WO2021022765A1 - 一种吊挂流水线提升机构控制方法及控制系统 - Google Patents

一种吊挂流水线提升机构控制方法及控制系统 Download PDF

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Publication number
WO2021022765A1
WO2021022765A1 PCT/CN2019/127848 CN2019127848W WO2021022765A1 WO 2021022765 A1 WO2021022765 A1 WO 2021022765A1 CN 2019127848 W CN2019127848 W CN 2019127848W WO 2021022765 A1 WO2021022765 A1 WO 2021022765A1
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Prior art keywords
lifting mechanism
rail
outbound
full
carrying device
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PCT/CN2019/127848
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English (en)
French (fr)
Inventor
孙建国
余云林
袁峰
袁剑
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宁波圣瑞思工业自动化有限公司
浙江瑞峰智能物联技术有限公司
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Publication of WO2021022765A1 publication Critical patent/WO2021022765A1/zh

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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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • 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
    • B65G2201/0229—Clothes, clothes hangers
    • 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
    • B65G2203/04—Detection means

Definitions

  • the invention belongs to the technical field of hanging conveyor lines, and more specifically, relates to a control method and a control system of a hanging assembly line lifting mechanism.
  • the hanging assembly line includes the main drive ring rail.
  • Several workstations are arranged in the direction of the ring rail. Each workstation is equipped with a working position.
  • the materials hanging on the clothes hanger are controlled by the system and transported to the designated via the ring rail.
  • the lifting mechanism is lifted to the exit of the workstation, and the swing head from the workstation enters the ring rail and is sent to the next workstation for processing in the next process.
  • Chinese patent application 2009101557187 discloses a chain drive lifting device for an intelligent clothing production suspension system, including a hanger release mechanism, a chain drive mechanism, a limit mechanism and a corresponding circuit control mechanism.
  • the limit mechanism includes an upper limit block and a lower limit block.
  • the positioning mechanism connects the corresponding inbound and outbound branch tracks.
  • the release mechanism is divided into an upper release mechanism and a lower release mechanism.
  • the chain transmission mechanism includes a motor, an active sprocket, a passive sprocket, and a chain.
  • the chain is composed of chain plates alternately linked. ,
  • the chain plate is provided with a semi-circular opening slot, and the chain plate is installed with hooks and reeds for clamping the hanger.
  • the chain has a hanger lowering section and a hanger lifting section.
  • workers will have a hanger at the corner between the lower limit block and the chain during processing, and there will be one or two hangers in the lifting section.
  • the control button After the worker completes the processing task of a certain process, he presses the control button, and the active sprocket drives the transmission chain to work.
  • the hanger of the lower limit block is stuck in the groove of the chain and moves downwards, down to the height set by the operator Waiting for processing.
  • the hanger of the lifting section rises together with the chain, and when it reaches the upper limit block, the hanger comes out of the groove and enters the exit support rail.
  • the lifting mechanism adopts the above-mentioned control method, the hanger of the lower limit block can be quickly lowered to the working position for processing, and the work efficiency is high.
  • the length of the lifting section of the chain is longer than the length of the lower shelf section, one or two hangers will stay in the lifting section of the chain; when the hanging system is used to produce large home textile materials such as bed sheets, quilts, and curtains, the lifting Pulling one or two hangers in a section will cause huge deformation of the chain, which requires a higher load-bearing capacity of the chain, and even material entanglement and jamming may occur.
  • the present invention provides a suspension assembly line lifting mechanism control method and control system.
  • a method for controlling a lifting mechanism of a hanging assembly line includes the following steps:
  • the lifting mechanism Receive the instruction to start the lifting mechanism and determine whether the outbound support rail is full. If the outbound support rail is full, the lifting mechanism will not start; if it is not full, the lifting mechanism will start to lift the material carrying device on the lifting mechanism to the outbound support rail After the lifting mechanism stops, after a delay of a certain time, the lifting mechanism starts again and transports the material carrying device at the entrance of the lifting mechanism to the working position. During the time when the lifting mechanism stops, the release mechanism releases a material carrying device to the entrance of the lifting mechanism .
  • the lifting mechanism is activated. After the material carrying device is lifted from the working position into the outgoing branch rail, the release mechanism releases a material carrying device to the entrance of the lifting mechanism. Then, when the lifting mechanism is restarted, the material carrying device at the entrance of the lifting mechanism The descending section of the material carrying device enters the working position.
  • This application adopts time-delay control.
  • the lifting mechanism No material carrying device enters the working position from the lower part of the material carrying device when it is started for the first time. Therefore, when the lifting mechanism is restarted and stopped, it will not cause any material carrying device to stay in the rising part of the material carrying device of the lifting mechanism. on.
