An EMS conveyor line system based on a hanger transfer device and a control method thereof

Abstract

The present invention provides an EMS conveyor line system based on a sling transfer hanging device and a control method thereof, the system comprising an upper piece module, a lower piece module and a storage module, the upper piece module and the lower piece module respectively comprising a relatively independent and annularly closed first busbar and a second busbar and a plurality of trolleys running along the busbars, a storage module is arranged between the two busbars, the storage module is provided with an empty track storage area and a belt storage area, both storage areas are equipped with one or more sling transfer hanging devices to complete the merging and separation of the trolley and the sling; the upper piece module completes the transfer hanging merging of the sling and the trolley in the empty track storage area, and completes the separation transfer hanging of the sling and the trolley in the belt storage area; the lower piece module completes the transfer hanging merging of the sling and the trolley in the belt storage area, and completes the separation transfer hanging of the sling and the trolley in the empty track storage area. The present invention effectively avoids the mutual influence of upstream and downstream production lines due to failures by systematically designing upper piece modules and lower piece modules with independent circulation.

Description

Technical Field

[0001] The present invention relates to the technical field of parts conveyor lines in production workshops, and in particular to a novel EMS conveyor line system based on a hanger transfer device and a control method thereof. Background Art

[0002] In the modern world, the automobile manufacturing industry is booming. As the most complex part of automobile technology, the welding production line uses technology that is changing with each passing day. At present, the parts conveyor line in the welding workshop mainly uses the EMS conveyor line. The traditional EMS conveyor line is composed of a busbar system and a trolley. The trolley and the sling cannot be separated, and each trolley can only transport one part. This method has three disadvantages: 1. When increasing the parts reserve, it is necessary to increase the corresponding number of trolleys, as well as a large number of aerial steel structures and busbars, which greatly increases the construction time and cost; 2. Since the storage parts can only be placed parallel to the busbar, a lot of space is wasted; 3. Since the aerial busbar connects the upper and lower parts ports of the parts at the same time, it is easy to cause the upstream and downstream production lines to affect each other due to failures.

[0003] Invention patent content

[0004] The purpose of the present invention is to overcome the shortcomings of the traditional EMS conveyor line and design a new EMS conveyor line structure based on a hanger transfer device with low cost, high reserve and high opening rate and its control method. The purpose of the present invention is achieved through the following technical solutions:

[0005] The present invention first provides an EMS conveyor line system based on a hanger transfer hanging device, which includes an upper module, a lower module and a storage module, wherein the upper module includes a relatively independent and annularly closed first busbar and a plurality of trolleys running along the first busbar, the lower module includes a relatively independent and annularly closed second busbar and a plurality of trolleys running along the second busbar, a storage module is arranged between the first busbar and the second busbar, and the storage module is provided with an empty track storage area and a belt storage area, and the empty track storage area and the belt storage area are both equipped with One or more sets of sling transfer devices are provided, which are used to complete the transfer and merging and / or separate transfer and hanging of the trolley and the sling; the trolley of the upper module completes the transfer and merging of the sling and the trolley along the first busbar via the sling transfer device in the empty channel storage area, and completes the separate transfer and hanging of the sling and the trolley via the sling transfer device in the belt storage area; the trolley of the lower module completes the transfer and merging of the sling and the trolley along the second busbar via the sling transfer device in the belt storage area, and completes the separate transfer and hanging of the sling and the trolley via the sling transfer device in the empty channel storage area.

[0006] Furthermore, each set of sling transfer and hanging device includes a transfer and hanging actuator and a conveying mechanism. The transfer and hanging actuator includes a lifting mechanism and a fixing mechanism. The lifting mechanism drives the trolley to rise or fall, and the fixing mechanism is used to lock the trolley in a specific position to prevent the trolley from moving along the busbar or the conveying mechanism; the conveying mechanism in the empty channel storage area transports the empty sling separated from the trolley in the lower piece module to the upper piece module, and the conveying mechanism in the belt storage area transports the belt sling separated from the trolley in the upper piece module to the lower piece module.

[0007] Furthermore, each set of sling transfer and hanging device includes two groups of transfer and hanging actuators and a conveying mechanism. The trolley of the upper module is suspended along the first busbar and passes through the first end of the conveying mechanism, and the trolley of the lower module is suspended along the second busbar and passes through the second end of the conveying mechanism. One group of transfer and hanging actuators is suspended above the first end of the conveying mechanism, and another group of transfer and hanging actuators is suspended above the second end of the conveying mechanism.

