A binary frame automatic synchronous conveying system and synchronous conveying control method

Abstract

This invention discloses a dual-frame automatic synchronous conveying system and a synchronous conveying control method. The dual-frame automatic synchronous conveying system comprises two independently operating automatic frame conveying systems installed on the same conveying track: a front automatic frame conveying system and a rear automatic frame conveying system. Each of the front and rear automatic frame conveying systems is connected to its own PLC control system. A mechanical forced safety mechanism is also provided between the front and rear automatic frame conveying systems. This invention integrates two independent automatic frame conveying systems, ensuring synchronized operation. It also reduces investment and expands the number of automatic frame conveying systems, effectively assisting in production line extension or automation improvements. It solves the problems of complex control programs and insufficient conveying capacity requiring expansion caused by adding units to the original system.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, specifically to a binary frame automatic synchronous conveying system and synchronous conveying control method. Background Technology

[0002] In automobile frame production, multi-station production lines are used and automatic welding workstations are set up to improve production efficiency. Automatic lifting devices are used for frame transportation. When the workstations behind the original automatic lifting devices are changed, automatic welding workstations are added to improve efficiency and reduce costs. At this time, the newly added automatic welding workstations also use automatic lifting devices for transportation.

[0003] Adding a new automatic lifting device unit to the existing automatic lifting device conveying system will increase the load on the entire conveying system beyond its design capacity. Expanding the entire conveying mechanism of the existing lifting device system will significantly increase investment. Adding a new automatic lifting device will result in two sets of conveying mechanisms operating simultaneously, leading to waiting periods, a decrease in the overall conveying capacity of the vehicle frame, and a reduction in the efficiency of the production line.

[0004] Therefore, there is an urgent need for a conveying system and conveying control method that can safely and synchronously operate two independent automatic frame conveying systems. Summary of the Invention

[0005] In order to solve the problems in the prior art, the present invention provides a binary frame automatic synchronous conveying system and a synchronous conveying control method, which can realize the safe synchronous operation of two independent frame automatic conveying systems.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A dual-frame automatic synchronous conveying system includes two independently operating automatic frame conveying systems. The two automatic frame conveying systems are installed on the same conveying track and are respectively a front automatic frame conveying system and a rear automatic frame conveying system. The front automatic frame conveying system and the rear automatic frame conveying system are respectively connected to their respective PLC control systems.

[0008] A mechanical forced safety mechanism is also provided between the front frame automatic conveying system and the rear frame automatic conveying system. The forced safety mechanism includes a front fixed rod installed at the end of the front frame automatic conveying system and a rear fixed rod installed at the beginning of the rear frame automatic conveying system. The front fixed rod and the rear fixed rod are opposite each other, and proximity switches are installed at the rear end of the front fixed rod and the front end of the rear fixed rod, respectively.

[0009] Preferably, anti-collision blocks are also installed at the rear end of the front fixing rod and the front end of the rear fixing rod, with the two anti-collision blocks being set accordingly;

[0010] The front or rear fixed rod is connected to the corresponding anti-collision block via a buffer structure; the buffer structure includes a buffer rod that is coaxial with and slidably connected to the front / rear fixed rod, the diameter of the buffer rod is smaller than that of the front / rear fixed rod, and the connection between the buffer rod and the front / rear fixed rod forms a shoulder; the anti-collision block is installed at the end of the buffer rod, and a shock-absorbing spring is also sleeved on the buffer rod, one end of the shock-absorbing spring abuts against the anti-collision block, and the other end of the shock-absorbing spring abuts against the shoulder.

[0011] Preferably, the automatic front frame conveying system includes one or more conveying units, which are installed on the conveying track and connected to each other by connecting rods;

[0012] The automatic rear frame conveying system includes one or more conveying units, which are installed on the conveying track and connected to each other by connecting rods.

