Control Method, Control Device and Production Line of Automatic Loading and Unloading Production Line

Abstract

This application relates to the field of construction machinery, and specifically relates to a control method, a control device, and a production line for an automatic loading and unloading production line. The control method of this automatic loading and unloading production line includes: obtaining the position information of raw materials; according to the position information of the raw materials, designating a cutting machine to cut the raw materials and generating a raw material transportation instruction; obtaining the first feedback information of the raw material transportation trolley, and generating a loading instruction and a cutting instruction according to the first feedback information; obtaining the second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; obtaining the third feedback information of the monitoring mechanism, and generating a finished product transportation instruction. Through the information interaction between the central control system and each actuator, the whole process operation of raw materials from storage to finished product cutting and then to finished product sorting and transportation is realized, which can be completed without manual participation, ensuring the intelligent production of the production line, improving production efficiency and saving labor costs at the same time.

Description

Technical Field

[0001] The present application relates to the field of construction machinery, and particularly relates to a control method, a control device and a production line for an automatic loading and unloading production line. Background Art

[0002] Currently, the equipment manufacturing industry mainly uses CNC (Computerized Numerical Control Machine) machine tools to achieve operations such as blanking, machining, and assembly. However, existing CNC machining is based on large-scale manual labor, resulting in low production efficiency and energy efficiency ratio. Summary of the Invention

[0003] In view of this, the present application provides a control method, a control device and a production line for an automatic loading and unloading production line, which solve or improve the technical problem of low efficiency in the equipment manufacturing industry due to the use of manual labor in the prior art.

[0004] According to one aspect of the present application, there is provided a control method for an automatic loading and unloading production line. The control method for the automatic loading and unloading production line includes: obtaining the position information of the raw material; according to the position information of the raw material, designating a cutting machine to cut the raw material and generating a raw material transportation instruction, where the raw material transportation instruction is used to control a raw material transportation trolley to deliver the raw material to the cutting machine; obtaining the first feedback information of the raw material transportation trolley, and generating a loading instruction and a cutting instruction according to the first feedback information, where the loading instruction is used to control a grasping mechanism to grasp the raw material to the cutting machine, and the cutting instruction is used to control the cutting machine to cut the raw material; obtaining the second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information, where the sorting instruction is used to enable the grasping mechanism to sort the cutting finished products; obtaining the third feedback information of a monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information, where the finished product transportation instruction is used to enable a finished product transportation trolley to transport the cutting finished products.

[0005] In one embodiment, when the raw materials include at least two types, the method of specifying a cutting machine to cut the raw materials according to the position information of the raw materials and generating a raw material transportation instruction includes: respectively specifying at least two of the cutting machines to correspond one-to-one to cut at least two types of the raw materials according to the position information of at least two types of the raw materials; obtaining the position information of the cutting machines corresponding one-to-one to the raw materials; generating a first raw material transportation instruction according to the position information of the cutting machines corresponding one-to-one to the raw materials, where the first raw material transportation instruction is used to control a first raw material transportation trolley to transport the raw materials; obtaining first outbound feedback information of the first raw material transportation trolley; generating a second raw material transportation instruction according to the first outbound feedback information and the position information of the cutting machine corresponding to the raw materials, where the second raw material transportation instruction is used to control a second raw material transportation trolley to transport the raw materials.

[0006] In one embodiment, when the raw materials are two types, the method of obtaining the first feedback information of the raw material transportation trolley and generating a loading instruction and a cutting instruction according to the first feedback information includes: obtaining the first feedback information of the first raw material transportation trolley; generating the loading instruction, the cutting instruction, and a parking instruction according to the first feedback information of the first raw material transportation trolley, where the parking instruction is used to control the second raw material transportation trolley to stop; obtaining unloading feedback information of the first raw material transportation trolley; generating a first traversing instruction and a first running instruction according to the unloading feedback information, where the first traversing instruction is used to control the first raw material transportation trolley to traverse to a control landmark point, and the first running instruction is used to control the second raw material transportation trolley to continue traveling.

[0007] In one embodiment, the method of specifying a cutting machine to cut the raw materials according to the position information of the raw materials and generating a raw material transportation instruction includes: obtaining operation status information of a plurality of the cutting machines; obtaining the currently idle cutting machines according to the operation status information; specifying the currently idle cutting machines to cut the raw materials and generating a raw material transportation instruction.

[0008] In one embodiment, when there are at least two idle cutting machines, the method of specifying the currently idle cutting machines to cut the raw materials and generating a raw material transportation instruction includes: specifying the currently idle cutting machine closest to the raw materials to cut the raw materials and generating a raw material transportation instruction.

[0009] In one embodiment, after obtaining the third feedback information of the monitoring mechanism and generating a finished product transportation instruction according to the third feedback information, the control method further includes: obtaining the fourth feedback information of the gripping mechanism; and generating a waste transportation instruction according to the fourth feedback information of the gripping mechanism, where the waste transportation instruction is used to control a waste transportation trolley to transport waste.

[0010] In one embodiment, generating a waste transportation instruction according to the fourth feedback information of the gripping mechanism includes: generating a first waste transportation instruction according to the fourth feedback information, where the first waste transportation instruction is used to control a first waste transportation trolley to transport waste; obtaining the feeding feedback information of the first waste transportation trolley, and generating a second transverse movement instruction and a second waste transportation instruction according to the feeding feedback information, where the second transverse movement instruction is used to control the first waste transportation trolley to transverse to a management and control landmark point, and the second waste transportation instruction is used to control a second waste transportation trolley to transport waste; where the waste transportation instruction includes the first waste transportation instruction and the second waste transportation instruction.

[0011] According to a second aspect of the present application, the present application provides a control device for an automatic loading and unloading production line, and this control device for an automatic loading and unloading production line includes: a raw material position information acquisition module, configured to acquire the position information of raw materials; a feedback information acquisition module, configured to acquire the first feedback information of a raw material transportation trolley, the second feedback information of the cutting machine, and the third feedback information of the monitoring mechanism; an instruction generation module, configured to generate a raw material transportation instruction, a loading instruction, a cutting instruction, a sorting instruction, and a finished product transportation instruction; where the raw material transportation instruction is used to control the raw material transportation trolley to start delivering the raw materials to the cutting machine, the loading instruction is used to cause the gripping mechanism to grip the raw materials, the cutting instruction is used to control the cutting machine to cut the raw materials, the sorting instruction is used to cause the gripping mechanism to sort the cut finished products, and the finished product transportation instruction is used to cause the finished product transportation trolley to transport the cut finished products.

