CN109533867B - Sectional independent control conveyor and conveying system - Google Patents
Sectional independent control conveyor and conveying system Download PDFInfo
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- CN109533867B CN109533867B CN201811653158.3A CN201811653158A CN109533867B CN 109533867 B CN109533867 B CN 109533867B CN 201811653158 A CN201811653158 A CN 201811653158A CN 109533867 B CN109533867 B CN 109533867B
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- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 6
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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
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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 the technical field of conveyors, in particular to a segmented independent control conveyor, which comprises a plurality of independent conveying segments, wherein each independent conveying segment at least comprises a linear conveying unit and a steering conveying unit; the combination between the straight transport unit and the steering transport unit, or the combination between the steering transport unit and the steering transport unit may form an arbitrary path; each independent transportation section is provided with a first transportation direction and a second transportation direction which are opposite in direction; each individual transport section may be operated independently or in its entirety in a first transport direction or in a second transport direction. According to the technical scheme provided by the invention, each independent transportation section can realize independent forward and backward displacement, and simultaneously can realize integral synchronous movement towards one direction.
Description
Technical Field
The invention relates to the technical field of conveyors, in particular to a sectional independent control conveyor and a conveying system.
Background
In the manufacture of electronic and electric products, one type of products (such as small and medium-sized transformers) is composed of multiple parts, and is assembled, tested, glued and packaged by multiple stations and multiple procedures. In the process, some procedures need to be tested by electric parameters immediately after finishing, if the test result is within the design range, the procedure flows to the next station, if the test result exceeds the design range, the procedure needs to be returned to the previous procedure for adjustment (such as increasing or decreasing the thickness of air gap paper) until the test is qualified, and the procedure is called as a non-uniform assembly procedure, and when the non-uniform assembly procedure realizes intelligent full-automatic assembly, the procedure needs to be sequentially from the previous procedure to the next station, but on the same station, the assembly can move back and forth within a certain range when different procedures are operated.
The existing integrated conveyor can only carry out synchronous movement of the whole conveyor line towards one direction, a mechanical device is arranged at a station where the conveyor line needs to stay for hard stop, a mechanical hard stop mode can cause larger impact vibration to parts borne on a material tray, and the requirement that products such as a transformer cannot have impact vibration before being glued and fixed cannot be met. And after the material tray is stopped, the material tray cannot independently move forwards and backwards in a certain range.
In order to realize that a plurality of trays on a conveyor can independently and flexibly move at different stations, foreign countries such as the Germany festo company adopt a conveyor with electromagnetic trays arranged on linear motor guide rails, the requirements that the movement of each tray can be independently controlled in the intelligent manufacturing and assembling process can be met, and the conveyor is stable in transmission, accurate in positioning and free from impact, but the cost of the conveyor is high, and the cost performance is lower.
In summary, the existing conveyor can only move synchronously in one direction as a whole, and cannot realize local independent forward or backward displacement.
Disclosure of Invention
The invention aims to provide a segmented independent control conveyor and a conveying system, which are used for solving the technical problems that the conveyor in the prior art can only move synchronously in a whole direction and can not realize local independent forward or backward displacement.
In order to alleviate the technical problems, the technical scheme adopted by the invention is as follows:
a segmented independent control conveyor comprising a plurality of independent transport segments, the independent transport segments comprising at least a linear transport unit and a diverting transport unit;
a combination between the straight transport unit and the turn transport unit, or a combination between the turn transport unit and the turn transport unit may form an arbitrary path;
each independent transportation section is provided with a first transportation direction and a second transportation direction which are opposite in direction;
each of the individual transport sections may be operated independently or in whole in a first transport direction or in a second transport direction.
Further, the independent transportation section is provided with a feeding area, a discharging area and an operation area positioned between the feeding area and the discharging area;
the feeding area and the discharging area are respectively used for feeding and discharging, and have the function of buffering materials;
the tray is moved back and forth in the operation area.
Further, the operation area is sequentially provided with a first operation area sensor and a second operation area sensor along the transmission direction, and the first operation area sensor and the second operation area sensor are used for indicating the position of the material tray in the operation area;
when the tray is displaced leftwards, the right edge of the tray does not exceed the position right above the first operation area sensor;
when the tray is displaced rightward, the left edge thereof does not exceed the position right above the second operation area sensor.
Still further, the loading area is provided with a loading area jacking mechanism for lifting the material tray off the conveyer belt, and the unloading area is provided with a unloading area jacking mechanism for lifting the material tray off the conveyer belt.
Still further, the material loading district is provided with first material loading district sensor and the second material loading district sensor that is used for the instruction position along the material direction of delivery, material loading district climbing mechanism is located first material loading district sensor with between the second material loading district sensor.
Still further, the unloading district is provided with the first unloading district sensor and the second unloading district sensor that are used for the instruction position along the material direction of delivery, unloading district climbing mechanism is located first unloading district sensor with between the second unloading district sensor.
Still further, the independent transport section includes: the device comprises a motor, a controller and a photoelectric sensor;
the photoelectric sensor is in signal connection with the controller and is used for collecting material information on each independent transportation section and transmitting the material information to the controller;
and the controller is used for controlling the steering of the output shaft of the motor after receiving the material information, so as to control each independent transportation section to synchronously or independently move along the first transportation direction or the second transportation direction.