[0008] Furthermore, the first closed loop-shaped busbar comprises a first bus and a plurality of first parting lines connected in parallel, each of the first parting lines is connected in series with the first bus to form a closed loop circuit, the loading module is provided with a loading port at the first end where the first bus and the first parting line are connected, and a first vehicle type identification device is provided on the first bus in the downstream direction of the loading port; the second closed loop-shaped busbar comprises a second bus and a plurality of second parting lines connected in parallel, each of the second parting lines is connected in series with the second bus to form a closed loop circuit, the second bus is branched into a plurality of second parting lines at its first end, and the plurality of second parting lines are gathered and connected at the second end of the second bus; the empty aisle storage area stores general hoists, and the empty aisle storage area is located between the first bus and the second bus; the belt storage area stores belt hoists, and the belt storage area is located between the first parting line and the second parting line, and the belt storage area is provided with the same number of parting lines as the first parting lines The first parting line is suspended at the first end of the corresponding parting storage lane, and the second parting line is suspended at the second end of the corresponding parting storage lane; the trolley of the loading module runs along the first bus and loads the parts at the loading port, and then continues to slide along different first parting lines to the first end of the corresponding parting storage lane according to the recognition result after passing through the first vehicle type recognition device, and completes the separation and transfer of the belt hanger and the trolley through the transfer execution mechanism, and the belt hanger after separation and transfer is transported to the corresponding second parting line of the unloading module through the conveying mechanism of the corresponding parting storage lane; the trolley of the unloading module passes through the transfer execution mechanism of the belt storage area to complete its transfer and merger with the belt hanger to form a belt hanger trolley, and the belt hanger trolley of the unloading module runs along the second parting line to the unloading port to unload the parts.

[0009] Furthermore, the second busbar also includes a second bus bar which, after converging and merging at the second parting line, divides again into a rotary parting line, an empty hoist straight return parting line and a lower piece parting line which are arranged in parallel, wherein the empty hoist straight return parting line and the lower piece parting line converge and merge at the third end of the second bus bar, and the second bus bar runs from the third end to the first end through the second end of the empty aisle storage area, and the second bus bar is located at the second end downstream of the second parting line and upstream of the lower piece port, and is provided with a second vehicle model identification device, and the first end of the second bus bar is provided with a third vehicle model identification device, and after the trolley with the parts passes through the second vehicle model identification device, it runs along the lower piece parting line to the lower piece port and then to the third end of the second bus bar, runs directly to the third end of the second bus bar along the hanger straight return parting line, and enters the second parting line again along the rotary parting line to the third vehicle model identification device according to the identification results; preferably, the first busbar includes no less than three first parting lines, and the second busbar includes no less than three second parting lines.

[0010] Furthermore, a photoelectric identification switch is provided at the sling transfer device for identifying whether the trolley carries the sling.

[0011] Furthermore, the conveying system also includes an EHB automatic control system.

[0012] The present invention also provides a control method for an EMS conveyor line system, which adopts the aforementioned EMS conveyor line system, and the control method comprises the following steps:

[0013] Step 1: Loading the empty lifting trolley of the loading module:

[0014] The empty lifting trolley runs along the first bus of the first busbar to the loading port of the loading module, the loading port lifting mechanism carries the empty lifting trolley down to the position, the ground robot puts the parts on the empty lifting trolley, and the loading lifting mechanism carries the lifting trolley up to the position, and step 2 is executed;

[0015] Step 2: Diversion of empty lifting trolleys in loading module:

[0016] The lifting device with parts runs along the first bus of the loading module to the first vehicle type identification device. After identifying the vehicle type, the lifting device with parts runs along the first parting lines corresponding to different vehicle types to the first end of the corresponding parting storage lane of the belt storage area according to the identification result, and step 3 is executed;

[0017] Step 3: Separate and re-hang the loading module with the lifting device trolley:

[0018] The transfer actuator in the belt storage area separates the belt hanger from the trolley, and the belt hanger is placed on the conveying member of the corresponding parting storage lane. The trolley runs along the first parting line until it leaves the belt storage area, and steps 4 and 5 are executed;

[0019] Step 4: Return cycle of empty carriage of loading module:

[0020] The empty trolley separated in step 3 runs along the first parting line to the first bus and then enters the first end of the empty aisle storage area. The empty spreader in the empty aisle storage area is merged with the empty trolley through the transfer actuator to form an empty spreader trolley. The empty spreader trolley after transfer and merger continues to run along the first bus and leaves the empty aisle storage area, and step 1 is executed;

[0021] Step 5: The lifting device with parts is transferred from the upper module to the lower module:

[0022] The belt hanger separated in step 3 is transported to the transfer and hanging actuator at the second end of the belt storage area through the conveying mechanism of the corresponding sub-type storage channel, and step 6 is executed;

[0023] Step 6: Combine the lower module hoist and the trolley:

[0024] The empty trolley in the unloading module enters the second end of the corresponding parting lane of the belt storage area along the second parting line of the second busbar, and the transfer and hanging actuator at the location completes the transfer and hanging merging of the belt sling and the trolley. The trolley with the belt sling continues to run along the second parting line and leaves the sling transfer and hanging device, and step 7 is executed;

