A method, device and storage medium for disassembling and assembling chemical fiber spindles based on an EMS overhead trolley

Abstract

The present invention relates to a method, device and storage medium for disassembling and assembling chemical fiber spindles based on an EMS overhead trolley, which is applied to the technical field of chemical fiber production and transfer, and includes: hanging a silk rack to be loaded by an EMS overhead trolley and driving into a transition track, then using a rotary hoist to lower the transition track so that the silk rack to be loaded stays in the area of the silk rack to be loaded where the disassembly robot works, and disassembling the spindles through the disassembly robot and loading the disassembled spindles onto the silk rack to be loaded; after the loading is completed, the transition track is lifted by the rotary hoist to be horizontally docked with the fixed track, so that the EMS overhead trolley can carry the silk rack and drive away from the rotary hoist through the fixed track from the transition track and enter the subsequent overhead trolley transfer stage; the solution adopted in this application greatly reduces the number of devices, saves space, and the aerial transportation of the silk rack also enables the silk-loading tool to get rid of the ground track transportation method, avoids the cross-operation between people and automated equipment, and greatly eliminates the safety hazards on site.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fiber production and transportation, and particularly relates to a method, device and storage medium for disassembling and assembling chemical fiber spindles based on an EMS overhead trolley. 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 material industry, and has a strategic important position in the national economic development. The production and packaging workshops of chemical fibers have harsh conditions and high labor intensity for workers. Therefore, the development of automated transportation equipment has become a trend.

[0003] The existing technologies either rely on manual labor to disassemble the spindles onto the silk carts and transport them to the external inspection workshop; or rely on ground coil dropping conveying equipment or hanging coil dropping equipment to temporarily store the spindles in the silk boxes, and transport them to the disassembly area through AGV or other transportation equipment; or rely on hanging coil dropping equipment to disassemble the spindles onto the silk carts, and transport them to the detection area by a chain machine and a shuttle car system;

[0004] In the above existing technologies, the method relying on manual labor greatly increases the labor burden of workers and has low efficiency. Relying on ground coil dropping conveying equipment or hanging coil dropping equipment requires an automatic disassembly area later, increasing the complexity of the disassembly process; while the method of relying on hanging coil dropping equipment to disassemble the spindles onto the silk carts and transporting them to the detection area by a chain machine and a shuttle car system greatly occupies the factory workshop, 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 spindles based on an EMS overhead trolley, so as to solve the problems in the existing technologies that the method relying on manual labor greatly increases the labor burden of workers and has low efficiency, relying on ground coil dropping conveying equipment or hanging coil dropping equipment requires an automatic disassembly area later, increasing the complexity of the disassembly process; while the method of relying on hanging coil dropping equipment to disassemble the spindles onto the silk carts and transporting them to the detection area by a chain machine and a shuttle car 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 the first aspect of the embodiments of the present invention, a method for disassembling and assembling chemical fiber spindles based on an EMS overhead trolley is provided. The method includes:

[0007] Sending a middle position instruction to the rotary elevator through the host computer, and the rotary elevator ascends and descends to the middle height, so that the transition track on the rotary elevator is horizontally docked with the fixed track;

[0008] Send an entry instruction to the EMS overhead rail vehicle through the host computer, so that the EMS overhead rail vehicle suspends the wire rack to be loaded and enters the transition track area of the rotary hoist;

[0009] Send a lower position instruction to the rotary hoist through the host computer, and the rotary hoist descends from the middle height to the lower 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 lower 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;

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

[0012] The splitting robot splits the wire ingots one by one in the area of the wire rack to be loaded and loads the split wire ingots onto the wire rack to be loaded;

[0013] After the wire rack to be loaded is loaded, the splitting robot sends a loading completion message to the host computer, and the host computer sends a middle position instruction to the rotary hoist according to the loading completion message;

[0014] The rotary hoist rises from the lower height to the middle height according to the middle position instruction, so that the transition track is horizontally aligned with the fixed track again;

[0015] After the rotary hoist moves into place according to the middle position instruction, it sends confirmation information to the host computer. The host computer sends a departure instruction to the EMS overhead rail vehicle on the transition track according to the confirmation information. The EMS overhead rail vehicle suspends the fully loaded wire rack and drives away from the transition track through the fixed track for subsequent aerial transfer. The rotary hoist waits for the next EMS overhead rail vehicle to suspend the wire rack to be loaded and enter the transition track.

