System for realizing basket-based tracking of coupling and control method thereof

Abstract

The invention discloses a system for realizing basket-by-basket tracking of a coupling and a control method thereof, and belongs to the field of process control. A two-dimensional code containing related production information of a loaded coupling is arranged on a coupling frame, the two-dimensional code on the coupling frame serves as a carrier, a response control system RCS is dispatched through a logistics intelligent management system MES, then the RCS dispatches an automated guided vehicle AGV, automatic conveying of a workshop is achieved through AGV carrying, and unmanned conveying is achieved in the material carrying link. A coupling basket-by-basket tracking mode is adopted, a coupling frame is used as a unit, a coupling frame is connected with a computer L3 system through a two-dimensional code on the frame in a hooked mode in the whole processes of feeding, flaw detection, phosphorization, paint spraying, warehousing, ex-warehousing and the like, and then production information is issued, intelligent warehousing is achieved, the labor efficiency of a coupling production line is improved, the informatization and intelligence level of the coupling production line is improved, and the production efficiency of the coupling production line is improved. The environment-friendly green manufacturing is realized. The method can be widely applied to the fields of production, process management or manufacturing flow process management and control of coupling products.

Description

Technical Field

[0001] The present invention belongs to the field of production process control, and in particular relates to a system for controlling a coupling production process and a control method thereof. Background Art

[0002] A coupling is a tool that connects drilling tools (such as drill pipe or casing).

[0003] The production process of couplings is usually as follows: pipes produced according to API standards (called coupling materials) are processed into finished couplings on the production line through processes such as cutting, threading, thread inspection, phosphating, and external surface painting.

[0004] After the coupling product is processed, it needs to be inspected using a magnetic particle inspection device to check for intermittent defects and inclusions on the surface and under the skin.

[0005] The coupling product (referred to as "coupling" or "hoop") needs to be transported to the magnetic particle inspection device and sent into the darkroom for relevant inspection.

[0006] At present, the magnetic particle flaw detection of couplings in the seamless steel pipe factory under the jurisdiction of the applicant is distributed in the special buckle and accessories workshops. Forklifts are required to transport coupling products between phosphating and painting positions (or workstations). The following problems exist in the equipment layout and production organization process:

[0007] (1) Equipment is dispersed and there are many intermediate transfers:

[0008] At present, the magnetic powder, phosphating and spraying equipment of couplings are distributed in the special buckle and accessories workshops. Forklifts are required to transport couplings between the equipment. The scattered layout of the equipment is not convenient for centralized management and production organization, and the cumbersome logistics increase production costs and reduce production efficiency.

[0009] (2) Too much repetitive manual labor and heavy labor load:

[0010] In the whole production process of couplings, many tasks are simple and repetitive, with single work content and heavy workload for employees; for example, magnetic particle inspection, coupling spraying and other loading and unloading are all done by manual framing or unloading (for the convenience of operation, a frame-shaped shelf is usually used to place multiple couplings, and the loading and unloading of the frame-shaped shelf is referred to as framing or unloading);

[0011] (3) The quality management of each process of the coupling is chaotic, and the quality data of the processing cannot be traced:

[0012] The quality data and processing parameters generated by the three process flows of coupling flaw detection, phosphating and painting line (spectral steel separation, painting, engraving, anti-rust oil coating and coding) cannot be recorded and saved in frames, resulting in chaotic quality management and untraceable products.

[0013] In addition, the invention patent with the authorization announcement date of 2023.02.28 and the authorization announcement number CN 106997197 B discloses "a steel pipe processing intelligent production system and a steel pipe processing intelligent production method using the system". The system is sequentially provided with an inclined stand, a first channel, a second channel, a third channel, a coupling-protective ring screwing system, a fourth channel and a baling machine, and also includes a steel pipe tracking system; the steel pipe tracking system connects and controls an automatic inkjet printer, a diameter machine, a flaw detector, a first threading sandblasting wire inspection system, a second threading sandblasting wire inspection system, a coupling-protective ring screwing system, a finished product processing system, various rollers and manipulators, and tracks the processing data of each processing link of the steel pipe through a barcode, and records the performance parameters in a QR code after production is completed; the actual processing data can be read during steel pipe production or use through a barcode or a QR code, so that customers can understand the product quality of each steel pipe. However, this technical solution only records the performance parameters of each steel pipe in a QR code, and does not involve the problem of using QR codes to "track" the actual location of the product during the manufacturing process.

[0014] In summary, how to seek a reasonable equipment layout and production organization process in the entire production process of "coupling" products to avoid duplication of labor, and at the same time strengthen the quality management of each process, make the quality data of the processing process traceable, reduce production costs, realize intelligent warehousing, improve the labor efficiency of the coupling production line, and improve the informatization and intelligence level of the coupling production line is a technical problem that needs to be urgently solved in the actual "coupling" production process. Summary of the invention

[0015] The technical problem to be solved by the present invention is to provide a system and control method for realizing the tracking of couplings by basket. After the mechanical processing of the coupling products is completed, multiple frame-shaped containers (referred to as "coupling frames" or "frames") are used to accommodate / place each "finished coupling" (referred to as "coupling") after the machining is completed. On each coupling frame used to accommodate the coupling, a QR code containing relevant production information of the accommodated coupling is set. The QR code on each coupling frame is used as a carrier, and the RCS (Reaction Control System) is dispatched through the MES (Message System, the function is defined as a logistics intelligent management system, which can also be called a production control system). The RCS system then dispatches the AGV (Automated Guided Vehicle), and the automated transportation of the workshop is realized through the AGV transportation, and unmanned transportation is realized in the material handling link, thereby improving the automation level of the entire workshop; the coupling by basket tracking mode is adopted, and the coupling is based on the frame as a unit. The coupling frame is connected to the computer L3 system (Computer Level 3) through the QR code on the frame from the whole process of loading, flaw detection, phosphating, painting, warehousing, and outbound. After the coupling production line is connected, the production information is issued to realize intelligent warehousing, improve the labor efficiency of the coupling production line, enhance the information and intelligent level of the coupling production line, and realize environmentally friendly green manufacturing.

