Automatic stamping sheet feeding system and method

Abstract

The application discloses a kind of automatic feeding system and method of stamping sheet, belong to automobile manufacturing technical field, is arranged with material return belt near the one end of the unstacking unit, the two sides of the material return belt are respectively arranged with feeding trolley, and production site is arranged in the corresponding position of two feeding trolleys on the two sides of unstacking unit, and the one end of the material return belt away from unstacking unit is equipped with stereoscopic shelf, the one side of the stereoscopic shelf away from material return belt is provided with stacking equipment, the one end of waste material storage position is adjacent to material return belt, and two feeding storage positions are respectively arranged on the two sides of waste material storage position, and the storage position, storage position and emptying position are respectively arranged with two feeding storage positions and waste material storage position through stacking equipment, and the one side of two feeding storage positions close to stacking equipment is respectively provided with two safety grating, and the unstacking unit, material return belt, feeding trolley, stereoscopic shelf, safety grating and stacking equipment are fenced by outer protection, and AGV trolley is arranged outside the outer protection.

Description

Technical Field

[0001] This invention discloses an automatic feeding system and method for stamping sheet metal, belonging to the field of automobile manufacturing technology. Background Technology

[0002] Stamping is a mass production process, with single batches typically exceeding 1000 pieces. Currently, mainstream vehicle manufacturers generally utilize high-speed continuous stamping production lines, with a production cycle of 12-18 times per minute. While the production process boasts a high degree of automation, the sheet metal loading station at the beginning of the stamping line faces challenges in automation due to issues such as the excessive weight of single stacks of sheet metal, the diverse combinations of sheet metal types, and the lack of interchangeable sheet metal pallets. This has traditionally relied on manual loading using overhead cranes or forklifts. However, manual loading suffers from low efficiency, a high risk of errors, and safety hazards. Therefore, achieving efficient and safe automated sheet metal loading has remained a persistent technical challenge for the stamping industry. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of low loading efficiency, easy error in loading, and safety hazards caused by the traditional method of manual loading by overhead crane or forklift in stamping production lines, which is difficult to automate. The invention proposes an automatic loading system and method for stamping sheet metal.

[0004] The problem to be solved by this invention is achieved by the following technical solution:

[0005] An automatic feeding system for stamping sheet metal includes a destacking unit, a material return conveyor belt arranged near one end of the destacking unit, feeding trolleys arranged on both sides of the material return conveyor belt, production positions corresponding to the two feeding trolleys on both sides of the destacking unit, and a three-dimensional rack arranged at the end of the material return conveyor belt away from the destacking unit. A stacking device is arranged on the side of the three-dimensional rack away from the material return conveyor belt. The three-dimensional rack includes: an inbound storage position, two feeding storage positions, a scrap storage position, a storage storage position, and a box-turning storage position. The scrap storage position is adjacent to one end of the material return conveyor belt. The two feeding storage positions are arranged on both sides of the scrap storage position. The inbound storage position, storage storage position, and box-turning storage position are arranged opposite to the two feeding storage positions and the scrap storage position through the stacking device. Two safety light curtains are respectively installed on the side of the two feeding storage positions near the stacking device. The destacking unit, the material return conveyor belt, the feeding trolleys, the three-dimensional rack, the safety light curtains, and the stacking device are enclosed by an outer protective enclosure. An AGV trolley is arranged outside the outer protective enclosure.

[0006] Preferably, it also includes safety doors, which include a first equipment safety door installed on the outer protection opposite to the storage location for AGV trolley passage, a second equipment safety door and a third equipment safety door respectively arranged between the two loading storage locations and the two loading trolleys for loading trolley passage, and a first personnel safety door, a second personnel safety door, a third personnel safety door and a fourth personnel safety door respectively installed on the outer protection at the ends of the stacking equipment and at the corresponding positions of the two loading trolleys for personnel passage.

[0007] Preferably, the stacking equipment is used at least for the storage and loading of sheet metal, and includes a first front fork, a second front fork, a first rear fork, and a second rear fork, with two sets of the first front fork and the second front fork, as well as the first rear fork and the second rear fork, extending / retracting simultaneously.

[0008] Preferably, the loading trolley is used to carry the sheet material to be produced, the unloading conveyor belt is used to transfer sheet material that does not meet the production conditions to the scrap bin, the destacking unit is used to separate the sheet material on the loading trolley and grab it onto the conveyor belt, and then the conveyor belt moves the sheet material to the subsequent press for stamping production, the safety light curtain is used to prevent personnel or other equipment from entering the work area and colliding with the stacking equipment when the stacking equipment is working, the three-dimensional rack is used for the storage of sheet material, and the AGV trolley is used at least to carry the new sheet material into the warehouse, the empty pallet out of the warehouse, the scrap bin in and out of the warehouse, and the abnormal sheet material out of the warehouse.

[0009] Preferably, it also includes an industrial control computer electrically connected to the destacking unit, the unloading conveyor belt, the loading trolley, the automated storage and retrieval system, the safety light curtain, the safety door, and the stacking equipment, respectively, the industrial control computer being used to respond to the automatic feeding program of the stamping sheet.

[0010] An automatic feeding method for stamping sheet metal, applied to the aforementioned automatic feeding system for stamping sheet metal, includes:

[0011] Step S100: In response to the automatic feeding program for stamping sheet metal, execute the sheet metal warehousing strategy;

[0012] Step S200: Implement the board material return to inventory strategy;

[0013] Step S300: Execute the board loading strategy;

[0014] In step S400, the stacking equipment executes the reverse fork task working strategy after completing the task.

