Chemical fiber spindle dismounting and mounting method and device based on EMS sky rail vehicle and storage medium

Abstract

The invention relates to a chemical fiber spindle disassembly and assembly method and device based on an EMS sky rail vehicle and a storage medium, and is applied to the technical field of chemical fiber production and transshipment. The chemical fiber spindle disassembly and assembly method comprises the steps that a to-be-loaded yarn frame is hung through the EMS sky rail vehicle to be driven into a transition rail, then the transition rail is lowered through a rotary elevator, and the to-be-loaded yarn frame is made to stay in a to-be-loaded yarn frame area where a disassembly robot works; splitting the wire ingot through a splitting robot, and loading the split wire ingot onto the to-be-loaded wire frame; after loading is completed, the transition rail is lifted through the rotary elevator to be in horizontal butt joint with the fixed rail, and therefore the EMS sky rail vehicle can carry the yarn frame to run away from the rotary elevator from the transition rail through the fixed rail and enter the subsequent sky rail transfer stage; according to the scheme, the number of equipment is greatly reduced, space is saved, the wire carrying tool gets rid of a ground rail type transportation mode through aerial transportation of the wire frame, cross operation of people and automatic equipment is avoided, and potential safety hazards on site are greatly eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fiber production and transportation, and in particular to a method, a device and a storage medium for disassembling and assembling chemical fiber spindles based on an EMS overhead rail vehicle. Background Art

[0002] The chemical fiber industry is the core support for the stable development and continuous innovation of the textile industry chain, an important part of the new materials industry, and plays a pivotal strategic role in the development of the national economy. The conditions in the chemical fiber production and packaging workshops are poor and the workers work hard. Therefore, the development of automated transfer equipment has become a trend.

[0003] The existing technology either relies on manual separation of the silk ingots onto the silk cart and transfers them to the external inspection workshop; or relies on ground coiling conveying equipment or hanging coiling equipment to temporarily store the silk ingots in a silk box and transfer them to the separation area through AGV or other transfer equipment; or relies on hanging coiling equipment to separate the silk ingots onto the silk cart and transfer them to the inspection area by a chain machine or shuttle system;

[0004] In the above-mentioned existing technologies, the manual method greatly increases the labor burden of workers and is inefficient. The ground-based coil-dropping conveying equipment or the hanging coil-dropping equipment requires a subsequent automatic splitting area, which increases the complexity of the splitting process. The method of relying on hanging coil-dropping equipment to split the silk ingots onto the silk car and transporting them to the inspection area by a chain machine and a shuttle system greatly occupies the factory workshop, which is not conducive to the normal passage of the workshop and increases the potential risk of passage. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a method, device and storage medium for disassembling and assembling chemical fiber ingots based on an EMS overhead rail vehicle, so as to solve the problems in the prior art that relying on manual methods greatly increases the labor burden of workers and is inefficient, and relying on ground-based coil-dropping conveying equipment or hanging coil-dropping equipment requires subsequent automatic splitting areas, which increases the cumbersomeness of the splitting process; and relying on hanging coil-dropping equipment to split the ingots onto the silk vehicle, and transporting them to the inspection area by a chain machine and a shuttle system greatly occupies the factory workshop, is not conducive to the normal passage of the workshop, and increases the potential risk of passage.

[0006] According to a first aspect of an embodiment of the present invention, a method for disassembling and assembling a chemical fiber spindle based on an EMS overhead rail vehicle is provided, the method comprising:

[0007] A mid-position instruction is sent to the rotary hoist through the upper computer, and the rotary hoist is lifted to the mid-position height so that the transition track on the rotary hoist is horizontally docked with the fixed track;

[0008] Sending an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire carrier to enter the transition track area of ​​the rotary hoist;

[0009] The upper computer sends a lower-level instruction to the rotary elevator, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot;

[0010] After the rotary hoist descends to the low height, the verification information is sent to the host computer; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, the splitting instruction is sent to the splitting robot;

[0011] The splitting robot moves from the waiting wire rack area to the temporary storage location of the wire ingots according to the splitting instruction to obtain the wire ingots and returns to the waiting wire rack area. The number of wire ingots obtained by the splitting robot corresponds to the number of wire ingots to be loaded on the waiting wire rack.

