Precise positioning control method for high-speed conveying mechanism

Abstract

The precise positioning control method for a high-speed conveying mechanism described in the present invention proposes setting up several buffer zones, each of which includes pre-buffering, buffering conveying, and connecting buffering lines. Thus, based on the position tracking of each carrier on each line, a precise positioning progressive conveying rhythm control method is established between the upper and lower connecting stations, achieving a significant improvement in conveying speed and positioning accuracy. The conveying mechanism is provided with at least one buffer zone, and in each buffer zone, an upstream connecting conveyor line, a pre-buffering conveyor line, a buffering conveyor line, a connecting buffering conveyor line, and a downstream connecting conveyor line are sequentially connected along the conveying direction. One carrier is transferred between the above conveying sections at a time; only one carrier can be cached on the pre-buffering conveyor line, the connecting buffering conveyor line, the upstream and downstream connecting conveyor lines; at least two carriers are cached simultaneously on the buffering conveyor line, and the spacing between adjacent carriers is the same.

Claims

1. A high-speed conveying mechanism precise positioning control method, characterized by: The conveying mechanism is provided with at least one buffer section, and each buffer section is sequentially connected with an upstream connecting conveyor line, a pre-buffer conveyor line, a buffer conveyor line, a connecting buffer conveyor line and a downstream connecting conveyor line along the conveying direction, and one carrier is transferred between the above conveying sections at a time; Only one carrier can be cached on the pre-caching conveyor line, the connecting cache conveyor line, and the upstream and downstream connecting conveyor lines; At least two carriers are cached simultaneously on the cache conveyor line, and the distance between adjacent carriers is the same; The upstream connecting conveyor line and the downstream connecting conveyor line are respectively connected to the carrier conveying entrance and exit of the conveying mechanism, and the distance between the two is proportional to the conveying length of the buffer conveyor line; The buffer conveyor line is controlled and operated according to the following logic: 2.1 When the connecting buffer conveyor line requests a carrier, if the carrier on the buffer conveyor line is ready and the carrier on the pre-buffer conveyor line is ready, the pre-buffer conveyor line, the buffer conveyor line and the connecting buffer conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the buffer conveyor line, the buffer conveyor line and the pre-buffer conveyor line will disconnect from the synchronization mode; 2.2 When the connecting buffer conveyor line requests a carrier, if the carrier on the buffer conveyor line is not ready, but the carrier on the pre-buffer conveyor line is ready, the pre-buffer conveyor line, the buffer conveyor line, and the connecting buffer conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the connecting buffer conveyor line, go to step 2.3 below; 2.3 When the connecting buffer conveyor line does not request a carrier, the buffer conveyor line carrier cache quantity is not full, and the carrier on the pre-buffer conveyor line is ready, the buffer conveyor line requests a carrier from the pre-buffer conveyor line. The carrier handover process is as described above, that is, The cache conveyor line and the pre-cache conveyor line start the synchronous follow mode, and the carrier is replenished into the cache conveyor line to reach the full load state. At this time, the cache conveyor line and the pre-cache conveyor line disconnect the synchronous mode.

2. The high-speed conveying mechanism precise positioning control method according to claim 1, characterized in that: A detection sensor (ss) is provided at the outlet of each conveying line body, and the conveying position (sp) of the detection sensor ss is set to be known; The control system gives the upper and lower limits (td) of the sensor's allowed sensing. When the vehicle's current position (P) is (sp±td), it determines whether the vehicle is sensed. If the vehicle can be sensed within the above sensing range, the position (sp) of the detection sensor (ss) is assigned to the vehicle to complete the position correction.

3. The high-speed conveying mechanism precise positioning control method according to claim 1 or 2, characterized in that: During the conveying process of the carrier on each conveyor line, the position tracking system tracks the position of each carrier entering and leaving the buffer zone in real time; The position tracking system collects the position increment (dx) of the conveyor line at every interval (T). The position increment (dx) is calculated based on the current speed (V) of the conveyor line, that is, dx=T*V.

4. The high-speed conveying mechanism precise positioning control method according to claim 3, characterized in that: The following carrier positioning process is adopted, The coordinates of the entrance and exit positions of each conveyor line, the position data of each vehicle, and the buffer distance between two adjacent vehicles are all known; Obtain the target position (S) of a vehicle on the conveyor line from the control system; Calculate the deceleration distance (dS) of the vehicle on the conveyor line; Calculate the distance D=SP between the vehicle's current position (P) and the target position (S); The current position (P) and the target position (S) are gradually approaching each other. When D < dS, the servo drive that controls the operation of the conveyor line is switched from speed mode to position mode, and the positioning distance L of the servo drive position mode is set to S–P. The servo driver sets the target position value to L when executing the position command. When the driver completes executing the position command, the carrier stops at the target position (S).

