Method for establishing intelligent logistics system for tobacco production auxiliary material transportation

Abstract

The application discloses a method for establishing a smart logistics system for conveying auxiliary materials for tobacco production, and comprises the following steps: S1, determining a process flow route corresponding to an actual logistics process controlled by the logistics system; S2, determining functions required to be achieved in each process flow route step according to the determined process flow route; S3, determining system modules according to the functions required to be achieved in each process flow route step; S4, configuring or designing corresponding equipment and / or control systems according to the determined system modules and functions or requirements in each process flow route; and S5, integrating each equipment and / or control system in the determined system modules into a whole to form a cigarette machine tobacco material smart logistics system by means of new smart guidance technology, automatic and accurate identification, intelligent logistics management system and information traceability mechanism. The application can realize intelligent scheduling, and can simultaneously meet the requirements of intelligent picking, intelligent conveying and different machine group feeding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material system equipment, in particular to a method for establishing a smart logistics system for conveying auxiliary materials for tobacco production. BACKGROUND

[0002] At present, the supply of tobacco materials required for the production of cigarette factories in the tobacco industry is mostly manually transported, and there are also distribution and tray empty return phenomena. In a cigarette system composed of 2 sets of PROTOSM5-14K ultra-high-speed cigarette making machine groups of HUANI Company and 3 sets of ZJ116 ultra-high-speed cigarette making machine groups of Changde Cigarette Machine Company, two kinds of equipment are each equipped with 2 groups of tobacco material supply stations (the tobacco material station models corresponding to the two kinds of machine types are BOB-ME and YF71 respectively), and the cigarette paper and the tipping paper are both in a semi-automatic supply state, that is, the tobacco material taking process is realized by the operation worker through the terminal of the machine table to require materials, the logistics system controls the AGV car to distribute the tray to the warehouse to the specified position of the machine table to unload the materials, the machine table operator pushes out the material loading car, manually opens the box of each kind of tobacco material, and then manually pushes the reel of the tobacco material onto the car and pushes it back to the tobacco material supply station. This operation causes the operator to spend a lot of energy to return the tray, require materials, confirm, and a series of operations to complete the supply of tobacco materials, and also manually calls the AGV to return the empty tray, while ensuring the running efficiency of the equipment and the quality of the product. Although this method is at the leading level in the industry, it still cannot realize the technical breakthrough of full-process intelligent logistics. In order to improve the production efficiency and reduce the labor cost, a suitable smart logistics system needs to be developed in combination with the actual situation and production environment of the factory to realize automatic feeding, automatic sorting, automatic conveying, and automatic loading of the full-process unmanned intelligent operation, thereby meeting the automatic conveying of the reel type tobacco materials (cigarette paper and tipping paper) of the existing group of ultra-high-speed cigarette making machine groups, realizing the deep integration of the production process and the logistics system, realizing the automation and intelligent manufacturing level of cigarette manufacturing, and opening up new exploration for filling the intelligent logistics of tobacco materials in the cigarette production process. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art, that is, in a cigarette system composed of 2 sets of PROTOSM5-14K ultra-high-speed cigarette making machine groups of HUANI Company and 3 sets of ZJ116 ultra-high-speed cigarette making machine groups of Changde Cigarette Machine Company, two kinds of equipment are each equipped with 2 groups of tobacco material supply stations, and the cigarette paper and the tipping paper are both in a semi-automatic supply state, which has low production efficiency and high labor cost, and provides a method for establishing a smart logistics system for conveying auxiliary materials for tobacco production.

[0004] The purpose of the present application is realized by the following technical scheme: a method for establishing a smart logistics system for conveying auxiliary materials for tobacco production, comprising the following steps:

[0005] S1: determining the process flow route corresponding to the actual logistics process controlled by the logistics system, the determined process flow route comprising: auxiliary material warehousing-outbound transportation to a sorting auxiliary material area-transportation to a unpacking machine-unpacking-sorting-automatic feeding transportation-automatic feeding-returning material and recycling remaining auxiliary material;

[0006] S2: determining the functions required to be achieved in each process flow route step according to the determined process flow route;

[0007] S3: determining system modules according to the functions required to be achieved in each process flow route step, the determined system modules comprising an auxiliary material unpacking module, a sorting area module, an auxiliary material conveying automatic feeding module, and a system control module;

[0008] S4: configuring and / or designing corresponding equipment and / or control systems according to the determined system modules and the functions and / or requirements in each determined process flow route;

[0009] S5: integrating each equipment and / or control system in the determined system modules into a whole by using new intelligent guidance technology, automatic accurate identification, intelligent logistics management system, and information traceability mechanism to form a cigarette material intelligent logistics system.

[0010] Optionally, in step S2, the functions required to be achieved in each process flow route step include the following items:

[0011] In the auxiliary material warehousing process route, the stereoscopic warehouse stores the auxiliary material according to requirements;

[0012] In the outbound transportation to a sorting auxiliary material area process route, the dispatching system sends an auxiliary material outbound demand instruction, and the intelligent conveying robot transports the auxiliary material to the sorting auxiliary material area according to the instruction to realize automatic transportation of the auxiliary material to the sorting auxiliary material area;

[0013] In the transportation to a unpacking machine process route, the sorting equipment of the auxiliary material sorting area classifies the auxiliary material transported by the intelligent conveying robot according to the auxiliary material brand, sorts the auxiliary material to the corresponding carrier, and accurately sends the auxiliary material to the designated cigarette making machine group by the related conveying equipment of the sorting area according to requirements; in the unpacking process route, an automatic unpacking equipment is used to unpack the material;

[0014] In the sorting process route, the dispatching system sends an instruction to the intelligent conveying robot, and then the auxiliary material is transported to the auxiliary material sorting station for sorting after unpacking;

[0015] In the automatic feeding transportation process route, the sorted auxiliary material is automatically fed according to the requirements of the machine;

[0016] In the automatic feeding process route, an automatic feeding equipment is used to replace manual feeding;

[0017] The dispatching system sends an instruction to the intelligent conveying robot, and the intelligent conveying robot recovers the remaining auxiliary materials in a patrol mode.

[0018] Optionally, in the sorting area module, the sorting robot completes the unpacking of the material package and the dispensing action, determines the dispensing mode of the auxiliary materials required in the dispensing process through the actual flow conveying process, designs an auxiliary material taking and placing manipulator, and designs an automatic auxiliary material recognition device on the manipulator to form an integrated design.

[0019] Optionally, in the auxiliary material conveying automatic feeding module, the functions, carrying capacity and continuous working capacity that can be achieved by each type of conveying are determined according to the conveying conditions and requirements of the logistics system, the working conditions required by the auxiliary material loading and conveying under various dispensing modes, the pressure required by the equipment base to withstand, the working range and the actions that can be achieved are determined, and the intelligent robot cluster with intelligent conveying and autonomous interaction is formed by selecting the required conveying robot type according to the assembly conditions, which is combined with the new intelligent guidance technology to realize the functions of autonomous flexible planning of the optimal path, shortest path calculation and automatic obstacle avoidance.