[0015] Preferably, step S100 includes:

[0016] Step S101: When the AGV is ready to enter the warehouse, send the basic information of the sheet material to be entered into the warehouse to the stacking equipment;

[0017] Step S102: After the stacking equipment receives the basic information of the sheet metal, it creates an inbound task information.

[0018] In step S103, the AGV enters the designated position inside the automated storage and retrieval system, and the AGV communicates with the stacking equipment via an interlock signal.

[0019] Step S104: After receiving the AGV trolley interlock signal, the stacking equipment uses the designated forks to remove the trolley material from the AGV trolley according to the position of the material to be stored on the AGV trolley. At the same time, it calculates the target storage location of the material to be stored based on the remaining storage space of the automated rack.

[0020] Step S105: The stacking equipment determines whether to reverse the forks based on the position of the sheet metal on the pallet and the target storage location of the sheet metal to be stored.

[0021] Yes, execute step S400, and after execution is completed, proceed to the next step S106;

[0022] No, proceed directly to the next step S106;

[0023] Step S106: The stacking equipment stores the sheet material to be stored in the warehouse according to the target storage location of the sheet material to be stored.

[0024] Step S107: The stacking equipment determines whether an empty pallet needs to be issued based on the status of the sheet metal stored in the automated racking system.

[0025] Yes, proceed to step S108;

[0026] No, proceed to step S110;

[0027] Step S108: The stacking equipment determines whether to reverse the forks based on the position and type of the empty pallet on the automated racking system.

[0028] Yes, execute step S400, and after execution is completed, proceed to the next step S109;

[0029] No, proceed to the next step S109;

[0030] Step S109: The stacking equipment completes the empty pallet outbound process according to the storage location of the empty pallets in the automated racking system.

[0031] In step S110, when the stacking equipment completes the empty pallet outbound task, it sends a release interlock signal, and the AGV sends an open and close signal to the safety door and leaves the automated rack. At this point, the board material warehousing process is completed.

[0032] Preferably, step S200 includes:

[0033] In step S201, the loading trolley sends the information of the sheet material to be returned to the warehouse to the stacking equipment before returning to the warehouse, and should also send the number at the same time for identification of the relevant sheet material information when returning to the warehouse later.

[0034] Step S202: After receiving the basic information of the sheet metal, the stacking equipment creates a return-to-warehouse task information;

[0035] In step S203, the loading trolley enters the designated position inside the automated storage and retrieval system, and the loading trolley communicates with the stacking equipment via an interlock signal.

[0036] Step S204: After receiving the interlock signal from the loading trolley, the stacking equipment uses the designated forks to remove the sheet material from the loading trolley according to its position on the loading trolley. At the same time, it calculates the target storage location of the sheet material to be returned to the warehouse based on the original storage location of the sheet material in the automated rack. After the system puts the sheet material online, it locks this storage location for use when the sheet material is returned to the warehouse after production.

[0037] Step S205: The stacking equipment determines whether to reverse the forklift based on the position of the sheet metal on the pallet and the target storage location of the sheet metal to be returned to the warehouse.

[0038] Yes, execute step S400, and after execution is completed, proceed to the next step S206;

[0039] No, proceed to the next step S206;

[0040] Step S206: The stacking equipment completes the return to the warehouse according to the target position of the material to be returned to the warehouse in the automated racking system;

[0041] Step S207: The stacking equipment determines whether loading is required based on the information sent by the loading trolley.

[0042] Yes, proceed to step S300;

[0043] No, proceed to step S208;

[0044] In step S208, the stacking equipment sends a release interlock signal, and the loading trolley sends an open and close signal to the safety door and leaves the automated storage and retrieval system. At this point, the process of returning the sheet metal to the warehouse is completed.

[0045] Preferably, step S300 includes:

[0046] In step S301, the loading trolley sends the produced sheet material information to the stacking equipment, and the number should be sent at the same time for judgment and confirmation when the sheet material is put into the line later.

[0047] Step S302: The industrial control computer determines whether the sheet metal needs to be returned to the warehouse based on the sheet metal information.

[0048] Yes, proceed with step S200;

[0049] No, proceed to step S303;

[0050] Step S303: After receiving the basic information of the sheet metal, the stacking equipment creates an online task;

[0051] Step S304: The stacking equipment uses different forks to perform picking tasks according to the position of the pallet on the automated rack.

[0052] Step S305: The stacking equipment determines whether to reverse the forks based on the position of the pallet on the automated storage and retrieval system and its position on the target loading trolley.

[0053] Yes, proceed to step S400;

[0054] No, proceed to the next step S306;

[0055] Step S306: The stacking equipment completes the online delivery of the sheet metal according to the target placement position of the sheet metal pallet on the loading trolley.

[0056] In step S307, the stacking equipment sends a release interlock signal, and the loading trolley sends an open and close signal to the safety door and leaves the automated rack. At this point, the sheet metal loading process is completed.

[0057] Preferably, the reverse fork task working strategy includes:

[0058] Step S401, the industrial control computer determines which type of inverted fork it belongs to:

[0059] If the type is determined to be type one, proceed to step S402;

[0060] When the type is determined to be type two, proceed to step S407;

[0061] Step S402: The stacking equipment picks up the material using the first front fork and the second front fork or the first rear fork and the second rear fork according to the position of the sheet metal.