[0016] The technical solution of the present invention is to provide a system for realizing coupling tracking by basket, including using a plurality of coupling frames to place each finished coupling after the coupling product is machined, and the characteristics are:

[0017] 1) For each coupling, record the relevant production and manufacturing information during the manufacturing process and generate a corresponding QR code;

[0018] 2) The two-dimensional code containing the relevant production information of the corresponding coupling is set on a coupling frame for accommodating the corresponding coupling;

[0019] 3) at least one automatic guided vehicle (AGV) is provided to transport the coupling frames between various areas of the production line;

[0020] 4) Setting up a QR code recognition system to read and summarize the QR code on each coupling frame and upload the relevant production and manufacturing information of the corresponding coupling;

[0021] 5) Set up a logistics intelligent management system MES to dispatch AGV to transport the coupling frame to each designated loading station on the production line according to the production process and L3 system instructions, and the robot will automatically load and unload the magnetic particle inspection and frame installation;

[0022] 6) A QR code scanner is installed on each AGV to read the QR code on the coupling frame, and the read QR code information is summarized and transmitted to the logistics intelligent management system MES;

[0023] 7) Use MES to dispatch AGVs and use AGVs to transport the coupling frames between various workstations on the production line;

[0024] 8) Realize unmanned transportation in the material handling process and improve the automation level of the entire workshop.

[0025] Specifically, the system for tracking couplings by basket uses the QR code on the coupling basket as a carrier, and transfers the coupling frame from the loading platform, flaw detection, phosphating, painting line, and stereoscopic warehouse through the AGV transportation system. The entire process is linked to L3 through the QR code on the coupling basket, and production information is issued. Through the robot + 3D vision technology, robots replace manual labor, thereby improving the level of informatization and intelligence in the area and realizing environmentally friendly and green manufacturing.

[0026] Furthermore, the painting line includes painting, engraving, anti-rust oil application, coding and framing processes; the three-dimensional warehouse includes warehousing and outgoing processes.

[0027] Specifically, according to the process function, the production line is divided into five areas, namely, loading area A, flaw detection area B, phosphating loading area C, phosphating unloading area and painting loading area D, painting unloading area and stereoscopic warehouse area E.

[0028] Furthermore, the two-dimensional code reading system is provided with two-dimensional code readers on equipment or workstations including the AGV trolley, the coupling flaw detection buffer area, the flaw detection line loading and unloading stations, the phosphating line loading and unloading stations, the painting line loading and unloading stations, and the stereoscopic warehouse loading and unloading stations; the two-dimensional code information read by the two-dimensional code reading system is sent to the MES system.

[0029] The technical solution of the present invention further provides a control method for the system for realizing the tracking of the collar by the basket, wherein the system for realizing the tracking of the collar by the basket is controlled and operated according to the following steps:

[0030] 1) The coupling frame is transported to the magnetic particle inspection buffer area, i.e., the loading platform, by a forklift. The MES dispatches the RCS, and the RCS dispatches the AGV trolley to transport the coupling frame from the loading platform to the magnetic particle inspection loading station. The code reader on the magnetic particle inspection loading station reads the QR code on the coupling frame. The read QR code information is sent to the MES system through the QR code recognition system. The MES instructs the robot to realize automatic loading and unloading and framing of magnetic particle inspection. Qualified products are loaded into the phosphating frame, and unqualified products are directly rejected. Then, the coupling is transported to the phosphating device loading station by the AGV trolley. If the coupling does not need magnetic particle inspection, it is directly transported to the phosphating device loading station by the AGV trolley.

[0031] 2) After the phosphating is completed, MES receives the phosphating completion signal and dispatches the AGV to transport the coupling frame to the designated loading station of each painting line;

[0032] 3) The painting line robot automatically loads and unloads materials to realize the spectral steel separation, surface painting, laser engraving, anti-rust oil coating, and coding of the coupling. The robot automatically frames the coupling. After the MES receives the completion signal of the painting line, the MES dispatches the AGV car to transport the coupling frame to the loading buffer area of ​​the stereoscopic warehouse;

[0033] 4) The intelligent warehouse management system of the three-dimensional warehouse dispatches the stacker of the three-dimensional warehouse to store the finished coupling frames in the loading buffer area;

[0034] 5) After the L3 system receives the coupling demand from the pipe production line, the three-dimensional warehouse intelligent warehouse management system receives the L3 instruction, and the three-dimensional warehouse intelligent warehouse management system dispatches the stacker to deliver the taken coupling to the delivery buffer area, and then transports it to each pipe production line by a traditional forklift.

[0035] Specifically, the control method comprises the following steps:

[0036] 1) L3 issues a query command;

[0037] 2) Temporary storage of loading materials;

[0038] 3) Communicate with flaw detection PLC;

[0039] 4) Determine whether loading is allowed? If yes, proceed to the next step; if no, return to the previous step;

[0040] 5) AGV path setting and distribution;

[0041] 6) Perform “Flaw Detection” operation;

[0042] 7) Collecting actual flaw detection results;

[0043] 8) The “Flaw Detection” operation is completed;

[0044] 9) Determine whether "phosphating" is allowed? If "yes", proceed to the next step; if "no", return through the "phosphating buffer";

[0045] 10) AGV path setting and distribution;

[0046] 11) Perform "phosphating" operation;

[0047] 12) Collect phosphating results;

[0048] 13) The "phosphating" operation is completed;

[0049] 14) Determine whether "painting" is allowed? If "yes", proceed to the next step, if "no", return through the "painting buffer";

[0050] 15) AGV path setting and distribution;

[0051] 16) Perform the "painting" operation;

[0052] 17) Collect painting results;

[0053] 18) The "painting" operation is completed;

[0054] 19) Determine whether the entrance to the three-dimensional warehouse is free. If yes, proceed to the next step; if no, wait;

[0055] 20) AGV path setting and distribution;

[0056] 21) Execute the "entry" operation;

[0057] 22) The execution result is returned to L3.

[0058] Furthermore, the distribution process of the AGV is as follows:

[0059] 1) The MES system processes the collected information and generates AGV handling instructions after processing;

[0060] 2) The AGV receives the transport instruction and goes to the starting point for transport;

[0061] 3) After the AGV transports the designated logistics to the destination, it will feedback the completion information;

[0062] 4) The MES system processes the information and updates the storage location;

[0063] 5) The AGV receives the next task or goes to recharge.

[0064] Specifically, the information transmission path of the two-dimensional code recognition system is:

[0065] 1) The coupling information in the coupling basket in the loading buffer area is transmitted to the L3 system and the QR code on the coupling basket is generated;

[0066] 2) The L3 system sends the coupling information to the MES system;

[0067] 3) The QR code on the coupling basket is read by the code reader on the AGV and sent to the RCS system;

[0068] 4) The RCS system generates AGV handling instructions;

[0069] 5) The AGV system receives the handling instructions from the RCS and schedules the running trajectory of the AGV;

[0070] 6) The AGV completes the handling operation and then feeds back the execution results to the RCS.

