WO2021022768A1 - 一种吊挂流水线控制方法、系统及出站执行机构控制方法 - Google Patents

一种吊挂流水线控制方法、系统及出站执行机构控制方法 Download PDF

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Publication number
WO2021022768A1
WO2021022768A1 PCT/CN2019/128127 CN2019128127W WO2021022768A1 WO 2021022768 A1 WO2021022768 A1 WO 2021022768A1 CN 2019128127 W CN2019128127 W CN 2019128127W WO 2021022768 A1 WO2021022768 A1 WO 2021022768A1
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Prior art keywords
hanger
putter
outbound
towing hook
host computer
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PCT/CN2019/128127
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English (en)
French (fr)
Inventor
孙建国
余云林
袁峰
袁剑
Original Assignee
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 WO2021022768A1 publication Critical patent/WO2021022768A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • 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]

Definitions

  • the invention belongs to the technical field of hanging conveyor lines, and more specifically, relates to a hanging assembly line control method, system and outbound actuator control method.
  • the current hanging assembly line is more complicated in the control method of the clothes rack entering and leaving the station.
  • the hanging assembly line originally used RS485 communication technology, and now it generally uses the CAN bus to communicate with the upper computer.
  • This communication mode has the shortcomings of relatively low communication distance, communication rate and bandwidth. It cannot meet the requirements of long-distance and big data communication, and cannot realize the transmission of large files such as video.
  • Chinese patent application 2006100119497 discloses a monitoring method and system for intelligent material distribution.
  • the steps of the method include: (1) Each hanger running on the track is provided with a radio frequency identification RFID tag. When a hanger passes by When the RFID card reader in front of the entrance of a certain workstation, the reader will read the information on the hanger tag and send it to the upper computer via the workstation terminal device; (2) After the upper computer receives the hanger detection signal, It will judge whether the hanger should enter this workstation for processing. If it should not enter this workstation, the host computer will not send any signal, and the hanger will continue to run on the main track; if it should enter this workstation, the host computer will send to the programmable logic The controller PLC sends a support rail connection signal.
  • the programmable logic controller PLC controls the inbound switch of the corresponding work station to close, so that the hanger can enter the workstation; (3) The clothes on the hanger are on After a certain workstation completes the processing of the corresponding procedure, the workstation terminal device sends a processing completion signal to the upper computer, and at the same time sends the hanger into the outbound buffer through the electrical switch.
  • Step (3) includes: (3-1) After the host computer receives the processing completion signal, it will send an outbound signal to the programmable logic controller PLC, and transmit the corresponding station ID and action type information to the programmable logic controller PLC, the programmable logic controller PLC will update the outbound buffer size of the corresponding station after receiving this signal; (3-2) There are many gaps evenly distributed on the main track, and the hanger is driven by the gap to move on the main track , Attach an RFID tag to each gap. When the gap detection card reader detects the gap, it sends a gap detection signal to the upper computer through the terminal device. After the upper computer receives this signal, it can control all the stations. The programming logic controller PLC broadcasts the gap detection signal.
  • Step (3-2) includes: when the programmable logic controller PLC detects a gap, use the metal proximity switch set at the exit of the workstation to determine whether the gap has a hanger. If the gap does not have a hanger, connect the exit port The electrical switch sends a hanger in the outbound buffer zone to the main track.
  • this control method two conditions are required when going out of the station: whether the hanger should go out of a station and whether there is a hanger on the gap passing the station.
  • the gap detection signal is sent to the upper computer through the terminal device of the workstation and sent to the programmable logic controller PLC of the workstation; Whether there is a hanger on the gap is judged by the metal proximity switch at the exit of the workstation and sent to the programmable logic controller PLC of the workstation.
  • This control method involves more signals and more complicated steps.
  • the card reader set at the station’s inbound port will upload its hanger information to the upper computer, and the card reader set before the station’s outbound buffer will be processed in the workstation.
  • the hanger information is uploaded to the host computer; there are many gaps evenly distributed on the main track, and the hanger is driven by the gaps to run on the main track. Each gap is affixed with an RFID tag, and an RFID reader is added.
  • the card device is used to detect the gap; an inductive proximity switch is installed at the exit of the workstation to detect the hanger. When the hanger enters the detection range, a pulse signal is sent out.
  • the control system has a complex structure, requiring two RFID readers and an inductive proximity switch in each workstation, and an RFID reader for detecting gaps.
  • the structure is complex; and many gaps on the main track need to be uniform Distribution, so that the RFID reader used to detect the gap can accurately read the RFID information on each gap, and the system uses the inductive proximity switch of each workstation to determine whether there is a hanger on the gap.
  • the installation position of each gap on the main track and the distance between the RFID reader for detecting the gap and the inductive proximity switch of each workstation have high installation accuracy requirements; on the other hand, the terminal equipment and the host computer use CAN bus communication, Data transmission speed is slow; using serial communication, when the number of workstations connected to the host computer is huge, it is easy to cause data jam.
  • the control system has a complex structure, and the terminal equipment and the upper computer use CAN bus communication, and the data transmission speed is slow; using serial communication, when the number of workstations connected to the upper computer is huge, it is easy to cause data jams.
  • the purpose of the present invention is to provide a hanging assembly line control system and control method.
  • the technical scheme adopted by the present invention is as follows: a hanging assembly line control method, the outbound card reader reads the hanger information and sends a signal to the host computer; the host computer judges whether the push rod currently passing through the inbound card reader is empty If it is empty, the main computer controls or controls the outbound actuator through the communication data controller to drive the hanger out of the station. After the hanger is pushed out of the station by the push rod, the hanger moves on the main rail, and the host computer uses the push rod of the push rod. The number is associated with the hanger number of the hanger; otherwise, it will not leave the station;
  • the hanger from the lifting mechanism is blocked by the stop mechanism at the entrance of the exit actuator and waits for exit.
  • the card reader reads the clothes hanger information and sends clothes signals to the main computer, and the main computer receives the signal to know that there are hangers that need to leave the station.
  • the main computer judges the push rod currently passing through the inbound card reader. If the push rod is empty, the outbound power of the outbound actuator is activated, and the outbound actuator drives the hanger out of the station, and the hanger enters the main rail , At this time the passing putter pushes the hanger away.
  • hangers include not only hangers in the usual sense, but also other material carrying devices such as hanging baskets.
  • the inbound card reader reads the putter number of the putter passing through the inbound card reader and uploads it to the host computer. Check whether the putter number is associated with a hanger number; if not, the putter is empty; if so, the host computer judges whether the hanger associated with the putter is in the station, if it does, the putter is also empty.
  • the host computer judges whether the putter number is empty, first find out whether the putter number corresponds to the hanger number, and if there is no corresponding hanger number, it is empty. Arriving, if it is empty, it is simple and efficient. After the inbound card reader obtains the putter number, it can be directly uploaded to the host computer or can be uploaded through the communication data controller.
  • the step of disassociating the hanger number from the putter number specifically: the putter pushes the hanger through the pit-stop card reader, and the host computer judges whether the hanger pushed by the putter enters the station, such as pit-stop, pit-stop Then the host computer cancels the association between the hanger number and the putter number.
  • the hanger number is associated with the putter number of the putter that pushed the hanger to the station entrance.
  • the hanger enters the station the corresponding relationship between the hanger number of the inbound hanger and the putter number is cleared. At this time, the hanger number corresponding to the corresponding putter number is empty, which means that the putter does not push the hanger.
  • the host computer updates the associated information between the putter number and the hanger number, that is, if the putter pushes a hanger, the putter number of the putter and the hanger's The hanger number is associated. If the putter does not push the hanger, the hanger number associated with the putter number will be cleared.
  • the so-called removal includes the situation where the putter number is associated with the hanger number, and the hanger number needs to be cleared. After the removal, the association between the putter number and the hanger number is cancelled, and it also includes that the putter number is not associated with the hanger number.
  • the putter number corresponding to the position where the hanger number is stored can be reset or not reset. Realize the timely update of the hanger number and putter number and their corresponding relationship to avoid errors.
  • the host computer first determines whether the putter number of the putter and the hanger number of the hanger have been associated, and if they are already associated, no update is performed Operation; and/or, before clearing the hanger number associated with the putter number of the putter, the host computer first judges whether the putter number of the putter is associated with a hanger number, if there is no hanger number associated, then no clearing operation . Before performing the update operation, first determine whether the update is needed to avoid waste of resources and increase the amount of calculation.
