937U
CN203287937U CN201320228198XU CN201320228198U CN203287937U CN 203287937 U CN203287937 U CN 203287937U CN 201320228198X U CN201320228198X U CN 201320228198XU CN 201320228198 U CN201320228198 U CN 201320228198U CN 203287937 U CN203287937 U CN 203287937U
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unit
system
industrial
flexible manufacturing
conveyor
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CN201320228198XU
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王振华
刘立彬
王晓强
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张家港诺信自动化设备有限公司
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y02P90/28Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] characterised by transport systems
    • Y02P90/285Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] characterised by transport systems using automatic guided vehicles [AGV]
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60Electric or hybrid propulsion means for production processes

Abstract

The utility model discloses an industrial flexible manufacturing automated logistics system. The industrial flexible manufacturing automated logistics system comprises a stereoscopic warehouse and stacker crane unit (1), a conveying line system unit (2), a CCD shape and color detection unit (3), a transfer robot unit (4), a numerical control machining unit (5), a detection unit (6), a waste sorting unit (7), an AGV carrying robot unit (8) and a system master control unit (9). The transfer robot unit (4) adopts a PC104 bus embedded control system, and connected to an industrial field bus through a PROFIBUS-DP substation card so as to be in connection and communication with the master station. The CCD shape and color detection unit (3) and the detection unit (6) are controlled through a personal computer and connected to the bus through the PROFIBUS-DP substation card so as to be in communication with a system master control device. A control system in the AGV carrying robot unit (8) is in communication with a master control computer through a wireless data transmission module directly.

Description

一种工业型柔性制造自动化物流系统 An industrial-type flexible manufacturing automation logistics system

技术领域 FIELD

[0001] 本实用新型涉及一种物流系统,尤其涉及一种工业化教学型自动化物流系统。 [0001] The present invention relates to a logistics system, particularly to a teaching industrial automation logistics system.

背景技术 Background technique

[0002] 柔性制造系统是由统一的信息控制系统、物料储运系统和一组数字控制加工设备组成,能适应加工对象变换的自动化机械制造系统,英文缩写为FMS ;FMS技术是数控加工技术发展的必然结构,体现了一个国家的装备制造技术水平,其将以往企业中相互独立的工程设计、生产制造及经营管理等过程,在计算机及其软件的支撑下,构成一个覆盖整个企业的完整而有机的系统,以实现全局动态最优化,总体高效益、高柔性,并进而赢得竞争全面的智能制造系统。 [0002] The flexible manufacturing system is unified information control system, material handling system and a set of digital processing equipment consisting of controls, the system can adapt to automated machinery to transform the object, the abbreviation FMS; FMS art CNC machining technology is the inevitable structure reflects the level of a country's equipment manufacturing technology, which will be independent of each other in the past, enterprise engineering design, manufacturing and management processes such as, computers and software in support of, constitute a complete and covers the entire enterprise organic system, in order to realize the global dynamic optimization, the overall high efficiency, high flexibility, and thus won the overall competition in intelligent manufacturing systems.

[0003] 随着社会对产品多样化、低制造成本及短制造周期等需求日趋迫切,FMS发展颇为迅速,,随着国内工业化程度的不断推进,以及产业化转型,对于自动化设备的需求,以及技术人才的需求不断增大,对于自动化系统的人才储备,对于自动化系统的教学普及显得尤为重要。 [0003] With the social product diversification, low manufacturing costs and short manufacturing cycle increasingly urgent demand, FMS developing quite rapidly ,, with the degree of industrialization continue to promote domestic and industrial transformation, demand for automation equipment, as well as increasing demand for technical talent, the talent pool for the automated system, the popularity is particularly important for teaching automation system.

实用新型内容 SUMMARY

[0004] 本实用新型的主要目的在于,提供一种新型工业型柔性制造自动化物流系统,能够更好地培训人才,同时适于工业化生产,操作精度高,从而更加适于实用,且具有产业上的利用价值。 [0004] The main object of the present invention is to provide a new type of flexible manufacturing industrial automated material handling system, to better train personnel, while suitable for high industrial production, precision operation, which is more suitable for practical use, and having INDUSTRIAL the value in use.