[0013] Preferably, the conveyor track is installed on the steel structure at the top of the workshop;

[0014] The conveying unit includes a lifting device mounting frame, which is mounted on the conveying track via a movable hook, so that the lifting device mounting frame and the conveying track form a guiding fit;

[0015] The connecting rods between the conveying units are connected at the lifting device mounting frame;

[0016] The lower side of the lifting device mounting frame has a downward-facing lifting device body. The lifting device body includes a lifting device connecting frame and a lifting device fixing frame. The lifting device connecting frame is fixedly connected to the lifting device mounting frame. The lifting device fixing frame is equipped with a vehicle frame clamping structure. The lifting device fixing frame and the lifting device connecting frame are connected through a lifting structure. The vehicle frame clamping structure and the lifting structure are connected to the PLC control system.

[0017] Preferably, the lifting mechanism includes a lifting motor mounted on the lifting device connecting frame, the lifting motor is connected to a downwardly extending lead screw, a lifting guide plate is threadedly connected to the lead screw on the outside, the lifting guide plate has a non-circular cross-section, the lifting guide plate is installed in a vertical long slot provided on the lifting device connecting frame and slides up and down with it, and the lifting device fixing frame is installed at the lower end of the lifting guide plate.

[0018] Preferably, the frame clamping structure includes a clamping group set on the spreader fixing frame. Multiple clamping groups are set in the front-rear direction. Each clamping group consists of two clamping components arranged left and right. Each clamping component includes a clamping block. The middle part of the clamping block is rotatably connected to the spreader fixing frame. The outer end of the clamping block is connected to the piston end of the vertically set clamping cylinder. The inside of the clamping block forms a clamping claw.

[0019] Each clamping jaw is also equipped with a limit block above it, which is arranged horizontally and fixedly connected to the lifting device fixing frame.

[0020] Preferably, one of the conveying units of the front frame automatic conveying system is connected to a horizontal drive structure, which drives the conveying unit to move forward or backward along the conveying track.

[0021] One of the conveying units of the automatic rear frame conveying system is also connected to a horizontal drive structure, which drives the conveying unit to move forward or backward along the conveying track.

[0022] The horizontal drive structures are connected to their respective PLC control systems.

[0023] Preferably, the horizontal drive structure includes a drive motor mounted on the conveying unit, a gear mounted on the drive motor, and a rack arranged parallel to the conveying track, with the gear meshing with the rack.

[0024] The present invention also discloses a binary frame synchronous conveying control method, based on the aforementioned binary frame automatic synchronous conveying system, characterized by comprising: a first synchronization control method, a second synchronization control method, and a third synchronization control method;

[0025] The operation of the two automated chassis conveying systems is first controlled by their respective PLC control systems, forming the first level of synchronous control:

[0026] When conveying forward, the operating speeds of the front frame automatic conveying system and the rear frame automatic conveying system are set to be the same. First, the front frame automatic conveying system moves forward for a set time of T, and then the rear frame automatic conveying system starts to move forward.

[0027] When returning backward, the operating speeds of the front frame automatic conveyor system and the rear frame automatic conveyor system are set to be the same. First, the rear frame automatic conveyor system moves backward for a set time of T, and then the front frame automatic conveyor system starts to move backward.

[0028] If a fault causes an abnormal signal in the PLC control system, the second synchronization control method will take effect:

[0029] When moving forward, if the forward speed of the rear frame automatic conveyor system is faster than that of the front frame automatic conveyor system, the proximity switches on the front and rear frame automatic conveyor systems reach the set distance and start working to transmit information to the PLC control system. The PLC control system issues a command to reduce the forward speed of the rear frame automatic conveyor system, and at the same time, the PLC control system issues a command to increase the forward speed of the front frame automatic conveyor system to maintain a safe distance between the two.

[0030] When moving backward, the forward speed of the current frame automatic conveyor system is faster than that of the rear frame automatic conveyor system. When the distance between the proximity switches on the front and rear frame automatic conveyor systems reaches the set distance, they start to work and transmit information to the PLC control system. The PLC control system issues a command to reduce the forward speed of the front frame automatic conveyor system. At the same time, the PLC control system issues a command to increase the forward speed of the rear frame automatic conveyor system to maintain a safe distance between the two.

