CN117228263A - Automatic change control system that material was transported - Google Patents
Automatic change control system that material was transported Download PDFInfo
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- CN117228263A CN117228263A CN202310963311.7A CN202310963311A CN117228263A CN 117228263 A CN117228263 A CN 117228263A CN 202310963311 A CN202310963311 A CN 202310963311A CN 117228263 A CN117228263 A CN 117228263A
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- 238000000034 method Methods 0.000 claims abstract description 60
- 238000007599 discharging Methods 0.000 claims abstract description 42
- 230000008569 process Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000007704 transition Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a control system for automatic material transfer, which comprises a ferry table and further comprises: the first automatic unit is configured to send out a first discharging signal when the upper working procedure machine tool finishes processing the first part; and the control unit is configured to control the first robot to place the first part on the ferry material table when receiving the first discharging signal, and then control the second robot to transfer the first part on the ferry material disc to a machine tool in the next working procedure. The invention can realize the connection of upper and lower working procedures in the automatic process: namely, the ferry tray can move from the upper working procedure to the lower working procedure, and the traditional transfer between the upper working procedure and the lower working procedure is eliminated.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a control system for automatic material transfer.
Background
At present, in the processing process of a robot automatic production line, the connection of upper and lower working procedures and the balance of beats directly influence the processing efficiency of the whole production line. That is, on the conventional production line, the single piece machined by the upper working machine tool immediately flows to the lower working machine tool for machining, if the time for machining by the lower working machine tool is longer than the time for machining by the upper working machine tool, the upper working machine tool has more idle time, and the upper working machine tool cannot run under full load, so that the production efficiency is reduced.
Disclosure of Invention
The invention aims to provide a control system for automatic material transfer, which solves the problem of production efficiency reduction caused by the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a control system for automated material handling, comprising a ferrying stage, further comprising:
the first automatic unit is configured to send out a first discharging signal when the upper working procedure machine tool finishes processing the first part;
the second automatic unit is configured to send a second discharging signal when the next working procedure machine tool finishes processing the second part;
the upper computer is configured to identify whether the ferry tray is provided with a first part or not;
the control unit is configured to control the first robot to place the first part on the ferry table when receiving the first discharging signal; when the second discharging signal is received, the second robot is controlled to place the second part on the ferry material tray or other positions, and if the first part exists on the ferry material tray, the second robot is controlled to transfer the first part on the ferry material tray to a machine tool of a next working procedure.
According to the technical means, when the first part is processed, the first part is transferred to the ferry material table through the first robot, and then when the second part is processed, the second part is transferred to the ferry material table, and the first part is transferred to a next working procedure machine tool through the second robot for processing.
Further, the upper computer is further configured to identify whether the ferry table has the second part thereon;
the control unit is further configured to control the first robot to take out the second part when receiving the signal with the second part on the ferrying platform sent by the upper computer after receiving the first discharging signal.
Further, the upper computer is further configured to identify a specific position of the first part on the ferry table;
the control unit is further configured to control the second robot to place a second part on the ferry table, the second part being identical to a specific position of its corresponding first part, the first part being machined into the second part by the next-process machine tool.
According to the technical means, the processed parts are sequentially arranged on the ferry tray according to the processing sequence, so that the processing of the upper working procedure and the lower working procedure is performed according to the processing sequence, namely the processing sequence of the lower working procedure is consistent with the processing sequence of the upper working procedure; meanwhile, the parts in the ferrying tray are arranged according to the processing sequence of the upper working procedure and the lower working procedure, and if the parts are out of tolerance, the corresponding positions of the parts can be quickly found.
The control unit is used for sending a first instruction to the mobile unit when receiving a first discharging signal, and the mobile unit moves the ferry table to a first preset position after executing the first instruction; when receiving the second discharging signal, the control unit sends a second instruction to the moving unit, and after the moving unit executes the second instruction, the ferry table is moved to a second preset position.
Further, the first automation unit is further configured to issue a first occupancy state signal or a first unoccupied state signal;
the second automation unit is further configured to issue a second occupancy state signal or a second unoccupied state signal;
after responding to the first occupation state signal received by the control unit, if the control unit receives a second discharging signal, the control unit does not send the first instruction until the control unit receives the first occupation state relieving signal;
and after the control unit receives the second occupancy state signal, if the control unit receives a first discharging signal, the control unit does not send the second instruction until the control unit receives the first unoccupied state signal.
