Apparatus and method for detecting a spreader on an automated transport system

Abstract

The invention relates to a device for detecting a spreader on an automated transport system, the spreader being used for hoisting a body-in-white or a body part, characterized in that the device is installed at a spreader detection position of a main circulation section of the automated transport system, the device comprising a detection means for detecting a spreader, a frame for mounting the detection means, a control means for activating the detection means after a spreader has reached the spreader detection position and for receiving a detection signal of the detection means, the control means judging whether a spreader is faulty or not depending on the received detection signal and moving the spreader to a repair section of the automated transport system in case of a fault. The invention furthermore relates to a method for detecting a spreader on an automated transport system.

Description

Technical Field

[0001] This invention relates to an apparatus for detecting lifting devices on an automated transport system and a method for detecting lifting devices on an automated transport system. Background Technology

[0002] In modern automated transport systems, spreaders are used to continuously transport unprocessed body-in-white or body parts to different processing stations. If a spreader malfunctions, it directly impacts the system's efficiency, causing production stoppages. Therefore, regular inspections of each spreader are necessary. Currently, such inspections are performed manually.

[0003] On the one hand, automated inspection systems operate on a large number of lifting devices, and manually inspecting each one would be extremely time-consuming and labor-intensive. Furthermore, during this process, inspectors rely solely on their experience to subjectively assess potential faults in the lifting devices. Such subjective judgment is subject to various constraints; for example, differences in experience and expertise may lead different inspectors to make varying assessments of different types of lifting device faults, thus compromising the repeatability of the test results and affecting their stability and accuracy. In addition, the sheer volume of inspections can also result in missed or false detections of lifting device faults.

[0004] On the other hand, as the body-in-white or body components move along the automated transport system, each spreader may exhibit different operating characteristics. In particular, some spreaders may have relatively poor operating conditions compared to others, and therefore may require maintenance before reaching the scheduled inspection cycle. Thus, regular inspections may fail to identify spreaders that have malfunctioned or are at risk of malfunction in a timely manner, potentially leading to safety risks. Summary of the Invention

[0005] The purpose of this invention is to provide an apparatus and method for inspecting spreader loads on automated transport systems. This apparatus and method enable automated inspection and fault recording of spreader loads during operation on the automated transport system, and allow faulty spreader loads to be directly transported to the maintenance section of the automated transport system, thereby enabling rapid repair of the spreader loads.

[0006] According to a first aspect of the invention, a device for detecting a spreader on an automated transport system, the spreader being used to lift a car body or body parts, the device being installed at a spreader detection position in the main circulation section of the automated transport system, the device comprising:

[0007] A testing device for inspecting lifting gear;

[0008] A frame for mounting the detection device;

[0009] A control device is provided for activating the detection device and receiving the detection signal from the detection device after the spreader reaches the detection position. The control device determines whether the spreader is faulty based on the received detection signal and moves the spreader to the maintenance section of the automated transport system if a fault is found.

[0010] A spreader detection position is set on the main circulation section of the automated transport system. A frame is provided at each detection position, and a detection device is mounted on the frame. When a spreader reaches the detection position, the control device activates the detection device, for example, by sending a start signal to it. Therefore, the device according to the invention enables automated detection of each spreader passing through the detection position.

[0011] The control device receives detection signals from a detection device used to detect different parameters of the spreader to reflect its operating status. The control device determines whether the spreader is faulty based on the detection signals, for example, by comparing the detection signals with the corresponding theoretical values ​​for a normal spreader. If a fault is detected in the spreader, the control device moves the spreader to the maintenance section of the automated transport system, for example, by controlling the spreader's drive motor and / or switching tracks. Thus, the equipment according to the invention can automatically transport faulty spreaders to the maintenance section for repair.

[0012] The device according to the invention can perform efficient and automated inspection of each spreader operating on an automated transport system, thereby reducing the time and labor costs associated with inspection. Compared with manual inspection, it significantly improves the stability and accuracy of inspection results and avoids missed or false inspections, thus reducing unexpected failures of spreaders due to untimely inspection and maintenance, avoiding potential safety risks, and ensuring the execution rate of the automated transport system. Moreover, in the device according to the invention, the inspection device is installed independently of the automated transport system on its own frame, so the device can be easily and directly integrated into existing automated transport systems without unduly increasing the burden on space and / or control.

[0013] In the context of this invention, an automated transport system refers specifically to a system used for the automated transport of a vehicle body or body components, particularly in a vehicle manufacturing plant. Such an automated transport system is, for example, an EMS (Electrical Monorail System) transport system. The body components include: engine, transmission, side panels, taillight covers, headlight covers, roof, wheel arches, rear tailgate, rear bulkhead, upper front bulkhead, roof beam, fenders, and bumpers, etc.