[0025] Step 7: Arrange the order of the next module outgoing vehicle:

[0026] EHB receives the vehicle model sequence from the ground, and dispatches the corresponding vehicle model's lifting equipment trolleys in sequence in advance, and proceeds to step 8;

[0027] Step 8: The unloading module with the lifting device trolley is used to unload the parts:

[0028] The trolley with parts runs to the second vehicle type identification device of the unloading module. If it is identified as an empty trolley with parts, it passes through the turnout and runs along the empty trolley straight back parting line to the second end of the empty track storage area, and executes step 9; if it is identified as a trolley with parts and the vehicle type is correct, it enters the unloading port via the unloading parting line, the unloading port elevator descends to its position, the ground robot grabs the parts from the trolley with parts, and the unloading elevator rises to its position, and executes step 9; if it is a trolley with parts, but the vehicle type is incorrect, it passes through the turnout and runs along the rotary parting line to the third vehicle type identification device of the unloading module for vehicle type identification, and the trolley with parts enters the corresponding trolley transfer device at the second end of the unloading storage area along the corresponding second parting line, and the vehicle is re-delivered, and step 7 is re-executed;

[0029] Step 9: Return cycle of the unloading module trolley:

[0030] After unloading in step 8, the empty sling trolley runs along the second bus to the empty aisle storage area, and the empty sling and the trolley are separated and transferred through the transfer actuator. The separated empty sling is placed on the conveying component in the empty aisle storage area and transported to the loading module. The trolley of the unloading module leaves the empty aisle storage area along the second busbar bus, and step 6 is executed.

[0031] Furthermore, the transfer and merger process includes the following steps:

[0032] Step B1: The spreader trolley runs along the busbar to the transfer and merging area where the transfer and merging can be completed, and the photoelectric switch is used to identify whether it is carrying a spreader. If not, it stops at a predetermined position and executes step 2. Otherwise, it executes step 6.

[0033] Step B2: Start the motor of the trolley fixing mechanism, the trolley fixing mechanism descends into place, locks the sling trolley, and executes step 3;

[0034] Step B3: Start the motor of the lifting mechanism, the lifting mechanism descends to its proper position, and then execute step 4;

[0035] Step B4: Start the motor of the conveying mechanism, and the conveying mechanism transports the slings in the empty aisle storage area or the belt storage area to the trolley, and execute step 5;

[0036] Step B5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, the trolley and the sling are combined, and then go to step 6;

[0037] Step B6: The trolley with the sling leaves the transfer and merging area along the first busbar or the second busbar.

[0038] Furthermore, the separation and transfer process includes the following steps:

[0039] Step F1: The spreader trolley runs to the separation transfer area where the spreader can be separated from the trolley, and the photoelectric switch is used to identify whether it is carrying a spreader. If so, it stops at a predetermined position and executes step 2. Otherwise, it executes step F6.

[0040] Step F2: Start the motor of the trolley fixing mechanism, the trolley fixing mechanism descends into place, locks the sling trolley, and executes step F3;

[0041] Step F3: Start the motor of the lifting mechanism, and the lifting mechanism descends to its position; at this time, the spreader and the trolley are separated, and the spreader is placed on the conveying mechanism, and step F4 is executed;

[0042] Step F4: Start the motor of the conveying mechanism, and the conveying mechanism transports the sling to the empty channel storage area or the belt storage area, and execute step F5;

[0043] Step F5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, and then execute step F6.

[0044] Step F6: The empty trolley leaves the separate hanger transfer area along the busbar.

[0045] The beneficial effects of the present invention are:

[0046] 1. The detachable design of the spreader and the trolley shortens the one-way application cycle of each trolley and spreader, thus improving the overall work efficiency;

[0047] 2. Through systematic design and layout, the space utilization rate of the workshop is effectively improved, and the overall construction cost and subsequent maintenance cost are reduced;

[0048] 3. The loading and unloading modules are designed with independent cycles to separate the loading and unloading ports from each other, effectively avoiding the mutual influence of upstream and downstream production lines due to failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Shown is a preferred EMS conveyor line system structure diagram of the present invention;

[0050] Figure 2 Shown is a schematic diagram of a sling transfer device;

[0051] Figure 3 Shown Figure 2 A schematic diagram of the top view of the structure of the middle spreader transfer device;

[0052] Figure 4 The figure shows the flow chart of the EHB automatic control system controlling the upper parts;

[0053] Figure 5 The figure shows the flow chart of the EHB automatic control system controlling the following parts;

[0054] Figure 6 The figure shows the flow chart of the EHB automatic control system controlling the separation and transfer of the spreader and the trolley;