  • the power mechanism of the outbound actuator stops immediately, or stops after a period of delay, so that the baffle and the towing hook finally stop at the stop mechanism respectively Front and rear. After the hanger finishes leaving the station, the power mechanism stops and waits for the host computer to issue the start command again.
  • the power mechanism stops so that the stop mechanism is just between the baffle and the towing hook, which is convenient for the towing hook to tow The hanger blocked by the stop mechanism moves out of the station.
  • putter number and hanger number are stored in a queue, or stored in a table, and putter numbers and hanger numbers located in the same sequence number position of the queue or table are associated.
  • the present invention also provides a hanging assembly line control system.
  • the hanging assembly line includes a main rail, a plurality of workstations, and push rods.
  • the push rods are used to push the clothes rack to move on the main rail.
  • the support rail includes an inbound support rail and an outbound support rail.
  • the inbound support rail and the outbound support rail are detachably connected to the main rail through the inbound and outbound actuators, respectively, and the control system Including a host computer and a communication data controller, the communication data controller is set in the workstation, the communication data controller between the host computer and each workstation is connected, or the communication data controller of each workstation is connected in series, and the host computer is connected to one of the communication data controllers.
  • identification cards are installed on the push rod and the clothes hanger, an inbound card reader is installed at the inbound port of the workstation, and an outbound card reader is installed at the entrance of the outbound actuator ,
  • the inbound card reader and the outbound card reader are respectively connected to the communication data controller of the workstation where they are located.
  • the identification card can be a barcode identification card or an RFID chip, etc.
  • the inbound card reader and outbound card reader can correspondingly use a scanner, FRID reader, etc.
  • the inbound card reader reads the RFID chip installed on the push rod and the hanger respectively, and uploads the information of the push rod and the hanger to the main computer, or through The communication data controller is uploaded to the main computer, and the main computer judges the information to see if the hanger needs to enter the station.
  • the station If it needs to enter the station, it informs the communication data controller, and the communication data controller controls the inbound actuator to control the hanger inbound, or
  • the main computer directly controls the inbound actuator, and the main computer clears the hanger number associated with the push rod. After the hanger enters the station, only the push rod runs on the main rail.
  • the main computer controls or the main computer controls the outbound actuator through the communication data controller to control the hanger out of the station.
  • the outbound card reader reads the RFID chip information on the hanger and uploads it To the host computer, the host computer stores the hanger information and the push rod information in a one-to-one correspondence.
  • the outbound actuator includes an outbound power and a belt-type chain transmission mechanism, the outbound power drives the belt-type chain transmission mechanism to rotate, and the belt-type chain transmission mechanism is installed with no less than one consisting of a tow hook and a baffle
  • the baffle is arranged at In front of the towing hook, a stop mechanism and a towing hook sensing device are installed on the outbound actuator, wherein the stop mechanism is installed at a position where the entrance of the outbound actuator faces the outbound support rail.
  • the worker in the workstation will process the clothes on the hanger; after the processing is completed, the worker in the workstation presses the lifting button, the lifting mechanism operates to lift the hanger onto the outbound support rail, and then the stop on the outbound actuator
  • the blocking mechanism blocks the hanger, and the outbound card reader installed at the entrance of the outbound actuator reads the information of the hanger and uploads the information of the hanger to the communication data controller.
  • the communication data controller uploads the information of the hanger to the host computer or The outbound card reader directly uploads to the main computer.
  • the main computer judges whether the currently passing push rod is empty.
  • the outbound power drives the belt-type chain drive mechanism to rotate clockwise, and the tow hook on the belt-type chain drive mechanism Hang the hanger and drive the hanger to run together.
  • a baffle is set in front of the towing hook along the running direction of the belt-type chain transmission mechanism. The baffle and the towing hook cooperate to make The clothes hanger can run stably with the belt-type chain transmission mechanism. When the clothes hanger runs on the main rail, the push rod running on the main rail pushes the clothes hanger to continue running along the main rail, and the clothes hanger completes its exit.
  • the installation position of the towing hook sensing device can be installed near the back of the stop mechanism, or it can be installed in the backward N drag hooks. Where the hooks are spaced, N is a natural number smaller than the number of towing hooks. The installation position of the towing hook sensing device determines the time when the outbound power stops.
  • the towing hook sensing device is arranged close to the stopping mechanism, and along the running direction of the belt chain transmission mechanism, the towing hook sensing device is located behind the stopping mechanism. Choose to install the towing hook sensing device near the back of the stop mechanism.
  • the towing hook sensing device senses the towing hook passing by, the towing hook that is sensed moves from the towing hook sensing device to the position where the towing hook stops, such as a corner a
  • the length of is known, and it is easy to calculate the length of the delay.
  • the towing hook sensing device can also be arranged in front of the exit.
  • the present invention also provides a method for controlling an outbound actuator of a hanging assembly line, which includes starting a belt-type chain transmission mechanism, and a towing hook on the belt-type chain transmission mechanism drags the clothes hanger on the outbound support rail to the main rail;
  • the towing hook sensing device senses the towing hook
  • the power mechanism of the outbound actuator will stop immediately, or stop after a period of delay, so that the baffle and the towing hook will eventually stop in front of and behind the stop mechanism.
  • the towing hook may be located parallel to the main rail. At this time, it will hinder the push rod running on the main rail. You need to use the push rod to push the towing hook away and push it to the corner d.
  • the invention can also delay the stop.
  • the motive mechanism stops for a period of time, so that the stop mechanism is located between the baffle and the towing hook.
  • no towing hook is located parallel to the main rail.
  • the stop mechanism is the initial position of the outbound actuator between the baffle and the towing hook, which is convenient for the outbound actuator to drag a hanger directly when it is restarted, which improves work efficiency.
  • the delay time of the power mechanism delay stop is less than or equal to the time required for the towing hook to move from the towing hook sensing device to the corner a and to enter the straight section b.
  • the delay time is related to the final stop position of the towing hook when the outbound mechanism stops.
  • the number of towing hooks sensed by the towing hook sensing device is the number of towing hooks that the hanger completes out of the station and passes through the exit, or when the belt-type chain transmission mechanism stops, it moves from the towing hook along the direction of the belt-type chain transmission mechanism.
  • the number of tow hooks stopped between the sensor device and the exit gate.
  • the method for the hanging assembly line control method of the present invention to determine whether the material conveying device currently passing through the workstation is empty before the material exits the station is to adopt a one-to-one correspondence between the material conveying device information and the material information, so that the control hanger It can be very simple and effective to achieve accurate control when standing, avoiding two hangers on the same push rod;
  • the suspension pipeline control method of the present invention can check, update, and correct errors in real time to ensure the accuracy of system operation
  • the card reader uploads to the host computer through the communication data controller, and the host computer downloads the control signal to the communication data controller, with a simple structure;
  • the hanging assembly line control system of the present invention can adopt the EtherCAT bus protocol, the data transmission speed is fast and safe, and the maximum rate can reach 100M/s, and it 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 hanging assembly line control system of the present invention uses a card reader to read the RFID information, and before the material leaves the station, the main computer judges whether the material conveying device currently passing through the workstation is empty according to the material conveying device and the RFID information of the material. , Without the need for additional components for judging whether the material conveying device is empty, the material entering and leaving the station can be accurately controlled.
  • the system structure is simple, and the requirements for the distribution position of each material conveying device are not high.
  • 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 topology of a single workstation of the present invention.
  • Figure 3 is a schematic diagram of the structure of the outbound execution mechanism of the present invention.
  • Figure 4 is a schematic diagram of the structure of the lifting mechanism of the present invention.
  • FIG. 5 is a schematic diagram of the structure of the control system of the present invention.
  • Figure 6 is a flow chart of the hanger entering the station of the present invention.
  • Figure 7 is a flow chart of the hanger of the present invention going out of the station.
  • Figure 8 is a schematic diagram of the putter number queue and hanger number queue before data modification.
  • Figure 9 is a schematic diagram of the putter number queue and hanger number queue after data modification.
  • 1 main computer; 2; main rail; 3; workstation; 301; inbound card reader; 302: outbound card reader; 303: touch panel; 304: communication data controller; 305: inbound Actuator; 306: Outbound actuator; 3061: Outbound power; 3062: Belt chain transmission mechanism; 3063: Towing hook; 3064: Stop mechanism; 3065: Towing hook sensing device; 3066: Baffle plate; 307: Lifting Button; 308: support rail; 309: release mechanism; 3010: lifting mechanism; 3011: work position card reader; 4: drive mechanism; 5: hanger; 6: push rod.