[0012] According to the third aspect of the present application, the present application provides an automatic loading and unloading production line, which includes: a raw material warehouse for storing raw materials; a raw material cutting unit including one or more cutting machines and a finished product sorting line, where the cutting machines are used to cut the raw materials, and the sorting line is used to sort the cut finished products; a logistics unit for transporting the raw materials and the cut finished products, the logistics unit including a raw material transport trolley and a finished product transport trolley, the raw material transport trolley being used to transport the raw materials, and the finished product transport trolley being used to transport the cut finished products; a grasping mechanism respectively arranged in the raw material warehouse and the raw material cutting unit for grasping and loading the raw materials and grasping and sorting the cut finished products; a monitoring mechanism arranged on the sorting line for monitoring the sorting status of the cut finished products; and the above control device, which is respectively communicatively connected to the raw material cutting unit, the logistics unit, the grasping mechanism and the monitoring mechanism.

[0013] In an embodiment, the control device includes: a finished product transport trolley calling program installed on any mobile terminal for calling the finished product transport trolley according to the third feedback information of the monitoring mechanism.

[0014] The present application provides a control method, a control device and a production line for an automatic loading and unloading production line. The control method includes: obtaining the position information of the raw materials; according to the position information of the raw materials, designating a cutting machine to cut the raw materials and generating a raw material transport instruction; obtaining the first feedback information of the raw material transport trolley, and generating a loading instruction and a cutting instruction according to the first feedback information; obtaining the second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; obtaining the third feedback information of the monitoring mechanism, and generating a finished product transport instruction according to the third feedback information. This control method realizes the full-process operation of the raw materials from storage to finished product cutting and then to finished product sorting and transportation through the information interaction between the central control system and each executing mechanism, and can complete all the work without manual participation, ensuring the intelligent production of the production line, improving production efficiency and saving labor costs at the same time. Description of the Drawings

[0015] Figure 1 The figure shows a schematic flow chart of the control method for an automatic loading and unloading production line provided by an embodiment of the present application.

[0016] Figure 2 The figure shows a schematic flow chart of the raw material transport control method in the control method for an automatic loading and unloading production line provided by another embodiment of the present application.

[0017] Figure 3The figure shows a schematic flow chart of the control method for raw material loading and cutting in the control method of the automatic loading and unloading production line provided by another embodiment of the present application.

[0018] Figure 4 The figure shows a schematic flow chart of the control method for raw material transportation in the control method of the automatic loading and unloading production line provided by another embodiment of the present application.

[0019] Figure 5 The figure shows a schematic flow chart of the control method for waste transportation in the control method of the automatic loading and unloading production line provided by another embodiment of the present application.

[0020] Figure 6 The figure shows a schematic flow chart of the control method for waste transportation in the control method of the automatic loading and unloading production line provided by another embodiment of the present application.

[0021] Figure 7 The figure shows the working principle diagram of the control device of the automatic loading and unloading production line provided by another embodiment of the present application.

[0022] Figure 8 The figure shows the structural schematic diagram of the automatic loading and unloading production line provided by another embodiment of the present application.

[0023] Figure 9 The figure shows the structural schematic diagram of the raw material warehouse and the grasping mechanism in the automatic loading and unloading production line provided by another embodiment of the present application.

[0024] Figure 10 The figure shows the structural schematic diagram of the storage location in the automatic loading and unloading production line provided by another embodiment of the present application.

[0025] Figure 11 The figure shows the structural schematic diagram of the fixed crossbeam in the automatic loading and unloading production line provided by another embodiment of the present application.

[0026] Figure 12 Shown for illustrating Figure 11 The partial enlarged view at position A in

[0027] Figure 13 The figure shows the structural schematic diagram of the front-back moving frame in the automatic loading and unloading production line provided by another embodiment of the present application.

[0028] Figure 14 The figure shows the structural schematic diagram of the left-right moving frame in the automatic loading and unloading production line provided by another embodiment of the present application.

[0029] Figure 15 The figure shows the structural schematic diagram of the tooling gripper in the automatic loading and unloading production line provided by another embodiment of the present application.

[0030] Figure 16The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0031] Description of the reference numerals in the drawings: 1, raw material warehouse; 11, storage location; 2, raw material transport trolley; 20, grasping mechanism; 21, fixed cross beam; 211, support track; 212, first limit track; 213, first transmission rack; 22, front-back moving frame; 221, first moving roller; 222, first limit roller; 223, first motor reducer; 224, roller track; 225, second limit track; 226, second transmission rack; 23, left-right moving cross beam; 231, second moving roller; 232, second limit roller; 234, second motor reducer; 235, reversing sprocket group; 236, balance cylinder; 24, lifting Z rod; 25, tooling gripper; 251, vacuum suction cup; 252, electro-permanent magnetic suction cup; 3, cutting machine; 4, cutting platform; 5, material rack; 6, finished product transport trolley; 7, waste transport trolley; 8, blanking area; 100, control device; 101, raw material position information acquisition module; 102, feedback information acquisition module; 103, instruction generation module; 600, electronic device; 601, processor; 602, memory; 603, input device; 604, output device. Detailed implementation manners

[0032] In the description of the present application, the meaning of "a plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom...) are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0033] In addition, the mention of "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0035] Figure 1 The following shows a schematic flow chart of a control method for an automatic loading and unloading production line provided by an embodiment of the present application. As Figure 1 shown, this control method for an automatic loading and unloading production line specifically includes the following steps:

[0036] Step 100: Obtain the position information of the raw material.

[0037] The raw material is the manufacturing material required for equipment manufacturing, such as steel plates, steel materials, etc. of different models and shapes. Hereinafter, steel plates will be used as an example to illustrate the raw materials. It is not difficult to understand that steel plates are usually stored in a steel plate warehouse, which can include several storage locations, and each storage location corresponds to and stores only one type of steel plate. The position information of the raw material refers to the specific storage location of the steel plate for processing in the steel plate warehouse. After the central control system creates a steel plate cutting task, the task specifies a certain type of steel plate, and the specific storage location can be confirmed according to the steel plate model. In addition, the storage locations in the above-mentioned steel plate warehouse can be planar storage locations, which are simple to set up, or three-dimensional storage locations, which occupy relatively less site area. Therefore, the specific type of storage location to be adopted should depend on the specific application scenario, and the present application does not make further limitations in this regard.

[0038] Step 200: According to the position information of the raw material, specify a cutting machine to cut the raw material and generate a raw material transportation instruction.

[0039] The cutting machine is a device for cutting the above steel plates. It can be a laser cutting machine. Each cutting machine includes two cutting platforms. When the first cutting platform is performing the cutting operation, the second cutting platform can perform the loading operation of the steel plate by the grasping mechanism, waiting for the position to be swapped after the cutting work of the first cutting platform is completed, so as to improve the cutting efficiency; the raw material transportation instruction is a control instruction generated by the central control system for controlling the raw material transportation trolley to deliver raw materials to the cutting machine. Since in different scenarios, one or more cutting machines can be provided, the system can specify the optimal cutting machine to cut the steel plate according to the idle situation of the current cutting machine and its position relative to the steel plate storage. Subsequently, the central control system issues a control instruction to the grasping mechanism in the steel plate storage, causing the manipulator truss of the grasping mechanism to move to the corresponding steel plate storage position, grasping the steel plate through an electromagnetic + vacuum hybrid suction cup and moving the steel plate to the raw material transportation trolley. Then, the central control system generates a corresponding raw material transportation instruction according to the distance between the cutting machine and the steel plate storage, enabling the steel plate to be transported to the cutting machine by the raw material transportation trolley for cutting processing.

