Dual-carrier workpiece conveying control method and electronic equipment

Abstract

This invention discloses a dual-carrier workpiece conveying control method and electronic device. The method includes determining whether there is material at the current workstation; if the current workstation is determined to be empty, raising the first stop and lowering the second stop at the current workstation; if the first carrier leaves the second stop at the current workstation, raising the second stop; determining whether the current workstation has completed its operation; after the current workstation has completed its operation, determining whether there is material at the downstream workstation; if the downstream workstation is determined to be empty, lowering the first and second stops at the current workstation. This invention lowers both the first and second stops simultaneously when releasing a carrier at a workstation, and only raises the first stop when receiving a carrier at the workstation, and raises the second stop in a timely manner to block the second carrier by judging the position of the first carrier. Therefore, this invention can convey two carriers simultaneously, improving conveying efficiency.

Description

Technical Field

[0001] This invention relates to the field of workpiece conveying technology, and in particular to a dual-carrier workpiece conveying control method, electronic equipment, storage medium, and computer program product. Background Technology

[0002] like Figure 1 The diagram shows a prior art dual-carrier workpiece conveying system. It includes five stations: OP1, OP2, OP3, OP4, and OP5. At each station, workpieces on the dual carriers are processed. The carriers are pallets, and each station is equipped with a left stop to block the left pallet and a right stop to block the right pallet.

[0003] For the control of stations other than the starting station OP1 and the ending station, the existing technology suffers from inefficiency. Taking the arrival of the two workpieces from station OP2 to station OP3 as an example, the existing technology requires first determining that the right area of ​​station OP3 is empty, then controlling the left stop 1' of station OP2 to descend, and the left pallet 3' to be released to reach the right area of ​​station OP3. If the left area of ​​station OP3 is detected to be empty, the right stop 2' of station OP3 descends, and the workpiece continues to be released to the left area of ​​station OP3. Alternatively, the right stop 2' of station OP3 can be descended directly, directly reaching the left area of ​​station OP3 in one step. Then, when the left pallet 3' of station OP2 carrying the workpiece arrives at the left area of ​​station OP3, the right stop 2' of station OP2 descends, and the right pallet 4' is released, until the right area of ​​station OP3 is reached.

[0004] Therefore, existing dual-carrier workpiece conveying technologies cannot achieve simultaneous conveying of both carriers at stations other than the starting and ending stations, resulting in low efficiency. Summary of the Invention

[0005] Therefore, it is necessary to address the technical problem of low efficiency in the control of existing dual-carrier workpiece conveying systems, which cannot achieve simultaneous conveying of both carriers at stations other than the starting and ending stations. A dual-carrier workpiece conveying control method, electronic equipment, storage medium, and computer program product should be provided.

[0006] This invention provides a dual-carrier workpiece conveying control method, comprising:

[0007] If it is determined that there is no material at the current workstation, the first blocker at the current workstation is raised and the second blocker at the current workstation is lowered. Each workstation is provided with a first blocker for blocking the first carrier and a second blocker for blocking the second carrier. The first blocker is located downstream of the second blocker. The workpiece is transported from upstream to downstream of the conveyor belt. The first carrier and the second carrier are used to support the workpiece.

[0008] When it is determined that the first carrier has left the second stop of the current workstation, the second stop of the current workstation is raised.

[0009] Determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material at the downstream workstation. If the downstream workstation determines that there is no material, lower the first and second blocks of the current workstation.

[0010] Further, each workstation includes a first arrival detection device and a second arrival detection device. The first arrival detection device is located between the first stop and the second stop at the workstation, and the second arrival detection device is located between the second stop at the workstation and the first stop at an upstream workstation. The step of raising the second stop at the current workstation when it is determined that the first carrier has left the second stop at the current workstation includes:

[0011] Acquire the second material level signal of the second arrival detection device at the current workstation, the second material level signal including: no material, approaching, in place, leaving;

[0012] When the second material level signal changes from "out" to "no material", it is determined that the first carrier has left the second stopper of the current station, and the second stopper is raised.

[0013] Furthermore, the second level detection device includes: a first sensor located downstream and a second sensor located upstream, wherein the second level signal includes a first bit of the second level signal output by the first sensor and a second bit of the second level signal output by the second sensor, wherein:

[0014] When both the first bit and the second bit of the second material level signal are not detected, the second material level signal indicates no material.

[0015] When the first bit of the second material level signal is not detected and the second bit of the second material level signal is detected, the second material level signal is close to being detected.