[0031] If a fault causes abnormal operation of both the PLC control system and the proximity switch, the third synchronization control method will come into play:

[0032] When moving forward, if the rear frame automatic conveyor system moves forward faster than the front frame automatic conveyor system, the anti-collision blocks on the front and rear frame automatic conveyor systems will contact each other. The rear frame automatic conveyor system will push the front frame automatic conveyor system forward. At the same time, the buffer structure will ensure that the front and rear frame automatic conveyor systems do not collide violently, so as to protect the safe operation of the system.

[0033] During the backward movement, the forward automatic transport system moves backward faster than the rear automatic transport system. The anti-collision blocks on the forward and rear automatic transport systems come into contact with each other. The forward automatic transport system pushes the rear automatic transport system backward, while the buffer structure ensures that the forward and rear automatic transport systems do not collide violently, thus protecting the safe operation of the system.

[0034] Preferably, the time T is 0.2-0.3 seconds.

[0035] The beneficial effects of this invention are:

[0036] The present invention provides a dual-frame automatic synchronous conveying system and synchronous conveying control method. By implementing a PLC control system for two independent automatic frame conveying systems and adding a mechanical forced safety mechanism, the synchronous operation of the two systems is achieved. A triple synchronous control method is also established, consisting of a first-level synchronous control method, a second-level synchronous control method, and a third-level synchronous control method, to protect the safe operation of the system. This invention reduces the investment required to expand the conveying capacity of the original equipment and simultaneously solves the problem of reduced production line efficiency caused by the waiting time between different lifting devices due to asynchronous operation.

[0037] This invention can integrate two independent automatic frame conveying systems, keeping their operation synchronized. It can also reduce investment and expand the number of automatic frame conveying systems, effectively helping to extend the production line or improve automation. It solves the problems of complex control programs and insufficient conveying capacity that are caused by adding units to the original system. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention;

[0039] Figure 2 for Figure 1 Top view;

[0040] Figure 3 for Figure 1 A-direction view of the conveyor unit;

[0041] Figure 4 for Figure 1 Enlarged view of the mandatory safety mechanism part.

[0042] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. Detailed Implementation

[0043] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0044] like Figures 1 to 4 As shown, the present invention provides a dual-frame automatic synchronous conveying system, comprising two independently operating automatic frame conveying systems. The two automatic frame conveying systems are installed on the same conveying track 6, namely a front automatic frame conveying system and a rear automatic frame conveying system. The front automatic frame conveying system and the rear automatic frame conveying system are respectively connected to their respective PLC control systems.

[0045] The automatic front frame conveying system comprises three conveying units, which are mounted on conveying rails 6 and connected by connecting rods 9. Figure 1 As shown, the three conveying units of the front frame automatic conveying system correspond to workstations J1, J2, and J3, respectively.

[0046] The automatic rear frame conveying system includes a conveying unit mounted on conveyor track 6. For example... Figure 1 As shown, one conveying unit of the automatic rear frame conveying system corresponds to workstation J4.

[0047] In this embodiment, the conveyor track 6 is installed on the steel structure 1 at the top of the workshop.

[0048] The conveying unit includes a lifting device mounting frame 8, which is mounted on the conveying track 6 via a movable hook 7, thus forming a guiding engagement between the lifting device mounting frame 8 and the conveying track 6. A connecting rod 9 between conveying units is connected to the lifting device mounting frame 8.

[0049] The lower side of the lifting device mounting frame 8 is equipped with a downward-facing lifting device body. The lifting device body includes a lifting device connecting frame 14 and a lifting device fixing frame 16. The lifting device connecting frame 14 is fixedly connected to the lifting device mounting frame 8. The frame clamping structure is installed on the lifting device fixing frame 16. The lifting device fixing frame 16 and the lifting device connecting frame 14 are connected by a lifting structure. The frame clamping structure and the lifting structure are connected to the PLC control system.

[0050] Specifically, the lifting mechanism includes a lifting motor 21 mounted on the lifting device connecting frame 14. The lifting motor 21 is connected to a downwardly extending lead screw 10. A lifting guide plate 15 is threadedly connected to the lead screw 10. The cross-section of the lifting guide plate 15 is a non-circular structure (in this embodiment, the cross-section of the lifting guide plate 15 is rectangular). The lifting guide plate 15 is installed in a vertical long slot provided on the lifting device connecting frame 14 and slides up and down with it. The lifting device fixing frame 16 is installed at the lower end of the lifting guide plate 15.