  • the material carrying device can be a hanger, a hanging basket, etc.
  • the full inspection mechanism detects whether the station branch rail is full, and when the material carrying device stays on the full inspection mechanism, the outbound branch rail is full.
  • the outbound card reader detects whether the station branch rail is full. When the outbound card reader detects that there is a material carrying device on the outbound branch rail, the outbound branch rail is full. The outbound card reader is used to perform the task of full inspection. When the outbound card reader reads the material carrying device, it means that the outbound support rail is full. When the outbound branch rail is relatively short and the processed materials are relatively large, only one material carrying device stays on the outbound branch rail, and the outbound card reader directly serves as the full inspection mechanism, which can save costs.
  • the worker presses the repair button and receives the repair request, and the host computer reads the material carrying device of the work position card reader Information is marked.
  • the worker finds that the material on the material carrying device entering the work position has not been processed in the previous process or needs to be reworked, press the rework button to upload the rework information to the main computer, and the main computer will read the card reader at the work position.
  • the read information of the material carrying device is marked so that it can be distinguished from the normally processed material, which is convenient for subsequent processing such as reprocessing.
  • the present invention also provides a hanging assembly line lifting mechanism control system using the above control method.
  • the hanging assembly line includes a main rail, a plurality of workstations, and push rods, and the push rods are used to push the material carrying device to move on the main rail.
  • a branch rail is provided between the workstation and the main rail, and the branch rail includes an in-station branch rail and an out-station branch rail, and the in-station branch rail and the out-station branch rail respectively pass through the in-station and out-station actuators It is detachably connected with the main rail.
  • the control system includes a main computer and a communication data controller.
  • the communication data controller is arranged in a workstation.
  • the communication data controllers of each workstation are connected in series.
  • the main computer communicates with one of the workstations.
  • Lifting mechanism, the lifting mechanism includes a material carrying device descending section and a material carrying device lifting section; an outbound card reader is provided at the entrance of the outbound actuator, and the outbound card reader is respectively controlled by the communication data of the corresponding workstation Device communication connection.
  • the material carrying device After the worker at the work station finishes processing, press the lifting button, the material carrying device enters the outgoing branch rail through the lifting section of the material carrying device, and then enters the main rail through the outbound actuator.
  • the material carrying device When the material carrying device enters the outgoing branch rail, it lifts The mechanism stops, and the main computer controls the release mechanism to place a material carrying device at the entrance of the lifting mechanism.
  • the lifting button is activated again, and the material carrying device at the entrance of the lifting mechanism enters the workstation through the descending section of the material carrying device.
  • the release mechanism will not place the material carrying device at the entrance of the lifting mechanism, so that after the material carrying device of the workstation is processed, the material carrying device is lifted to the outbound support through the lifting section of the material carrying device.
  • the outbound actuator in the present invention can adopt the existing common outbound actuator, or the hanging wire hanger outbound system disclosed by the publication number CN107585545A, and the belt-type chain drive mechanism can adopt the belt-type with the announcement number CN206679738U Chain drive mechanism.
  • the identification card on the push rod and the hanger can use an RFID chip or a barcode, etc.
  • the inbound card reader and the outbound card reader can use RFID readers or scanners.
  • the full inspection mechanism is used to detect whether the material bearing device staying on the station branch rail is full. If it is full, the lifting mechanism will not start to avoid the load on the station branch rail caused by too many material bearing devices staying on the station branch rail. Excessive weight may cause production failure.
  • the specific structure of the stop mechanism in the present invention can be seen in the hanger stop mechanism disclosed in the publication number CN107600899A.
  • the communication protocol between the host computer and each communication data controller adopts the EtherCAT bus protocol.
  • the system adopts the EtherCAT bus protocol, and the data transmission speed is fast and safe, and the maximum rate can reach 100M/s, which can realize the transmission of multiple formats and large files such as video. And data can be uploaded and downloaded between the communication data controller and the host computer at the same time to avoid data congestion.
  • a work position card reader is installed on the lifting mechanism, and the work position card reader is connected to the communication data controller of the workstation.
  • the work position card reader is used to read the information of the hanger. Mark for rework.
  • the present invention solves the problem of hangers staying in the lifting section, makes the system suitable for the lifting of large materials, and improves the safety of the system;
  • the communication system of the present invention adopts the EtherCAT bus protocol, which has fast data transmission speed, safety and reliability;
  • the present invention has simple structure, reasonable design and easy manufacture.
  • Figure 1 is a schematic diagram of the topological structure of the hanging assembly line of the present invention.
  • Figure 2 is a schematic diagram of the topological structure of a single workstation of the present invention.
  • FIG. 3 is a schematic structural diagram of the lifting mechanism of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the control system of the present invention.
  • Figure 5 is a flow chart of the control method of the present invention.