Further, in the process that the ferry table moves towards the first preset position, or when the ferry table reaches the first preset position, the first automation unit sends out a first occupation state signal;
the second automation unit sends out a second occupation state signal when the ferry table moves towards a second preset position or reaches the second preset position;
the first robot places a first part on the ferry material stage, and after taking out a second part on the ferry material stage, the first automation unit sends a first unoccupied state signal;
and the second robot is used for sending a second unoccupied state signal by the second automation unit after the second robot places a second part on the ferry material stage and takes out the first part on the ferry material disk.
Further, a plurality of part placement positions are arranged on the ferry material table and are used for placing a first part and a second part;
the upper computer is further configured to identify the number of empty part placement positions;
the control unit is further configured to move the ferry table to the first preset position, when the ferry table is not provided with second parts and the number of the empty part placement positions is smaller than 1, the first instruction is not sent out when the first discharging signal is received, and until the second parts appear on the ferry tray.
Further, the upper computer is in signal connection with a first automation unit, the first automation unit is further configured to enable the ferry table to be free of a second part when the ferry table moves to the first preset position, and the first automation unit sends a first unoccupied state signal when the first robot finishes placing the first part.
Further, the control unit is further configured to, when the ferry table moves to the second preset position, not send the second instruction until the first part appears on the ferry tray when the ferry table does not have the first part and receives the second discharging signal.
Further, the upper computer is in signal connection with a second automation unit, the second automation unit is further configured to enable the ferry table to be provided with no first part when moving to the second preset position, and the second automation unit sends a second unoccupied state signal when the second robot finishes placing the second part.
The invention has the beneficial effects that:
the invention realizes balance of the beats of the upper working procedure and the lower working procedure and transmission of working procedure parts in the automatic process, and improves the utilization rate of the machine tool;
the invention can realize the connection of upper and lower working procedures in the automatic process: namely, the ferry tray can move from the upper working procedure to the lower working procedure, so that the traditional transfer between the upper working procedure and the lower working procedure is canceled;
the invention can form part buffer storage between the upper and lower working procedures: when the upper working procedure is stopped temporarily, the work piece still can be processed in the lower working procedure, and the production line can still continue to produce after the upper working procedure is recovered;
according to the invention, the ferry tray is arranged aiming at the defects in the prior art, if the beat of the upper working procedure is faster, the machine tool can process according to the beat, and redundant workpieces can be temporarily stored in the ferry tray, so that the upper working procedure and the lower working procedure can be produced according to the maximum utilization rate, and the utilization rate of the machine tool can be greatly improved.
Drawings
Fig. 1 is a structural diagram of embodiment 1;
FIG. 2 is a flow chart of a ferry tray control method according to embodiment 2 of the present invention;
FIG. 3 is a schematic view of a ferry tray object of embodiments 1 and 2 of the present invention;
fig. 4 is a schematic diagram of a ferrying tray real object in automation.
Wherein 1-a first automation unit; 2-an upper computer; 3-a second automation unit; 4-a first robot; 5-a control unit; 6-a second robot; 7-mobile unit.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the following description of the embodiments of the present invention with reference to the accompanying drawings and preferred examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Example 1
The embodiment provides a control system for automatic material transfer, as shown in fig. 1, which comprises a first automation unit 1, an upper computer 2, a second automation unit 3, a control unit 5 and a moving unit 7.
The first automation unit 1 is configured to send out a first discharging signal when the upper working procedure machine tool finishes processing the first part;
a second automation unit 3 configured to send a second discharging signal when the next machine tool completes processing the second part;
the upper computer 2 is in signal connection with the control unit 5, and the upper computer 2 is configured to identify whether the ferry material platform 8 is provided with a second part and a first part;
the control unit 5 is configured to control the first robot 4 to place the first part on the ferry table 8 and then control the second robot 6 to take out the first part on the ferry tray when receiving the first discharging signal;
and the second robot is controlled to place the second part on the ferry tray 8 when the second discharging signal is received, and if the first part exists, the second robot is controlled to transfer the first part to a machine tool in the next working procedure.
In this embodiment, the upper machine tool is used to process the first part, then the first part is made the original part, and the lower machine tool processes the first part into the second part.
