Transition transplant components and control systems for automated clothes dryer production lines

Abstract

The present invention discloses a transition transplanting component and a control system for an automated clothes dryer production line, and relates to the technical field of clothes dryer production. This scheme is aimed at the product transfer process in the clothes dryer production line, and uses an AGV trolley, a transplanting component and a centering component as main components, and is mainly used to ensure that the product body is in the center position on the packaging platform. To achieve the above purpose, the overall structure is based on the movement process of the AGV trolley, which is manifested in: detecting the position size of the product body relative to the AGV trolley through two detection structures, and performing a position deviation calculation process. Based on this, according to the above two sets of position sizes, a longitudinal correction action or an angle deflection action is performed in a multi-level action correction unit, and its purpose is to directly control the position of the product body relative to the centering component through the operation process of the AGV trolley, and the overall process controls the transfer process of the product body in the simplest and most effective way.

Description

Technical Field

[0001] The present invention relates to the technical field of clothes dryer production, and in particular to a transition transplanting component and a control system for an automated clothes dryer production line. Background Art

[0002] In order to improve the production efficiency of dryers, the current automated unmanned production mode is mostly adopted, such as the AGV production line. Specifically, the preset program is used to set the operation trajectory of the AGV cart and realize the packaging and transportation process of the product. The specific process includes: after the AGV cart transfers the assembled dryer to the designated location, the dryer is separated from the AGV cart by the transplanting mechanism, and the dryer is transplanted to the packaging line.

[0003] In combination with the above content: Although the automated drone production line is program-controlled in its operation process, in the long-term operation process, due to possible sensor failure, electrical failure, mechanical failure or control system failure, the motion data of the dryer transplanting process may have slight deviations. As the number of operations increases, the deviations will be "amplified", eventually causing the final placement and reset of the dryer to deviate from the preset position, further affecting the packaging process of the dryer, and even causing packaging errors that affect the entire production line.

[0004] To this end, this application proposes a solution. Summary of the invention

[0005] The purpose of the present invention is to provide a transition transplant component and a control system for an automated dryer production line. For the automated unmanned production mode of the dryer, during the specific operation process, due to possible fault problems, subtle deviations that are "difficult to directly detect" may occur in the dryer transplant process, directly affecting the subsequent packaging process and even directly affecting the entire production line.

[0006] The object of the present invention can be achieved by the following technical scheme: a control system for an automatic clothes dryer production line, the control system is applied in the automatic clothes dryer production line, the automatic clothes dryer production line includes a transplanting component, an AGV trolley, a centering component, a packaging platform and a product body, the control system includes a motion data recording unit, a motion data analysis unit and a multi-level motion correction unit, the motion data recording unit is used to collect motion data in the transplanting component and the centering component and dynamic data in the AGV trolley and the centering component, and input the motion data and dynamic data into the motion data analysis unit;

[0007] In the motion data analysis, the motion data and dynamic data in the AGV trolley are used to perform position deviation analysis on the product body on it, and the motion data in the centering component and the transplanting component are used as the rear reference and front reference in the position deviation analysis respectively. The position deviation degree is obtained in the position deviation analysis, and the position deviation degree is input into the multi-level motion correction unit;

[0008] In the multi-level motion correction unit, the AGV is subjected to motion correction according to the position deviation. In the motion correction, a correlation model between the motion data in the AGV and the position deviation is established, and the motion data in the AGV is corrected by the correlation model.

[0009] It is further configured as follows: the centering component includes a second straight-moving component and a conveying power roller platform, the transplanting component includes a forklift component and a first straight-moving component, the forklift component is on the first straight-moving component, and the conveying power roller platform is on the second straight-moving component, both of which move in a horizontal direction, and an orientation seat is arranged between the conveying power roller platform and the transplanting component.

[0010] It is further configured as follows: the motion data in the transplanting component represents the first-order straight stroke Lb of the first straight component in the horizontal direction and the supporting stroke of the forklift component in the vertical direction; the motion data in the center component represents the second-order straight stroke La of the second straight component in the horizontal direction and the conveying stroke Lc of the conveying power roller platform in the longitudinal direction.

[0011] It is further configured as follows: two detection structures are arranged on the AGV trolley, and the two detection structures are arranged on the same side of the AGV trolley. The dynamic data in the AGV trolley is represented by the display values ​​on the two detection structures, which are LS and RS respectively.

