Virtual debugging method for intelligent logistics equipment

Abstract

The invention discloses an intelligent logistics equipment virtual debugging method, and relates to the technical field of intelligent logistics equipment debugging, and the method comprises the following steps: building a first version debugging two-dimensional scene; carding the production process; carding logistics transfer logic; logistics equipment function logic carding and safety interlocking; running logic carding and safety interlocking between the devices are achieved; generating an equipment coordinate graph according to the intelligent driving coordinate zero position; editing an equipment debugging program according to the virtual debugging two-dimensional scene and the flow and logic sorted in the steps 2-5, and testing through related software; leveling the intelligent driving track; mounting ground equipment by taking the operation of the intelligent travelling crane as a benchmark; performing field debugging by utilizing the program generated in the step 7; the virtual debugging method has the beneficial effects that the problem of low debugging efficiency caused by complex logic of the intelligent logistics equipment is effectively solved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent logistics equipment debugging, and in particular to a virtual debugging method for intelligent logistics equipment. Background Art

[0002] With the construction of digital factories, the level of intelligent manufacturing has developed and improved rapidly. In digital factories with large-scale intelligent equipment production, intelligent logistics equipment plays a vital role. It can reduce the probability of operator errors, reduce damage to workpieces, and improve work efficiency. However, due to the complex system logic of intelligent logistics equipment, higher requirements for equipment installation and manufacturing precision, strong collaboration and interference between multiple and multiple types of equipment, the debugging time of intelligent logistics equipment is long and cannot meet the fast-paced production needs. Summary of the invention

[0003] The purpose of the present invention is to provide a virtual debugging method for intelligent logistics equipment in order to solve the above problems.

[0004] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0005] A virtual debugging method for intelligent logistics equipment includes the following steps:

[0006] Step 1: Build and debug the initial 2D scene;

[0007] Step 2: Sort out the production process;

[0008] Step 3: Sort out the logistics transfer logic;

[0009] Step 4: Logical sorting of logistics equipment functions and safety interlocking;

[0010] Step 5: Sorting out the operation logic and safety interlocking between equipment;

[0011] Step 6: Generate a device coordinate diagram based on the intelligent driving coordinate zero position;

[0012] Step 7: Edit the device debugging program according to the virtual debugging 2D scene and the process and logic sorted out in steps 2-5, and pass the relevant software test;

[0013] Step 8: Intelligent driving track leveling;

[0014] Step 9: Install ground equipment based on intelligent driving operation;

[0015] Step 10: Use the program generated in step 7 to perform on-site debugging.

[0016] Preferably: the step 1 is specifically:

[0017] Taking the production of hydraulic support structural parts as an example, a two-dimensional debugging scene is built according to the digital factory and the required equipment. The two-dimensional debugging scene includes the repair welding workshop, the overall processing workshop, and the small parts assembly welding and grinding workshop. The equipment positioning uses the large and small car limit positions designed by the intelligent driving as the origin for ground equipment positioning.

[0018] Preferably: the step 2 is specifically:

[0019] The production process of top beams, cover beams and base structural parts is sorted out. They need to enter the corresponding automatic welding workshop, repair welding workshop, overall processing workshop and small parts assembly welding and grinding workshop to carry out the corresponding production and processing procedures.

[0020] Preferably: the step 3 is specifically:

[0021] The logistics transfer logic between and within workshops is sorted out. The logistics transfer between workshops is completed through AGV consignment, and the logistics transfer within the workshop is completed through intelligent driving.

[0022] Preferably: the step 4 is specifically:

[0023] Sort out the equipment operation logic of smart cranes and AGVs and the electrical logic of smart crane clamps.

[0024] Optimum: The intelligent driving clamp has the functions of extending and retracting the workpiece in the length direction, clamping, loosening and rotating the workpiece in the width direction. The AGV needs to complete the consignment function of the workpiece. The electrical logic of the intelligent driving clamp includes the following:

[0025] 1) The normal power supply circuit and inverter are the prerequisites for the clamp to work;

[0026] 2) Extension and retraction of the workpiece in the length direction: the intelligent driving trolley is not allowed to be executed if it is not in the highest position in the Z direction; the clamp is allowed to be executed with a light load, but not with a heavy load;

[0027] 3) Clamping and loosening in the width direction of the workpiece: the intelligent driving trolley is not allowed to be executed if it is not in the highest position in the Z direction; the clamp is allowed to be executed with a light load, but not with a heavy load;

[0028] 4) Clamp rotation: The intelligent driving trolley position coordinates are allowed to be executed in the middle of the running channel, otherwise it is not allowed to be executed.