[0016] Preferably, it further includes:

[0017] A positioning pin is provided on the rotary hoist;

[0018] When the rotary hoist rises and falls to the middle height, the positioning pin is in an open state;

[0019] When the EMS overhead rail vehicle suspends the wire rack to be loaded and enters the transition track area of the rotary hoist, the host computer first sends a high position instruction to the rotary hoist. The rotary hoist rises to the high height according to the high position instruction and closes the positioning pin at the high 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-loading rack to be loaded includes two sides A and B;

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

[0033] Preferably,

[0034] The step of first loading the split wire ingots onto side A of the wire-loading rack to be loaded and then loading side B of the wire-loading rack to be loaded after side A is fully loaded includes:

[0035] After the splitting robot fully loads side A of the wire-loading rack to be loaded, the splitting robot sends a signal indicating that side A is fully loaded to the host computer. The host computer sends a signal to move away from the splitting robot according to the signal indicating that side A is fully loaded. The splitting robot drives away from the area of the wire-loading rack to be loaded according to the signal to move away, and sends the signal indicating that side A is fully loaded to the rotary hoist;

[0036] The rotary hoist controls the electromagnet cylinder structure to descend and disconnect the suction according to the signal indicating that side A is fully loaded, and then controls the wire-loading rack to be loaded to rotate 180° until it stops accurately at side B;

[0037] When side B of the wire-loading rack to be loaded rotates into place, the rotary hoist controls the electromagnet cylinder structure to lift into place and suck, and at the same time sends a splitting instruction for side B to the splitting robot. After receiving the splitting instruction for side B, the splitting robot returns to the area of the wire-loading rack to be loaded and loads side B;

[0038] After the splitting robot fully loads side B of the wire-loading rack to be loaded, the splitting robot sends a signal indicating that side B is fully loaded to the host computer. The host computer sends a signal to move away from the splitting robot according to the signal indicating that side B is fully loaded. The splitting robot drives away from the area of the wire-loading rack to be loaded again according to the signal to move away, and sends the signal indicating that side B is fully loaded to the rotary hoist;

[0039] The rotary hoist controls the electromagnet cylinder structure to descend and disconnect the suction according to the signal indicating that side B is fully loaded, and then controls the wire-loading rack to be loaded to rotate 180° back to side A;

[0040] When side A of the wire-loading rack to be loaded rotates into place, the rotary hoist controls the electromagnet cylinder structure to lift into place and suck;

[0041] After the wire-loading rack to be loaded is fully loaded, the splitting robot sends a loading completion message to the host computer. The host computer sends a high-position instruction to the rotary hoist according to the loading completion message;

[0042] The rotary hoist rises from the low height to the high height according to the high position command, and opens the positioning pin at the high height;

[0043] After the positioning pin is opened, the rotary hoist sends an opening completion command to the host computer, and the host computer sends a middle position command to the rotary hoist according to the opening completion command;

[0044] After the rotary hoist moves into place according to the middle position command, the rotary hoist controls the electromagnet cylinder structure to descend and disconnect the suction, and then sends a confirmation message to the host computer. The host computer sends a departure command to the EMS overhead rail vehicle on the transition track according to the confirmation message. The EMS overhead rail vehicle suspends the fully loaded wire rack and drives away from the transition track through the fixed track for subsequent aerial transfer, and the rotary hoist waits for the next EMS overhead rail vehicle to suspend the wire rack to be loaded and drive into the transition track.

[0045] Preferably, it further includes:

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

[0047] The two splitting robots simultaneously split the wire ingots one by one in the area of the wire rack to be loaded on the AB surface, and simultaneously load the split wire ingots onto the AB surface of the wire rack to be loaded;

[0048] After the AB surface of the wire rack to be loaded is loaded simultaneously, the splitting robot sends a loading completion message to the host computer, and the host computer sends a high position command to the rotary hoist according to the loading completion message.

[0049] According to the second aspect of the embodiments of the present invention, a chemical fiber wire ingot disassembly and assembly device based on an EMS overhead rail vehicle is provided. The device includes:

[0050] Track docking module: used to send a middle position command to the rotary hoist through the host computer, and the rotary hoist ascends and descends to the middle 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 command to the EMS overhead rail vehicle through the host computer, so that the EMS overhead rail vehicle suspends the wire rack to be loaded and enters the transition track area of the rotary hoist;

[0052] Splitting and docking module: used to send a low position command to the rotary hoist through the host computer, and the rotary hoist 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: After the rotary hoist descends to the low height, it sends verification information to the host computer; after the host computer confirms that the silk frame to be loaded is an empty silk frame according to the verification information, it sends a splitting instruction to the splitting robot;