[0040] Step 300: Obtain the first feedback information of the raw material transportation trolley, and generate a loading instruction and a cutting instruction according to the first feedback information.

[0041] The raw material transportation trolley can be an AGV (Automated Guided Vehicle, an automated guided transport vehicle, which refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a specified guidance path, having safety protection and various transfer functions. AGVs belong to the category of wheeled mobile robots. In industrial applications, it is a forklift-free transport vehicle powered by a rechargeable battery, which can be controlled by a computer for its travel route and behavior, or use an electromagnetic track to set its travel route.) trolley or an RGV (Rail Guided Vehicle, a rail-guided vehicle, also called a rail shuttle trolley. RGV trolleys can be used in warehouses with various high-density storage methods. The trolley passage can be designed arbitrarily long, and no forklift needs to enter the lane during operation). The characteristics of the AGV trolley will be used as an example for illustration later; the first feedback information refers to the feedback signal sent by the raw material transportation trolley to the central control system after loading the steel plate and reaching the specified landmark control point. This feedback signal is used to indicate that the raw material transportation trolley has reached the control landmark point and subsequent loading work can be carried out; the loading instruction is a control instruction generated by the central control system for controlling the grasping mechanism to grasp the raw materials to the cutting machine, and the cutting instruction is a control instruction generated by the central control system for controlling the cutting machine to cut the raw materials. After receiving the first feedback information sent by the raw material transportation trolley, the central control system confirms that the subsequent operations can continue and generates the corresponding loading instruction and cutting instruction, and automatically issues the loading and cutting instructions while ensuring the safety of the operation, effectively ensuring the intelligence and high efficiency of the production process.

[0042] It should be noted that during the information interaction between the raw material transport trolley and the central control system, the central control system may include an AGV central control system and a cutting machine central control system. The raw material transport trolley, i.e., the AGV trolley, after reaching the control landmark point, the AGV central control system will receive the arrival signal given by the trolley. Since there is a communication protocol between the AGV central control system and the cutting machine central control system, the cutting machine central control system will issue an instruction to the AGV central control system to make the production line perform the next actions, such as feeding and cutting operations. It is not difficult to understand that the AGV central control system and the cutting machine central control system can also be replaced by a total control system, and the total control system has a higher degree of integration. Therefore, the specific implementation device of the central control system should depend on the specific application scenario, and the present application does not make further limitations on this.

[0043] Step 400: Obtain the second feedback information of the cutting machine, and generate a sorting instruction according to the second feedback information.

[0044] The second feedback information refers to the cutting completion signal sent by the cutting machine to the central control system after completing the cutting of the steel plate. After receiving the second feedback information, the central control system can judge that the cutting machine has currently completed the cutting work of the steel plate and can sort the cut finished products. The sorting instruction is a control instruction generated by the central control system, and this control instruction is used to make the grasping mechanism sort the cut finished products, thereby shortening the occupation time of the finished products on the cutting platform and further improving the automation degree of the production line and the efficiency of the operation.

[0045] Step 500: Obtain the third feedback information of the monitoring mechanism, and generate a finished product transportation instruction according to the third feedback information.

[0046] The monitoring mechanism refers to a monitoring device that can monitor the entire production line or a certain device on the production line, such as a camera or a sensor, etc. Here, it refers to the monitoring mechanism set at the finished product tooling; the third feedback information refers to the feedback information generated by the monitoring mechanism according to the current monitoring result. When this third feedback information is generated, it means that the number of finished products at the finished product tooling has reached the maximum and needs to be transferred; the finished product transportation instruction is another control instruction generated by the central control system, and this control instruction is used to make the finished product transport trolley transport the cut finished products; the finished product transport trolley is the AGV trolley used to transport the finished products. So far, this control method provided by the present application has completed the links from the raw material out of the warehouse to the completion of the finished product cutting and the transportation of the finished products, realizing the full-process intelligent processing and transportation of the steel plate. While improving the efficiency, it does not require manual assistance and reduces the labor cost.

[0047] The control method of the automatic loading and unloading production line provided by this application includes: obtaining the position information of raw materials; according to the position information of raw materials, designating a cutting machine to cut the raw materials and generating a raw material transportation instruction; obtaining the first feedback information of the raw material transportation cart, and generating a loading instruction and a cutting instruction according to the first feedback information; obtaining the second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information; obtaining the third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information. This control method realizes the full-process operation of raw materials from storage to finished product cutting and then to finished product sorting and transportation through the information interaction between the central control system and each executing mechanism, which can be completed without manual participation, realizes the intelligent production of the production line, improves production efficiency and saves labor costs at the same time.

[0048] It is worth mentioning that the control method of the automatic loading and unloading production line provided by this application is also applicable to the scenario where the number of currently available cutting machines is one. For example, when the current order volume is small and multiple cutting machines are not required to be used simultaneously, or only for the cutting scenario of a single type of raw material, etc. At this time, there is no need to specify a cutting machine, and an efficient production can be achieved by using one cutting machine in combination with a raw material transportation cart and a finished product transportation cart, and the utilization rate of the transportation cart is improved. In a possible implementation manner, Figure 2 The figure shows a schematic flow chart of the raw material transportation control method in the control method of the automatic loading and unloading production line provided by another embodiment of this application. As Figure 2 shown, when the central control system receives two or more new tasks, that is, when two or more steel plates need to be cut and processed, step 200 may include the following steps (hereinafter, the scenario where the central control system receives two new tasks is taken as an example for illustration):

[0049] Step 210: According to the position information of the two raw materials, respectively designate two cutting machines to cut the two raw materials one by one.

[0050] As can be seen from the above, the two steel plates are stored in two storage locations. According to the positions of the storage locations and the idle conditions of the current cutting machines, the cutting machines are respectively designated for the two steel plates so that the cutting machines can be fully utilized and the work efficiency can be improved.

[0051] Step 220: Obtain the position information of the cutting machines corresponding to the raw materials one by one.

[0052] Step 230: Generate a first raw material transportation instruction according to the position information of the cutting machines corresponding to the raw materials one by one.

[0053] The first raw material transportation instruction is a control instruction generated by the central control system for controlling the first raw material transportation trolley to transport raw materials. Among them, the first raw material transportation trolley is an AGV trolley, which is specifically used for transporting steel plates. Since it is used to transport the first type of steel plate, in order to distinguish it from the AGV trolley used to transport the second type of steel plate, it is named the first raw material transportation trolley. It should be understood that in different scenarios, the first raw material transportation trolley and the second raw material transportation trolley described later can be used interchangeably. The central control system designates cutting machines and raw material transportation trolleys for different types of steel plates respectively, so that two cutting tasks can be carried out continuously, reducing the waiting time and shortening the processing cycle.