[0014] According to one embodiment of the invention, the control device reads the identification information of the lifting device and stores the identification information in association with the detection signal of the detection device. Here, the control device, for example, reads an RFID tag or identification number affixed to the lifting device using a reader, which can be used to provide identification information corresponding to the lifting device. Alternatively, the identification information of the lifting device can be obtained through optical recognition or manual input. The identification information is stored in the control device in association with the detection signal of the detection device.

[0015] According to one embodiment of the invention, the control device prioritizes the maintenance of the spreading equipment based on the identity information and / or the detection signals from the detection device. The maintenance priority easily distinguishes the urgency of maintenance, such as immediate repair, later repair, and periodic maintenance. The control device can determine whether the spreading equipment should be immediately repaired based on the maintenance priority. On one hand, the degree of failure of the spreading equipment can be determined based on the detection signals from the detection device. If the spreading equipment has a serious fault, such as failing to perform the prescribed action or a large difference between the detection signal and the corresponding theoretical value of a normal spreading equipment, the control device immediately initiates maintenance. However, if the spreading equipment has only a minor fault, i.e., a small difference between the detection signal and the corresponding theoretical value of a normal spreading equipment, maintenance can be postponed until all spreading equipment with serious faults has been repaired, at which point the equipment with minor faults will be repaired. On the other hand, the control device can also record postponed maintenance situations and / or planned periodic maintenance based on the identity information and incorporate them into the maintenance priority. In particular, a mapping can be established between the identity information and the maintenance priority, and stored in a database.

[0016] According to one embodiment of the invention, a first proximity sensor for detecting the spreader positioning rod is provided on the frame. The spreader positioning rod, located on the spreader, serves as a reference point for positioning the spreader on the automated transport system. When the first proximity sensor detects the spreader positioning rod approaching, that is, when the spreader approaches the corresponding spreader detection position, the proximity sensor emits a proximity signal. Therefore, the proximity of the spreader to the spreader detection position can be identified by the first proximity sensor. Preferably, two first proximity sensors are provided, one of which is oriented vertically towards the spreader positioning rod on the frame, and the other is oriented horizontally towards the spreader positioning rod on the frame, for detecting the approach of the spreader in the vertical and horizontal directions, respectively.

[0017] According to one embodiment of the invention, the control device is configured to stop the spreader at the spreader detection position upon receiving a proximity signal from a first proximity sensor. The control device stops the spreader at the spreader detection position after receiving the proximity signal from the first proximity sensor, preferably after receiving proximity signals from both first proximity sensors. For this purpose, the sliding contact line near the spreader detection position can be configured as a section, such as a 600mm long section, that can be individually controlled by the control device. All or part of the conductor lines, particularly the command lines, in the sliding contact line on this section are disconnected relative to the main circulation section, thereby allowing the spreader to be controlled by the control device when it travels onto this section. The control device issues a stop command to the spreader via the conductor lines on this section, causing the spreader's travel motor to stop in response, thus stopping the spreader within the target position range, i.e., the spreader detection position.

[0018] According to one embodiment of the invention, a clamping device is provided on the track of an automated transport system. This clamping device is configured to clamp a stopped lifting device. This allows the lifting device to be secured and ensures that it can be precisely stopped at the lifting device detection position, thereby improving the accuracy of the detection results.

[0019] According to one embodiment of the invention, the detection device includes a vision sensor for capturing images of the spreader grippers in a closed position. The vision sensor is, for example, a camera. The closed position of the spreader grippers is the gripping position where the spreader loads a car body or body component. The vision sensor captures images of the spreader grippers in the closed position and uses these images to determine whether the spreader grippers have reached the predetermined closed position. To this end, the control device is configured to compare the image captured by the vision sensor with a standard image, specifically comparing the grayscale values ​​of each pixel in the captured image with the corresponding grayscale values ​​of the standard image, to identify whether the spreader grippers have reached the predetermined closed position. The standard image is an image captured in a fault-free spreader when the spreader grippers have reached the predetermined closed position. If the difference in grayscale values ​​between the captured image and the standard image exceeds a predetermined threshold, it is determined that the spreader grippers have not reached the closed position, which may result in the spreader being unable to load the car body or body component. In this case, the spreader is identified as a faulty spreader and moved to the maintenance section of the automated transport system.

[0020] According to one embodiment of the invention, the detection device includes a first distance sensor for detecting the distance to the spreader grippers in the open position. The open position of the spreader is the non-grabbing position of the spreader, or the position of the spreader during lifting and lowering at each processing station of the automated transport system. The first distance sensor is configured as, for example, a laser sensor, an infrared sensor, or a radar sensor. The control device compares the distance detected by the first distance sensor with a theoretical distance to determine whether the spreader grippers have reached the predetermined open position. Here, the theoretical distance corresponds to the distance between the first distance sensor and the spreader grippers in the predetermined open position in a fault-free spreader.