[0062] Step S403: The stacking equipment places the sheet metal into the unloading box storage position;

[0063] Step S404: The stacking equipment retracts the first front fork and the second front fork or the first rear fork and the second rear fork.

[0064] Step S405, the stacking equipment then uses the first front fork and the second front fork or the first rear fork and the second rear fork to retrieve the goods.

[0065] Step S406: The stacking equipment uses the first front fork and the second front fork or the first rear fork and the second rear fork to place the sheet metal at the target position.

[0066] In step S407, the stacking equipment uses the first front fork and the second front fork to pick up the goods and place them on the left side of the box-turning position, and then the first front fork and the second front fork retract.

[0067] In step S408, the stacking equipment uses the first rear fork and the second rear fork to pick up the goods and place them on the right side of the box-turning position, and then the first rear fork and the second rear fork retract.

[0068] Step S409: The stacking equipment uses the first front fork, the second front fork, the first rear fork, and the second rear fork to pick up goods.

[0069] In step S410, the stacking equipment uses the first front fork, the second front fork, the first rear fork, and the second rear fork to place the sheet metal at the target position.

[0070] The advantages of this invention compared to existing technologies are as follows:

[0071] This invention discloses an automatic sheet metal feeding system and method for stamping lines. It integrates a large-tonnage stacking device at the beginning of the stamping line and establishes a three-dimensional racking system. The racking system buffers the sheet metal, and a stacker crane performs automatic feeding. An industrial control computer is integrated for sheet metal conveying, and the system coordinates and controls the stacker crane, AGV, and stamping line feeding trolleys. It achieves automatic feeding of three sheet metal combinations: one small pallet, one large pallet, and two small pallets. A single feeding cycle can be controlled within 10 minutes, greatly improving sheet metal feeding efficiency. Simultaneously, the sheet metal feeding system manages the sheet metal uniformly, essentially eliminating problems such as incorrect or missed feeding, and ensuring process requirements such as first-in-first-out and locking of abnormal sheet metal. Furthermore, the entire feeding process is unmanned, completely eliminating safety hazards caused by human operation. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of the plan layout of an automatic feeding system for stamping sheet metal according to the present invention.

[0073] Figure 2 This is a schematic diagram of the sheet metal warehousing strategy of an automatic feeding method for stamping sheet metal according to the present invention.

[0074] Figure 3 This is a schematic diagram of the sheet metal return strategy in the automatic feeding method for stamping sheet metal according to the present invention.

[0075] Figure 4 This is a schematic diagram of the sheet metal loading strategy of an automatic feeding method for stamping sheet metal according to the present invention.

[0076] Figure 5 This is a schematic diagram of the inverted fork task working strategy of an automatic feeding method for stamping sheet metal according to the present invention.

[0077] Figure 6 This is a schematic diagram of the safety interlock signal logic of an automatic feeding method for stamping sheet metal according to the present invention.

[0078] Figure 7 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in an AGV or a loading trolley for an automatic feeding method of stamped sheet metal according to the present invention.

[0079] Figure 8 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in an AGV or a loading trolley for an automatic feeding method of stamped sheet metal according to the present invention.

[0080] Figure 9 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in an AGV or a loading trolley for an automatic feeding method of stamped sheet metal according to the present invention.

[0081] Figure 10 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in a three-dimensional rack, illustrating the automatic feeding method for stamped sheet metal according to the present invention.

[0082] Figure 11 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in a three-dimensional rack, illustrating the automatic feeding method for stamped sheet metal according to the present invention.

[0083] Figure 12 This is a schematic diagram of the fork operation when different combinations of sheet metal pallets are used in a three-dimensional rack, illustrating the automatic feeding method for stamped sheet metal according to the present invention.

[0084] Among them, 1-loading trolley, 2-stacking equipment, 3-unloading conveyor belt, 4-destacking unit, 5-safety light curtain, 6-automatic rack, 7-safety door, 8-AGV trolley, 21-first front fork, 22-second front fork, 23-first rear fork, 24-second rear fork, 71-first equipment safety door, 72-second equipment safety door, 73-third equipment safety door, 74-first personnel safety door, 75-second personnel safety door, 76-third personnel safety door, 77-fourth personnel safety door. Detailed Implementation

[0085] The following is based on the appendix Figure 1-12 Further explanation of the present invention:

[0086] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0087] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0088] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0089] like Figure 1 As shown, the first embodiment of the present invention provides an automatic feeding system for stamping sheet metal based on the prior art, including a destacking unit 4, a material return belt 3 arranged near one end of the destacking unit 4, feeding trolleys 1 arranged on both sides of the material return belt 3, production positions corresponding to the two feeding trolleys 1 on both sides of the destacking unit 4, a three-dimensional rack 6 arranged at the end of the material return belt 3 away from the destacking unit 4, and a stacking device 2 arranged on the side of the three-dimensional rack 6 away from the material return belt 3. The three-dimensional rack 6 includes: an inbound storage position, two feeding storage positions, and a waste storage position. The storage location, storage location, and unloading location are arranged in a stacking device 2. The waste storage location is adjacent to one end of the unloading conveyor belt 3. Two loading locations are arranged on both sides of the waste storage location. The storage location, storage location, and unloading location are arranged opposite to the two loading locations and the waste storage location via the stacking device 2. Two safety light curtains 5 are arranged on the side of the two loading locations closest to the stacking device 2. The destacking unit 4, the unloading conveyor belt 3, the loading trolley 1, the three-dimensional rack 6, the safety light curtains 5, and the stacking device 2 are enclosed by the outer protection 9. AGV trolleys 8 are arranged outside the outer protection 9.