[0054] Step 240: Obtain the first outbound feedback information of the first raw material transportation trolley.

[0055] The first outbound feedback information refers to the signal sent by the first raw material transportation trolley to the central control system after passing through the preset control landmark point. When the central control system receives this signal, it can determine that the first raw material transportation trolley has left the steel plate warehouse at this time, and another raw material transportation trolley can start transporting the steel plate, or the distance between the first raw material transportation trolley and another raw material transportation trolley has reached a safe distance at this time. When another raw material transportation trolley starts transporting the second type of steel plate at this time, it is basically impossible to collide with the first raw material transportation trolley.

[0056] It should be noted that the first outbound feedback information can also be sent by the PLC induction device covered at the control landmark point. When a trolley passes by or stops, this PLC induction device automatically sends an electrical signal to the central control system. The specific generation method of the first outbound feedback information should depend on the specific application scenario, and this application does not make further limitations on this.

[0057] Step 250: Generate a second raw material transportation instruction according to the first outbound feedback information and the position information of the cutting machine corresponding to the raw material.

[0058] The second raw material transportation instruction is a control signal generated by the central control system for controlling the second raw material transportation trolley to transport raw materials. Among them, the second raw material transportation trolley is also an AGV trolley. To distinguish it from the AGV trolley transporting the first type of steel plate, it is named the second raw material transportation trolley. In necessary cases, the first raw material transportation trolley and the second raw material transportation trolley can be replaced with each other. After the central control system obtains the first outbound feedback information, it can judge that the distance between the current first raw material transportation trolley and the second raw material transportation trolley has exceeded the minimum safe distance. Therefore, a second raw material transportation instruction is immediately generated, so that after the second raw material transportation trolley receives this instruction, it starts transporting the second type of steel plate. On the premise of ensuring transportation safety, the production line can perform outbound operations on two types of steel plates at the same time, greatly improving the processing efficiency of the production line.

[0059] And so on. When there are more than two new tasks in the central control system, other types can also be gradually carried out according to the above process. For example, for the third or fourth type, the raw material transportation of the steel plate only needs to correspondingly adjust the safety distance between vehicles according to the running speed of the AGV vehicle. Therefore, the specific process will not be described in detail.

[0060] Specifically, Figure 3 The figure shows a schematic flowchart of the control method for raw material loading and cutting in the control method of the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 3 shown, when there are two types of raw materials, step 300 may specifically include:

[0061] Step 310: Obtain the first feedback information of the first raw material transportation vehicle.

[0062] Step 320: Generate a loading instruction, a cutting instruction, and a parking instruction according to the first feedback information of the first raw material transportation vehicle.

[0063] The parking instruction refers to the control instruction generated by the central control system for controlling the second raw material transportation vehicle to stop. According to the above content, the first feedback information is the feedback signal sent by the raw material transportation vehicle to the central control system after reaching the preset control landmark point. When this feedback signal is generated, it means that the first raw material transportation vehicle has stopped and is about to perform subsequent loading work. At this time, the second transportation vehicle also needs to stop running to prevent collision with the first raw material transportation vehicle. Therefore, after receiving the first feedback information, the central control system not only controls the steel plate loading and cutting but also performs a parking process on the second raw material transportation vehicle to prevent accidents of two vehicles colliding.

[0064] Step 330: Obtain the unloading feedback information of the first raw material transportation vehicle.

[0065] The unloading feedback information is the feedback signal sent by the first raw material transportation vehicle after the steel plate loading on it to the cutting platform is completed.

[0066] Step 340: Generate a first transverse movement instruction and a first running instruction according to the unloading feedback information.

[0067] The first transverse movement instruction is a control instruction generated by the central control system for controlling the first raw material transport trolley to move transversely to the control landmark point, and the first operation instruction is a control instruction generated by the central control system for controlling the second raw material transport trolley to continue moving. When the steel plate unloading on the first raw material transport trolley is completed, the central control system controls the first raw material transport trolley to move transversely to the control landmark point and wait. At the same time, since the first raw material transport trolley has left the main driving track at this time and there is no possibility of collision between the two trolleys, the central control system can control the second raw material transport trolley to continue moving to transport the second type of steel plate to the second cutting platform at the cutting machine or the cutting platform of other cutting machines for waiting to be cut. Through the above process, the material fetching and loading efficiency of the entire production line during the synchronous cutting and processing of two types of steel plates is improved.

[0068] Optionally, Figure 4 The figure shows a schematic flow chart of the raw material transport control method in the control method of the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 4 shown, since the production line can include multiple cutting machines at the same time, such as cutting machines M1, M2, M3, and M4, step 200 may further include:

[0069] Step 201: Obtain the operation status information of multiple cutting machines.

[0070] The operation status includes the operating status and the non-operating status, that is, whether there is a steel plate being processed or waiting to be processed on the cutting platform of the cutting machine.

[0071] Step 202: Obtain the currently idle cutting machine according to the operation status information.

[0072] According to the operation status information fed back by each cutting machine, comprehensively evaluate and judge whether the four cutting machines are idle, and preferentially assign the cutting tasks to the idle cutting machines to further improve the efficiency.

[0073] Step 203: Designate the currently idle cutting machine and generate a raw material transport instruction.

[0074] Take the idle cutting machine as the designated object of the cutting task, make full use of the cutting equipment, and reduce the waiting time of the cutting task.

[0075] It is not difficult to understand that when there are at least two idle cutting machines, in step 203, the currently idle cutting machine closest to the raw material is designated to cut the raw material and generate a raw material transport instruction, so that the distance of raw material transport can be further shortened, thereby improving the transport efficiency.

[0076] In another possible implementation manner, Figure 5 The figure shows a schematic flow chart of the waste material transport control method in the control method of the automatic loading and unloading production line provided by another embodiment of the present application. AsFigure 5 As shown, after step 500, this control method may further include the following steps:

[0077] Step 610: Obtain the fourth feedback information of the grasping mechanism.

[0078] The grasping mechanism is a device on the cutting platform for sorting and discharging the cut finished products and stacking the cut finished products on the rack. The fourth feedback information is the sorting completion signal feedback by the grasping mechanism after the sorting of the cut finished products is completed.

[0079] Step 620: Generate a waste transportation instruction according to the fourth feedback information of the grasping mechanism.

[0080] The waste transportation instruction is a control instruction generated by the central control system for controlling the waste transportation trolley to transport waste. Among them, the waste transportation trolley can be an AGV trolley or an RGV trolley, preferably an AGV trolley. After the cut finished products have been sorted onto the finished product fixture, there is still a waste frame formed after the steel plate is cut on the cutting platform. Then, the grasping mechanism can also fork and sort the waste frame onto the waste transportation trolley, so that the waste transportation trolley can carry it, clean the cutting platform in time for continued use, reduce the occupation time of the equipment by waste, and further improve production efficiency.