Still further, the steering transportation unit includes an inner guide wheel, an outer guide wheel, and an arc-shaped conveyor belt for driving the inner guide wheel and the outer guide wheel to move, the conveyor belt being located between the inner guide wheel and the outer guide wheel.
Further, an inner guide plate is arranged in the arc-shaped conveying belt and used for limiting the inner turning path of the tray;
the outside of pitch arc conveyer belt is provided with outside deflector, outside deflector is used for restricting the outside turning path of charging tray.
A conveyor system comprising the segmented independent control conveyor described above.
By combining the technical scheme, the invention has the following technical effects: the independent conveying section independent control conveyor provided by the scheme comprises a plurality of independent conveying sections, wherein each independent conveying section at least comprises a linear conveying unit and a steering conveying unit; a combination between the straight transport unit and the turn transport unit, or a combination between the turn transport unit and the turn transport unit may form an arbitrary path; each independent transportation section is provided with a first transportation direction and a second transportation direction which are opposite in direction; each of the individual transport sections may be operated independently or in whole in a first transport direction or in a second transport direction. Therefore, each independent transportation section can independently advance, retreat or stop to a designated position, and simultaneously, when each independent transportation section runs towards the same direction, the synchronous conveying function of the current integral conveyor can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of an independent transport section independent control conveyor provided by an embodiment of the present invention;
FIG. 2 is an S of an independent transport section independent control conveyor i Schematic of the layout of the individual position sensors of the segments;
FIG. 3 is an independent transport section S i A power-on initialization flow chart;
FIG. 4 is an independent transport section S i A work area reset flow chart;
FIG. 5 is an independent transport section S i Is a logic flow diagram of the operation;
FIG. 6 is an independent transport section S i A blanking logic flow diagram of (2);
FIG. 7 is an independent transport section S i A loading logic flow diagram of (2);
FIG. 8 is an independent transport section S i Is a feed logic flow diagram of (2);
FIG. 9 is an independent transport section S i Is a discharging logic flow chart;
FIG. 10 is a top view of the individual transport sections as diverted transport units;
FIG. 11 is a bottom view of FIG. 10;
FIG. 12 is a top view of the individual transport sections as a steering transport unit of another construction;
fig. 13 is a bottom view of fig. 12.
Icon: 100-linear transport units; 200-steering a transport unit; 210-an inner guide wheel; 220-an external guide wheel; 230-a conveyor belt; 240-steering drive motor; 250-inner guide plate; 260-outer guide plate; 270-bullseye wheel; 201-curve segment; 202-gyration segment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiment 1, embodiment 2 and embodiment 3 are described in detail below with reference to the accompanying drawings:
example 1
The present embodiment provides a segmented independent control conveyor, referring to fig. 1 to 13, which includes a plurality of independent transport segments, each of which includes at least a linear transport unit 100 and a turning transport unit 200;
the combination between the straight transport unit 100 and the turn transport unit 200, or the combination between the turn transport unit 200 and the turn transport unit 200 may form an arbitrary path;
each independent transportation section is provided with a first transportation direction and a second transportation direction which are opposite in direction;
each individual transport section may be operated independently or in its entirety in a first transport direction or in a second transport direction.
The technical effect that foretell segmentation independent control conveyer can realize lies in:
therefore, each independent transportation section can independently advance, retreat or stop to a designated position, and simultaneously, when each independent transportation section runs towards the same direction, the synchronous conveying function of the current integral conveyor can be realized.
The independent conveying section is provided with a feeding area, a discharging area and an operation area positioned between the feeding area and the discharging area; the feeding area and the discharging area are respectively used for feeding and discharging, and simultaneously have the function of buffering materials, so that the operation time of front and back working stations and the unfilled idle time caused by unfixed work stations can be reduced in a certain range. The operation area is used for the front-back displacement of the material tray. The operation area is sequentially provided with a first operation area sensor and a second operation area sensor along the transmission direction, and the first operation area sensor and the second operation area sensor are used for indicating the position of the material tray in the operation area; when the tray is displaced leftwards, the right edge of the tray does not exceed the position right above the first operation area sensor; when the tray is displaced rightward, the left edge thereof does not exceed the position right above the second operation area sensor. In addition, the feeding area is provided with a feeding area jacking mechanism for lifting the tray off the conveyor belt 230, and the discharging area is provided with a discharging area jacking mechanism for lifting the tray off the conveyor belt 230. The feeding area is provided with a first feeding area sensor and a second feeding area sensor which are used for indicating positions along the material conveying direction, and the feeding area jacking mechanism is located between the first feeding area sensor and the second feeding area sensor. The blanking area is provided with a first blanking area sensor and a second blanking area sensor which are used for indicating positions along the material conveying direction, and the blanking area jacking mechanism is located between the first blanking area sensor and the second blanking area sensor.
The following details of each individual transport section:
for visual representation, first, the naming of each position sensor and the lifting mechanism is simplified, please refer to fig. 2:
the first work area sensor is expressed as a position sensor C; the second work area sensor is expressed as a position sensor D; the first feeding area sensor is expressed as a position sensor A; the second feeding area sensor is expressed as a position sensor B; the first blanking area sensor is expressed as a position sensor E; the second blanking area sensor is expressed as a position sensor F; the feeding area jacking mechanism is expressed as a jacking mechanism JI, and the discharging area jacking mechanism is expressed as a jacking mechanism JO.