[0020] Optionally, in the system control module, a full conveying process logistics management system is established, and the dispatching is realized by establishing an information connection according to the use of the auxiliary material machine, the automatic material demand of the auxiliary material high-stacked stereoscopic warehouse to the intelligent sorting station, the automatic sorting and dispensing of the robot, the accurate feeding of the automatic dispatching conveying robot to the material demand machine, and the visual monitoring system is set up to pre-load the auxiliary materials to the auxiliary material supply station according to the running conditions of different machines and the remaining tobacco materials, so as to accurately load the auxiliary materials to the auxiliary material supply station to ensure the supply of auxiliary materials for normal production.

[0021] Optionally, in the process of establishing the full conveying process logistics management system, an auxiliary material information traceability mechanism is established for the whole logistics process to realize accurate tracking of various quality, consumption and task information, and to ensure network information security; a auxiliary material information traceability mechanism integrating brand, consumption data, quality index, dispensing data, logistics number and task number is established, and the transportation and feeding time of various auxiliary materials to different machines, the charging time of the transportation and feeding trolley, the utilization rate of the system are considered to realize the automatic transportation and addition of cigarette paper and tipping paper of the super-high-speed cigarette making machine group after debugging

[0022] The present application has one of the following advantages:

[0023] The application constructs a material intelligent logistics system for a high-speed cigarette making machine through the method, the system can realize automatic loading of two roll paper accessories of cigarette paper and tipping paper of the high-speed cigarette making machine, meanwhile, realizes interconnection and intercommunication of intelligent sorting robots and intelligent conveying robots of the cigarette paper and tipping paper and accessories of the high-speed cigarette making machine, and application of a new intelligent guide technology enables transportation loading to effectively meet the coordinated operation realization of the cigarette production task, the sorting station can correspond to multiple conveying robots, on one hand, the industrial robots meet the operation of multiple high-speed machines, the integrated clamp and trolley can realize coordinated operation; on the other hand, the intelligent scheduling is realized by realizing fusion and coordinated operation with the present AGV path information, realizing mutual transmission mode of information between the conveying system and the mechanical hand, designing an optimization program, and realizing intelligent scheduling.

[0024] The application focuses on the cigarette material conveying related to the cigarette manufacturing process, takes the PROTOS series super high-speed cigarette making equipment as the object, and determines a set of intelligent material system meeting the whole process manufacturing process, which is integrated with automatic scheduling, correct loading and precise conveying of cigarette materials required by the cigarette making machine. The specific mode is that the conveying robot is integrated with the new intelligent guide technology, the intelligent sorting robot of the cigarette material, the automatic and accurate identification, the intelligent logistics management system and the information tracing mechanism to form the cigarette material intelligent logistics system of the cigarette making machine, which meets the intelligent and unmanned requirements of the cigarette material conveying process. Based on the existing machine group layout, the completely intelligent cluster control technology is used, through continuous debugging and upgrading, the intelligent sorting, intelligent conveying and different machine group loading requirements can be met. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Figure 1 The flow chart of the logistics system of the application is shown.

[0027] Figure 2 The cigarette material conveying route of the high-speed cigarette making machine of the application is shown.

[0028] Figure 3 The actual logistics process of the cigarette material of the high-speed cigarette making machine of the application is shown.

[0029] Figure 4 The flow chart of the automatic supply system of the application is shown.

[0030] Figure 5 The communication network structure diagram of the automatic supply system of the application is shown.

[0031] Figure 6 The establishment method of the intelligent logistics system for conveying the auxiliary materials for tobacco production. DETAILED DESCRIPTION

[0032] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0034] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] As Figure 1 The establishment method of the intelligent logistics system for conveying the auxiliary materials for tobacco production, through which the material intelligent logistics system for high-speed cigarette making machine is constructed, the system can realize automatic installation of two kinds of roll auxiliary materials of cigarette paper and tipping paper for high-speed cigarette making machine, at the same time, realize interconnection and intercommunication of intelligent sorting robot and intelligent conveying robot of cigarette paper and tipping paper for high-speed cigarette making machine, and application of new intelligent guide technology can effectively meet the production task coordination of the cigarette packaging workshop, the sorting station can correspond to multiple conveying robots, on the one hand, the industrial robot meets the operation of multiple high-speed machines, the integrated clamp and trolley can realize coordinated operation; on the other hand, the fusion with the present AGV path information realizes coordinated operation, so that the information between the conveying system and the mechanical hand realizes mutual transmission mode, the design optimization program realizes intelligent scheduling.

[0036] In the method for establishing the material intelligent logistics system of the high-speed cigarette making machine, the general idea is: focusing on the transportation of tobacco materials involved in the cigarette production and manufacturing process, taking the PROTOS series of ultra-high-speed cigarette making equipment as the object, and determining a set of intelligent material system that meets the full-process manufacturing process of the cigarette making machine, which integrates automatic scheduling, correct loading and precise transportation of tobacco materials required for cigarette making. The specific way is to integrate the conveyor robot with new intelligent guidance technology, intelligent sorting robot of tobacco materials, automatic precise identification, intelligent logistics management system and information tracing mechanism into one, to meet the intelligent and unmanned needs of tobacco material transportation process. Based on the existing machine group layout, the system uses completely intelligent cluster control technology, through continuous debugging and upgrading, it can meet the needs of intelligent sorting, intelligent transportation and different machine group feeding.

[0037] As shown in Figure 2 , by establishing a set of intelligent logistics system of tobacco materials for cigarette making machine group, the intelligent and unmanned transportation of tobacco materials from A site to B site and then from B site to C site is realized, which meets the four functions of automatic sorting, automatic transportation, intelligent scheduling and information tracing, and ensures efficient, accurate and low-cost distribution of tobacco materials.

[0038] This method is based on the auxiliary material supply of high-speed cigarette making machine, by determining the full-process intelligent logistics system of tobacco materials for cigarette making machine group, including four key modules of intelligent sorting, intelligent transportation, intelligent logistics management system and material information tracing mechanism, and then determining the automatic sorting station and automatic transportation robot of auxiliary materials, so that the mechanical arm and the logistics system composed of automatic sorting, transportation and automatic feeding, the conveyor robot and the tobacco material sorting station robot cooperate to take the tobacco materials out of the warehouse, complete the sorting in the sorting station, and finally transport them to the machine table, which connects the whole process from intelligent transportation to automatic feeding.

[0039] Specifically as Figure 1As shown, the specific construction method is as follows: determining the process flow route corresponding to the actual logistics process controlled by the logistics system, the determined process flow route including the following steps according to the actual transportation demand: auxiliary material storage-outbound transportation to the auxiliary material sorting area-transportation to the unpacking machine-unpacking-sorting-automatic auxiliary material feeding transportation-automatic auxiliary material feeding-returning and recycling the remaining auxiliary material. According to the above process flow route, the functions required to be achieved in each process flow route step are determined, and the system modules are determined according to the functions required to be achieved in each process flow route step, the determined system modules including an auxiliary material unpacking module, a sorting area module, an auxiliary material feeding and automatic feeding module, and a system control module. According to the functions or requirements in each of the determined system modules and the determined process flow routes, corresponding equipment and / or control systems are configured or designed, and each of the equipment and / or control systems in the determined system modules is integrated into one by using new intelligent guidance technology, automatic accurate identification, intelligent logistics management system, and information traceability mechanism to form a cigarette material intelligent logistics system.