[0016] When both the first and second bits of the second material level signal are detected, the second material level signal is in position.

[0017] When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is exited.

[0018] Furthermore, the first level detection device includes: a first level detection sensor located downstream and a second level detection sensor located upstream. The first level detection device outputs a first level signal, which includes a first level signal output by the first level detection sensor and a second level signal output by the second level detection sensor. The first level signal includes no material, approaching, in place, and departing, wherein:

[0019] When both the first bit and the second bit of the first material level signal are not detected, the first material level signal indicates no material.

[0020] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is detected, the first material level signal is close to being detected.

[0021] When both the first bit and the second bit of the first material level signal are detected, the first material level signal is in position.

[0022] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is "departure".

[0023] Furthermore:

[0024] The step of determining whether there is material at the current workstation includes: detecting the first material level signal and the second material level signal at the current workstation; when both the first material level signal and the second material level signal at the current workstation are empty, it is determined that there is no material at the current workstation; otherwise, it is determined that there is material at the current workstation.

[0025] The step of determining whether there is material at the downstream station includes: detecting the first material level signal and the second material level signal at the downstream station; if both the first material level signal and the second material level signal at the downstream station are empty, it is determined that the downstream station is empty; otherwise, it is determined that the downstream station has material.

[0026] Furthermore, determining whether the current workstation has completed its execution includes:

[0027] When the first lifting device that performs the lifting operation on the first carrier of the current workstation is detected to rise, the first obstruction working memory value of the current workstation is set. When the first lifting device is detected to have descended into place, the first obstruction working memory value of the current workstation is cleared and the first obstruction working completion value of the current workstation is set.

[0028] When the second lifting device that is performing a lifting operation on the second carrier at the current workstation is detected to be rising, the second obstruction working memory value of the current workstation is set. When the second lifting device is detected to be descending into place, the second obstruction working memory value of the current workstation is cleared and the second obstruction working completion value of the current workstation is set.

[0029] When both the first blocking work completion value and the second blocking work completion value of the current workstation are set, it is determined that the current workstation has been completed.

[0030] Furthermore, each workstation also includes a first photoelectric detection device and a second photoelectric detection device. The first photoelectric detection device is disposed between the first blocker and the second blocker of the workstation, and the second photoelectric detection device is disposed between the second blocker of the workstation and the first blocker of the upstream workstation. The method further includes:

[0031] Obtain the first detection information output by the first photoelectric detection device and the second detection information output by the second photoelectric detection device at the current workstation;

[0032] The first carrier is determined to have a workpiece based on the first detection information, and the second carrier is determined to have a workpiece based on the second detection information.

[0033] An alarm is triggered if the first and second areas of the current workstation are determined to have material, and the first carrier and / or the second carrier are determined to have no workpiece.

[0034] This invention provides an electronic device, comprising:

[0035] At least one processor; and,

[0036] A memory communicatively connected to at least one of the processors; wherein,

[0037] The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the dual-carrier workpiece transport control method as described above.

[0038] The present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the dual-carrier workpiece conveying control method described above.

[0039] The present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the dual-carrier workpiece conveying control method as described above.

[0040] This invention simultaneously lowers the first and second blocking devices when releasing a carrier at the workstation, and raises only the first blocking device when receiving a carrier at the workstation. By judging the position of the first carrier, the second blocking device is raised in a timely manner to block the second carrier. Therefore, this invention can transport two carriers simultaneously, improving transport efficiency. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a prior art dual-carrier workpiece conveying system;

[0042] Figure 2 This is a flowchart illustrating a dual-carrier workpiece conveying control method according to an embodiment of the present invention.

[0043] Figure 3 This is a flowchart illustrating a dual-carrier workpiece conveying control method according to another embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the dual-carrier workpiece conveying system according to the preferred embodiment of the present invention;

[0045] Figure 5 A perspective view of the dual-carrier workpiece conveying system of the preferred embodiment of the present invention;

[0046] Figure 6 This is an enlarged schematic diagram of the vehicle according to the preferred embodiment of the present invention;

[0047] Figure 7 This is an enlarged schematic diagram of the vehicle from another angle, representing the preferred embodiment of the present invention.

[0048] Figure 8 A flowchart illustrating the workflow of a dual-carrier workpiece conveying control method according to the preferred embodiment of the present invention;

[0049] Figure 9 A flowchart of the station execution detection process for a dual-carrier workpiece conveying control method according to the preferred embodiment of the present invention;

[0050] Figure 10 This is a schematic diagram of the hardware structure of an electronic device according to the present invention.