[0021] According to one embodiment of the invention, two pairs of first distance sensors are provided, wherein each pair of first distance sensors includes two horizontally oriented first distance sensors arranged opposite to each other, facing the spreader jaws in the open position and thereby measuring the distance from the spreader jaws. The control device calculates the distance between the spreader jaws in the open position based on the measurement signals from the two first distance sensors and taking into account the distance between each pair of first distance sensors. The control device can compare the calculated distance with the theoretical distance between the spreader jaws in a predetermined open position to determine whether the spreader jaws have reached the predetermined open position.

[0022] According to one embodiment of the present invention, the detection device is equipped with two second proximity sensors for each spreader gripper claw, which emit signals after the gripper claw reaches the closed position and the open position, respectively. Upon receiving the signals from the second proximity sensors, the control device calculates the time it takes for the gripper claw to move between the open and closed positions. A spring is provided at the top of the spreader for opening and / or closing the gripper claws. The force of the spring drives the linkage mechanism of the spreader, causing the gripper claws to move between the open and closed positions. A second proximity sensor is configured to detect when the gripper claw reaches the closed position, emitting a signal when the gripper claw approaches the closed position. Upon receiving the signal, the control device compares it with the time when the gripper claw begins to move from the open position to calculate the time it takes for the gripper claw to move from the open to the closed position. Similarly, the control device can calculate the time it takes for the gripper claw to move from the closed to the open position, using this time to determine whether the gripper claw is jammed and to detect the dynamic response performance of the gripper claw's driving component.

[0023] According to one embodiment of the invention, the detection device includes a second distance sensor for detecting the height position of the spreader's rotation axis, the second distance sensor being oriented towards the spreader's rotation axis. The spreader's rotation axis is used to move the spreader on a curved section of the automated transport system. The second distance sensor is oriented along the height direction to detect the distance from the rotation axis in the height direction, thereby preventing malfunctions caused by changes in the height position of the rotation axis.

[0024] According to one embodiment of the invention, the detection device includes a third distance sensor for detecting the position of the magnetic sensor of the spreader. Here, the magnetic sensor of the spreader senses the magnetic field generated by a magnet mounted above the track of the automated transport system. When the spreader approaches the magnet, the magnetic sensor can read operating information from the magnet, such as whether the current spreader is carrying a body-in-white or a body component, and whether adjacent spreaders are carrying body-in-white or body components. Thus, for example, if neither of the two adjacent spreaders is carrying a body-in-white or a body component, the spreader can travel at high speed over a long distance. If one of the two adjacent spreaders is carrying a body-in-white or a body component, the travel speed of the spreader should be reduced and a greater distance should be maintained between them. Therefore, the travel speed and / or the distance between the spreaders can be changed based on the information read from the magnetic sensor. According to the invention, by detecting the position of the magnetic sensor using the third distance sensor, reading errors caused by changes in the position of the magnetic sensor and resulting errors in the speed and distance of the spreader can be prevented, thereby reliably preventing collisions with the carried body-in-white or body components.

[0025] According to one embodiment of the present invention, as a third distance sensor, two laser sensors are provided on the frame. One laser sensor faces the magnetic sensor to detect the position of the magnetic sensor in the horizontal direction, while the other laser sensor detects the position of the magnetic sensor in the vertical direction. This reliably detects whether the magnetic sensor is in its designated position, effectively avoiding reading errors caused by positional deviation of the magnetic sensor.

[0026] According to one embodiment of the invention, the device includes a display unit that displays the detection signals from the detection device and / or indicates whether a fault exists. Here, the display unit can show the inspection results of the lifting equipment and / or indicate the inspection conclusions, particularly the aforementioned maintenance priorities, to the inspection and maintenance personnel, thereby assisting them in further processing. Preferably, the display unit can also display a list and statistical data regarding multiple lifting equipment recently inspected.

[0027] According to a second aspect of the invention, there is a method for detecting a spreader on an automated transport system, the method being used to operate equipment according to the invention. The method includes: the control device activating the detection device and receiving a detection signal from the detection device after the spreader reaches the spreader detection position; the control device determining, based on the received detection signal, whether the spreader is faulty; and, if a fault is found, moving the spreader to a maintenance section of the automated transport system.

[0028] According to one embodiment of the present invention, a first proximity sensor located at the spreader detection position detects a spreader positioning rod on the spreader and emits a proximity signal when the spreader positioning rod approaches. The spreader positioning rod serves as a reference point for positioning the spreader on the automated transport system. When the first proximity sensor detects the approach of the spreader positioning rod, the proximity sensor emits a proximity signal, which can be used to identify the approach of the spreader to the spreader detection position.