[0029] Preferably: in step 5, the operation logic between the devices is sorted out, including the operation logic between the AGV and the smart driving, and the operation logic between the smart driving and the devices; the safety interlock between the devices includes the ground welding workstation and the smart driving, and the AGV and the smart driving.

[0030] Preferably, the step 6 is specifically as follows:

[0031] The equipment coordinate map is generated according to the intelligent driving coordinate zero position, and each equipment and position has a position number and position coordinates.

[0032] Preferably, the coordinate system constructed in step 9 is specifically:

[0033] Move the smart crane to the extreme positions of the small and large vehicles, and drop its grippers to the ground, with the point where the center of its grippers hits the ground as the origin. The running direction of the small vehicle of the smart crane is the X-axis, the running direction of the large vehicle is the Y-axis, and the vertical upward direction is the Z-axis.

[0034] Preferably: taking the production of hydraulic support structural parts as an example, the equipment involved includes logistics equipment and production equipment, wherein the logistics equipment mainly includes intelligent driving and AGV.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention first locates the track of the intelligent driving and the equipment in the digital factory more accurately, then sorts out the operation logic of the intelligent driving and the operation logic of the AGV, and finally sorts out the interaction logic between the driving and the equipment to achieve rapid debugging of intelligent logistics equipment. This virtual debugging method effectively solves the problem of low efficiency of intelligent logistics equipment due to complex debugging logic and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 labor.

[0038] Figure 1 It is a two-dimensional scene of a digital factory built by a virtual debugging method of intelligent logistics equipment described in the present invention.

[0039] Figure 2 It is a logistics transfer channel diagram of a virtual debugging method for intelligent logistics equipment described in the present invention.

[0040] Figure 3 These are three action diagrams that the clamps of the intelligent logistics equipment virtual debugging method described in the present invention need to complete.

[0041] Figure 4 It is a cross-coordinate diagram of an intelligent logistics device 1-1 of a virtual debugging method for intelligent logistics equipment described in the present invention.

[0042] Figure 5It is a cross-coordinate diagram of intelligent logistics equipment 1-2 of an intelligent logistics equipment virtual debugging method described in the present invention.

[0043] Figure 6 It is a cross-coordinate diagram of intelligent logistics equipment 1-3 of an intelligent logistics equipment virtual debugging method described in the present invention.

[0044] Figure 7 It is a partial equipment location diagram of a virtual debugging method for intelligent logistics equipment described in the present invention.

[0045] Figure 8 It is a device part debugging program of a virtual debugging method for intelligent logistics equipment described in the present invention. DETAILED DESCRIPTION

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0048] The present invention will be further described below in conjunction with the accompanying drawings:

[0049] A virtual debugging method for intelligent logistics equipment, taking the production of top beams, cover beams, and bases as an example, includes the following steps:

[0050] Step 1: Build and debug a two-dimensional scene based on the digital factory and required equipment, including the repair welding workshop, overall processing workshop, and small parts assembly welding and grinding workshop, such as Figure 1As shown in the figure, the equipment positioning is based on the limit position of the large and small vehicles designed by the intelligent driving as the origin for ground equipment positioning. Figure 1 as shown in the lower left corner.

[0051] Step 2: Sort out the production process in the digital factory, as follows:

[0052] a. The production process of top beam structural parts is as follows: the first one, if the top beam structural parts have completed the repair welding operation in the top beam automatic welding area, they only need to cut the support after entering the repair welding workshop, and then directly transfer to the overall processing workshop for boring, drilling and cleaning of iron chips, and finally transfer to the small parts assembly welding and grinding workshop for small parts welding, grinding and powder spraying; the second one, if the repair welding operation is not completed in the top beam automatic welding area, it is necessary to first perform preheating, 90° flip repair welding and support cutting after repair welding in the repair welding workshop, and then enter the overall processing workshop and small parts assembly welding after completion. The production process of the top beam automatic welding area is the same as that of the first type; the third type is that the top beam from the top beam automatic welding area needs to be turned over by a 180° positioner for back welding. First, it is transferred to the repair welding workshop, and then it is welded on the back in the repair welding workshop. After that, it is transferred to the top beam automatic welding area again for subsequent welding operations, and the repair welding operations are completed. Then, it is transferred to the repair welding workshop, and the subsequent production process is the same as that of the first type; the fourth type, if it is transferred to the top beam automatic welding area after the back welding is completed, only the welding process is completed in this area, and the repair welding is not completed. The subsequent production process is the same as that of the second type;