[0005] 本实用新型的目的及解决其技术问题是采用以下技术方案来实现的。 [0005] The object of the present invention and solving the technical problems is achieved by the following technical solutions. 依据本实用新型提出的一种工业型柔性制造自动化物流系统,包括立体仓库与码垛机单元,输送线系统单元,CCD形状颜色检测单元,搬运机器人单元,数控加工单元,检测单元,废品分拣单元,AGV运载机器人单元和系统总控单元,所述搬运机器人单元采用PC104总线嵌入式控制系统,通过PROFIBUS-DP分站卡连接至工业现场总线与总站连接、通讯;(XD形状颜色检测单元和检测单元采用PC机控制通过PROFIBUS-DP分站卡连接至总线与系统主控进行通讯;AGV运载机器人单元中控制系统直接通过无线数传模块与主控计算机通讯。 According to one type of industrial automated flexible manufacturing logistics system of the present invention proposed, the palletizer comprises means warehouse, transfer line system unit, the shape of the CCD color detection unit, the transfer robot unit, NC unit, detecting unit, waste sorting unit, and the AGV carrying the robot unit system master control unit, the transfer robot unit PC104 bus using the embedded control system is connected via PROFIBUS-DP substation to the industrial field bus card terminal connected to the communication; (XD shape and color detection means detection means controlled by PC connected to the system bus master communicates via PROFIBUS-DP substation card; the AGV carrying the robot cell control system directly through the wireless communication module and the host computer.

[0006] 前述的工业型柔性制造自动化物流系统,所述立体仓库与码垛机单元包括立体仓库和码垛机。 [0006] The foregoing Industrial Automation stream flexible manufacturing system, a warehouse and warehouse stacking machine comprising a unit and a stacker.

[0007] 前述的工业型柔性制造自动化物流系统,所述的码垛机包括互相平行的天轨和导轨,所述天轨和导轨之间通过码垛机立柱相连接。 [0007] The above-described industrial-type automatic flexible manufacturing logistics system, said palletizer comprising mutually parallel between the ceiling rail and the guide rail, the guide rail and the ceiling rail are connected by pillar palletiser.

[0008] 前述的工业型柔性制造自动化物流系统,输送线系统单元包括互相平行的出库辊筒输送机和入库棍筒输送机,所述出库棍筒输送机和入库棍筒输送机同横向皮带输送机相连接,所述出库辊筒输送机、入库辊筒输送机、皮带输送机与立体仓库与码垛机单元构成输入输出闭环。 [0008] The above-described industrial-type automated logistics flexible manufacturing system, the system unit includes a conveying line mutually parallel roller conveyors outbound and inbound conveyor drum stick, the stick cylinder library storage conveyors and conveyor drum stick with the transverse conveyor belt is connected to the roller conveyor library, storage roller conveyors, belt conveyors and the RS palletizer closed loop input and output units.

[0009] 前述的工业型柔性制造自动化物流系统,所述CXD形状颜色检测单元包括CXD摄像机和图像米集卡。 [0009] The above-described industrial-type automatic flexible manufacturing system stream, the CXD shape detecting unit comprises a color camera and image meters set CXD card. [0010] 前述的工业型柔性制造自动化物流系统,所述搬运机器人单元由一维平移台和六自由度串联机器人组成,所述六自由度串联机器人沿一维平移台导轨运动。 [0010] The foregoing Industrial Automation stream flexible manufacturing system, the robot unit transfer the one-dimensional translation stage and six degree of freedom serial robot composed of the six degrees of freedom serial robot dimensional translation stage along a guide rail.

[0011] 借由上述技术方案,本实用新型的工业型柔性制造自动化物流系统至少具有下列优点: [0011] By the above aspect, the present invention Industrial Automation stream flexible manufacturing system having at least the following advantages:

[0012] 1.通过该系统,使学生可通过实验了解自动化生产控制教学实训系统的基本组成和基本原理,为学生提供一个开放性的,创新性的和可参与性的实验平台,让学生全面掌握机电一体化技术与物流技术的应用开发和集成技术,帮助学生从系统整体角度去认识系统各组成部分,从而掌握机电控制系统的组成、功能及控制原理。 [0012] 1. Through the system, so that students can experiment to understand the basic components and the basic principles of automated production control system of teaching and training, to provide students with an open, innovative and experimental platform can be participatory, so that students complete control of application development and integration technology mechatronics technology and logistics technology to help students from the perspective of the overall system to recognize the various components of the system, so as to equip the composition of the electromechanical control systems, function and control principle. 可以促进学生在机械设计、电气自动化、自动控制、机器人技术、计算机技术、传感器技术、数控技术、物流管理等方面的学习,并对电机驱动及控制技术、PLC控制系统的设计与应用、计算机网络通信技术和现场总线技术、高级语言编程等技能得到实际的训练,激发学生的学习兴趣,使学生在光机电气一体化系统的设计、装配、调试能力等方面均能得到综合提高。 It can promote student learning in terms of mechanical design, electrical automation, automatic control, robotics, computer technology, sensor technology, digital technology, logistics management, etc., and the motor drive and control technology, design and application of PLC control system, computer network communications technology and fieldbus technology, high-level language programming skills are practical training, to stimulate student interest in learning, so that students can get a comprehensive increase in the design, assembly, commissioning capacity ray machine electrical integration system.