Specifically:
each independent transport section S of the split conveyor i The device has a layout of A, B, C, D, E, F six position sensors shown in fig. 2, wherein the six position sensors respectively represent A, B, C, D, E, F six positions, are symmetrically arranged on two sides of a central line of an operation area, and isolate three areas of a feeding area, the operation area and a discharging area. The feeding area and the discharging area are respectively provided with a lifting mechanism, namely a feeding area lifting mechanism JI and a discharging area lifting mechanism JO, wherein the JI is positioned between A, B sensors, the JO is positioned between E, F sensors and is respectively used for lifting the trays parked in the feeding area and the discharging area out of the conveying belt 230, so that the trays in the operating area can independently move back and forth in the range of the operating area, and the position adjustment requirement of the assembly body in a certain range is met. The position sensor C, D is used for indicating the position of the tray in the operation area, the space between the position sensor C, D and the tray is LCD, the tray is positioned in the center of the operation area when the operation area is reset, and the right edge of the tray cannot be separated from the position sensor C right above when the tray is left displaced in the operation area after reset; when displaced to the right, the left edge thereof cannot be separated from the position sensor D right above the furthest. The length of the working area is L BE The length of the material tray is L tray The following constraint relation exists among the dimensions: l (L) AB ＜L tray ，L CD ＜L tray ，L EF ＜L tray ，L BE ＞3L tray And the position sensors A and F are arranged at positions as close as possible to the front and rear ends of the independent transport sections.
Each position sensor (denoted by X) outputs 1 level signal X out When no tray is right above it, a high level is output, denoted as X out =1; when the tray is right above it, output low level, i.e. X out =0. When the tray enters the position sensor, the output level of the tray is higher than that of the position sensor1 becomes 0 via the falling edge and remains until the tray moves out of the position right above it, 1 via the rising edge, i.e. every time a tray passes, the position sensor outputs a low-level rectangular wave, denoted X U . The distance between the position sensors A and B is set smaller than the length of the tray, so that when A U And B is connected with U At a certain time period at a low level 0, and A U Rising edge A of (2) ┛ Prior to B U Rising edge B of (2) ┛ When the tray passes through the position A, the tray can be judged to pass through the position B, namely, the conveying direction is from A to B. This process is expressed as: if A U ∩B U =0, and a ┛ Prior to B ┛ A→b.
Without loss of generality, the X, Y is A, B or C, D or E, F position sensor pair, if X U ∩Y U =0, and X ┛ Prior to Y ┛ X.fwdarw.Y. For example:
(1) If E U ∩F U =0, and E ┛ Prior to F ┛ E→F, i.e. the tray moves out of the blanking area from position E via position F.
(2) If C U ∩D U =0, and D ┛ Prior to C ┛ D→c, i.e. the tray is displaced in the working area from position D via position C.
Wherein, in order to realize the feeding of the material tray in the feeding area and the discharging of the material tray in the discharging area, the lifting mechanisms JI and JO of each independent conveying section have two states of lifting and returning, and when the lifting state is in the lifting state, a low-level position signal, namely JI is output out ＝0、JO out＝ 0; in the put-back state, a high-level position signal, i.e. JI, is output out ＝1、JO out =1. Meanwhile, in the control logic block, set (JI) =0 indicates that the jack-up mechanism JI is raised, set (JI) =1 indicates that the jack-up mechanism JI is replaced, and JO has the same meaning.
The working area of each independent transport section has three states of working, suspending and finishing, the state of the working area (represented by WS) is determined by the working state of the working station execution unit (such as the working state of the working station manipulator), and when the working state is in the working state, a state signal WS is output out =0; in the suspended state, the status signal WS is output out =1; in the finished state, the status signal WS is output out =2. Similarly, in the control logic block, the "start job" of the independent transport section and its workstation is represented by set (WS) =0, and the "pause job" of the independent transport section and its workstation is represented by set (WS) =1.
Independent transport section S i (i=1, 2, … …, n) the action in operation is defined as follows:
(1) And (3) feeding: from entering S i Segment start shift to S i The center of the feeding area of the section.
(2) Feeding: the tray is from S i The feeding area of the section starts to shift to S i The working area center of the segment.
(3) And (3) operation: the tray is S i The displacement within the working area of the segment performs the working task.
(4) Discharging: the tray is from S i The working area of the segment starts to shift to S i The center of the blanking area of the section.
(5) And (3) blanking: the tray is from S i The blanking zone of the section starts to move out of S i Segments.