[0012] It is further set as follows: in the motion data analysis, the position deviation of the product body on the AGV is obtained according to LS and RS. When the values ​​of LS and RS are equal, the multi-level motion correction unit is not executed; when the values ​​of LS and RS are unequal, the multi-level motion correction unit is executed, and a motion simulation correction analysis process is performed in the multi-level motion correction unit. In the motion simulation correction analysis process, an angle deflection command is sent to the AGV to perform an angle deflection action based on the position deviation, and the AGV uses its center point as the rotation point, and the rotation angle in the angle deflection action is equal to the position deviation.

[0013] It is further configured as follows: during the angle deflection action, the real-time dimensions in the two detection structures are recorded by the action data recording unit as LSi and RSi respectively; after LSi=RSi, the angle deflection action is stopped and a longitudinal correction command is sent to the conveying power roller platform to perform the longitudinal correction action; in the longitudinal correction action, the conveying power roller platform moves LSi or RSi along the width direction of the corresponding product body.

[0014] The present invention has the following beneficial effects:

[0015] The overall solution is based on the product transfer process in the dryer production line, with the AGV trolley, transplanting components and centering components as the main components, mainly used to ensure that the product body is in the center position on the packaging platform. To achieve this purpose, the overall structure is based on the movement process of the AGV trolley, which is specifically manifested as follows: taking the two detection structures on the AGV trolley as the key, the position deviation degree is calculated according to the position size of the product body placed on the AGV trolley. Based on this, the longitudinal correction action or angle deflection action in the multi-level action correction unit is performed. The overall process does not require complicated operation processes or control means, and the transfer process of the product body is controlled in the simplest and most effective way, thereby avoiding the problem of packaging action errors affecting the overall production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of the transition transplanting assembly for the automatic clothes dryer production line proposed by the present invention;

[0018] Figure 2 This is a schematic structural diagram of a transition component in a transition transplanting component for an automatic clothes dryer production line proposed by the present invention;

[0019] Figure 3 This is a schematic structural diagram of a transplanting component in a transition transplanting component for an automatic clothes dryer production line proposed by the present invention;

[0020] Figure 4 A top view of a centering component in a transition transplanting component for an automatic clothes dryer production line proposed by the present invention;

[0021] Figure 5 A top view of the AGV trolley in the transition transplanting assembly for the automatic clothes dryer production line proposed by the present invention;

[0022] Figure 6 This is an operation block diagram of the control system for an automatic clothes dryer production line proposed by the present invention.

[0023] In the figure: 1. Transplanting component; 101. First straight component; 102. Forklift component; 103. Orienting seat; 2. AGV trolley; 3. Centering component; 301. Second straight component; 302. Conveying power roller platform; 4. Packaging platform; 5. Product body. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Embodiment 1

[0026] For the automated unmanned production mode of the dryer, in the specific operation process, due to possible faults, there may be subtle deviations in the transplanting process of the dryer that are "difficult to directly detect", which directly affects the subsequent packaging process and even directly affects the entire production line. The following technical solutions are proposed:

[0027] Reference Figures 1 to 5 The control system for the automatic clothes dryer production line in this embodiment is applied in the automatic clothes dryer production line, which includes a transplanting component 1, an AGV trolley 2, a centering component 3, a packaging platform 4 and a product body 5. The centering component 3 includes a second straight component 301 and a conveying power roller platform 302, and the transplanting component 1 includes a forklift component 102 and a first straight component 101. The forklift component 102 moves on the first straight component 101 and the conveying power roller platform 302 moves on the second straight component 301 in a horizontal direction, and an orientation seat 103 is provided between the conveying power roller platform 302 and the transplanting component 1;

[0028] In the motion data analysis, the motion data and dynamic data in the AGV trolley 2 are used to perform position deviation analysis on the product body 5 thereon, and the motion data in the centering component 3 and the transplanting component 1 are used as the rear reference and the front reference in the position deviation analysis respectively, and the position deviation degree is obtained in the position deviation analysis, and the position deviation degree is input into the multi-level motion correction unit;

[0029] In the multi-level motion correction unit, the AGV trolley 2 is subjected to motion correction action with the position deviation. In the motion correction action, an association model between the motion data in the AGV trolley 2 and the position deviation is established, and the motion data in the AGV trolley 2 is parameter-corrected through the association model.

