An automatic replacement device, replacement system and replacement method for a heavy die

Abstract

The present invention discloses an automatic replacement device, a replacement system and a replacement method for a heavy die, including a transfer device, which includes an automatic walking host and a replacement execution mechanism; the replacement execution mechanism includes a guiding component, a pushing and pulling execution component and a limiting component, and the guiding direction of the guiding component is parallel to the pushing and pulling direction of the pushing and pulling execution component; the pushing and pulling execution component includes a lead screw motor, a lead screw driven by the lead screw motor, a slider sleeved on the lead screw, a push rod rotatably connected to the slider, a hook fixed at the front end of the push rod and capable of hooking on the die, and a hook auxiliary component for driving the hook to be connected to or disengaged from the die; in the replacement system of the present invention, through the communication between the die warehouse entrance and exit control system, the die machine table control system, the AGV vehicle-mounted control system and the transfer device control system, the full-automatic control of the replacement process is realized, and no manual participation in handling or docking is required during the replacement, and the replacement is efficient and safe.

Description

Technical Field

[0001] The present invention belongs to the application field of AGV transfer equipment, and more specifically relates to an automatic replacement device, replacement system and replacement method for heavy molds. Background Art

[0002] Inside a manufacturing enterprise, there is a task of handling heavy molds, that is, pulling them out from the shipping outlet of the mold warehouse and sending them to the machine tool where the mold needs to be replaced. However, after arriving at the destination, if there is an old mold on the machine tool, the old mold needs to be removed first before the new mold can be installed. Due to the special nature of the business, pallets cannot be used to carry heavy molds, and only forklift drivers who have received special training can drive a heavy forklift to fork and carry the mold from the mold workpiece table to complete the mold replacement task. However, the entire process of removing and replacing the mold still requires the assistance of others, which is dangerous, cumbersome to operate, and has a high error rate. In order to quickly and accurately install the replacement of heavy molds, there is an urgent need for a replacement system that can automatically complete the acquisition of new molds, removal of old molds, and installation of new molds, and achieve fully automated precise control, simplify the replacement process and operation, and improve the replacement efficiency and success rate. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic replacement device, replacement system and replacement method for heavy molds, and solve the problem of replacing heavy molds in the prior art.

[0004] A technical solution of the present invention for an automatic replacement device for heavy molds includes a transfer device that shuttles between the entrance and exit of the mold warehouse and the mold machine tool. The transfer device includes an automatic walking main body and a replacement execution mechanism installed on the automatic walking main body that performs pushing and pulling operations on the mold during mold replacement.

[0005] The replacement execution mechanism includes a guiding component, a pushing and pulling execution component, and a limiting component. The guiding direction of the guiding component is parallel to the pushing and pulling direction of the pushing and pulling execution component.

[0006] The pushing and pulling execution component includes a lead screw motor, a lead screw driven by the lead screw motor, a slider sleeved on the lead screw, a push rod rotatably connected to the slider, a hook fixed at the front end of the push rod and capable of hooking on the mold, and a hook auxiliary component that drives the hook to connect to or disengage from the mold.

[0007] The push rod is in the same direction as the lead screw, and the limiting component is arranged at the rear of the pushing and pulling execution component.

[0008] Preferably, the guiding component includes a plurality of guiding rails. The guiding rails are parallel to the lead screw and at least two are provided. The guiding rails are evenly arranged on both sides of the lead screw; the top surface height of the guiding rails is higher than the height of the pushing and pulling execution component.

[0009] Preferably, a guiding chute is arranged below the lead screw, the slider is placed in the guiding chute, and the width of the guiding chute is adapted to the width of the slider; the lead screw extends out from one end of the guiding chute and is connected to a lead screw motor;

[0010] A connecting shaft parallel to the width direction of the guiding chute penetrates through the slider. One end of the push rod is hinged to the slider through the connecting shaft. The other end of the push rod is a free end and can rotate around the connecting shaft. The hook is fixed to the free end, and the hook auxiliary assembly is close to the free end position.

[0011] Preferably, the hook is fixed on the lower side surface of the push rod to form a downwardly bent hook portion. The hook auxiliary assembly is arranged below the push rod and drives the free end of the push rod to rotate downward or upward around the connecting shaft, so as to realize that the hook is buckled onto the upper die or detached from the upper die; the hook auxiliary assembly includes a lifting motor and a lifting assembly that moves up and down driven by the lifting motor, and the lifting motor drives the free end of the push rod to lift or lower.