[0013] 2.本工业型柔性制造生产线系统通过PROFIBUS-DP现场总线将所有单元pic控制系统进行高度、高效集成,实现网络调度与控制,与工业现场形式完全相同经总控控制,实现物流系统的自动化运输,分拣,加工装配等各项作业,通过各项传感器及RFID电子标签系统并各项作业进行实时监测及更新,配备系统视频监控装置,实现对整套系统的远程监控。 [0013] 2. The flexible manufacturing industrial-type production line system all made by the system control unit pic PROFIBUS-DP fieldbus highly efficient integrated, network scheduling and control, and industrial field in the form of identical total control by the control, logistics system the automated transportation operations, sorting, processing and assembling, the real-time monitoring and updating operations, the system is equipped with a video monitoring device, remote monitoring of the entire system by the sensors and RFID tags and systems.

[0014] 3.本工业型柔性制造生产线系统配备各类机器人以实现自动化,如六自由度串联机器人圆柱坐标机器人,AGV运载机器人,充分利用机器人技术配合自动化输送线实现无人装配加工输送等各项动作。 [0014] 3. The industrial-type production line system with flexible manufacturing of various types of robots to automate, such as six degrees of freedom serial robot cylindrical coordinates robot, the AGV carrying robot, robot technology with fully automatic unmanned conveying line transporting assembly processing and other term action.

[0015] 4.在控制软件方面采用windows操作系统,具有良好的交互式图形化操作界面,直接,高效,对实时和多任务有很强的支持能力,能完成多任务并且有较短的终端响应时间。 [0015] 4. The control software employed in the windows operating system, having good interactive graphical user interface, a direct, efficient, real-time multi-task and a strong ability to support multiple tasks and can be completed with a shorter terminal Response time. 并具有功能很强的存储区保护功能,便于学生动手操作和系统可维护性。 And has a strong function of memory protection features to facilitate students hands-on and system maintainability.

[0016] 5.系统中的单元设备具有“联机/单机”两种操作模式。 [0016] The units in the system having devices "on-line / single" two modes of operation. 所有的单元设备的软硬件均可以脱离系统独立操作,可用单机设备为平台,进行单项技术的研发,易扩展。 All of the hardware unit of the device can be operated independently from the system, the device can be used as a stand-alone platform, research and development of individual technologies, easy to expand.

[0017] 6.系统软、硬件部分预留扩展空间,用户方可在原有系统基础上增添设备模块,并可轻松集成到系统中,为用户方二次开发和扩展教学创造了极为有利条件。 [0017] 6. The system software and hardware of reserve expansion space, the user only additional equipment modules on the basis of the original system, and can be easily integrated into the system, created extremely favorable conditions for the development and expansion of secondary education user side.

[0018] 7.系统集成信息管理软件,通过计算机与各单元及传感器的通讯与集成,将系统中各环节的状态显示在操作界面上,使操作者通过计算机随时了解系统各环节的工况、状态、运行数据,掌握系统运行状态。 [0018] 7. The system of integrated information management software, with the computer via the communication unit, and integrated with each of the sensors, the system status of each link is displayed on the user interface, so that the operator through the computer to keep abreast of all aspects of system operating conditions, status, operational data, control system running. 同时人工装配工位配置信息计算机,装配过程中物料缺失或装配工具损坏等因素可及时反馈系统,便于系统及时反应,补货采购,保证生产过程顺利进行。 While the manual assembly station computer's configuration information, or lack of material during the assembly and mounting tool damage and other factors feedback system, the system facilitates timely response, replenishment procurement, production process to ensure smooth.

