A common rail anti-collision multi-axis feeding method, device, equipment and medium

Abstract

The application belongs to the technical field of material processing, and more particularly relates to a common rail anti-collision multi-shaft feeding method, device, equipment and medium. The target working shaft currently performing material exchange is determined based on the priority of a working shaft and a material request signal sent by the working shaft. Whether a transport shaft section between a carrying position and a material exchange position is open is judged. If the transport shaft section is open, a carrying bin moves to the material exchange position of the target working shaft, material exchange is performed with the working material bin, and then the working material bin returns to the working position to start processing. After it is judged that the transport shaft section between the material exchange position and the carrying position is open, the carrying bin returns to the carrying position. When the carrying shaft receives a material request signal again, the above steps are repeated until no material request signal is received. The application has a wide application range and high stability, can allow any number of working shafts to run in an orderly manner, and can also allow any number of carrying bins to run in an orderly manner on the same carrying shaft.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of material processing, and more particularly to a common rail anti-collision multi-axis feeding method, device, equipment and medium. BACKGROUND

[0002] With the development of the times, the types of products are increasing, and the types of equipment for processing products are also increasing. The efficiency, layout, cost performance, control action, long-term operation, and serious accidents such as collision of the equipment become important indicators for measuring the advantages and disadvantages of a device, especially for large and complex automated equipment.

[0003] The higher the complexity of the automated equipment, the more motion axes are used. However, the increase in motion axes will bring a series of problems. In order to reduce the motion axes, the conveying facility is also prone to collision or equipment disorder when moving on the same axis. SUMMARY

[0004] The application provides a common rail anti-collision multi-axis feeding method, device, equipment and medium, which allows the multi-axis common rail equipment to run efficiently and orderly, and avoids collision.

[0005] The technical solution adopted by the application is to provide a common rail anti-collision multi-axis feeding method, which is applied to a common rail anti-collision multi-axis feeding system. The common rail anti-collision multi-axis feeding system includes a conveying shaft and a plurality of working shafts. The working shafts intersect the conveying shaft. The conveying shaft is provided with at least a first conveying bin and a second conveying bin capable of moving along the length direction of the conveying shaft. Each working shaft is provided with a working material bin capable of moving along the length direction of the working shaft.

[0006] The method includes:

[0007] Driving the first conveying bin and the second conveying bin to move to the conveying position of the conveying shaft;

[0008] Obtaining the priority of the plurality of working shafts;

[0009] Receiving a material request signal sent by at least one working shaft, and taking the working shaft with the highest priority among the at least one working shaft sending the material request signal as the target working shaft of the first conveying bin or the second conveying bin;

[0010] Judging whether the transportation shaft section between the conveying position of the conveying shaft and the material exchange position of the target working shaft is open. If so, drive the first conveying bin or the second conveying bin to run to the material exchange position of the target working shaft, and exchange materials with the working material bin of the target working shaft;

[0011] driving the work material bin of the target work shaft to run to the work position of the target work shaft to process material;

[0012] judging whether the transport shaft section between the material change position of the target work shaft and the carrying position of the carrying shaft is open, and if so, driving the first carrying bin or the second carrying bin to move to the carrying position of the carrying shaft to load or unload material;

[0013] judging whether the material request signal sent by at least one of the work shafts is continuously received, and if so, repeating the steps of taking the work shaft with the highest priority among the work shafts sending the material request signal as the target work shaft and the subsequent steps.

[0014] In one of the embodiments, the carrying shaft is sequentially provided with at least a first transport shaft section, a second transport shaft section and a third transport shaft section, and the second transport shaft section and the third transport shaft section are sequentially provided between the material change position of the target work shaft and the carrying position of the carrying shaft.