[0054] Spindle acquisition module: It is used for the splitting robot to move from the area of the silk frame to be loaded to the spindle temporary storage location to acquire spindles and return to the area of the silk frame to be loaded according to the splitting instruction. The number of spindles acquired by the splitting robot corresponds to the number of spindles to be loaded on the silk frame to be loaded;

[0055] Splitting and loading module: It is used for the splitting robot to split the spindles one by one in the area of the silk frame to be loaded and load the split spindles onto the silk frame to be loaded;

[0056] Loading completion module: After the silk frame to be loaded is loaded, the splitting robot sends a loading completion information to the host computer, and the host computer sends a middle position instruction to the rotary hoist according to the loading completion information;

[0057] Returning module: It is used for the rotary hoist 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;

[0058] Silk frame leaving module: After the rotary hoist moves in place according to the middle position instruction, it sends confirmation information to the host computer. The host computer sends a leaving instruction to the EMS overhead rail vehicle on the transition track according to the confirmation information. The EMS overhead rail vehicle suspends the fully loaded silk frame and drives away from the transition track through the fixed track for subsequent aerial transfer. The rotary hoist waits for the next EMS overhead rail vehicle to suspend the silk frame to be loaded and drive into the transition track.

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

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

[0061] In this application, the EMS overhead rail vehicle suspends the wire frame to be loaded and drives into the transition track. Then, the rotary hoist is used to lower the transition track, causing the EMS overhead rail vehicle on the transition track and the wire frame to be loaded suspended by the EMS overhead rail vehicle to descend. Finally, the wire frame to be loaded stays in the area of the wire frame to be loaded where the disassembly robot works. The disassembly robot disassembles the silk ingots and loads the disassembled silk ingots onto the wire frame to be loaded. After the loading is completed, the rotary hoist is used to lift the transition track to be horizontally docked with the fixed track. Thus, the EMS overhead rail vehicle can carry the wire frame and drive away from the rotary hoist through the fixed track from the transition track and enter the subsequent overhead rail transfer stage. The solution adopted in this application has a simple structure, greatly reduces the number of devices, gets rid of the dependence on traditional single-arm robots, and saves space. The aerial operation of the overhead rail vehicle gives the factory more passage and storage space. The aerial transportation of the wire frame also enables the wire-carrying tool to get rid of the usual ground track transportation mode of wire carts and wire boxes, making the transportation process smoother and avoiding the cross-operation between people and automated equipment, greatly eliminating the safety hazards on-site.

[0062] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0064] Figure 1 is a schematic flowchart of a method for disassembling and assembling chemical fiber silk ingots based on an EMS overhead rail vehicle shown according to an exemplary embodiment;

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

[0066] Figure 3 is a schematic system diagram of a device for disassembling and assembling chemical fiber silk ingots based on an EMS overhead rail vehicle shown according to another exemplary embodiment;

[0067] In the drawings: 1 - positioning pin, 2 - wire frame, 3 - electromagnet cylinder structure, 4 - transition track, 5 - fixed track, 6 - EMS overhead rail vehicle, 101 - track docking module, 201 - wire frame entry module, 301 - disassembly docking module, 401 - verification module, 501 - silk ingot acquisition module, 601 - disassembly and loading module, 701 - loading completion module, 801 - homing module, 901 - wire frame departure module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, 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 schematic flowchart of a method for disassembling and assembling chemical fiber spindles based on an EMS overhead trolley according to an exemplary embodiment, as Figure 1 shown, the method includes:

[0071] S1. Send a middle position instruction to the rotary hoist through the host computer, and the rotary hoist is lifted or lowered to the middle position height so that the transition track on the rotary hoist is horizontally docked with the fixed track;

[0072] S2. Send an entry instruction to the EMS overhead trolley through the host computer so that the EMS overhead trolley suspends the silk rack to be loaded and enters the transition track area of the rotary hoist;

[0073] S3. Send a lower position instruction to the rotary hoist through the host computer, and the rotary hoist descends from the middle position height to the lower position height so that the silk rack to be loaded on the transition track is docked with the disassembly robot;

[0074] S4. After the rotary hoist descends to the lower position height, send verification information to the host computer; after the host computer confirms that the silk rack to be loaded is an empty silk rack according to the verification information, send a disassembly instruction to the disassembly robot;

[0075] S5. The disassembly robot moves from the area of the silk rack to be loaded to the spindle temporary storage location to obtain spindles and returns to the area of the silk rack to be loaded according to the disassembly instruction, and the number of spindles obtained by the disassembly robot corresponds to the number of spindles to be loaded on the silk rack to be loaded;