[0040] The functions mainly involved in the system constructed by the method are as follows:

[0041] (I) Intelligent sorting robot realizes automatic sorting

[0042] The demand for an intelligent sorting robot is determined, which takes the cigarette material from the high-bay warehouse to the sorting site, and then completes the unpacking and dispensing actions of the material by the robot. Specifically, the distribution mode of the cigarette material required in the distribution and winding link is determined, a winding disc cigarette material taking and placing manipulator is designed, an automatic cigarette material identification device is designed on the manipulator, and an integrated design is formed. The process must ensure that the winding disc cigarette material taking and placing process does not produce damage and misjudgment, mis-taking and misloading, and realizes the functions of positioning, clamping, grabbing and loading under the premise of ensuring that the process does not produce damage and misjudgment, mis-taking and misloading.

[0043] (II) Intelligent conveying robot realizes automatic conveying

[0044] According to the actual conveying conditions and requirements, the functions, carrying capacity, continuous working capacity, etc. that can be achieved by various types of conveyors are determined, the working conditions required by the loading conveying system under various distribution modes, the pressure required by the base to withstand, the working range, the actions that can be achieved, etc. are determined, various assembly conditions are comprehensively considered, the type of the required conveying robot is selected, the intelligent robot cluster with intelligent conveying and autonomous interaction is formed, the development of new intelligent guidance technology is cooperated, the functions of autonomous flexible planning of the optimal path, shortest path calculation and automatic obstacle avoidance are realized, and the cigarette material supply station and the trolley entering cooperation analysis are carried out to determine the accurate entry of the trolley into the corresponding position of the supply station, to ensure that each function is realized without interference. Finally, the related path connection interface is transformed, and information connection with the upper system and the supply station is established to realize the high-quality and efficient scheduling and precise conveying of the intelligent conveying robot for the required cigarette materials.

[0045] (Three) Determine the intelligent logistics management system to achieve intelligent scheduling

[0046] Establish a full-conveying-process logistics management system. According to the use of materials by the machine, through the establishment of information connection, realize scheduling, automatic material demand of the material high-bay warehouse to the intelligent sorting station, automatic sorting and tray dispensing by the robot, accurate feeding to the material demand machine by the automatic scheduling conveying robot, and pre-loading of the material by the visual monitoring system according to the operation of different machines and the remaining material, accurate loading to the auxiliary material supply station, ensuring the supply of normal production materials. At the same time, provide data interface according to requirements, real-time analysis, statistical data upload and other functions. Finally, consider the overall scheduling of different manufacturers' mobile robots in the same map at the present stage.

[0047] (Four) Determine the information traceability of tobacco materials to achieve information traceability

[0048] Establish a tobacco material information traceability mechanism for the whole logistics process to accurately track various quality, consumption, task, and other information, while ensuring network information security. Establish a brand, consumption data, quality index, tray data, logistics number, and task number integrated information system traceability mechanism, and calculate the utilization rate of the loading system according to the transportation and loading time of various tobacco materials to different machines, the charging time of the intelligent transportation loading trolley, etc. After debugging, it initially realizes the automatic transportation and addition of cigarette paper and tipping paper for the super-speed cigarette making machine group.

[0049] (Five) Determine the tobacco material combined with the industry two-dimensional code project to realize the whole process traceability of production and circulation

[0050] According to the plan arrangement of the national tobacco production and operation management integrated platform construction, the industry cigarette two-dimensional code unified application project, combined with the establishment of the "box condition" correlation management system in the cigarette packaging link of industrial enterprises, this set of intelligent logistics system will associate the cigarette material related batch information with the "box condition" before establishing the "box strip" association and "condition" association, and after unified research and development, it will enter the correlation management system, and finally form the cigarette two-dimensional code state "finished product off-line", realizing the whole process traceability of cigarette production and circulation.

[0051] According to the actual production needs, the actual logistics process of high-speed cigarette machine materials is as shown in Figure 3 The workflow function requirements are as follows:

[0052]

[0053]

[0054] (1) The first automatic transportation is realized after the auxiliary material in the warehouse is taken out (warehouse → sorting and unpacking)

[0055] After the cigarette reel auxiliary material is taken out from the warehouse by the dispatching system, it is transported to the unpacking machine in the sorting area by the related conveying equipment. At this time, the conveying equipment meets the 100% conveying requirement. During the process, it is necessary to ensure accurate conveying and 100% accuracy of delivery to the specified entrance of the next process. The reel auxiliary material specification size parameter table is as follows:

[0056] Serial number Auxiliary material name Unit Outer diameter (mm) Inner diameter (mm) Thickness (mm) Weight (kg) 1 Cigarette paper Roll 505 120 52.5 7.4 2 Tipping paper Roll 355 66 64 6.2 3 Branded paper Roll 578 153 101 28 4 Aluminum foil paper Roll 504 120 115 20.5

[0057] (2) Automatic unpacking function is realized after entering the sorting area (unpacking action)

[0058] The auxiliary material conveyed from the warehouse needs to be unpacked. At this time, a set of unpacking mechanism is needed to be set up. According to the cutting action, the suitable packaging method of the material is determined. During the unpacking process, it is necessary to ensure that the auxiliary material is not damaged, and the complete cutting rate is 100%. After cutting, the outer packaging can be smoothly recycled.

[0059] (3) Automatic sorting technology of auxiliary material for production machine is realized (unpacking → sorting station)

[0060] After the unpacking link, the related conveying equipment accurately and correctly delivers to the next specified process (sorting station) with a conveying accuracy of 100%.

[0061] (4) The sorting station classifies and dispenses the auxiliary material (sorting action)

[0062] Industrial robots are set up at the sorting station to realize automatic sorting, which is mainly used to complete the accurate sorting of auxiliary materials required for production and to prepare for the material conveying to the machine. The process ensures that the auxiliary material brand is completely consistent with the brand of the product, the sorting accuracy is 100%, and safety fences meeting safety requirements are set up around the sorting station, and safety signs are set up in a prominent position to ensure that the safety accident rate is 0% during the operation process.

[0063] (5) Automatic transportation to the production machine to realize accurate feeding (sorting station → cigarette machine auxiliary material station)

[0064] According to the instructions sent by the terminal, the related conveying equipment in the sorting area accurately sends the required material to the specified cigarette reel machine. The process before and after feeding ensures that the equipment does not stop, the frequency of equipment downtime caused by insufficient material supply is 0, the wrong brand rate is 0%, and the feeding accuracy is 100%.

[0065] (6) Implementing tray transportation, empty tray recycling, and excess material recycling

[0066] (7) Safety fences, optical gratings, and other methods are used to ensure that safety protection measures are provided on site

[0067] (8) Independent operation, without conflict with AGV system, original machine auxiliary material supply station equipment communication module, to ensure that the auxiliary material tray is delivered to the right place and does not affect the original equipment operation.

[0068] According to the overall design process requirements, the intelligent logistics system is mainly divided into four modules, namely auxiliary material unpacking module, sorting area module, auxiliary material conveying automatic feeding module and system control module. The technical scheme and the function requirements to be realized will be further described below.