[0012] The splitting robot splits the silk ingots one by one in the area of ​​the waiting wire loading rack, and loads the split silk ingots onto the waiting wire loading rack;

[0013] After the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary hoist according to the loading completion message;

[0014] The rotary elevator rises from the low height to the middle height according to the middle command, so that the transition track is horizontally aligned with the fixed track again;

[0015] After the rotary elevator moves into position according to the mid-position instruction, it sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0016] Preferably, it also includes:

[0017] The rotary hoist is provided with a positioning pin;

[0018] When the rotary hoist is lifted to a middle height, the positioning pin is in an open state;

[0019] When the EMS overhead rail vehicle suspends the wire carrier and enters the transition track area of ​​the rotary elevator, the upper computer first sends a high-level instruction to the rotary elevator, and the rotary elevator rises to a high-level height according to the high-level instruction, and closes the positioning pin at the high-level height;

[0020] When the positioning pin is closed, the rotary elevator sends a closing completion instruction to the upper computer, and the upper computer sends a lower instruction to the rotary elevator according to the closing completion instruction. The rotary elevator descends from a high position to a low position, so that the wire rack to be loaded on the transition track docks with the splitting robot to complete the subsequent splitting and loading process.

[0021] Preferably,

[0022] When the wire rack to be loaded is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a high-level instruction to the rotary elevator according to the loading completion message;

[0023] The rotary hoist rises from a low height to a high height according to a high-level instruction, and opens the positioning pin at the high height;

[0024] When the positioning pin is opened, the rotary hoist sends an opening completion instruction to the host computer, and the host computer sends a neutral position instruction to the rotary hoist according to the opening completion instruction;

[0025] After the rotary elevator moves into position according to the mid-position instruction, it sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0026] Preferably, it also includes:

[0027] An electromagnet cylinder structure is also provided on the bearing platform of the rotary hoist;

[0028] When the host computer sends an entry command to the EMS overhead rail vehicle, so that the EMS overhead rail vehicle suspends the wire carrier to enter the transition track area of ​​the rotary elevator, the rotary elevator controls the electromagnet cylinder structure to lift into place and attract; the host computer first sends a high-position command to the rotary elevator, and the rotary elevator rises to a high-position height according to the high-position command, and closes the positioning pin at the high-position height;

[0029] When the rotary hoist moves into position according to the mid-position instruction, the rotary hoist controls the electromagnet cylinder structure to descend and disconnect the attraction, and then the rotary hoist sends a confirmation message to the host computer, and the host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message, and the EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer, and the rotary hoist waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0030] Preferably,

[0031] The wire-carrying rack includes two surfaces AB;

[0032] The splitting robot splits the silk ingots one by one in the area of ​​the wire rack to be loaded, and first loads the split silk ingots onto the A side of the wire rack to be loaded, and then loads the B side of the wire rack to be loaded after the loading of the A side is completed.

[0033] Preferably,

[0034] The method of first loading the split ingots onto the A side of the rack to be loaded with wires, and then loading the B side of the rack to be loaded with wires after the loading of the A side is completed comprises:

[0035] When the splitting robot has finished loading all the surface A of the rack to be loaded with wires, the splitting robot sends a surface A loading completion signal to the host computer, and the host computer sends a departure signal to the splitting robot according to the surface A loading completion signal, and the splitting robot drives away from the area of ​​the rack to be loaded with wires according to the departure signal, and sends the surface A loading completion signal to the rotary elevator;

[0036] The rotary elevator controls the electromagnetic cylinder structure to descend and disconnect the attraction according to the loading completion signal of the A side, and then controls the wire carrier to be rotated 180° to stop at the B side;

[0037] When the B side of the wire rack to be loaded is rotated into place, the rotary hoist controls the electromagnet cylinder structure to be lifted into place and attracted, and at the same time sends a B side splitting instruction to the splitting robot. After receiving the B side splitting instruction, the splitting robot returns to the area of ​​the wire rack to be loaded and loads the B side;

[0038] When the splitting robot has finished loading all the B side of the rack to be loaded with wires, the splitting robot sends a B side loading completion signal to the host computer, and the host computer sends a departure signal to the splitting robot according to the B side loading completion signal. The splitting robot drives away from the area of ​​the rack to be loaded with wires again according to the departure signal, and sends the B side loading completion signal to the rotary elevator;