[0076] S6. The disassembly robot disassembles the spindles one by one in the area of the silk rack to be loaded and loads the disassembled spindles onto the silk rack to be loaded;

[0077] S7. After the silk rack to be loaded is loaded, the disassembly robot sends a loading completion message to the host computer, and the host computer sends a middle position instruction to the rotary hoist according to the loading completion message;

[0078] S8. The rotary hoist rises from the lower position height to the middle position height according to the middle position instruction so that the transition track is horizontally aligned with the fixed track again;

[0079] S9. After the rotary hoist moves into place according to the neutral position command, it sends a confirmation message to the host computer. The host computer sends a departure command to the EMS overhead rail vehicle on the transition track according to the confirmation message. The EMS overhead rail vehicle 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 vehicle to suspend the wire rack to be loaded and drive into the transition track;

[0080] It can be understood that, in order to better understand the above process of this solution, the following principle explanation is carried out first. As shown in the appendix 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 to say, the EMS overhead rail vehicle 6 can carry the blank wire rack 2 or the wire rack 2 fully loaded with split wire ingots and move freely on the overhead rail. There is a section of overhead rail on the rotary hoist, that is, the transition track 4. The rotary hoist can control the transition track 4 to do lifting and lowering movements. At the same time, there is a blank track section with a break in the overall overhead rail. The blank track is adapted to the transition track 4. That is to say, only when the transition track 4 is lifted to the blank break at the same horizontal plane as the fixed track 5 can a complete overhead rail be formed. At this time, the EMS overhead rail vehicle 6 can enter the transition track 4 through the fixed track 5 and stop. By lowering the transition track 4 with the rotary hoist, the EMS overhead rail vehicle 6 on the transition track 4 and the suspended blank wire rack are lowered together, so as to disengage from the fixed track 5 and let the wire rack 2 come to the working area of the splitting robot. After the splitting robot finishes splitting, the transition track 4 is lifted again to be horizontally docked with the fixed track 5. At this time, the EMS overhead rail vehicle 6 can carry the fully loaded wire rack 2 and enter the subsequent overhead rail through the fixed track 5 for transfer. Among them, a positioning pin 1 is provided on the rotary hoist. When the positioning pin 1 is in the open state, it can share the force of the rotary hoist when the EMS overhead rail vehicle 6 passes through, but the transition track 4 cannot be lifted or lowered. When the positioning pin 1 is in the closed state, the transition track 4 can be normally lifted or lowered, and the state of the positioning pin 1 can only change when the transition track 4 is above the horizontal plane of the fixed track 5; at the same time, an electromagnet cylinder structure 3 is also provided on the rotary hoist. When the electromagnet cylinder structure 3 on the bearing platform of the rotary hoist is in the state of being jacked up in place and sucked, it can fix the wire rack 2 to ensure that the wire rack 2 does not shake during the lifting and lowering process; but when the electromagnet cylinder structure 3 is in the state of being jacked up in place and sucked, the wire rack 2 cannot move left and right or rotate. Therefore, when the wire rack 2 needs to leave the transition track 4 following the EMS overhead rail vehicle 6, it is necessary to control the electromagnet cylinder structure 3 to first be in the state of descending and disconnecting the suction. Similarly, if the wire rack 2 needs to rotate, it is also necessary to first make the electromagnet cylinder structure 3 be in the state of descending and disconnecting the suction. When rising or falling, the electromagnet cylinder structure 3 needs to be in the state of being jacked up in place and sucked;

[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 ingots from the temporary storage mechanism, it runs to the silk rack area of the rotary elevator waiting for loading, and performs splitting one by one. During the splitting process, the detailed information of the silk ingots will be transmitted by the splitting robot to the rotary elevator mechanism to prepare for subsequent verification of the silk rack information;

[0092] After the splitting robot finishes loading all the A sides of the silk rack waiting for loading, it runs out of the lifting range of the rotary elevator and transmits the signal that the A side splitting is completed to the rotary elevator;

[0093] After receiving the signal that the A side splitting of the splitting robot is completed, the jacking electromagnet of the rotary elevator descends and disconnects the suction, and rotates 180° to stop accurately at the B side;

[0094] After stopping accurately at the B side of the silk rack, the electromagnet of the rotary elevator jacks up and sucks, and at the same time sends the B side splitting permission signal to the splitting robot;

[0095] The splitting robot runs to the silk rack area of the rotary elevator waiting for loading to perform splitting one by one, and transmits the silk ingot information to the rotary elevator for storage. When the splitting robot finishes loading all the B sides of the silk rack waiting for loading;