  • the hanging assembly line control system of the present invention mainly includes a main computer 1, a main rail 2, at least two or more workstations 3, and a driving mechanism 4.
  • the 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.
  • the inbound actuator 305 and the outbound actuator 306 are detachably connected to the main rail 2, the inbound card reader 301 is installed in front of the inlet, and the outbound card reader 302 is installed at the entrance of the outbound actuator 306.
  • the lifting button 307 to control the lifting mechanism 3010 to raise the hanger to be out of the work station to the height of the main rail 2.
  • the touch panel 303 is used for the personnel of the workstation to perform human-computer interaction with the host computer to record information such as the quantity and type of clothing processed by the personnel of the workstation.
  • the outbound actuator 306 includes an outbound power 3061.
  • the outbound power 3061 drives the belt-type chain transmission mechanism 3062 to rotate clockwise.
  • the belt-type chain transmission mechanism 3062 is equipped with a tow hook 3063.
  • a stop mechanism 3064 is installed at the position where the entrance of the exit actuator 306 faces the support rail 308.
  • the lifting mechanism 3010 lifts the hanger to be exited to the stop mechanism 3064 and is blocked waiting for exit.
  • the exit card reader 302 The information of the hanger is uploaded to the communication data controller 304.
  • the towing hook sensing device 3065 is installed behind the bend a behind the stop mechanism 3064. It can be seen from Fig.
  • the belt-type chain transmission mechanism 3062 There are two corners (a, d).
  • the so-called behind the corner a refers to the position between the corner d and the corner a along the rotation direction of the belt chain transmission mechanism 3062.
  • two towing hooks 3063 are arranged at equal intervals.
  • the installation position of the towing hook sensing device 3065 can also be reversed by one towing hook pitch (a towing hook pitch refers to the distance between two towing hooks.
  • a towing hook pitch refers to the distance between two towing hooks.
  • the towing hook sensing device is reversed by 1 to N-1 towing hook spacing, where N is the total number of towing hooks 3063), that is, the towing hook sensing device 3065 is installed at the exit of the station.
  • the number of towing hooks 3063 can also be set to one or more; the more the number of towing hooks 3063, the longer the length of the belt-type chain transmission mechanism 3062 will be correspondingly longer to ensure that any towing hook 3063 stops at the turn a behind the stop mechanism ⁇ When entering the straight section b, no tow hooks can stay on the straight section c parallel to the main rail, that is to say, when the belt chain transmission mechanism 3062 finally stops, no tow hooks can interfere with the operation of the push rod 6 on the main rail 2. .
  • a baffle 3066 is installed on the belt-type chain transmission mechanism in front of the towing hook 3063.
  • the baffle 3066 can prevent the clothes hanger from moving forward when the towing hook 3063 drags the hanger out of the station.
  • the baffle 3066 is located in front of the stopping mechanism 3064, and the towing hook 3063 is located behind the stopping mechanism 3064, which is the initial state of the outbound actuator. This ensures that the hanger 5 is located between the towing hook 3063 and the baffle 3066 when leaving the station.
  • the detailed structure of the outbound actuator can also refer to the patent document CN107585545A. It can be seen from Fig. 3 that the towing hooks and the baffle are arranged in pairs to form a towing hook group. The two groups of towing hook groups in Fig. 3 are equidistantly distributed on the belt-type chain transmission mechanism.
  • a working position card reader 3011 is installed at the low point of the lifting mechanism 3010 to read the information of the hanger 5 passing through the working position; when the workstation staff finds that the material entering the workstation 3 needs to be returned to the previous process for repair , Press the repair button (not shown in the figure), the work position card reader 3011 reads the hanger information, and uploads it to the host computer 1 through the communication data controller 304, and the host computer 1 marks the hanger 5 so that it can The hanger 5 is sent to the corresponding workstation 3.
  • the hanging assembly line control system includes a main computer 1, which is sequentially connected to the communication data controller 304 of each workstation.
  • the network cable interface of the main computer 1 is connected to the network cable inlet of the communication data controller 304 of workstation A, the network cable outlet of the communication data controller 304 of workstation A is connected to the network cable inlet of the communication data controller 304 of workstation B, and the communication data of workstation B
  • the network cable outlet of the controller 304 is connected to the network cable inlet of the communication data controller 304 of the workstation C, and is connected in series in sequence.
  • the communication data controller 304 of the host computer 1 and the workstation A, and the communication data controller 304 of the adjacent workstations use EtherCAT (Ethernet for Control Automation Technology) bus protocol communication.
  • 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 to the inbound card reader 301, the outbound card reader 302, the work position card reader 3011, the touch panel 303, the sensor device (( Including towing hook sensing device 3065), solenoid valve, etc. (not shown in the figure)) connection.
  • 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 host computer 1 in FIG. 5 is connected in series with each communication data controller 304. In fact, the host computer 1 can also be directly connected to each communication data controller 304, and the communication data controllers 304 are no longer connected.
  • the hanging assembly line control system controls the entry and exit of the clothes rack as follows:
  • Hanger inbound control Push rod 6 pushes hanger 5 to move on main rail 2.
  • the inbound card reader 301 obtains the hanger number of hanger 5, The information of the hanger number is uploaded to the host computer 1 through the communication data controller 304.
  • the host computer 1 judges whether the hanger 5 enters the workstation 3. If it is judged to enter the workstation 3 and meet the entry conditions, the host computer 1 downloads the entry Commands are given to the communication data controller 304 of the workstation 3, and the communication data controller 304 controls the movement of the cylinder of the inbound actuator 305 to connect the inbound support rail of the support rail 308 with the main rail 2 so that the hanger 5 enters the workstation 3.
  • Outbound control of the hanger the hanger 5 enters the workstation 3 and is lifted by the lifting mechanism 3010 to the stop mechanism 3064 after the processing is completed.
  • the hanger 5 waits to leave the station.
  • the outbound card reader 302 uploads the hanger information to the host computer through the communication data controller 304 1.
  • the inbound card reader 301 of the workstation 3 uploads the information of the push rod 6 and the hanger passing there to the host computer 1 through the communication data controller 304, and the host computer 1 determines whether the push rod 6 is empty according to the information.
  • the inbound card reader reads the putter number that passes through the inbound card reader and uploads it to the host computer.
  • the host computer checks whether the putter number is associated with a hanger number.
  • the putter is empty; if there is, the host computer judges whether the hanger associated with the putter is in the station, if it does, the putter is also empty.
  • the host computer 1 sends an outbound command to the communication data controller 304, and the communication data controller 304 controls the outbound power 3061 to work, and the towing hook 3063 drags the hanger 5 out of the station.
  • the towing hook sensing device 3065 senses the towing hook 3063, and the outbound power 3061 stops immediately or stops after a certain time. In specific implementation, the towing hook 3063 can be detected.
  • the towing hook sensing device 3065 is a proximity switch, and the towing hook 3063 is equipped with a sensing block. When the sensing block passes the proximity switch, a signal is sensed. It is also possible to detect both the baffle 3066 and the towing hook 3063. When both the baffle 3066 and the towing hook 3063 are detected, the baffle 3066 and the towing hook 3063 are equipped with sensing blocks, and the towing hook sensing device 3065 senses two Secondary signal.
  • the delay time of the outbound power 3061 delayed stop depends on the time when the tow hook 3063 runs from the tow hook sensing device 3065 to the turn a, and is about to enter the straight section b, and it cannot exceed this time; and the baffle 3066 must be located at In front of the stopping mechanism 3064, the towing hook 3063 is located behind the stopping mechanism 3064, that is, the baffle and the towing hook are separated from the front and rear of the stopping mechanism, which are just in the initial position, which not only improves efficiency but also facilitates simplified control.
  • the towing hook sensing device 3065 senses the towing hook 3063
  • the push rod 6 When the push rod 6 passes by, it will be pushed. Push to the corner d; at the same time, the towing hook 3063 sensed by the towing hook sensing device 3065 advances the same distance, and when it finally stops, the towing hook 3063 sensed by the towing hook sensing device 3065 is located behind the stop mechanism 3064 and cannot be stopped.