[0015] The judging whether the transport shaft section between the carrying position of the carrying shaft and the material change position of the target work shaft is open, and if so, driving the first carrying bin or the second carrying bin to run to the material change position of the target work shaft to exchange material with the work material bin of the target work shaft, comprises:

[0016] When the first carrying bin or the second carrying bin is transported on the third transport shaft section, judging whether there is another carrying bin being transported on the first transport shaft section, and if so, judging that the second transport section is not open, and the first carrying bin or the second carrying bin stays on the third transport shaft section; otherwise, judging that the second transport section is open, and driving the first carrying bin or the second carrying bin to run to the material change position of the target work shaft to exchange material with the work material bin of the target work shaft.

[0017] In one of the embodiments, the third transport shaft section is provided with a parking point at the critical point to the second transport shaft section, and when the first carrying bin or the second carrying bin is transported on the third transport shaft section, judging whether there is another carrying bin being transported on the first transport shaft section, and if so, judging that the second transport section is not open, and the first carrying bin or the second carrying bin stays at the parking point.

[0018] In one of the embodiments, the carrying position of the carrying shaft comprises at least a first carrying point and a second carrying point, the first carrying point is used for discharging, and the second carrying point is used for feeding, and the driving the first carrying bin or the second carrying bin to move to the carrying position of the carrying shaft comprises:

[0019] The first carrying bin is driven to move from one end of the carrying shaft to the first carrying point, and the second carrying bin is driven to move from the other end of the carrying shaft to the second carrying point to load the material.

[0020] In one of the embodiments, the carrying shaft is further provided with a third carrying bin capable of moving along the length direction of the carrying shaft, and the carrying position of the carrying shaft further comprises at least a third carrying point, which is arranged between the first carrying point and the second carrying point, and is used for loading or unloading. The first carrying bin is used for loading the work shaft intersecting the carrying shaft between the first carrying point and the third carrying point, the third carrying bin is used for unloading the work shaft intersecting the carrying shaft between the first carrying point and the third carrying point and loading the work shaft intersecting the carrying shaft between the second carrying point and the third carrying point, and the second carrying bin is used for unloading the work shaft intersecting the carrying shaft between the second carrying point and the third carrying point.

[0021] In one of the embodiments, the work shaft is provided with at least two work positions distributed along the length direction of the work shaft, and the work positions on the same work shaft are provided with priorities.

[0022] In one of the embodiments, the receiving of the material request signal sent by at least one of the work shafts comprises the following steps:

[0023] The receiving of the material request signal sent by at least one of the work positions on at least one of the work shafts comprises the following steps:

[0024] In one of the embodiments, the driving of the first carrying bin or the second carrying bin to run to the material exchange position of the target work shaft to exchange materials with the work material bin of the target work shaft comprises the following steps:

[0025] If the work position with the highest priority in the target work shaft sends a loading request signal, the first carrying bin or the second carrying bin is driven to run to the material exchange position of the target work shaft, and the work material bin on the target work shaft is driven to run to the material exchange position to exchange materials, and then the work material bin is driven to the work position with the highest priority in the at least one work position sending the material request signal to exchange materials.

[0026] If the highest priority work station in the target work shaft sends a material request signal, the work material bin is driven to the highest priority work station in the at least one work station sending the material request signal to exchange materials, then the first or second transfer bin is driven to run to the material exchange station of the target work shaft, and the work material bin on the target work shaft is driven to run to the material exchange station to exchange materials.

[0027] The embodiment of the present application also provides a common rail anti-collision multi-axis feeding device, which is applied to a common rail anti-collision multi-axis feeding system, the common rail anti-collision multi-axis feeding system comprising a transfer shaft and a plurality of work shafts, the work shafts intersecting the transfer shaft, the transfer shaft being provided with at least a first transfer bin and a second transfer bin capable of moving along the length direction of the transfer shaft, and each work shaft being provided with a work material bin capable of moving along the length direction of the work shaft;

[0028] The device comprises:

[0029] A material loading and unloading module is configured to drive the first and second transfer bins to move to the transfer station of the transfer shaft.

[0030] A priority acquisition module is configured to acquire the priorities of the plurality of work shafts.