[0012] Preferably, the limiting assembly is arranged away from the free end of the push rod, and the limiting assembly includes a touch-edge piezoelectric sensor and a laser rangefinder.

[0013] Preferably, the automatic walking host is a backpack-type AGV. A support base is fixedly installed on the top of the backpack-type AGV, and two sets of replacement actuating mechanisms are installed on the support base, and the directions of the two sets of replacement actuating mechanisms are the same; emergency stop switches are respectively arranged at the four top corner positions of the backpack-type AGV.

[0014] A replacement system for a heavy die, the replacement system includes a die warehouse entrance and exit control system arranged at the entrance and exit of the die warehouse, a die machine table control system arranged on the die machine table, the automatic replacement device as described above, and a transfer equipment control system and an AGV vehicle control system arranged on the automatic replacement device; the transfer equipment control system and the die warehouse entrance and exit control system communicate with the die machine table control system through a wireless network; both sets of replacement actuating mechanisms are controlled by the transfer equipment control system; the AGV vehicle control system communicates with the transfer equipment control system, receives the die replacement task issued by the transfer equipment control system, and controls the AGV to travel to a specified position, and the replacement system starts with the start of the AGV vehicle control system.

[0015] The transfer equipment control system includes a central controller; two touch-edge piezoelectric sensors and four emergency stop switches are all connected to the digital signal input and output interface of the central controller, and two lead screw motors, two lifting motors and two laser rangefinders are all connected to the analog signal input and output interface of the central controller; the four emergency stop switches are connected in series and connected to the central controller.

[0016] Preferably, the transfer equipment control system includes a PLC controller or an MCU controller.

[0017] A method for replacing a heavy die, using the heavy die replacement system as described above, and performing the replacement according to the following steps.

[0018] The first step is to start the heavy die replacement system: The AGV vehicle control system starts and controls the start of the replacement system; First, set the following parameters and true / false values in the transfer equipment control system: online object identifier (T_ID), online timeout (CTo), pull timeout (PTo), task identifier (Task_ID), shortest distance (sd), and longest distance (md); Designate one of the two automatic replacement devices as the new die push-pull actuator and the other as the old die push-pull actuator.

[0019] The second step is to obtain the new die to be replaced: The transfer equipment control system communicates with the die warehouse entrance and exit control system, and the AGV vehicle control system controls the replacement device to dock with the die warehouse entrance and exit; The transfer equipment control system controls the operation of the new die push-pull actuator.

[0020] In the new die push-pull actuator, first, the lead screw motor operates to drive the push-pull rod to push outwards and reach the position of the new die at the die warehouse entrance and exit. The hook auxiliary component operates to assist the hook at the end of the push-pull rod to latch onto the new die at the die warehouse entrance and exit; Then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract, pulling the new die from the die warehouse entrance and exit to the back-mounted AGV; Then, the AGV vehicle control system controls the back-mounted AGV to carry the new die and travel to the die machine table position.

[0021] The third step is to remove the old die on the die machine table to be replaced: The transfer equipment control system communicates with the die machine table control system, and determines whether the die machine table is empty. If it is empty, directly proceed to the following fourth step. If it is not empty, then: The AGV vehicle control system controls the replacement device to dock with the die machine table; The transfer equipment control system controls the operation of the old die push-pull actuator.

[0022] In the old die push-pull actuator, first, the lead screw motor operates to drive the push-pull rod to push outwards and reach the position of the old die on the die machine table. The hook auxiliary component operates to assist the hook at the end of the push-pull rod to latch onto the old die on the die machine table; Then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract, pulling the old die from the die machine table to the back-mounted AGV, making the die machine table empty.

[0023] The fourth step is to push the new die onto the empty die machine table: The transfer equipment control system communicates with the die machine table control system, and the AGV vehicle control system controls the replacement device to dock with the die machine table; The transfer equipment control system controls the operation of the new die push-pull actuator carrying the new die.

[0024] In the new mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the new mold outwards and push the new mold onto the mold machine table. Then, the lead screw motor operates in reverse to drive the push-pull rod to retract.

[0025] Step 5: Push the old mold to the entrance and exit of the mold warehouse: The transfer equipment control system communicates with the control system of the entrance and exit of the mold warehouse, and the AGV vehicle control system controls the replacement device to dock with the entrance and exit of the mold warehouse; the transfer equipment control system controls the old mold push-pull actuator carrying the old mold to operate.