[0069] I. About auxiliary material unpacking module

[0070] The auxiliary material sorting module mainly includes unpacking machine module design and sorting station module design. The main function is to realize the dispensing, stacking and material conveying required by the existing machine production. The design scheme mainly realizes the functions of automatic unpacking of auxiliary materials from the high-bay warehouse, auxiliary material sorting, secondary transfer of general tray auxiliary materials from the high-bay warehouse, automatic feeding of auxiliary materials and general tray auxiliary materials, and empty tray recycling.

[0071] (1) Unpacking machine module requirements

[0072] The unpacking machine is designed to solve the problem of automatic unpacking of auxiliary material trays from the high-bay warehouse. It not only meets the customer's requirements for temperature and humidity during auxiliary material transportation and storage, but also prepares for the next step of sorting. The unpacking machine consists of six parts: auxiliary material inlet conveyor, outlet conveyor, rotating station, three-coordinate film stripping machine, film wrapping recovery area and top pad recovery area. When the workshop needs to feed, the original ROCLA AGV transports the whole tray of auxiliary materials to the sorting station for sorting. The intelligent conveying trolley sends the auxiliary materials to the film stripping machine for film stripping. After stripping, the intelligent conveying trolley sends the auxiliary materials to the sorting station for sorting.

[0073] Among them: the ground area of the unpacking machine is about 53m 2 , and the unpacking efficiency can fully meet the sorting requirements of the next process. The unpacking machine is equipped with safety protection devices, and the safety accident rate is 0.

[0074] (2) Auxiliary material packaging requirements

[0075] The unpacking mode of the unpacking machine determines the packaging method of the auxiliary materials. In order to ensure good storage conditions of the auxiliary materials, facilitate transportation, and easily realize automatic unpacking, the auxiliary material packaging requirements must be unified.

[0076] ① In order to facilitate transportation, the auxiliary material tray uses wrapping or sleeving method to fix the auxiliary materials on the tray. Since the sleeving method has a heating and shrinking film process, it may affect the auxiliary materials, so the wrapping method is adopted.

[0077] ②Under the wrapping film mode, the upper surface and the lower surface of the tray cannot be wrapped with the film. In order to ensure the good sealing property of the package and ensure the temperature and humidity of the auxiliary materials, a layer of separation paper is added to the upper surface of the tray, and the four edges of the separation paper are wrapped with the film to close the upper surface of the tray.

[0078] ③Because the auxiliary material group tray on the tray is different, the top separation paper of the auxiliary material tray of different sizes is different. If these different sizes of separation paper want to realize the specification code, the specification variety will cause the sorting system to be too large and complex. Therefore, the separation paper board uses corrugated paper, and does not need to be sorted and stored.

[0079] ④In order to facilitate the wrapping film, the size of the top corrugated paper should be slightly smaller than the top surface of the auxiliary material, that is, the four edges of the separation paper on the top surface of the auxiliary material should be inwardly retracted by about 250mm, so as to press the separation paper when wrapping the film.

[0080] ⑤In order to facilitate the film, the upper surface of the wrapping film machine should be controlled to press the four edge parts of the separation paper by about 300mm, so as to cut the film between the gap of one disc pile and another disc pile, which will not affect the film cutting (if the film is pressed too deep on the top surface of the goods pile, the film cutting may damage the auxiliary materials).

[0081] ⑥In order to facilitate transportation, the lower part of the goods can be wrapped with the film together with the four edges of the upper surface of the tray under the wrapping film mode, but in order to facilitate the automation of the film, it is suggested that the tray cannot use plastic tray similar to the wrapping film material, such as wooden tray.

[0082] (3) Film cutting and film collecting design

[0083] ①Film cutting uses a film cutting knife with vision to complete the film cutting in X, Y and Z three axial directions;

[0084] ②The film cutting knife uses high-frequency vibration and instantaneous heat melting to cut the film in a non-contact manner, which can cut multiple layers of film and avoid the film head being softened and adhered by heat;

[0085] ③Under the visual detection, the effective gap between the auxiliary materials on the pile is found first, and the film cutting knife is shifted to the position of the gap between the auxiliary materials on the pile, and then the film is cut to avoid damaging the auxiliary materials;

[0086] ④When cutting the film, a corresponding clamping mechanism is designed beside the knife head, which clamps the film wrapped around the auxiliary materials, and then the knife head cuts from top to bottom along the film pile, as shown in 3;

[0087] ⑤When cutting the film, the cutting knife head can rotate at a certain angle, which can realize the cutting of the wrapping film on the upper surface of the film pile and the wrapping film wrapped around the four edges of the tray on the lower surface;

[0088] ⑥After cutting the wrapping film, the cut end is sent into the film collection box on one side under the swing of the clamping mechanism. The box is equipped with a film winding mechanism. Under the drive of the roller, combined with the rotation of the rotary conveyor at the lower part of the tray, the film is unwound and wound.

[0089] ⑦To ensure the protection of the auxiliary material stack during unwinding, a corresponding pressure head can be designed on the upper part of the tray to stabilize the auxiliary material stack.

[0090] ⑧A corresponding suction mechanism is designed on the upper part of the tray to suck the separator paper on the upper part of the auxiliary material stack after cutting the film and place it in the top pad recovery area (without sorting). After the auxiliary material tray is transported to the next sorting station by the intelligent transport trolley, the sorting of different auxiliary materials begins.

[0091] II. About the sorting area module

[0092] The auxiliary material sorting station is designed to realize the functions of automatic unwinding of auxiliary materials from the high-bay warehouse, auxiliary material sorting, and secondary transfer of auxiliary materials from the general tray of the high-bay warehouse. It also has the functions of automatic unwinding of auxiliary materials and general tray auxiliary materials, and recycling of empty trays.

[0093] (1) Function area of sorting area

[0094] The auxiliary material sorting station includes a package opening machine, an auxiliary material sorting area, a transport trolley charging station, a carrier temporary storage area, a general tray area, a sorted auxiliary material area, and an empty tray area.

[0095] 1) Auxiliary material sorting area: composed of fixed auxiliary material sorting positions, cigarette material trolley form temporary storage positions, packaging material U-shaped temporary storage positions, sorting robots, and tracks.

[0096] 2) Intelligent transport trolley charging station and carrier temporary storage area: composed of intelligent transport trolley charging parking positions, cannon RCO unit temporary storage positions, and cigarette material trolley form temporary storage positions.

[0097] 3) General tray area: equipped with a specified number of general tray positions.

[0098] 4) Sorted auxiliary material area: equipped with a specified number of sorted auxiliary material positions.

[0099] 5) Empty tray area: equipped with a specified number of empty tray positions.

[0100] (2) Process to be realized for sorting

[0101] When the workshop generates an automated feeding demand, the original ROCLA AGV car will transport the whole tray of auxiliary materials to the sorting station auxiliary material area, the intelligent conveying trolley will transport the auxiliary materials to the unpacking area for unpacking, and after unpacking, the auxiliary materials will be transported to the sorting area for sorting, and after sorting, the auxiliary materials will be transported to the machine table by the intelligent conveying trolley; When the workshop generates a general tray auxiliary material demand, the original ROCLA AGV car will transport the whole tray of auxiliary materials to the general tray area, and the intelligent conveying trolley will transport the general tray auxiliary materials to the machine table general tray position; When the general tray area and the sorting auxiliary material area generate empty trays, they are transported to the empty tray area, and then transported away by the original ROCLA AGV car.