[0019] 8.本系统具备高度拓展性,轨道式上下料机器人单元中可继续增加多工位加工设备,90°转角输送机可做为其他输送线接口等。 [0019] 8. The system includes a high degree of scalability, orbital unloading robot cell may continue to increase multi-station processing equipment, 90 ° angle of the conveyor can be used as the other transport line interface.

[0020] 9.系统机电技术全面开放,配备完善的实验指导书,可轻松开发出自己的运动或控制功能,激发学习兴趣。 [0020] 9. The system of mechanical and electrical technology fully open, fully equipped experimental instructions, can easily develop their own motion or control functions, stimulate interest in learning.

[0021] 上述说明仅是本实用新型技术方案的概述,为了能够更清楚了解本实用新型的技术手段,并可依照说明书的内容予以实施,以下以本实用新型的较佳实施例并配合附图详细说明如后。 [0021] The above description is only an overview of the technical solution of the present invention, in order to more clearly understand the technical means of the present invention can be implemented in accordance with the contents of the specification, the following examples of the present invention and the accompanying drawings of the preferred as will be described in detail. 附图说明 BRIEF DESCRIPTION

[0022] 图1为本实用新型工业型柔性制造自动化物流系统的结构示意图; [0022] FIG. 1 is a schematic structural diagram of invention Industrial automated flexible manufacturing logistics system;

[0023] 图2为本实用新型码垛机结构示意图; [0023] FIG. 2 is a schematic perspective view illustrating the configuration utility stacker;

[0024] 图3为本实用新型系统流程图。 [0024] FIG 3 a flow chart of the new system practical.

具体实施方式 Detailed ways

[0025] 为更进一步阐述本实用新型为达成预定实用新型目的所采取的技术手段及功效,以下结合附图及较佳实施例,对本实用新型的具体实施方式详细说明如后。 [0025] To further illustrate the present invention and the technical means to achieve a predetermined effect purposes invention taken in conjunction with the following drawings and preferred embodiments of the present invention DETAILED DESCRIPTION As described in detail later.

[0026] 如图1所示:系统上电并启动,待加工工件与托盘由巷道式码垛机11从自动化立体仓库10原料库中取出,送到出入库平移台12上,出入库平移台12动作,下方电子标签天线检测托盘上电子标签信息,总控记录。 [0026] 1: Powering on the system, and the workpiece pallet 11 to be taken out from the tunnel-type palletizer 10 from the RS library material, to the storage translational stage 12, a translation table storage 12 is operated, the electronic tag antenna below the electronic tag information is detected on the tray, the master control record. 工件继续运行至出库辊筒输送机14上,工件经过出库辊筒运输机14上的对射开关传感器检测,工件停止在材质检测装置13下,对工件进行材质检测,检测信息系统采集管理。 Work goes on to the outbound roller conveyor 14, the workpiece through the library roller conveyor switch on the radio sensor for detecting the 14, the workpiece is stopped in the material detecting means 13, the workpiece material detector detects Information Acquisition and Management. 完毕工件继续运行,经气动阻挡定位系统停止在高速CCD形状颜色检测单元3处,进行工件的形状、颜色识别。 Finished workpiece continues to run, by blocking pneumatic positioning system is stopped at high speed CCD color shape detection unit 3, the shape of the workpiece, color recognition. 然后上述信号传给系统总控单元9,使系统总控单元9发出指令,对工件下一步动作发出信号。 Then the signal transmitted to the system master control unit 9, the system issues a command master control unit 9, to signal the next action on the workpiece. 工件检测完成后,继续向下传输至出库棍筒输送机14末端。 After completion of the detection of the workpiece, the transmission continues down to the library terminal 14 stick conveyor drum.

[0027] 同时AGV运载机器人已行进至出库辊筒输送机14末端,工件直接运输至AGV运载机器人单元8上,经导向与定位停止在末端。 [0027] At the same time the robot has traveled to the AGV carrying a library end roller conveyor 14, the workpiece transport directly to the AGV carrying the robot unit 8, through the guide and positioning end stops. AGV运载机器人沿磁导航轨道运行,到达搬运机器人单元4抓取停车位处停止。 AGV carrying robot along the magnetic navigation orbit, the handling robot reaches the gripping means 4 is stopped at the parking space. 搬运机器人下方导轨式一维平移台23运行,搬运机器人运行至抓取位置,由搬运机器人将AGV运载机器人单元8上工件抓取,根据工件检测信息放置在改制数控车床18或改制数控铣床19自动夹具内,进行加工,也可安排即进行数控车又进行数控铣加工。 Below the transfer robot rail running one dimensional translation stage 23, to the transfer robot gripping operation position, the transfer robot gripping the workpiece carrier robot AGV unit 8, the workpiece placed on the detection information restructuring NC lathe 18 or 19 automatically according to the CNC milling restructuring the jig was processed, i.e., can be arranged for NC and CNC milling. 等加工完成后,由搬运机器人将工件搬运回AGV运载机器人单元8辊筒线托盘上,AGV运载机器人延磁导航轨道下行。 Once processing is completed, the transfer robot back to the AGV workpiece transfer robot carrier element cartridge tray line roller 8, carrying robot AGV navigation magnetic track extending downward.