[0051] Marker description

[0052] 1. First stopper; 2. Second stopper; 3. First carrier; 4. Second carrier; 5. First positioning detection device; 51. First sensor of the first positioning detection device; 52. Second sensor of the first positioning detection device; 6. Second positioning detection device; 61. First sensor of the second positioning detection device; 62. Second sensor of the second positioning detection device; 7. First photoelectric detection device; 71. First reflector; 8. Second photoelectric detection device; 81. Second reflector; 9. Workpiece. Detailed Implementation

[0053] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0054] like Figure 2 The diagram shown is a flowchart of a dual-carrier workpiece conveying control method according to an embodiment of the present invention, including:

[0055] Step S201: Determine whether there is material at the current workstation. When the current workstation is determined to be without material, raise the first blocker 1 at the current workstation and lower the second blocker 2 at the current workstation. Each workstation is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4. The first blocker 1 is located downstream of the conveyor belt relative to the second blocker 2. The workpiece is conveyed from upstream to downstream of the conveyor belt. The first carrier 3 and the second carrier 4 are used to support the workpiece.

[0056] Step S202: When it is determined that the first carrier 3 has left the second stopper of the current workstation, the second stopper 2 of the current workstation is raised;

[0057] Step S203: Determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material in the downstream workstation. If the downstream workstation determines that there is no material, lower the first blocker 1 and the second blocker 2 of the current workstation.

[0058] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as controllers of workpiece conveying systems.

[0059] The dual-carrier workpiece conveying control method of this invention is used to control other stations in a dual-carrier workpiece conveying system, excluding the starting and ending stations. The control of the starting and ending stations can be achieved using existing technologies.

[0060] For each station of the dual-carrier workpiece conveying system, except for the starting station and the ending station, steps S201 to S203 are executed respectively.

[0061] First, step S201 is executed to determine whether there is material at the current workstation. When the current workstation is determined to be without material, the first blocker 1 at the current workstation is raised and the second blocker 2 at the current workstation is lowered. Each workstation is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4. The first blocker 1 is located downstream of the second blocker 2. The workpiece is conveyed from upstream to downstream of the conveyor belt. The first carrier 3 and the second carrier 4 are used to support the workpiece.

[0062] Specifically, the upstream station is the nearest station upstream of the current station in the conveying system, and the downstream station is the nearest station downstream of the current station in the conveying system. When there is no material at the current station, the first stop 1 of the current station is raised, and the second stop 2 is lowered.

[0063] like Figure 4 As shown in the figure, the workpiece is transported from upstream to downstream. Figure 4 The rightward direction is upstream, and the leftward direction is downstream; the workpiece is transported from right to left.

[0064] The first stopper 1 is located downstream of the second stopper 2, i.e., the first stopper 1 is on the left and the second stopper 2 is on the right. Each workstation has one first stopper 1 and one second stopper 2. The first stopper 1 and the second stopper 2 use the existing lifting method to control the lifting. The first stopper 1 is used to block the first carrier 3 during lifting, and the second stopper 2 is used to block the second carrier 4 during lifting.

[0065] The first carrier 3 and the second carrier 4 are used to support the workpiece. Preferably, the first carrier 3 is a first pallet and the second carrier 4 is a second pallet.

[0066] Then, step S202 is executed, in which the second blocker 2 of the current workstation is raised when it is determined that the first carrier 3 has left the second blocker 2 of the current workstation.

[0067] Specifically, the first vehicle 3 and the second vehicle 4 wait for the upstream station to enter the current station. Since the second barrier 2 is located upstream, the first vehicle 3 will pass through the second barrier 2. When the first vehicle 3 leaves the second barrier 2, the second barrier 2 will rise to block the second vehicle 4.

[0068] The shorter the material receiving process time, the better. Figure 4Taking the material from station OP2 to station OP3 as an example, this embodiment releases the two carriers of the upstream station OP2 simultaneously. By judging the two material level signals, when the second material level signal changes from leaving to no material, that is, at the falling edge of the second material level signal, the second stopper of the current station is controlled to rise, which realizes the separation of the first carrier and the second carrier, solves the collision problem between the two carriers, thereby doubling the operation speed and reducing the station operation time from the original 12s to 6s, greatly improving work efficiency.

[0069] Finally, step S203 is executed to determine whether the current workstation has been completed. After the current workstation has been completed, it is determined whether there is material in the downstream workstation. If the downstream workstation is determined to be without material, the first blocker 1 and the second blocker 2 of the current workstation are lowered.