[0026] In the old mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the old mold outwards and push the old mold to the entrance and exit of the mold warehouse. Then, the lead screw motor operates in reverse to drive the push-pull rod to retract.

[0027] The beneficial effect of an automatic replacement device for heavy molds in the technical solution of the present invention is that by installing and fixing the automatic replacement device on a backpack-type AGV, and controlling the AGV to move, the automatic replacement device is docked with the entrance and exit of the mold warehouse or the mold machine table. At the same time, the transfer of the mold between the entrance and exit of the mold warehouse or the mold machine table and the backpack-type AGV is realized, the turnover of the mold between the entrance and exit of the mold warehouse and the mold machine table is realized, and the replacement of heavy molds is realized. The operation is convenient and simple, the replacement is fast, the automatic docking is achieved, and the accuracy rate is high.

[0028] The beneficial effect of a replacement system for heavy molds in the technical solution of the present invention is that through the communication between the control system of the entrance and exit of the mold warehouse, the control system of the mold machine table, and the AGV vehicle control system with the transfer equipment control system, the full-automatic control of the replacement process is realized, and no manual participation in handling or docking is required during the replacement, and the replacement is efficient and safe.

[0029] The beneficial effect of a replacement method for heavy molds in the technical solution of the present invention is that the replacement process realizes full-automatic control, the replacement efficiency is high, and the docking is accurate. Description of the Drawings

[0030] Figure 1 It is a top view of the structure schematic diagram of the automatic replacement device for heavy molds in the technical solution of the present invention.

[0031] Figure 2 It is a front view of the structure schematic diagram of the automatic replacement device for heavy molds in the technical solution of the present invention.

[0032] Figure 3 It is the electrical wiring schematic diagram of the transfer equipment control system in the technical solution of the present invention.

[0033] Figure 4 It is the flow chart of the replacement system pulling the mold from the entrance and exit of the mold warehouse in the technical solution of the present invention. Detailed implementation manners

[0034] For the convenience of those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings of the specification.

[0035] As Figure 1 and Figure 2 shown, a technical solution of an automatic replacement device for a heavy mold of the present invention includes a transfer device 100 that shuttles between the entrance and exit of a mold warehouse and a mold machine table. The transfer device 100 includes an automatic walking main machine 10 and a replacement execution mechanism 30 installed on the automatic walking main machine 10 and used for pushing and pulling the mold during mold replacement. The replacement execution mechanism 30 includes a guiding component, a pushing and pulling execution component, and a limiting component. The guiding direction of the guiding component is parallel to the pushing and pulling direction of the pushing and pulling execution component.

[0036] The pushing and pulling execution component includes a lead screw motor 35, a lead screw 33 driven by the lead screw motor 35, a slider 34 sleeved on the lead screw 33, a push rod 37 rotatably connected to the slider 34, a hook 371 fixed at the front end of the push rod 37 and capable of hooking on the mold, and a hook auxiliary component 36 for driving the hook 371 to be connected to or disengaged from the mold. The push rod 37 is in the same direction as the lead screw 33, and the limiting component is arranged at the rear of the pushing and pulling execution component.

[0037] Based on the above technical solution, when mold replacement is required, the transfer device 100 is controlled to move to the entrance and exit of the mold warehouse to obtain a new mold, align with the warehouse exit, and then the lead screw motor 35 is started to work. The lead screw motor 35 drives the lead screw 33 to rotate, the slider 34 sleeved on the lead screw 33 moves along the lead screw, the push rod 37 connected to the slider is pushed outwards, and at the same time, the push rod 37 is lifted through the hook auxiliary component 36, so that the front end of the push rod is in an obliquely upward state until the front end of the push rod 37 extends to the mold 200 at the warehouse exit and the hook 371 is located above the pushing and pulling groove 201 on the mold 200. Then the hook auxiliary component 36 works, so that the push rod 37 rotates downwards, that is, the hook at the front end of the push rod falls into the pushing and pulling groove 201 of the mold 200, that is, the hook and the push rod are connected to the mold 200. At this time, the lead screw motor 35 is controlled to work in the reverse direction, so that the slider drives the push rod to retract, that is, the push rod realizes pulling the mold 200 onto the transfer device 100. In this process, it should be noted that the warehouse slide rail 300 for placing the mold 200 at the entrance and exit of the mold warehouse should be adapted to the height of the guiding component on the transfer device 100, and the push rod directly pulls the mold from the warehouse slide rail 300 onto the guiding component on the transfer device 100.

