CN104401678A - Full-automatic intelligent workpiece conveying method - Google Patents
Full-automatic intelligent workpiece conveying method Download PDFInfo
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- CN104401678A CN104401678A CN201410485248.1A CN201410485248A CN104401678A CN 104401678 A CN104401678 A CN 104401678A CN 201410485248 A CN201410485248 A CN 201410485248A CN 104401678 A CN104401678 A CN 104401678A
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- Prior art keywords
- agv
- table position
- workpiece
- full
- feeding
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Classifications
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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
- 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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Factory Administration (AREA)
Abstract
The invention discloses a full-automatic intelligent workpiece conveying method. The method comprises the following steps: (1) all working stations of a production line are set as feeding stations, processing stations, product finishing stations and a buffering station according to functions; (2) a workpiece conveying path among the working stations and priorities of different sections of the path are set; (3) the processing stations notify an AGV; when the outer side of any processing station is empty, the AGV is triggered perform the transportation from one of the feeding stations to the processing station; and after the processing is finished, the AGV feeds the one of the product finishing stations; (4) if the outer sides of the processing stations are not empty, the AGV automatically performs state judgment before next workpiece transportation; (5) if any product finishing station is not full, the AGV conveys the workpieces on the feeding stations to the product finishing station, otherwise, the AGV does not perform the conveying; and (6) if the buffering station is not full, the AGV conveys the workpieces on the processing stations to the buffering station for storage, otherwise, the AGV performs the next transportation transfer judgment, so that the intelligent and full-automatic workpiece transportation in a real sense is realized.
Description
Technical field
The present invention relates to a kind of Work transfer method, specifically relate to a kind of full-automatic intelligent Work transfer method.
Background technology
Traditional work piece delivery mode is that automatic logistics transport trolley (AGV) carries out point-to-point workpiece transport between each position.When each flow chart does not exist abnormal (each operation accessory all can be supplied) on time, the production requirement of flow production line can be met.If but occur abnormal in some operations, the running orbit of AGV need carry out manual intervention, skipping the hauling operation that abnormity point carries out lower operation, etc. again carrying out manual intervention after exception handling, meeting feeding, discharge requirement.Like this, conveyor line certainly will cause the repeatedly interruption of workpiece automatic transportation, waste of manpower resource, degree of automation are restricted.
And the difference of product manufactured by flow production line, the production time of each operation is also different.Traditional Transportation mode all sets in advance because of the track of stream carrier vehicle, haulage time, cannot meet the automatic transportation requirement of workpiece when multi-product in flow production line mixes product.
Summary of the invention
Main purpose of the present invention is to solve the problem and deficiency, provides a kind of and can be used for the full-automatic intelligent Work transfer method that multiple product mixes product demand.
The present invention is achieved in that a kind of full-automatic intelligent Work transfer method, comprises the steps:
1), each for manufacturing line bench board position is set to feeding table position, machine table position according to function, becomes sample platform position, buffer table position;
2)---machine table position is one-level, machine table position---becomes sample platform position to be time one-level, to formulate path and priority, wherein the feeding table position of work piece delivery between each workpiece material stock platform; Machine table position---become sample platform position to be secondary, machine table position---buffer table position is time secondary; Buffer table position---become sample platform position to be three grades;
3), machine table position is by proximity transducer mounted thereto notice AGV, meeting outside machine table position under empty prerequisite, triggering AGV completes the workpiece transport operation from feeding table position to machine table position, and after system feedback completion of processing to be processed, AGV is to one-tenth sample platform position feeding;
4) if be not empty outside machine table position, AGV does not carry out the feeding of feeding table position, but condition adjudgement before automatically carrying out the workpiece transport of next priority, sample platform position whether full up;
5) if become sample platform position not full up, then the workpiece on feeding table position is delivered to into sample platform by AGV, otherwise AGV not feeding, but condition adjudgement before automatically carrying out the workpiece transport of next priority, namely whether buffer table position is full up;
6) if buffer table position sum is discontented, then machine table position workpiece is transported to buffer table position and deposits by AGV; Otherwise AGV then judges to the transport transfer of next priority, namely buffer table position deliver to into the precondition of sample platform position be outside machine table position for empty, one-tenth sample platform position is not full up, buffer table position deposit workpiece quantity be greater than zero.
Full-automatic intelligent Work transfer method of the present invention, tool has the following advantages: (1) can realize the uninterrupted operation of workpiece transport, even if certain position occurs abnormal as not being ready to schedule to transport workpiece, AGV can skip this step automatically, carries out the hauling operation of workpiece between other positions according to priority; (2) achieve the intellectuality of real meaning, full-automatic workpiece transport operation, do not need manually to participate in adjustment, do not take human resources; (3) can meet the production and transport requirement of multiple product, can meet the mixed transportation request produced of a manufacturing line multi-product (similar products), flexibility degree is high; (4) after the production outline adjustment of topical procedure in flow production line can be met, the transportation request of workpiece, strong adaptability.