[0031] A request signal receiving module is configured to receive a material request signal sent by at least one work shaft, and take the work station with the highest priority among the at least one work station sending the material request signal as the target work station of the first or second transfer bin.

[0032] An anti-collision obstacle avoidance module is configured to determine whether the transport shaft section between the transfer station of the transfer shaft and the material exchange station of the target work shaft is open, and if so, drive the first or second transfer bin to run to the material exchange station of the target work shaft to exchange materials with the work material bin on the target work shaft, or determine whether the transport shaft section between the material exchange station of the target work shaft and the transfer station of the transfer shaft is open, and if so, drive the first or second transfer bin to move to the transfer station of the transfer shaft to load or unload materials.

[0033] A material processing module is configured to drive the work material bin of the target work shaft to run to the work station of the target work shaft to process materials.

[0034] A circulation module is configured to determine whether the material request signal sent by at least one work shaft is continuously received, and if so, repeat the process of taking the work station with the highest priority among the at least one work station sending the material request signal as the target work station and the subsequent steps.

[0035] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0036] This application embodiment also provides a common rail anti-collision multi-axis feeding control device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0037] The beneficial effects of the common rail anti-collision multi-axis feeding method, apparatus, equipment, and medium provided in this application are as follows: This invention provides a common rail anti-collision multi-axis feeding method, apparatus, equipment, and medium that determines the target working axis for material exchange based on the priority of the working axis and the issued material request signal. It determines whether the transport axis segment between the transport position and the material exchange position is open. If the transport axis segment is open, the transport bin moves to the material exchange position of the target working axis and exchanges materials with the working material bin. Then, the working material bin returns to the working position to start processing. After determining that the transport axis segment between the material exchange position and the transport position is open, the transport bin returns to the transport position. When the transport axis receives another material request signal, the above steps are repeated until no more material request signals are received. This invention has a wide range of applications and strong stability, allowing any number of working axes to operate in an orderly manner, and also allowing any number of transport bins to operate in an orderly manner on the same transport axis. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A schematic diagram of the first embodiment of a common rail anti-collision multi-axis feeding system;

[0040] Figure 2 A schematic diagram of a second embodiment of a common-rail anti-collision multi-axis feeding system;

[0041] Figure 3 This is a schematic diagram of the third embodiment of a common rail anti-collision multi-axis feeding system. Detailed Implementation

[0042] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0043] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0044] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] The technical solution adopted in this application embodiment is: to provide a common rail anti-collision multi-axis feeding method, the method being applied to a common rail anti-collision multi-axis feeding system, the common rail anti-collision multi-axis feeding system including a transport axis and multiple working axes, the working axes intersecting with the transport axis, the transport axis being provided with at least a first transport bin and a second transport bin capable of moving along the length direction of the transport axis, and each of the working axes being provided with a working material bin capable of moving along the length direction of the working axis;

[0047] The method includes:

[0048] Drive the first and second transport bins to the transport position of the transport shaft;

[0049] Obtain the priority of the multiple working axes;

[0050] Receive at least one material request signal from the working axis, and designate the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin;

[0051] Determine whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open. If so, drive the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft.

[0052] The working material bin that drives the target working axis is moved to the working position of the target working axis for material processing;

[0053] Determine whether the transport shaft section between the material changing position of the target working shaft and the transport position of the transport shaft is open. If so, drive the first transport bin or the second transport bin to the transport position of the transport shaft to load or unload materials.

[0054] Determine whether to continue receiving material request signals from at least one of the working axes. If so, repeat the steps of selecting the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis and subsequent steps.

[0055] This embodiment is applied to, for example Figure 1 The system shown includes multiple working axes and one transport axis. The transport axis has at least two transport bins, and each working axis has a transport bin that can move along its length. Points M, K, and J in the figure represent the working positions on working axes 3, 2, and 1, respectively. Point G is the material changing position on working axis 3, point E is the material changing position on working axis 2, and point C is the material changing position on working axis 1. The transport positions on the transport axis include points I and A.