[0038] Based on the above technical solution, when it is necessary to replace the mold, the transfer device 100 can also be controlled to move to the mold machine table to remove the old mold on the machine table. The operation process is the same as the process of the transfer device 100 moving to the entrance and exit of the mold warehouse to obtain a new mold. At this time, the transfer device 100 should be docked with the mold machine table, and the height of the guiding component on the transfer device 100 should be the same as the height of the slide rail for placing the mold on the mold machine table.

[0039] Based on the above technical solution, when it is necessary to replace the mold, it is also necessary to push the new mold pulled onto the transfer device 100 to the mold machine table. The process is as follows: Control the transfer device 100 to move to the mold machine table and dock with the mold machine table. Then start the lead screw motor 35 to work. The lead screw motor 35 drives the lead screw 33 to rotate. The slider 34 sleeved on the lead screw 33 moves along the lead screw, and the push-pull rod 37 connected to the slider is pushed outwards, that is, to push the new mold connected to the hook to the mold machine table. Then control the hook auxiliary component 36 to drive the push-pull rod 37 to rotate upwards, that is, to disengage the hook from the mold. Then control the lead screw motor 35 to move in the reverse direction to drive the push-pull rod to retract.

[0040] Based on the above technical solution, when it is necessary to replace the mold, it is also necessary to push the old mold pulled from the mold machine table into the mold warehouse. The process is the same as the process of pushing the new mold pulled onto the transfer device 100 to the mold machine table. At this time, the transfer device 100 is docked with the exit of the mold warehouse.

[0041] Based on the above technical solution, for the automatic replacement device of the heavy mold of the present invention, by installing and fixing the automatic replacement device on the back-type AGV, by controlling the movement of the AGV, the automatic replacement device is docked with the entrance and exit of the mold warehouse or the mold machine table, and at the same time, the mold is transferred between the entrance and exit of the mold warehouse or the mold machine table and the back-type AGV, realizing the turnover of the mold between the entrance and exit of the mold warehouse and the mold machine table, and realizing the replacement of the heavy mold. The operation is convenient and simple, the replacement is fast, the automatic docking is realized, and the accuracy rate is high.

[0042] In this technical solution, the guiding component includes a plurality of guiding slide rails 31. The guiding slide rails 31 are parallel to the lead screw 33 and there are at least two of them. The guiding slide rails are evenly arranged on both sides of the lead screw 33. The top surface height of the guiding slide rail 31 is higher than the height of the push-pull execution component. The guiding slide rail is made of I-beam and should have good load-bearing capacity, and the position arrangement is uniform. After the mold is pulled onto the transfer device 100, the entire weight of the mold falls on the guiding slide rail 31. When the transfer device pulls or pushes out the mold, the top surface height of the guiding slide rail 31 should be the same as the height of the slide rail for placing the mold at the entrance and exit of the mold warehouse or the height of the slide rail for placing the mold on the mold machine table to achieve docking, facilitating the smooth movement and transfer of the mold.

[0043] In this technical solution, a guiding chute 32 is provided below the lead screw 33. The slider 34 is placed within the guiding chute 32, and the width of the guiding chute 32 is adapted to the width of the slider 34. The lead screw 33 extends out from one end of the guiding chute 32 and is connected to a lead screw motor 35. On the one hand, the guiding chute 32 provides a position for the installation of the lead screw, and on the other hand, it provides guidance for the sliding of the slider, ensuring that the slider slides along the lead screw, avoiding problems such as wobbling, and ensuring the stable movement of the mold.

[0044] In this technical solution, a connecting shaft parallel to the width direction of the guiding chute 32 passes through the slider 34. One end of the push-pull rod is hinged to the slider 34 through the connecting shaft 370. The other end of the push-pull rod is a free end 372 and can rotate around the connecting shaft 370. The hook 371 is fixed to the free end 372, and the hook auxiliary component 36 is located near the free end 372. The hook auxiliary component 36 realizes the lifting and lowering of the push-pull rod, causing the free end of the push-pull rod to move upward or downward, so that the hook disengages from or latches onto the push-pull groove 201 on the mold.

[0045] The push-pull groove 201 on the mold is provided for the mold to pass through the automatic replacement device of this technical solution, and generally is provided on the lower die base of the mold.