  • the baffle 3066 At the straight section b, the baffle 3066 is located in front of the stopping mechanism 3064, and the towing hook 3063 is located behind the stopping mechanism 3064.
  • the towing hook sensing device 3065 senses the number of tow hooks 3063.
  • the specific number of inductions is based on the number of tow hooks 3063 passing through the exit of the hanger, or belt chain
  • the transmission mechanism stops the number of towing hooks stopped from the position of the towing hook sensing device to the exit gate along the running direction of the belt chain transmission mechanism.
  • two towing hooks are installed on the belt-type chain transmission mechanism 3062. Assuming that only the sensing block is installed on the towing hook, then the towing hook sensing device only senses the signal once (sensing to one towing hook), and out of the station The power is stopped or delayed.
  • the towing hook needs to return to the initial position after the hanger is dragged out of the station. After the towing hook sensing device senses a towing hook, the outbound power stops or delays stop. .
  • the method of the present invention for judging whether the putter is empty is as follows: each putter 6 is installed with an RFID chip, the main computer 1 saves a copy of the putter number queue of the main rail 2, and maintains a copy at the same time For the hanger number queue of main track 2, the putter number queue corresponds to the hanger number queue one by one, and the hanger number in the corresponding position in the hanger number queue can be found from the position of the putter number in the putter number queue.
  • the inbound card reader 301 When the hanger 5 needs to go out of the station (the hanger number information is read by the outbound card reader 302 and transmitted to the host computer 1 through the communication data controller 304), the inbound card reader 301 will pass through the inbound card reader 301 The putter number is uploaded to the main computer 1, and the main computer 1 finds the putter number in the putter number queue, and then checks whether there is a hanger number in the corresponding position of the hanger number queue. If there is and the hanger does not enter the station, it will give up leaving the station and wait for the next putter 6; if not, the hanger 5 will exit the station and the hanger number will be stored in the corresponding position of the hanger number queue.
  • the system maintains the hanger number queue.
  • the method is as follows: When hanger 5 is finished entering the station, the host computer 1 will remove the inbound hanger number from the hanger number queue, and the association between the hanger and the putter is cancelled ; When the hanger 5 exits the station, the host computer will store the hanger number in the hanger number queue. The position of the hanger number in the hanger number queue is the same as the putter number of the putter 6 that pushed the hanger out of the station.
  • the position in the number queue corresponds to the hanger and the putter; when the inbound card reader 301 of a workstation reads that there is a hanger 5 in front of the putter 6 of the inbound card reader 301, the system will assign the hanger number Synchronize to the hanger number queue to update the hanger number queue. In this way, the main computer 1 has an accurate grasp of the hanger number on the main rail 2, and judges whether it is an empty putter through the one-to-one correspondence between the putter number queue and the hanger number queue, so as to achieve accurate exit and avoid double hanger.
  • the putter number queue corresponds to the hanger number queue one-to-one.
  • the putter 6 in position one of the putter number queue is numbered "01", and correspondingly, the putter number in position one of the hanger number queue is numbered
  • the hanger 5 of "013" means that the hanger 5 of No. 013 is pushed by the putter 6 of No. 01.
  • the putter 6 at position 2 of the putter number queue is numbered "02".
  • the putter 6 at position 2 of the hanger number queue is empty, which means that the putter 6 of No. 02 does not push the hanger 5.
  • the corresponding position of the hanger number queue is If you are empty, you can use the 02 push rod 6 to push the related hanger 5, then the 013 clothes hanger 5 will be transported out of the station, and the 02 push rod 6 will be pushed. At this time, according to the position of the 02 push rod 6 in the putter number queue (position 2 ), fill 013 into position two of the hanger number queue.
  • the present invention can update and correct the putter number queue and hanger number queue in real time.
  • the inbound card reader reads the putter number of the putter and the hanger number of the hanger (if the putter has a hanger) , Still taking Figures 8 and 9 as an example, the queue in Figure 8 shows that putter #01 6 is pushed with hanger 013.
  • the station card reader 301 reads that the current putter is putter 01, however, The station card reader 301 finds that the 01 putter 6 does not push the hanger 5, then the system can correct the hanger number queue according to the current detection result, that is, modify the position of the hanger number queue to be empty (Figure 9 Shown).
  • the queue in Figure 8 shows that the No.
  • the inbound card reader detects that the No. 02 putter 6 pushes the 013 hanger 5 (the 013 hanger 5 does not enter the station at this time), and the system detects As a result, the position of the hanger number queue is changed from empty to 013. In this way, the queue update and error correction are realized. It should be noted that when the relevant data is correct, it can be updated in this way. For example, the No. 03 putter in Figure 8 has a hanger, and the hanger number is 010. This is correct in the putter number queue and the hanger number queue.
  • the inbound card reader When the inbound card reader reads the putter number of the putter and the hanger number of the hanger, it can update directly regardless of whether the data in the hanger number queue is correct, or first judge whether the data in the hanger number queue is correct. If it is correct, there is no need to rewrite the data in the hanger number queue.
  • the inbound card readers of some workstations can be selected to update and correct the putter number queue and hanger number queue.
  • a queue is used to record the correspondence between the putter number and the hanger number.
  • Other forms may also be used, such as the form of the following data table.
  • the method for judging whether the material conveying device currently passing through the workstation is empty before the material leaves the station is to adopt a one-to-one correspondence between the material conveying device information queue and the material information queue, and check and update in real time , Error correction, so as to achieve accurate control of the material in and out of the assembly line, avoid two hangers on the same push rod.
  • the card reader uploads to the host computer through the communication data controller, and the host computer downloads the control signal to the communication data controller, and the communication data controller controls the workstation corresponding to the communication data controller
  • the movement of the related parts is simple in 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 system uses a card reader to read the RFID information, and before the material exits the station, the main computer judges whether the material conveying device currently passing through the workstation is empty according to the material conveying device and the RFID information of the material before the material exits the station. Whether the device is an empty part, it can accurately control the material entering and leaving the station.
  • the system structure is simple, and the requirements for the distribution position of each material conveying device are not high.
  • the card reader and other devices directly upload the data to the host computer, and the host computer directly controls the actions of the relevant components.