Example two
This embodiment is intended to illustrate the control logic of each individual transport section, in particular:
each independent transport section S i The control logic of the system is divided into a power-on initialization control logic, a working area reset control logic and a working control logic. (Note: in the logic block diagram, logical AND is represented by AND, logical OR is represented by OR, AND the position sensor pair outputs X out =1 and Y out =1, abbreviated as (XY) out ＝1；X out =0 and Y out =0, abbreviated as (XY) out ＝0。)
2.1 Power-on initialization control logic
Referring to fig. 3, when the apparatus is just powered on, each independent transport section S i All the lifting mechanisms (i=1, 2, … …, n) are operated to the return state, and the position signal JI is outputted out ＝1、JO out =1. The working area being set to a suspended state, i.e. set (WS)=1, output WS out ＝1。
First, whether a tray exists in a blanking area is detected. Reading the status signal F of the position sensor F out ：
(1) If F out =0, then the upper part of position F is indicated to have a tray, and the status signal of position sensor E is read:
(1.1) if E out When=0, it indicates that the tray is located between the position sensors E and F in the blanking area, and at this time, the lifting mechanism JO is lifted to lift the tray in the blanking area off the conveyor belt 230, and simultaneously outputs the position signal JO out =0. Afterwards, the position signal (EF) of the material tray is used for out And (3) sending the material to the upper computer in the range of the material feeding area, and simultaneously, continuing the subsequent step (3), namely detecting whether the material feeding area has a material tray or not.
(1.2) if E out When=1, the tray has passed the position E but has not been separated from the position F, and the conveyor is reversely conveyed until the tray reaches E, F and stops, and the tray is discharged E out =0, and the subsequent execution steps are the same as (1.1).
(2) If F out =1, then state signal of position sensor E is read again indicating that there is no tray at the upper part of position F:
(2.1) if E out When=0, it means that a part of the tray is located in the working area and a part of the tray is located in the discharging area, at this time, the conveyor is forward transported until the tray stops until reaching E, F, and output F out =0, and the subsequent execution steps are the same as (1.1).
(2.2) if E out =1, the upper part of E, F and the blanking area have no trays. At this time, the state signal E of the sensor out =1 and F out And=1 to the host computer.
Then, whether a tray exists in the feeding area is detected. Reading the status signal A of the position sensor A out ：
(3) If A out =0, then the upper part of position a is indicated to have a tray, and the status signal of position sensor B is read:
(3.1) if B out When=0, it means that the feeding area has a tray and is located between the position sensors a and B, and at this time, the lifting mechanism JI is lifted to feed the feeding areaThe disk lift-off conveyor 230 outputs a position signal JI at the same time out =0. Afterwards, the position signal (AB) of the tray is sent out And (5) sending the material disc to the upper computer by the aid of the device with the value of the material disc of the operation area of the material disc.
(3.2) if B out When=1, the tray is at the upper part of the position a and does not reach the position B, and at the moment, the conveyor is conveyed forward until the tray reaches A, B to stop, and the tray is output B out =0, the subsequent steps are the same as (3.1).
(4) If A out =1, then state signal of position sensor B is read again indicating that there is no tray at the upper part of position a:
(4.1) if B out When the material tray is in the material loading area and the material tray is in the operation area, the conveyor reversely conveys until the material tray reaches A, B, and the material tray is output A out =0, and the subsequent execution steps are the same as (3.1).
(4.2) if B out =1, the upper part of A, B and the feeding zone have no trays. At this time, the state signal A of the sensor out =1 and B out And=1 to the host computer.
Finally, whether a tray exists in the operation area is detected. Reading the status signal C of the position sensor C out ：
(5) If C out =0, then the upper part of position C is indicated to have a tray, and the status signal of position sensor D is read:
(5.1) if D out When=0, it indicates that the work area has a tray and is located between the position sensors C and D, and at this time, the position signal (CD) of the tray is sent out And=0 is sent to the upper computer.
(5.2) if D out When=1, it indicates that the tray is at the upper part of position C and has not reached position D, at which time the conveyor is transmitting forward until the tray has reached C, D, and the tray position signal (CD) is detected out And=0 is sent to the upper computer.
(6) If C out =1, then state signal of position sensor D is read again indicating that there is no tray at the top of position C:
(6.1) if D out When 0, the operation area has a tray and is located at the upper part of the position sensor D, and the conveyor is reversely transmitted until the tray reaches C, D, and the position signal (CD) of the tray is sent out And=0 is sent to the upper computer.
(6.2) if D out =1, then the CD segment of the working area is illustrated without a tray. At this time, it is also necessary to determine whether a tray exists in the operation area other than the CD segment.
(7) Reverse conveying the conveyor (maximum conveying distance L BC -L tray ) In the process, the state signals B of the position sensors B and D are continuously acquired out D (D) out ：
(7.1) if B out When the conveyor is in the reverse direction, the conveyor stops transmitting the reverse direction immediately, and the conveyor is changed into the forward direction, and the following execution steps are the same as those in the step (5).
(7.2) if D out When the operation area DE section has a tray and is reversely displaced to the upper part of the position sensor D, the flow is switched, and the step (6.1) is executed.
(7.3) if the reverse transmission distance reaches L BC -L tray Length of B out And D out Always output 1, indicating that no tray is present in the entire working area, and at this time, the status signal C of the position sensor out =1 and D out And=1 to the host computer.
2.2 operating zone reset control logic
Referring to FIG. 4, one of the features of the present invention is that the tray can be independently moved back and forth within a certain range of the operation area, the range being S i Front and back of the segment center (L) tray +L CD 2) within which at least one output of the position sensor C, D is 0, i.e. C out =0, or D out =0, or (CD) out =0. When (CD) out When=0, the tray is located at the center of the working area.