In order to reach better effect, full-automatic intelligent Work transfer method of the present invention, adopts following measure further:
1, described machine table position is welding deflection machine, and it carries out the welding of interior side stage position and the feeding, discharge of outer side stage position by 180 ° of rotations simultaneously; The state of outside workpiece, feeds back to turn-key system by the implementation status of welding procedure, for the Logic judgment of AGV transport trolley provides information needed.
2, the AGV track of described manufacturing line is provided with sensor, for determining the accurate location of AGV and operation post position; The size of described AGV telescopic boom rise height and workpiece and fixture adapts, and is stored in advance in AGV system data by this numerical value, and AGV telescopic boom length direction and track adapt to the position of each position, and are stored in advance in AGV system data by this numerical value.
3, described AGV is by PLC programming control, and the communication between itself and control system is undertaken by Bluetooth wireless transmission mode.
Accompanying drawing explanation
Fig. 1 is the manufacturing line of the embodiment of the present invention each position layout distribution graph.
Fig. 2 is the logic relation picture of the embodiment of the present invention.
In figure, each piece number illustrates:
1-workpiece, the discharge pedestal position of 102-workpiece, the Workpiece storage platform position of 391-automatic welding machine people, the loading bay position after 122-automatic welding, the lodging bench position of unnecessary material after 183-automatic welding.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
As shown in Figure 1, No. 102 platform positions are the discharge pedestal position of workpiece 1; No. 391 platform positions are the Workpiece storage platform position of automatic welding machine people, are responsible for the discharging of the charging before workpiece welding and postwelding; No. 122 platform positions are the loading bay position after automatic welding.No. 183 platform positions are the lodging bench position of unnecessary material after automatic welding.
The transport path of former workpiece---391---183---122 that are 102, if occur abnormal in some operations, the running orbit of AGV need carry out manual intervention, skips the hauling operation that abnormity point carries out lower operation, again carries out manual intervention etc. after exception handling.Like this, conveyor line certainly will cause the repeatedly interruption of workpiece automatic transportation, waste of manpower resource, degree of automation are restricted.And the production time of each operation of flow production line also fixedly sets, and can not meet the Production requirement of different product.
Existing workpiece transport path is: 102---391---122 or 102---391---183---122.Transport priority is: 102, and---391 is one-level, 391---122 is time one-level, 391---and 122 is secondary, 391---183 is time secondary, 183---122 is three grades.
As shown in Figure 2, be the transport logical relation of workpiece.First workpiece to be transported is deposited in 391 positions, by being arranged on proximity transducer notice motor dolly (AGV) on platform position, under satisfied 391 outer side stage positions are empty prerequisite, triggers the workpiece transport operation that motor dolly completes 102 to 391.If be not empty outside 391, AGV transport trolley does not carry out the feeding of 102 positions, but condition adjudgement before automatically carrying out the workpiece transport of next priority; After 391 welding (workpiece automatically being recorded, judged this position by the running condition system of welding procedure needs welding or welded complete), to 122 one of them position feeding (precondition is that at least one position in two platform positions is necessary for sky); If 122 is all full, then AGV judges the situation of 183 buffered stations, if 183 sums are discontented, then the workpiece of 391 are transported to 183 and deposit; If 183 workpiece are full, AGV then satisfies condition to the transport of next priority transfer judgement.183 when discharging, precondition be outside 391 for empty, 122 not full up, 183 deposit workpiece quantity be greater than zero.
Automatic welding machine people comprises Robot Welding Cell and welding deflection machine composition, described welding deflection machine is 391 positions, it rotates by 180 ° and ensures to carry out the welding of interior side stage position and the feeding, discharge of outer side stage position simultaneously, also automatically can locate, compress.The state of workpiece outside 391, feeds back to turn-key system by the implementation status of equipment welding procedure, for the Logic judgment of AGV transport trolley provides information needed.
The AGV track of described manufacturing line is provided with sensor, for determining the accurate location of AGV and operation post position.AGV telescopic boom rise height is determined, by being recorded in AGV system data by suitable height value depending on school by the shape of concrete workpiece and fixture.Length direction is preset by the installation site of track to each position.AGV transport trolley is by PLC programming control, and the communication between its body and control system is undertaken by Bluetooth wireless transmission mode.Its body and telescopic boom can realize all around, upper and lower action, realize the automatic transportation operation of workpiece.
As mentioned above, plan content given in conjunction with the accompanying drawings and embodiments, can derive similar technical scheme.In every case be the content not departing from technical solution of the present invention, any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of invention technical scheme.