[0102] (3) Industrial robot parameters

[0103] The effective working radius of the industrial robot needs to cover the entire area of the tray position in the sorting area, without collision or interference with the original machine equipment, with safety features, high-efficiency sorting function, high integration of control cabinet, user-friendly interface, easy operation, low power consumption, fast deployment and other characteristics. More importantly, the present scheme determines a specific industrial robot parameter as follows

[0104] Serial number Name Parameter 1 Operation range Working radius ≥ 4 m 2 Motion speed ≥ 1 m / s 3 Degrees of freedom 6-axis 4 Load Single grabbing weight ≥ 30 kg / roll 5 Repeated positioning accuracy ≤ ± 0.1 mm 6 Mechanical arm weight ≤ 25 kg 7 Power consumption under typical working conditions ≤1000W 8 Electrical control system International well-known brand is selected

[0105] (4) Safety fence

[0106] The safety fence is divided into two cases according to the application model. If a physical safety fence is used, the following requirements need to be met:

[0107] The safety fence is isolated (anti-rust treatment) with a safety door. Safety light curtain, alarm light, emergency stop button and other safety measures. When the operator adds other auxiliary materials, as long as any part of the body blocks the light, the robot hand will enter the safety state and will not cause harm to the operator. The safety detection sensitivity is not limited by the size of the detected object. Once an object crosses the protection area, an alarm will be sounded and the machine will stop.

[0108] If a physical safety fence is not used, the human-machine collaborative work area and the environment area are not physically isolated under the premise of ensuring the safety of human-machine height, and the human-machine works together efficiently without interfering with each other. Laser safety scanning, collaborative robot force feedback system, six-axis force sensor and visual safety technology can jointly provide sufficient secondary intelligent safety protection for operators and equipment.

[0109] Three, about auxiliary material conveying automatic feeding module

[0110] The high-speed cigarette machine of the cigarette wrapping workshop transports cigarette paper and tipping paper mainly relying on the intelligent conveying trolley according to the received dispatching information, and transports the received dispatching information to the designated machine table after unpacking to complete the automatic feeding of auxiliary materials.

[0111] (1) Intelligent conveying trolley mechanical determination

[0112] The trolley structure adopts the material carrying trolley configured in the original high-speed cigarette making machine, and the cigarette paper and tipping paper trolleys have a uniform size. The intelligent conveying trolley is combined with the trolley, and at the same time, in order to save the transportation trolley resources, the supporting plate is fixed on the feeding port device of the tipping machine, and the specific size is modified according to the actual situation on site. According to the principle of placing the auxiliary materials in the center, it is shown in the following figure. According to the maximum load of 9 rolls of BOB-ME tipping paper of PROTOSM5-14K high-speed cigarette making machine, the total weight is 55.8 kg, and the stress must be ensured within the material yield strength.

[0113] (2) Trolley feeding process

[0114] When the workshop high-speed cigarette making machine produces automatic material demand of cigarette paper and tipping paper, the dispatching system dispatches the automatic conveying trolley for feeding. The trolley inserts and takes the trolley transportation unit directly into the feeding port of the machine auxiliary material supply station at the auxiliary material sorting station, and then the trolley fork is lowered until the supporting plate holds the auxiliary material. The intelligent conveying trolley exits the feeding port with the trolley unit. The intelligent conveying trolley pushes the paper tray trolley back to the sorting station.

[0115] (3) The technical parameters of the intelligent conveying trolley are shown in the following table

[0116] Serial number Category Parameter 1 Size ≥ 1100 * 400 * 1235 mm 2 Self weight ≤ 160 kg 3 Maximum lifting weight ≥ 300 kg 4 Maximum lifting height ≥ 250 mm 5 Rotary radius ≥ 1600 mm 6 Minimum passage width ≥ 900 mm 7 Maximum travel speed ≥ 1.4 m / s 8 Guiding mode Contour navigation 9 Communication mode Wireless local area network (compatible with 2.4 GHz and 5 GHz) 10 Battery parameters Nano-phosphate high-power lithium-ion battery 11 Charging time Charging for 3 minutes and running for 1 hour

[0117] 1) Safety requirements

[0118] ① The intelligent conveying trolley system can realize the intelligent control technology of interaction between trolleys;

[0119] ② The intelligent conveying trolley can realize nearly 360-degree omnidirectional safety protection without dead angle.

[0120] 2) Openness requirements

[0121] The programming permission of the trolley application layer can be realized by the workshop technicians. The openness of the system enables the workshop technicians to flexibly and independently perform trolley conveying function modification, path planning, process reengineering and function expansion operations according to the actual production situation in the future.

[0122] 3) Other aspects

[0123] ① The trolley can realize the transportation requirement of relatively narrow space by reducing the turning radius;

[0124] ② The trolley navigation system uses the surrounding building contour for navigation, without fixed and installed infrastructure such as guide rails or magnetic points;

[0125] ③ Plug and play;

[0126] ④The trolley can reach ISO 6 level of cleanliness. The cleanliness of the workshop floor is an important indicator. The trolley needs to greatly reduce the friction with the ground, greatly reducing the amount of dust generated by friction and reducing the traces on the ground;

[0127] ⑤The trolley can realize quick avoidance, stopping and optimal path planning according to the road conditions during driving;

[0128] ⑥The man-machine interface can monitor the running state of the trolley in real time and intervene as necessary;

[0129] ⑦The AGV conveying vehicle management and control system can exchange information with one or more upper systems; the system is connected with the upper system to collect vehicle status and send and receive task information; the vehicle can also trigger tasks by PLC through TCP / IP protocol; when there is no upper system or PLC on site, the vehicle can also set up simple buttons on the man-machine interface to trigger tasks according to customer requirements.

[0130] ⑧The repeatability is ±4mm;

[0131] Four, about system control module

[0132] (1) Basic information management

[0133] Realize system login management; auxiliary material basic information management; machine production parameter information management; sorting station information management and other functions.

[0134] (2) Integrated intelligent conveying trolley system

[0135] Realize communication management with automatic conveying trolley; issue tray transportation instructions; get trolley transportation results; get trolley running status; realize tray transportation, sorting auxiliary material feeding, empty tray recycling, excess material recycling and other businesses.

[0136] (3) Integrated auxiliary material sorting station

[0137] PLC communication connection management; issue auxiliary material tray film removal instructions; issue auxiliary material sorting instructions; auxiliary material barcode reading verification; platform information reading; information research and judgment scheduling.

[0138] (4) Interface with WMS

[0139] Interface with WMS system through WebService, HTTP, intermediate table and other methods; auxiliary material basic information synchronization; machine production work order synchronization; material demand, excess material recycling, empty tray recycling, tray arrival and other business docking.

[0140] (5) Comprehensive scheduling

[0141] Intelligent comprehensive equipment scheduling, according to the production plan, machine consumption, sorting station platform auxiliary material state, IGV state and other field conditions, intelligent scheduling and coordinating the generation and execution of auxiliary material sorting, auxiliary material online, empty tray recycling and other instructions.

[0142] (6) Equipment monitoring

[0143] Provide a monitoring screen to display the real-time running state, fault state, and transportation task execution of intelligent conveying trolleys, sorting stations and other equipment in the system in real time and intuitively.