[0071] The control method of the present invention performs the following control and information transmission for different production areas or workstations:

[0072] 1) Incoming materials:

[0073] When raw materials arrive, manual forklifts move the raw material boxes to the vacant storage space on the first floor of the raw material temporary storage area;

[0074] 2) Incoming materials into warehouse:

[0075] The storage location detection sensor in the raw material temporary storage area detects that the storage location is full, and transmits the storage location change information to the L3 system in the coupling area and the MES production control system through the RCS system, and the storage location information of the production control system is updated;

[0076] 3) Raw materials for magnetic particle testing line:

[0077] According to actual production needs, MES issues handling tasks to the RCS system. The RCS automatically dispatches the AGV to the designated raw material temporary storage area, transports the raw material baskets to the designated magnetic particle inspection loading station, and feeds back the information to the production control system.

[0078] 4) Magnetic particle inspection offline parts:

[0079] After the magnetic particle inspection is completed and the phosphating basket is full, the MES production control system issues a handling task to the RCS system according to actual production needs; the phosphating basket is transported to the phosphating automatic line workstation or the magnetic particle inspection completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and workstation information;

[0080] 5) Phosphating automatic line parts:

[0081] The MES production control system sends the handling task to the RCS system according to the actual production demand. The RCS automatically dispatches the AGV to the task-specified magnetic particle inspection completion buffer area or the magnetic particle inspection automatic line assembly station, transports the phosphating material basket to the phosphating automatic line assembly station and feeds back the information to the production control system.

[0082] 6) Phosphating automatic offline parts:

[0083] When the phosphating station is full, the MES production control system sends a handling task to the RCS system according to actual production needs; the AGV transports the phosphating material basket to the painting automatic line loading station or the phosphating completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and station information;

[0084] 7) Automatic painting line parts:

[0085] The MES production control system sends the handling task to the RCS system according to the actual production needs. The RCS automatically dispatches the AGV to the task-specified phosphating completion buffer area or the phosphating automatic line assembly station, transports the phosphating material basket to the painting automatic line assembly station and feeds back the information to the production control system.

[0086] 8) Automatic painting line parts:

[0087] When the unloading station of the automatic painting line is full, the MES production control system sends the handling task to the RCS system according to the actual production demand; the AGV car transports the raw material basket to the interactive station of the vertical warehouse;

[0088] After completing the handling task, the RCS system will report the task completion to the production control system, and the production control system will update the storage location and workstation information;

[0089] 9) Vertical warehouse interactive station:

[0090] When there is a vacant space for unloading workpieces at the automatic painting line, the MES production control system sends a handling task to the RCS system based on actual production needs;

[0091] The AGV trolley transports the raw material basket to the automatic painting line unloading station;

[0092] After completing the handling task, the RCS system will report the task completion to the production control system, and the production control system will update the storage location and workstation information;

[0093] 10) Charging station:

[0094] When the AGV reports to the RCS system that the vehicle is low on battery, the RCS system will remove the low-battery AGV from the task waiting AGV task list, and the low-battery AGV will no longer accept new task assignments. At the same time, the RCS system will issue a charging task to the low-battery AGV. The low-battery AGV will run to the charging station according to the task and charge. After the battery is fully charged, it will feedback to the RCS system, go back online, enter the task waiting AGV list, and wait for task assignment from the RCS system.

[0095] Compared with the prior art, the advantages of the present invention are:

[0096] 1. The technical solution of the present invention uses the QR code on the coupling frame as a carrier, through the QR code recognition system, the MES system dispatches the RCS, and the RCS dispatches the AGV automatic guided transport vehicle to transport the coupling frame from the loading platform, flaw detection, phosphating, painting line (including spectral steel separation, painting, engraving, anti-rust oil coating, coding, framing and other steps), and the three-dimensional warehouse (referring to the warehousing and outbound steps). The entire process is linked to the L3 system through the QR code on the coupling frame to issue production information;

[0097] 2. The implementation of the technical solution of the present invention records the quality data and processing parameters generated by the process flow in frames, and assists operators in optimizing the production rhythm;

[0098] 3. The technical solution of the present invention realizes the replacement of manual labor by robots through robot + 3D vision technology; the production line has 10 robots replacing manual labor, which improves the level of informatization and intelligence in the area and realizes environmentally friendly and green manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Figure 1 It is a flowchart diagram of the technical path of the present invention;

[0100] Figure 2 It is a schematic diagram of the plan layout of the process equipment of the present invention;

[0101] Figure 3 It is a schematic diagram of the AGV distribution process of the present invention;

[0102] Figure 4 It is a schematic diagram of the structure of the two-dimensional code recognition system of the present invention;

[0103] Figure 5 It is a schematic diagram of the hardware system framework structure of the present invention;

[0104] Figure 6 It is a schematic diagram of the L2 system composition of the present invention;

[0105] Figure 7 It is a block diagram of the control flow of the L2 system of the present invention;

[0106] Figure 8 This is a schematic diagram of the location of each number on the material rack in the temporary storage area;

[0107] Fig. 9 It is a schematic diagram of the layout, numbering and location of each device in the flaw detection line area;

[0108] Fig.10 It is a schematic diagram of the layout and numbering positions of each equipment in the phosphating line area;

[0109] Fig.11 It is a schematic diagram of the layout, numbering and location of each equipment in the phosphating outlet and painting line entrance area;

[0110] Fig.12 It is a schematic diagram of the layout, numbering and location of each equipment in the vertical warehouse area;

[0111] Fig.13 Schematic diagram of the entire workflow of an embodiment of the present invention.

[0112] In the figure, A is the loading area, B is the flaw detection area, C is the phosphating loading area, D is the phosphating unloading area and the painting loading area, and E is the painting unloading area and the three-dimensional warehouse area. DETAILED DESCRIPTION

[0113] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0114] The technical solution of the present invention includes the following contents:

[0115] After the coupling products are machined, a plurality of coupling frames are used to accommodate / place the various "couplings" that have been machined; on each coupling frame, a QR code containing relevant production information of the accommodated coupling is set.

[0116] The system for tracking couplings by baskets uses the QR code on the coupling frame as a carrier and is composed of six parts: an L3 system (functionally defined as a coupling data warehouse), an MES system (functionally defined as a logistics intelligent management system, also known as a production control system), an RCS (functionally defined as a reaction control system), an AGV system (functionally defined as a logistics intelligent transportation system), a QR code reading system, and a coupling processing area.