As shown in fig. 3, the present embodiment further includes a moving unit 7, which is signal-connected to the control unit 5, and is configured to install a ferry table 8, and is configured to move the ferry table 8, where when the control unit 5 receives the first discharging signal, the control unit 5 sends a first instruction to the moving unit 7, and after the moving unit 7 executes the first instruction, the ferry table 8 is moved to a first preset position; when receiving the second discharging signal, the control unit 5 sends a second instruction to the moving unit 7, and after the moving unit 7 executes the second instruction, the ferrying table 8 is moved to a second preset position. The first preset position is located at the first robot 4 and is located in a grabbing range of the grippers of the first robot 4; the second preset position is located at the second robot 6 and is located within a range that the second robot 6 can grasp.
The control unit 5 is further configured to control the first robot to take out the second part on the ferry tray 8 when receiving the signal with the second part on the ferry tray 8 sent by the upper computer 2 after receiving the first discharging signal.
The upper computer 2 is further configured to identify a specific position of the first part on the ferry table 8;
the control unit 5 is further configured to control the second robot 6 to place a second part on the ferry table, which second part is identical to the first part in the specific position, which first part is machined into the second part by means of a down-machine tool.
The first automation unit 1 is further configured to emit a first occupancy state signal or a first unoccupied state signal;
the second automation unit 3 is further configured to emit a second occupancy state signal or a second unoccupied state signal;
after the control unit 5 receives the first occupancy state signal, if the control unit 5 receives the second discharging signal, the control unit 5 does not send out a first instruction until the control unit 5 receives the first unoccupied state signal;
in response to the control unit 5 receiving the second occupancy state signal, if the control unit 5 receives the first discharging signal, the control unit 5 does not issue the second instruction until the control unit 5 receives the first unoccupied state signal.
Specific: the first and second automation units 3 send out a first occupancy state signal when the ferrying platform 8 moves towards the first preset position or reaches the first preset position; the second automation unit 3 emits a second occupancy state signal during the movement of the ferrying stage 8 towards the second preset position or when the second preset position is reached.
After the first robot 4 places the first part on the ferry table 8, the first automation unit 1 sends a first unoccupied state signal; after the second robot 6 takes out the first part, the second automation unit 3 emits a second unoccupied state signal.
In this embodiment, the ferry table 8 is provided with a plurality of part placement positions for placing the first part and the second part, and all the part placement positions are arranged in rows and columns, so that each part placement position can have four states, namely a state 1, a state 2, a state 3 and a state 4, wherein the state 1 represents that the part placement position is empty and is a part placement position capable of being used for discharging; state 2 indicates that the part placement position is placed with a first part; state 3 indicates the position of the part in the machining process of the next working procedure machine tool, namely, the position where the part is placed is the state when the first part is placed firstly, then the part is moved to a second preset position through a ferry tray and taken away by a second robot, and the position is empty, but other parts cannot be placed, and only the second part machined by the first part can be placed.
The upper computer 2 is also configured to identify the number of empty part placement positions, and the upper computer 2 is in signal connection with the first automation unit 1 and the second automation unit 3;
the ferry material platform is provided with a plurality of part placement positions for placing a first part and a second part;
the upper computer 2 is also configured to identify the number of empty part placement positions;
the control unit 5 is further configured to move the ferrying platform to a first preset position, when the ferrying platform is not provided with the second parts and the number of the empty part placement positions is smaller than 1, the first instruction is not sent until the second parts appear on the ferrying tray when the first discharging signal is received.
The first automation unit is further configured such that when the ferrying platform moves to the first preset position, the ferrying platform is not provided with a second part, and when the first robot finishes placing the first part, the first automation unit sends a first unoccupied state signal.
The control unit is further configured to not send a second instruction until the first part appears on the ferry tray when the ferry table is moved to the second preset position and the ferry table is not provided with the first part and the second discharging signal is received.
The upper computer is in signal connection with the second automation unit, the second automation unit is further configured to send a second unoccupied state signal when the second robot finishes placing the second part, and the ferrying platform is not provided with the first part when the ferrying platform moves to a second preset position.
In this embodiment, the upper computer is provided with a vision module, including a vision acquisition device and a vision processing device, the vision acquisition device may be a camera or the like, and the vision processing device integrates a vision processing algorithm, thereby realizing the functions of the upper computer 2.