[0030] Basic principle: A brief description of the automatic clothes dryer production line. Figure 1The relevant structure shown in the figure is only used as a transitional transplanting component in the automatic clothes dryer production line. Its essence is: the AGV trolley 2 is responsible for transporting the product body 5. For example, after the product body 5 in the previous production line is transported to the corresponding position, the product body 5 on the AGV trolley 2 is first lifted by the transplanting component 1, and then the AGV trolley 2 leaves and is used to transport the next product body 5. Finally, the centering component 3 is synchronously started to "catch" the product body 5 lifted by the transplanting component 1, and transported to the packaging platform 4 to package the product body 5. This part is the operation process of the transitional transplanting component in the automatic clothes dryer production line;

[0031] However, in this embodiment, the operation process of the transplanting component 1, the AGV trolley 2 and the centering component 3 is mainly targeted. It should be explained that the operation process of the AGV trolley 2 more directly affects the relative position of the product body 5 on the centering component 3, and the transplanting component 1 is mainly responsible for the lifting process of the product body 5 on the AGV trolley 2. Therefore, in the present invention, the movement process of the AGV trolley 2 is specifically controlled;

[0032] Thus, the motion data in the transplanting component 1 represents the first-order straight stroke of the first straight component 101 in the horizontal direction and the holding stroke of the forklift component 102 in the vertical direction, while the motion data in the centering component 3 represents the second-order straight stroke of the second straight component 301 in the horizontal direction and the conveying stroke of the conveying power roller platform 302 in the longitudinal direction, and the dynamic data in the AGV trolley 2 is used to represent the position size of the product body 5 on the AGV trolley 2. Similarly, the dynamic data in the centering component 3 is used to represent the position size of the product body 5 on the centering component 3, and the position size in the centering component 3 is set to a fixed value. Figure 1 and Figure 2 Note that detection structures are arranged on the same side of the AGV trolley 2 and on the four sides of the center component 3. The detection structures include laser rangefinders or contact rangefinders. The position deviation analysis utilizes the dynamic data on the AGV trolley 2 to generate the position relationship of the product body 2 on the AGV trolley 2. For details, please refer to the top view between the AGV trolley 2 and the product body 5. The AGV trolley 2 includes two detection structures, which are located on the same side of the product body 5. LS and RS respectively represent the position sizes detected by the two detection structures. The motion data of the AGV trolley 2 is readjusted according to the above-mentioned LS and RS.

[0033] Embodiment 2

[0034] This embodiment explains the position deviation analysis process in the first embodiment:

[0035] Reference Figure 1, the AGV trolley is in a free-moving state, while the transfer component 1 and the centering component 3 can perform directional horizontal movement, such as horizontal movement along the length direction of the product body 5, and the centering component 3 also needs to undertake the work of transferring the product body 5 to the packaging platform 4, so the centering platform 3 also needs to drive the product body 5 to move to the packaging platform 4 along its width direction. When the AGV trolley 2 "accepts" the product body 5 and transfers it, the two detection structures on the AGV trolley 2 synchronously contact the product body 5 and generate two values ​​LS and RS, and establish a position relationship diagram between the product body 5 and the AGV trolley, as shown in the following figure. Figure 5 As shown, Figure 5 The following position deviation analysis process is carried out in the process, including the following contents:

[0036] S1: The radial distance L1 between the two detection structures on the AGV trolley 2 and the radial distance L2 between the detection structures in the initial state and the center point of the AGV trolley 2 are both constant values, so that in the most ideal state, LS=RS, which is used to indicate that the position of the product body 5 on the AGV trolley 1 is in a relatively normal state;

[0037] S2: On the contrary, when a fault or other problem occurs, the position of the product body 5 placed on the AGV cart will deviate. In this state, LS≠RS exists, and the absolute value of LS-RS is taken and the tangent function in the trigonometric function is calculated with L2, so as to obtain the position deviation of the product body 5 relative to the AGV cart 2. The product body 5 with position deviation will not affect the operation process of the forklift assembly 102 and the conveying power roller platform 302, but mainly affects the position of the product body 5 moved to the packaging platform 4.

[0038] Embodiment 3

[0039] This embodiment is combined with the first and second embodiments to explain the multi-stage motion correction unit therein:

[0040] First, the AGV trolley 2 is preset to move to the initial position in the transfer component 1 and the centering component 3, which can be understood as: the center point of the AGV trolley 2 is at the preset point position, corresponding to the above-mentioned optimal ideal state, so that the second-order straight stroke of the centering component 3 to the transfer component 1 is La, the first-order straight stroke of the transfer component 1 to the centering component 3 is Lb, and the conveying stroke of the conveying power roller platform 302 to the packaging platform 4 is Lc, so that when LS=RS, the multi-stage action correction unit is not executed;

[0041] On the contrary, when LS≠RS, the motion simulation correction analysis process includes the following actions:

[0042] Action 1: Send an angle deflection command to AGV 2 according to the position deviation value to perform the angle deflection action. The angle of the angle deflection action is equal to the position deviation value and the center point of AGV 2 is used as the rotation point. The real-time dimensions in the two detection structures are continuously obtained and represented as LSi and RSi respectively. After LSi=RSi, the angle deflection action is stopped;

[0043] Action 2: Combined with the relevant content in Action 1, it mainly performs angle correction on the product body 5 on the AGV trolley 2, in which La and Lb in the transplanting component 1 and the centering component do not change until the product body 5 is transferred to the conveying power roller platform 302. In this state, a longitudinal correction command is sent to the conveying power roller platform 302 to perform a longitudinal correction action. The conveying power roller platform 302 moves LSi or RSi along the width direction of the corresponding product body 5. The purpose is to make the centering component only convey a stroke of Lc, and the transfer process of the product body 5 is only adjusted by the AGV trolley 2.