[0117] The two-dimensional code reading system described above is respectively equipped with two-dimensional code readers on the AGV trolley, the coupling flaw detection buffer area, the flaw detection line loading and unloading stations, the phosphating line loading and unloading stations, the painting line loading and unloading stations, the three-dimensional warehouse loading and unloading stations, etc. The two-dimensional code information read by the two-dimensional code reading system is sent to the MES system.

[0118] 1. The technical operation path of the hoop basket in this technical solution is as follows: Figure 1 As shown in:

[0119] ① The coupling frame is transported to the magnetic particle inspection buffer area (i.e., the loading platform) by a forklift, and the RCS is dispatched through the MES (coupling intelligent logistics management system). The RCS dispatches the AGV (the AGV trolley is equipped with a QR code scanner) to transport the coupling frame from the loading platform to the magnetic particle inspection loading station. The code reader on the magnetic particle inspection loading station reads the QR code on the coupling frame, and the QR code information is sent to the MES system. The MES instructs the robot to realize automatic loading and unloading and framing of magnetic particle inspection. Qualified products are loaded into the phosphating frame (unqualified products are directly rejected), and then transported to the phosphating device loading station by the AGV. If the coupling does not need magnetic particle inspection, it is directly transported to the phosphating device loading station by the AGV.

[0120] ② After phosphating is completed, MES dispatches RCS after receiving the phosphating completion signal, and RCS dispatches AGV to transport the coupling frame to the designated loading station of each painting line.

[0121] ③ The painting line robot automatically loads and unloads materials to realize the spectral steel separation, surface painting, laser engraving, anti-rust oil coating, and coding of the coupling. Then, the robot automatically frames the coupling. After MES receives the completion signal of the painting line, MES dispatches RCS, and RCS dispatches AGV to transport the coupling frame to the loading buffer area of ​​the stereoscopic warehouse.

[0122] ④ The intelligent warehouse management system of the three-dimensional warehouse dispatches the stacker of the three-dimensional warehouse to put the finished coupling frames in the loading buffer area into the warehouse.

[0123] ⑤ After the L3 system receives the coupling demand from the pipe production line, the three-dimensional warehouse intelligent warehouse management system receives the L3 instruction, and the three-dimensional warehouse intelligent warehouse management system dispatches the stacker to deliver the taken coupling to the delivery buffer area, and then transports it to each pipe production line by a traditional forklift.

[0124] 2. Process layout and flow description of this technical solution:

[0125] like Figure 2 As shown in the technical solution of the present invention, according to the process function, the production line is divided into five areas, namely, loading area A, flaw detection area B, phosphating loading area C, phosphating unloading area and painting loading area D and stereoscopic warehouse area E.

[0126] 3. AGV distribution process:

[0127] See also Figure 3 As shown in , in this technical solution, the AGV distribution process is as follows:

[0128] 1) The MES system processes the collected information and generates AGV handling instructions after processing;

[0129] 2) The AGV (AGV for short) receives the transport instruction and goes to the starting point for transport;

[0130] 3) After the AGV transports the designated logistics to the destination, it will feedback the completion information;

[0131] 4) The MES system processes the information and updates the storage location;

[0132] 5) The AGV receives the next task or goes to recharge.

[0133] 4. QR code reading system:

[0134] In this technical solution, the structural diagram of the two-dimensional code recognition system is shown in Figure 4 As shown in , the specific information transmission path is:

[0135] 1) The coupling information in the coupling basket in the loading buffer area is transmitted to the L3 system and the QR code on the coupling basket is generated;

[0136] 2) The L3 system sends the coupling information to the MES system;

[0137] 3) The QR code on the coupling basket is read by the code reader on the AGV and sent to the MES system;

[0138] 4) The MES system generates AGV handling instructions;

[0139] 5) The AGV system receives the handling instructions from the MES and schedules the running trajectory of the AGV;

[0140] 6) The AGV completes the handling operation and then feeds back the execution results to the MES.

[0141] In the above process, both the party issuing the instruction and the party receiving the instruction have a data exchange process of issuing the instruction, receiving the instruction and executing the result.

[0142] 5. System framework structure:

[0143] In this technical solution, the entire system framework structure diagram is shown in Figure 5 As shown in:

[0144] In the figure, 1 is the data interaction between L3 and MES; 1.1 is L3 and the loading buffer area; 1.2 is L3 and the three-dimensional warehouse; 2 is MES and AGV; 2.1 is MES and the loading buffer area; 2.2 is MES and the magnetic particle flaw detection line; 2.3 is MES and the phosphating line; 2.4 is MES and the painting line; 2.5 is MES and the three-dimensional warehouse; 3.1 is AGV and the loading buffer area; 3.2 is AGV and the magnetic particle flaw detection line; 3.3 is AGV and the phosphating line; 3.4 is AGV and the painting line; 3.5 is AGV and the three-dimensional warehouse; 4.1 is the flaw detection line and the flaw detection loading and unloading robot; 4.2 is the phosphating line and the phosphating carriage; 4.3 is the painting line and the painting loading and unloading robot; 4.4 is the data interaction between the three-dimensional warehouse and the three-dimensional warehouse stacker.

[0145] Since the above-mentioned system framework structure and data transmission path are drawn according to the standard method in the field, technicians in the field can understand their meanings without any doubt and will not be described here.

[0146] 6. Distribution process of each raw material area by frame:

[0147] 6.1. Raw material area - flaw detection process - raw material area distribution process:

[0148]

[0149] 6.2 Empty phosphating frame buffer area - flaw detection process delivery process:

[0150]

[0151] 6.3 NDT process - delivery process of the buffer area to be phosphated:

[0152]

[0153] 6.4 Delivery process from phosphating buffer area to phosphating process:

[0154]

[0155] 6.5 Phosphating process → Delivery process to the buffer area to be painted:

[0156]

[0157] 6.6 Buffer area to be painted → Delivery process of painting process:

[0158]

[0159] 6.7 Painting process → Empty phosphating frame buffer area delivery process:

[0160]

[0161] 6.8 Painting process → warehouse docking interface → painting process delivery process:

[0162]

[0163]

[0164] 6.9 Distribution process from vertical warehouse interface → finished product delivery area → vertical warehouse interface:

[0165]

[0166] 7. Hardware composition of the control system:

[0167] 7.1, L2 system architecture:

[0168] Configure 1 L2 process server and 1 operation terminal, configure 1 operation terminal in the loading area, and configure a mobile PAD for loading confirmation and equipment inspection.