[0046] In this technical solution, the hook 371 is fixed on the lower side surface of the push-pull rod 37, forming a downward-bent hook portion. The hook auxiliary component 36 is arranged below the push-pull rod 37 and drives the free end 372 of the push-pull rod 37 to rotate downward or upward around the connecting shaft 370, realizing the latching of the hook 371 onto the upper mold or detachment from the upper mold. The hook auxiliary component 36 includes a lifting motor and a lifting component that moves up and down driven by the lifting motor. The lifting motor drives the free end 372 of the push-pull rod to lift or lower.

[0047] In the hook auxiliary component 36, the motor shaft of the lifting motor is horizontally arranged. A gear is fixed on the output shaft of the lifting motor. The lifting component includes a rack that meshes with the gear, and the rack is vertically arranged. When the lifting motor works, it drives the rack to rise through the gear, realizing the lifting of the push-pull rod 37. When the lifting motor works in the reverse direction, the rack descends, and the free end of the push-pull rod descends.

[0048] In this technical solution, the limiting component is arranged away from the free end 372 of the push-pull rod. The limiting component includes a touch-edge piezoelectric sensor 39 and a laser rangefinder 38. Both the touch-edge piezoelectric sensor 39 and the laser rangefinder 38 are used to limit the position of the mold pulled onto the transfer device 100, avoiding the mold being pulled beyond the limit, and ensuring that the mold is located on the transfer device 100.

[0049] In this technical solution, the automatic walking host 10 is a backpack-type AGV. A support base 20 is fixedly installed on the top of the backpack-type AGV. Two sets of replacement execution mechanisms are installed on the support base 20, and the directions of the two sets of replacement execution mechanisms are the same. Emergency stop switches 40 are respectively arranged at the four vertex positions of the backpack-type AGV. That is, in order to simplify control and speed up die replacement, two sets of replacement execution mechanisms are installed on a backpack-type AGV, so that a transfer device 100 can complete the four-step operations of obtaining a new die, unloading an old die, replacing the new die, and storing the old die in the warehouse.

[0050] Of course, if only one set of replacement execution mechanism is installed on a backpack-type AGV, the four-step operations of obtaining a new die, unloading an old die, replacing the new die, and storing the old die in the warehouse can also be completed by two transfer devices. Or a transfer device completes the four-step operations of obtaining a new die, unloading an old die, replacing the new die, and storing the old die in the warehouse. The process should be, in sequence, unloading the old die, storing the old die in the warehouse, obtaining the new die, and replacing the new die.

[0051] In this technical solution, a replacement system for heavy dies is disclosed. The replacement system includes a die warehouse entrance and exit control system (WCS, warehouse Control System) arranged at the entrance and exit of the die warehouse, a die machine platform control system (PCS, Platform Controll System) arranged on the die machine platform, the automatic replacement device as described above, a transfer device control system (DMCS, Device Mobile Control System) and an AGV on-board control system arranged on the automatic replacement device; the transfer device control system and the die warehouse entrance and exit control system communicate with the die machine platform control system through a wireless network (AP). Both sets of replacement execution mechanisms are controlled by the transfer device control system. The AGV on-board control system communicates with the transfer device control system, receives the die replacement task issued by the transfer device control system, and controls the AGV to travel to the designated position. The replacement system starts with the start of the AGV on-board control system.

[0052] As Figure 3As shown in the figure, the transfer equipment control system includes a central controller; two edge-touch piezoelectric sensors (Edge-touch Piezoelectric Sensor 1 and Edge-touch Piezoelectric Sensor 2) and four emergency stop switches (E1, E2, E, and E4) are all connected to the digital signal input / output interface of the central controller. Two lead screw motors (Lead Screw Motor 1 and Lead Screw Motor 2), two lifting motors (Lifting Motor 1 and Lifting Motor 2), and two laser rangefinders (Laser Rangefinder 1 and Laser Rangefinder 2) are all connected to the analog signal input / output interface of the central controller; the four emergency stop switches are connected in series and then connected to the central controller. The transfer equipment control system includes a PLC controller or an MCU controller.

[0053] In this technical solution, the transfer equipment control system must access a dedicated wireless AP through a wireless AC to achieve real-time interaction and data exchange with the WCS and PCS.

[0054] In this technical solution, the transfer equipment control system (DMCS) communicates with the mold warehouse access control system (WCS) and the mold machine control system (PCS). The main information interactions are as follows: DMCS sends a docking protocol, a task identification protocol, and an online protocol to the WCS. The WCS feeds back the mold information at the mold warehouse access position to the DMCS. DMCS sends a docking protocol, a task identification protocol, and an online protocol to the PCS. The PCS feeds back the mold information on the mold machine to the DMCS, such as whether the mold machine is vacant or not.