Independent transport section S i (i=1, 2, … …, n) after receiving the "operation area reset" command, detecting whether a tray is present in the operation area, if so, then comparing itThe displacement to the center of the operation area and the return of the operation area ready message; if no tray exists, a message of 'no tray in the operation area' is returned.
2.3 working control logic
Independent transport section S i (i=1, 2, … …, n) the control logic of the working process is divided into five parts: the device comprises an operation control logic, a discharging control logic, a feeding control logic and a discharging control logic. Each of which is described below.
2.3.1 job control logic
Independent transport section S i A logic diagram of the job control of (i=1, 2, … …, n) is shown in fig. 5. S is S i After receiving an operation instruction sent by the upper computer, firstly executing operation area reset control logic:
(1) If a 'job area ready' message is returned, a tray is parked in the center of the job area, and at this time, the 'job area ready' message is sent to the upper computer, and then under the coordination of the upper computer, S i According to the requirement of the workstation actuating mechanism, the conveying tray moves back and forth in the operation area so as to complete the corresponding operation task of the workstation.
(2) If a message "no tray in work area" is returned, the method is based on (AB) out Whether 0 further judges whether the feeding area has a tray or not:
(2.1) if (AB) out =0, indicating that the loading area has a tray, at this time, the loading area jacking mechanism is put back, and the conveyor is forward transmitting until the tray is conveyed to the center of the operation area, and the tray is in an output state (CD) out After=0, stop and send a "job area ready" message to the host computer, and the subsequent execution steps are the same as (1).
(2.2) if (AB) out =1, indicating that there is no tray in the loading zone, at this time, go to S i-1 A section sends out a blanking request S i-1 Segment execution blanking control logic, if S i-1 Segment return wait message, description S i-1 A tray with unfinished section, at this time S i The section is in a waiting state until S i-1 With finished trays and obtaining S i-1 S after section 'feeding' instruction i Executing feeding controlLogic is manufactured.
2.3.2 discharging control logic
When S is i+1 When the section (i=1, 2, … …, n-1) is in the state of 'waiting for material', the material is fed to S i (i=1, 2, … …, n) segment sends a "blanking" request, S i After receiving the "blanking" instruction, the (i=1, 2, … …, n) section executes the blanking control logic, and the specific flow is shown in fig. 6.
S i After receiving the 'blanking' instruction, the section firstly takes the following (EF) out Whether 0 is determined, and whether a material tray exists in a blanking area is judged:
(1) If (EF) out =0, indicating that there is a tray in the blanking area, and at this time, further judging the state of the operation area:
(1.1) if WS out When the operation of the actuator of the Si segment is performed, and when the tray is in the operation area, the operation of the actuator of the workstation is stopped by performing set (WS) =1, and then the operation of the actuator of the workstation is performed by performing set (JO) =1; if WS out Not equal to 0, indicating that the operation area is in a pause or finish state, set (JO) =1 can be directly executed, the lifting mechanism of the blanking area is put back, and the tray of the blanking area with the prepared Si section is moved to Si +1 Preparation of segment transport and feeding into Si +1 The section issues a "feed" instruction, after which Si is executed +1 And the section loading control logic.
(1.2) if S i+1 Segment return busy message, description S i+1 The feeding area of the section is occupied by a material tray, the feeding task cannot be executed, and at the moment, S is continuously inquired i+1 And (3) the state of the section feeding area until the feeding area is empty, and the feeding task can be executed.
(1.3) if S i+1 Segment return empty message, description S i+1 The section can execute the feeding task, at this time, S is firstly made to be i Forward transmission of segments until the state of the position sensor F is changed from F out =0 transition to F out Stop when=1, description S i The tray of the section blanking area has been moved out of the area to S i+1 And a feeding area of the section.
(1.4)S i Stopping the section from transmitting for 1S to completely separate the tray in the blanking area from S i After the sections, the material trays in the original working area are reversely transported until the material trays in the original working area are transported backS i The central position of the segment operation area is reached, then a 'operation area ready' message is sent to the upper computer, the operation area is juxtaposed to be in a 'operation' state, and then under the coordination of the upper computer, S i According to the requirement of the workstation actuating mechanism, the conveying tray moves back and forth in the operation area so as to complete the corresponding operation task of the workstation.
(2) If (EF) out When=1, it indicates that the blanking area has no tray, and at this time, the state of the operation area is further determined:
(2.1) if (C out AND D out ) =0, description S i The working area of the section is provided with a tray, and the tray is further provided with a tray according to WS out Judging whether the tray of the operation area is finished or not at 2, if so, going to S i+1 The section sends out a feeding instruction to execute S i+1 Section feed control logic:
(2.1.1) if S i+1 Segment return busy message, description S i+1 The feeding area of the section is occupied by a material tray, the feeding task cannot be executed, and at the moment, S is continuously inquired i+1 And (3) the state of the section feeding area until the feeding area is empty, and the feeding task can be executed.
(2.1.2) if S i+1 If the segment does not return busy message, S is caused to i The segment is transmitted forward until the position sensor F outputs a complete low-level rectangular wave F U Thereafter, S i Stop transmission and go to S i Job area request feed, execute S i Feed control logic for the segments.