[0169] Data communication between the L3 system and various devices is achieved through Ethernet. The L2 system is composed of Figure 6 as shown in .

[0170] 7.1.1 Communication between systems:

[0171] The L2 system communicates with the L3 system using TCP / IP Socket, and the communication with L1 mainly uses OPC.

[0172] The L2 system has communication interfaces with the following external systems:

[0173] 1) L3 system;

[0174] 2)Handheld barcode scanner;

[0175] 3) Magnetic particle inspection auxiliary machine PLC;

[0176] 4) Phosphating PLC;

[0177] 5) Paint line auxiliary machine PLC;

[0178] 6)AGV;

[0179] 7) Stereoscopic warehouse.

[0180] 7.2、Application system functions:

[0181] The L2 system control flow in this technical solution is shown in Figure 7 As shown in, it specifically includes:

[0182] 1) L3 issues a query command;

[0183] 2) Temporary storage of loading materials;

[0184] 3) Communicate with flaw detection PLC;

[0185] 4) Determine whether loading is allowed? If yes, proceed to the next step; if no, return to the previous step;

[0186] 5) AGV path setting and distribution;

[0187] 6) Perform “Flaw Detection” operation;

[0188] 7) Collecting actual flaw detection results;

[0189] 8) The “Flaw Detection” operation is completed;

[0190] 9) Determine whether "phosphating" is allowed? If "yes", proceed to the next step; if "no", return through the "phosphating buffer";

[0191] 10) AGV path setting and distribution;

[0192] 11) Perform "phosphating" operation;

[0193] 12) Collect phosphating results;

[0194] 13) The "phosphating" operation is completed;

[0195] 14) Determine whether "painting" is allowed? If "yes", proceed to the next step, if "no", return through the "painting buffer";

[0196] 15) AGV path setting and distribution;

[0197] 16) Perform the "painting" operation;

[0198] 17) Collect painting results;

[0199] 18) The "painting" operation is completed;

[0200] 19) Determine whether the entrance to the three-dimensional warehouse is free. If yes, proceed to the next step; if no, wait;

[0201] 20) AGV path setting and distribution;

[0202] 21) Execute the "entry" operation;

[0203] 22) The execution result is returned to L3.

[0204] Implementation effect comparison:

[0205] Before implementation:

[0206] The magnetic particle flaw detection of couplings in a seamless steel pipe factory is distributed in the special buckle and accessories workshop. The couplings need to be transported by forklift between phosphating and painting. The equipment is arranged in a dispersed manner, which is not convenient for centralized management and production organization.

[0207] Materials between the front and rear units are transported by manual forklifts, which cannot be efficiently transported and results in low production efficiency.

[0208] The materials on and off the magnetic particle inspection, phosphating and painting lines are all manually moved and loaded from the frames, which has high labor intensity and low labor efficiency.

[0209] The quality data and processing parameters generated by the three process flows of coupling flaw detection, phosphating and painting line (spectral steel classification, painting, engraving, anti-rust oil coating and coding) cannot be recorded and saved in frames, resulting in chaotic quality management and product traceability.

[0210] After implementation:

[0211] Using the QR code on the coupling frame as a carrier and through the QR code recognition system, the MES system dispatches the AGV automatic guided transport vehicle to transfer the coupling frame from the loading platform, flaw detection, phosphating, painting line (spectral steel separation, painting, engraving, anti-rust oil coating, coding, framing), and three-dimensional warehouse (warehousing and outbound). The entire process is connected to the L3 system through the QR code on the coupling frame to issue production information; using "frame" as the unit, it records the quality data and processing parameters generated by the process flow to assist operators in optimizing the production rhythm.

[0212] Through robot + 3D vision technology, robots have replaced manual work; the production line has 10 robots replacing manual work, which has improved the level of informatization and intelligence in the area and achieved environmentally friendly and green manufacturing.

[0213] Example:

[0214] The specific implementation process of this technical solution is further described below by region:

[0215] 1. Loading area:

[0216] An L2 operation terminal is set up in the material loading temporary storage area to display the production plan issued by L3.

[0217] Before loading, a manual forklift transports the coupling to the lower level of the area, and a handheld barcode scanner is used to scan the QR code on the raw material frame and the rack location number. After reading, L2 matches the production plan information and displays it.

[0218] The L2 system automatically receives the production schedule of the L3 system (material feeding plan L3 manual scheduling), saves the local database and displays it;

[0219] The L2 system displays the position information of the temporary storage area (Area A) and defines it separately. The material racks in the temporary storage area are divided into upper and lower layers. The upper racks are empty racks and the lower racks are full racks, with a total of 22 positions. The position number of each position of the temporary storage area racks (defined as A01U~A11U, A01D~A11D) is as follows: Figure 8 as shown in .

[0220] Process flow of loading area:

[0221] Manual loading is completed → scan the QR code of the material rack → scan the paper label and material frame QR code → manual binding confirmation on the L2 operation terminal.

[0222] Coupling production sequencing: Manually confirm the production queue and sequencing, and press the confirmation button to start automatic generation.

[0223] The main process information of L3 telegram: frame number (pack_no), manufacturing order number (pono), contract number (order_no), trial batch number (sample_lot_no), tube bundle type (bundle_type), order quantity (order_qty), and order tube quantity (order_tube).

[0224] 2. Flaw detection line area:

[0225] During the production process, the real-time path and status of the AGV are displayed on the production control operation screen. When the AGV completion information is received, the L2 system notifies the magnetic particle inspection to start production.

[0226] During the working process, the magnetic particle inspection sends the inspection information to the L2 system, which counts and displays the current production information (production information includes the total number of contracts, the current total number of qualified products, the total number of scrapped products, the current number of finished products in the box, and other related production information).

[0227] When the number of finished material frames is completed, the magnetic particle inspection will inform the production control of the completion signal.

[0228] Production control informs AGV to carry out transportation, and the transportation point is the phosphating loading station or the magnetic particle inspection buffer station.

[0229] Before the AGV carries out transportation, it will conduct safety confirmation with the magnetic particle inspection unit, and carry out transportation after confirmation.

[0230] The location of the material racks in the flaw detection area, where the material racks are divided into loading area, unloading area and scrap area.