[0028] AGV运载机器人延磁导航轨道运行至入库辊筒输送机21末端,工件与托盘运输至入库辊筒输送机21上,经过对射开关和气动阻挡定位系统而停止,进入检测单元6处,进行模拟量孔深或工件高度检测,系统采集信息并与标准尺寸对比。 [0028] AGV carrying robot magnetic navigation orbit casting roller conveyor to the storage terminal 21, and the tray is transported to the workpiece storage roller conveyor 21, through the switch on the radio positioning systems and pneumatic stop barrier, into the detection unit at 6, the hole depth for analog or workpiece height detection system collect information and comparison with the standard size. 用以识别是否废品。 To identify whether the waste. 检测完毕继续运行,如果是不合格工件,经过对射开关和气动阻挡定位系统而停止,由圆柱坐标分拣机器人开始工作。 Testing is completed continues to run, if the workpiece is defective, through the switch on the radio positioning systems and pneumatic barrier is stopped by a cylindrical coordinates robot sorting work. 将工件搬运到废品槽内。 The workpiece transfer to the waste tank. 托盘向下运行,工件信息总控采集整理。 Run down the tray, general control information collection and processing of the workpiece. 如果是合格工件,不经过分拣则一直向下运输,行至入库平移台上定位停止。 If the work piece is qualified, without sorting it has been transported down the line to stop inbound translation stage positioning. 由巷道式码垛机11搬运工件放置在立体仓库10成品库相应位置上。 Palletizer 11 from the roadway porter 10 is placed in a position corresponding to the finished products on the warehouse. 完成工件的生产过程。 Complete production process of the workpiece.

[0029] 根据系统物流信息管理,发布出货命令,码垛机11从立体仓库10成品库内取出相应信息的成品工件与托盘,经出入库平移台12至出库辊筒输送机14上,根据工件颜色或形状等信息,分别经由出库辊筒输送机14下气动顶升90°换向平移台16运输至两条无动力流利链输送机15上,模拟成品出货至销售区功能。 [0029] The system stream management information, shipping release command, remove the finished workpiece stacking machine 11 of the tray 10 within the corresponding information from the warehouse of finished products, the translation stage 12 to the storage library 14 on the roller conveyor, the workpiece such as color or shape information, respectively, via the library roller conveyor 14 under pneumatic jack 90 ° commutation translation stage 16 is transported to the two non-powered conveyor chain 15 Fluent, product shipments to the sales floor simulation function. 此处可安排人工检测等工序,对不需要出货的工件托盘则经过气动顶升90°换向平移台16运输至皮带输送机17上,经气动顶升90°换向平移台16至入库辊筒输送机21上,进而入库。 Manual inspection can be arranged here processes, unwanted workpiece pallet is shipped through a pneumatic jack 90 ° commutation translation stage 16 is transported to the belt conveyor 17, by a pneumatic jack 90 ° commutation to the translation stage 16 library on the roller conveyor 21, and further storage. 完成物流拣货供应链管理功能。 Picking complete logistics supply chain management functions.

[0030] 图2为码垛机11结构示意图,码垛机11通过导轨106和天轨101导向在双排货架间Y向移动,链传动102使得货叉沿自身导轨Z向移动,货叉103为三级差动结构,通过电机链传动,能够在X轴平移,通过各传感器工作位定位,码垛机11能够进行各仓格件物料托盘的转运,及各仓格中物料托盘对于出入库平移台12的输入及输出。 [0030] FIG. 2 is a schematic structural diagram of stacker 11, the stacker 11 moves the Y, so that the chain drive 102 between the forks 106 and double the shelf rail by a ceiling rail along its guide rail 101 moves the Z-direction, the fork 103 for the three differential configuration, chain drive by a motor, it can be translated in the X-axis, each of the bins can be transported by the tray member material each operating position sensor positioning, stacking machine 11, and various materials in the bins for the storage tray input and output translation table 12.