[0081] Specifically, Figure 6 As shown is a schematic flow chart of the waste transportation control method in the control method of the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 6 shown, the central control system can also issue two or more waste transportation tasks to the grasping mechanism and the waste transportation trolley at the same time. The following will take two waste transportation tasks as an example for illustration. Step 620 may include:

[0082] Step 6201: Generate a first waste transportation instruction according to the fourth feedback information.

[0083] The first waste transportation instruction is a control instruction generated by the central control system for controlling the first waste transportation trolley to transport waste. Among them, the first waste transportation trolley is one of two or more waste transportation trolleys.

[0084] Step 6202: Obtain the loading feedback information of the first waste transportation trolley, and generate a second cross-movement instruction and a second waste transportation instruction according to the loading feedback information.

[0085] The feeding feedback information is a feedback signal sent by the first waste transportation trolley to the central control system after the waste frame is loaded, which is used to prompt the central control system for subsequent control; the second transverse movement instruction is a control instruction generated by the central control system for controlling the first waste transportation trolley to move horizontally to the control landmark point, and the second waste transportation instruction is a control instruction generated by the central control system for controlling the second waste transportation trolley to transport waste; among them, the waste transportation instruction includes the first waste transportation instruction and the second waste transportation instruction. When the first waste transportation trolley finishes loading the waste frame, it is controlled by the central control system to move horizontally, and at the same time, the second waste transportation trolley can start loading the waste, so as to form a cyclic pick-up and delivery of the waste frame and improve the efficiency.

[0086] In addition, the above situation is when the number of waste frames is large, resulting in the inability of a single waste transportation trolley to load and remove all of them at once. It should be understood that when the number of waste frames is small, the first waste transportation trolley travels near the cutting machine to participate in waste transportation, and the second waste transportation trolley and others wait at the control landmark point, that is, outside the cutting machine equipment, which is controlled by the central control system. After the first waste transportation trolley drives out and new waste is generated at the cutting machine, the control is released, and the central control system generates a second waste transportation instruction to the second waste transportation trolley.

[0087] According to the second aspect of the present application, the present application also provides a control device for an automatic loading and unloading production line.

[0088] The following will be combined with Figure 7 to describe the control device for the automatic loading and unloading production line provided by the present application. Figure 7 The working principle diagram of the control device for the automatic loading and unloading production line provided by another embodiment of the present application is shown as follows.

[0089] As Figure 7 shown, this control device 100 of the automatic loading and unloading production line (hereinafter referred to as "control device 100") may specifically include: a raw material position information acquisition module 101, a feedback information acquisition module 102, and an instruction generation module 103. Among them, the raw material position information acquisition module 101 is used to acquire the position information of the raw materials, the feedback information acquisition module 102 is used to acquire the first feedback information of the raw material transportation trolley 2, the second feedback information of the cutting machine 3, and the third feedback information of the monitoring mechanism, and the instruction generation module 103 is used to generate raw material transportation instructions, feeding instructions, cutting instructions, sorting instructions, and finished product transportation instructions. In addition, the raw material transportation instruction is used to control the raw material transportation trolley 2 to start delivering raw materials to the cutting machine 3, the feeding instruction is used to make the grasping mechanism grasp the raw materials, the cutting instruction is used to control the cutting machine 3 to cut the raw materials, the sorting instruction is used to make the grasping mechanism sort the cut finished products, and the finished product transportation instruction is used to make the finished product transportation trolley 6 transport the cut finished products.

[0090] The control device 100 provided by this application includes a raw material position information acquisition module 101, a feedback information acquisition module 102, and an instruction generation module 103. This control device 100 can acquire the position information of raw materials; according to the position information of the raw materials, specify the cutting machine 3 to cut the raw materials and generate a raw material transportation instruction; acquire the first feedback information of the raw material transportation cart 2, and generate a loading instruction and a cutting instruction according to the first feedback information; acquire the second feedback information of the cutting machine 3, and generate a sorting instruction according to the second feedback information; acquire the third feedback information of the monitoring mechanism, and generate a finished product transportation instruction according to the third feedback information. This control method realizes the full-process operation of raw materials from storage to finished product cutting and then to finished product sorting and transportation through the information interaction between the central control system and each actuator, which can be completed without manual participation, ensuring the intelligent production of the production line, improving production efficiency and saving labor costs at the same time.

[0091] In addition, according to the third aspect of this application, this application also provides an automatic loading and unloading production line.

[0092] Next, this automatic loading and unloading production line will be described in conjunction with Figure 8 as follows. Figure 8 The structure diagram of the automatic loading and unloading production line provided by another embodiment of this application is shown.

[0093] As Figure 8 shown, this automatic loading and unloading production line is used to apply the control method of the above automatic loading and unloading production line, and specifically may include: a raw material warehouse 1, a raw material cutting unit, a logistics unit, a grasping mechanism 20, a monitoring mechanism, and the above control device 100. The raw material warehouse 1 is used to store processing raw materials such as steel plates, and it can be a steel plate warehouse including a plurality of steel plate storage positions 11. Among them, each storage position 11 corresponds to and only contains one type of steel plate. The raw material cutting unit includes one or more cutting machines 3 and a finished product sorting line. Among them, the cutting machine 3 can be a laser cutting machine 3, which is used to perform laser cutting on the raw materials, and the sorting line is used to sort the finished products obtained after cutting.

[0094] In addition, as Figure 8 shown, the raw material cutting unit may simultaneously include different types of laser cutting machines 3, such as an 8m laser cutting machine 3 and a 10m laser cutting machine 3. Among them, the 8m laser cutting machine 3 can be used to process relatively thin steel plates, while the 10m laser cutting machine 3 can be used to process relatively thick steel plates. In the figure, an example is given with two 8m laser cutting machines 3 and two 10m laser cutting machines 3. Among them, the two 10m laser cutting machines 3 are arranged close to the raw material warehouse 1. It is not difficult to understand that when actually arranging the equipment, the positions and quantities of the two types of laser cutting machines 3 can be determined according to the specific application scenario, and this application does not make further limitations on this.

[0095] As Figure 8As shown in the figure, the logistics unit is used to transport raw materials and cut finished products. Specifically, it can include a raw material transport trolley 2 and a finished product transport trolley 6. One or more of each type of trolley can be provided, and they can all be AGV trolleys or some can be AGV trolleys and some can be RGV trolleys. Among them, the raw material transport trolley 2 is used to transport the steel plates in the raw material warehouse 1 to the cutting machine 3, and the finished product transport trolley 6 is used to transport the cut finished products together with the racks 5 they are on to the blanking area 8, and finally the unloading can be carried out by a manipulator or manually. The grasping mechanisms are respectively arranged at the raw material warehouse 1 and the raw material cutting unit, and are used to grasp and load the raw materials, grasp and sort and unload the cut finished products, and stack the sorted cut finished products on the corresponding racks 5. The grasping mechanism can be an independently set device, or can be connected to the raw material cutting unit, or can also be connected to the AGV trolley or RGV trolley. The specific setting method should depend on the needs of the application scenario. The monitoring mechanism is arranged on the sorting line and is used to monitor the sorting status of the cut finished products. It can be a camera or a sensor, etc. When the cut finished products are sorted to the tooling by the grasping mechanism and the quantity reaches the upper limit, the monitoring mechanism sends the third feedback information to the central control system or the application program installed on the mobile terminal held by the staff, so that the central control system or the staff issues a finished product transport instruction to transfer and transport the cut finished products in time, improving the timeliness of transportation and the efficiency of production. The control device 100 is respectively communicatively connected to the raw material cutting unit, the logistics unit, the grasping mechanism and the monitoring mechanism. By using the information interaction between the control device 100 and the above-mentioned mechanisms, the automatic processing of steel plate cutting is realized, saving manpower and greatly improving the production efficiency at the same time.