[0144] (7) Other functions

[0145] Integrate the auxiliary material detection system of the machine group; obtain the current state of the auxiliary material detection system of the machine group station, realize automatic supply of auxiliary materials, integrate the auxiliary material detection system of the machine group, provide various reports required in the system, such as material statistics, sorting statistics, feeding statistics, return warehouse statistics, equipment fault statistics, etc.; log management, including recording the message list of communication with the equipment, system operation log, personnel operation log; customized functions, necessary functions can be developed according to the actual working conditions of production.

[0146] The following materials are required to be used to integrate each equipment and / or control system in the determined system module with the new intelligent guide technology, automatic accurate identification, logistics management system and information tracing mechanism to form a cigarette machine tobacco material intelligent logistics system, as shown in the following table:

[0147]

[0148]

[0149]

[0150] In the process of building the system, there are also other requirements, such as safety and environmental protection requirements, electrical requirements, equipment data requirements, etc.

[0151] In the present application, the construction of the intelligent robot cluster combined with wisdom transportation and autonomous interaction adopts the technology of application number 202210924754.0, application name cluster device control system, control method, cluster device and storage medium in the prior art to construct, at the same time, combined with the prior art of application number 201910174377.1, application name simultaneous localization and mapping method of intelligent robot cluster to construct the whole material conveying map, realize the full-automatic positioning and conveying of the intelligent robot cluster in the conveying map.

[0152] In the present application, the new intelligent guidance technology and automatic accurate identification are specific application technologies of AGV conveying vehicles and IGV intelligent transport trolleys based on intelligent robot clusters. The intelligent identification and positioning of the conveying vehicles and the IGV intelligent transport trolleys are combined with the positioning and mapping of the intelligent robot clusters to realize accurate automatic intelligent positioning, conveying and navigation. The intelligent robot clusters, the AGV and the IGV intelligent transport are cooperated in a comprehensive control system for unified control. The entire process from the material warehousing to the final feeding production is combined into one, forming a complete intelligent logistics system. The construction of the auxiliary material automatic supply is as shown in Figure 4 and specifically as follows:

[0153] S1: determining an auxiliary material conveying process and / or route;

[0154] S2: configuring a corresponding conveying control system according to the determined process and / or route;

[0155] S3: determining required equipment and tooling according to the conveying control system;

[0156] S4: connecting and using the equipment and tooling with the conveying control system to form a complete auxiliary material automatic supply system. In the conveying process of the auxiliary material, the materials are mainly transported to the determined equipment for automatic feeding. Specifically, the auxiliary material conveying process and / or route includes the following steps:

[0157] A1: the stereoscopic warehouse wraps and warehouses the auxiliary material according to requirements;

[0158] A2: after the auxiliary material warehouse demand instruction is issued, the auxiliary material is transported to the sorting auxiliary material area tray position;

[0159] A3: the auxiliary material is transported to the unpacking machine for unpacking, and after unpacking, it is transferred to the auxiliary material sorting station;

[0160] A4: the auxiliary material sorting station machine sorts the auxiliary material to the corresponding carrier according to the auxiliary material classification;

[0161] A5: the auxiliary material is transported to the specified machine set and automatically fed;

[0162] A6: the remaining auxiliary material is recycled.

[0163] After the auxiliary material conveying process and / or route is determined, the control of each node is configured according to the process and / or route, specifically, the conveying control system is configured according to the determined process and / or route. In the method, the systems used mainly include an ERP system, an MES system, a WMS system, a WCS system, and a WIFS system, which are connected through instruction requirements to form an auxiliary material automatic supply conveying control system. The conveying control system is a WIFS system that integrates AGILOX IGV conveying vehicles, high-speed machine group material supply systems, auxiliary material sorting stations, and other field automation execution equipment, and communicates with the WMS system to intelligently schedule the transportation equipment through comprehensive judgment of the field production situation, so as to realize a smart scheduling system for flexible, dynamic, and timely material supply of production machines. The communication network structure thereof is shown in Figure 4 The specific system composition is shown in Figure 5 In the auxiliary material automatic supply conveying control system, the ERP system, the MES system, the WMS system, the WCS system, and the WIFS system are controlled as follows: the ERP system sends instruction 1 to the MES system, the MES system returns requirement 1 according to the instruction 1, the ERP system sends requirement 2 to the WMS system according to the requirement 1, and the MES system sends instruction 2 to the WMS system according to the instruction 1.

[0164] The WMS system returns requirement 3 to the MES system according to the requirement 2 and the instruction 2.

[0165] The WMS system sends instruction 3 to the WCS system according to the requirement 2 and the instruction 2, the WCS system controls the stacker, the ROCLA AGV, and the conveying system PLC to respond to the instruction 3, and returns the instruction 3 execution result to the WMS system after responding to the instruction 3 according to the execution result.

[0166] The WMS system sends instruction 4 to the WIFS system according to the requirement 2 and the instruction 2, and the WIFS system returns requirement 4 according to the instruction 4.

[0167] The WMS system sends instruction 5 to the WIFS system, the WIFS system controls the AGILOX IGV conveying vehicle and the sorting station to respond to the instruction 4 and the instruction 5 according to the instruction 4 and the instruction 5, and returns requirement 5 to the WMS system according to the response of the AGILOX IGV conveying vehicle and the sorting station.

[0168] As shown in Figure 6 The instruction 1 includes but is not limited to weekly / monthly production plans, and the requirement 1 includes but is not limited to material consumption details.

[0169] The instruction 2 includes but is not limited to machine shift / day production plan;

[0170] The requirement 2 includes but is not limited to material purchase order, material transfer order and material basis information;

[0171] The requirement 3 includes but is not limited to all machine shift material consumption list, inventory list;

[0172] The instruction 3 includes but is not limited to pallet carrying task;

[0173] The instruction 4 includes but is not limited to high-speed machine group machine shift / day production plan;

[0174] The requirement 4 includes but is not limited to material pallet requirement request;

[0175] The instruction 5 includes but is not limited to material pallet arrival signal;

[0176] The requirement 5 includes but is not limited to empty pallet recycling request, excess material pallet recycling request, high-speed machine group shift consumption list.

[0177] The corresponding equipment tooling controlled by the above system is determined according to the requirement of the conveying control system, including stacker, ROCLA AGV conveying vehicle, conveying system PLC, AGILOX IGV conveying vehicle, sorting station, manipulator, unpacking machine, pallet, etc. Many of these equipment toolings can be directly purchased, and in the case of being unable to directly purchase, they are designed according to the process flow and / or route requirement, for example, the sorting station. The requirement of the sorting station is to realize the functions of automatic feeding of auxiliary materials, film tearing of auxiliary materials from the high-bay warehouse, auxiliary material sorting, secondary picking of general pallet auxiliary materials from the high-bay warehouse, automatic feeding of auxiliary materials and general pallet auxiliary materials, and empty pallet recycling. The sorting station contains six areas, i.e., unpacking machine, auxiliary material sorting area, AGILOX IGV conveying vehicle charging station and carrier temporary storage area, general pallet area, auxiliary material area, and empty pallet area.

[0178] The auxiliary material sorting station is provided with an unpacking machine, which includes an auxiliary material inlet conveyor, an outlet conveyor, a rotating platform, a three-coordinate film tearing machine, a film recycling area, and a top pad recycling area.