[0051] Specifically, the frame clamping structure includes clamping groups arranged on the spreader fixing frame 16. Two clamping groups are arranged in the front-rear direction. Each clamping group consists of two clamping components arranged left and right. Each clamping component includes a clamping block 17. The middle part of the clamping block 17 is rotatably connected to the spreader fixing frame 16. The outer end of the clamping block 17 is connected to the piston end of the vertically arranged clamping cylinder 19. The inside of the clamping block 17 forms a clamping claw.

[0052] Each clamping claw is also provided with a limiting block 18 above it. The limiting block 18 is arranged laterally and fixedly connected to the lifting device fixing frame 16. In this embodiment, an elastic pad layer is also provided on the opposite surface of the limiting block 18 and the clamping claw to achieve stable clamping of the vehicle frame.

[0053] One of the conveying units of the front frame automatic conveying system is connected to a horizontal drive structure, which drives the conveying unit to move forward or backward along the conveying track 6.

[0054] One of the conveying units of the rear frame automatic conveying system is also connected to a horizontal drive structure, which drives the conveying unit to move forward or backward along the conveying track 6.

[0055] The horizontal drive structures are connected to their respective PLC control systems.

[0056] Specifically, the horizontal drive structure includes a fixed plate mounted on the lifting device mounting frame 8, a drive motor 11 is provided on the fixed plate, a gear 12 is mounted on the drive motor 11, and a rack 13 parallel to the conveying track is also provided on the steel structure 1, with the gear 12 meshing with the rack 13.

[0057] The PLC control system includes a sensor 22, a control (power) line 23, and a PLC 24. The sensor 22 is mounted on the lifting fixture frame 16. The sensor 22 senses the status of the lifting fixture and transmits and receives information from the PLC 24 through the control (power) line 23 to complete the corresponding commands.

[0058] To ensure the safe and synchronous operation of the two independent automatic frame conveying systems, a mechanical forced safety mechanism is provided between the front automatic frame conveying system and the rear automatic frame conveying system. The forced safety mechanism includes a front fixed rod 31 installed at the end of the front automatic frame conveying system and a rear fixed rod 32 installed at the beginning of the rear automatic frame conveying system. The front fixed rod 31 and the rear fixed rod 32 are opposite each other, and proximity switches 2 are installed at the rear end of the front fixed rod 31 and the front end of the rear fixed rod 32, respectively.

[0059] Anti-collision blocks 4 are respectively installed at the rear end of the front fixed rod 31 and the front end of the rear fixed rod 32, with the two anti-collision blocks 4 being set correspondingly. At the same time, the rear fixed rod 32 and the corresponding anti-collision block 4 are connected by a buffer structure. The buffer structure includes a buffer rod that is coaxial with and slidably connected to the rear fixed rod 32. The diameter of the buffer rod is smaller than that of the rear fixed rod, and the connection between the buffer rod and the rear fixed rod forms a shoulder. The anti-collision block 4 is installed at the end of the buffer rod, and a shock-absorbing spring 5 is also sleeved on the buffer rod. One end of the shock-absorbing spring 5 abuts against the anti-collision block 4, and the other end of the shock-absorbing spring 5 abuts against the shoulder.

[0060] The working principle of this invention is as follows:

[0061] In use, after the frame welding is completed, the two independent automatic frame conveying systems run to their respective workstations. The lifting motor 21 runs and drives the lead screw 20 to move the lifting guide plate 15 and the lifting fixture fixing frame 16 down. After the limit block 18 basically contacts the upper part of the frame, it stops running. The clamping cylinder 19 moves and drives the clamping block 18 to clamp the frame A. The lifting motor 21 runs in the opposite direction to raise the frame A. The drive motor 11 runs and drives the fixed gear 12 and rack 13 on it to mesh and move the conveying unit forward to the next workstation. After it is in place, the clamping cylinder 19 moves and drives the clamping block 18 to release and place the frame in the fixture. The lifting motor 21 runs in the opposite direction to raise the lifting fixture. The drive motor 11 runs in the opposite direction to drive the fixed gear 12 and rack 13 on it to mesh and move the lifting fixture system backward to the original workstation.