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Abstract

一种吊挂流水线出站控制方法，出站读卡器（302）读取到衣架（5）信息，向主电脑（1）发送信号，主电脑（1）判断当前经过进站读卡器（301）的推杆（6）是否为空，若为空，则主电脑（1）控制或者通过通讯数据控制器（304）控制出站执行机构（306）带动衣架（5）出站，由推杆（6）推送出站后的衣架（5）在主轨（2）上移动，主电脑（10）将推杆（6）的推杆号与衣架（5）的衣架号关联；否则，不出站；衣架（5）完成出站后，出站执行机构（306）停止运行。同时提供一种吊挂流水线控制系统及出站执行机构（306）控制方法，可以避免同一推杆（6）出现两个衣架（5）。

Description

一种吊挂流水线控制方法、系统及出站执行机构控制方法 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控制方法、系统及出站执行机构控制方法。
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。
一方面，现在的吊挂流水线在衣架进出站的控制方法上比较复杂。
另一方面，吊挂流水线原先采用RS485通信技术，现在普遍采用CAN总线与上位机通讯的方式。这种通讯模式存在着通信距离、通信速率和带宽都比较低的缺点，满足不了远距离、大数据的通信要求，无法实现视频等大文件传输。
中国专利申请2006100119497公开了一种智能物料配送的监控方法及系统，方法的步骤包括：(1)在轨道上运行的每个吊架上均设有一个无线电射频识别RFID标签，当一个吊架经过某个工作站进站口前的RFID读卡器时，此读卡器会读到吊架标签上的信息，经由工作站终端设备发送给上位机；(2)上位机接收到吊架检测信号后，会判断此吊架是否应该进入这个工作站进行加工，如果不应进入这个工作站，则上位机不发送任何信号，吊架继续在主轨道上运行；如果应该进入这个工作站，则上位机向可编程逻辑控制器PLC发送一个支轨接通信号，可编程逻辑控制器PLC在收到这个信号后控制相应工作站点的进站开关合上，使吊架得以进入工作站；(3)吊架上的衣料在某个工作站完成相应工序的加工后，工作站终端设备向上位机发送一个加工完成信号，同时通过电器开关将这个吊架送入出站缓冲区。步骤(3)包括：(3-1)上位机接收到加工完成信号后，会向可编程逻辑控制器PLC发送一个出站信号，将相应的站点ID和动作类型信息传给可编程逻辑控制器PLC，可编程逻辑控制器PLC在收到这个信号后会更新相应站点的出站缓冲区大小；(3-2)主轨道上均匀分布着诸多豁口，吊架由豁口推动着在主轨道上运行，将每个豁口都贴上RFID标签，当豁口检测读卡器检测到豁口后，就通过终端设备向上位机发送一个豁口检测信号，上位机收到此信号后，就向所有的站点控制可编程逻辑控制器PLC广播豁口检测信号，可编程逻辑控制器PLC在收到此信号后根据豁口是否为空、记忆的出站缓冲区大小来决定是否接通支轨。步骤(3-2)包括：当可编程逻辑控制器PLC检测到有豁口时，利用工作站出口处设置的金属接近开关判断该豁口是否有吊架，如豁口没有吊架，接通出站口的电器开关，将出站缓冲区中的一个吊架送入主轨道。
该控制方法中出站时需要两个条件：吊架要在某工作站出站以及经过该工作站的豁口上 有无吊架。其中，吊架要在某工作站出站时，待豁口检测读卡器检测到豁口后通过工作站的终端设备将豁口检测信号发送给上位机，并发送到工作站的可编程逻辑控制器PLC；而该豁口上有无吊架由工作站出口处的金属接近开关进行判断并发送给工作站的可编程逻辑控制器PLC。这种控制方法涉及的信号较多，步骤比较复杂。
中国专利申请2006100119497公开的智能物料配送的监控系统结构：(1)上位机，整个智能物料配送装置的控制中心；(2)工作站终端设备，与上位机通讯；(3)RFID标签，在每个吊架上均贴有一RFID标签，用于唯一标识此吊架；(4)RFID读卡器，读取RFID标签上的电子信息，并通过终端设备传送给上位机；(5)可编程逻辑控制器PLC，接受上位机的通讯信号，控制相应站点的进、出站开关的闭合，使吊架进入工作站或进入主轨道；每个工作站设置两个RFID读卡器，分别放置在工作站的进站口和工作站出站缓冲区前，设置在工作站进站口的读卡器将经过它的吊架信息上传给上位机，设置在工作站出站缓冲区前的读卡器将在该工作站中加工完成的吊架信息上传给上位机；主轨道上均匀分布着诸多豁口，吊架由豁口推动着在主轨道上运行，在每个豁口上贴有RFID标签，并增设一个RFID读卡器，该读卡器用来检测豁口；在工作站的出站口设置一个电感式接近开关，用于检测吊架，当有吊架进入检测范围时，发出脉冲信号。
该控制系统结构复杂，需要在每个工作站设置两个RFID读卡器及一个电感式接近开关，还需要一个用来检测豁口的RFID读卡器，结构复杂；而且主轨道上的诸多豁口需要均匀分布，才使得用来检测豁口的RFID读卡器能够准确地读取各个豁口上的RFID信息，并系统由各工作站的电感式接近开关判断此豁口上是否有吊架，这种判断方式使得对于各个豁口在主轨道上安装位置、以及检测豁口的RFID读卡器与各工作站的电感式接近开关间距离等方面的安装精度要求较高；另一方面，终端设备与上位机采用CAN总线通讯，数据传输速度慢；采用串行通讯，当上位机接入的工作站数量巨大时，容易造成数据堵塞。该控制系统结构复杂，而且终端设备与上位机采用CAN总线通讯，数据传输速度慢；采用串行通讯，当上位机接入的工作站数量巨大时，容易造成数据堵塞。
发明内容
本发明的目的在于提供一种吊挂流水线控制系统及控制方法。
本发明所采用的技术方案如下：一种吊挂流水线控制方法，出站读卡器读取到衣架信息，向主电脑发送信号；主电脑判断当前经过进站读卡器的推杆是否为空，若为空，则主电脑控制或者通过通讯数据控制器控制出站执行机构带动衣架出站，由该推杆推送出站后的衣架在主轨上移动，主电脑将该推杆的推杆号与该衣架的衣架号关联；否则，不出站；
衣架完成出站后，出站执行机构停止运行。
在主电脑里存储推杆号信息和衣架号信息，衣架号和推杆号一一对应关联，从提升机构出来的衣架在出站执行机构的入口处被止挡机构挡住等待出站，出站读卡器读取到衣架信息向主电脑发送衣信号，主电脑接收信号知道有衣架需要出站。这时，主电脑对当前经过进站读卡器的推杆进行判断，如果推杆为空，则出站执行机构的出站动力启动，出站执行机构带动衣架出站，衣架进入主轨上，这时经过的推杆将衣架推走。如果推杆不为空，则出站动力不启动，衣架不出站，这样避免了一个推杆推动两个衣架的情况出现。很显然，衣架既包括通常意义上的衣架，也包括吊篮等其他物料承载装置。
进一步地，判断当前经过进站读卡器的推杆是否为空，具体为：进站读卡器读取经过该进站读卡器的推杆的推杆号并上传给主电脑，主电脑查看推杆号是否关联有衣架号；如果没有，则该推杆为空；如果有，主电脑判断该推杆关联的衣架是否进站，若进站，则该推杆也为空。
因为衣架号和推杆号一一对应，所以主电脑进行推杆号是否为空的判断时，先查找推杆号是否对应有衣架号，没有对应衣架号为空，如果有进一步判断该衣架是否进站，若进站也为空，简单高效。进站读卡器获取到推杆号后可以直接上传给主电脑，也可以通过通讯数据控制器进行上传。
进一步地，还包括衣架号与推杆号取消关联的步骤，具体为：推杆推着衣架经过进站读卡器，主电脑判断该推杆推的衣架是否进站，如进站，进站后主电脑将该衣架号与推杆号的关联取消。清除前，该衣架号与推送该衣架到达进站口的推杆的推杆号关联。当衣架进站后，将该进站衣架的衣架号与推杆号对应关系清除，这时相应的推杆号对应的衣架号为空，表示该推杆没有推送衣架。
进一步地，进站读卡器检测到推杆时，主电脑对推杆号与衣架号的关联信息进行更新，即，若推杆推送有衣架，将该推杆的推杆号与该衣架的衣架号关联，若推杆没有推送衣架，将该推杆的推杆号关联的衣架号清除。所谓的清除，既包括推杆号与衣架号存在关联，需要清除衣架号的情形，清除后，推杆号与衣架号之间的关联被取消，也包括推杆号没有关联衣架号，对相应的推杆号对应存储衣架号的位置进行重置或者不进行重置动作。实现了及时更新衣架号和推杆号及其对应关系，避免出错。
进一步地，在将该推杆的推杆号与该衣架的衣架号关联前，主电脑首先判断该推杆的推杆号与该衣架的衣架号是否已经关联，如果已经关联，则不进行更新操作；和/或，在将该推杆的推杆号关联的衣架号清除前，主电脑首先判断该推杆的推杆号是否关联有衣架号，如果没有关联衣架号，则不进行清除操作。在进行更新操作之前，首先进行是否需要更新的判断，避免造成资源浪费，增加运算量。