[0090] This embodiment also includes a safety door 7, which includes a first equipment safety door 71 installed on the outer protection 9 opposite to the storage location for the passage of the AGV trolley 8. A second equipment safety door 72 and a third equipment safety door 73 are respectively arranged between the two loading storage locations and the two loading trolleys 1 for the passage of the loading trolleys 1. The safety door 7 also includes a first personnel safety door 74, a second personnel safety door 75, a third personnel safety door 76 and a fourth personnel safety door 77 installed on the outer protection 9 at the corresponding positions at both ends of the stacking equipment 2 and the two loading trolleys 1 for the passage of personnel.

[0091] The stacking equipment 2 is used at least for receiving and loading sheet metal. It includes a first front fork 21, a second front fork 22, a first rear fork 23, and a second rear fork 24. Both sets of the first front forks 21 and 22, and the first rear forks 23 and 24 extend / retract simultaneously. The loading trolley 1 is used to carry the sheet metal to be produced. Each stamping line is generally equipped with two trolleys, one for production and the other for changing sheet metal, thus ensuring continuous production of the stamping line. The loading trolley is in the production position during production and moves to the loading position when loading is needed. The unloading belt 3 is used to transfer sheet metal that does not meet the production conditions to the scrap bin. The destacking unit 4 is used to separate the sheet metal on the loading trolley 1 and grab it onto the conveyor belt, which then moves the sheet metal to the subsequent press for stamping production. The destacking unit can move left and right, and its working area should include the range of the left and right loading trolleys 1. Safety light curtain 5 is used to prevent personnel or other equipment from entering the work area and colliding with the stacking equipment while it is operating. The safety light curtain is activated when the stacking equipment 2 moves left or right, or when the forks extend or retract in the storage location. If personnel or other equipment trigger the safety light curtain at this time, the stacking equipment 2 will stop abruptly and sound an alarm. Personnel must enter the stacking equipment to confirm safety before resuming operation. When the forks of the stacking equipment 2 are working in the light curtain area, the light curtain is closed during the fork extension or retraction process. Although the forks may pass through the safety light curtain, the stacking equipment will not sound an alarm. When the stacking equipment completes its task and the forks return to the starting position, the safety light curtain becomes active again. The automated storage and retrieval system 6 is used for storing sheet metal. The inbound storage location is mainly used for storing brand-new sheet metal, and is the location where the AGV trolley 8 enters the automated storage and retrieval system. The loading storage location is mainly used for loading sheet metal to be produced and returning finished sheet metal or empty pallets to the storage location, and is the location where the loading trolley enters the automated storage and retrieval system. The scrap storage area is primarily for storing scrap bins. The return conveyor belt directly returns unsuitable sheet metal to the scrap bins. Once full, the AGV (Automated Guided Vehicle) moves the scrap bin to a designated location via the outbound process. The storage area primarily stores sheet metal, including sheet metal awaiting production, completed sheet metal, and empty pallets. The repositioning storage area is a temporary location for repositioning. When the target location is inaccessible to the same forklift or when two small pallets need to be combined, the sheet metal to be moved must be temporarily placed in the repositioning storage area. In principle, the repositioning storage area should not be occupied during normal times to avoid repositioning failures due to space occupancy. The AGV (Automated Guided Vehicle) is used at least for receiving new sheet metal, retrieving empty pallets, handling scrap bins, and retrieving abnormal sheet metal. During operation, it enters the receiving storage area. There should be a positioning mechanism between the AGV and the sheet metal pallet to ensure accurate repeatability of the pallet's positioning within the storage area. The industrial control computer is electrically connected to the destacking unit 4, the unloading belt 3, the loading trolley 1, the three-dimensional rack 6, the safety light curtain 5, the safety door 7, and the stacking equipment 2, respectively. The industrial control computer is used to respond to the automatic feeding program of the stamping sheet.The outer protective layer 9 is mainly used to enclose the relevant working areas of the automatic sheet material feeding system, serving functions such as safety and dust prevention.

[0092] The second embodiment of the present invention provides an automatic feeding method for stamping sheet metal based on the first embodiment, comprising:

[0093] Step S100: In response to the automatic feeding program for stamping sheet metal, execute the sheet metal warehousing strategy, such as... Figure 2 As shown, the specific steps are as follows:

[0094] Step S101: In response to the automatic feeding program for stamping sheet metal, when the AGV trolley 8 is ready to enter the warehouse, it sends the basic information of the sheet metal to be entered into the warehouse to the stacking equipment 2. The basic information of the sheet metal includes the sheet metal number, quantity, size pallet, etc. At the same time, if multiple AGV trolleys are designed, the numbers of the AGV trolleys should be sent synchronously in order to identify the relevant sheet metal information during subsequent entry into the warehouse.

[0095] Step S102: After the stacking equipment 2 receives the basic information of the sheet material, it creates an inbound task information. The inbound task information should include information such as sheet material number, quantity, size pallet, and AGV number.

[0096] In step S103, the AGV trolley 8 enters the designated position within the automated rack 6, and the AGV trolley 8 communicates with the stacking equipment 2 via an interlock signal.

[0097] Step S104: After receiving the interlock signal from the AGV trolley 8, the stacking equipment 2 uses the designated forks to remove the plate material from the AGV trolley 8 according to the position of the plate material to be put into storage on the AGV trolley 8. At the same time, it calculates the target storage location of the plate material to be put into storage based on the remaining storage space of the automated rack 6.