[0039] The rotary elevator controls the electromagnetic cylinder structure to descend and disconnect the attraction according to the loading completion signal of the B surface, and then controls the wire carrier to rotate 180° to the A surface again;

[0040] When the A surface of the wire carrier is rotated into position, the rotary hoist controls the electromagnet cylinder structure to lift into position and close;

[0041] When the wire rack to be loaded is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a high-level instruction to the rotary elevator according to the loading completion message;

[0042] The rotary hoist rises from a low height to a high height according to a high-level instruction, and opens the positioning pin at the high height;

[0043] When the positioning pin is opened, the rotary hoist sends an opening completion instruction to the host computer, and the host computer sends a neutral position instruction to the rotary hoist according to the opening completion instruction;

[0044] After the rotary elevator moves into position according to the mid-position instruction, the rotary elevator controls the electromagnet cylinder structure to descend and disconnect the attraction, and then sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0045] Preferably, it also includes:

[0046] The splitting robots include two, which are respectively arranged in the areas of the wire rack to be loaded on the AB surface of the wire rack to be loaded;

[0047] Two splitting robots simultaneously split the silk ingots one by one in the area of ​​the waiting wire loading rack on the AB surface, and simultaneously load the split silk ingots onto the AB surface of the waiting wire loading rack;

[0048] When the AB surfaces of the wire rack to be loaded are loaded at the same time, the splitting robot sends loading completion information to the upper computer, and the upper computer sends a high-level instruction to the rotary hoist according to the loading completion information.

[0049] According to a second aspect of an embodiment of the present invention, a chemical fiber spindle disassembly and assembly device based on an EMS overhead rail vehicle is provided, the device comprising:

[0050] Track docking module: used to send a mid-position instruction to the rotary hoist through the upper computer, and the rotary hoist is lifted to the mid-position height so that the transition track on the rotary hoist is horizontally docked with the fixed track;

[0051] Wire rack entry module: used to send an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire rack to be loaded and enters the transition track area of ​​the rotary elevator;

[0052] Splitting and docking module: used for sending lower-level instructions to the rotary elevator through the upper computer, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot;

[0053] Verification module: used for sending verification information to the host computer after the rotary hoist descends to the low height; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, it sends a splitting instruction to the splitting robot;

[0054] Ingot acquisition module: used for the splitting robot to move from the waiting wire rack area to the ingot temporary storage location to acquire ingots according to the splitting instruction and return to the waiting wire rack area. The number of ingots acquired by the splitting robot corresponds to the number of ingots to be loaded on the waiting wire rack;

[0055] Splitting and loading module: used for the splitting robot to split the silk ingots one by one in the area of ​​the waiting wire loading rack, and load the split silk ingots onto the waiting wire loading rack;

[0056] Loading completion module: after the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary elevator according to the loading completion message;

[0057] Home module: used for the rotary elevator to rise from the low height to the middle height according to the middle command, so that the transition track is horizontally aligned with the fixed track again;

[0058] Wire rack departure module: used for the rotary hoist to move into position according to the mid-position instruction and send confirmation information to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation information. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary hoist waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0059] According to a third aspect of an embodiment of the present invention, there is provided a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a main controller, each step in the above method is implemented.

[0060] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0061] The present application suspends the wire rack to be loaded onto the transition track by the EMS overhead rail car, and then uses the rotary hoist to descend the transition track, so that the EMS overhead rail car on the transition track and the wire rack to be loaded suspended by the EMS overhead rail car descend, and finally the wire rack to be loaded stays in the wire rack area where the splitting robot works, and the splitting robot splits the wire ingots and loads the split wire ingots onto the wire rack to be loaded; after the loading is completed, the rotary hoist is used to lift the transition track and horizontally dock it with the fixed track, so that the EMS overhead rail car can carry the wire rack from the transition track via the fixed track to the rotary hoist and enter the subsequent overhead rail transfer stage; the solution adopted in the present application has a simple structure, greatly reduces the number of equipment, gets rid of the dependence on traditional one-arm robots, and saves space. The aerial operation of the overhead rail car provides the factory with more passage and storage space, and the aerial transportation of the wire rack also allows the wire carrying tool to get rid of the usual ground track transportation method of the wire car and the wire box, making the transportation process smoother, and avoiding the cross-operation of people and automated equipment, greatly eliminating the potential safety hazards on site.