5. The high-speed conveying mechanism precise positioning control method according to claim 1, characterized in that: The pre-buffer conveyor line operates according to the following logic control: 1.1 When the buffer conveyor line requests a carrier, if the carrier on the pre-buffer conveyor line is ready and the carrier on the upstream connecting conveyor line is ready, the buffer conveyor line, pre-buffer conveyor line, and upstream connecting conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the pre-buffer conveyor line, the pre-buffer conveyor line and the upstream connecting conveyor line will disconnect from the synchronization mode; 1.2 When the buffer conveyor line requests a carrier, if there is no carrier on the pre-buffer conveyor line and the carrier is ready on the upstream connecting conveyor line, the buffer conveyor line, pre-buffer conveyor line, and upstream connecting conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the buffer conveyor line, go to step 1.3 below; 1.3 When there is no carrier on the pre-cached conveyor line and the carrier on the upstream connecting conveyor line is ready, the pre-cached conveyor line requests the carrier from the upstream connecting conveyor line, and the pre-cached conveyor line and the upstream connecting conveyor line start synchronously, and the conveying speed of each line is the same; when the carrier enters the pre-cached conveyor line, the pre-cached conveyor line and the upstream connecting conveyor line are disconnected from the synchronization mode.

6. The high-speed conveying mechanism precise positioning control method according to claim 1, characterized in that: The buffer conveyor line responds preferentially to the carrier request of the connected buffer conveyor line, and only preferentially caches the carrier when the connected buffer conveyor line does not request the carrier.

7. The high-speed conveying mechanism precise positioning control method according to claim 6, characterized in that: When responding according to the above priority, when the carrier on the pre-cached conveyor line is ready and there is space on the cache conveyor line to cache the carrier, the cache conveyor line and the pre-cached conveyor line are started synchronously; when the carrier enters the cache conveyor line, the cache conveyor line and the pre-cached conveyor line are disconnected from the synchronization mode; When the carrier on the pre-cache conveyor line is ready, there is a carrier near the exit side of the cache conveyor line, and there is no carrier near the entrance side, first, the cache conveyor line returns the carrier at the exit side to the entrance side; then, the cache conveyor line and the pre-cache conveyor line start synchronously; when the carrier enters the cache conveyor line, the cache conveyor line and the pre-cache conveyor line disconnect the synchronization mode.

8. The high-speed conveying mechanism precise positioning control method according to claim 1, characterized in that: The connection buffer conveyor line is controlled and operated according to the following logic: 3.1 When the downstream connecting conveyor line requests a carrier, if the carrier on the connecting buffer conveyor line is ready and the carrier on the buffer conveyor line is ready, the downstream connecting conveyor line, the connecting buffer conveyor line and the buffer conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the connecting buffer conveyor line, the connecting buffer conveyor line and the buffer conveyor line will disconnect the synchronization mode; 3.2 When the downstream connecting conveyor line requests a carrier, if the connecting buffer conveyor line has no carrier and the buffer conveyor line has a carrier ready, the downstream connecting conveyor line, connecting buffer conveyor line, and buffer conveyor line will start synchronously, and the conveying speed of each line will be the same; when the carrier enters the downstream connecting conveyor line, go to step 3.3; 3.

3. When there is no carrier on the connecting buffer conveyor line and the carrier on the buffer conveyor line is ready, the connecting buffer conveyor line requests the carrier from the buffer conveyor line; when the carrier enters the connecting buffer conveyor line, the connecting buffer conveyor line and the buffer conveyor line are disconnected from the synchronization mode.

9. The high-speed conveying mechanism precise positioning control method according to claim 1, characterized in that: The upstream connecting conveyor line or the downstream connecting conveyor line is operated according to the following logic control: When there is no carrier on the connection body, it requests a carrier from the upper level line body; when responding to the request, the line bodies start the synchronous follow mode, and when the carrier is sent to the upstream connecting conveyor line or the downstream connecting conveyor line, the synchronous mode is disconnected; The conveying mode includes through mode and docking mode. The through mode is that the upstream docking conveyor line or the downstream docking conveyor line sends the carrier to the next level line body, and the docking mode is that the carrier is sent to the conveying device at the docking position.

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