[0179] The auxiliary material sorting area includes eight fixed auxiliary material sorting positions, four cigarette material form temporary storage positions, two packaging material U-shaped temporary storage positions, a sorting robot, and a track.

[0180] AGILOX IGV transport vehicle charging station and carrier temporary storage area: including 1 AGILOX ONE transport vehicle charging parking space, 2 AGILOX ODM transport vehicle charging parking spaces, 1 barrel RCO unit temporary storage position, 8 cigarette material form temporary storage positions, four parts;

[0181] General tray area: including 3 general tray positions;

[0182] Sorting auxiliary material area: including 4 sorting auxiliary material positions;

[0183] Empty tray area: including 4 empty tray positions.

[0184] When the cigarette factory cigarette rolling workshop generates an automated feeding demand, the ROLCA AGV transport vehicle transports the whole tray of auxiliary materials to the sorting station sorting auxiliary material area, the AGILOX IGV transport vehicle transports the auxiliary materials to the film stripping machine, and after the film stripping, the AGILOX ONE transport vehicle transports the auxiliary materials to the sorting station for sorting. After the auxiliary materials are sorted, the AGILOX IGV transport vehicle transports them to the machine table for automated feeding.

[0185] When the cigarette factory cigarette rolling workshop generates a general tray auxiliary material demand, the ROLCA AGV transport vehicle transports the whole tray of auxiliary materials to the general tray area, and the AGILOX IGV transport vehicle transports the general tray auxiliary materials to the machine table general tray position;

[0186] When the general tray area and the sorting auxiliary material area of the cigarette factory cigarette rolling workshop generate empty trays, the AGILOX ONE transport vehicle transports them to the empty tray area, and then the ROLCA AGV transport vehicle transports them away.

[0187] The unpacking machine realizes the function of automatically removing the film of the auxiliary material tray after the auxiliary material is taken out of the high-bay warehouse. The unpacking machine includes an auxiliary material inlet conveyor, an outlet conveyor, a rotating station, a three-coordinate film stripping machine, a film wrapping recovery area, and a top pad recovery area. When the cigarette factory cigarette rolling workshop generates a feeding demand, the ROLCA AGV transport vehicle transports the whole tray of auxiliary materials to the sorting station sorting auxiliary material area, the AGILOX IGV transport vehicle transports the auxiliary materials to the film stripping machine inlet conveyor, and then the rotating station cooperates with the three-coordinate film stripping machine to strip the film. After the film is stripped, the AGILOX IGV transport vehicle transports the auxiliary materials to the sorting station for preparation for sorting.

[0188] The AGILOX ODM transport vehicle matches the transport unit to transport the cigarette paper and tipping paper of the five soft pack high-speed cigarette machines in the cigarette factory cigarette rolling workshop, and transports them to the cigarette machine material room for feeding.

[0189] When the cigarette factory's 5 soft pack high-speed cigarette machines in the cigarette wrapping workshop have the demand for automatic feeding of cigarette paper and tipping paper, the WIFS system dispatches the AGILOX ODM transport vehicle to feed, the AGILOX ODM transport vehicle inserts and takes the transport unit to the auxiliary material sorting station and directly feeds into the machine inlet, then the AGILOX ODM transport vehicle forks down until the E-shaped pallet catches the auxiliary material, the AGILOX ODM transport vehicle exits the inlet with the transport unit, and the AGILOX ODM transport vehicle pushes the paper tray back to the sorting area.

[0190] When the cigarette factory's 2 soft pack high-speed packaging machines in the cigarette wrapping workshop have the demand for automatic feeding of trademark paper and aluminum foil paper, the WIFS system dispatches the AGILOX ONE transport vehicle to feed, the AGILOX ONE transport vehicle first matches the cannon RCO unit, then inserts and takes the auxiliary material in the U-shaped groove of the auxiliary material sorting station, and then automatically feeds the auxiliary material (trademark paper and aluminum foil paper) into the packaging machine.

[0191] When the sorting station recycles the remaining materials, the WIFS system dispatches the AGILOX IGV transport vehicle to send the remaining materials to the auxiliary material sorting area of the sorting station, the WIFS system informs the WMS system that a task has generated remaining materials, the WMS system issues an instruction to the WCS system, and the WCS system dispatches the RCL AAGV transport vehicle to transport the remaining materials away (executes the existing remaining material recycling process);

[0192] When the machine recycles the remaining materials and the auxiliary materials, the HMI system of the machine generates a material return application to the WMS system, the WMS system informs the WIFS system to issue an instruction to the WCS system to dispatch the AGILOX IGV transport vehicle in a patrol mode to collect auxiliary materials at each machine and record the material return information, the AGILOX IGV transport vehicle transports the pallets to the temporary storage area of the sorting station and feeds back information to the WIFS system, the WIFS system and the WMS system communicate to generate an auxiliary material return instruction to the WCS system to issue an instruction to control the RCL AAGV transport vehicle to transport the auxiliary materials to the vertical warehouse.

[0193] When the machine recycles the general pallets, the HMI system of the machine generates a material return application to the WMS system, the WMS system informs the WIFS system, the WIFS system issues an instruction to dispatch the AGILOX IGV transport vehicle to transport the pallets to the general pallet sorting area of the sorting station and feeds back information to the WIFS system, the WIFS system and the WMS communicate to generate an auxiliary material return instruction to the WCS system to control the RCL AAGV transport vehicle to transport the auxiliary materials to the vertical warehouse.

[0194] After the process flow and / or route of each material is determined, and the corresponding conveying control system and required equipment tooling are configured according to the process flow and / or route, the equipment tooling is connected with the conveying control system for use according to the actual work requirements to form a complete auxiliary material automatic supply system. In fact, a complete system has been formed at this time, and subsequent only needs to debug the adaptation of the process flow and / or route to the conveying control system according to the actual use condition, and finally the auxiliary material automatic supply determined according to the debugging condition can obtain a complete auxiliary material automatic supply system of a cigarette factory.

[0195] After the system is constructed, the existing technologies with the application number 202210924754.0 and the application name Cluster device control system, control method, cluster device and storage medium and the application number 201910174377.1 and the application name Simultaneous positioning and mapping method of intelligent robot cluster are combined to construct the whole material conveying map, realize the full-automatic positioning and conveying of the intelligent robot cluster in the conveying map, and realize the intelligent guidance and accurate identification by using the AGV conveying vehicle and the IGV intelligent delivery trolley to intelligently identify and position in the whole map.

[0196] (I) Safety and environmental protection requirements

[0197] 1. The equipment production shall meet the safety and environmental protection system requirements of the buyer company. The noise shall be W78 dB; the sound source shall be 0.5 meters above the height of the human ear. Randomly check 5T0 points for detection. If the noise of any point is greater than 78 decibels, it is considered unqualified.

[0198] 2. The seller's equipment is manufactured in accordance with national safety regulations. Electrical data: 380V / 50Hz, three-phase, N line, PE line. PE means "protective earth", and the leakage current directly flows to the ground. All conductive materials are connected to the ground to ensure that the equipment can be safely operated without posing a danger to personnel.

[0199] 3. The equipment is equipped with safety protection devices, including mechanical and electrical interlocking, protective cover, limit, emergency stop, etc.