[0062] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0064] Figure 1 It is a schematic flow chart of a method for disassembling and assembling a chemical fiber spindle based on an EMS overhead rail vehicle according to an exemplary embodiment;

[0065] Figure 2 is a schematic diagram of the structure of a rotary hoist according to another exemplary embodiment;

[0066] Figure 3 is a system schematic diagram of a chemical fiber spindle disassembly and assembly device based on an EMS overhead rail vehicle according to another exemplary embodiment;

[0067] In the accompanying drawings: 1-positioning pin, 2-wire rack, 3-electromagnet cylinder structure, 4-transition track, 5-fixed track, 6-EMS overhead rail car, 101-track docking module, 201-wire rack entry module, 301-split docking module, 401-verification module, 501-wire ingot acquisition module, 601-split loading module, 701-loading completion module, 801-home module, 901-wire rack leaving module. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0069] Embodiment 1

[0070] Figure 1 is a flow chart of a method for disassembling and assembling a chemical fiber spindle based on an EMS overhead rail vehicle according to an exemplary embodiment, such as Figure 1 As shown, the method includes:

[0071] S1, sending a mid-position instruction to the rotary elevator through the upper computer, and the rotary elevator is lifted to the mid-position height so that the transition track on the rotary elevator is horizontally connected with the fixed track;

[0072] S2, sending an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire carrier to enter the transition track area of ​​the rotary elevator;

[0073] S3, sending a lower-level instruction to the rotary elevator through the upper computer, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot;

[0074] S4, after the rotary hoist descends to the low height, it sends verification information to the host computer; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, it sends a splitting instruction to the splitting robot;

[0075] S5, the splitting robot moves from the waiting wire rack area to the temporary storage location of the wire ingots according to the splitting instruction to obtain the wire ingots and returns to the waiting wire rack area, and the number of wire ingots obtained by the splitting robot corresponds to the number of wire ingots to be loaded on the waiting wire rack;

[0076] S6, the splitting robot splits the silk ingots one by one in the area of ​​the waiting wire loading rack, and loads the split silk ingots onto the waiting wire loading rack;

[0077] S7, after the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary elevator according to the loading completion message;

[0078] S8, the rotary elevator rises from the low height to the middle height according to the middle command, so that the transition track is horizontally aligned with the fixed track again;

[0079] S9, after the rotary elevator moves into position according to the mid-position instruction, it sends a confirmation message to the host computer, and the host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message, and the EMS overhead rail car hangs a fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer, and the rotary elevator waits for the next EMS overhead rail car to hang a wire rack to be loaded and drive into the transition track;

[0080] It is understandable that in order to better understand the above process of this scheme, the following principle description is first performed, as shown in the attached Figure 2 As shown, the EMS overhead rail vehicle 6 can move freely on the overhead rail, and the wire rack 2 is suspended below the EMS overhead rail vehicle 6, that is, the EMS overhead rail vehicle 6 can carry a blank wire rack 2 or a wire rack 2 fully loaded with split ingots and move freely on the overhead rail, and a section of the overhead rail is provided on the rotary elevator, that is, the transition track 4, and the rotary elevator can control the transition track 4 to do lifting and lowering movement. At the same time, there is a broken blank track at the overall overhead rail, and the blank track is adapted to the transition track 4, that is, only the transition track 4 is lifted to the same horizontal plane as the fixed track 5. At this time, the EMS overhead rail vehicle 6 can enter the transition track 4 through the fixed track 5 and stop, and the transition track 4 is lowered by the rotary elevator. The EMS overhead rail vehicle 6 on the transition track 4 and the suspended blank wire rack are lowered together, thereby leaving the fixed track 5, allowing the wire rack 2 to come to the working area of ​​the splitting robot. When the splitting robot completes the splitting, it will rise again. The transition track 4 is horizontally docked with the fixed track 5. At this time, the EMS overhead rail vehicle 6 can carry the fully loaded wire rack 2 through the fixed track 5 to enter the subsequent overhead rail The transfer is carried out on the rotary elevator, wherein a positioning pin 1 is provided on the rotary elevator. When the positioning pin 1 is in the open state, it can share the force of the rotary elevator when the EMS overhead rail car 6 passes, but the transition track 4 cannot rise or fall. When the positioning pin 1 is in the closed state, the transition track 4 can rise or fall normally, and the state of the positioning pin 1 can only be changed when the transition track 4 is higher than the horizontal plane of the fixed track 5; at the same time, an electromagnet cylinder structure 3 is also provided on the rotary elevator. When the electromagnet cylinder structure 3 on the carrying platform of the rotary elevator is in the state of being lifted into place and attracted, it can To fix the wire rack 2, ensure that the wire rack 2 does not shake during the lifting process; but when the electromagnet cylinder structure 3 is in the state of being lifted into place and attracted, the wire rack 2 cannot move left and right or rotate. Therefore, when the wire rack 2 needs to follow the EMS sky rail car 6 to leave the transition track 4, it is necessary to control the electromagnet cylinder structure 3 to be in the state of descending and disconnecting the attraction first. Similarly, if the wire rack 2 needs to rotate, it is also necessary to make the electromagnet cylinder structure 3 in the state of descending and disconnecting the attraction first. When rising or falling, the electromagnet cylinder structure 3 needs to be in the state of being lifted into place and attracted.