[0070] The operation of the workpiece at the workstation can be performed by other equipment. Once the operation on other equipment is completed, the current workstation is considered finished.

[0071] After the current workstation is completed, it is determined whether there is material at the downstream workstation. If the downstream workstation determines that there is no material, meaning there will be no interference with the first carrier 3 and the second carrier 4 at the current workstation, the first stopper 1 and the second stopper 2 at the current workstation are lowered, and the first carrier 3 and the second carrier 4 are released simultaneously. The same control method will be used for downstream workstations except for the end workstation.

[0072] During the material feeding process, it is necessary to determine whether the downstream station is empty. Figure 4 For example, when station OP3 is empty, station OP2 can start loading materials. Station OP1 can only load materials when station OP2 is empty.

[0073] This invention simultaneously lowers the first and second blocking devices when releasing a carrier at the workstation, and raises only the first blocking device when receiving a carrier at the workstation. By judging the position of the first carrier, the second blocking device is raised in a timely manner to block the second carrier. Therefore, this invention can transport two carriers simultaneously, improving transport efficiency.

[0074] like Figure 3 The diagram shown is a flowchart of a dual-carrier workpiece conveying control method according to another embodiment of the present invention, including:

[0075] Step S301: Detect the first material level signal and the second material level signal of the current station. If both the first material level signal and the second material level signal of the current station are empty, determine that the current station is empty; otherwise, determine that the current station is full. In this step, each station is equipped with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4. The first blocker 1 is located downstream of the second blocker 2. The workpiece is conveyed from upstream to downstream of the conveyor belt. The first carrier 3 and the second carrier 4 are used to support the workpiece.

[0076] In one embodiment, each workstation includes a first positioning detection device 5 and a second positioning detection device 6. The first positioning detection device 5 is located between a first blocker 1 and a second blocker 2 at the workstation, and the second positioning detection device 6 is located between the second blocker 2 at the workstation and the first blocker 1 at an upstream workstation.

[0077] In one embodiment, the second level detection device 6 includes: a first sensor 61 located downstream and a second sensor 62 located upstream. The second level signal includes a first bit of the second level signal output by the first sensor 61 and a second bit of the second level signal output by the second sensor 62, wherein:

[0078] When both the first and second bits of the second material level signal are undetected, the second material level signal indicates no material.

[0079] When the first bit of the second level signal is not detected and the second bit of the second level signal is detected, the second level signal is close to being detected.

[0080] When both the first and second bits of the second level signal are detected, the second level signal is considered to be in position.

[0081] When the first bit of the second level signal is detected and the second bit is not detected, the second level signal is considered to be out.

[0082] In one embodiment, the first positioning detection device 5 includes: a first positioning detection device first sensor 51 located downstream and a first positioning detection device second sensor 52 located upstream. The first positioning detection device 5 outputs a first material level signal, which includes a first material level signal bit output by the first positioning detection device first sensor 51 and a second material level signal bit output by the first positioning detection device second sensor 52. The first material level signal includes no material, approaching, in position, and away, wherein:

[0083] When both the first bit and the second bit of the first material level signal are not detected, the first material level signal indicates no material.

[0084] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is detected, the first material level signal is close to being detected.

[0085] When both the first bit and the second bit of the first material level signal are detected, the first material level signal is considered to be in position.

[0086] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is considered to be out.

[0087] In step S302, when the current workstation is determined to be without material, the first stopper 1 of the current workstation is raised and the second stopper 2 of the current workstation is lowered.

[0088] Step S303: Obtain the second material level signal of the second position detection device 6 at the current workstation. The second material level signal includes: no material, approaching, in position, and leaving.

[0089] Step S304: When the second material level signal changes from leaving to no material, determine that the first carrier 3 has left the second stopper 2 of the current station and raise the second stopper 2.

[0090] Step S305: Determine whether the current workstation has been completed.

[0091] In one embodiment, determining whether the current workstation has been completed includes: when the first lifting device that performs the lifting operation on the first carrier 3 of the current workstation is detected to be rising, setting the first obstruction working memory value of the current workstation; when the first obstruction working memory value is set, when the first lifting device is detected to be lowered into place, clearing the first obstruction working memory value of the current workstation and setting the first obstruction work completed value of the current workstation.

[0092] When the second lifting device that is performing a lifting operation on the second carrier 4 at the current workstation is detected to rise, the second block working memory value of the current workstation is set. When the second block working memory value is set, when the second lifting device is detected to have descended into place, the second block working memory value of the current workstation is cleared and the second block working completion value of the current workstation is set.