[0029] According to one embodiment of the invention, the control device is configured to control the spreader to stop at the spreader detection position after receiving a proximity signal from a first proximity sensor.

[0030] According to one embodiment of the invention, after the lifting device stops at the lifting device detection position, the lifting device is clamped by a clamping device.

[0031] It should be noted that the features, functions, effects, and advantages of one aspect of the present invention can also be referred to the above description of other aspects of the present invention. Furthermore, the various aspects described in this document can be combined with each other in diverse ways. Attached Figure Description

[0032] Figure 1 This is a perspective view taken from an oblique angle above, showing a device for detecting a spreader on an automated transport system according to the invention.

[0033] Figure 2 The image shows a perspective view from below of a device for detecting a spreader on an automated transport system according to the invention.

[0034] Figure 3 The diagram shows the route of the automated transportation system.

[0035] Figure 4 A side view of a device for detecting a spreader on an automated transport system according to the invention is shown.

[0036] Figure 5 A perspective view of the drive section of the lifting device is shown.

[0037] Figure 6 Another perspective view from an oblique top is shown of a device for detecting a spreader on an automated transport system according to the invention.

[0038] Figure 7 This is a top perspective view of a device for detecting a spreader on an automated transport system according to the invention.

[0039] Figure 8 A top view of the lifting device is shown.

[0040] Figure 9 A schematic block diagram of an apparatus for detecting a spreader on an automated transport system according to the present invention is shown.

[0041] Figure 10 The following is an example of the screen display content of a display device for detecting a spreader on an automated transport system according to the present invention.

[0042] Figure 11 A flowchart is shown for a method of detecting a spreader on an automated transport system. Detailed Implementation

[0043] Figure 1 This is a perspective view taken from an oblique top, showing a device for detecting a spreader 1 on an automated transport system 5 according to the invention. Figure 2 This is a perspective view from a lower oblique angle showing a device for detecting a spreader 1 on an automated transport system 5 according to the invention. Figure 1 and 2 The main parts of the lifting device 1 being detected by the device are also schematically shown. Figure 1 In the middle, the four gripper jaws 15 of the lifting device 1 are in the open position; while... Figure 2To facilitate position differentiation, the two lifting jaws 15 on the left side of the lifting device 1 are in the closed position, while the two lifting jaws 15 on the right side are in the open position. The lifting device 1 uses the lifting jaws 15 to lift the body-in-white or body parts.

[0044] Figure 1 and Figure 2 The device shown for detecting the spreader 1 on the automated transport system 5 is installed at the spreader detection position 7 of the main circulation section 3 of the automated transport system 5 (see [reference]). Figure 3 The device includes:

[0045] Detection device for detecting lifting device 1;

[0046] Frame 2 for mounting the detection device;

[0047] A control device is provided for activating the detection device and receiving the detection signal from the detection device after the spreader 1 reaches the spreader detection position 7. The control device identifies the fault of the spreader 1 based on the received detection signal and moves the spreader 1 to the maintenance section 4 of the automatic transport system if a fault exists.

[0048] exist Figure 1 and 2 The illustration shows an exemplary lifting device 1 for lifting a body-in-white. During lifting operations, the body-in-white is supported within the frame structure of the lifting device 1 by its four gripper jaws. Adapted to this exemplary lifting device 1, the frame 2 of the device is constructed to be accommodated within the structure of the lifting device 1 and not to obstruct the passage of the lifting device 1 (with the gripper jaws in the open position). Not limited to this, other configurations of the frame 2 can be considered for compatibility with other types of lifting devices. For example, a smaller lifting device used for lifting body parts could be employed... Figure 1 Different frames, such as frames placed on both sides of the spreader, allow the spreader to pass between the frames.

[0049] In addition, for purposes such as inspecting the portion of the lifting device 1 located near the track, the equipment may also include a frame 2 suspended in the air, such as... Figure 2 As indicated.

[0050] Figure 3 A route diagram of the automated transport system 5 is shown. The automated transport system 5 includes a main circulation section 3 and a maintenance section 4. One or more processing stations 6 can be set along the main circulation section 3 of the automated transport system 5. Each hoist 1 operating on the automated transport system 5 travels clockwise along the main circulation section 3 to transport body-in-white or body parts to and from each station. Other configurations, routes, lengths, layouts, etc., of the automated transport system 1 are also conceivable. Figure 3The diagram shows a spreader detection position 7 in the main circulation section 3 of the automated transport system, where the device according to the invention is installed. When the spreader 1 reaches the spreader detection position 7, the control device activates the detection device, for example, by sending a start signal to it, to detect the spreader 1. The control device identifies a fault in the spreader 1 based on the received detection signal and, if a fault exists, moves the spreader 1 to the maintenance section 4 of the automated transport system 5. For this purpose, the control device can, for example, send a control command to the faulty spreader 1 via a command line in the sliding contact line, driving its motor accordingly to the maintenance section 4 of the automated transport system 5. Alternatively, the control device can also control the switches in the automated transport system 5 leading to the maintenance section 4, causing the faulty spreader 1 to leave the main circulation section 3.