[0081] After understanding the above working principle, the specific process of this solution is as follows:

[0082] The transition track of the rotary elevator is in a position horizontally aligned with the fixed track of the ceiling rail, referred to as the "mid-position". When the rotary elevator is in this position, the entire ceiling rail and the ceiling rail section of the rotary elevator, that is, the transition track, remain horizontal, which can ensure the smooth passage of the EMS ceiling rail car without derailment. At the same time, the positioning pin is in an open state in this state, which can share the force of the rotary elevator when the EMS ceiling rail car passes, ensuring the normal operation of the rotary elevator;

[0083] After the entire overhead track remains unobstructed, the EMS overhead track vehicle receives the command and enters the waiting area for lifting and stopping (that is, the transition track) in the rotary elevator area, and prepares for subsequent lifting after stopping;

[0084] The electromagnetic cylinder structure on the rotary hoist carrying platform is lifted into place and attracted, thereby fixing the wire rack to be loaded, ensuring that the wire rack will not shake during the subsequent lifting process;

[0085] Under the premise of ensuring the safe and accurate stopping of the EMS overhead rail, the rotary hoist rises to a specific distance above the overhead rail, called the "high position". At this height, the positioning pin can be smoothly closed, thus creating conditions for the rotary hoist to descend;

[0086] At this time, the rotary elevator is lowered to the height where it can dock with the splitting robot, which is called the "low position";

[0087] After the rotary elevator descends to the low position, it verifies the information with the upper computer. Only after the wire rack is verified to be empty, the splitting robot is allowed to split and load.

[0088] The wire rack is divided into two sides, namely side A and side B. In this embodiment, side A is split and loaded first, and then side B is loaded. The loading order of sides A and B can be adjusted according to needs. After the host computer verifies, the rotary hoist provides the splitting robot with a signal to allow the splitting of side A.

[0089] The splitting robot determines the number and information of the silk ingots on the temporary storage mechanism by itself. The batch numbers of the silk ingots to be loaded on the wire rack must be the same and meet a certain quantity. When this requirement is met, combined with the release permission on the A side of the rotary elevator, the splitting operation is automatically generated;

[0090] After generating the splitting operation, the splitting robot first runs to the temporary storage mechanism to obtain the silk ingots. At the same time, the information of the silk ingots is also transmitted to the splitting robot for storage. It should be clear that according to the number of silk ingots loaded on the silk rack, the splitting robot may repeat the action of obtaining the silk ingots for multiple times until the corresponding number of silk ingots are obtained.

[0091] After the splitting robot takes out the silk ingot from the temporary storage mechanism, it runs to the waiting wire rack area of ​​the rotary elevator and splits the silk ingots one by one. During the splitting process, the detailed information of the silk ingot will be transmitted by the splitting robot to the rotary elevator mechanism to prepare for the subsequent verification of the silk rack information.