[0055] Figure 7 The figure shows the flow chart of the EHB automatic control system controlling the sling and trolley transfer and merging. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0057] The present embodiment first provides an EMS conveyor line system based on a sling transfer hanging device, which includes an upper module U, a lower module D and a storage module. The upper module U includes a relatively independent and annularly closed first busbar L1 and a plurality of trolleys running along the first busbar. The lower module D includes a relatively independent and annularly closed second busbar L2 and a plurality of trolleys running along the second busbar. A storage module is arranged between the first busbar L1 and the second busbar L2. The storage module is provided with an empty aisle storage area C1 and a belt storage area C2. Both the empty aisle storage area and the belt storage area are equipped with one or more sets of sling transfer hanging devices 3. The sling transfer hanging device Device 3 is used to complete the transfer and merging of the trolley and the sling and / or separate transfer and merging. The sling transfer device is provided with a photoelectric identification switch (not shown in the figure) to identify whether the trolley carries a sling; the trolley of the upper module U completes the transfer and merging of the sling and the trolley along the first busbar L1 via the sling transfer device in the empty storage area C1, and completes the separate transfer and merging of the sling and the trolley via the sling transfer device in the belt storage area C2; the trolley of the lower module D completes the transfer and merging of the sling and the trolley along the second busbar L2 via the sling transfer device in the belt storage area C2, and completes the separate transfer and merging of the sling and the trolley via the sling transfer device in the empty storage area C1. The entire conveyor line device is controlled by the EHB conveyor line automatic control system.

[0058] Each set of the sling transfer device includes a transfer actuator 31 and a conveying mechanism 32. Figure 2 and Figure 3 As shown, the transfer and hanging actuator 31 includes a lifting mechanism 311 and a fixing mechanism 312. The lifting mechanism 311 drives the trolley to rise or fall, and the fixing mechanism 312 is used to lock the trolley in a specific position to prevent the trolley from moving along the busbar or the conveying mechanism; the conveying mechanism 32 of the empty channel storage area C1 conveys the empty sling separated from the trolley in the lower piece module to the upper piece module, and the conveying mechanism 32 of the belt storage area C2 conveys the belt sling separated from the trolley in the upper piece module to the lower piece module.

[0059] In a preferred embodiment, each set of sling transfer hanging device 3 includes two groups of transfer hanging actuators 31 and a conveying mechanism 32. The trolley of the upper module U is suspended along the first busbar and passes through the first end of the conveying mechanism 32. The trolley of the lower module D is suspended along the second busbar and passes through the second end of the conveying mechanism 32. A group of transfer hanging actuators is suspended above the first end of the conveying mechanism, and another group of transfer hanging actuators is suspended above the second end of the conveying mechanism.

[0060] In a preferred embodiment, the first closed loop-shaped busbar L1 includes a first bus and a plurality of first parting lines L11 connected in parallel, each of which is connected in series with the first bus to form a closed loop circuit, and the loading module is provided with a loading port at the first end where the first bus and the first parting line are connected, and a first vehicle type identification device S1 is provided on the first bus in the downstream direction of the loading port; the second closed loop-shaped busbar L2 includes a second bus and a plurality of second parting lines L21 connected in parallel, each of which is connected in series with the second bus to form a closed loop circuit, and the second bus is branched into a plurality of second parting lines at its first end, and the plurality of second parting lines are converged and connected at the second end of the second bus; the empty channel storage area C1 stores general slings, and the empty channel storage area is located between the first bus and the second bus; the belt storage area C2 stores belt slings, and the belt storage area is located between the first parting line and the second parting line, and the belt storage area is provided with a first parting line The same number of parting storage lanes, each first parting line L11 corresponds to a second parting line L21 through a parting storage lane, a group of transfer actuators 31 are respectively arranged at both ends of each parting storage lane, the first parting line is suspended at the first end of the corresponding parting storage lane, and the second parting line is suspended at the second end of the corresponding parting storage lane; the trolley of the loading module runs along the first bus and loads the parts at the loading port, and then continues to slide along different first parting lines to the first end of the corresponding parting storage lane according to the recognition result after passing through the first vehicle type recognition device S1, and completes the separation and transfer of the belt hanger and the trolley through the transfer actuator, and the separated and transferred belt hanger is transported to the corresponding second parting line of the unloading module through the conveying mechanism of the corresponding parting storage lane; the trolley of the unloading module passes through the transfer actuator of the belt storage area to complete its transfer and merger with the belt hanger to form a belt hanger trolley, and the belt hanger trolley of the unloading module runs along the second parting line to the unloading port to unload the parts.