[0056] At the start of feeding or unloading, drive the first transport bin to point I and drive the second transport bin to point A to wait for material request instructions.

[0057] For example, the preset priority of the working axes in this example is "2>1>3". Of course, this priority can also be set according to actual work needs. Some working axes can be blocked or additional working axes can be added. No specific limitation is made here.

[0058] The material request signal is a signal that the working axis requests a material change.

[0059] See Figure 1 At this point, material request signals are issued for work axis 1 to load material, work axis 2 to unload material, and work axis 3 to load material. Based on the acquired priorities, work axis 2 is designated as the target work axis for the first transport bin, and work axis 1 as the target work axis for the second transport bin. Alternatively, in another specific scenario, if material request signals can be issued for work axis 3 to unload material and work axis 1 to load material, based on the acquired priorities, it can be determined that work axis 3 is the target work axis for the first transport bin, and work axis 1 as the target work axis for the second transport bin.

[0060] Once working axis 2 is determined to be the target working axis of the first transport bin, it is determined whether the IE transport axis segment of the transport axis is open. If it is open, the first transport bin is driven to point E to exchange materials with the working bin of working axis 2. The same applies to the second transport bin.

[0061] In one embodiment, the transport shaft is provided with at least a first transport shaft section, a second transport shaft section, and a third transport shaft section in sequence, and at least the second transport shaft section and the third transport shaft section are provided in sequence between the material changing position of the target working shaft and the transport position of the transport shaft;

[0062] The step of determining whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open, and if so, driving the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft, includes:

[0063] When the first or second transport bin is transporting on the third transport shaft segment, it is determined whether there are other transport bins transporting on the first transport shaft segment. If so, it is determined that the second transport segment is not open, and the first or second transport bin remains in the third transport shaft segment. Otherwise, it is determined that the second transport segment is open, and the first or second transport bin is driven to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft.

[0064] Taking working axis 2 as the target working axis of the first transport bin as an example, the first transport bin must pass through the material exchange position of working axis 3 to reach the material exchange position of working axis 2. When passing through the material exchange position of working axis 3, the first transport axis segment is the GF transport axis segment, the second transport axis segment is the HG transport axis segment, and the third transport axis segment is the IH transport axis segment. The first transport bin starts transporting from point I and transports in the IH transport axis segment. If there are other transport bins transporting in the GF transport axis segment at this time, and the HG transport axis segment is not open, the first transport bin will stay in the IH transport axis segment. When there are no other transport bins transporting in the GF transport axis segment, the HG transport axis segment will open, and the first transport bin can then be transported to point G (i.e., the material exchange position of working axis 3). This process continues until the first transport bin is transported to point E (i.e., the material exchange position of working axis 2) to exchange materials with the working material bin of working axis 2, which can either load or unload materials into the working material bin.

[0065] In one embodiment, the critical point between the third transport shaft segment and the second transport shaft segment is set as a docking point. When the first or second transport warehouse is transporting on the third transport shaft segment, it is determined whether there are other transport warehouses transporting on the first transport shaft segment. If so, it is determined that the second transport segment is not open, and the first or second transport warehouse stays at the docking point.

[0066] Taking working axis 3 as the target working axis of the first transport bin as an example. The first transport axis segment is the GF transport axis segment, the second transport axis segment is the HG transport axis segment, the third transport axis segment is the IH transport axis segment, and the docking point is point H. The first transport bin starts transporting from point I. The first transport bin is transported on the IH transport axis segment. If there are other transport bins on the GF transport axis segment at this time, and the HG transport axis segment is not open, the first transport bin will stay at point H. When there are no other transport bins on the GF transport axis segment, the HG transport axis segment will open, and the first transport bin can then be transported from point H to point G (i.e., the material change position of working axis 3).