进一步地，当出站执行机构的拖钩感应装置感应到拖钩时，出站执行机构的动力机构立即停止，或延时一段时间再停止，使挡板和拖钩最终分别停在止挡机构前方和后方。衣架完成出站后，动力机构停止，等待主电脑再次发出启动的指令，拖钩感应装置感应到拖钩时，动力机构停止使止挡机构刚好处于挡板和拖钩之间，便于拖钩拖动被止挡机构阻挡的衣架出站。
进一步地，推杆号、衣架号通过队列存储，或者通过表格存储，位于队列或表格相同序号位置的推杆号、衣架号关联。
本发明同时提供一种吊挂流水线控制系统，吊挂流水线包括主轨、多个工作站、推杆，所述推杆用于推送衣架在主轨上移动，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，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，主电脑和各工作站的通讯数据控制器之间通讯连接，或者各工作站的通讯数据控制器串接，主电脑与其中一个通讯数据控制器通信连接；所述推杆和衣架上均安装有识别卡，在所述工作站的进站口设置有进站读卡器，在出站执行机构的进口设置有出站读卡器，所述进站读卡器、出站读卡器分别与其所在工作站的通讯数据控制器通讯连接。
识别卡可以采用条形码识别卡，也可以采用RFID芯片等，进站读卡器、出站读卡器相应地可以采用扫描枪、FRID读卡器等。当推杆推着衣架在主轨上运行到工作站附近时，进站读卡器读取推杆和衣架上分别安装的RFID芯片，并将推杆和衣架的信息分别上传给主电脑，或者通过通讯数据控制器上传给主电脑，主电脑对信息进行判断，看衣架是否需要进站，如果需要进站，则通知通讯数据控制器，通讯数据控制器控制进站执行机构控制衣架进站，或者由主电脑直接控制进站执行机构，主电脑将该推杆关联的衣架号清除。衣架进站后，只有推杆在主轨上运行，主电脑控制或主电脑通过通讯数据控制器控制出站执行机构控制衣架出站，出站读卡器读取衣架上的RFID芯片信息并上传给主电脑，主电脑将该衣架信息和推杆信息一一对应存储。
进一步地，所述出站执行机构包括出站动力和皮带式链传动机构，出站动力驱动皮带式链传动机构转动，皮带式链传动机构上安装有不少于一个由拖钩和挡板组成的拖钩组，当拖钩组的数量为两个以上时，所述拖钩组分别等距离地排布在皮带式链传动机构上，沿皮带式链传动机构的运行方向，挡板设置在拖钩的前方，所述出站执行机构上安装有止挡机构和拖钩感应装置，其中止挡机构安装在出站执行机构的进口与出站支轨相向的位置处。
衣架进站后，由工作站的工人对衣架上的衣物进行加工；加工完毕后，工作站的工人按下提升按钮，提升机构运行将衣架提升到出站支轨上，然后出站执行机构上的止挡机构将衣 架挡住，出站执行机构的进口处设置的出站读卡器读取衣架的信息并将该衣架的信息上传给通讯数据控制器，通讯数据控制器将衣架信息上传给主电脑或者由出站读卡器直接上传给主电脑，主电脑判断当前经过的推杆是否为空，如果为空，出站动力驱动皮带式链传动机构顺时针转动，皮带式链传动机构上的拖钩将衣架挂住并带动衣架一起运行，为了防止衣架在运行过程中脱离拖钩，沿皮带式链传动机构的运行方向，在拖钩的前方设置有挡板，挡板和拖钩共同配合，使衣架能够稳定地随着皮带式链传动机构运行，当衣架运行到主轨上时，主轨上运行过来的推杆推动衣架沿主轨继续运行，衣架完成出站。当衣架完成出站后，出站执行机构上的拖钩感应装置感应到拖钩经过时，出站动力停止使止挡机构刚好处于挡板和拖钩之间。当皮带式链传动机构上安装有多个拖钩时，沿皮带式链传动机构的运行方向，拖钩感应装置的安装位置可以安装在靠近止挡机构的后面，也可以安装在倒退N个拖钩间距的地方，N为小于拖钩数量的自然数。拖钩感应装置的安装位置决定了出站动力停止的时间。本发明中的出站执行机构及其工作机理在公开号为CN107585545A，名称为一种吊挂线衣架出站系统的专利文本和公开号为CN206679738U，名称为皮带式链传动机构的专利文本中已公开；止挡机构在公开号为CN107600899A，名称为一种衣架止挡机构的专利中已公开。
进一步地，所述拖钩感应装置靠近所述止挡机构设置，沿皮带式链传动机构的运行方向，所述拖钩感应装置位于止挡机构的后方。选择将拖钩感应装置安装在靠近止挡机构的后方，在拖钩感应装置感应到拖钩经过时，被感应到的拖钩从拖钩感应装置移动至拖钩停止的位置，如拐弯处a的长度是已知的，很容易计算出延时的时长。沿衣架在主轨上的前进方向，也可以将所述拖钩感应装置设置在出站口的前方。
本发明还提供一种吊挂流水线出站执行机构控制方法，包括，启动皮带式链传动机构，皮带式链传动机构上的拖钩将出站支轨上的衣架拖到主轨上后；当拖钩感应装置感应到拖钩时，出站执行机构的动力机构立即停止，或延时一段时间再停止，使挡板和拖钩最终分别停在止挡机构的前方和后方。当动力机构立即停止时，拖钩有可能位于与主轨平行的位置，这时对主轨上运行的推杆有所阻碍，需要利用推杆将拖钩推开，推到拐弯处d，本发明还可以延时停止的方式，动机机构延时一段时间停止，使得止挡机构处于挡板和拖钩之间，这样，一方面不会有拖钩位于与主轨平行的位置，另一方面，止挡机构处于挡板和拖钩之间是出站执行机构的初始位置，方便出站执行机构再次启动时可以直接拖走一个衣架，提高工作效率。
动力机构延时停止的延时时长为，小于等于拖钩从拖钩感应装置处移动至拐弯处a且即将进入直线段b所需的时间。延时时长跟出站机构停止时，拖钩的最终停止位置有关。
出站动力机构停止前，拖钩感应装置感应到的拖钩数量为衣架完成出站经过出站口的拖钩数量，或皮带式链传动机构停止时沿皮带式链传动机构运行方向从拖钩感应装置至出站口 这段位置所停的拖钩数，当拖钩感应装置感应到多个拖钩，感应到最后一个拖钩时，出站执行机构的动力机构立即停止或延时一段时间再停止。
3.有益效果
相比于现有技术，本发明的有益效果为：
(1)本发明的吊挂流水线控制方法在物料出站前判断当前经过工作站的物料输送装置是否为空的方法为，采用物料输送装置信息与物料信息一一对应的方式，这样在控制衣架出站的时候能够非常简单有效地实现准确控制，避免同一推杆出现两个衣架；
(2)本发明的吊挂流水线控制方法能够实时核对、更新、纠错，确保系统运行的准确性；
(3)本发明的吊挂流水线控制系统，读卡器通过通讯数据控制器上传给主电脑，主电脑将控制信号下传给通讯数据控制器，结构简单；
(4)本发明的吊挂流水线控制系统可采用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；
(5)本发明的吊挂流水线控制系统采用读卡器读取RFID信息，并在物料出站前由主电脑根据物料输送装置及物料的RFID信息，判断当前经过工作站的物料输送装置是否为空，不需要额外的用于判断物料输送装置是否为空的部件，即可实现准确控制物料进出站，系统结构简单，且对各个物料输送装置的分布位置要求不高。
附图说明
图1是本发明吊挂流水线拓扑结构示意图。
图2是本发明单个工作站的拓扑结构示意图。
图3是本发明出站执行机构的结构示意图。
图4是本发明提升机构结构示意图。
图5是本发明控制系统结构示意图。
图6是本发明衣架进站流程图。
图7是本发明衣架出站流程图。
图8为数据修改前的推杆号队列、衣架号队列示意图。
图9为数据修改后的推杆号队列、衣架号队列示意图。
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；3061：出站动力；3062：皮带式链传动机构；3063：拖钩；3064：止挡机构；3065：拖钩感应装置；3066：挡板；307：提升按钮；308：支轨；309：放行机构；3010：提升机构；3011：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，本发明的吊挂流水线控制系统主要包括主电脑1、主轨2、至少二个以上的工作站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的带动下推着主轨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。进站执行机构305与出站执行机构306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。当衣架5需要出站时，使用提升按钮307控制提升机构3010将工作位上待出站衣架提升到主轨2的高度，在系统判断该衣架5可以出站时，由出站执行机构306控制衣架5出站并进入主轨2。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衣料数量、种类等信息。