[0051] exist Figure 4 The image shows a device for detecting a spreader on an automated transport system according to the invention. Figure 1 A side view viewed in the x direction, showing the lifting positioning rod 11 on the lifting device 1 and the two first proximity sensors 12a and 12b of the device, which send proximity signals to the control device when they detect the approach of the lifting positioning rod 11. Figure 4 The detection paths of the first proximity sensors 12a and 12b are schematically represented by dashed lines. First proximity sensor 12a detects the approach of the lifting device in the horizontal direction (y-direction), while first proximity sensor 12b detects the approach of the lifting device in the vertical direction (z-direction). When the lifting device 1 reaches the lifting device detection position 7, the lifting device positioning rod 11 triggers the proximity signals of the first sensors 12a and 12b. The control device uses these proximity signals to determine that the lifting device 1 has reached the lifting device detection position 7.

[0052] exist Figure 5 The image shows a perspective view of the drive unit of the lifting device. The lifting device 1 is supported by this drive unit and runs on a track. Figure 5 The positioning rod 11 of the lifting device is marked in the middle, which can be used as a position reference point for the lifting device 1 to indicate the position of the lifting device 1.

[0053] exist Figure 5 The diagram also exemplarily illustrates the structure of the drive section of the lifting device 1. This drive section can be divided into a drive mechanism including a travel motor located in the lower left of the diagram and a driven mechanism located in the upper rear of the diagram. The drive mechanism and the driven mechanism are connected by a load-bearing beam.

[0054] The control device of the equipment is configured to stop the spreader at the spreader detection position after receiving proximity signals from the first proximity sensors 12a and 12b. For this purpose, the sliding contact line near the spreader detection position 7 can be configured as a section, such as a 600mm long section, that can be individually controlled by the control device. All or part of the conductor lines, particularly the command lines, in this section of the sliding contact line are disconnected relative to the main circulation section 3, so that the spreader 1 can be controlled by the control device when it travels onto this section. The control device issues a stop command to the spreader 1 via the conductor lines in this section, causing the spreader's travel motor to stop operating at this location, thereby stopping the spreader within the target position range, i.e., the spreader detection position.

[0055] Preferably, as in Figure 6 As shown, a clamping device 13 is provided on the track of the automated transport system. The clamping device 13 is configured to clamp the stopped lifting device, thereby ensuring that each lifting device 1 on the automated transport system 5 can be accurately clamped at the lifting device detection position 7, and thus improving the accuracy of detection.

[0056] The control device is used to activate each detection device and receive detection signals from the detection devices after the spreader 1 reaches the spreader detection position 7, preferably after the clamping device 13 clamps the spreader. The control device identifies a fault in the spreader based on the received detection signals and, if a fault exists, notifies the spreader's motor to drive the spreader to the maintenance section 4 of the automated transport system 5. Here, the device according to the invention can promptly transport faulty spreaders to the maintenance section 4 for repair. Furthermore, the device according to the invention mounts the detection devices on the frame 2, independent of the automated transport system 5, thus allowing for simple and direct integration into existing automated transport systems without unduly increasing space and / or control burdens.

[0057] Figure 6 This is another perspective view from an oblique top, showing a device for detecting a spreader on an automated transport system according to the invention. Figure 5 The image also schematically illustrates a lifting device 1 being detected by the device, wherein the four gripper jaws 15 of the lifting device 1 are in the closed position. The device includes one or more detection units, such as vision sensors, distance sensors, proximity sensors, etc. The various detection units are described in detail below.

[0058] The detection device includes a vision sensor for capturing images of the gripper jaws 15 in a closed position. Figure 6The diagram shows the closed position of the lifting gripper jaws 15, in which the lifting device can lift a body-in-white or body parts. In the current embodiment, the visual inspection device is configured as cameras 14, with four cameras 14 mounted on the frame for individually capturing images of each lifting gripper jaw. Figure 1 , 2 In 6 and 7, the shooting range of camera 14 is represented by two square pyramids. For example, the image captured by camera 14 can be compared with a standard image, specifically by comparing the gray values ​​of each pixel in the captured image with the corresponding gray values ​​of the pixels in the standard image, in order to identify whether the gripper jaws 15 have reached the specified closed position.