[0031] 如图3所示:轨道式上下料搬运六自由度串联机器人单元4采用PC104总线嵌入式控制系统,通过PROFIBUS-DP分站卡连接至工业现场总线。 [0031] Figure 3: orbital transfer and unloading unit 4 six degrees of freedom serial robot using PC104 bus embedded control system, connected to the industrial field bus via PROFIBUS-DP substation card. CXD形状颜色检测单元3、检测单元6采用PC机控制通过PROFIBUS-DP分站卡连接至总线。 CXD shape color detection unit 3, the detection unit 6 is controlled by PC connected to the bus via PROFIBUS-DP substation card. AGV运载机器人单元8直接通过无线数传模块与主控计算机进行数据通讯。 AGV carrying robot unit 8 directly through the wireless data communication with the host computer module. 其余各单元分为3个模块控制单元采用PLC控制通过PROFIBUS-DP分站卡连接至系统总线。 The remaining units are divided into three PLC control module control unit connected to the bus system substation via PROFIBUS-DP card. 通过PROFIBUS-DP现场总线将各单元PLC控制系统信息流进行高效高度集成,通过控制柜上位机控制,进行网络调度控制,实现整套物流系统的自动化运输,分拣等各项作业。 The PLC units control the flow of information highly efficiently integrate PROFIBUS-DP field bus, by controlling the position control cabinet, the network scheduling control, to achieve the complete operating system automated transport stream, sorting and the like.

[0032] 以上所述,仅是本实用新型的较佳实施例而已,并非对本实用新型作任何形式上的限制,虽然本实用新型已以较佳实施例揭露如上,然而并非用以限定本实用新型,任何熟悉本专业的技术人员,在不脱离本实用新型技术方案范围内,当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例,但凡是未脱离本实用新型技术方案的内容,依据本实用新型的技术实质对以上实施例所作的任何简单修改、等同变化与修饰,均仍属于本实用新型技术方案的范围内。 [0032] The above description of the present invention are preferred embodiments, the present invention does not limit any form, although the present invention has been described by an embodiment, the preferred but not limit the present invention new any professional skilled in the art, without departing from the present invention within the scope of the technical solution, when some minor modifications may be made using the techniques disclosed content of modification or equivalent change in equivalent embodiments, but all without departing from the present SUMMARY aspect of the invention, according to the technical spirit of the present invention any simple modification of the above embodiment made equivalent changes and modifications as would fall within the scope of the technical solution of the present invention.

Claims (6)