[0062] by Figure 1 For example, the three conveying units of the front frame automatic conveying system move the frame from workstations J1, J2, and J3 to J2, J3, and J4, while the conveying unit of the rear frame automatic conveying system moves the frame from workstation J4 to J5.

[0063] In this embodiment, the distance that workstation J4 moves to J5 is different from the distances between workstations J1 and J2, J2 and J3, and J3 and J4. This requires the front frame automatic conveying system and the rear frame automatic conveying system to operate independently while maintaining synchronization and safety.

[0064] Therefore, this embodiment also provides a binary frame synchronous transport control method, based on the aforementioned binary frame automatic synchronous transport system, including: a first synchronization control method, a second synchronization control method, and a third synchronization control method.

[0065] The operation of the two automated chassis conveying systems is first controlled by their respective PLC control systems, forming the first level of synchronous control:

[0066] During forward transport, the operating speeds of the front frame automatic transport system and the rear frame automatic transport system are set to be the same. First, the front frame automatic transport system moves forward for a set time of 0.2-0.3 seconds, and then the rear frame automatic transport system begins to move forward. That is, the front frame automatic transport system moves forward for 0.2-0.3 seconds first, and then the rear frame automatic transport system begins to move forward.

[0067] When returning backward, the operating speeds of the front frame automatic conveyor system and the rear frame automatic conveyor system are set to be the same. First, the rear frame automatic conveyor system moves backward for a set delay of 0.2-0.3 seconds, and then the front frame automatic conveyor system begins to move backward. That is, the rear frame automatic conveyor system moves for 0.2-0.3 seconds first, and then the front frame automatic conveyor system begins to move backward.

[0068] If a fault causes an abnormal signal in the PLC control system, the second synchronization control method will take effect:

[0069] When moving forward, if the forward speed of the rear frame automatic conveyor system is faster than that of the front frame automatic conveyor system, the distance between the proximity switches 2 on the front and rear frame automatic conveyor systems reaches the set distance and starts to work to transmit information to the PLC control system. The PLC control system issues a command to reduce the forward speed of the rear frame automatic conveyor system, and at the same time, the PLC control system issues a command to increase the forward speed of the front frame automatic conveyor system to maintain a safe distance between the two.

[0070] When moving backward, the forward speed of the current frame automatic conveyor system is faster than that of the rear frame automatic conveyor system. When the distance between the proximity switches 2 on the front and rear frame automatic conveyor systems reaches the set distance, they start to work and transmit information to the PLC control system. The PLC control system issues a command to reduce the forward speed of the front frame automatic conveyor system, and at the same time, the PLC control system issues a command to increase the forward speed of the rear frame automatic conveyor system, so that the two maintain a safe distance.

[0071] If a fault causes abnormal operation of both the PLC control system and the proximity switch, the third synchronization control method will come into play:

[0072] When moving forward, if the forward speed of the rear frame automatic conveying system is faster than that of the front frame automatic conveying system, the anti-collision blocks 4 on the front and rear frame automatic conveying systems will contact each other. The rear frame automatic conveying system will push the front frame automatic conveying system forward, while the shock-absorbing springs 5 ​​will ensure that the front and rear frame automatic conveying systems do not collide violently, so as to protect the safe operation of the system.

[0073] During the backward movement, the forward automatic transport system moves backward faster than the rear automatic transport system. The anti-collision blocks on the forward and rear automatic transport systems come into contact with each other. The forward automatic transport system pushes the rear automatic transport system backward. At the same time, the shock-absorbing spring 5 ensures that the forward and rear automatic transport systems do not collide violently, so as to protect the safe operation of the system.