[0098] Step S105: The stacking equipment 8 determines whether to reverse the forklift based on the position of the sheet metal on the pallet and the target storage location of the sheet metal to be stored.

[0099] Yes, execute step S400, and after execution is completed, proceed to the next step S106;

[0100] No, proceed directly to the next step S106;

[0101] Step S106: Stacking equipment 2 stores the sheet material to be stored in the warehouse according to the target storage location of the sheet material to be stored.

[0102] Step S107: The stacking equipment 2 determines whether an empty pallet needs to be issued based on the status of the sheet metal stored in the automated storage and retrieval system 6.

[0103] Yes, proceed to step S108;

[0104] No, proceed to step S110;

[0105] Step S108: Based on the location and type of empty pallets on the automated storage and retrieval system 6, if two small empty pallets exist in different locations on the automated storage and retrieval system 6, they should be combined and dispatched simultaneously. The system then determines whether forklift reversing is necessary.

[0106] Yes, execute step S400, and after execution is completed, proceed to the next step S109;

[0107] No, proceed to the next step S109;

[0108] Step S109: The stacking equipment 2 completes the empty pallet outbound according to the empty pallet storage location in the three-dimensional rack 6;

[0109] In step S110, when the stacking equipment 2 completes the empty pallet outbound task, it sends a release interlock signal. The AGV trolley 8 sends an open and close signal to the safety door 7 and leaves the automated rack 6. At this point, the board material warehousing process is completed.

[0110] Step S200: Implement the board material return strategy, such as... Figure 3 As shown, the specific steps are as follows:

[0111] In step S201, before returning to the warehouse, the loading trolley 1 sends the information of the board material to be returned to the warehouse to the stacking equipment 2. This information should include the board material number, the quantity of remaining board material, the size of the pallet, etc. At the same time, the number should be sent simultaneously for identification of the relevant board material information during subsequent return to the warehouse.

[0112] Step S202: After receiving the basic information of the sheet material, the stacking equipment 2 creates a return task information. The task information should include information such as sheet material number, remaining sheet material quantity, size pallet, and loading trolley number.

[0113] Step S203: The loading trolley 1 enters the designated position inside the three-dimensional rack 6, and the loading trolley 1 communicates with the stacking equipment 2 through an interlock signal.

[0114] In step S204, after receiving the interlock signal from the loading trolley 1, the stacking equipment 2 uses the designated forks to remove the sheet material from the loading trolley according to its position on the loading trolley. At the same time, based on the original storage location of the sheet material in the automated rack, the system calculates the target storage location of the sheet material to be returned to the warehouse. After the system puts the sheet material online, it locks this storage location for use when the sheet material is returned to the warehouse after production.

[0115] Step S205: The stacking equipment 2 determines whether to reverse the forklift based on the position of the sheet metal on the pallet and the target storage location of the sheet metal to be returned to the warehouse.

[0116] Yes, execute step S400, and after execution is completed, proceed to the next step S206;

[0117] No, proceed to the next step S206;

[0118] Step S206: Stacking equipment 2 completes the return to warehouse according to the target position of the material to be returned to the warehouse in the automated racking system;

[0119] Step S207: The stacking equipment 2 determines whether loading is required based on the information sent by the loading trolley 1.

[0120] Yes, proceed to step S300;

[0121] No, proceed to step S208;

[0122] In step S208, the stacking equipment 2 sends a release interlock signal, and the loading trolley 1 sends an open and close signal to the safety door, leaving the automated storage and retrieval system. At this point, the process of returning the sheet metal to the warehouse is completed.

[0123] Step S300: Implement the board loading strategy, such as... Figure 4 As shown, the specific steps are as follows:

[0124] Step S301: The loading trolley 1 sends the produced sheet material information to the stacking equipment 2. This information should include the sheet material number, sheet material quantity, and size of the pallets. The number should also be sent simultaneously for verification when the sheet material is put into service later.

[0125] Step S302: The industrial control computer determines whether the sheet metal needs to be returned to the warehouse based on the sheet metal information.

[0126] Yes, proceed with step S200;

[0127] No, proceed to step S303;

[0128] Step S303: After receiving the basic information of the sheet metal, the stacking equipment 2 creates an online task;

[0129] Step S304: The stacking equipment 2 uses different forks to perform the picking task according to the position of the pallet on the automated rack.

[0130] Step S305: The stacking equipment 2 determines whether to reverse the forklifts based on the position of the pallet on the automated storage and retrieval system and the position on the target loading trolley.

[0131] Yes, proceed to step S400;

[0132] No, proceed to the next step S306;

[0133] Step S306: Stacking equipment 2 completes the online delivery of sheet metal according to the target placement position of the sheet metal pallet on the loading trolley;

[0134] In step S307, the stacking equipment 2 sends a release interlock signal, and the loading trolley 1 sends an open and close signal to the safety door and leaves the automated rack 6. At this point, the sheet metal loading process is completed.

[0135] Step S400: After completing the task, the stacking equipment executes the reverse fork task working strategy, such as... Figure 5 As shown, the specific content is as follows:

[0136] Step S401: After the stacking equipment completes the task, the industrial control computer determines which type of inverted forklift it belongs to.