(2.2) if (C out AND D out ) Not equal to 0, explain S i The operation area of the section is free of a material tray; or (C) out AND D out ) =0 and WS out Not equal to 2, explain S i The segment operation area has trays but is not finished, and at this time, the process goes to S i+1 The segment issues a wait message.
2.3.3 feeding control logic
When S is i-1 When the (i=2, … …, n) section can be fed, the feeding direction is S i (i=1, 2, … …, n) segment sends a "feed" notification, S i After the section receives the feeding command, the feeding control logic is executed, and the specific flow is shown in fig. 7.
S i After receiving the "feed" instruction, the section first follows (AB) out Whether 0 is determined, and whether a material tray exists in the material loading area is judged:
(1) If (AB) out =0, description S i The feeding area of the section is provided with a tray, and at the moment, the tray is moved to S i-1 The segment issues a busy message.
(2) If (AB) out =1, then describe S i The feeding area of the section is not provided with a tray, and at the moment, the feeding area is towards S i-1 The segment issues an empty message. Then according to WS out Judgment S i The working state of the segment:
(2.1) if WS out =0, then describe S i The section is working, a tray is in the working area, at this time, set (WS) =1 is executed to suspend the working of the workstation executing mechanism, then set (JI) =1 is executed, the lifting mechanism of the feeding area is replaced, and S is prepared i The section feeding area is about to receive the material from S i-1 Preparation of the trays of the segments. Then, the state of the position sensor A is continuously inquired until A out Jump from 1 to 0, illustrating from S i-1 The tray of the section blanking area is shifted to S i And a feeding area of the section. At this time, start S i The segments being transported in forward direction until output (AB) out Stop for 1 second when=0, the tray has been displaced to S i After the center of the feeding area is segmented, a jacking mechanism of the feeding area is lifted, a tray of the feeding area is jacked to be separated from a conveyor belt, and then S i Segment reverse transport until (CD) out After the tray of the original operation area is returned to the central position of the operation area, the transmission is stopped, and a 'operation area ready' message is sent to the upper computer to set the operation area to be in a 'operation' state, and then under the coordination of the upper computer, S i According to the requirement of the workstation actuating mechanism, the conveying tray moves back and forth in the operation area so as to complete the corresponding operation task of the workstation.
(2.2) if WS out Not equal to 0, explain S i The work area of the segment is in a suspended or finished state. Further, according to WS out Judging whether the operation area is in a 'finishing' state or not, if not, putting the operation area in a 'pause' state, and executing a (2.1) flow at the moment; if it is finishedThe working state is that the state of the position sensor A is continuously inquired until A out Jump from 1 to 0, illustrating from S i-1 The tray of the section blanking area is shifted to S i And a feeding area of the section. At this time, start S i The segments being transported in forward direction until (AB) out Stop transmission when=0, indicate that the tray has been shifted to S i The center of the section feeding area is simultaneously due to S i The section is in the finished state, the working area has no material tray, and S is switched to i "feed control logic" for the segments.
2.3.4 feed control logic
When S is i When the section receives the "feed" instruction, the "feed control logic" is executed, and the flow is shown in FIG. 8. First according to (C out =0) or (D out =0) combinational logic to determine whether a tray is present in the working area:
(1) If (C) out =0) or (D out =0), indicating that the job site has trays not completed, a job site busy message is sent to the "feed" command output source.
(2) If (C) out =1), and (D out =1), indicating that the work area has no trays, a "feed" action can be performed. At this time, according to (EF) out Whether 0 is determined, and whether a material tray exists in a blanking area is judged:
(2.1) if (EF) out =0, which indicates that there is a tray in the blanking area, at this time, the lifting mechanism of the blanking area is lifted, so that the tray in the blanking area is separated from the conveyor belt 230, and then step (3) is performed.
(2.2) if (EF) out =1, indicating that the blanking area has no tray, and directly jumping to step (3).
(3) Conveyor S i The segments are transported forward until the trays reach the central position of the working area, at which point S i The segment stops transmitting and sends a "job zone ready" message to the host computer.
2.3.5 discharge control logic
Independent transport section S i After the execution mechanism of (i=1, 2, … …, n) completes the working task of the working station, a 'finishing' message is sent to the upper computer, and after the upper computer receives the 'finishing' message, the upper computer gives S i The section gives a "discharge" instruction, and FIG. 9 shows an independent transport section S i The specific flow is as follows:
S i after receiving the instruction of discharging, the section firstly takes the following (EF) out Judging whether a material tray exists in the blanking area or not through the output of the device:
(1) If (EF) out =0, indicating that there is a tray in the blanking area, and sending a busy message in the blanking area to the output source of the "discharging" instruction.
(2) If (EF) out =1, then the blanking area lifting mechanism is replaced, S i Forward transmission of segments up to (EF) out =0, indicating that the finished tray has been transferred to the center of the blanking area, at this time S i The section stops transmitting, and the lifting mechanism of the blanking area is lifted, and then S is carried out i Feed control logic for the segments.