[0096] It should be noted that the control device 100 can be a general central control system, or can be composed of a central control system and the control systems installed on each mechanism. The specific implementation device should depend on the specific application scenario and application needs, and this application does not make further limitations on this.

[0097] In addition, Figure 9 The figure shows a schematic structural diagram of the raw material warehouse and the grasping mechanism in the automatic loading and unloading production line provided by another embodiment of the present application; Figure 10 The figure shows a schematic structural diagram of the storage location in the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 9 and Figure 10 shown, the steel plates in the raw material warehouse 1 can be hoisted by a traveling crane. After hoisting, they are placed side by side in each storage location, which is convenient for the subsequent grasping mechanism to grasp the steel plates. Each storage location 11 is welded by square tubes. At the same time, square tubes for limiting are also welded on the reference side of the material, which is convenient for the material to be placed flush with the reference. Square tubes for support are welded under the flat warehouse platform to improve the stability of the storage location on the ground and facilitate the removal of the lifting tool after the traveling crane has loaded the material. Specifically, Figure 11The following is a schematic structural view of a fixed crossbeam in an automatic loading and unloading production line provided by another embodiment of the present application. As Figure 9 and Figure 11 shown, the grasping mechanism 20 includes a raw material grasping mechanism 2020 and a finished product grasping mechanism 2020. Among them, both the raw material grasping mechanism 20 and the finished product grasping mechanism 20 are of the structure of a mobile manipulator. Due to their different grasping objects and installation positions, they are named separately for distinction. The grasping mechanism 20 is arranged close to the raw material warehouse, and the finished product grasping mechanism 20 is arranged close to the cutting machine. Both of them include a fixed crossbeam 21 fixed on the factory building column, a front-back moving frame 22, a left-right moving crossbeam 23, a lifting Z-bar 24 and a tooling gripper 25. The fixed crossbeam 21 is installed on the support column of the factory building to provide a moving space for the steel plate. The front-back moving frame 22 can move along the length direction of the fixed crossbeam 21. The left-right moving crossbeam 23 is connected to the front-back moving frame 22 and can move along the width direction of the fixed crossbeam 21. The first end of the lifting Z-bar 24 is connected to the left-right moving crossbeam 23, and the second end is connected to the tooling gripper 25. The lifting of the lifting Z-bar 24 drives the tooling gripper 25 to lift. After the tooling gripper 25 grasps the steel plate, it realizes front-back, left-right movement driven by the front-back moving frame 22 and the left-right moving crossbeam 23.

[0098] Figure 12 The following is shown for reflecting Figure 11 the partial enlarged view of part A in Figure 11 and Figure 12 shown. As

[0099] Figure 13 shown, when installing the fixed crossbeam 21, first use a level to draw a line, then weld the support horn as the installation platform, and then install the fixed crossbeam 21 on the support horn, adjust the straightness to be horizontal and fix it. A support track 211 is installed on the top surface of the fixed crossbeam 21, and a first limit track 212 and a first transmission rack 213 are respectively installed on the side surface of the fixed crossbeam 21, so as to facilitate the front-back movement of the front-back moving frame 22 on it (front-back is the X direction in the figure, left-right is the Y direction in the figure, the same hereinafter, and will not be repeated). Figure 13As shown in the figure, the front-back moving frame 22 is connected with a first moving roller 221, a first limiting roller 222 and a first motor speed reducer 223. Among them, the first moving roller 221 can roll on the support track 211 to realize the front-back movement of the frame structure. The cooperation between the first limiting roller 222 and the first limiting track 212 restricts the left-right position of the frame. The first limiting gear meshes with the first transmission rack 213 on the fixed cross beam 21 to realize the front-back movement without disengaging from the support track 211. Two sets of motor speed reducer gear structures are adopted on both sides of the front-back moving frame 22 to realize double-drive movement. A roller track 224 is also installed on the top surface of the front-back moving frame 22, and a second limiting track 225 and a second transmission rack 226 are installed on the side surface of the front-back moving frame 22, so as to facilitate the left-right movement of the left-right moving cross beam 23 on the top surface of the front-back moving frame 22.

[0100] Figure 14 The figure shows a schematic structural diagram of the left-right moving frame in the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 14 As shown in the figure, the left-right moving cross beam 23 is provided with a second moving roller 231, a second limiting roller 232 and a second motor speed reducer 234. Among them, the second moving roller 231 rolls on the support track 211. The cooperation between the second limiting roller 232 and the second limiting track 225 restricts the position of the left-right moving cross beam 23 when it rolls to prevent it from deviating from the track. The second motor speed reducer 234 of the left-right moving cross beam 23 is installed in the middle position and is transmitted to the gears on both sides through a transmission shaft. The second limiting gear meshes with the second limiting rack on the front-back moving frame 22 to realize the left-right movement without disengaging from the rolling track. Two lifting Z rods 24 are connected to both ends of the bottom surface of the left-right moving cross beam 23 to ensure the stability when the tooling gripper 25 grabs the steel plate. A lifting shaft motor speed reducer is installed at the middle position of the bottom of the left-right moving cross beam 23 and is transmitted to the two-side reversing sprocket sets 235 through a transmission shaft to drive the double lifting Z rods 24 to perform lifting movements. At the same time, in order to overcome the gravity of the load, the lifting Z rods 24, the tooling gripper 25, etc. in the vertical direction, four groups of balance cylinders 236 are configured to achieve energy saving and consumption reduction.

[0101] Figure 15 The figure shows a schematic structural diagram of the tooling gripper in the automatic loading and unloading production line provided by another embodiment of the present application. As Figure 15 As shown in the figure, the tooling gripper 25 adopts a mixed layout of vacuum suction cups 251 and electro-permanent magnetic suction cups 252 to ensure the adsorption capacity. At the same time, it avoids multiple thin plates being adsorbed by magnets. A thickness measuring device is added at the reference angle during work to ensure that only one sheet of plate is adsorbed, reducing the possibility of affecting the subsequent processes due to multiple sheets of plate being adsorbed.