  • the present invention includes a main computer 1, a main rail 2, at least two workstations 3, and a driving mechanism 4, and a hanger 5 is hung on the main rail 2.
  • the workstations 3 are distributed on the outside of the main rail 2, and above the main rail 2 are provided push rods 6 distributed at a certain interval.
  • the push rods 6 are driven by the driving mechanism 4 to push the hangers 5 on the main rail 2 to run in a designated direction. Both the push rod 6 and the hanger 5 are equipped with RFID chips.
  • the workstation 3 includes an inbound card reader 301, an outbound card reader 302, a touch panel 303, a communication data controller 304, an inbound actuator 305, an outbound actuator 306, a lifting button 307, Support rail 308, release mechanism 309, lifting mechanism 3010, full inspection mechanism 3011, stop mechanism 3012.
  • the inbound actuator 305 and the outbound actuator 306 are detachably connected to the main rail 2 respectively.
  • the inbound card reader 301 is installed in front of the inbound entrance, and the outbound card reader 302 is installed at the entrance of the outbound actuator 306.
  • the host computer 1 determines whether the hanger 5 has entered the station.
  • the support rail 308 includes an inbound support rail and an outbound support rail.
  • the entrance of the lifting mechanism 3010 is connected with the inbound support rail, and its exit is connected with the outbound support rail.
  • the entrance of the exit actuator 306 is equipped with a stop mechanism 3012.
  • a full inspection mechanism 3011 is also installed on the station support rail. Along the running direction of the hanger 5 from the station to the station, the full inspection mechanism 3011 is located behind the stop mechanism 3012 and close to the exit of the lifting mechanism 3010. The hanger 5 lifted by the lifting mechanism 3010 enters the outbound support rail and is blocked by the stop mechanism 3012.
  • the outbound support The hangers on the rail are full.
  • the lifting mechanism 3010 can no longer lift the hangers into the outbound support rail. Even if the operator presses the lifting button, the lifting mechanism does not work.
  • a release mechanism behind the stop mechanism that is, install the release mechanism between the stop mechanism and the lifting mechanism.
  • the full inspection mechanism 3011 is located below or behind the release mechanism of the outgoing branch rail and is lifted by the lifting mechanism to The hanger on the outbound support rail is blocked by its release mechanism. When the hanger triggers the full inspection mechanism 3011, it indicates that the hanger on the outbound support rail is full.
  • the full inspection mechanism itself is a conventional technology in the field, such as a clothing production line waiting area quantity control mechanism disclosed in CN102599673A.
  • the full inspection mechanism can also be omitted, and the outbound card reader directly serves as the full inspection mechanism.
  • the touch panel 303 is used for human-computer interaction between the personnel of the workstation and the host computer to record the quantity and type of materials processed by the personnel of the workstation.
  • the lifting button 307 is connected to the main board of the touch panel 303.
  • a work position card reader 3013 is installed at the lower point of the lifting mechanism 3010 for reading the information of the hanger 5 passing the work position.
  • the workstation staff finds that the clothes entering the workstation need to be returned to the previous process for repair, they press the repair button (not shown in the figure), and upload the repair information to the main computer through the communication data controller.
  • the main computer reads the card reader for the work station.
  • the hanger information read by 3013 is marked so that the hanger can be sent to the corresponding workstation.
  • the location of the left chain of the work position card reader 3013 is the hanger lowering section, and the right location is the hanger lifting section.
  • the control system of the present invention includes a host computer 1 and a communication data controller of several workstations.
  • the network cable interface of the host computer 1 is connected with the network cable inlet of the communication data controller of workstation A.
  • the communication data controller of workstation A The network cable outlet is connected with the network cable inlet of the communication data controller of workstation B, the network cable outlet of the communication data controller of workstation B is connected with the network cable inlet of the communication data controller of workstation C, and so on in sequence.
  • the structure wiring in series is relatively simple and low in cost.
  • the host computer 1 can also be directly connected to the data controller of each workstation.
  • the communication data controller 304 of the host computer 1 and the workstations (A, B, and C), and the communication data controllers of adjacent workstations adopt the EtherCAT (Ethernet for Control Automation Technology) bus protocol.
  • EtherCAT bus has the characteristics of fast data transmission speed and safety; and data can be uploaded and downloaded at the same time to avoid data congestion.
  • the communication data controller 304 of each workstation is powered by a 24V power supply.
  • the communication data controller 304 is connected with the inbound card reader 301, the outbound card reader 302, the work position card reader 3013, the touch panel 303, and the induction device ( Including full inspection mechanism 3011), solenoid valve, motor (not shown in the figure) of lifting mechanism 3010, inbound card reader 301, outbound card reader 302, working position card reader 3013, induction device (including full The inspection mechanism 3011) respectively transmits the detected data to the communication data controller 304, which performs two-way data communication between the communication data controller 304 and the touch panel 303, and at the same time, the communication data controller 304 transmits the communication data to the solenoid valve , The motor of the lifting mechanism 3010.