[0137] When stacking equipment 2 completes a task, there are two situations where fork reversing is required. The first is when the target location is inaccessible to the same fork, meaning the forks used for picking up the goods cannot place the pallet at the target location. The second is when two small pallets are in different tasks, but need to be combined when they are put into service or when empty pallets are shipped out.

[0138] If the type is determined to be type one, proceed to step S402;

[0139] When the type is determined to be type two, proceed to step S407;

[0140] In step S402, the stacking equipment 2 retrieves the material using the first front fork 21 and the second front fork 22 or the first rear fork 23 and the second rear fork 24, according to the position of the sheet material.

[0141] Step S403, the stacking equipment 2 places the sheet metal into the unloading box storage position;

[0142] In step S404, the stacking device 2 retracts the first front fork 21 and the second front fork 22 or the first rear fork 23 and the second rear fork 24;

[0143] In step S405, the stacking equipment 2 uses the first front fork 21 and the second front fork 22 or the first rear fork 23 and the second rear fork 24 to retrieve the goods.

[0144] In step S406, the stacking equipment 2 uses the first front fork 21 and the second front fork 22 or the first rear fork 23 and the second rear fork 24 to place the sheet metal at the target position.

[0145] In step S407, the stacking equipment 2 uses the first front fork 21 and the second front fork 22 to pick up the goods and place them on the left side of the box-turning position, and then the first front fork 21 and the second front fork 22 retract.

[0146] In step S408, the stacking equipment 2 uses the first rear fork 23 and the second rear fork 24 to pick up the goods and place them on the right side of the box-turning position, and then the first rear fork 23 and the second rear fork 24 retract.

[0147] In step S409, the stacking equipment 2 uses the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 to pick up goods.

[0148] In step S410, the stacking equipment 2 uses the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 to place the sheet metal at the target position.

[0149] The following details the working logic of the safety interlock signals between the loading trolley 1, the AGV trolley 8, and the stacking equipment 2, such as... Figure 6 As shown:

[0150] Safety interlock signals are used to coordinate the operation of the loading trolley 1, AGV trolley 8, and stacking equipment 2 at common workstations, such as the inbound point and the outbound point. These are the workstations where the loading trolley 1, AGV trolley 8, and stacking equipment 2 interact. The participants in this interaction must operate according to a fixed set of rules to avoid collisions and resulting damage. Each set of safety interlock signals applies to only one workstation; therefore, different sets of safety interlock signals are required for different workstations. From the perspective of stacking equipment control, a set of safety interlock signals should include two input signals and one output signal.

[0151] Input signal:

[0152] 1. Allow stacking equipment to work: When this signal is "1", stacking equipment 2 is allowed to take away or put down the sheet material at the station. Before this, the loading trolley 1 and AGV trolley 8 must be accurately in place and remain stationary during the operation of the stacking equipment. During this operation, the signal allowing stacking equipment 2 to work must always be kept at "1". Otherwise, the operation of stacking equipment 2 will stop immediately.

[0153] 2. Load Signal: This signal is an additional signal to ensure safety. When the stacking equipment 2 needs to lower the sheet material onto the loading trolley 1 or AGV trolley 8, the stacking equipment 2 needs to confirm that the loading trolley 1 or AGV trolley 8 is empty, and the load signal should be "0"; conversely, if the stacking equipment needs to remove the sheet material from the loading trolley 1 or AGV trolley 8, then the load signal must be 1.

[0154] Output signal:

[0155] Allow loading trolley and AGV to work: If this signal is "1", it means that the stacking equipment does not need to operate the loading trolley and AGV at present, and the loading trolley and AGV can move according to the task situation.

[0156] Furthermore, it is necessary to explain the operation of the stacking equipment forks when different pallet combinations are used with AGVs or loading trolleys, such as... Figure 7-9As shown:

[0157] The sheet material pallets come in two different structures, large and small. The large pallet is positioned in the center of the AGV trolley 8 or the loading trolley 1. Figure 7 As shown, when the stacking equipment 2 is performing its task, the front forks ab and the rear forks cd work simultaneously. There are two scenarios when the small pallet is on the AGV trolley 8 or the loading trolley 1: one is that they are respectively arranged on the left and right sides of the AGV trolley 8 or the loading trolley 1, in which case, when the stacking equipment is performing its task, the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 work simultaneously; the other is that they are arranged on the middle M side of the AGV trolley 8 or the loading trolley 1, in which case, when the stacking equipment 2 is performing its task, the first rear fork 23 and the second rear fork 24 work. It should be specifically noted that when the stacking equipment requires the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 to work simultaneously, a single fork extension is not allowed.

[0158] Furthermore, it is necessary to explain the operation of the stacking equipment forks when different pallet combinations are placed on the automated storage and retrieval system, such as... Figure 10-12 As shown:

[0159] Large pallets occupy an entire storage location when placed on automated storage and retrieval systems, such as... Figure 11 As shown, when the stacking equipment is performing its task, the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 work simultaneously; small pallets occupy half of the storage space in the automated racking system 6, and are not allowed to occupy the middle of the storage space, such as... Figure 10 As shown, when the stacking equipment 2 is operating, if two small pallets need to be picked up or placed simultaneously, the first front fork 21, the second front fork 22, the first rear fork 23, and the second rear fork 24 operate simultaneously. If only one small pallet needs to be picked up or placed, the first front fork 21 and the second front fork 22 operate when picking up the left pallet, and the first rear fork 23 and the second rear fork 24 operate when picking up the right pallet. It should be noted that when repositioning a pallet in a storage area, to change the forks, the first front fork 21 and the second front fork 22 can be used when picking up or placing a pallet on the right side of the storage area. Figure 12 As shown, this operation is not allowed in any other storage location except for this one, to avoid the forks extending and colliding with the automated racking system.