[0044] In summary: for the product transfer process in the dryer production line, the AGV trolley, transplanting assembly and centering assembly are the main components, which are mainly used to ensure the center position of the product body on the packaging platform. To achieve the above purpose, the movement process of the AGV trolley is the main body in the overall structure, which is manifested as: the position size of the product body relative to the AGV trolley is detected by two detection structures, and the position deviation is calculated. On this basis, according to the above two sets of position sizes, the longitudinal correction action or angle deflection action is performed in the multi-level action correction unit. Its purpose is to directly control the position of the product body relative to the centering assembly through the operation process of the AGV trolley, and the overall process controls the transfer process of the product body in the simplest and most effective way.

[0045] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0047] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A control system for an automated clothes dryer production line, characterized in that: The control system is applied in an automatic clothes dryer production line, which includes a transplanting component (1), an AGV trolley (2), a centering component (3), a packaging platform (4) and a product body (5). The control system includes a motion data recording unit, a motion data analysis unit and a multi-level motion correction unit. The motion data recording unit is used to collect motion data in the transplanting component (1) and the centering component (3) and dynamic data in the AGV trolley (2) and the centering component (3), and input the motion data and dynamic data into the motion data analysis unit. In the motion data analysis, the motion data and dynamic data in the AGV trolley (2) are used to perform position deviation analysis on the product body (5) thereon, and the motion data in the centering component (3) and the transplanting component (1) are used as the rear reference and the front reference in the position deviation analysis respectively, and the position deviation degree is obtained in the position deviation analysis, and the position deviation degree is input into the multi-level motion correction unit; In the multi-level motion correction unit, a motion correction action is performed on the AGV (2) using the position deviation. In the motion correction action, a correlation model between the motion data in the AGV (2) and the position deviation is established, and the motion data in the AGV (2) is parameter-corrected using the correlation model. The AGV trolley (2) is provided with two detection structures, which are arranged on the same side of the AGV trolley (2). The dynamic data in the AGV trolley (2) is represented by the display values ​​on the two detection structures, which are LS and RS respectively. In the motion data analysis, the position deviation of the product body (5) on the AGV trolley (2) is obtained based on LS and RS. When the LS and RS values ​​are equal, the multi-level motion correction unit is not executed; when the LS and RS values ​​are unequal, the multi-level motion correction unit is executed, and a motion simulation correction analysis process is performed in the multi-level motion correction unit. In the motion simulation correction analysis process, an angle deflection command is sent to the AGV trolley (2) based on the position deviation to perform an angle deflection action, and the AGV trolley (2) uses its center point position as the rotation point, and the rotation angle in the angle deflection action is equal to the position deviation.

2. The control system for an automatic clothes dryer production line according to claim 1, characterized in that: The centering component (3) comprises a second straight-moving component (301) and a conveying power roller platform (302); the transplanting component (1) comprises a forklift component (102) and a first straight-moving component (101); the forklift component (102) moves on the first straight-moving component (101) and the conveying power roller platform (302) moves on the second straight-moving component (301) in a horizontal direction; and an orientation seat (103) is provided between the conveying power roller platform (302) and the transplanting component (1).

3. The control system for an automatic clothes dryer production line according to claim 2, characterized in that: The motion data in the transplanting component (1) represents the first-order linear stroke Lb of the first straight component (101) in the horizontal direction and the supporting stroke of the forklift component (102) in the vertical direction, and the motion data in the centering component (3) represents the second-order linear stroke La of the second straight component (301) in the horizontal direction and the conveying stroke Lc of the conveying power roller platform (302) in the longitudinal direction.

4. The control system for an automated clothes dryer production line according to claim 1, characterized in that: During the angle deflection action, the action data recording unit records the real-time dimensions in the two detection structures as LSi and RSi respectively. After LSi=RSi, the angle deflection action is stopped and a longitudinal correction command is sent to the conveying power roller platform (302) to perform the longitudinal correction action. During the longitudinal correction action, the conveying power roller platform (302) moves LSi or RSi along the width direction of the corresponding product body (5).

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