Or the above functions of the host computer 2 are realized by the following means:
1. recording different states according to the action sequence logic;
2. the upper computer 2 searches the latest position meeting the requirement of the next state by traversing the recorded states.
Example 2
As shown in fig. 2, this embodiment provides a control method for automatic material transfer, based on embodiment 1, after the processing of the upper working machine tool is completed, the first automation unit 1 integrated in the upper working machine tool sends a first discharging signal, calls the ferrying tray, and after the ferrying tray reaches the first preset position, the first automation unit 1 sends a first occupancy state signal (if the second automation unit 3 sends a second discharging signal at this time, the ferrying tray is not moving); at this time, the first robot puts the first part into the ferry material disc, and retrieves the second part (the workpiece processed by the next machine tool) at the same time, if not, the first robot does not take the second part, and after the completion, the first automation unit 1 sends a first unoccupied state signal; at this time, after the second automation unit 3 releases the occupancy state signal, the call is successful, the ferrying material tray comes to the second preset position, the second automation unit 3 sends the second occupancy state signal (if the first automation unit 1 sends the first unloading signal at this time, the ferrying material tray is motionless), the second robot firstly puts the second part into the ferrying material tray, then takes out the first part, and releases the occupancy of the ferrying material tray after the second part is taken out, and the second part is processed by the machine tool of the next procedure. And completing the connection among 2 automatic unit procedures. Specific:
the automatic middle ferry tray is used for buffering, transition and buffering materials in an upper working procedure and a lower working procedure, so that machine tools in the first automation unit 1 and the second automation unit 3 can be fully loaded for processing, and the problem that the machine tools in the first automation unit 1 cannot be fully loaded for processing due to the fact that the beat of the first automation unit 1 is smaller than that of the second automation unit 3 in a traditional production line is avoided, and the condition that the overall utilization rate of the machine tools is low is caused. The control method has the greatest advantages that the material buffering, transition and buffering among different working procedures can be realized, and meanwhile, the utilization rate of the machine tool can be greatly improved.
As shown in fig. 2, the ferry tray placement principle of the control method for realizing the ferry tray in automation in this embodiment is as follows:
after the first automation unit 1 finishes processing the workpiece, calling a ferry tray, after the condition is met, moving the ferry tray to a first preset position, judging by a control unit 5 that a position (state 1) of the transition tray where the part can be placed is preferentially placed at a position with small row number, placing the part to a designated position in the transition tray by the first robot 4, changing the position to a state 2 by the control unit 5, judging by an upper computer 2 whether a position (state 4) exists, if so, sending the position (with small row number) to the first robot 4 through the control unit 5, retrieving the position by the first robot 4 to mark the position as a state 1, sending a state signal for relieving occupation by the first automation unit 1, placing the part back to a loading and unloading table by the first robot 4, if not, further judging whether the number of the states 1 is more than or not 1, if so, directly returning the part to the loading and unloading table and relieving occupation by the first robot 4, otherwise, waiting, sending a state signal for relieving occupation by the first automation unit 1, and waiting in order to ensure that the number of the states 1 (more than or equal to 1) in the ferry tray always causes the next processed position to be placed by the first position to be completed.
After the second automation unit 3 finishes processing the parts, the upper computer 2 judges that the transition disc second automation unit 3 is processing the part position (state 3), the second robot 6 firstly places the part at the position, the control unit 5 marks the position as the part processed by the second automation unit 3 (state 4), then the control unit 5 sends the position (small rank number) of the part processed by the first automation unit 1 (state 2) to the second robot 6 (if any, otherwise, the second robot 6 waits), the robot takes out the part at the position, meanwhile, the control unit 5 marks the position as the part processed by the second automation unit 3 (state 3), and the second automation unit sends a signal for relieving the occupied state to perform loading and unloading of the second automation unit 3; the whole ferry material plate flow is shown in fig. 3, the automatic production line is started, the upper computer parameters of corresponding products are set, the ferry material plate is all set to be in a state 1, whether large-diameter parts are needed or not is judged (if yes, 2, 4 and 6 rows are locked (in a state 5)), and call signals after the first automation unit 1 and the second automation unit 3 are processed are waited.