[0067] In one embodiment, the transport position of the transport shaft includes at least a first transport point and a second transport point, the first transport point being used for unloading and the second transport point being used for loading, and driving the first transport bin and the second transport bin to the transport position of the transport shaft includes:

[0068] The first transport bin is driven to move from one end of the transport shaft to the first transport point, and the second transport bin is driven to move from the other end of the transport shaft to the second transport point to load materials.

[0069] For example, in this instance, point I is a first transport point on the transport axis, and point A is a second transport point on the transport axis. The first transport point and the second transport point are respectively set at both ends of the transport axis.

[0070] In one embodiment, the transport shaft is further provided with a third transport bin that can move along the length direction of the transport shaft. The transport position of the transport shaft also includes at least a third transport point, which is located between the first transport point and the second transport point. The third transport point is used for loading or unloading materials. The first transport bin is used for loading materials onto the working shaft that intersects with the transport shaft between the first and third transport points. The third transport bin is used for unloading materials onto the working shaft that intersects with the transport shaft between the first and third transport points and for loading materials onto the working shaft that intersects with the transport shaft between the second and third transport points. The second transport bin is used for unloading materials onto the working shaft that intersects with the transport shaft between the second and third transport points.

[0071] For example, such as Figure 2As shown, if three working axes are added: working axis 1', working axis 2', and working axis 3', with the material changeover point of working axis 1' being point C', working axis 2' being point E', and working axis 3' being point G', and the first transport point being point I, the second transport point being point A', and the third transport point being point A, the first transport bin is used for loading materials onto working axes 1, 2, and 3; the third transport bin is used for unloading materials onto working axes 1, 2, and 3, as well as for loading materials onto working axes 1', 2', and 3'; and the second transport bin is used for unloading materials onto working axes 1', 2', and 3'. Different transport bins handle material request signals from working axes in different areas, thus improving the efficiency of loading and unloading, and preventing equipment malfunctions due to the addition of working axes and transport points.

[0072] In one embodiment, at least two workstations are provided on the work axis, which are distributed along the length of the work axis, and the workstations on the same work axis are assigned priority.

[0073] In one embodiment, receiving a material request signal from at least one of the working axes, and designating the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin, includes:

[0074] Accept material request signals from at least one work position on at least one work axis, and designate the work axis with the highest priority among the at least one work axes that sent the material request signals as the target work axis of the first or second transport bin.

[0075] In one embodiment, driving the first or second transport bin to the material exchange position of the target working shaft and exchanging materials with the working material bin of the target working shaft includes:

[0076] If the highest priority work station in the target work axis sends a material loading request signal, then the first or second transport bin is driven to the material changing position of the target work axis, and the working material bin on the target work axis is driven to the material changing position to perform material exchange. Then the working material bin is driven to the highest priority work station among the at least one work station that sent the material request signal to perform material exchange.

[0077] If the highest priority work station in the target working axis issues a material unloading request signal, then the working material bin is driven to the highest priority work station among the at least one work station that sent the material request signal to perform material exchange. Then, the first or second transport bin is driven to the material exchange position of the target working axis, and the working material bin on the target working axis is driven to the material exchange position to perform material exchange.

[0078] For example, such as Figure 3 As shown, working axis 3 is the target working axis. Working axis 3 includes working point M and working point M1, with working point M having a higher priority than working point M1. When working point M issues a loading request signal and working point M1 issues a unloading request signal, the first or second transport bin is driven to the material exchange position of working axis 3, and the working material bin on working axis 3 is driven to the material exchange position for material exchange. Then, the working material bin is driven to working point M to load material into working point M.

[0079] This application embodiment also provides a common rail anti-collision multi-axis feeding device. The device is applied to a common rail anti-collision multi-axis feeding system. The common rail anti-collision multi-axis feeding system includes a conveying shaft and multiple working shafts. The working shafts intersect with the conveying shafts. The conveying shafts are provided with at least a first conveying bin and a second conveying bin that can move along the length direction of the conveying shaft. Each working shaft is provided with a working material bin that can move along the length direction of the working shaft.