[0055] In the replacement system of the present invention, the mold warehouse access control system, the mold machine control system, and the AGV vehicle control system all communicate with the transfer equipment control system to achieve full-automatic control of the replacement process. During the replacement, no manual participation in handling or docking is required, and the replacement is efficient and safe.

[0056] In this technical solution, a method for replacing a heavy mold is disclosed. Using the replacement system of the heavy mold as described above, the replacement is carried out according to the following steps.

[0057] The first step is to start the replacement system of the heavy mold in this technical solution: the AGV vehicle control system starts and controls the start of the replacement system; first, set the following parameters and true / false values in the transfer equipment control system: online object identifier (T_ID), online timeout (CTo), pull timeout (PTo), task identifier (Task_ID), shortest distance (sd), and longest distance (md); specify one of the two automatic replacement devices as the new mold pusher and the other as the old mold pusher.

[0058] In the above step, the shortest distance (sd) refers to the minimum distance that the slider 34 in the replacement device allows from the laser rangefinder, that is, the position limit when the slider 34 moves towards the laser rangefinder side.

[0059] The maximum distance (md) refers to the maximum distance that the slider 34 in the replacement device allows from the laser rangefinder, that is, when pulling the mold, the maximum distance that the slider 34 slides outwards.

[0060] The task identifiers (Task_ID) are: pulling a new mold at the entrance and exit of the mold warehouse, pulling an old mold on the mold machine table, pushing the new mold on the transfer equipment to the mold machine table, and pushing the old mold on the transfer equipment to the position of the entrance and exit of the mold warehouse.

[0061] The online object identifier (T_ID): refers to the connection between the transfer equipment control system (DMCS) and the entrance and exit control system (WCS) of the mold warehouse or the control system (PCS) of the mold machine table.

[0062] In the second step, obtain the new mold to be replaced: The transfer equipment control system communicates online with the entrance and exit control system of the mold warehouse. The AGV vehicle control system controls the AGV to move, so that the replacement device is docked with the entrance and exit of the mold warehouse. The transfer equipment control system controls the new mold push-pull actuator to work.

[0063] In the new mold push-pull actuator, first, the lead screw motor works, drives the push-pull rod to push outwards through the slider and reaches the position of the new mold at the entrance and exit of the mold warehouse. The hook auxiliary component works to assist the hook at the end of the push-pull rod to latch onto the new mold at the entrance and exit of the mold warehouse. Then, the lead screw motor works in reverse to drive the push-pull rod to retract, pulling the new mold from the entrance and exit of the mold warehouse to the back-mounted AGV. Then, the AGV vehicle control system controls the back-mounted AGV to carry the new mold and move to the position of the mold machine table.

[0064] In the third step, remove the old mold to be replaced on the mold machine table: The transfer equipment control system communicates online with the control system of the mold machine table. The PCS feeds back the mold information on the mold machine table to the DMCS to determine whether the mold machine table is vacant. If it is vacant, directly enter the following fourth step. If the mold machine table is not vacant, then: The AGV vehicle control system controls the replacement device to be docked with the mold machine table. The transfer equipment control system controls the old mold push-pull actuator to work.

[0065] In the old mold push-pull actuator, first, the lead screw motor works to drive the push-pull rod to push outwards and reach the position of the old mold on the mold machine table. The hook auxiliary component works to assist the hook at the end of the push-pull rod to latch onto the old mold on the mold machine table. Then, the lead screw motor works in reverse to drive the push-pull rod to retract, pulling the old mold from the mold machine table to the back-mounted AGV, making the mold machine table vacant.

[0066] In the fourth step, push the new mold onto the vacant mold machine table: The transfer equipment control system communicates online with the control system of the mold machine table. The AGV vehicle control system controls the replacement device to be docked with the mold machine table. The transfer equipment control system controls the new mold push-pull actuator carrying the new mold to work.

[0067] In the new mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the new mold outwards and push the new mold onto the mold machine table. Then, the lead screw motor operates in reverse to drive the push-pull rod to retract.

[0068] Step 5: Push the old mold to the entrance and exit of the mold warehouse: The transfer equipment control system communicates online with the control system of the mold warehouse entrance and exit. The AGV vehicle control system controls the replacement device to dock with the mold warehouse entrance and exit. The transfer equipment control system controls the old mold push-pull actuator carrying the old mold to operate.