In this embodiment, the ferry tray is provided with a plurality of part placement positions, each part placement position can be replaced by coordinates according to row and column arrangement, and the control unit can mark the coordinates as states 1-4, so that the calibration of the states of the corresponding part placement positions is realized. And the identification of the state of the placement position of the parts is realized by the upper computer 2.
For the first automation unit 1, there are two modes of operation: a material taking mode and a material discharging mode. Material take mode (second automation unit 3 machined part removal): firstly, judging whether a ferry material tray has a state 4 part (a part processed by the second automation unit 3), and if so, carrying out material taking operation: the first automation unit 1 calls a ferry tray, judges whether the ferry tray is occupied by the second automation unit 3 (the ferry tray is occupied and waits until the ferry tray is released), sends a ferry tray signal for the first automation unit 1 when the ferry tray is not occupied, moves to the first automation unit 1, searches the position of a state 4 (the processed parts of the second automation unit 3 with the minimum rank number) on the ferry tray by an upper computer, and sends the position to the first robot 4, the first robot 4 takes out the processed parts of the second automation unit 3 and changes the position state into 1 (vacancy), the first automation unit 1 is released, and the first robot 4 returns to the first automation unit 1; if no state 4 part exists, further judging whether the position of the state 1 (vacancy) is more than or equal to 1, if yes, removing the robot from occupation to directly return to the first automation unit 1, otherwise waiting until the state 4 part exists, and executing the material taking operation, wherein the purpose of doing so is to ensure that the ferry tray has at least 1 vacancy, so that the position is stored when the first robot 4 is discharged in the next cycle. Discharging mode (placing the first automation unit 1 to process the finished part): the first automation unit 1 calls the ferry tray, firstly judges whether the ferry tray is occupied by the second automation unit 3 (the first automation unit is occupied and waits until the second automation unit is unoccupied), if the ferry tray is unoccupied, the first automation unit 1 occupies the ferry tray, the ferry tray moves to the first automation unit 1, the upper computer searches the position of the state 1 (empty space, small row and column number) on the ferry tray and sends the position to the first robot 4, the first robot 4 puts the processed part of the first automation unit 1 into the position and modifies the position state into 2 (the processed part of the first automation unit 1), and then the material taking mode is entered.
For the second automation unit 3, there are likewise two modes of operation: a material taking mode and a material discharging mode. Material taking mode (for taking out the machined part of the first automation unit 1): judging whether the ferry material tray has a state 2 part (the part processed by the first automation unit 1), and if so, carrying out material taking operation: the second automation unit 3 calls the ferry tray, judges whether the ferry tray is occupied by the first automation unit 1 (the ferry tray is occupied and waits until the ferry tray is released), sends a signal that the ferry tray is occupied by the second automation unit 3 when the ferry tray is not occupied, searches the position of the state 2 (the processed parts of the first automation unit 1 with small rank number) on the ferry tray by the upper computer, and sends the position to the second robot 6, the second robot 6 takes out the processed parts of the first automation unit 1 and modifies the position state to 3 (the parts in the processing of the second automation unit 3), releases the occupation of the second automation unit 3, and returns the second robot 6 to the second automation unit 3; and if the state 2 part does not exist, the robot is unoccupied, and the robot waits until the state 2 part continues to execute the material taking operation. Discharging mode (placing the second automation unit 3 to process the finished part): the second automation unit 3 calls the ferry tray, judges whether the ferry tray is occupied by the first automation unit 1 (the first automation unit is occupied and waits until the first automation unit is unoccupied), sends a signal that the ferry tray is occupied by the second automation unit 3 if the ferry tray is unoccupied, moves to the second automation unit 3, searches the position of the state 3 (the part in processing of the second automation unit 3) on the ferry tray by the upper computer, and sends the position to the second robot 6, and the second robot 6 places the processed part of the second automation unit 3 in the position and modifies the position state to 4 (the processed part of the second automation unit 3), and then enters a material taking mode.
The above embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention.
Claims (10)
1. An automated material handling control system, characterized by: including ferry material platform, still include:
the first automatic unit is configured to send out a first discharging signal when the upper working procedure machine tool finishes processing the first part;
the second automatic unit is configured to send a second discharging signal when the next working procedure machine tool finishes processing the second part;
the upper computer is configured to identify whether the ferry tray is provided with a first part or not;
the control unit is configured to control the first robot to place the first part on the ferry table when receiving the first discharging signal; when the second discharging signal is received, the second robot is controlled to place the second part on the ferry material tray or other positions, and if the first part exists on the ferry material tray, the second robot is controlled to transfer the first part on the ferry material tray to a machine tool of a next working procedure.