[0200] 4. The equipment circuit and air circuit are installed and arranged reasonably. The leakage protection is realized through grounding (protective earth), and the grounding specification is reliable.

[0201] 5. The equipment meets the relevant national and industry standards and the company's environmental protection and energy saving requirements.

[0202] 6. The equipment is equipped with an alarm system with the following rules: ① Red light always on when starting without any operation; ② Yellow light always on when manually operating; ③ Green light always on when the automatic operation is normal; ④ Red light flashes when the automatic operation fails; ⑤ Green light always on and yellow light flashes when the automatic operation is waiting for material or material is stuck.

[0203] (B) Electrical requirements

[0204] 1. The equipment shall be selected to operate on 380V-50HZ power supply, with voltage fluctuation range: 380V ±10%;

[0205] 2. The equipment shall be able to meet the air pressure standard provided by the workshop;

[0206] 3. The equipment shall have the function of automatic alarm and shutdown when the current fluctuation exceeds the set range;

[0207] 4. The equipment shall have the function of automatic alarm and shutdown when the voltage and air pressure are insufficient;

[0208] 5. The equipment shall have the function of power failure protection, and after restarting, the running state data, communication information, etc. of each unit shall automatically restore to the state before power failure;

[0209] 6. The electrical and air lines of the equipment shall be neatly arranged and marked, and the wiring shall have labels and be consistent with the seller's equipment instruction manual.

[0210] (III) Equipment data requirements

[0211] 1. The equipment shall be able to provide real-time data of the working process. Real-time data is provided by two digital output modules with 24 output ports. The provided data is the state of machine function and pulse signal, which can be freely programmed. For example: counter pulse, clutch state (on / off), etc. The communication time for data acquisition shall be less than 0.5 seconds.

[0212] 2. The overall program of the equipment shall reserve 20% of the system docking ports and network ports, and provide Ethernet and USB ports for outputting the collected data of machines, molds, loading tools and consumable parts. The data shall maintain real-time, accuracy, integrity, consistency, and shall not miss or repeat related data; the seller shall provide a data acquisition technical specification document.

[0213] 3. The equipment shall have temporary storage space for real-time data, maintain a certain data residence period, and prevent data loss in abnormal situations such as power failure, network failure, equipment failure, etc.

[0214] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for establishing an intelligent logistics system for tobacco production auxiliary material transportation, characterized in that: Includes the following steps: S1: Determine the process flow route corresponding to the actual logistics transportation process controlled by the logistics system. The determined process flow route includes: auxiliary material warehousing - outbound transportation to the sorting auxiliary material area - transportation to the unpacking machine - unpacking - sorting - automatic material feeding and transportation - automatic material feeding - material return and recycling of remaining auxiliary materials. S2: Determine the functions to be achieved in each step of the process flow based on the determined process flow route; S3: Determine the system modules according to the functions required in each determined process flow step. The determined system modules include auxiliary material unpacking module, sorting area module, auxiliary material conveying automatic feeding module and system control module. S4: Configure and / or design corresponding equipment and / or control systems according to the functions and / or requirements of each of the defined system modules and each of the defined process flow routes; S5: Integrate the various equipment and / or control systems within the defined system modules with new intelligent guidance technology, automatic and precise identification, intelligent logistics management system and information traceability mechanism to form a smart logistics system for cigarette machine tobacco materials; In the aforementioned automatic feeding module for auxiliary materials, the functions, load-bearing capacity, and continuous working capacity of each type of conveyor are determined based on the conveying conditions and requirements of the logistics system. The working conditions, pressure to be borne by the equipment base, working range, and actions that can be performed are determined for auxiliary material loading and conveying under various delivery modes. Based on the assembly conditions, the required conveying robot types are selected to form an intelligent robot cluster that combines intelligent conveying and autonomous interaction. With the help of new intelligent guidance technology, the optimal path can be planned autonomously and flexibly, and the functions of shortest path calculation and automatic obstacle avoidance can be realized.

2. The method of establishing a smart logistics system for the transport of auxiliary materials for tobacco production according to claim 1, characterized in that: In step S2, the functions to be achieved in each of the process flow steps include the following items: In the aforementioned auxiliary material warehousing process flow, the automated warehouse arranges and stores the auxiliary materials in trays as required. In the process flow route of transporting auxiliary materials from the warehouse to the sorting auxiliary material area, the scheduling system sends out the auxiliary material outbound demand instruction, and the intelligent conveying robot transports the auxiliary materials to the sorting auxiliary material area according to the instruction, so as to realize the automatic transportation of auxiliary materials to the sorting auxiliary material area. In the process flow of transporting materials to the unpacking machine, the sorting equipment in the auxiliary material sorting area sorts the auxiliary materials transported by the intelligent conveying robot into corresponding carriers according to the auxiliary material brand. The relevant conveying equipment in the sorting area then accurately delivers the materials to the designated winding and splicing machine as needed. In the unpacking process flow, an automatic unpacking device is used to unpack the materials. In the sorting process flow, after the scheduling system sends instructions to the intelligent conveying robot, the auxiliary materials are transported to the designated unit. After unpacking, the auxiliary materials are transported to the auxiliary material sorting station for sorting. In the aforementioned automatic material feeding and transportation process, the sorted auxiliary materials are automatically fed according to the machine's requirements. In the aforementioned automatic feeding process flow, automated feeding equipment is used to replace manual feeding; In the process flow of returning and recycling residual auxiliary materials, the scheduling system sends instructions to the intelligent conveying robot and then uses a patrol method to recycle the residual auxiliary materials. 3.The method for establishing an intelligent logistics system for tobacco production auxiliary material transportation according to claim 1, characterized in that: In the sorting area module, the sorting robot completes the unpacking and dispensing actions, determines the distribution mode of the auxiliary materials required by the distribution and rolling process through the actual logistics transportation process, designs the auxiliary material taking and placing manipulator, and designs an automatic auxiliary material recognition device on the manipulator to form an integrated design. 4.The method for establishing an intelligent logistics system for tobacco production auxiliary material transportation according to claim 1, characterized in that: In the system control module, a full transportation process logistics management system is established, the use of auxiliary materials by the machine is determined, the information connection is established to realize scheduling, the automatic material demand of the auxiliary material high-stereoscopic warehouse to the intelligent sorting station, the automatic sorting and tray dispensing of the robot, the precise feeding of the automatic scheduling transportation robot to the material demand machine, and the setting of the visual monitoring system according to the operation of different machines and the remaining tobacco materials to pre-load the auxiliary materials to the auxiliary material supply station to ensure the normal production of auxiliary materials. 5.The method for establishing an intelligent logistics system for tobacco production auxiliary material transportation according to claim 4, characterized in that: In the process of establishing the full transportation process logistics management system, an auxiliary material information tracing mechanism is established for the whole logistics process to realize accurate tracking of various quality, consumption and task information, and to ensure network information security; a auxiliary material information tracing mechanism is established for the brand, consumption data, quality index, tray dispensing data, logistics number and task number, and the transportation and charging time of the transportation and loading trolley, the utilization rate of the system, and the automatic transportation and addition of cigarette paper and tipping paper of the super-speed cigarette making machine group are realized after debugging.

Images