  • the induction device is used for signal detection, such as full detection, counting, towing hook detection, etc.
  • the solenoid valve is used to control the cylinders of the inbound actuator 305, the release mechanism 309, and the outbound power 3061.
  • the specific control method of the lifting mechanism 3010 is as follows: press the lifting button 307, send it through the communication data controller or directly to the main computer. After the main computer receives the instruction to start the lifting mechanism, it first judges the outgoing support rail Whether it is full (the full inspection agency detects whether the station support rail is full), if it is full (the full inspection agency sends a full inspection signal, which is sent to the main computer through the communication data controller), the main computer controls the lifting mechanism 3010 to not start, this When, repeatedly pressing the lift button 307 has no effect.
  • the main computer controls the lifting mechanism 3010 to start, or the main computer does not send a command not to start to lift.
  • the lifting mechanism starts directly, and the lifting mechanism lifts the hanger in the processing position to the outgoing support rail and then the lifting mechanism stops.
  • the main computer controls the release mechanism 309 on the inbound support rail to release a hanger to the entrance of the lifting mechanism 3010.
  • the main computer The lifting mechanism 3010 is controlled to start again, and the lifting mechanism stops after transporting the hanger 5 at the entrance to the work position. When the hanger staying on the outbound rail triggers the full inspection mechanism 3011, it means that the outbound rail is full.
  • This application adopts the method of delay control, that is, after the staff presses the lifting button, when the outbound support rail is not full, the lifting mechanism is activated to lift the hanger on the lifting mechanism to the outbound support rail, and then the lifting mechanism Stop, after a delay time, the lifting mechanism starts again. During the delay time when the lifting mechanism stops, the release mechanism releases a hanger to the entrance of the lifting mechanism.