[0080] The device includes:

[0081] The material loading and unloading module drives the first and second transport bins to the transport position of the transport shaft;

[0082] A priority acquisition module is used to acquire the priority of the multiple working axes;

[0083] The request signal receiving module is used to receive material request signals sent by at least one of the working axes, and to designate the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin.

[0084] The anti-collision and obstacle avoidance module is used to determine whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open. If so, it drives the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft. Alternatively, it is used to determine whether the transport shaft section between the material exchange position of the target working shaft and the transport position of the transport shaft is open. If so, it drives the first transport bin or the second transport bin to the transport position of the transport shaft to load or unload materials.

[0085] A material processing module is used to drive the working material bin of the target working axis to the working position of the target working axis for material processing;

[0086] The loop module is used to determine whether to continue receiving material request signals from at least one of the working axes. If so, it repeats the process of selecting the working axis with the highest priority among the at least one working axis that sent the material request signal as the target working axis and subsequent steps.

[0087] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0088] This application embodiment also provides a common rail anti-collision multi-axis feeding control device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0089] It should be noted that the above-mentioned common rail anti-collision multi-axis feeding method, apparatus, equipment and computer-readable storage medium belong to the same general inventive concept, and the contents of the embodiments of the common rail anti-collision multi-axis feeding method, apparatus, equipment and computer-readable storage medium are applicable to each other.

[0090] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A common-rail anti-collision multi-axis feeding method, characterized in that, The method is applied to a common rail anti-collision multi-axis feeding system, which includes a transport axis and multiple working axes. The working axes intersect with the transport axis. The transport axis is provided with at least a first transport bin and a second transport bin that can move along the length direction of the transport axis. Each working axis is provided with a working material bin that can move along the length direction of the working axis. The method includes: Drive the first and second transport bins to the transport position of the transport shaft; Obtain the priority of the multiple working axes; Receive at least one material request signal from the working axis, and designate the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin; Determine whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open. If so, drive the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft. The working material bin that drives the target working axis is moved to the working position of the target working axis for material processing; Determine whether the transport shaft section between the material changing position of the target working shaft and the transport position of the transport shaft is open. If so, drive the first transport bin or the second transport bin to the transport position of the transport shaft to load or unload materials. Determine whether at least one material request signal from the working axis is still being received. If so, repeat the process of selecting the working axis with the highest priority among the at least one working axis that sent the material request signal as the target working axis and the subsequent steps. The transport shaft is provided with at least a first transport shaft section, a second transport shaft section, and a third transport shaft section in sequence, and at least the second transport shaft section and the third transport shaft section are provided in sequence between the material changing position of the target working shaft and the transport position of the transport shaft; The step of determining whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open, and if so, driving the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft, includes: When the first or second transport bin is transporting on the third transport shaft segment, it is determined whether there are other transport bins transporting on the first transport shaft segment. If so, it is determined that the second transport segment is not open, and the first or second transport bin remains in the third transport shaft segment. Otherwise, it is determined that the second transport segment is open, and the first or second transport bin is driven to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft.

2. The common-rail anti-collision multi-axis feeding method according to claim 1, characterized in that, The critical point between the third transport shaft segment and the second transport shaft segment is set as a docking point. When the first or second transport warehouse is transporting on the third transport shaft segment, it is determined whether there are other transport warehouses transporting on the first transport shaft segment. If so, it is determined that the second transport segment is not open, and the first or second transport warehouse stays at the docking point.

3. The common-rail anti-collision multi-axis feeding method according to claim 1, characterized in that, The transport position of the transport shaft includes at least a first transport point and a second transport point. The first transport point is used for unloading, and the second transport point is used for loading. Driving the first transport bin and the second transport bin to the transport position of the transport shaft includes: The first transport bin is driven to move from one end of the transport shaft to the first transport point to unload materials, and the second transport bin is driven to move from the other end of the transport shaft to the second transport point to load materials.