如图3所示，出站执行机构306包括出站动力3061，出站动力3061驱动皮带式链传动机构3062顺时针转动，皮带式链传动机构3062上安装有拖钩3063。出站执行机构306的进口与支轨308相向的位置安装有止挡机构3064，提升机构3010将待出站衣架提升至止挡机构3064处被阻挡等待出站，此时出站读卡器302将该衣架的信息上传给通讯数据控制器304。沿皮带式链传动机构3062转动方向(图中为顺时针方向)，拖钩感应装置3065安装在止挡机构3064后方的拐弯处a的后方，从图3可以看到，皮带式链传动机构3062具有两个拐弯处(a、d)，所谓的拐弯处a的后方，指的是沿皮带式链传动机构3062转动方向位于拐弯处d至拐弯处a之间的位置。图3中的拖钩3063等间距地设置2个，具体实施时，拖钩感应装置3065的安装位置还可以倒退一个拖钩间距(一个拖钩间距指的是两个拖钩之间的距离。当拖钩3063的数量超过两个时，拖钩感应装置倒退1至N-1个拖钩间距，N为拖钩3063的总数量)，即，将拖钩感应装置3065安装在出站口的前方，只要能保证衣架完成出站即可。为了便于计算延时，优选将拖钩感应装置3065安装在止挡机构3064的拐弯处a的后方。拖钩3063还可以设置为1个或2个以上；拖钩3063数量越多，皮带式链传动机构3062的长度就要相应变长，保证任一拖钩3063停在止挡机构后方拐弯a处、即将进入直线段b时，不能有拖钩停留在与主轨平行的直线段c上，也就是说皮带式链传动机构3062最终停止时不能有拖钩干涉主轨2上推杆6的运行。
本实施例中，拖钩3063的前方的皮带式链传动机构上安装有挡板3066，拖钩3063拖衣架出站时挡板3066可防止衣架前窜。当皮带式链传动机构3062最终停止时，挡板3066位于止挡机构3064的前方，拖钩3063位于止挡机构3064的后方，此为出站执行机构的初始状态。从而保证衣架5在出站时位于拖钩3063与挡板3066之间。出站执行机构的详细结构也可参照专利文本CN107585545A。从图3可以看到，拖钩与挡板成对设置，形成拖钩组，图3中的两组拖钩组在皮带式链传动机构上等距分布。
如图4所示，提升机构3010的低点安装有工作位读卡器3011，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3的物料需要返回之前的工序返修，则按下返修按钮(图中未示出)，工作位读卡器3011读取该衣架信息，并通过通讯数据控制器304上传主电脑1，主电脑1对该衣架5进行标记，以便可以将该衣架5送入相应的工作站3。如图5所示，吊挂流水线控制系统包括主电脑1，主电脑1与各工作站的通讯数据控制器304依次连接。主电脑1的网线接口与工作站A的通讯数据控制器304的网线进口连接，工作站A的通讯数据控制器304的网线出口与工作站B的通讯数据控制器304的网线进口连接，工作站B的通讯数据控制器304的网线出口与工作站C的通讯数据控制器304的网线进口连接，如此依次串联。主电脑1与工作站A的通讯数据控制器304，以及相邻工作站的通讯数据控制器304采用EtherCAT(Ethernet for Control Automation Technology，以太网控制自动化技术)总线协议通讯。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与进站读卡器301、出站读卡器302、工作位读卡器3011、触摸式平板303、感应装置((包括拖钩感应装置3065)、电磁阀等(图中未示出))连接。感应装置用于信号检测，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。图5中的主电脑1与各通讯数据控制器304采用串联的方式连接，实际上主电脑1也可以直接分别与各通讯数据控制器304连接，各通讯数据控制器304之间不再连接。
结合图1-7，吊挂流水线控制系统对衣架的进出站控制方法为：
衣架进站控制：推杆6推着衣架5在主轨2上移动，当经过工作站3进站口的进站读卡器301时，进站读卡器301获取衣架5的衣架号，将该衣架号的信息通过通讯数据控制器304上传给主电脑1，主电脑1判断该衣架5是否进入该工作站3，如果经判断需进入该工作站3且满足进站条件，主电脑1下传进站命令给该工作站3的通讯数据控制器304，通讯数据控制器304控制进站执行机构305的气缸动作使支轨308的进站支轨与主轨2进行连接，使衣架5进入该工作站3。
衣架出站控制：衣架5进入工作站3完成加工后被提升机构3010提升至止挡机构3064 处，衣架5等待出站，出站读卡器302将衣架信息通过通讯数据控制器304上传给主电脑1，该工作站3的进站读卡器301将经过该处的推杆6和衣架信息通过通讯数据控制器304上传给主电脑1，主电脑1根据信息判断推杆6是否为空。判断推杆6是否为空具体为进站读卡器读取经过该进站读卡器的推杆号并上传给主电脑，主电脑查看推杆号是否关联有衣架号，如果没有，则该推杆为空；如果有，主电脑判断该推杆关联的衣架是否进站，若进站，则该推杆也为空。当推杆6为空时，主电脑1下传出站命令给通讯数据控制器304，通讯数据控制器304控制出站动力3061工作，拖钩3063拖着衣架5出站。当衣架5完成出站后拖钩感应装置3065感应到拖钩3063，出站动力3061立即停止或延时一定时间停止。具体实施时，可以对拖钩3063进行检测，拖钩感应装置3065为接近开关，拖钩3063上装有感应块，当感应块经过接近开关感应一次信号。也可以对挡板3066和拖钩3063均进行检测，当对挡板3066和拖钩3063均进行检测时，挡板3066和拖钩3063上均装有感应块，拖钩感应装置3065感应到两次信号。
出站动力3061延时停止的延时时间视拖钩3063从拖钩感应装置3065运行至拐弯a处、即将进入直线段b时的时间而定，不能超过该时间；并且要保证挡板3066位于止挡机构3064前方，拖钩3063位于止挡机构3064后方，即挡板与拖钩分列止挡机构的前、后方，正好位于初始位置，既提高效率也有利于简化控制。当拖钩感应装置3065感应到拖钩3063时出站动力立即停止，此时另一拖钩有可能停留在与主轨平行的直线段c处，当有推杆6经过时，被推杆6推至拐弯d处；同时，被拖钩感应装置3065感应到的拖钩3063前进相同距离，最终停止时，被拖钩感应装置3065感应到的拖钩3063位于止挡机构3064后方且不能停在直线段b处，同时挡板3066位于止挡机构3064前方，拖钩3063位于止挡机构3064后方。
如果拖钩数量为2个以上时，拖钩感应装置3065感应拖钩3063次数会有相应变化，具体感应次数以衣架完成出站经过出站口的拖钩3063的数量为准，或皮带式链传动机构停止时沿皮带式链传动机构运行方向从拖钩感应装置至出站口这段位置所停的拖钩数。以图3为例，皮带式链传动机构3062上安装有两个拖钩，假设只在拖钩上安装感应块，那么，拖钩感应装置只感应一次信号(感应到一个拖钩)，出站动力即停止或延时停止。如果皮带式链传动机构上只安装了一个拖钩，由于需要该拖钩在拖动衣架出站后回到初始位置，拖钩感应装置感应到一个拖钩后，出站动力停止或延时停止。
结合图7，本发明判断推杆是否为空的方法如下：每个推杆6上均安装有一个RFID芯片，主电脑1中保存了一份主轨2的推杆号队列，同时维护一份主轨2的衣架号队列，推杆号队列与衣架号队列一一对应，可以由推杆号队列中推杆号的位置找到衣架号队列中相应位置的衣架号。当衣架5需要出站时(衣架号信息由出站读卡器302读取并通过通讯数据控制器304 传送给主电脑1)，进站读卡器301将经过该进站读卡器301的推杆号上传给主电脑1，主电脑1在推杆号队列找到该推杆号，然后在衣架号队列的相应位置查看是否有衣架号。如果有且衣架不进站，则放弃出站，等待下一个推杆6；如果没有，则将衣架5出站，同时把衣架号存入衣架号队列的相应位置。
结合图6、7，系统对衣架号队列进行维护，方法如下：当完成衣架5进站时，主电脑1会将进站的衣架号从衣架号队列里面清除，衣架与推杆的关联被取消；当完成衣架5出站时，主电脑会把衣架号存入衣架号队列中，该衣架号在衣架号队列中的位置与推着该衣架出站的推杆6的推杆号在推杆号队列中的位置对应，衣架与推杆关联起来；当一个工作站的进站读卡器301读到经过该进站读卡器301的推杆6前有衣架5时，系统会将该衣架号同步到衣架号队列中，实现对衣架号队列的更新。通过这种方式，主电脑1对主轨2上的衣架号做了准确的把握，通过推杆号队列与衣架号队列一一对应来判断是否为空推杆，从而实现准确出站，避免双衣架。