[0092] After the splitting robot has finished loading the A side of the wire carrier, it moves away from the lifting range of the rotary elevator and transmits the signal that the splitting of the A side has been completed to the rotary elevator;

[0093] After the rotary elevator receives the splitting completion signal of the splitting robot on the A side, the lifting electromagnet descends and disconnects the attraction, and rotates 180° to stop on the B side;

[0094] After the wire rack stops on the B side, the electromagnet of the rotary hoist is lifted and attracted, and the B side splitting permission signal is sent to the splitting robot;

[0095] The splitting robot runs to the waiting wire rack area of ​​the rotary elevator to split the ingots one by one, and transmits the ingot information to the rotary elevator for storage. When the splitting robot has completed loading the B side of the waiting wire rack;

[0096] The splitting robot moves away from the rotary elevator area and transmits the B-side splitting completion signal to the rotary elevator;

[0097] After the rotary hoist receives the splitting robot's B-side splitting, it retracts the lifting electromagnet and lowers it, disconnects the attraction. At the same time, when the electromagnet is retracted and rotates back to the A-side, the lifting electromagnet of the rotary hoist lifts and attracts, fixes the wire rack to prevent shaking, and prepares for subsequent lifting actions. At the same time, the wire ingot information transmitted by the splitting robot is sent to the upper computer, which stores the information and generates a full-load wire rack mark, which is then sent back to the rotary hoist;

[0098] The rotary elevator rises from a low position to a high position, and after reaching the high position, the rotary elevator opens the positioning pin;

[0099] The rotary hoist descends from the high position to the middle position, and is horizontally aligned with the fixed track of the ceiling rail. The positioning pins in the open state can provide force support for the passage of the mechanism;

[0100] After the rotary hoist completes the lifting action, the electromagnet disconnects and retracts into place, and the EMS overhead rail car with the fully loaded wire rack sign drives out of the rotary hoisting area for subsequent aerial transfer. After the EMS overhead rail car drives out, the system returns to its initial state and waits for the next splitting operation.

[0101] It is worth emphasizing that the splitting robot's splitting of sides A and B one by one can also be changed to a double splitting robot acting simultaneously, and sides A and B are split at the same time. The splitting steps are the same as above, except that the rotation action from side A to side B and then from side B back to side A and the corresponding action of the electromagnet cylinder structure are omitted.

[0102] Embodiment 2

[0103] Figure 3 : is a system schematic diagram of a chemical fiber ingot disassembly and assembly device based on an EMS overhead rail vehicle according to another exemplary embodiment, the device comprising:

[0104] Track docking module 101: used to send a mid-position instruction to the rotary elevator through the upper computer, and the rotary elevator is lifted to the mid-position height so that the transition track on the rotary elevator is horizontally docked with the fixed track;

[0105] The wire rack entry module 201 is used to send an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire rack to be loaded and enters the transition track area of ​​the rotary elevator;

[0106] Splitting and docking module 301: used to send a lower-level instruction to the rotary elevator through the upper computer, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot;

[0107] Verification module 401: used for sending verification information to the host computer after the rotary elevator descends to the low height; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, it sends a splitting instruction to the splitting robot;

[0108] Ingot acquisition module 501: used for the splitting robot to move from the waiting wire rack area to the ingot temporary storage location to acquire ingots according to the splitting instruction and return to the waiting wire rack area. The number of ingots acquired by the splitting robot corresponds to the number of ingots to be loaded on the waiting wire rack;

[0109] Splitting and loading module 601: used for the splitting robot to split the silk ingots one by one in the area of ​​the waiting wire loading rack, and load the split silk ingots onto the waiting wire loading rack;

[0110] Loading completion module 701: after the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary elevator according to the loading completion message;

[0111] Home module 801: used for the rotary elevator to rise from the low height to the middle height according to the middle position instruction, so that the transition track is horizontally aligned with the fixed track again;

[0112] The wire rack departure module 901 is used for the rotary elevator to move into position according to the mid-position instruction, and send a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

[0113] Embodiment three:

[0114] This embodiment provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a main controller, each step in the above method is implemented;

[0115] It is understandable that the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0116] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0117] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0118] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0119] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0120] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0121] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" 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 may be combined in any one or more embodiments or examples in a suitable manner.