Example 3
The embodiment provides a sectionally independent control conveyor, aiming at clarifying the specific structure of each independent transport section, in particular:
in order to achieve independent or integrated operation of each independent transport section, the independent transport sections each include: the device comprises a motor, a controller and a photoelectric sensor; the photoelectric sensor is in signal connection with the controller and is used for collecting material information on each independent transportation section and transmitting the material information to the controller; and the controller is used for controlling the steering of the output shaft of the motor after receiving the material information so as to control each independent transportation section to synchronously or independently move along the first transportation direction or the second transportation direction.
In more detail: the material information covers the existence information of the material, and when the photoelectric sensor collects the material information on the linear transport unit 100 or the steering transport unit 200, the controller can control each independent transport section to move along the first transport direction or the second transport direction according to a preset instruction. The photoelectric sensor may include, for example, an infrared receiver and an infrared emitter, and when no material exists, the infrared ray between the infrared receiver and the infrared emitter is in an on state, and when the material exists, the infrared ray between the infrared receiver and the infrared emitter is intercepted by the material, and the material information at this time is the material information.
In the alternative of this embodiment, preferably, the system further includes a switchboard, where the switchboard is communicatively connected to each of the linear transportation units 100 and each of the steering transportation units 200, and is used to control the synchronous movement of each of the linear transportation units 100 and each of the steering transportation units 200. Specifically, the exchange is signal-connected to the controller of each linear transport unit 100 and the controller of the steering transport unit 200. The central exchange can control the movement directions of the linear transport unit 100 and the steering transport unit 200 to be the same and continuous, so as to realize the purpose of synchronous operation.
The switchboard is communicated with each independent transportation section, the switchboard distributes a control strategy, and the linear transportation unit 100 and the steering transportation unit 200 are matched to realize specific functional requirements of clients. Each independent transportation section adopts a stepping motor and a special small PLC to realize control adjustability, and then the photoelectric sensor on each independent transportation section is matched to realize communication and matching with other linear transportation units 100 or steering transportation units 200. Multiple photoelectric sensors can be arranged on the same line segment to realize S-shaped acceleration and deceleration of the line segment, stable start and stop, and forward and backward. For example, in the cyclic feeding example, when the photoelectric sensing section has no material, the feeding request is lifted to the next section, the next section has material, the control speed is quickly and stably transmitted, and the feeding request is sequentially transmitted when the material is not present. If the current straight line section has materials, the materials are in line waiting through the photoelectric sensing condition of the previous section, and if the current straight line section does not have materials, the materials are transferred and fed.
In the alternative of the present embodiment, it is preferable that the steering transportation unit 200 includes an inner guide wheel 210, an outer guide wheel 220, and an arc-shaped conveyor belt 230 for driving the inner guide wheel 210 and the outer guide wheel 220 to move, and the conveyor belt 230 is located between the inner guide wheel 210 and the outer guide wheel 220.
In the alternative of this embodiment, it is preferable that the arc-shaped conveyor belt 230 is provided with an inner guide plate 250 inside, and the inner guide plate 250 is used for limiting the inner turning path of the tray; the outer portion of the arc-shaped conveyor 230 is provided with an outer guide plate 260, and the outer guide plate 260 serves to limit the outer turning path of the tray. Specifically, referring to fig. 10 to 13, the inner guide wheels 210 are spaced along the arcuate conveying path, and the outer guide wheels 220 are spaced along the arcuate conveying path, as shown in fig. 10, the number of outer guide wheels 220 may be set to be smaller than the number of inner guide wheels 210. The rotation axis of either the inner guide wheel 210 or the outer guide wheel 220 is perpendicular to the working surface of the steering transportation unit 200. A movement space of the conveyor belt 230 is formed between the inner guide wheel 210 and the outer guide wheel 220.
In the alternative of this embodiment, preferably, an inner guide plate 250 is disposed inside the arc-shaped conveying path surrounded by the conveying mechanism, and the inner guide plate 250 is used for limiting the inner turning path of the tray; the inner guide plate 250 is provided in a trapezoidal structure, which is located at the center of the area surrounded by the arc structure and has a short side close to the conveying mechanism. More specifically, the trapezoid structure includes a first sloping edge, a lateral edge, and a second sloping edge, and the tray carrying the material contacts the first sloping edge, the lateral edge, and the second sloping edge in sequence as the material moves clockwise in fig. 10. When the material moves in the opposite direction, the tray carrying the material contacts the second beveled edge, the lateral edge, and the first beveled edge in sequence. The outer part of the arc-shaped conveying path surrounded by the conveying mechanism is provided with an outer guide plate 260, and the outer guide plate 260 is used for limiting the outer turning path of the material tray. In more detail, the outer guide plate has an arcuate guide surface having a radius greater than the radius of the arcuate conveying path.
In the alternative of this embodiment, bullseye wheels 270 are preferably disposed between the outer guide plate 260 and the conveyor mechanism, and between the inner guide plate 250 and the conveyor mechanism. The bullseye wheel 270 may rotate about its center for carrying a tray.
In the alternative of this embodiment, it is preferable that the steering transportation unit 200 further includes a steering driving motor 240, and the steering driving motor 240 is disposed at the back of the working platform of the steering transportation unit 200. Specifically, referring to fig. 11, the edge of the steering transportation unit 200 is provided with a first steering wheel and a second steering wheel, a driving wheel is provided at an output shaft of the steering driving motor 240, the front surface of the conveyor belt 230 on the working platform of the steering transportation unit 200 extends from the first steering wheel to the driving wheel connected to the steering driving motor 240, and then extends to the second steering wheel while bypassing the driving wheel, and a plurality of steering wheels may be provided as needed.