[0160] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. An automatic feeding system for stamping sheet metal, characterized in that, The system includes a destacking unit (4), a material return belt (3) is arranged near one end of the destacking unit (4), and loading trolleys (1) are arranged on both sides of the material return belt (3). Production positions are provided on both sides of the destacking unit (4) corresponding to the two loading trolleys (1). A three-dimensional rack (6) is provided at the end of the material return belt (3) away from the destacking unit (4). A stacking device (2) is provided on the side of the three-dimensional rack (6) away from the material return belt (3). The three-dimensional rack (6) includes: an inbound storage location, two loading storage locations, a waste storage location, a storage location, and a box unloading location. The storage location is adjacent to one end of the unloading conveyor belt (3). The two loading storage locations are respectively arranged on both sides of the waste storage location. The inbound storage location, storage storage location and unloading storage location are arranged opposite to the two loading storage locations and the waste storage location through the stacking equipment (2). Two safety light curtains (5) are respectively installed on the side of the two loading storage locations near the stacking equipment (2). The destacking unit (4), unloading conveyor belt (3), loading trolley (1), three-dimensional rack (6), safety light curtain (5) and stacking equipment (2) are enclosed by the outer protection (9). AGV trolleys (8) are arranged outside the outer protection (9). The system also includes safety doors (7), which include a first equipment safety door (71) set on the outer protection (9) opposite to the storage location for the passage of AGV trolleys (8), a second equipment safety door (72) and a third equipment safety door (73) respectively arranged between the two loading storage locations and the two loading trolleys (1) for the passage of the loading trolleys (1), and the safety doors (7) also include a first personnel safety door (74), a second personnel safety door (75), a third personnel safety door (76) and a fourth personnel safety door (77) respectively set on the outer protection (9) at the ends of the stacking equipment (2) and at the corresponding positions of the two loading trolleys (1) for the passage of personnel. The stacking equipment (2) is used at least for the storage and loading of sheet metal, and includes a first front fork (21), a second front fork (22), a first rear fork (23), and a second rear fork (24). The first front fork (21) and the second front fork (22) are a group, and the first rear fork (23) and the second rear fork (24) are a group. Each group of forks extends / retracts simultaneously. When the stacking equipment (2) moves left and right and when the forks extend and retract in the storage location, the safety light curtain is activated. When the forks of the stacking equipment 2 are working in the light curtain area, the light curtain is closed during the fork extension or retraction process. When the stacking equipment finishes its task and the forks return to the starting position, the safety light curtain becomes active.

2. The automatic feeding system for stamping sheet metal according to claim 1, characterized in that, The loading trolley (1) is used to carry the sheet material to be produced. The unloading belt (3) is used to transfer the sheet material that does not meet the production conditions to the waste bin. The destacking unit (4) is used to separate the sheet material on the loading trolley (1) and grab it onto the conveyor belt. The conveyor belt then moves the sheet material to the subsequent press for stamping production. The safety light curtain (5) is used to prevent personnel or other equipment from entering the work area and colliding with the stacking equipment when it is working. The three-dimensional rack (6) is used for storing the sheet material. The AGV trolley (8) is used at least to carry the new sheet material into the warehouse, the empty pallet out of the warehouse, the waste bin in and out of the warehouse, and the abnormal sheet material out of the warehouse.

3. The automatic feeding system for stamping sheet metal according to claim 2, characterized in that, It also includes an industrial control computer that is electrically connected to the destacking unit (4), the unloading conveyor (3), the loading trolley (1), the three-dimensional rack (6), the safety light curtain (5), the safety door (7) and the stacking equipment (2), respectively, the industrial control computer being used to respond to the automatic feeding program of the stamping sheet.

4. An automatic feeding method for stamping sheet metal, characterized in that, The automatic feeding system for stamping sheet metal according to any one of claims 1-3 includes: Step S100: In response to the automatic feeding program for stamping sheet metal, execute the sheet metal warehousing strategy; Step S200: Implement the board material return to inventory strategy; Step S300: Execute the board loading strategy; In step S400, the stacking equipment executes the reverse fork task working strategy after completing the task.

5. The automatic feeding method for stamping sheet metal according to claim 4, characterized in that, Step S100 includes: Step S101: When the AGV (8) is ready to enter the warehouse, send the basic information of the plate material to be entered into the warehouse to the stacking equipment (2); Step S102: After the stacking equipment (2) receives the basic information of the sheet metal, it creates an inbound task information; In step S103, the AGV (8) enters the designated position in the three-dimensional rack (6), and the AGV (8) communicates with the stacking equipment (2) through an interlock signal. Step S104: After receiving the interlock signal from the AGV trolley (8), the stacking equipment (2) uses the designated forks to remove the plate material from the AGV trolley (8) according to the position of the plate material to be stored on the AGV trolley (8). At the same time, it calculates the target storage location of the plate material to be stored according to the remaining storage locations of the three-dimensional rack (6). Step S105, the stacking equipment (2) determines whether to reverse the forklift based on the position of the board material on the pallet and the target storage location of the board material to be stored: Yes, execute step S400, and after execution is completed, proceed to the next step S106; No, proceed directly to the next step S106; Step S106, the stacking equipment (2) puts the board material to be put into storage according to the target storage location of the board material to be put into storage; Step S107, the stacking equipment (2) determines whether it is necessary to issue empty pallets based on the status of the board materials stored in the automated shelving (6): Yes, proceed to step S108; No, proceed to step S110; Step S108, the stacking equipment (2) determines whether to reverse the forks based on the position and type of the empty pallet on the automated rack (6): Yes, execute step S400, and after execution is completed, proceed to the next step S109; No, proceed to the next step S109; Step S109: The stacking equipment (2) completes the empty pallet outbound according to the empty pallet storage location in the three-dimensional rack (6); In step S110, when the stacking equipment (2) completes the empty pallet outbound task, it sends a release interlock signal, and the AGV trolley (8) sends an open and close signal to the safety door (7) and leaves the three-dimensional rack (6). At this point, the board material warehousing process is completed.