[0061] In a preferred embodiment, the second busbar L2 also includes a rotary parting line L22, an empty hoist straight return parting line L24 and a lower parting line L23, which are arranged in parallel and are divided again after the second busbar converges and merges at the second parting line, wherein the empty hoist straight return parting line L24 and the lower parting line L23 converge and merge at the third end of the second busbar, and the second busbar runs from the third end to the first end through the second end of the empty channel storage area, and the second busbar is located at the second end of the downstream of the second parting line and the upstream direction of the lower parting port. A second vehicle type identification device S2 is provided at the second end of the second busbar, and a third vehicle type identification device S3 is provided at the first end of the second busbar. After the trolley with the parts passes through the second vehicle type identification device S2, it runs along the lower parting line L23 to the lower parting port and then runs to the third end of the second busbar according to the identification result, or runs directly to the third end of the second busbar along the hanger straight return parting line L24, runs along the rotary parting line L22 to the third vehicle type identification device S3, and then enters the second parting line L22 again; Figure 1In the embodiment shown, the first busbar includes three first parting lines, the second busbar includes no less than three second parting lines, and accordingly, the belt storage area is provided with three parting storage lanes and corresponding three sets of sling transfer devices. In other embodiments, the number of first parting lines, second parting lines and parting storage lanes can be adjusted and laid out according to the specific application requirements of the workshop.

[0062] In this embodiment, the control method of the EMS conveyor line system further includes the following steps:

[0063] Step 1: Loading the empty lifting trolley of the loading module:

[0064] The empty lifting trolley runs along the first bus of the first busbar L1 to the loading port of the loading module, the loading port lifting mechanism carries the empty lifting trolley down to the position, the ground robot puts the parts on the empty lifting trolley, and the loading lifting mechanism carries the lifting trolley up to the position, and step 2 is executed;

[0065] Step 2: Diversion of empty lifting trolleys in loading module:

[0066] The lifting device with parts runs along the first bus of the loading module to the first vehicle type identification device S1. After identifying the vehicle type, the lifting device with parts runs along the first parting line L11 corresponding to different vehicle types to the first end of the corresponding parting storage track of the belt storage area C2 according to the identification result, and step 3 is executed;

[0067] Step 3: Separate and re-hang the loading module with the lifting device trolley:

[0068] The transfer actuator 31 of the belt storage area separates the belt hanger from the trolley, and the belt hanger is placed on the conveying mechanism 32 of the corresponding parting storage lane. The trolley runs along the first parting line until it leaves the belt storage area, and steps 4 and 5 are executed;

[0069] Step 4: Return cycle of empty carriage of loading module:

[0070] The empty trolley separated in step 3 runs along the first parting line to the first bus and then enters the first end of the empty aisle storage area. The empty spreader in the empty aisle storage area is merged with the empty trolley through the transfer actuator to form an empty spreader trolley. The empty spreader trolley after transfer and merger continues to run along the first bus and leaves the empty aisle storage area, and step 1 is executed;

[0071] So far, the previous steps (such as Figure 4As shown in the figure, in the embodiment with three classification storage lanes, the control logic of step 2 is: the first vehicle type recognition device S2 determines whether the vehicle type of the parts it carries is vehicle type X1, if so, the trolley with the parts hoist enters the classification storage lane (X1 lane) corresponding to vehicle type X1; if not, it further determines whether the parts it carries are vehicle type X2, if so, it enters the classification storage lane (X2 lane) corresponding to vehicle type X2, if not, it enters the classification storage lane (X3 lane) corresponding to vehicle type X3.

[0072] The following are the next steps in the control process (such as Figure 5 shown):

[0073] Step 5: The lifting device with parts is transferred from the upper module to the lower module:

[0074] The belt hanger separated in step 3 is transported to the transfer and hanging actuator at the second end of the belt storage area through the conveying mechanism of the corresponding sub-type storage channel, and step 6 is executed;

[0075] Step 6: Combine the lower module hoist and the trolley:

[0076] The empty trolley in the unloading module enters the second end of the corresponding parting lane of the belt storage area along the second parting line L21 of the second busbar L2, and the transfer and hanging actuator there completes the transfer and hanging of the belt sling and the trolley, and the trolley with the belt sling continues to run along the second parting line and leaves the sling transfer and hanging device, and step 7 is executed;

[0077] Step 7: Arrange the order of the next module outgoing vehicle:

[0078] EHB receives the vehicle model sequence from the ground, and dispatches the corresponding vehicle model's lifting equipment trolleys in sequence in advance, and proceeds to step 8;

[0079] Step 8: The unloading module with the lifting device trolley is used to unload the parts:

[0080] The trolley with parts runs to the second vehicle type identification device S2 of the unloading module. If it is identified as an empty trolley with parts, it passes through the turnout and runs along the empty trolley straight return parting line L24 to the second end of the empty track storage area, and executes step 9; if it is identified as a trolley with parts and the vehicle type is correct, it enters the unloading port via the unloading parting line L23, the unloading port elevator descends to its position, the ground robot grabs the parts from the trolley with parts, and the unloading elevator rises to its position, and executes step 9; if it is a trolley with parts, but the vehicle type is incorrect, it passes through the turnout and runs along the rotary parting line L22 to the third vehicle type identification device S3 of the unloading module for vehicle type identification, and the trolley with parts enters the corresponding trolley transfer device at the second end of the belt storage area along the corresponding second parting line, and the vehicle is unloaded again, and step 7 is re-executed;

[0081] Step 9: Return cycle of the unloading module trolley:

[0082] After unloading in step 8, the empty sling trolley runs along the second bus to the empty aisle storage area, and the empty sling and the trolley are separated and transferred through the transfer actuator. The separated empty sling is placed on the conveying component in the empty aisle storage area and transported to the loading module. The trolley of the unloading module leaves the empty aisle storage area along the second busbar bus, and step 6 is executed.

[0083] In an embodiment of the present invention, the transfer and merger process includes the following steps (eg Figure 7 shown):

[0084] Step B1: The spreader trolley runs along the busbar to the transfer and merging area where the transfer and merging can be completed, and the photoelectric switch is used to identify whether it is carrying a spreader. If not, it stops at a predetermined position and executes step 2. Otherwise, it executes step 6.

[0085] Step B2: start the motor M2 of the trolley fixing mechanism, the trolley fixing mechanism 312 is lowered into place, the sling trolley is locked, and step 3 is executed;

[0086] Step B3: Start the motor M1 of the lifting mechanism, the lifting mechanism 311 descends to its position, and execute step 4;

[0087] Step B4: start the motor M3 of the conveying mechanism, and the conveying mechanism 32 transports the slings in the empty channel storage area or the belt storage area to the trolley, and execute step 5;

[0088] Step B5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, the trolley and the sling are combined, and then go to step 6;

[0089] Step B6: The trolley with the sling leaves the transfer and merging area along the first busbar or the second busbar.

[0090] The separation and transfer process includes the following steps (such as Figure 6 shown):

[0091] Step F1: The spreader trolley runs to the separation transfer area where the spreader can be separated from the trolley, and the photoelectric switch is used to identify whether it is carrying a spreader. If so, it stops at a predetermined position and executes step 2. Otherwise, it executes step F6.

[0092] Step F2: start the motor M2 of the trolley fixing mechanism, the fixing mechanism 312 descends to its position, locks the sling trolley, and executes step F3;

[0093] Step F3: Start the motor M1 of the lifting mechanism, and the lifting mechanism 311 descends to its position; at this time, the sling and the trolley are separated, and the sling is placed on the conveying mechanism 32, and step F4 is executed;

[0094] Step F4: Start the motor M3 of the conveying mechanism, and the conveying mechanism 32 transports the sling to the storage lane of the empty lane storage area or the belt storage area, and execute step F5;

[0095] Step F5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, and then execute step F6.

[0096] Step F6: The empty trolley leaves the separate hanger transfer area along the busbar.

[0097] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention. The dimensions described in the drawings and embodiments are not related to the specific objects and are not used to limit the protection scope of the present invention. The dimensions of the objects can be selected and changed according to actual needs.

Claims

1. An EMS conveyor line system based on a hanger transfer device, characterized in that: It comprises an upper piece module, a lower piece module and a storage module, wherein the upper piece module comprises a relatively independent and annularly closed first busbar and a plurality of trolleys running along the first busbar, the lower piece module comprises a relatively independent and annularly closed second busbar and a plurality of trolleys running along the second busbar, a storage module is arranged between the first busbar and the second busbar, the storage module is provided with an empty track storage area and a belt storage area, the empty track storage area and the belt storage area are both provided with one or more sets of sling transfer and hanging devices, and the sling transfer and hanging devices are used to complete the transfer and hanging merging and / or separate transfer and hanging of the trolley and the sling; The trolley of the loading module is connected along the first busbar via the sling transfer device in the empty channel storage area to complete the transfer and merging of the sling and the trolley, and the sling and the trolley are separated and transferred via the sling transfer device in the belt storage area; The trolley of the lower module is connected along the second busbar via the sling transfer device in the belt storage area to complete the transfer and merging of the sling and the trolley, and is connected via the sling transfer device in the empty channel storage area to complete the separation and transfer of the sling and the trolley.

2. The EMS conveyor line system based on the hanger transfer device according to claim 1 is characterized in that: Each set of sling transfer and hanging device includes a transfer and hanging actuator and a conveying mechanism. The transfer and hanging actuator includes a lifting mechanism and a fixing mechanism. The lifting mechanism drives the trolley to rise or fall, and the fixing mechanism is used to lock the trolley in a specific position to prevent the trolley from moving along the busbar or the conveying mechanism. The conveying mechanism in the empty channel storage area transports the empty sling separated from the trolley in the lower piece module to the upper piece module, and the conveying mechanism in the belt storage area transports the belt sling separated from the trolley in the upper piece module to the lower piece module.