[0074] The present invention provides a dual-frame automatic synchronous conveying system and synchronous conveying control method. By implementing a PLC control system for two independent automatic frame conveying systems and adding a mechanical forced safety mechanism, the synchronous operation of the two systems is achieved. A triple synchronous control method is also established, consisting of a first-level synchronous control method, a second-level synchronous control method, and a third-level synchronous control method, to protect the safe operation of the system. This invention reduces the investment required to expand the conveying capacity of the original equipment and simultaneously solves the problem of reduced production line efficiency caused by the waiting time between different lifting devices due to asynchronous operation.

[0075] This invention can integrate two independent automatic frame conveying systems, keeping their operation synchronized. It can also reduce investment and expand the number of automatic frame conveying systems, effectively helping to extend the production line or improve automation. It solves the problems of complex control programs and insufficient conveying capacity that are caused by adding units to the original system.

[0076] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

[0077] If the terms "first" or "second" are used in this document to define components, those skilled in the art should know that the use of "first" or "second" is merely for the convenience of describing the invention and simplifying the description, and unless otherwise stated, the above terms have no special meaning.

[0078] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0079] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A binary frame synchronous conveying control method based on a binary frame automatic synchronous conveying system, characterized in that: the binary frame automatic synchronous conveying system comprises two sets of independently operated frame automatic conveying systems, which are installed on the same conveying track and are respectively a front frame automatic conveying system and a rear frame automatic conveying system, and the front frame automatic conveying system and the rear frame automatic conveying system are respectively connected with a respective PLC control system; a mechanical forced safety mechanism is further arranged between the front frame automatic conveying system and the rear frame automatic conveying system, the forced safety mechanism comprises a front fixed rod arranged at the end of the front frame automatic conveying system and a rear fixed rod arranged at the head of the rear frame automatic conveying system, the front fixed rod and the rear fixed rod are opposite in head and tail, and the rear end of the front fixed rod and the front end of the rear fixed rod are respectively provided with a proximity switch; the rear end of the front fixed rod and the front end of the rear fixed rod are respectively provided with a bumper block, and the two bumper blocks are correspondingly arranged; the front fixed rod or the rear fixed rod is connected with the corresponding bumper block through a buffer structure; the buffer structure comprises a buffer rod coaxial with the front fixed rod / rear fixed rod and slidingly connected, the diameter of the buffer rod is smaller than that of the front fixed rod / rear fixed rod, and the connection part of the buffer rod and the front fixed rod / rear fixed rod forms a shaft shoulder; the bumper block is arranged at the end of the buffer rod, a shock-absorbing spring is sleeved on the buffer rod, one end of the shock-absorbing spring abuts against the bumper block, and the other end of the shock-absorbing spring abuts against the shaft shoulder; the binary frame synchronous conveying control method comprises a first synchronous control method, a second synchronous control method and a third synchronous control method; the two sets of frame automatic conveying systems are first controlled by the respective PLC control systems to form the first synchronous control method: when conveying forward, the running speed of the front frame automatic conveying system is set to be consistent with that of the rear frame automatic conveying system, the front frame automatic conveying system is first moved forward for a delay time T, and then the rear frame automatic conveying system starts to move forward; when returning backward, the running speed of the front frame automatic conveying system is set to be consistent with that of the rear frame automatic conveying system, the rear frame automatic conveying system is first moved backward for a delay time T, and then the front frame automatic conveying system starts to move backward; when the PLC control system signal is abnormal due to a fault, the second synchronous control method works: when moving forward, if the moving speed of the rear frame automatic conveying system is faster than that of the front frame automatic conveying system, the distance between the proximity switches on the front frame automatic conveying system and the rear frame automatic conveying system reaches a set distance to start working and transmit information to the PLC control system, the PLC control system issues an instruction to reduce the moving speed of the rear frame automatic conveying system, and simultaneously issues an instruction to increase the moving speed of the front frame automatic conveying system, so that the two systems maintain a safe distance; and when moving backward, if the moving speed of the front frame automatic conveying system is faster than that of the rear frame automatic conveying system, the distance between the proximity switches on the front frame automatic conveying system and the rear frame automatic conveying system reaches a set distance to start working and transmit information to the PLC control system, the PLC control system issues an instruction to reduce the moving speed of the front frame automatic conveying system, and simultaneously issues an instruction to increase the moving speed of the rear frame automatic conveying system, so that the two systems maintain a safe distance. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ When moving backward, the forward automatic conveying system moves faster than the rear automatic conveying system, and the proximity switches on the front and rear automatic conveying systems start working when the distance reaches the set distance, and send information to the PLC control system, and the PLC control system sends instructions to reduce the forward moving speed of the front automatic conveying system and increase the forward moving speed of the rear automatic conveying system, so that the two maintain a safe distance; When the PLC control system and the proximity switches both malfunction, the third synchronous control method works: When moving forward, the rear automatic conveying system moves faster than the front automatic conveying system, and the anti-collision blocks on the front and rear automatic conveying systems come into contact with each other, and the rear automatic conveying system pushes the front automatic conveying system to move forward, and the buffer structure ensures that the front and rear automatic conveying systems do not collide violently, thereby protecting the safe operation of the system. When moving backward, the front automatic conveying system moves faster than the rear automatic conveying system, and the anti-collision blocks on the front and rear automatic conveying systems come into contact with each other, and the front automatic conveying system pushes the rear automatic conveying system to move backward, and the buffer structure ensures that the front and rear automatic conveying systems do not collide violently, thereby protecting the safe operation of the system.