[0059] As in Figure 1 As shown, the detection device includes a first distance sensor 16, which is used to detect the distance to the gripper jaw 15 in the open position. Figure 1 The diagram shows the open position of the spreader gripper 15, which is the non-grabbing position of the spreader or its position during lifting and lowering at each processing station in the automated transport system. The first distance sensor 16 can be configured as, for example, a laser sensor, an infrared sensor, or a radar sensor. The control device compares the distance detected by the first distance sensor 16 with a theoretical distance to determine whether the spreader gripper 15 has reached the predetermined open position. For example, two pairs of first distance sensors 16 can be provided, each pair including two horizontally oriented (i.e., oriented in the y-direction) first distance sensors 16 positioned opposite each other, facing the spreader gripper in the open position and thereby measuring the distance to the spreader gripper 15. The control device calculates the distance between the spreader grippers 15 in the open position based on the measurement signals from the two first distance sensors 16 and taking into account the distance between each pair of first distance sensors 16. The control device can compare the calculated distance with the theoretical distance between the gripper jaws in the specified open position to determine whether the gripper jaws have reached the specified open position.

[0060] In addition, such as in Figure 1 and 6As shown, the detection device is equipped with two second proximity sensors 17a and 17b for each spreader gripper 15. One second proximity sensor 17a is located near the closed position of the gripper to send a signal when the spreader gripper 15 approaches the closed position, while the other second proximity sensor 17b is located near the open position of the spreader gripper 15 to send a signal when the spreader gripper 15 approaches the open position. After receiving the signals from the second proximity sensors 17a and 17b, the control device calculates the required time for the spreader gripper 15 to move between the open and closed positions. In this way, the control device can determine whether the spreader gripper 15 is jammed and detect the dynamic response performance of the spreader gripper's driving component.

[0061] Figure 8 A top view of the spreader 1 is shown, illustrating the spring 18 and linkage 19 used to move the spreader jaws 15 between an open and closed position. When moving the spreader jaws 15 from the closed to the open position, a swaying device located below the driven portion of the spreader pushes a push plate on the spreader, which in turn pulls the linkage 19, ultimately opening the four spreader jaws 15. When moving the spreader jaws 15 back from the open to the closed position, the swaying device is removed, thereby using the force of the spring 18 to drive the linkage 19 to return the spreader to the closed position. Exemplarily, the control device starts timing from the point when the swaying device is removed or the spreader jaws 15 leave the open position (the second proximity sensor 17b no longer detects proximity), and stops timing when the second proximity sensor 17a detects the spreader jaws 15, thus determining the time it takes for the spreader jaws 15 to move from the open to the closed position. This time can be used to determine whether the spreader gripper is stuck and to detect the elasticity of spring 18. Similarly, the control device can calculate the time it takes for the spreader gripper to move from the closed position to the open position, and this time can also be used to determine whether the spreader gripper is stuck and to detect the drive response of the spreader gripper.

[0062] exist Figure 4 As shown, the detection device includes a second distance sensor 21 for detecting the height position of the spreader rotation axis 20. The spreader rotation axis 20 is used to move the spreader in the automated transport system. Figure 3 The movement occurs on the curved section 8 shown in the diagram. From... Figure 5 As can be seen, the rotation axis 20 of the spreader is obscured directly below it by the beam of the spreader frame. Consequently, the second distance sensor 21 is tilted relative to the vertical z-direction. Figure 1 and 2The orientation of the second distance sensor 21 is schematically indicated by two diagonal lines. The second distance sensor 21 is used to detect the height position of the lifting device's rotating shaft 20. When the height position of the lifting device's rotating shaft 20 changes, the distance detected by the second distance sensor 21 also changes accordingly. Based on this change, it can be determined that the lifting device's rotating shaft 20 has shifted vertically. The second distance sensor 21 helps avoid malfunctions caused by changes in the height position of the rotating shaft 20.