[0069] In the old mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the old mold outwards and push the old mold to the entrance and exit of the mold warehouse. Then, the lead screw motor operates in reverse to drive the push-pull rod to retract, thus completing the four-step operations of obtaining a new mold, unloading the old mold, replacing the new mold, and storing the old mold in the warehouse.

[0070] To further understand the method for replacing heavy molds, the following takes the process of the transfer equipment obtaining a new mold from the entrance and exit of the mold warehouse as an example for detailed description.

[0071] As Figure 4 shown: Start: Start the AGV vehicle control system and control the replacement system to start; First, set in the transfer equipment control system the parameters and true / false values of the online object identifier (T_ID), online timeout (CTo), pull timeout (PTo), task identifier (Task_ID), shortest distance (sd), and longest distance (md); Designate one of the two automatic replacement devices as the new mold push-pull actuator and the other as the old mold push-pull actuator.

[0072] After setting the parameters and true / false values, the DMCS connects online with the WCS, determines whether the connection times out (if it times out, an alarm is given), and if the connection is normal, it checks the task target (if the task target is incorrect, an alarm is given). If the task target is correct, it controls the new mold push-pull actuator to operate. The push-pull rod of the new mold push-pull actuator docks with the mold to be pulled. After the docking is completed, a "pull the mold" command is sent to the lead screw motor of the new mold push-pull actuator. The lead screw motor operates in reverse to pull the new mold at the mold entrance and exit onto the transfer equipment. After the push-pull rod retracts in place, a pull success command is sent to the WCS. Thus, the transfer equipment pulls the new mold at the mold warehouse entrance and exit onto the transfer equipment.

[0073] The technical solution of the present invention has been described exemplarily above in combination with the drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An automatic replacement method for a heavy die, including a replacement system for the heavy die, the replacement system including an automatic replacement device, characterized in that: The automatic replacement device includes a transfer device that shuttles between the entrance and exit of the mold warehouse and the mold machine. The transfer device includes an automatic walking main machine and a replacement execution mechanism installed on the automatic walking main machine for pushing and pulling the mold during mold replacement. The replacement execution mechanism includes a guiding component, a pushing and pulling execution component, and a limiting component. The guiding direction of the guiding component is parallel to the pushing and pulling direction of the pushing and pulling execution component. The pushing and pulling execution component includes a lead screw motor, a lead screw driven by the lead screw motor, a slider sleeved on the lead screw, a push rod rotatably connected to the slider, a hook fixed at the front end of the push rod and capable of hooking on the mold, and a hook auxiliary component for driving the hook to connect to or disengage from the mold. The push rod is in the same direction as the lead screw, and the limiting component is arranged at the rear of the pushing and pulling execution component. The replacement system further includes a mold warehouse entrance and exit control system arranged at the entrance and exit of the mold warehouse, a mold machine control system arranged on the mold machine, a transfer device control system arranged on the automatic replacement device, and an AGV vehicle control system. The transfer device control system and the mold warehouse entrance and exit control system communicate with the mold machine control system through a wireless network. Both sets of replacement execution mechanisms are controlled by the transfer device control system. The AGV vehicle control system communicates with the transfer device control system, receives the mold replacement task issued by the transfer device control system, and controls the AGV to travel to the designated position. The replacement system starts with the start of the AGV vehicle control system. The transfer device control system includes a central controller. Two edge piezoelectric sensors and four emergency stop switches are all connected to the digital signal input and output interface of the central controller. Two lead screw motors, two lifting motors, and two laser rangefinders are all connected to the analog signal input and output interface of the central controller. The four emergency stop switches are connected in series and connected to the central controller. Replacement method Including the following steps: The first step is to start the replacement system for the heavy mold: The AGV vehicle control system starts and controls the start of the replacement system. First, set the parameters and true / false values of the online object identifier (T_ID), online timeout (CTo), pull timeout (PTo), task identifier (Task_ID), shortest distance (sd), and longest distance (md) in the transfer device control system. Designate one of the two automatic replacement devices as the new mold pusher and the other as the old mold pusher. The second step is to obtain the new mold to be replaced: The transfer device control system communicates with the mold warehouse entrance and exit control system, and the AGV vehicle control system controls the replacement device to dock with the mold warehouse entrance and exit. The transfer device control system controls the operation of the new mold pusher. In the new mold push-pull actuator, first, the lead screw motor operates to drive the push-pull rod to extend outward to the position of the new mold at the entrance and exit of the mold warehouse, and the hook auxiliary component operates to assist the hook at the end of the push-pull rod to latch onto the new mold at the entrance and exit of the mold warehouse; then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract, pulling the new mold from the entrance and exit of the mold warehouse onto the back-type AGV; afterwards, the AGV vehicle control system controls the back-type AGV to carry the new mold and travel to the position of the mold machine table; In the third step, remove the old mold to be replaced on the mold machine table: The transfer equipment control system communicates with the mold machine table control system to determine whether the mold machine table is vacant. If it is vacant, directly proceed to the following fourth step. If it is not vacant, then: The AGV vehicle control system controls the replacement device to dock with the mold machine table; the transfer equipment control system controls the old mold push-pull actuator to operate; In the old mold push-pull actuator, first, the lead screw motor operates to drive the push-pull rod to extend outward to the position of the old mold on the mold machine table, and the hook auxiliary component operates to assist the hook at the end of the push-pull rod to latch onto the old mold on the mold machine table; then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract, pulling the old mold from the mold machine table onto the back-type AGV, leaving the mold machine table vacant; In the fourth step, push the new mold onto the vacant mold machine table: The transfer equipment control system communicates with the mold machine table control system, and the AGV vehicle control system controls the replacement device to dock with the mold machine table; the transfer equipment control system controls the new mold push-pull actuator carrying the new mold to operate; In the new mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the new mold to extend outward and push the new mold onto the mold machine table. Then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract; In the fifth step: Push the old mold to the entrance and exit of the mold warehouse: The transfer equipment control system communicates with the control system of the entrance and exit of the mold warehouse, and the AGV vehicle control system controls the replacement device to dock with the entrance and exit of the mold warehouse; the transfer equipment control system controls the old mold push-pull actuator carrying the old mold to operate; In the old mold push-pull actuator, first, the lead screw motor operates, causing the push-pull rod to drive the old mold to extend outward and push the old mold to the entrance and exit of the mold warehouse. Then, the lead screw motor operates in the reverse direction to drive the push-pull rod to retract.