In the alternative of the present embodiment, it is preferable that the steering transportation unit 200 is provided with a curved section 201 or a turning section 202. When the steering transportation unit 200 is provided as the curved section 201, the turning angle of the curved transportation path of the curved section 201 is any angle, specifically please refer to fig. 12 and 13. When the turn conveyor unit 200 is provided as the turn section 202, the arc-shaped conveying path of the turn section 202 has a turning angle of 180 °, see fig. 10 and 11 in particular.
In the alternative of this embodiment, it is preferable that the adjacent linear transportation units 100 and the linear units, or the adjacent linear transportation units 100 and the steering transportation unit 200 are connected by mortise and tenon structures. The mortise and tenon structure can adopt a standardized mortise and tenon structure, so that the assembly and disassembly are convenient, and the assembly precision can be ensured.
In combination with embodiment 1 and embodiment 2, the technical effects that this segmented independent control conveyor can achieve are summarized as follows:
each linear transport unit 100 or the turn transport unit 200 may implement independent transport section independent control logic to achieve overall line transport in one direction, but each independent transport section is capable of independent back and forth displacement. Each segment is communicated with an upper computer under the control of an upper material control logic, a material feeding control logic, an operation control logic, a material discharging control logic and a material discharging control logic, and is used for automatically detecting the position of a material tray and judging the working completion condition and automatically carrying out the handover of the material tray between the front section and the rear section.
Specifically: the switchboard is communicated with each independent transportation section, the switchboard distributes a control strategy, and the linear transportation unit 100 and the steering transportation unit 200 are matched to realize specific functional requirements of clients. Each independent transportation section adopts a stepping motor and a special small PLC to realize control adjustability, and then the photoelectric sensor on each independent transportation section is matched to realize communication and matching with other linear transportation units 100 or steering transportation units 200. Multiple photoelectric sensors can be arranged on the same line segment to realize S-shaped acceleration and deceleration of the line segment, stable start and stop, and forward and backward. For example, in the cyclic feeding example, when the photoelectric sensing section has no material, the feeding request is lifted to the next section, the next section has material, the control speed is quickly and stably transmitted, and the feeding request is sequentially transmitted when the material is not present. If the current straight line section has materials, the materials are in line waiting through the photoelectric sensing condition of the previous section, and if the current straight line section does not have materials, the materials are transferred and fed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. A segmented independent control conveyor, comprising a plurality of independent transport segments, the independent transport segments comprising at least a linear transport unit and a diverting transport unit;
a combination between the straight transport unit and the turn transport unit, or a combination between the turn transport unit and the turn transport unit may form a path;
each independent transportation section is provided with a first transportation direction and a second transportation direction which are opposite in direction;
each of the independent transport sections may be independently or entirely operable in a first transport direction or in a second transport direction;
the independent transportation section is provided with a feeding area, a discharging area and an operation area positioned between the feeding area and the discharging area;
the feeding area and the discharging area are respectively used for feeding and discharging, and have the function of buffering materials;
the material tray moves back and forth in the operation area;
the first operation area sensor and the second operation area sensor are sequentially arranged in the transmission direction and are used for indicating the position of the material tray in the operation area;
when the tray is displaced leftwards, the right edge of the tray does not exceed the position right above the first operation area sensor;
when the tray is displaced rightwards, the left edge of the tray does not exceed the position right above the second operation area sensor;
the feeding area is provided with a feeding area jacking mechanism for lifting the material tray off the conveyor belt, and the discharging area is provided with a discharging area jacking mechanism for lifting the material tray off the conveyor belt;
the feeding area is provided with a first feeding area sensor and a second feeding area sensor which are used for indicating positions along the material conveying direction, and the feeding area jacking mechanism is positioned between the first feeding area sensor and the second feeding area sensor;
the blanking area is provided with a first blanking area sensor and a second blanking area sensor which are used for indicating positions along the material conveying direction, and the blanking area jacking mechanism is positioned between the first blanking area sensor and the second blanking area sensor;
the independent transport section includes: the device comprises a motor, a controller and a photoelectric sensor;
the photoelectric sensor is in signal connection with the controller and is used for collecting material information on each independent transportation section and transmitting the material information to the controller;
and the controller is used for controlling the steering of the output shaft of the motor after receiving the material information, so as to control each independent transportation section to synchronously or independently move along the first transportation direction or the second transportation direction.
2. The segmented independently controlled conveyor of claim 1, wherein,
the steering transportation unit comprises an inner guide wheel, an outer guide wheel and an arc-shaped conveying belt used for driving the inner guide wheel and the outer guide wheel to move, and the conveying belt is positioned between the inner guide wheel and the outer guide wheel.
3. The segmented independently controlled conveyor of claim 2, wherein,
an inner guide plate is arranged in the arc-shaped conveying belt and used for limiting the inner turning path of the material tray;
the outside of pitch arc conveyer belt is provided with outside deflector, outside deflector is used for restricting the outside turning path of charging tray.
4. A conveyor system comprising a segmented independent control conveyor according to any one of claims 1-3.
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