[0063] exist Figure 6 and 7 As shown, the detection device includes a third distance sensor for detecting the position of the magnetic sensor 22 of the lifting device 1. Here, the third distance sensor is configured as laser sensors 23a and 23b. Figure 5 The image shows the installation position of the magnetic sensor 22 on the lifting device 1. The magnetic sensor 22 is used to sense the magnetic field generated by a magnet installed above the track of the automated transport system. When the magnetic sensor 22 of the lifting device 1 approaches the magnet, the magnetic sensor 22 can read operating information from the magnet, such as whether the current lifting device is carrying a body-in-white or body parts, and whether adjacent lifting devices are carrying body-in-white or body parts. For example, if neither of the two adjacent lifting devices is carrying a body-in-white or body parts, the lifting device can travel at high speed over a long distance. However, if one of the two adjacent lifting devices is carrying a body-in-white or body parts, the speed of the lifting device should be reduced and a greater distance should be maintained between them. For this purpose, the speed of the lifting device 1 and / or the distance between them can be changed based on the information read from the magnetic sensor 22. Here, the drive inverter of the lifting device 1 can be controlled based on this information, and the drive inverter outputs an AC voltage with variable amplitude and / or frequency to the travel motor of the lifting device 1, thereby controlling the speed of the lifting device 1. Through a third distance sensor, i.e. Figure 6 and 7 The laser sensors 23a and 23b are used to detect the position of the magnetic sensor 22, thereby preventing reading errors caused by changes in the position of the magnetic sensor 22 and the resulting errors in speed and distance control, thus reliably preventing collisions between the lifting device and the body-in-white or body parts it lifts.

[0064] In the current implementation, two laser sensors 23a and 23b are provided on the frame as a third distance sensor. One laser sensor 23a is used to detect the position of the magnetic sensor in the horizontal direction, i.e., the y-direction, while the other laser sensor 23b is used to detect the position of the magnetic sensor in the vertical direction, i.e., the z-direction. By detecting the position of the magnetic sensor 22 in the y and z directions, errors in speed and distance control of the lifting device due to changes in the position of the magnetic sensor 22 can be prevented, and thus collisions with the lifted body-in-white or body components can be prevented.

[0065] Figure 9 A schematic block diagram of an apparatus for detecting a spreader on an automated transport system according to the present invention is shown. Figure 9 As can be seen, the device may include, for example, a control device, a reading device, a storage device, a display device, and a detection device. The control device is signal-connected to the reading device, the storage device, the display device, and the detection device. Here, the detection device exemplarily includes a first proximity sensor, a vision sensor, a second proximity sensor, a first distance sensor, a second distance sensor, and a third distance sensor.

[0066] Preferably, the control device reads the identity information of the lifting device through the reading device, and stores the identity information in a storage device in association with the detection signal of the detection device.

[0067] Preferably, the control device classifies the maintenance priority of the lifting device based on the identification information of the lifting device and / or the detection signal of the detection device.

[0068] Figure 10 An exemplary screen display of a display device for detecting spreaders on an automated transport system according to the invention is shown. The display device can display the detection signals of the detection device and / or indicate the presence of a fault. Here, the display device can display the detection results of the spreader and / or indicate the detection conclusions to the inspection personnel, particularly in different colors (in [the image / image]). Figure 10 Different shades of gray indicate maintenance priorities, thus assisting inspection and maintenance personnel in further processing.

[0069] exist Figure 10 The displayed content exemplarily shows the current lifting gear's identification number and the detection results from each detection device. The displayed detection results include grayscale images of the lifting gear's grippers taken by four vision sensors, and the detection data from each sensor shown in tabular form. This table contains two data points marked with different colors (in this case, grayscale), indicating two deviations from normal values ​​to inspection and maintenance personnel, facilitating further processing of the lifting gear.

[0070] Preferably, the display device can also display a list and statistics on multiple recently inspected lifting devices.

[0071] Figure 11 A flowchart is shown for a method of detecting a spreader on an automated transport system. According to the invention, the method includes: the control device activating the detection device and receiving a detection signal from the detection device after the spreader reaches the detection position; the control device determining whether the spreader is faulty based on the received detection signal; and, if a fault is found, moving the spreader to a maintenance section of the automated transport system.

[0072] like Figure 11 The preferred method shown includes the following steps:

[0073] S1: A first proximity sensor located at the lifting device detection position detects the lifting device positioning rod on the lifting device and sends a proximity signal when the lifting device positioning rod approaches;

[0074] S2: After receiving the proximity signal from the first proximity sensor, the control device controls the spreader to stop at the spreader detection position.

[0075] S3: After the spreader stops at the spreader detection position, the spreader is clamped by the clamping device.

[0076] S4: After the spreader is clamped by the clamping device, the controller starts the detection device and receives the detection signal from the detection device. The control device identifies the fault of the spreader according to the received detection signal and moves the spreader to the maintenance section of the automatic transport system if a fault exists.

[0077] The equipment and method according to the present invention can automatically detect lifting devices and promptly repair any faulty lifting devices.

[0078] This invention is not limited to the embodiments shown, but includes or extends to all technical equivalents that fall within the scope of the appended claims. The positional designations chosen in the specification, such as, for example, top, bottom, left, right, etc., refer directly to the description and the accompanying drawings, and can be adapted to new positions as their meaning changes.

[0079] The features disclosed in this application are important for the implementation of embodiments in different design aspects, not only individually but also in any combination.