2. The automated material handling control system of claim 1, wherein: the upper computer is further configured to identify whether the ferry table has the second part thereon;
the control unit is further configured to control the first robot to take out the second part when receiving the signal with the second part on the ferrying platform sent by the upper computer after receiving the first discharging signal.
3. The control system for automated material handling according to claim 2, wherein: the upper computer is further configured to identify a specific position of the first part on the ferry table;
the control unit is further configured to control the second robot to place a second part on the ferry table, the second part being identical to a specific position of its corresponding first part, the first part being machined into the second part by the next-process machine tool.
4. The automated material handling control system of claim 1, wherein:
the control unit is used for sending a first instruction to the mobile unit when receiving a first discharging signal, and the mobile unit moves the ferry table to a first preset position after executing the first instruction; when receiving the second discharging signal, the control unit sends a second instruction to the moving unit, and after the moving unit executes the second instruction, the ferry table is moved to a second preset position.
5. The automated material handling control system of claim 4, wherein:
the first automation unit is further configured to issue a first occupancy state signal or a first unoccupied state signal;
the second automation unit is further configured to issue a second occupancy state signal or a second unoccupied state signal;
after responding to the first occupation state signal received by the control unit, if the control unit receives a second discharging signal, the control unit does not send the first instruction until the control unit receives the first occupation state relieving signal;
and after the control unit receives the second occupancy state signal, if the control unit receives a first discharging signal, the control unit does not send the second instruction until the control unit receives the first unoccupied state signal.
6. The automated material handling control system of claim 5, wherein:
the first automation unit sends out a first occupation state signal when the ferry table moves towards a first preset position or reaches the first preset position;
the second automation unit sends out a second occupation state signal when the ferry table moves towards a second preset position or reaches the second preset position;
the first robot places a first part on the ferry material stage, and after taking out a second part on the ferry material stage, the first automation unit sends a first unoccupied state signal;
and the second robot is used for sending a second unoccupied state signal by the second automation unit after the second robot places a second part on the ferry material stage and takes out the first part on the ferry material disk.
7. The automated material handling control system of claim 6, wherein: the ferry material table is provided with a plurality of part placement positions for placing a first part and a second part;
the upper computer is further configured to identify the number of empty part placement positions;
the control unit is further configured to move the ferry table to the first preset position, when the ferry table is not provided with second parts and the number of the empty part placement positions is smaller than 1, the first instruction is not sent out when the first discharging signal is received, and until the second parts appear on the ferry tray.
8. The automated material handling control system of claim 7, wherein: the upper computer is in signal connection with a first automation unit, the first automation unit is further configured to enable the ferry material platform to be free of a second part when moving to the first preset position, and the first automation unit sends a first unoccupied state signal when the first robot finishes placing the first part.
9. The automated material handling control system of claim 6, wherein: and the control unit is further configured to not send the second instruction until the first part appears on the ferry tray when the ferry table is moved to the second preset position and does not have the first part, and the second discharging signal is received.
10. The automated material handling control system of claim 9, wherein: the upper computer is in signal connection with a second automation unit, the second automation unit is further configured to enable the ferry material platform to be provided with no first part when the ferry material platform moves to the second preset position, and the second automation unit sends a second unoccupied state signal when the second robot finishes placing the second part.
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| CN202310963311.7A CN117228263A (en) | 2023-08-02 | 2023-08-02 | Automatic change control system that material was transported |
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| CN202310963311.7A CN117228263A (en) | 2023-08-02 | 2023-08-02 | Automatic change control system that material was transported |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117446494A (en) * | 2023-12-25 | 2024-01-26 | 常州铭赛机器人科技股份有限公司 | Double-station feeding device and feeding method |
-
2023
- 2023-08-02 CN CN202310963311.7A patent/CN117228263A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117446494A (en) * | 2023-12-25 | 2024-01-26 | 常州铭赛机器人科技股份有限公司 | Double-station feeding device and feeding method |
| CN117446494B (en) * | 2023-12-25 | 2024-04-12 | 常州铭赛机器人科技股份有限公司 | Double-station feeding device and feeding method |
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