2. The automatic replacement method for a heavy die according to claim 1, characterized in that, The guiding component includes a plurality of guiding slide rails, the guiding slide rails are parallel to the lead screw and at least two are provided, and the guiding slide rails are evenly arranged on both sides of the lead screw; the top surface height of the guiding slide rail is higher than the height of the push-pull execution component.

3. The automatic replacement method for a heavy die according to claim 1, characterized in that, A guiding chute is arranged below the lead screw, the slider is placed in the guiding chute, and the width of the guiding chute is adapted to the width of the slider; the lead screw extends out from one end of the guiding chute and is connected to the lead screw motor; A connecting shaft parallel to the width direction of the guiding chute passes through the slider. One end of the push-pull rod is hinged to the slider through the connecting shaft. The other end of the push-pull rod is a free end and can rotate around the connecting shaft. The hook is fixed to the free end, and the hook auxiliary component is near the free end position.

4. The automatic replacement method for a heavy die according to claim 3, characterized in that, The hook is fixed on the lower side of the push-pull rod, forming a downward-bent hook portion. The hook auxiliary assembly is arranged below the push-pull rod and drives the free end of the push-pull rod to rotate downward or upward around the connecting shaft, so as to realize that the hook is buckled on or detached from the upper die. The hook auxiliary assembly includes a lifting motor and a lifting assembly that moves up and down driven by the lifting motor, and the lifting motor drives the free end of the push-pull rod to lift or lower.

5. The automatic replacement method for a heavy die according to claim 1, characterized in that, The limiting assembly is arranged away from the free end of the push-pull rod, and the limiting assembly includes a touch-edge piezoelectric sensor and a laser rangefinder.

6. The automatic replacement method for a heavy die according to any one of claims 1 to 5, characterized in that, The automatic walking host is a back-mounted AGV. A support base is fixedly installed on the top of the back-mounted AGV, and two sets of replacement actuating mechanisms are installed on the support base, and the directions of the two sets of replacement actuating mechanisms are the same. Emergency stop switches are respectively arranged at the four vertex positions of the back-mounted AGV.

7. The automatic replacement method for a heavy die according to claim 1, characterized in that, The control system of the transfer equipment includes a PLC controller or an MCU controller.

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