[0231] The finished material frame in the loading area can hold two material frames transported from the raw material area (area A), and a material rack position number is set. The raw material frame position number of each working position is (defined as B001, B003, B005, B007).

[0232] The unloading area is a large phosphating frame with position numbers (defined as B002, B004, B005, B008).

[0233] The numbering definition of each device in the flaw detection line area is as follows: Fig. 9 as shown in .

[0234] Process flow of flaw detection area:

[0235] 1) Determine the loading position in the flaw detection area - empty position - call AGV to transport the raw material frame - transport it to the flaw detection loading position;

[0236] 2) Identify the loading position in the flaw detection area ---- empty frame ---- call AGV to transport the raw material frame ---- transport the raw material loading station or buffer area;

[0237] 3) L2 determines the material unloading position in the flaw detection area ---- empty position ---- calls AGV to transport the empty phosphating frame ---- transports it to the material unloading position in the flaw detection area;

[0238] 4) L2 determines the material unloading position in the flaw detection area - full frame - call AGV to transport the empty phosphating frame - transport it to the phosphating area or buffer area.

[0239] Couplings of different specifications cannot be produced at the same time. The production of the previous specification must be completed and the new phosphating frame must be replaced before the new product can be produced.

[0240] There is a waste frame in the waste area. The waste frame does not produce automatic control and is replaced manually after a specified time.

[0241] Raw material frame process information: frame number, quantity;

[0242] Phosphating frame process information: frame number (virtual number), quantity.

[0243] 3. Phosphating line area:

[0244] The loading of coupling phosphating unit is ordered by L2 system. There are two areas for phosphating material loading: one is the magnetic particle inspection unloading station, the other is the magnetic particle inspection buffer station. The specific loading location is scheduled by L2 system.

[0245] After the L2 system sends the frame material information, frame coupling information, and phosphating process information to the phosphating unit, the phosphating unit will receive the AGV's loading application at the same time. After the loading conditions are met, the phosphating unit agrees to the AGV loading. After the loading is completed, the phosphating unit will produce according to the phosphating process issued by the L2 system. During the production process, the real-time production data will be sent to the L2 system and displayed on the L2 system screen.

[0246] The phosphating material loading area (area C) position information includes the entrance phosphating frame position (C011), and the phosphating raw material box temporary storage area has 20 positions defined (defined as C01U~C10U, C01D~C10D). Fig.10 as shown in .

[0247] Phosphating area process flow:

[0248] 1) L2 determines the loading position in the phosphating area - empty position - calls AGV to transport the phosphating raw material frame - transports it to the phosphating loading position;

[0249] 2) L2 determines the unloading position in the phosphating area - full position - calls AGV to transport the full phosphating frame - transports it to the loading position and buffer area in the painting area;

[0250] Phosphating frame process information: frame number (virtual number), quantity.

[0251] 4. Paint line area

[0252] When the material position on the painting line is free, the L2 system will issue a painting loading task, and send the material frame information, the coupling information in the frame, and the painting process information to the painting line unit. At the same time, the painting unit will receive the AGV's loading application. After the loading conditions are met, the painting unit agrees to the AGV loading. After the loading is completed, the painting unit will produce according to the painting process issued by the L2 system. During the production process, the real-time production data will be sent to the L2 system and displayed on the screen of the L2 system.

[0253] When the painting unit completes production, it informs the L2 system, and the L2 system assigns the task to the AGV and the three-dimensional warehouse. The three-dimensional warehouse stores the final product and sends the production results to L3.

[0254] The position information of the phosphating line feeding area and the painting line feeding area (area C) includes the export phosphating frame position (D001), the painting line feeding area position definition (defined as D006~D008), and the painting line feeding cache temporary storage area position definition (defined as D02U~D05U, D02D~D05D).

[0255] Phosphating outlet and painting line entrance location information such as Fig.11 as shown in .

[0256] Phosphating line export material frame process:

[0257] 1) L2 determines the material position of the phosphating frame - occupies the position - calls AGV to transport - transports to the loading station or buffer area of ​​the painting line

[0258] 2) L2 determines the material position on the painting line - empty space - call AGV for transportation - load materials from the painting line loading station or buffer area

[0259] 3) L2 determines the material position on the painting line - empty frame - calls AGV to transport - phosphating empty frame to cache position

[0260] Phosphating frame information: frame number (virtual number), quantity.

[0261] 5. Vertical warehouse area:

[0262] The three-dimensional warehouse area is responsible for the storage of finished couplings and the removal of empty frames.

[0263] The position information of the unloading area under the painting line and the vertical warehouse area (area E) includes the unloading area position under the painting line (E001~E006), the definition of the import and export position of the vertical warehouse area (E007, E008), and the temporary storage area position number (E009~E012); the position information of the unloading area under the painting line and the vertical warehouse area (area E) is as follows Fig.12 as shown in .

[0264] Painting line outlet frame process:

[0265] 1) L2 determines the material position at the outlet of the painting line - the material is full - calls the AGV to transport it - and transports it to the vertical warehouse area;

[0266] 2) L2 determines the material position at the outlet of the painting line - empty position - calls AGV to transport - transports the empty frame from the vertical warehouse to the material position at the outlet of the painting line.

[0267] Process information: frame number (virtual number), contract number, manufacturing order number, quantity.

[0268] 6. AGV logistics dispatch:

[0269] L2 sets the starting point and end point of the AGV according to production requirements and signals such as equipment loading permission and production completion. The cache area does not set a specific location. The AGV path is executed by the AGV system. After receiving the command, the AGV executes the transportation and cache commands and feeds back the execution results to L2.

[0270] 7. Production monitoring:

[0271] The L2 system monitors the entire production process and production information flow, displays the production plan, displays the main logistics path and production material information, displays the production results and generates reports.

[0272] In summary, in this embodiment, the entire workflow of the technical solution of the present invention is as follows: Fig.13 As shown in , it specifically includes the following contents:

[0273] Incoming materials: When raw materials are received, manual forklifts move the raw material boxes to the vacant storage space on the first floor of the raw material temporary storage area.

[0274] Incoming materials entering the warehouse: The storage location detection sensor in the raw material temporary storage area detects that the storage location is full, and transmits the storage location change information to the coupling area L3 system and production control system through the RCS system, and the storage location information of the production control system is updated.

[0275] Raw material loading of magnetic particle inspection line: Based on actual production needs, the system sends handling tasks to the RCS system through the Ethernet interface. The RCS automatically dispatches the AGV to the designated raw material temporary storage area, transports the raw material baskets to the designated magnetic particle inspection loading station, and feeds back the information to the production control system.