[0053] b. The production process of shield beam structural parts is as follows: the first type, if the shield beam structural parts complete the repair welding operation in the shield beam automatic welding area, after entering the repair welding workshop, only the back welding and support cutting operations need to be carried out, and after completion, they are directly transferred to the overall processing workshop for boring, drilling and iron filings cleaning operations, and finally transferred to the small parts assembly welding and grinding workshop for small parts welding, grinding and powder spraying operations; the second type, if the repair welding operation is not completed in the shield beam automatic welding area, it is necessary to first perform preheating, 90° flip repair welding, back welding and support cutting operations after repair welding in the repair welding workshop, and after completion, the production process of entering the overall processing workshop and small parts assembly welding and grinding workshop is the same as the first type;

[0054] c. The production process of base structure parts is as follows: the first type, if the base structure parts have completed the repair welding operation in the base automatic welding area, they only need to cut the support after entering the repair welding workshop, and then directly transfer to the overall processing workshop for boring and iron filings cleaning, and finally transfer to the small parts assembly welding and grinding workshop for small parts welding, grinding and powder spraying; the second type, if the repair welding operation is not completed in the base automatic welding area, it is necessary to first perform preheating, 90° flip repair welding and support cutting after repair welding in the repair welding workshop, and then enter the overall processing workshop and small parts assembly welding and grinding workshop after completion. The production process is the same as the first type;

[0055] Step 3: Sort out the logistics transfer logic, as follows:

[0056] a. The logistics transfer logic between workshops is: Figure 2 As shown, the base, top beam and shield beam structural parts are transferred from their respective automatic welding areas to the repair welding workshop and transported through the east-west logistics channel in the middle of the digital factory building. This part is completed by AGV consignment; when the workpiece is transferred from the repair welding workshop to the overall processing workshop, the base and top beam are only transported through the east-west logistics channel in the middle of the digital factory building, and the shield beam is only transported through the east-west logistics channel in the south of the digital factory building. This part is also completed by AGV consignment; when the workpiece is transferred from the overall processing workshop to the small parts assembly welding and grinding workshop, the base is only transported through the east-west logistics channel in the middle of the digital factory building, and the shield beam is only transported through the east-west logistics channel in the south of the digital factory building. The top beam structural parts need to select the closest discharge interaction position (middle and south channels) according to the location after the boring and drilling processes. This part is also completed by AGV consignment;

[0057] b. The logistics transfer logic within the workshop is: the workpiece is transferred from the AGV bracket area to the buffer area by the intelligent driving, and then transferred to the corresponding welding, overall processing, small parts assembly or grinding work area. After completing the corresponding process, it is transferred to the completion buffer area by the intelligent driving, and finally transferred to the AGV pallet position by the intelligent driving according to whether to proceed to the next process;

[0058] Step 4: Logical function logic and safety interlocking of logistics equipment, as follows:

[0059] a. The logic of the crane function is: according to the workpiece process analysis, the intelligent crane clamp needs to have the functions of extending and retracting in the length direction of the workpiece, clamping, loosening, and rotating in the width direction of the workpiece. The first part is the transfer and rotation function of the crane. Its specific logic needs to be determined according to the production process of different batches of workpieces, refer to step 2; the second part is the grasping function of the crane. The grasping center point of the crane needs to specify the grasping rules based on the generated device coordinates, whether it is straight pick-up and placement, or offset pick-up and placement;

[0060] b. AGV function logic: There are three 5-ton AGVs, numbered 25T-1, 25T-2 and 25T-3. Figure 2As shown, in the first part, the first task of the 25T-1 backpack AGV is to first transfer the full-loaded pallet rack at the repair welding and discharging interaction position in the automatic welding area to the AGV feeding interaction position in the repair welding workshop, and then reflow the empty pallet here to the repair welding and discharging interaction position in the automatic welding area. If there is no empty pallet available for reflow at that time, it is necessary to add the AGV empty pallet reflow task and continue to execute after meeting the task execution conditions; Task 2 is to transfer the full pallet at the top beam discharging interaction position in the repair welding workshop to the feeding interaction position in the top beam automatic welding area; Task 3 is to reflow the empty pallet at the feeding interaction position in the top beam automatic welding area to the top beam discharging interaction position in the repair welding workshop. The AGV does not need to rotate when transferring a fully loaded pallet. When transferring the controlled pallet backflow, it needs to rotate 180° and run in the opposite direction. In the second part, the first task of the 25T-2 and 25T-3 backpack AGVs is to first transfer the fully loaded pallet racks at the discharge interaction position of the repair welding workshop to the AGV feed interaction position of the overall processing workshop, and then return the empty brackets here to the discharge interaction position of the repair welding workshop. If there are no empty brackets available for return at that time, it is necessary to add the AGV empty bracket return task and continue to execute after the task execution conditions are met. Task 2 is to transfer the full pallet of the discharge interaction position of the overall processing workshop to the small parts assembly line. The 25T-2AGV is installed in the welding and grinding workshop and then drags the empty tray back along the original route. The 25T-3AGV is the same as the 25T-1AGV in terms of whether it needs to rotate during transportation. However, when transporting vertical pallets, it rotates 270° from the east-west south channel of the repair welding workshop to the vertical pallet position. It does not need to rotate when carrying a full pallet. When reflowing, it needs to rotate 180° with an empty pallet and transport it to the east-west south rotation position of the repair welding workshop. It rotates 270° and then retreats to the empty tray dragging position. It does not need to rotate at the north-south middle channel rotation position.