  • the outbound card reader 302 When the full inspection mechanism 3011 is not installed, the outbound card reader 302 also has the full inspection function. When the outbound card reader 302 reads the hanger 5, it means that the outbound support rail is full. This method reduces the outbound The working efficiency of the card reader is usually not used.
  • the motor of the lifting mechanism and the solenoid valve of the releasing mechanism are connected with the communication data controller, the host computer downloads the control signal to the communication data controller, and the communication data controller controls the motor and the solenoid valve Movement and simple structure.
  • the system adopts the EtherCAT bus protocol, and the data transmission speed is fast and safe, and the maximum rate can reach 100M/s, which can realize the transmission of multiple formats and large files such as video. And data can be uploaded and downloaded between the communication data controller and the host computer at the same time to avoid data congestion.
  • the control of the lifting mechanism adopts two start and stop, the lifting section no longer stays on the hanger, which is suitable for the lifting of large materials and improves the safety of the system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Control Of Conveyors (AREA)

Abstract

一种吊挂流水线提升机构控制方法及控制系统，接收启动提升机构（3010）的指令，判断出站支轨是否已满，若出站支轨已满，提升机构（3010）不启动；若未满，提升机构（3010）启动将物料承载装置提升至出站支轨后提升机构（3010）停止；延时一定时间后，提升机构（3010）再次启动，将提升机构（3010）进口处的物料承载装置输送至工作位，在提升机构（3010）停止的时间内，进站支轨上的放行机构（309）放行一个物料承载装置至提升机构（3010）进口处。通过上述方法，能够解决因大型物料在物料承载装置提升段停留造成链条发生形变等问题。

Description

一种吊挂流水线提升机构控制方法及控制系统 技术领域
本发明属于吊挂式输送线技术领域，更具体地说，涉及一种吊挂流水线提升机构控制方法及控制系统。
背景技术
近年来服装和家纺吊挂流水线的出现，彻底改变了传统的生产模式，实现了加工过程的自动化控制，提高了生产效率，方便了生产管理。
吊挂流水线包括主驱动环轨，在环轨的走向上间隔设有若干工作站，每个工作站的下方均设有一个工作位，吊挂在衣架上的物料由系统控制通过环轨被输送到指定的工作站进行加工，加工完成后由提升机构提升至工作站出口，从该工作站出站摆头进入环轨被送至下一个工作站进行下一道工序的加工。
中国专利申请2009101557187公开了智能型服装生产悬挂系统链传动提升装置，包括衣架放行机构、链传动机构、限位机构及相应的电路控制机构，限位机构包括上限位块和下限位块，其中限位机构连接相应的进站支轨道和出站支轨道，放行机构分为上放行机构和下放行机构，链传动机构包括电动机、主动链轮、被动链轮、链条，链条由链板交替链接构成，链板上设有半圆形开口槽，并且链板上安装有将衣架卡合的钩和簧片。
使用过程中，链条具有衣架下降段和衣架提升段。正常情况下，工人在加工时下限位块与链条的夹角处停留有一个衣架，在提升段也会有一到两个衣架。工人完成某工序的加工任务后，按下控制按钮，主动链轮带动传动链工作，一方面，下限位块的衣架被卡入链条的凹槽中向下运动，下降到操作人员设定的高度等待加工。另一方面，提升段的衣架随链条一起上升，到达上限位块时衣架从凹槽中脱出，进入出站支轨。提升机构采用上述控制方法，下限位块的衣架可以很快的下降到工作位进行加工，工作效率较高。但是，由于链条的提升段的长度比下架段的长度长，因此在链条的提升段会停留一到两个衣架；当吊挂系统用于生产床单、被子、窗帘等大型家纺物料时，提升段提留一到两个衣架会使链条发生巨大形变对链条的承重能力要求较高，甚至会发生物料缠绕卡死的情况。