4. The common-rail anti-collision multi-axis feeding method according to claim 3, characterized in that, The transport shaft is also provided with a third transport bin that can move along the length direction of the transport shaft. The transport position of the transport shaft also includes at least a third transport point. The third transport point is located between the first transport point and the second transport point. The third transport point is used for loading or unloading materials. The first transport bin is used for loading materials onto the working shaft that intersects with the transport shaft between the first transport point and the third transport point. The third transport bin is used for unloading materials onto the working shaft that intersects with the transport shaft between the first transport point and the third transport point, and for loading materials onto the working shaft that intersects with the transport shaft between the second transport point and the third transport point. The second transport bin is used for unloading materials onto the working shaft that intersects with the transport shaft between the second transport point and the third transport point.

5. The common-rail anti-collision multi-axis feeding method according to claim 1, characterized in that, The working axis has at least two working positions distributed along the length of the working axis, and the working positions on the same working axis are assigned priority.

6. The common-rail anti-collision multi-axis feeding method according to claim 5, characterized in that, Receiving a material request signal from at least one of the working axes, and designating the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin, includes: Accept material request signals from at least one work position on at least one work axis, and designate the work axis with the highest priority among the at least one work axes that sent the material request signals as the target work axis of the first or second transport bin.

7. The common-rail anti-collision multi-axis feeding method according to claim 6, characterized in that, The step of driving the first or second transport bin to the material exchange position of the target working shaft and exchanging materials with the working material bin of the target working shaft includes: If the highest priority work station in the target work axis sends a material loading request signal, then the first or second transport bin is driven to the material changing position of the target work axis, and the working material bin on the target work axis is driven to the material changing position to perform material exchange. Then the working material bin is driven to the highest priority work station among the at least one work station that sent the material request signal to perform material exchange. If the highest priority work station in the target working axis issues a material unloading request signal, then the working material bin is driven to the highest priority work station among the at least one work station that sent the material request signal to perform material exchange. Then, the first or second transport bin is driven to the material exchange position of the target working axis, and the working material bin on the target working axis is driven to the material exchange position to perform material exchange.

8. A common-rail anti-collision multi-axis feeding device, characterized in that, The device employs the method described in any one of claims 1-7. The device is applied to a common rail anti-collision multi-axis feeding system. The common rail anti-collision multi-axis feeding system includes a conveying shaft and multiple working shafts. The working shafts intersect with the conveying shafts. At least a first conveying bin and a second conveying bin capable of moving along the length direction of the conveying shaft are provided on the conveying shafts. Each working shaft is provided with a working material bin capable of moving along the length direction of the working shaft. The device includes: The material loading and unloading module drives the first and second transport bins to the transport position of the transport shaft; A priority acquisition module is used to acquire the priority of the multiple working axes; The request signal receiving module is used to receive material request signals sent by at least one of the working axes, and to designate the working axis with the highest priority among the at least one working axes that sent the material request signal as the target working axis of the first or second transport bin. The anti-collision and obstacle avoidance module is used to determine whether the transport shaft section between the transport position of the transport shaft and the material exchange position of the target working shaft is open. If so, it drives the first transport bin or the second transport bin to the material exchange position of the target working shaft to exchange materials with the working material bin of the target working shaft. Alternatively, it is used to determine whether the transport shaft section between the material exchange position of the target working shaft and the transport position of the transport shaft is open. If so, it drives the first transport bin or the second transport bin to the transport position of the transport shaft to load or unload materials. A material processing module is used to drive the working material bin of the target working axis to the working position of the target working axis for material processing; The loop module is used to determine whether to continue receiving material request signals from at least one of the working axes. If so, it repeats the process of selecting the working axis with the highest priority among the at least one working axis that sent the material request signal as the target working axis and subsequent steps.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. A common-track anti-collision multi-axis feeding control device, comprising a memory and a processor, characterized in that, The memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

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