[0102] In a possible implementation manner, as Figure 8As shown, the logistics unit includes two or more raw material transport trolleys 2 and two or more finished product transport trolleys 6. In the figure, two raw material transport trolleys 2 are taken as an example for illustration. Among them, two or more raw material transport trolleys 2 can all be AGV trolleys or some are AGV trolleys and some are RGV trolleys; two or more finished product transport trolleys 6 can all be AGV trolleys or some are AGV trolleys and some are RGV trolleys. The setting of at least two raw material transport trolleys 2 and finished product transport trolleys 6 enables the production line to process two or more production tasks simultaneously, improving the transfer efficiency of steel plates, shortening the raw material transport time and the finished product transfer time, and making the resource allocation process more flexible, further improving the production efficiency.

[0103] Specifically, as Figure 8 shown, the logistics unit can also include a waste transport trolley 7 for transporting waste frames. The waste transport trolley 7 can also be an AGV trolley. When the sorting manipulator of the grasping mechanism finishes sorting the cut finished products, it sends a signal indicating that the finished product sorting is completed to the control device 100. After receiving this signal, the control device 100 can determine that the current finished product sorting is completed, and then successively generate a waste transport instruction and a waste sorting instruction. The waste transport instruction is used to control the waste transport trolley 7 to transport waste, that is, to control the waste transport trolley 7 to move to the sorting line, and the waste sorting instruction enables the sorting manipulator of the finished product grasping mechanism to continue to perform non-discriminatory fork sorting of the waste frames on the waste and move them onto the waste transport trolley 7. Among them, the finished product grasping mechanism 20 can also include a fork tooth tooling. This fork tooth tooling is connected to the tooling gripper 25 on the left and right moving cross beam 23 together. At the same time, the fork tooth tooling and the tooling gripper 25 are connected by a cylinder, which can solve the contradiction that the fork teeth close and hit the sheet material and the distance between the sheet material and the workbench is too large when discharging the material. The opening and closing of the fork tooth tooling are both driven by the same motor through a transmission shaft to drive the fork tooth guide rod to open and close, ensuring the smoothness of the opening and closing of the fork teeth; at the same time, a movable cylinder stop tooth is installed on the fork teeth. When the fork teeth suck the waste, the baffle opens, which does not affect the suction of the material. When the waste is discharged from the fork teeth, the stop tooth closes to block the waste and realize the discharging of the material. In addition, the process of fork loading the waste is as follows: the fork teeth open, the stop teeth open, the suction cup tooling drops to the lowest position → suck the sheet material, the suction cup tooling rises → the fork teeth close, and the whole moves above the laser workbench → the fork teeth open, the suction cup tooling drops to the lowest position → the suction cup discharges the material, the tooling rises, and the fork teeth close; the process of fork unloading the waste is as follows: the fork teeth open, the stop teeth open, the suction cup tooling rises to the highest position → the fork teeth fork the sheet material on the laser workbench (the fork teeth close) → the whole moves above the waste transport trolley 7 → the fork teeth open, the stop teeth close, and the waste falls onto the waste transport trolley 7 → the stop teeth open, and the fork teeth close.

[0104] Specifically, the left and right moving cross beam 23 of the finished product sorting mechanism can also be directly guided by linear guides, thereby improving the transmission accuracy.

[0105] Meanwhile, the waste material transport trolley 7 and the finished product transport trolley 6 can run on the same track. By presetting control landmark points for the two types of trolleys respectively, the paths can be made non-conflicting. With the waste material transport trolley 7, the continuity of the automated production process of the production line is enhanced, further improving the degree of intelligence and processing efficiency.

[0106] Optionally, as Figure 8 shown, the logistics unit includes at least two waste material transport trolleys 7. In this way, the central control system of the control device 100 can issue two or more waste material transport instructions simultaneously. After the first waste material transport trolley 7 receives the first waste material transport instruction, completes material receiving and moves horizontally away from the control landmark point, the second waste material transport trolley 7 can enter the control landmark point according to the second waste material transport instruction to continue material receiving, realizing an uninterrupted cycle of waste material pick-up and delivery.

[0107] In another possible implementation, the control device 100 may further include a finished product transport trolley calling program installed on any mobile terminal. This finished product transport trolley calling program is used to call the finished product transport trolley 6 according to the third feedback information of the monitoring mechanism. When the monitoring mechanism monitors that the current tooling material placement reaches a certain quantity, it can send a prompt message to the finished product transport trolley calling program to remind the staff to remotely call the finished product transport trolley 6 for finished product transportation. This not only realizes the remote control of the production line but also improves the processing efficiency. In addition, besides the monitoring by the monitoring mechanism of the current tooling material placement, manual assistance in monitoring the piled materials is also possible. For example, before leaving the workplace, the staff needs to clean up the piled materials, or manually judge that there is an idle finished product transport trolley 6, etc., and the finished product transport trolley 6 can be called. In this way, while not affecting the production efficiency, some energy can be saved.

[0108] The production process of the automatic loading and unloading production line provided by this application is as follows: After a processing task is newly created in the central control system, the central control system confirms the required steel plate model according to the task requirements and designates the cutting machine 3 and the sorting line for processing the steel plate. Subsequently, a raw material transport instruction is generated, causing the raw material transport trolley 2 to move to the corresponding storage location. The grabbing mechanism grabs the steel plate and places it on the raw material transport trolley 2. The raw material transport trolley 2 transports the steel plate to the cutting machine 3, and then the grabbing mechanism here grabs the steel plate and loads it onto the cutting platform 4. After the cutting platform 4 finishes cutting the steel plate, the central control system controls the grabbing mechanism to sort the cutting finished products. Until the number of cutting finished products on the tooling reaches a certain quantity, the monitoring mechanism sends a feedback signal to the central control system, and the central control system controls the finished product transport trolley 6 to transport the finished products to the unloading location. Meanwhile, this production line can utilize the alternating travel of multiple AGV trolleys to simultaneously perform two or more cutting tasks, greatly improving the production efficiency of this production line.

[0109] Next, refer to Figure 16Describe an electronic device according to an embodiment of the present application. Figure 16 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0110] As Figure 16 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0111] The processor 601 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0112] The memory 601 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage media, and the processor 601 may run the program information to implement the control method of the automatic loading and unloading production line according to various embodiments of the present application described above or other desired functions.

[0113] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0114] The input device 603 may include, for example, a keyboard, a mouse, and so on.

[0115] The output device 604 may output various information to the outside. The output device 604 may include, for example, a display, a communication network, and its connected remote output devices, and so on.

[0116] Of course, for simplicity, Figure 16 only some of the components related to the present application in the electronic device 600 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0117] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, and when the computer program information is run by a processor, the processor is caused to execute the steps in the control method of the automatic loading and unloading production line according to various embodiments of the present application described in this specification.

[0118] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0119] In addition, an embodiment of the present application can also be a computer-readable storage medium storing computer program information, which, when run by a processor, causes the processor to execute the steps in the control method of the automatic loading and unloading production line according to various embodiments of the present application in this specification.