[0061] c. Safety interlocking of logistics equipment: The intelligent crane clamp needs to complete the following three actions, such as Figure 3 As shown, there are extension and retraction in the length direction of the workpiece, clamping and loosening in the width direction of the workpiece, and rotation of the clamp; the execution conditions and interlocking logic of these three actions are as follows: the first part, the normal power supply circuit and the normal frequency converter are the prerequisites for the clamp to work; the second part, extension and retraction in the length direction of the workpiece: 1. The intelligent driving trolley is not allowed to execute if it is not in the highest position in the Z direction; 2. The clamp is allowed to execute with a light load, 3. The clamp is not allowed to execute with a heavy load; the third part, clamping and loosening in the width direction of the workpiece: 1. The intelligent driving trolley is not allowed to execute if it is not in the highest position in the Z direction; 2. The clamp is allowed to execute with a light load, 3. The clamp is not allowed to execute with a heavy load; the fourth part, the rotation of the clamp: the intelligent driving trolley position coordinate is allowed to execute in the middle position of the running channel, otherwise it is not allowed to execute;

[0062] Step 5: Organize the operation logic and safety interlock between devices, as follows:

[0063] a. The operation logic between devices is as follows: AGV transfers the workpiece from the workshop discharge interaction position to the workshop feed interaction position, and then the automatic driving transfers the workpiece to the buffer area. When the device issues a loading request, the device and the driving exchange signals to detect whether the intelligent driving loading and unloading requirements are met. If they are met, the intelligent driving executes the task to load and unload. During loading and unloading, the intelligent driving locks the device, and the workbench being processed cannot be moved. After the workpiece is processed, the intelligent driving transfers the workpiece to the buffer area, and then the intelligent driving transfers the workpiece from the buffer area to the workshop discharge interaction position;

[0064] b. The safety interlock between equipment is as follows: The first part, the ground welding workstation and the intelligent driving: the ground welding workstation includes a welding positioner and a dust removal system. When the welding process is completed, the positioner flips to a flat position, and the platform drops to the loading and unloading position to send a loading and unloading request to the system. The intelligent driving performs the loading and unloading tasks. The intelligent driving runs to the transportation channel in front of the workstation, waiting for the dust removal room to be opened, and the intelligent driving enters the station to perform the loading and unloading tasks; The second part: AGV and intelligent driving: The position of the hollow pallet has been confirmed in the factory logistics planning simulation. The position of the hollow pallet does not allow the AGV and the intelligent driving to arrive at the same time to perform operations. The logistics system monitors the coordinate positions of the AGV and the intelligent driving at all times. When one of the AGV or the intelligent driving arrives at the hollow pallet area, other equipment is not allowed to enter this area;

[0065] Step 6: Generate the equipment coordinate diagram based on the intelligent driving coordinate zero position. Each device and position has a position number and position coordinates. The coordinate diagrams of some equipment are as follows: Figure 4-6 As shown;

[0066] Step 7: Based on the virtual debugging 2D scene and the process and steps 2-5 Figure 7 The device location diagram shown in the figure is used to edit the device debugging program and pass the relevant software test. Some program codes are as follows Figure 8 As shown;

[0067] Step 8: The intelligent vehicle track is leveled. Since the intelligent vehicle runs at a high speed and high precision, it has strict requirements on the flatness of the track. Therefore, after the track is laid, the track laying accuracy needs to be adjusted using equipment such as a level.