下面结合图8、9来说明推杆号队列、衣架号队列的更新。如图8所示，推杆号队列与衣架号队列一一对应，位于推杆号队列位置一的是编号为“01”的推杆6，相应地，位于衣架号队列位置一的是编号为“013”的衣架5，表示013号衣架5由01号推杆6推动。位于推杆号队列位置二的是编号为“02”的推杆6，相应地，位于衣架号队列位置二的为空，表示，02号推杆6没有推动衣架5。以此类推，推杆号队列与衣架号队列的关系一一对应。如图9所示，当013号衣架5进站，主电脑1将进站的衣架号从衣架号队列里面清除，即，位于衣架号队列位置一的为空，说明01号推杆6没有推动衣架5，可以推动一个新的衣架5。结合图8、9，图8中，02号推杆6没有推动衣架5，当013号衣架上的物料加工完成，需要出站时，根据02号推杆6查询得出衣架号队列相应位置为空，可以利用02推杆6推动相关衣架5，那么将013号衣架5输送出站，由02号推杆6推动，此时，根据02号推杆6在推杆号队列的位置(位置二)，将013填充进衣架号队列的位置二。
本发明可以实时对推杆号队列、衣架号队列进行更新、纠错，具体来说，进站读卡器读取推杆的推杆号、衣架的衣架号(如果该推杆推有衣架)，仍然以图8、9为例，图8中的队列显示01号推杆6推有013号衣架5，当进站读卡器301读取到当前推杆为01号推杆，但是，进站读卡器301发现01号推杆6并没有推动衣架5，那么，系统可以根据当前的检测结果对衣架号队列进行纠错，即，将衣架号队列的位置一处修改为空(图9所示)。图8中的队列显示02号推杆6没有推动衣架5，但是，进站读卡器检测到02号推杆6推动013号衣架5(013号衣架5此时不进站)，系统根据检测结果将衣架号队列的位置由空修改为013。通过这种方式实现队列的更新、纠错。需要说明的是，当相关数据正确时，可以这样更新，例如， 图8中的03号推杆推有衣架，衣架号为010，这在推杆号队列、衣架号队列中都是正确的，当进站读卡器读到该推杆的推杆号以及衣架的衣架号后，可以不管衣架号队列中的数据是否正确，直接进行更新，也可以先判断衣架号队列中的数据是否正确，如果正确，则不需要重写衣架号队列中的数据。主轨上设置有若干个工作站，可以选定部分工作站的进站读卡器来进行推杆号队列、衣架号队列的更新、纠错。
本实施例采用队列对推杆号、衣架号的对应关系进行记录，本领域技术人员知道，也可以采用其他形式，例如下面的数据表的形式。
推杆号 01 02 03 04 05 … N
衣架号 013   010 008   … 015
本发明的吊挂流水线控制方法，在物料出站前判断当前经过工作站的物料输送装置是否为空的方法为，采用物料输送装置信息队列与物料信息队列一一对应的方式，并实时核对、更新、纠错，从而能实现准确控制流水线上物料的进出站，避免同一推杆上出现两个衣架。
本发明的吊挂流水线控制系统，读卡器通过通讯数据控制器上传给主电脑，主电脑将控制信号下传给通讯数据控制器，由通讯数据控制器控制该通讯数据控制器对应的工作站内的相关部件的动作，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。系统采用读卡器读取RFID信息，并在物料出站前由主电脑根据物料输送装置及物料的RFID信息，判断当前经过工作站的物料输送装置是否为空，不需要额外的用于判断物料输送装置是否为空的部件，即可实现准确控制物料进出站，系统结构简单，且对各个物料输送装置的分布位置要求不高。对于不设置通讯数据控制器的控制系统结构来说，读卡器等设备直接将数据上传给主电脑，由主电脑直接控制相关部件的动作。
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 (14)

  1. 一种吊挂流水线控制方法，其特征在于：包括以下步骤：
    出站读卡器读取到衣架信息，向主电脑发送；主电脑判断当前经过进站读卡器的推杆是否为空，若为空，则主电脑控制或者通过通讯数据控制器控制出站执行机构带动衣架出站，由该推杆推送出站后的衣架在主轨上移动，主电脑将该推杆的推杆号与该衣架的衣架号关联；否则，不出站；
    衣架完成出站后，出站执行机构停止运行。
  2. 根据权利要求1所述的吊挂流水线控制方法，其特征在于：判断当前经过进站读卡器的推杆是否为空，具体为：进站读卡器读取经过该进站读卡器的推杆的推杆号并上传给主电脑，主电脑查看推杆号是否关联有衣架号，如果没有，则该推杆为空；如果有，主电脑判断该推杆关联的衣架是否进站，若进站，则该推杆也为空。
  3. 根据权利要求1或2所述的吊挂流水线控制方法，其特征在于：还包括衣架号与推杆号取消关联的步骤，具体为：推杆推着衣架经过进站读卡器，主电脑判断该推杆推的衣架是否进站，如进站，进站后主电脑将该衣架号与推杆号的关联取消。
  4. 根据权利要求1或2所述的吊挂流水线控制方法，其特征在于：进站读卡器检测到推杆时，主电脑对推杆号与衣架号的关联信息进行更新，即，若推杆推送有衣架，将该推杆的推杆号与该衣架的衣架号关联，若推杆没有推送衣架，将该推杆的推杆号关联的衣架号清除。
  5. 根据权利要求4所述的吊挂流水线控制方法，其特征在于：在将该推杆的推杆号与该衣架的衣架号关联前，主电脑首先判断该推杆的推杆号与该衣架的衣架号是否已经关联，如果已经关联，则不进行更新操作；和/或，在将该推杆的推杆号关联的衣架号清除前，主电脑首先判断该推杆的推杆号是否关联有衣架号，如果没有关联衣架号，则不进行清除操作。
  6. 根据权利要求1或2所述的吊挂流水线控制方法，其特征在于：当出站执行机构的拖钩感应装置感应到拖钩时，出站执行机构的动力机构立即停止，或延时一段时间再停止，使挡板和拖钩最终分别停在止挡机构前方和后方。
  7. 根据权利要求1-6任一权利要求所述的吊挂流水线控制方法，其特征在于：推杆号、衣架号通过队列存储，或者通过表格存储，位于队列或表格同一位置的推杆号、衣架号关联。
  8. 一种吊挂流水线控制系统，吊挂流水线包括主轨、多个工作站、推杆，所述推杆用于推送衣架在主轨上移动，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：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，主电脑和各工作站的通讯数据控制器之间通讯连接，或者各工作站的通讯数据控制器串接，主电脑与其中一个通讯数据控制器通信连接；所述推杆和衣架上均安装有识别卡，在所述工 作站的进站口设置有进站读卡器，在出站执行机构的进口设置有出站读卡器，所述进站读卡器、出站读卡器分别与其所在工作站的通讯数据控制器通讯连接。
  9. 根据权利要求8所述的吊挂流水线控制系统，其特征在于：所述出站执行机构包括出站动力和皮带式链传动机构，出站动力驱动皮带式链传动机构转动，皮带式链传动机构上安装有不少于一个由拖钩和挡板组成的拖钩组，当拖钩组的数量为两个以上时，所述拖钩组分别等距离地排布在皮带式链传动机构上，沿皮带式链传动机构的运行方向，挡板设置在拖钩的前方，所述出站执行机构上安装有止挡机构和拖钩感应装置，其中止挡机构安装在出站执行机构的进口与出站支轨相向的位置处。
  10. 根据权利要求9所述的吊挂流水线控制系统，其特征在于：所述拖钩感应装置靠近所述止挡机构设置，沿皮带式链传动机构的运行方向，所述拖钩感应装置位于止挡机构的后方。
  11. 根据权利要求9所述的吊挂流水线控制系统，其特征在于：沿衣架在主轨上的前进方向，所述拖钩感应装置位于出站口的前方。
  12. 一种吊挂流水线出站执行机构控制方法，其特征在于：启动皮带式链传动机构，皮带式链传动机构上的拖钩将出站支轨上的衣架拖到主轨上后；当拖钩感应装置感应到拖钩时，出站执行机构的动力机构立即停止，或延时一段时间再停止，使挡板和拖钩最终分别停在止挡机构的前方和后方。
  13. 根据权利要求12所述的吊挂流水线出站执行机构控制方法，其特征在于：动力机构延时停止的延时时长为，小于等于拖钩从拖钩感应装置处移动至拐弯处a且即将进入直线段b所需的时间。
  14. 根据权利要求12或13所述的吊挂流水线出站执行机构控制方法，其特征在于：出站动力机构停止前，拖钩感应装置感应到的拖钩数量为衣架完成出站经过出站口的拖钩数量，或皮带式链传动机构停止时沿皮带式链传动机构运行方向从拖钩感应装置至出站口这段位置所停的拖钩数，当拖钩感应装置感应到多个拖钩，感应到最后一个拖钩时，出站执行机构的动力机构立即停止或延时一段时间再停止。
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