[0276] Magnetic particle inspection offline parts: After the magnetic particle inspection is completed and the phosphating basket is full, the production control system sends a handling task to the RCS system through the Ethernet interface according to the actual production needs. The phosphating basket is transported to the phosphating automatic online parts station or the magnetic particle inspection completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and station information.

[0277] Phosphating automatic line parts: The production control system sends the handling task to the RCS system through the Ethernet interface according to the actual production needs. The RCS automatically dispatches the AGV to the task-specified magnetic particle inspection completion buffer area or the magnetic particle inspection automatic line parts station, and transports the phosphating material basket to the phosphating automatic line parts station and feeds back the information to the production control system.

[0278] Phosphating automatic line unloading: When the phosphating station is full, the production control system sends the handling task to the RCS system through the Ethernet interface according to the actual production demand. The AGV transports the phosphating material basket to the painting automatic line unloading station or the phosphating completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and station information.

[0279] Automatic painting line loading: The production control system sends the handling task to the RCS system through the Ethernet interface according to the actual production needs. The RCS automatically dispatches the AGV to the task-specified phosphating completion buffer area or the phosphating automatic line loading station, and transports the phosphating material basket to the automatic painting line loading station and feeds back the information to the production control system.

[0280] Automatic painting line parts: When the automatic painting line parts station is full, the production control system sends a handling task to the RCS system through the Ethernet interface according to actual production needs. The AGV carries the raw material basket to the vertical warehouse interactive station. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and station information.

[0281] Interactive workstations in vertical warehouses: When the workstation for automatic painting line is empty, the production control system sends a handling task to the RCS system through the Ethernet interface according to actual production needs. The AGV carries the raw material basket to the workstation for automatic painting line. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and workstation information.

[0282] Charging station: When the AGV reports to the RCS system that the vehicle is low on battery, the RCS system will remove the low-battery AGV from the task waiting AGV task list, and the low-battery AGV will no longer accept new task assignments. At the same time, the RCS system will issue a charging task to the low-battery AGV. The low-battery AGV will run to the charging station according to the task and charge. After the battery is fully charged, it will feedback to the RCS system, go back online, enter the task waiting AGV list, and wait for task assignment from the RCS system.

[0283] The technical solution of the present invention uses the QR code on the coupling basket as a carrier, and transfers the coupling frame from the loading platform, flaw detection, phosphating, painting line (spraying, engraving, applying anti-rust oil, coding, framing), and three-dimensional warehouse (warehousing and outbound) through the AGV transportation system. The entire process is connected with L3 through the QR code on the coupling basket, and production information is issued. Through robot + 3D vision technology, robots replace manual operations. The production line is replaced by 10 robots to improve the level of informatization and intelligence in the area and realize environmentally friendly and green manufacturing.

[0284] The present invention can be widely used in the field of production process management or manufacturing process control of coupling products.

Claims

1. A system for tracking couplings by baskets, comprising: after the coupling products are machined, using a plurality of coupling frames to place the finished couplings after the machining, characterized in that: 1) For each coupling, record the relevant production and manufacturing information during the manufacturing process and generate a corresponding QR code; 2) The two-dimensional code containing the relevant production information of the corresponding coupling is set on a coupling frame for accommodating the corresponding coupling; 3) at least one automatic guided vehicle (AGV) is provided to transport the coupling frames between various areas of the production line; 4) Setting up a QR code recognition system to read and summarize the QR code on each coupling frame and upload the relevant production and manufacturing information of the corresponding coupling; 5) Set up a logistics intelligent management system MES to dispatch AGV to transport the coupling frame to each designated loading station on the production line according to the production process and L3 system instructions, and the robot will automatically load and unload the magnetic particle inspection and frame installation; 6) A QR code scanner is installed on each AGV to read the QR code on the coupling frame, and the read QR code information is summarized and transmitted to the logistics intelligent management system MES; 7) Use MES to dispatch AGVs and use AGVs to transport the coupling frames between various workstations on the production line; 8) Realize unmanned transportation in the material handling process and improve the automation level of the entire workshop.

2. The system for realizing the tracking of the coupling by the basket according to claim 1, characterized in that The system for tracking couplings by baskets uses the QR code on the coupling basket as a carrier, and transfers the coupling frame from the loading platform, flaw detection, phosphating, painting line, and stereoscopic warehouse through the AGV transportation system. The entire process is linked to L3 through the QR code on the coupling basket, and production information is issued. Through the robot + 3D vision technology, robots replace manual labor, thereby improving the information and intelligent level of the area and realizing environmentally friendly and green manufacturing.

3. The system for realizing the tracking of the coupling by the basket according to claim 1, characterized in that The painting line includes painting, engraving, anti-rust oil application, coding and framing processes; The three-dimensional warehouse includes storage and outbound processes.

4. The system for realizing the tracking of the coupling by the basket according to claim 1, characterized in that According to the process function, the production line is divided into five areas, namely loading area A, flaw detection area B, phosphating loading area C, phosphating unloading area and painting loading area D, and painting unloading area and stereoscopic warehouse area E.

5. The system for realizing the tracking of the collar by the basket according to claim 1, characterized in that The two-dimensional code reading system is provided with two-dimensional code readers on the equipment or workstations including the AGV trolley, the coupling flaw detection buffer area, the flaw detection line loading and unloading station, the phosphating line loading and unloading station, the painting line loading and unloading station, and the stereoscopic warehouse loading and unloading station; The two-dimensional code information read by the two-dimensional code reading system is sent to the MES system.