3. The EMS conveyor line system based on the hanger transfer device according to claim 2 is characterized in that: Each set of sling transfer and hanging device includes two groups of transfer and hanging actuators and a conveying mechanism. The trolley of the upper module is suspended along the first busbar and passes through the first end of the conveying mechanism. The trolley of the lower module is suspended along the second busbar and passes through the second end of the conveying mechanism. One group of transfer and hanging actuators is suspended above the first end of the conveying mechanism, and another group of transfer and hanging actuators is suspended above the second end of the conveying mechanism.

4. The EMS conveyor line system based on the hanger transfer device according to claim 3 is characterized in that: The first closed loop busbar includes a first busbar and a plurality of first parting lines connected in parallel, each first parting line is connected in series with the first busbar to form a closed loop circuit, the loading module is provided with a loading port at the first end where the first busbar and the first parting line are connected, and a first vehicle type identification device is provided on the first busbar in the downstream direction of the loading port; The annular closed second busbar includes a second bus bar and a plurality of second parting lines connected in parallel, each second parting line is connected in series with the second bus bar to form a closed annular line, the second bus bar is divided into a plurality of second parting lines at its first end, and the plurality of second parting lines are gathered and connected at the second end of the second bus bar; The empty channel storage area stores universal spreaders, and the empty channel storage area is located between the first bus and the second bus; The belt storage area stores belt hangers, the belt storage area is located between the first parting line and the second parting line, the belt storage area is provided with parting storage lanes having the same number as the first parting lines, each first parting line corresponds to a second parting line through a parting storage lane, a group of transfer and hanging actuators are respectively provided at both ends of each parting storage lane, the first parting line is suspended at the first end of the corresponding parting storage lane, and the second parting line is suspended at the second end of the corresponding parting storage lane; The trolley of the loading module runs along the first bus and loads the parts at the loading port, and then continues to slide along different first parting lines to the first end of the corresponding parting storage channel after passing through the first vehicle type recognition device according to the recognition result, and completes the separation and transfer of the belt hanger and the trolley through the transfer actuator, and the belt hanger after separation and transfer is transported to the corresponding second parting line of the unloading module through the conveying mechanism of the corresponding parting storage channel; the trolley of the unloading module passes through the transfer actuator of the belt storage area to complete its transfer and merger with the belt hanger to form a belt hanger trolley, and the belt hanger trolley of the unloading module runs along the second parting line to the unloading port to unload the parts.

5. The EMS conveyor line system based on the hanger transfer device according to claim 4 is characterized in that: The second busbar also includes a second bus which, after converging and merging at the second parting line, divides again into a rotary parting line, an empty hoist straight return parting line and a lower piece parting line which are arranged in parallel, wherein the empty hoist straight return parting line and the lower piece parting line are converged and merged at the third end of the second busbar, and the second busbar runs from the third end to the first end through the second end of the empty channel storage area, and a second vehicle model identification device is provided at the second end of the second busbar which is located downstream of the second parting line and upstream of the lower piece port, and a third vehicle model identification device is provided at the first end of the second busbar. After passing through the second vehicle model identification device, the trolley with the hoist runs along the lower piece parting line to the lower piece port and then to the third end of the second busbar, runs directly to the third end of the second busbar along the hoist straight return parting line, and enters the second parting line again along the rotary parting line to the third vehicle model identification device.

6. The EMS conveyor line system based on the hanger transfer device according to claim 5 is characterized in that: The first busbar includes no less than three first parting lines, and the second busbar includes no less than three second parting lines.

7. The EMS conveyor line system based on the hanger transfer device according to claim 5 is characterized in that: A photoelectric identification switch is provided at the sling transfer device to identify whether the trolley is carrying a sling.

8. The EMS conveyor line system based on the hanger transfer device according to claim 7 is characterized in that: Also includes EHB automatic control system.