2. The dual-rail synchronous conveyor control method of claim 1, wherein: The time T is 0.2-0.3S.

3. The dual-rail synchronous conveyor control method of claim 1, wherein: The front automatic conveying system includes one or more conveying units, and the conveying units are installed on the conveying track and connected by connecting rods. The rear automatic conveying system includes one or more conveying units, and the conveying units are installed on the conveying track and connected by connecting rods.

4. The dual-rail synchronous conveyor control method of claim 3, wherein: The conveying track is installed on the steel structure at the top of the workshop. The conveying unit includes a lifting tool mounting rack, which is installed on the conveying track through a movable hook, so that the lifting tool mounting rack and the conveying track form a guide fit. The connecting rods between the conveying units are connected at the lifting tool mounting rack. A downward lifting tool body is installed on the lower side of the lifting tool mounting rack, and the lifting tool body includes a lifting tool connecting frame and a lifting tool fixing frame.

5. The dual-rail synchronous conveyor control method of claim 4, wherein: The lifting tool connecting frame is fixedly connected with the lifting tool mounting rack, and the lifting tool fixing frame is connected with the lifting tool connecting frame through a lifting structure.

6. The dual-rail synchronous conveyor control method of claim 4, wherein: The lifting structure includes a lifting motor installed on the lifting tool connecting frame, and the lifting motor is connected with a downward extending lead screw. The outer side of the lead screw is sleeved with a lifting guide plate which is threadedly connected with the lead screw. The cross section of the lifting guide plate is a non-circular structure. The lifting guide plate is installed in a vertical long slot on the lifting tool connecting frame and slides up and down. The lifting tool fixing frame is installed at the lower end of the lifting guide plate. The lifting tool fixing frame includes a clamping group arranged thereon. Each clamping group is composed of two left and right arranged clamping assemblies. Each clamping assembly includes a clamping block. The middle part of the clamping block is rotationally connected with the lifting tool fixing frame. The outer end of the clamping block is connected with the piston end of a vertically arranged clamping cylinder. The inside of the clamping block forms a clamping jaw. The upper part of each clamping jaw is further provided with a limiting block which is transversely arranged and fixedly connected with the lifting tool fixing frame.

7. The dual-rail synchronous conveyor control method of claim 3, wherein: One of the conveying units of the front frame automatic conveying system is connected with a horizontal driving structure which drives the conveying unit to move forward or backward along the conveying track. One of the conveying units of the rear frame automatic conveying system is also connected with a horizontal driving structure which drives the conveying unit to move forward or backward along the conveying track. The horizontal driving structures are respectively connected with the respective PLC control systems.

8. The dual frame synchronous conveying control method according to claim 7, wherein: The horizontal driving structure comprises a driving motor mounted on the conveying unit and a gear mounted on the driving motor, and a rack parallel to the conveying track is further arranged, and the gear is engaged with the rack.

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