发明内容
1.要解决的问题
针对现有技术中存在的提升机构在用于大型物料的生产时，因提升段停留衣架导致链条容易发生形变的问题，本发明提供一种吊挂流水线提升机构控制方法及控制系统。
2.技术方案
为了解决上述问题，本发明所采用的技术方案如下：一种吊挂流水线提升机构控制方法，包括以下步骤：
接收启动提升机构的指令，判断出站支轨是否已满，若出站支轨已满，提升机构不启动；若未满，提升机构启动将提升机构上的物料承载装置提升至出站支轨后提升机构停止，延时一定时间后，提升机构再次启动，将提升机构进口处的物料承载装置输送至工作位，在提升机构停止的时间内，放行机构放行一个物料承载装置至提升机构进口处。
提升机构启动，物料承载装置从工作位提升进入出站支轨后，放行机构才放行一个物料承载装置至提升机构的进口处，然后，当提升机构再次启动，提升机构进口处的物料承载装置从物料承载装置下降段进入工作位。本申请采用延时控制，在物料承载装置从提升机构的物料承载装置提升段进入出站支轨的这个过程中，因为放行机构没有放物料承载装置至提升机构的进站口，所以在提升机构第一次启动时不会有物料承载装置从物料承载装置下降段进入工作位，从而，当提升机构再次启动并停止后，也不会导致有物料承载装置停留在提升机构的物料承载装置上升段上。物料承载装置可以是衣架、吊篮等。
现有技术中，按一次提升按钮，衣架从工作位通过衣架提升段向上运行的过程中，提升机构进口处的挂载有代加工物料的衣架也随着链条的运转从衣架下降段向工作位的方向运行，由于衣架提升段通常比衣架下降段长，从而导致挂载有代加工物料的衣架停留在衣架提升段上等待加工，行业内普遍认为按一次提升按钮，衣架从提升机构的进口下降和从工作站处上升同时进行，有利于提高效率，但实际上，由于大型衣料的加工时间较长，如果衣架停留在衣架提升段上，反而会影响流水线下一环节的加工，影响整体的工作效率，因此，采用两次启停，不仅在一定程度上克服了行业偏见、解决了因衣架在衣架提升段上停留带来的容易导致链条变形乃至断裂的问题，而且在一定程度上提高了整体的工作效率。
进一步地，由满检机构检测出站支轨是否已满，当物料承载装置停留在满检机构上，则出站支轨已满。
进一步地，由出站读卡器检测出站支轨是否已满，当出站读卡器检测到出站支轨上有物料承载装置时，则出站支轨已满。用出站读卡器来执行满检的任务，当出站读卡器读取到物料承载装置时，代表出站支轨已满。在出站支轨比较短且加工物料比较大的情况下，出站支轨上只停留一个物料承载装置，直接由出站读卡器充当满检机构，可节省成本。
进一步地，当进入工作位的物料承载装置上的物料需要返回前面的工序进行加工时，工人按下返修按钮，接收到返修请求，主电脑对该工作位读卡器读取到的物料承载装置信息进行标记。在加工过程中，如果工人发现进入工作位的物料承载装置上的物料未经上一道工序加工或者需要返工，按下返工按钮，将该返工信息上传给主电脑，主电脑对工作位读卡器读 取到的物料承载装置信息进行标记，使其可以区别于正常加工的物料，便于后续再次加工等处理。
本发明同时还提供一种采用上述控制方法的吊挂流水线提升机构控制系统，吊挂流水线包括主轨、多个工作站、推杆，所述推杆用于推送物料承载装置在主轨上移动，所述工作站和主轨之间设有支轨，所述支轨包括进站支轨和出站支轨，所述进站支轨和出站支轨分别通过进站执行机构和出站执行机构与主轨可分离地连接，所述控制系统包括主电脑和通讯数据控制器，所述通讯数据控制器设置在工作站，各工作站的通讯数据控制器依次串接，主电脑与其中一个工作站的通讯数据控制器通讯连接，或者主电脑分别与各工作站的通讯数据控制器之间通讯连接，所述进站支轨上设置有放行机构，所述进站支轨与出站支轨之间设置有提升机构，所述提升机构包括物料承载装置下降段和物料承载装置提升段；在出站执行机构的进口设置有出站读卡器，所述出站读卡器分别与相应工作站的通讯数据控制器通讯连接。
工作位的工人加工完毕之后，按下提升按钮，物料承载装置通过物料承载装置提升段进入出站支轨，然后通过出站执行机构进入主轨，当物料承载装置进入出站支轨后，提升机构停止，主电脑控制放行机构放一个物料承载装置到提升机构的进口处，这时，提升按钮再次启动，提升机构进口处的物料承载装置通过物料承载装置下降段进入工作站。在提升机构进口处的物料承载装置下降的过程中，放行机构不会放物料承载装置到提升机构的进口处，这样在工作站的物料承载装置加工完成后通过物料承载装置提升段提升到出站支轨的运行过程中，提升机构的进口处不会有物料承载装置随着链条的运行而从物料承载装置下降段下降，也就是说在工作位的物料承载装置加工完成后提升的过程中，不会出现因物料承载装置下降段的物料承载装置下降到工作位而链条运行停止的时候，在物料承载装置提升段上停留物料承载装置的情况，从而有效解决因物料承载装置停留对物料承载装置提升段的链条的承重压力过大的问题。本发明中的出站执行机构可以采用现有的常用出站执行机构，也可以采用公开号为CN107585545A公开的吊挂线衣架出站系统，皮带式链传动机构可采用公告号为CN206679738U的皮带式链传动机构。推杆、衣架上的识别卡可以采用RFID芯片，也可以采用条形码等，进站读卡器、出站读卡器可以使用RFID读卡器或扫描枪等。
进一步地，还包括满检机构，所述满检机构安装在出站支轨上，沿物料承载装置出站运行方向，所述满检机构位于所述出站执行机构的止挡机构的后方，并靠近提升机构的出口。满检机构用于检测出站支轨上停留的物料承载装置是否已满，如果已满，提升机构不启动，避免因过多物料承载装置停留在出站支轨上造成出站支轨的负荷过重从而可能造成生产故障的情况。本发明中的止挡机构的具体结构可见公开号为CN107600899A公开的衣架止挡机构。