[0124] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for disassembling and assembling chemical fiber ingots based on an EMS overhead rail vehicle, characterized in that: The method comprises: A mid-position instruction is sent to the rotary hoist through the upper computer, and the rotary hoist is lifted to the mid-position height so that the transition track on the rotary hoist is horizontally docked with the fixed track; Sending an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire carrier to enter the transition track area of ​​the rotary hoist; The upper computer sends a lower-level instruction to the rotary elevator, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot; After the rotary hoist descends to the low height, the verification information is sent to the host computer; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, the splitting instruction is sent to the splitting robot; The splitting robot moves from the waiting wire rack area to the temporary storage location of the wire ingots according to the splitting instruction to obtain the wire ingots and returns to the waiting wire rack area. The number of wire ingots obtained by the splitting robot corresponds to the number of wire ingots to be loaded on the waiting wire rack. The splitting robot splits the silk ingots one by one in the area of ​​the waiting wire loading rack, and loads the split silk ingots onto the waiting wire loading rack; After the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary hoist according to the loading completion message; The rotary elevator rises from the low height to the middle height according to the middle command, so that the transition track is horizontally aligned with the fixed track again; After the rotary elevator moves into position according to the mid-position instruction, it sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

2. The method according to claim 1, characterized in that: Also includes: The rotary hoist is provided with a positioning pin; When the rotary hoist is lifted to a middle height, the positioning pin is in an open state; When the EMS overhead rail vehicle suspends the wire carrier and enters the transition track area of ​​the rotary elevator, the upper computer first sends a high-level instruction to the rotary elevator, and the rotary elevator rises to a high-level height according to the high-level instruction, and closes the positioning pin at the high-level height; When the positioning pin is closed, the rotary elevator sends a closing completion instruction to the upper computer, and the upper computer sends a lower instruction to the rotary elevator according to the closing completion instruction. The rotary elevator descends from a high position to a low position, so that the wire rack to be loaded on the transition track docks with the splitting robot to complete the subsequent splitting and loading process.

3. The method according to claim 2, characterized in that When the wire rack to be loaded is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a high-level instruction to the rotary elevator according to the loading completion message; The rotary hoist rises from a low height to a high height according to a high-level instruction, and opens the positioning pin at the high height; When the positioning pin is opened, the rotary hoist sends an opening completion instruction to the host computer, and the host computer sends a neutral position instruction to the rotary hoist according to the opening completion instruction; After the rotary elevator moves into position according to the mid-position instruction, it sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

4. The method according to claim 2, characterized in that: Also includes: An electromagnet cylinder structure is also provided on the bearing platform of the rotary hoist; When the host computer sends an entry command to the EMS overhead rail vehicle, so that the EMS overhead rail vehicle suspends the wire carrier to enter the transition track area of ​​the rotary elevator, the rotary elevator controls the electromagnet cylinder structure to lift into place and attract; the host computer first sends a high-position command to the rotary elevator, and the rotary elevator rises to a high-position height according to the high-position command, and closes the positioning pin at the high-position height; When the rotary hoist moves into position according to the mid-position instruction, the rotary hoist controls the electromagnet cylinder structure to descend and disconnect the attraction, and then the rotary hoist sends a confirmation message to the host computer, and the host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message, and the EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer, and the rotary hoist waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

5. The method according to any one of claims 1 to 4, characterized in that: The wire-carrying rack includes two surfaces AB; The splitting robot splits the silk ingots one by one in the area of ​​the wire rack to be loaded, and first loads the split silk ingots onto the A side of the wire rack to be loaded, and then loads the B side of the wire rack to be loaded after the loading of the A side is completed.