1.一种工业型柔性制造自动化物流系统,包括立体仓库与码垛机单元(I),输送线系统单元(2),CCD形状颜色检测单元(3),搬运机器人单元(4),数控加工单元(5),检测单元(6),废品分拣单元(7),AGV运载机器人单元⑶和系统总控单元(9),其特征在于:所述搬运机器人单元(4)采用PC104总线嵌入式控制系统,通过PROFIBUS-DP分站卡连接至工业现场总线与总站连接、通讯;CCD形状颜色检测单元(3)和检测单元(6)采用PC机控制通过PROFIBUS-DP分站卡连接至总线与系统主控进行通讯;AGV运载机器人单元(8)中控制系统直接通过无线数传模块与主控计算机通讯。 A flexible manufacturing industrial-type automated logistics systems, and warehouse stacking machine comprising a unit (the I), transfer line system unit (2), CCD color shape detection unit (3), a handling robot unit (4), NC means (5), detecting means (6), the waste sorting means (7), AGV carrying robot and a system unit ⑶ master control unit (9), characterized in that: said handling robot unit (4) using the PC104 bus embedded a control system, connected via PROFIBUS-DP substation card to the industrial field bus station connected to the communication; the CCD shapes color detecting means (3) and the detection means (6) controlled by PC connected to the bus via PROFIBUS-DP substation card master communication system; the AGV carrying robot unit (8) in the control system directly through the wireless communication module and the host computer.
2.根据权利要求1所述的工业型柔性制造自动化物流系统,其特征在于:所述立体仓库与码垛机单元(I)包括立体仓库(10)和码垛机(11)。 2. Industrial Automation stream flexible manufacturing system as recited in claim 1, wherein: said RS and stacking machine unit (I) comprises a warehouse (10) and the palletizer (11).
3.根据权利要求2所述的工业型柔性制造自动化物流系统,其特征在于:所述的码垛机(11)包括互相平行的天轨(101)和导轨(106),所述天轨(101)和导轨(106)之间通过码垛机立柱(104)相连接。 The industrial-type automatic flexible manufacturing system stream according to claim 2, wherein: said palletizer (11) comprising mutually parallel Overhead (101) and the guide rail (106), said ceiling rail ( palletizer connected by uprights (104) between the 101) and the guide rail (106).
4.根据权利要求1所述的工业型柔性制造自动化物流系统,其特征在于:输送线系统单元(2)包括互相平行的出库辊筒输送机(14)和入库辊筒输送机(21),所述出库辊筒输送机(14)和入库棍筒输送机(21)同横向皮带输送机(17)相连接,所述出库棍筒输送机(14)、入库辊筒输送机(21)、皮带输送机(17)与立体仓库与码垛机单元(I)构成输入输出闭环。 The flexible manufacturing industrial-type automated logistics system according to claim 1, wherein: the transport line system unit (2) comprises a library of mutually parallel roller conveyor (14) and the storage roller conveyor (21 ), the library roller conveyor (14) and the storage drum stick conveyor (21) is connected with a transverse belt conveyor (17), said cartridge library stick conveyor (14), the roll storage the conveyor (21), conveyor belts (17) and the palletizer warehouse unit (I) constitutes a closed loop input and output.
5.根据权利要求1所述的工业型柔性制造自动化物流系统,其特征在于:所述CCD形状颜色检测单元(3)包括CCD摄像机和图像采集卡。 The flexible manufacturing industrial-type automated logistics system according to claim 1, wherein: the shape of a color CCD detector means (3) comprises a CCD camera and an image acquisition card.
6.根据权利要求1所述的工业型柔性制造自动化物流系统,其特征在于:所述搬运机器人单元(4)由一维平移台(23)和六自由度串联机器人(22)组成,所述六自由度串联机器人(22)沿一维平移台(23)导轨运动。 The flexible manufacturing industrial-type automated logistics system according to claim 1, wherein: said handling robot unit (4) by a one-dimensional translation stage (23) and a six degree of freedom serial robot (22), with the six degrees of freedom serial robot (22) along a one-dimensional translation stage (23) guide rail.
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CN103632244A (en) * 2013-04-27 2014-03-12 张家港诺信自动化设备有限公司 Industrial flexible manufacturing automated logistics system
CN103738686A (en) * 2013-12-05 2014-04-23 国家电网公司 Flexible conveying system based on RGV and AGV
CN104210855A (en) * 2014-09-28 2014-12-17 洛阳新思路电气股份有限公司 Electrical control system for storeroom stacking
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CN103632244A (en) * 2013-04-27 2014-03-12 张家港诺信自动化设备有限公司 Industrial flexible manufacturing automated logistics system
CN103738686A (en) * 2013-12-05 2014-04-23 国家电网公司 Flexible conveying system based on RGV and AGV
CN103738686B (en) * 2013-12-05 2015-10-28 国家电网公司 A kind of flexible conveying system based on RGV, AGV
CN104210855A (en) * 2014-09-28 2014-12-17 洛阳新思路电气股份有限公司 Electrical control system for storeroom stacking
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CN105354667A (en) * 2015-10-22 2016-02-24 广东溢达纺织有限公司 Intelligent and automatic carrying distribution system and method for garment factory lean production
CN105679175A (en) * 2016-04-11 2016-06-15 浙江天煌科技实业有限公司 Production line information integration and control practice platform of intelligent manufacture
CN105679175B (en) * 2016-04-11 2018-06-19 浙江天煌科技实业有限公司 A kind of intelligence manufacture production line information integration and control Practice Platform
CN106354109B (en) * 2016-10-13 2019-10-22 菲尼克斯(南京)智能制造技术工程有限公司 Flexible intelligent metaplasia producing line and production method based on laboratory
CN106354109A (en) * 2016-10-13 2017-01-25 上海犀浦智能系统有限公司 Laboratory-based flexible intelligent production line and production method
CN106406263A (en) * 2016-11-25 2017-02-15 四川普什宁江机床有限公司 Flexible manufacturing automatic logistics control method
CN107272569A (en) * 2017-08-11 2017-10-20 重庆邮电大学 A kind of long-range motion control experimental facility
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