[0096] The splitting robot runs out of the rotary elevator area and transmits the signal that the B side splitting is completed to the rotary elevator;

[0097] After the rotary elevator receives the completion of the B side splitting by the splitting robot, it retracts the jacking electromagnet to descend and disconnect the suction. At the same time, after the electromagnet retracts and turns back to the A side, the jacking electromagnet of the rotary elevator jacks up and sucks to fix the silk rack to prevent shaking and prepare for subsequent lifting actions. At the same time, the silk ingot information transmitted by the splitting robot is sent to the upper computer, and the upper computer stores the information and generates a full silk rack flag, and then sends it back to the rotary elevator;

[0098] The rotary elevator rises from the low position to the high position. After reaching the high position, the rotary elevator opens the positioning pin;

[0099] The rotary elevator descends from the high position to the middle position and is horizontally aligned with the fixed track of the overhead rail. The open positioning pin can provide force support for the passage of this mechanism;

[0100] After the rotary elevator completes the lifting action, the electromagnet disconnects the suction and retracts to the in-place position. The EMS overhead rail car with the full silk rack flag drives out of the rotary elevator area for subsequent aerial transfer. After the EMS overhead rail car drives out, the system returns to the initial state and waits for the next splitting operation.

[0101] It should be emphasized that the splitting of the A and B sides of the splitting robot by splitting each side one by one can also be changed to the simultaneous operation of two splitting robots, with the A and B sides being split simultaneously. The steps for splitting are the same as those described above, except that the rotation action of rotating from the A side to the B side and then back from the B side to the A side, as well as the actions of the corresponding electromagnet cylinders, are omitted.

[0102] Embodiment 2

[0103] Figure 3 It is a system schematic diagram of a chemical fiber bobbin disassembly and assembly device based on an EMS overhead trolley shown according to another exemplary embodiment. The device includes:

[0104] Track docking module 101: used to send a middle position instruction to the slewing hoist through the host computer, and the slewing hoist is lifted or lowered to the middle position height, so that the transition track on the slewing hoist is horizontally docked with the fixed track;

[0105] Wire rack entry module 201: used to send an entry instruction to the EMS overhead trolley through the host computer, so that the EMS overhead trolley suspends the wire rack to be loaded and enters the transition track area of the slewing hoist;

[0106] Splitting docking module 301: used to send a lower position instruction to the slewing hoist through the host computer, and the slewing hoist descends from the middle position height to the lower position height, so that the wire rack to be loaded on the transition track is docked with the splitting robot;

[0107] Verification module 401: used to send verification information to the host computer after the slewing hoist descends to the lower position 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] Bobbin acquisition module 501: used for the splitting robot to move from the area of the wire rack to be loaded to the bobbin temporary storage location to acquire bobbins and return to the area of the wire rack to be loaded according to the splitting instruction. The number of bobbins acquired by the splitting robot corresponds to the number of bobbins to be loaded on the wire rack to be loaded;

[0109] Splitting and loading module 601: used for the splitting robot to split bobbins one by one in the area of the wire rack to be loaded and load the split bobbins onto the wire rack to be loaded;

[0110] Loading completion module 701: used for after the wire rack to be loaded is loaded, the splitting robot sends a loading completion message to the host computer, and the host computer sends a middle position instruction to the slewing hoist according to the loading completion message;

[0111] Return module 801: used for the slewing hoist to rise from the lower position height to the middle position height according to the middle position instruction, so that the transition track is horizontally aligned with the fixed track again;

[0112] The wire frame leaving module 901: After the rotary hoist moves into place according to the middle position instruction, it sends a confirmation message to the host computer. The host computer sends a departure instruction to the EMS overhead rail vehicle on the transition track according to the confirmation message. The EMS overhead rail vehicle suspends the fully loaded wire frame 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 vehicle to suspend the wire frame to be loaded and drive into the transition track.

[0113] Embodiment 3:

[0114] This embodiment provides a storage medium that stores a computer program. When the computer program is executed by the main controller, it realizes each step in the above method;

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

[0116] It can be understood that the same or similar parts in the above embodiments can be referred to each other. For the content not detailed in some embodiments, reference can be made to the same or similar content in other embodiments.

[0117] It should be noted that in the description of the present invention, terms such as "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 "a plurality of" refers to at least two.

[0118] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0119] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple 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, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0120] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-described embodiment methods can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiment.

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

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

[0123] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0124] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to 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 claim 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 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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