6. A control method for a system for realizing coupling tracking by basket as claimed in claim 1, characterized in that The system for realizing the tracking of the collar by the basket is controlled and operated according to the following steps: 1) The coupling frame is transported to the magnetic particle inspection buffer area, i.e., the loading platform, by a forklift. The MES dispatches the RCS, and the RCS dispatches the AGV trolley to transport the coupling frame from the loading platform to the magnetic particle inspection loading station. The code reader on the magnetic particle inspection loading station reads the QR code on the coupling frame. The read QR code information is sent to the MES system through the QR code recognition system. The MES instructs the robot to realize automatic loading and unloading and framing of magnetic particle inspection. Qualified products are loaded into the phosphating frame, and unqualified products are directly rejected. Then, the coupling is transported to the phosphating device loading station by the AGV trolley. If the coupling does not need magnetic particle inspection, it is directly transported to the phosphating device loading station by the AGV trolley. 2) After the phosphating is completed, MES receives the phosphating completion signal and dispatches the AGV to transport the coupling frame to the designated loading station of each painting line; 3) The painting line robot automatically loads and unloads materials to realize the spectral steel separation, surface painting, laser engraving, anti-rust oil coating, and coding of the coupling. The robot automatically frames the coupling. After the MES receives the completion signal of the painting line, the MES dispatches the AGV car to transport the coupling frame to the loading buffer area of ​​the stereoscopic warehouse; 4) The intelligent warehouse management system of the three-dimensional warehouse dispatches the stacker of the three-dimensional warehouse to store the finished coupling frames in the loading buffer area; 5) After the L3 system receives the coupling demand from the pipe production line, the three-dimensional warehouse intelligent warehouse management system receives the L3 instruction, and the three-dimensional warehouse intelligent warehouse management system dispatches the stacker to deliver the taken coupling to the delivery buffer area, and then transports it to each pipe production line by a traditional forklift.

7. The control method of the system for realizing the tracking of the coupling by the basket according to claim 6, characterized in that The control method specifically comprises the following steps: 1) L3 issues a query command; 2) Temporary storage of loading materials; 3) Communicate with flaw detection PLC; 4) Determine whether loading is allowed? If "yes", proceed to the next step, if "no", return to the previous step; 5) AGV path setting and distribution; 6) Perform "Flaw Detection" operation; 7) Collecting actual flaw detection results; 8) "Flaw detection" operation is completed; 9) Determine whether "phosphating" is allowed? If "yes", proceed to the next step; if "no", return through the "phosphating buffer"; 10) AGV path setting and distribution; 11) Perform "phosphating" operation; 12) Collect phosphating results; 13) "Phosphating" operation is completed; 14) Determine whether "painting" is allowed? If "yes", proceed to the next step, if "no", return through the "painting buffer"; 15) AGV path setting and distribution; 16) Execute the "painting" operation; 17) Collect painting results; 18) The "painting" operation is completed; 19) Determine whether the entrance to the three-dimensional library is free. If yes, proceed to the next step; if no, wait; 20) AGV path setting and distribution; 21) Execute the "entry" operation; 22) The execution result is returned to L3.

8. The control method of the system for realizing the tracking of the coupling by the basket according to claim 6 is characterized in that The distribution process of the AGV car is as follows: 1) The MES system processes the collected information and generates AGV handling instructions after processing; 2) The AGV receives the transport instruction and goes to the starting point for transport; 3) After the AGV transports the designated logistics to the destination, it will feedback the completion information; 4) The MES system processes the information and updates the storage location; 5) The AGV receives the next task or goes to recharge.

9. The control method for realizing the system of tracking the coupling by the basket according to claim 6, characterized in that The information transmission path of the two-dimensional code recognition system is: 1) The coupling information in the coupling basket in the loading buffer area is transmitted to the L3 system and the QR code on the coupling basket is generated; 2) The L3 system sends the coupling information to the MES system; 3) The QR code on the coupling basket is read by the code reader on the AGV and sent to the MES system; 4) The MES system generates AGV handling instructions; 5) The AGV system receives the handling instructions from the MES and schedules the running trajectory of the AGV; 6) The AGV completes the handling operation and then feeds back the execution results to the MES.

10. The control method of the system for realizing the tracking of the coupling by the basket according to claim 5, characterized in that The control method described above performs the following operations and information transmission for different production areas or workstations: 1) Incoming materials: When raw materials arrive, manual forklifts move the raw material boxes to the vacant storage space on the first floor of the raw material temporary storage area; 2) Incoming materials into warehouse: When the storage location detection sensor in the raw material temporary storage area detects that the storage location is full, the storage location change information is transmitted to the L3 system in the coupling area and the production control system through the RCS system, and the storage location information of the production control system is updated; 3) Raw materials for magnetic particle testing line: According to actual production needs, the handling task is issued to the RCS system. The RCS automatically dispatches the AGV to the designated raw material temporary storage area, transports the raw material basket to the designated magnetic particle inspection loading station, and feeds back the information to the production control system. 4) Magnetic particle inspection offline parts: After the magnetic particle inspection is completed and the phosphating basket is full, the production control system issues a handling task to the RCS system according to actual production needs; the phosphating basket is transported to the phosphating automatic line workstation or the magnetic particle inspection completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and workstation information; 5) Phosphating automatic line parts: The MES production control system sends the handling task to the RCS system according to the actual production demand. The RCS automatically dispatches the AGV to the task-specified magnetic particle inspection completion buffer area or the magnetic particle inspection automatic line assembly station, transports the phosphating material basket to the phosphating automatic line assembly station and feeds back the information to the production control system. 6) Phosphating automatic offline parts: When the phosphating station is full, the production control system sends a handling task to the RCS system according to actual production needs; the AGV transports the phosphating material basket to the painting automatic line loading station or the phosphating completion buffer area. After completing the handling task, the RCS system feedbacks the task completion to the production control system, and the production control system updates the warehouse and station information; 7) Automatic painting line parts: The MES production control system sends the handling task to the RCS system according to the actual production needs. The RCS automatically dispatches the AGV to the task-specified phosphating completion buffer area or the phosphating automatic line assembly station, transports the phosphating material basket to the painting automatic line assembly station and feeds back the information to the production control system. 8) Automatic painting line parts: When the unloading station of the automatic painting line is full, the production control system sends the handling task to the RCS system according to the actual production demand; the AGV car transports the raw material basket to the interactive station of the vertical warehouse; After completing the handling task, the RCS system will report the task completion to the production control system, and the production control system will update the warehouse location and workstation information; 9) Vertical warehouse interactive station: When there is a vacant space for unloading workpieces at the automatic painting line, the production control system sends a handling task to the RCS system based on actual production needs; The AGV trolley transports the raw material basket to the painting automatic line unloading station; After completing the handling task, the RCS system will report the task completion to the production control system, and the production control system will update the warehouse location and workstation information; 10) Charging station: When the AGV reports to the RCS system that the vehicle is low on battery, the RCS system will remove the low-battery AGV from the task waiting AGV task list, and the low-battery AGV will no longer accept new task assignments. At the same time, the RCS system will issue a charging task to the low-battery AGV. The low-battery AGV will run to the charging station according to the task and charge. After the battery is fully charged, it will feedback to the RCS system, go back online, enter the task waiting AGV list, and wait for task assignment from the RCS system.

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