[0068] Step 9: Install the ground equipment based on the operation of the smart crane. First, run the smart crane to the limit position of the small and large vehicles. Then, drop the smart crane gripper to the ground. Take the point where the center of the smart crane gripper hits the ground as the origin. The running direction of the small vehicle of the smart crane is the X-axis, the running direction of the large vehicle is the Y-axis, and the vertical upward direction is the Z-axis to build the coordinate system. Finally, install and arrange the on-site equipment according to the built digital factory two-dimensional scene and coordinate system.

[0069] Step 10: Use the program generated in step 7 to perform on-site debugging. First, download the virtual debugging program to the device, then start the debugging program for on-site operation test. Determine whether to fine-tune the debugging program based on the on-site operation situation. The final debugging result must meet the on-site production requirements.

[0070] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A virtual debugging method for intelligent logistics equipment, characterized in that: The following steps are involved: Step 1: Build and debug the initial version of the 2D scene; Step 2: Sort out the production process; Step 3: Sort out the logistics transfer logic; Step 4: Logical sorting of logistics equipment functions and safety interlocking; Step 5: Sorting out the operation logic and safety interlocking between equipment; Step 6: Generate a device coordinate diagram based on the intelligent driving coordinate zero position; Step 7: Edit the device debugging program according to the virtual debugging 2D scene and the process and logic sorted out in steps 2-5, and pass the relevant software test; Step 8: Intelligent driving track leveling; Step 9: Install ground equipment based on intelligent driving operation; Step 10: Use the program generated in step 7 to perform on-site debugging.

2. According to claim 1, a virtual debugging method for intelligent logistics equipment is characterized in that: The step 1 is specifically as follows: taking the production of hydraulic support structural parts as an example, a two-dimensional debugging scene is built according to the digital factory and the required equipment. The two-dimensional debugging scene includes a repair welding workshop, an overall processing workshop, and a small parts assembly welding and grinding workshop. The equipment positioning uses the limit positions of the large and small vehicles designed by the intelligent driving as the origin for ground equipment positioning.

3. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: The step 2 is specifically: sorting out the production process of the top beam, the cover beam and the base structure, which needs to enter the corresponding automatic welding workshop, the repair welding workshop, the overall processing workshop and the small parts assembly welding and grinding workshop to carry out the corresponding production and processing procedures.

4. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: The step 3 is specifically as follows: sorting out the logistics transfer logic between workshops and within workshops. The logistics transfer between workshops is completed through AGV consignment, and the logistics transfer within the workshop is completed through intelligent driving.

5. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: The step 4 specifically includes: sorting out the equipment operation logic of the intelligent driving and AGV and the electrical logic of the intelligent driving clamp.

6. A virtual debugging method for intelligent logistics equipment according to claim 5, characterized in that: The intelligent driving clamp has the functions of extending and retracting the workpiece in the length direction, clamping, loosening and rotating the workpiece in the width direction. The AGV needs to complete the consignment function of the workpiece. The electrical logic of the intelligent driving clamp includes the following: 1) The normal power supply circuit and inverter are the prerequisites for the clamp to work; 2) Extension and retraction of the workpiece in the length direction: the intelligent driving trolley is not allowed to be executed if it is not in the highest position in the Z direction; the clamp is allowed to be executed with a light load, but not with a heavy load; 3) Clamping and loosening in the width direction of the workpiece: the intelligent driving trolley is not allowed to be executed if it is not in the highest position in the Z direction; the clamp is allowed to be executed with a light load, but not with a heavy load; 4) Clamp rotation: The intelligent driving trolley position coordinates are allowed to be executed in the middle of the running channel, otherwise it is not allowed to be executed.

7. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: In the step 5, the operation logic between the equipment is sorted out, including the operation logic between the AGV and the smart driving, and the operation logic between the smart driving and the equipment; the safety interlock between the equipment includes the ground welding workstation and the smart driving, and the AGV and the smart driving.

8. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: The step 6 is specifically as follows: generating a device coordinate map according to the zero position of the intelligent driving coordinate, wherein each device and position has a position number and position coordinates.

9. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: The coordinate system constructed in step 9 is specifically: Move the smart crane to the extreme positions of the small and large vehicles, and drop its grippers to the ground, with the point where the center of its grippers hits the ground as the origin. The running direction of the small vehicle of the smart crane is the X-axis, the running direction of the large vehicle is the Y-axis, and the vertical upward direction is the Z-axis.

10. The method for virtual debugging of intelligent logistics equipment according to claim 1, characterized in that: Taking the production of hydraulic support structural parts as an example, the equipment involved includes logistics equipment and production equipment, among which the logistics equipment mainly includes intelligent cranes and AGVs.

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