进一步地，所述主电脑、各通讯数据控制器之间的通讯协议采用EtherCAT总线协议。系 统采用EtherCAT总线协议，数据传输速度快、安全，速率最高可达到100M/s，能实现视频等多格式、大文件传输。并且数据可以同时在通讯数据控制器与主电脑之间上传和下传，避免数据拥塞。
进一步地，所述提升机构上安装有工作位读卡器，所述工作位读卡器与工作站的通讯数据控制器连接，当物料需要返工时，利用工作位读卡器读取衣架信息，进行标记，以便返工。
3.有益效果
相比于现有技术，本发明的有益效果为：
(1)本发明解决了提升段衣架停留的问题，使系统适用于大型物料的提升，提高了系统的安全性；
(2)本发明通讯系统采用EtherCAT总线协议，数据传输速度快、安全可靠；
(3)本发明结构简单，设计合理，易于制造。
附图说明
图1为本发明的吊挂流水线拓扑结构示意图；
图2为本发明的单个工作站的拓扑结构示意图；
图3为本发明的提升机构结构示意图；
图4为本发明的控制系统结构示意图；
图5为本发明的控制方法流程图。
图中：1：主电脑；2：主轨：3：工作站；301：进站读卡器；302：出站读卡器；303：触摸式平板；304：通讯数据控制器；305：进站执行机构；306：出站执行机构；307：提升按钮；308：支轨；309：放行机构；3010：提升机构；3011：满检机构；3012：止挡机构；3013：工作位读卡器；4：驱动机构；5：衣架；6：推杆。
具体实施方式
下面结合具体实施例对本发明进一步进行描述。
如图1所示，本发明包括主电脑1、主轨2、至少两个的工作站3、驱动机构4，衣架5吊挂在主轨2上。工作站3分布在主轨2的外侧，主轨2的上方设置有按一定间距分布的推杆6，推杆6在驱动机构4的驱动下推着主轨2上的衣架5按照指定方向运行。推杆6和衣架5上均安装有RFID芯片。
如图2所示，工作站3包括进站读卡器301、出站读卡器302、触摸式平板303、通讯数据控制器304、进站执行机构305、出站执行机构306、提升按钮307、支轨308、放行机构309、提升机构3010、满检机构3011、止挡机构3012。进站执行机构305与出站执行机构306分别与主轨2可分离地连接，进站读卡器301安装在进站口前面，出站读卡器302安装在出 站执行机构306进口处。当衣架5经过进站读卡器301时，主电脑1判断该衣架5是否进站，如进站，进站执行机构305与主轨2连接，衣架5沿支轨308下滑至放行机构309处停留。支轨308包括进站支轨和出站支轨，提升机构3010的进口与进站支轨连接，其出口与出站支轨连接，出站执行机构306的进口安装有止挡机构3012，出站支轨上还安装有满检机构3011，沿衣架5的由进站到出站的运行方向，满检机构3011位于止挡机构3012的后方并靠近提升机构3010的出口。提升机构3010提升后的衣架5进入出站支轨被止挡机构3012阻挡，当多个衣架依次排列在止挡机构3012后方，直到排列的最后一个衣架触发满检机构3011时，说明出站支轨上的衣架已存满，此时提升机构3010无法再提升衣架进入出站支轨，即使操作人员按下提升按钮，提升机构也不工作。也可以在止挡机构后方再安装一个放行机构，即，在止挡机构与提升机构之间安装放行机构，满检机构3011位于出站支轨的放行机构的下方或后方，由提升机构提升至出站支轨的衣架被其放行机构阻挡，当衣架触发满检机构3011时，说明出站支轨上的衣架已满。满检机构本身是本领域的常规技术，如CN102599673A公开的一种服装生产流水线等待区数量控制机构。当出站支轨比较短的情况下，也可以省略满检机构，直接由出站读卡器充当满检机构。触摸式平板303用于工作站的人员与主电脑进行人机交互，以记录该工作站的人员加工的物料的数量、种类等信息，提升按钮307与触摸式平板303的主板连接。
如图3所示，提升机构3010的低点安装有工作位读卡器3013，用于读取经过工作位的衣架5的信息。当工作站工作人员发现进入工作站的衣服需要返回之前的工序返修，则按下返修按钮(图中未示出)，将返修信息通过通讯数据控制器上传主电脑，主电脑对该工作位读卡器3013读取到的衣架信息进行标记，以便可以将该衣架送入相应的工作站。图3中，工作位读卡器3013的左侧链条所在区位为衣架下降段，右侧区位为衣架提升段。
如图4所示，本发明的控制系统包括主电脑1和若干工作站的通讯数据控制器，主电脑1的网线接口与工作站A的通讯数据控制器的网线进口连接，工作站A的通讯数据控制器的网线出口与工作站B的通讯数据控制器的网线进口连接，工作站B的通讯数据控制器的网线出口与工作站C的通讯数据控制器的网线进口连接，如此依次串联。串联的结构布线相对来说较简单，而且成本低。当然，也可以将主电脑1直接与各工作站的数据控制器连接。主电脑1与工作站(A、B和C)的通讯数据控制器304，以及相邻工作站的通讯数据控制器采用EtherCAT(Ethernet for Control Automation Technology，以太网控制自动化技术)总线协议。EtherCAT总线具有数据传输速度快、安全的特点；并且数据可同时上传和下传，避免数据拥塞。每个工作站的通讯数据控制器304由24V电源供电，通讯数据控制器304分别与进站读卡器301、出站读卡器302、工作位读卡器3013、触摸式平板303、感应装置(包括满检机构 3011)、电磁阀、提升机构3010的电机(图中未示出)连接，进站读卡器301、出站读卡器302、工作位读卡器3013、感应装置(包括满检机构3011)分别将检测到的数据传输给通讯数据控制器304，通讯数据控制器304与触摸式平板303之间进行双向的数据通讯，同时，通讯数据控制器304将通讯数据传输给电磁阀、提升机构3010的电机。感应装置用于进行信号检测，如满检、计数、拖钩检测等。电磁阀用于进站执行机构305、放行机构309、出站动力3061的气缸的控制。