9. A control method for an EMS conveyor line system, which adopts the EMS conveyor line system according to claim 8, characterized in that: The control method comprises the following steps: Step 1: Loading the empty lifting trolley of the loading module: The empty lifting trolley runs along the first bus of the first busbar to the loading port of the loading module, the loading port lifting mechanism carries the empty lifting trolley down to the position, the ground robot puts the parts on the empty lifting trolley, and the loading lifting mechanism carries the lifting trolley up to the position, and step 2 is executed; Step 2: Diversion of empty lifting trolleys in loading module: The lifting device with parts runs along the first bus of the loading module to the first vehicle type identification device. After identifying the vehicle type, the lifting device with parts runs along the first parting lines corresponding to different vehicle types to the first end of the corresponding parting storage lane of the belt storage area according to the identification result, and step 3 is executed; Step 3: Separate and re-hang the loading module with the lifting device trolley: The transfer actuator in the belt storage area separates the belt hanger from the trolley, and the belt hanger is placed on the conveying member of the corresponding parting storage lane. The trolley runs along the first parting line until it leaves the belt storage area, and steps 4 and 5 are executed; Step 4: Return cycle of empty carriage of loading module: The empty trolley separated in step 3 runs along the first parting line to the first bus and then enters the first end of the empty aisle storage area. The empty spreader in the empty aisle storage area is merged with the empty trolley through the transfer actuator to form an empty spreader trolley. The empty spreader trolley after transfer and merger continues to run along the first bus and leaves the empty aisle storage area, and step 1 is executed; Step 5: The lifting device with parts is transferred from the upper module to the lower module: The belt hanger separated in step 3 is transported to the transfer and hanging actuator at the second end of the belt storage area through the conveying mechanism of the corresponding sub-type storage channel, and step 6 is executed; Step 6: Combine the lower module hoist and the trolley: The empty trolley in the unloading module enters the second end of the corresponding parting lane of the belt storage area along the second parting line of the second busbar, and the transfer and hanging actuator at the location completes the transfer and hanging merging of the belt sling and the trolley. The trolley with the belt sling continues to run along the second parting line and leaves the sling transfer and hanging device, and step 7 is executed; Step 7: Arrange the order of the next module outgoing vehicle: EHB receives the vehicle model sequence from the ground, and dispatches the corresponding vehicle model's lifting equipment trolleys in sequence in advance, and proceeds to step 8; Step 8: The unloading module with the lifting device trolley is used to unload the parts: The trolley with parts runs to the second vehicle type identification device of the unloading module. If it is identified as an empty trolley with parts, it passes through the turnout and runs along the empty trolley straight back parting line to the second end of the empty track storage area, and executes step 9; if it is identified as a trolley with parts and the vehicle type is correct, it enters the unloading port via the unloading parting line, the unloading port elevator descends to its position, the ground robot grabs the parts from the trolley with parts, and the unloading elevator rises to its position, and executes step 9; if it is a trolley with parts, but the vehicle type is incorrect, it passes through the turnout and runs along the rotary parting line to the third vehicle type identification device of the unloading module for vehicle type identification, and the trolley with parts enters the corresponding trolley transfer device at the second end of the unloading storage area along the corresponding second parting line, and the vehicle is re-delivered, and step 7 is re-executed; Step 9: Return cycle of the unloading module trolley: After unloading in step 8, the empty sling trolley runs along the second bus to the empty aisle storage area, and the empty sling and the trolley are separated and transferred through the transfer actuator. The separated empty sling is placed on the conveying component in the empty aisle storage area and transported to the loading module. The trolley of the unloading module leaves the empty aisle storage area along the second busbar bus, and step 6 is executed.

10. The control method of an EMS conveyor line system according to claim 9, characterized in that: The transfer and merger process includes the following steps: Step B1: The spreader trolley runs along the busbar to the transfer and merging area where the transfer and merging can be completed, and the photoelectric switch is used to identify whether it is carrying a spreader. If not, it stops at a predetermined position and executes step 2. Otherwise, it executes step 6. Step B2: Start the motor of the trolley fixing mechanism, the trolley fixing mechanism descends into place, locks the sling trolley, and executes step 3; Step B3: Start the motor of the lifting mechanism, the lifting mechanism descends to its proper position, and then execute step 4; Step B4: Start the motor of the conveying mechanism, and the conveying mechanism transports the slings in the empty aisle storage area or the belt storage area to the trolley, and execute step 5; Step B5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, the trolley and the sling are combined, and then go to step 6; Step B6: The trolley with the sling leaves the transfer and merging area along the first busbar or the second busbar.

11. The control method of an EMS conveyor line system according to claim 9, characterized in that: The separation and transfer process includes the following steps: Step F1: The spreader trolley runs to the separation transfer area where the spreader can be separated from the trolley, and the photoelectric switch is used to identify whether it is carrying a spreader. If so, it stops at a predetermined position and executes step 2. Otherwise, it executes step F6; Step F2: Start the motor of the trolley fixing mechanism, the trolley fixing mechanism descends into place, locks the sling trolley, and executes step F3; Step F3: Start the motor of the lifting mechanism, and the lifting mechanism descends to its position; at this time, the spreader and the trolley are separated, and the spreader is placed on the conveying mechanism, and step F4 is executed; Step F4: Start the motor of the conveying mechanism, and the conveying mechanism transports the sling to the empty channel storage area or the belt storage area, and execute step F5; Step F5: Start the motor of the lifting mechanism, the lifting mechanism rises to the right position, and then execute step F6; Step F6: The empty trolley leaves the separate hanger transfer area along the busbar.

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