6. The automatic feeding method for stamping sheet metal according to claim 5, characterized in that, Step S200 includes: In step S201, the loading trolley (1) sends the information of the board material to be returned to the warehouse to the stacking equipment (2) before returning to the warehouse, and at the same time, the number should be sent synchronously for identification of the relevant board material information when returning to the warehouse later; Step S202: After receiving the basic information of the sheet metal, the stacking equipment (2) creates a return-to-warehouse task information; In step S203, the loading trolley (1) enters the designated position inside the three-dimensional rack (6), and the loading trolley (1) communicates with the stacking equipment (2) through an interlock signal. Step S204: After receiving the interlock signal from the loading trolley (1), the stacking equipment (2) uses the specified forks to remove the board material from the loading trolley according to the position of the board material to be returned to the warehouse on the loading trolley. At the same time, it calculates the target storage location of the board material to be returned to the warehouse according to the original storage location of the board material in the three-dimensional rack. After the system puts the board material online, it locks this storage location for the board material to be returned to the warehouse after production. Step S205, the stacking equipment (2) determines whether to reverse the forklift based on the position of the board material on the pallet and the target storage location of the board material to be returned to the warehouse: Yes, execute step S400, and after execution is completed, proceed to the next step S206; No, proceed to the next step S206; Step S206, the stacking equipment (2) completes the return to the warehouse according to the target position of the board material to be returned to the warehouse in the three-dimensional rack; Step S207, the stacking equipment (2) determines whether loading is required based on the information sent by the loading trolley (1): Yes, proceed to step S300; No, proceed to step S208; In step S208, the stacking equipment (2) sends a release interlock signal, and the loading trolley (1) sends an open and close signal to the safety door and leaves the three-dimensional rack. At this point, the board material return process is completed.

7. The automatic feeding method for stamping sheet metal according to claim 6, characterized in that, Step S300 includes: In step S301, the loading trolley (1) sends the production board information to the stacking equipment (2), and the number should be sent at the same time so that the board can be judged and confirmed when it is put into service later. Step S302: The industrial control computer determines whether the sheet metal needs to be returned to the warehouse based on the sheet metal information. Yes, proceed with step S200; No, proceed to step S303; Step S303: After receiving the basic information of the sheet metal, the stacking equipment (2) creates an online task; Step S304, the stacking equipment (2) performs picking tasks with different forks according to the position of the pallet on the three-dimensional rack; Step S305, the stacking equipment (2) determines whether to reverse forklifts based on the position of the pallet on the automated storage and retrieval system and the position on the target loading trolley: Yes, proceed to step S400; No, proceed to the next step S306; Step S306, the stacking equipment (2) completes the online delivery of the sheet material according to the target placement position of the sheet material pallet on the loading trolley; In step S307, the stacking equipment (2) sends a release interlock signal, and the loading trolley (1) sends an open and close signal to the safety door and leaves the three-dimensional rack (6). At this point, the board loading process is completed.

8. The automatic feeding method for stamping sheet metal according to claim 7, characterized in that, The inverted fork task working strategy includes: Step S401, the industrial control computer determines which type of inverted fork it belongs to: If the type is determined to be type one, proceed to step S402; When the type is determined to be type two, proceed to step S407; In step S402, the stacking equipment (2) picks up the goods using the first front fork (21) and the second front fork (22) or the first rear fork (23) and the second rear fork (24) according to the position of the sheet material; Step S403, the stacking equipment (2) places the sheet metal into the unloading box storage position; In step S404, the stacking device (2) retracts the first front fork (21) and the second front fork (22) or the first rear fork (23) and the second rear fork (24); In step S405, the stacking equipment (2) uses the first front fork (21) and the second front fork (22) or the first rear fork (23) and the second rear fork (24) to retrieve goods; In step S406, the stacking equipment (2) uses the first front fork (21) and the second front fork (22) or the first rear fork (23) and the second rear fork (24) to place the sheet metal at the target position; In step S407, the stacking equipment (2) uses the first front fork (21) and the second front fork (22) to pick up the goods and place them on the left side of the box-turning position, and then the first front fork (21) and the second front fork (22) retract. In step S408, the stacking equipment (2) uses the first rear fork (23) and the second rear fork (24) to pick up the goods and place them on the right side of the box-turning position, and then the first rear fork (23) and the second rear fork (24) retract. In step S409, the stacking equipment (2) uses the first front fork (21), the second front fork (22), the first rear fork (23), and the second rear fork (24) to pick up goods; In step S410, the stacking equipment (2) uses the first front fork (21), the second front fork (22), the first rear fork (23), and the second rear fork (24) to place the sheet metal at the target position.

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