[0080] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. Equipment for detecting a lifting device on an automated transport system, the lifting device being used to lift a car body or body parts, characterized in that, The device is installed at the spreader detection position in the main circulation section of the automated transport system, and the device includes: Testing devices for inspecting lifting gear; A frame for mounting the detection device; A control device is used to activate the detection device and receive the detection signal from the detection device after the spreader reaches the detection position. The control device determines whether the spreader is faulty based on the received detection signal, and moves the spreader to the maintenance section of the automated transport system if a fault is found. The lifting device includes four lifting jaws (15) located at the four corners of the frame. Each lifting jaw is connected to the swing device via a linkage mechanism (19) and a push plate so as to move between the open position and the closed position. A spring (18) causes each lifting jaw to return to the closed position. The control device is used to calculate the time from the open position to the closed position when the swing device is removed. The time can be used to determine whether the lifting jaw is stuck and to detect the elastic performance of the spring.

2. The device according to claim 1, characterized in that, The control device reads the identity information of the lifting device and stores the identity information in association with the detection signal of the detection device.

3. The device according to claim 2, characterized in that, The control device prioritizes the maintenance of the lifting equipment based on the identity information and / or the detection signals from the detection device.

4. The device according to any one of claims 1 to 3, characterized in that, A first proximity sensor for detecting the positioning rod on the spreader is installed at the detection position of the spreader.

5. The device according to claim 4, characterized in that, Two first proximity sensors are provided, one of which is oriented vertically toward the lifting device positioning rod on the frame, and the other is oriented horizontally toward the lifting device positioning rod on the frame.

6. The device according to claim 4, characterized in that, The control device is configured to stop the spreader at the spreader detection position after receiving a proximity signal from the first proximity sensor.

7. The device according to claim 6, characterized in that, A clamping device is installed on the track of the automated transport system, which is configured to clamp the stopped lifting device.

8. The device according to any one of claims 1 to 3, characterized in that, The detection device includes a vision sensor for capturing images of the gripper jaws in a closed position.

9. The device according to claim 8, characterized in that, The control device is configured to compare the image captured by the vision sensor with a standard image to identify whether the gripper jaws have reached the specified closed position.

10. The device according to claim 9, characterized in that, The control device is configured to compare the grayscale values ​​of each pixel in the captured image with the grayscale values ​​of the corresponding pixels in the standard image.

11. The device according to any one of claims 1 to 3, characterized in that, The detection device includes a first distance sensor, which is used to detect the distance to the gripper jaws in the open position.

12. The device according to claim 11, characterized in that, Two pairs of the first distance sensors are provided, wherein each pair of the first distance sensors includes two first distance sensors that are arranged opposite each other and are horizontally oriented, and these two first distance sensors face the gripper jaws in the open position.

13. The device according to any one of claims 1 to 3, characterized in that, The detection device is equipped with two second proximity sensors for each spreader gripper, which are used to send signals after the spreader gripper reaches the closed position and the open position, respectively. After receiving the signals from the second proximity sensors, the control device calculates the time it takes for the spreader gripper to move between the open position and the closed position.

14. The device according to any one of claims 1 to 3, characterized in that, The detection device includes a second distance sensor for detecting the height position of the lifting device's rotation axis, the second distance sensor being oriented toward the lifting device's rotation axis.

15. The device according to any one of claims 1 to 3, characterized in that, The detection device includes a third distance sensor for detecting the position of the magnetic sensor of the lifting device.

16. The device according to claim 15, characterized in that, As a third distance sensor, two laser sensors are provided on the frame, one of which is used to detect the position of the magnetic sensor in the horizontal direction, and the other of which is used to detect the position of the magnetic sensor in the vertical direction.

17. The device according to any one of claims 1 to 3, characterized in that, The device includes a display device that displays the detection signal from the detection device and / or indicates whether a fault exists.

18. A method for detecting a spreader in an automated transport system, characterized in that, The method is used to operate the device according to any one of claims 1 to 17, the method comprising: The control device of the equipment activates the detection device and receives the detection signal from the detection device after the spreader reaches the spreader detection position. The control device determines whether the spreader is faulty based on the received detection signal, and if a fault is found, moves the spreader to the maintenance section of the automatic transport system.

19. The method according to claim 18, characterized in that, A first proximity sensor located at the spreader detection position detects the spreader positioning rod on the spreader and sends a proximity signal when the spreader positioning rod approaches the first proximity sensor.

20. The method according to claim 19, characterized in that, Upon receiving a proximity signal from the first proximity sensor, the control device controls the spreader to stop at the spreader detection position.

21. The method according to claim 20, characterized in that, After the spreader stops at the spreader detection position, the spreader is clamped by the clamping device.

Images