[0120] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0121] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purpose of illustration and facilitating understanding, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0122] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms meaning "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0123] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0124] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0125] The above are only the preferred embodiments of the creation of this application and are not used to limit the creation of this application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the creation of this application shall be included within the protection scope of the creation of this application.

Claims

1. A control method for an automatic loading and unloading production line, characterized in that, Including: Obtaining the location information of the raw materials; According to the location information of the raw materials, designating a cutting machine to cut the raw materials and generating a raw material transportation instruction, where the raw material transportation instruction is used to control a raw material transportation trolley to deliver the raw materials to the cutting machine; Obtaining the first feedback information of the raw material transportation trolley, and generating a loading instruction and a cutting instruction according to the first feedback information, where the loading instruction is used to control a grasping mechanism to grasp the raw materials to the cutting machine, and the cutting instruction is used to control the cutting machine to cut the raw materials; Obtaining the second feedback information of the cutting machine, and generating a sorting instruction according to the second feedback information, where the sorting instruction is used to enable the grasping mechanism to sort the cutting finished products; Obtaining the third feedback information of the monitoring mechanism, and generating a finished product transportation instruction according to the third feedback information, where the finished product transportation instruction is used to enable a finished product transportation trolley to transport the cutting finished products; When there are two types of raw materials, the obtaining the first feedback information of the raw material transportation trolley and generating a loading instruction and a cutting instruction according to the first feedback information includes: Obtaining the first feedback information of the first raw material transportation trolley; Generating a loading instruction, a cutting instruction and a parking instruction according to the first feedback information of the first raw material transportation trolley, where the parking instruction is used to control the second raw material transportation trolley to stop; Obtaining the unloading feedback information of the first raw material transportation trolley; Generating a first transverse movement instruction and a first running instruction according to the unloading feedback information, where the first transverse movement instruction is used to control the first raw material transportation trolley to move transversely to a management and control landmark point, and the first running instruction is used to control the second raw material transportation trolley to continue to run.

2. The control method of the automatic loading and unloading production line according to claim 1, wherein When there are at least two types of raw materials, the designating a cutting machine to cut the raw materials according to the location information of the raw materials and generating a raw material transportation instruction includes: Respectively designating at least two cutting machines to cut at least two types of raw materials in one-to-one correspondence according to the location information of at least two types of raw materials; Obtaining the location information of the cutting machines corresponding to the raw materials one by one; Generating a first raw material transportation instruction according to the location information of the cutting machines corresponding to the raw materials one by one, where the first raw material transportation instruction is used to control a first raw material transportation trolley to transport the raw materials; Obtaining the first outbound feedback information of the first raw material transportation trolley; Generating a second raw material transportation instruction according to the first outbound feedback information and the location information of the cutting machine corresponding to the raw materials, where the second raw material transportation instruction is used to control a second raw material transportation trolley to transport the raw materials.

3. The control method of the automatic loading and unloading production line according to claim 1, characterized in that, The designating a cutting machine to cut the raw materials according to the location information of the raw materials and generating a raw material transportation instruction includes: Obtaining the operation status information of multiple cutting machines; Obtaining the currently idle cutting machines according to the operation status information; Designating the currently idle cutting machines to cut the raw materials and generating a raw material transportation instruction.

4. The control method of the automatic loading and unloading production line according to claim 3, characterized in that, When there are at least two idle cutting machines, the designated currently idle cutting machine cuts the raw material and generates a raw material transportation instruction, including: Designating the currently idle cutting machine closest to the raw material to cut the raw material and generating a raw material transportation instruction.

5. The control method of the automatic loading and unloading production line according to claim 1, characterized in that, After obtaining the third feedback information of the monitoring mechanism and generating a finished product transportation instruction according to the third feedback information, the control method of the automatic loading and unloading production line further includes: Obtaining the fourth feedback information of the gripping mechanism; Generating a waste transportation instruction according to the fourth feedback information of the gripping mechanism, where the waste transportation instruction is used to control a waste transportation trolley to transport waste.

6. The control method of the automatic loading and unloading production line according to claim 5, characterized in that, The generating a waste transportation instruction according to the fourth feedback information of the gripping mechanism includes: Generating a first waste transportation instruction according to the fourth feedback information, where the first waste transportation instruction is used to control a first waste transportation trolley to transport waste; Obtaining the loading feedback information of the first waste transportation trolley, and generating a second traversing instruction and a second waste transportation instruction according to the loading feedback information, where the second traversing instruction is used to control the first waste transportation trolley to traverse to a control landmark point, and the second waste transportation instruction is used to control a second waste transportation trolley to transport waste; Wherein, the waste transportation instruction includes the first waste transportation instruction and the second waste transportation instruction.

7. A control device for an automatic loading and unloading production line, characterized in that, Applying the control method of the automatic loading and unloading production line according to claim 1, including: A raw material position information acquisition module, configured to acquire the position information of the raw material; A feedback information acquisition module, configured to, when there are two types of raw materials, acquire the first feedback information of the first raw material transportation trolley, the unloading feedback information of the first raw material transportation trolley, the second feedback information of the cutting machine, and the third feedback information of the monitoring mechanism; An instruction generation module, configured to generate a raw material transportation instruction, a loading instruction, a cutting instruction, a parking instruction, a first traversing instruction, a first running instruction, a sorting instruction, and a finished product transportation instruction; Wherein, the raw material transportation instruction is used to control the raw material transportation trolley to start distributing the raw material to the cutting machine, the loading instruction is used to cause the gripping mechanism to grip the raw material, the cutting instruction is used to control the cutting machine to cut the raw material, the parking instruction is used to control the second raw material transportation trolley to stop, the first traversing instruction is used to control the first raw material transportation trolley to traverse to a control landmark point, the first running instruction is used to control the second raw material transportation trolley to continue traveling, the sorting instruction is used to cause the gripping mechanism to sort the cut finished products, and the finished product transportation instruction is used to cause the finished product transportation trolley to transport the cut finished products.

8. An automatic loading and unloading production line, characterized in that, Applying the control method of the automatic loading and unloading production line according to claim 1, including: A raw material warehouse, which is used to store raw materials; A raw material cutting unit, which includes one or more cutting machines and a finished product sorting line, where the cutting machine is used to cut the raw material, and the sorting line is used to sort the cut finished products; A logistics unit for transporting the raw materials and the cut finished products. The logistics unit includes a raw material transport trolley for transporting the raw materials and a finished product transport trolley for transporting the cut finished products. A grasping mechanism respectively arranged in the raw material warehouse and the raw material cutting unit for grasping and loading the raw materials and grasping and sorting the cut finished products. A monitoring mechanism arranged on the sorting line for monitoring the sorting state of the cut finished products. The control device according to claim 7, which is respectively in communication connection with the raw material cutting unit, the logistics unit, the grasping mechanism and the monitoring mechanism.

9. The automatic loading and unloading production line according to claim 8, wherein, The control device includes: A finished product transport trolley calling program installed on any mobile terminal for calling the finished product transport trolley according to the third feedback information of the monitoring mechanism.

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