Claims (4)
1. a full-automatic intelligent Work transfer method, is characterized in that:
1), each for manufacturing line bench board position is set to feeding table position, machine table position according to function, becomes sample platform position, buffer table position;
2)---machine table position is one-level, machine table position---becomes sample platform position to be time one-level, to formulate path and priority, wherein the feeding table position of work piece delivery between each workpiece material stock platform; Machine table position---become sample platform position to be secondary, machine table position---buffer table position is time secondary; Buffer table position---become sample platform position to be three grades;
3), machine table position is by proximity transducer mounted thereto notice AGV, meeting outside machine table position under empty prerequisite, triggering AGV completes the workpiece transport operation from feeding table position to machine table position, and after system feedback completion of processing to be processed, AGV is to one-tenth sample platform position feeding;
4) if be not empty outside machine table position, AGV does not carry out the feeding of feeding table position, but condition adjudgement before automatically carrying out the workpiece transport of next priority, sample platform position whether full up;
5) if become sample platform position not full up, then the workpiece on feeding table position is delivered to into sample platform by AGV, otherwise AGV not feeding, but condition adjudgement before automatically carrying out the workpiece transport of next priority, namely whether buffer table position is full up;
6) if buffer table position sum is discontented, then machine table position workpiece is transported to buffer table position and deposits by AGV; Otherwise AGV then judges to the transport transfer of next priority, namely buffer table position deliver to into the precondition of sample platform position be outside machine table position for empty, one-tenth sample platform position is not full up, buffer table position deposit workpiece quantity be greater than zero.
2. full-automatic intelligent Work transfer method according to claim 1, is characterized in that: described machine table position is welding deflection machine, and it carries out the welding of interior side stage position and the feeding, discharge of outer side stage position by 180 ° of rotations simultaneously; The state of outside workpiece, feeds back to turn-key system by the implementation status of welding procedure, for the Logic judgment of AGV transport trolley provides information needed.
3. full-automatic intelligent Work transfer method according to claim 1 or 2, is characterized in that: the AGV track of described manufacturing line is provided with sensor, for determining the accurate location of AGV and operation post position; The size of described AGV telescopic boom rise height and workpiece and fixture adapts, and is stored in advance in AGV system data by this numerical value, and AGV telescopic boom length direction and track adapt to the position of each position, and are stored in advance in AGV system data by this numerical value.
4. full-automatic intelligent Work transfer method according to claim 3, is characterized in that: described AGV is by PLC programming control, and the communication between itself and control system is undertaken by Bluetooth wireless transmission mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410485248.1A CN104401678B (en) | 2014-09-22 | 2014-09-22 | Full-automatic intelligent Work transfer method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410485248.1A CN104401678B (en) | 2014-09-22 | 2014-09-22 | Full-automatic intelligent Work transfer method |
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| CN104401678A true CN104401678A (en) | 2015-03-11 |
| CN104401678B CN104401678B (en) | 2016-08-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200580A (en) * | 2016-07-19 | 2016-12-07 | 苏州博众精工科技有限公司 | A kind of orderly input and output material method of shunting |
| CN106241240A (en) * | 2016-08-31 | 2016-12-21 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading method of soft readjustment docking height |
| CN106347948A (en) * | 2016-08-31 | 2017-01-25 | 广东嘉腾机器人自动化有限公司 | Loading & unloading method using AGV |
| CN106493579A (en) * | 2016-10-31 | 2017-03-15 | 上海发那科机器人有限公司 | A kind of panel beating system and its workflow |
| CN109324578A (en) * | 2018-09-21 | 2019-02-12 | 京东方科技集团股份有限公司 | A kind of logistics management-control method and computer-readable medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200580A (en) * | 2016-07-19 | 2016-12-07 | 苏州博众精工科技有限公司 | A kind of orderly input and output material method of shunting |
| CN106241240A (en) * | 2016-08-31 | 2016-12-21 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading method of soft readjustment docking height |
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| CN106241240B (en) * | 2016-08-31 | 2018-05-11 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading method of soft readjustment docking height |
| CN106347948B (en) * | 2016-08-31 | 2018-07-17 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading method using AGV |
| CN106493579A (en) * | 2016-10-31 | 2017-03-15 | 上海发那科机器人有限公司 | A kind of panel beating system and its workflow |
| CN109324578A (en) * | 2018-09-21 | 2019-02-12 | 京东方科技集团股份有限公司 | A kind of logistics management-control method and computer-readable medium |
| US11481725B2 (en) | 2018-09-21 | 2022-10-25 | Chongqing Boe Optoelectronics Technology Co., Ltd. | Apparatus, system and method for controlling logistics, and non-transitory computer readable medium |
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| CN104401678B (en) | 2016-08-24 |
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