如图5所示，提升机构3010具体控制方法如下：按下提升按钮307，通过通讯数据控制器发送或者直接发送给主电脑，主电脑接收到启动提升机构的指令后，首先判断出站支轨是否已满(满检机构检测出站支轨是否已满)，如已满(满检机构发送满检信号，通过通讯数据控制器传送给主电脑)，主电脑控制提升机构3010不启动，此时，重复按提升按钮307不起作用。如未满(满检机构不发送满检信号，或者所发的满检信号表示出站支轨未满)，主电脑控制提升机构3010启动，或者，由于主电脑没有发送不启动的指令给提升机构，提升机构直接启动，提升机构将加工位的衣架提升至出站支轨后提升机构停止，然后主电脑控制进站支轨上的放行机构309放行一个衣架至提升机构3010进口处，主电脑控制提升机构3010再启动一次，将进口处的衣架5输送至工作位后提升机构停止。当停留在出站支轨上的衣架触发满检机构3011时，代表出站支轨已满。本申请采用延时控制的方法，即，工作人员按下提升按钮后，在出站支轨未满的情况下，提升机构启动，将提升机构上的衣架提升至出站支轨，随后提升机构停止，延时一段时间后，提升机构再次启动，在提升机构停止的这段延时时间内，放行机构放行一个衣架至提升机构的进口处。
当未安装满检机构3011时，出站读卡器302同时具备满检的功能，当出站读卡器302读取到衣架5时，代表出站支轨已满，这种方式降低出站读卡器的工作效率，通常不采用。
本发明的吊挂流水线提升机构控制系统，提升机构的电机、放行机构的电磁阀与通讯数据控制器连接，主电脑将控制信号下传给通讯数据控制器，通讯数据控制器控制电机和电磁阀动作，结构简单。系统采用EtherCAT总线协议，数据传输速度快、安全，速率最高可达到100M/s，能实现视频等多格式、大文件传输。并且数据可以同时在通讯数据控制器与主电脑之间上传和下传，避免数据拥塞。提升机构的控制采用两次启停，提升段不再停留衣架，适用于大型物料的提升，提高了系统安全性。
虽然本发明已以较佳实施例公开如上，但实施例并不是用来限定本发明的。在不脱离本发明之精神和范围内，所做的任何等效变化或润饰，同样属于本发明之保护范围。因此本发明的保护范围应当以本申请的权利要求所界定的内容为标准。

Claims (8)

  1. 一种吊挂流水线提升机构控制方法，其特征在于：接收启动提升机构的指令，判断出站支轨是否已满，若出站支轨已满，提升机构不启动；若未满，提升机构启动，将提升机构上的物料承载装置提升至出站支轨后提升机构停止，延时一定时间后，提升机构再次启动，将提升机构进口处的物料承载装置输送至工作位，在提升机构停止的时间内，进站支轨上的放行机构放行一个物料承载装置至提升机构进口处。
  2. 根据权利要求1所述的吊挂流水线提升机构控制方法，其特征在于：由满检机构检测出站支轨是否已满，当物料承载装置停留在满检机构上，则出站支轨已满。
  3. 根据权利要求1所述的吊挂流水线提升机构控制方法，其特征在于：由出站读卡器检测出站支轨是否已满，当出站读卡器检测到出站支轨上有物料承载装置时，则出站支轨已满。
  4. 根据权利要求1、2或3所述的吊挂流水线提升机构控制方法，其特征在于：当进入工作位的物料承载装置上的物料需要返回前面的工序进行加工时，接收到返修请求后，主电脑对该工作位读卡器读取到的物料承载装置信息进行标记。
  5. 一种吊挂流水线提升机构控制系统，吊挂流水线包括主轨、多个工作站、推杆，所述推杆用于推送物料承载装置在主轨上移动，所述工作站和主轨之间设有支轨，所述支轨包括进站支轨和出站支轨，所述进站支轨和出站支轨分别通过进站执行机构和出站执行机构与主轨可分离地连接，其特征在于：所述控制系统包括主电脑和通讯数据控制器，所述通讯数据控制器设置在工作站；各工作站的通讯数据控制器依次串接，主电脑与其中一个工作站的通讯数据控制器通讯连接；或者主电脑分别与各工作站的通讯数据控制器之间通讯连接；所述进站支轨上设置有放行机构，所述进站支轨与出站支轨之间设置有提升机构，所述提升机构包括物料承载装置下降段和物料承载装置提升段；在出站执行机构的进口设置有出站读卡器，所述出站读卡器与相应工作站的通讯数据控制器通讯连接。
  6. 根据权利要求5所述的吊挂流水线提升机构控制系统，其特征在于：还包括满检机构，所述满检机构安装在出站支轨上，沿物料承载装置出站运行方向，所述满检机构位于所述出站执行机构的止挡机构的后方，并靠近提升机构的出口。
  7. 根据权利要求5所述的吊挂流水线提升机构控制系统，其特征在于：所述主电脑和各通讯数据控制器之间的通讯协议采用EtherCAT总线协议。
  8. 根据权利要求5所述的吊挂流水线提升机构控制系统，其特征在于：所述提升机构上安装有工作位读卡器，所述工作位读卡器与工作站的通讯数据控制器连接。
PCT/CN2019/127848 2019-08-07 2019-12-24 一种吊挂流水线提升机构控制方法及控制系统 WO2021022765A1 (zh)

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