6. The method according to claim 5, characterized in that The method of first loading the split ingots onto the A side of the rack to be loaded with wires, and then loading the B side of the rack to be loaded with wires after the loading of the A side is completed comprises: When the splitting robot has finished loading all the surface A of the rack to be loaded with wires, the splitting robot sends a surface A loading completion signal to the host computer, and the host computer sends a departure signal to the splitting robot according to the surface A loading completion signal, and the splitting robot drives away from the area of ​​the rack to be loaded with wires according to the departure signal, and sends the surface A loading completion signal to the rotary elevator; The rotary elevator controls the electromagnetic cylinder structure to descend and disconnect the attraction according to the loading completion signal of the A side, and then controls the wire carrier to be rotated 180° to stop at the B side; When the B side of the wire rack to be loaded is rotated into place, the rotary hoist controls the electromagnet cylinder structure to be lifted into place and attracted, and at the same time sends a B side splitting instruction to the splitting robot. After receiving the B side splitting instruction, the splitting robot returns to the area of ​​the wire rack to be loaded and loads the B side; When the splitting robot has finished loading all the B side of the rack to be loaded with wires, the splitting robot sends a B side loading completion signal to the host computer, and the host computer sends a departure signal to the splitting robot according to the B side loading completion signal. The splitting robot drives away from the area of ​​the rack to be loaded with wires again according to the departure signal, and sends the B side loading completion signal to the rotary elevator; The rotary elevator controls the electromagnetic cylinder structure to descend and disconnect the attraction according to the loading completion signal of the B surface, and then controls the wire carrier to rotate 180° to the A surface again; When the A surface of the wire carrier is rotated into position, the rotary hoist controls the electromagnet cylinder structure to lift into position and close; When the wire rack to be loaded is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a high-level instruction to the rotary elevator according to the loading completion message; The rotary hoist rises from a low height to a high height according to a high-level instruction, and opens the positioning pin at the high height; When the positioning pin is opened, the rotary hoist sends an opening completion instruction to the host computer, and the host computer sends a neutral position instruction to the rotary hoist according to the opening completion instruction; After the rotary elevator moves into position according to the mid-position instruction, the rotary elevator controls the electromagnet cylinder structure to descend and disconnect the attraction, and then sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation message. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary elevator waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

7. The method according to claim 5, characterized in that Also includes: The splitting robots include two, which are respectively arranged in the areas of the wire rack to be loaded on the AB surface of the wire rack to be loaded; Two splitting robots simultaneously split the silk ingots one by one in the area of ​​the waiting wire loading rack on the AB surface, and simultaneously load the split silk ingots onto the AB surface of the waiting wire loading rack; When the AB surfaces of the wire rack to be loaded are loaded at the same time, the splitting robot sends loading completion information to the upper computer, and the upper computer sends a high-level instruction to the rotary hoist according to the loading completion information.

8. A chemical fiber ingot disassembly and assembly device based on an EMS overhead rail vehicle, characterized in that: The device comprises: Track docking module: used to send a mid-position instruction to the rotary hoist through the upper computer, and the rotary hoist is lifted to the mid-position height so that the transition track on the rotary hoist is horizontally docked with the fixed track; Wire rack entry module: used to send an entry instruction to the EMS overhead rail car through the host computer, so that the EMS overhead rail car suspends the wire rack to be loaded and enters the transition track area of ​​the rotary elevator; Splitting and docking module: used for sending lower-level instructions to the rotary elevator through the upper computer, and the rotary elevator descends from the middle height to the low height, so that the wire rack to be loaded on the transition track is docked with the splitting robot; Verification module: used for sending verification information to the host computer after the rotary hoist descends to the low height; after the host computer confirms that the wire rack to be loaded is an empty wire rack according to the verification information, it sends a splitting instruction to the splitting robot; Ingot acquisition module: used for the splitting robot to move from the waiting wire rack area to the ingot temporary storage location to acquire the ingots according to the splitting instruction and return to the waiting wire rack area. The number of ingots acquired by the splitting robot corresponds to the number of ingots to be loaded on the waiting wire rack; Splitting and loading module: used for the splitting robot to split the silk ingots one by one in the area of ​​the waiting wire loading rack, and load the split silk ingots onto the waiting wire loading rack; Loading completion module: after the loading of the wire carrier is completed, the splitting robot sends a loading completion message to the upper computer, and the upper computer sends a mid-position instruction to the rotary elevator according to the loading completion message; Home module: used for the rotary elevator to rise from the low height to the middle height according to the middle command, so that the transition track is horizontally aligned with the fixed track again; Wire rack departure module: used for the rotary hoist to move into position according to the mid-position instruction and send confirmation information to the host computer. The host computer sends a departure instruction to the EMS overhead rail car on the transition track according to the confirmation information. The EMS overhead rail car suspends the fully loaded wire rack and drives away from the transition track via the fixed track for subsequent aerial transfer. The rotary hoist waits for the next EMS overhead rail car to suspend the wire rack to be loaded and drive into the transition track.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the main controller, each step of the method for disassembling and assembling a chemical fiber spindle based on an EMS overhead rail vehicle as described in any one of claims 1 to 7 is implemented.

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