[0093] When both the first and second barrier completion values ​​of the current workstation are set, it is determined that the current workstation has been completed.

[0094] Step S306: After the current station has finished executing, check the first material level signal and the second material level signal of the downstream station. If both the first material level signal and the second material level signal of the downstream station are empty, determine that the downstream station is empty; otherwise, determine that the downstream station is full.

[0095] In step S307, when the downstream station determines that there is no material, the first stopper 1 and the second stopper 2 of the current station are lowered.

[0096] Specifically, this embodiment is applicable to dual-level or more material conveying systems where materials cannot collide.

[0097] The dual-carrier workpiece conveying control method of this embodiment is used to control the workpieces in a dual-carrier workpiece conveying system, excluding the starting and ending workstations. The control of the starting and ending workstations can be achieved using existing technologies.

[0098] First, step S301 is executed to detect the first material level signal and the second material level signal of the current station. If both the first material level signal and the second material level signal of the current station are empty, it is determined that there is no material at the current station; otherwise, it is determined that there is material at the current station. In this process, each station is equipped with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4. The first blocker 1 is located downstream of the second blocker 2. The workpiece is conveyed from upstream to downstream of the conveyor belt. The first carrier 3 and the second carrier 4 are used to support the workpiece.

[0099] Specifically, the first material level signal is output by the first position detection device 5, and the second material level signal is output by the second position detection device 6. When both the first and second material level signals of the current station indicate no material, it is determined that the current station is without material; otherwise, it is determined that the current station has material.

[0100] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the dual-carrier workpiece conveying system includes five stations: OP1, OP2, OP3, OP4, and OP5. Stations OP1-OP5 are respectively for: loading, bearing pressing, loading, wheel hub pressing, and unloading. Each station has a first stopper 1, a second stopper 2, a first carrier 3, a second carrier 4, a first arrival detection device 5, a second arrival detection device 6, a first photoelectric detection device 7, and a second photoelectric detection device 8. The first stopper 1 and the second stopper 2 can be lifting cylinders, which stop the carrier by lifting. Figure 6 and Figure 7 As shown, the first carrier 3 and the second carrier 4 are pallets used to support workpiece 9. The first positioning detection device 5 and the second positioning detection device 6 each include two proximity switches for detecting the material level signal of the carrier. The first photoelectric detection device 7 and the second photoelectric detection device 8 are mirror-equipped photoelectric detection devices, including a first reflector 71 and a second reflector 81, used for detecting the presence or absence of the workpiece. Figure 4 In the diagram, a black stopper indicates that the stopper is rising, and a white stopper indicates that the stopper is falling.

[0101] In one embodiment, each workstation includes a first positioning detection device 5 and a second positioning detection device 6. The first positioning detection device 5 is located between a first blocker 1 and a second blocker 2 at the workstation, and the second positioning detection device 6 is located between the second blocker 2 at the workstation and the first blocker 1 at an upstream workstation.

[0102] Specifically, the first positioning detection device 5 is located between the first stopper 1 and the second stopper 2 at the workstation, and is used to detect whether there is a vehicle in the area between the first stopper 1 and the second stopper 2 at the workstation, thereby determining whether the first vehicle 3 has reached the area between the first stopper 1 and the second stopper 2 at the workstation. The second positioning detection device 6 is located between the second stopper 2 at the workstation and the first stopper 1 at the upstream workstation, and is used to detect whether there is a vehicle between the second stopper 2 at the workstation and the first stopper 1 at the upstream workstation, thereby determining whether the first vehicle 3 has left the second stopper 2, and whether the second vehicle 4 has reached the second stopper 2.

[0103] In one embodiment, the second level detection device 6 includes: a first sensor 61 located downstream and a second sensor 62 located upstream. The second level signal includes a first bit of the second level signal output by the first sensor 61 and a second bit of the second level signal output by the second sensor 62, wherein:

[0104] When both the first and second bits of the second material level signal are undetected, the second material level signal indicates no material.

[0105] When the first bit of the second level signal is not detected and the second bit of the second level signal is detected, the second level signal is close to being detected.

[0106] When both the first and second bits of the second level signal are detected, the second level signal is considered to be in position.

[0107] When the first bit of the second level signal is detected and the second bit is not detected, the second level signal is considered to be out.

[0108] Specifically, 1 represents detection and 0 represents non-detection. The second material level signal is represented by two binary digits. The first bit of the second material level signal, i.e., the leftmost bit of the binary value, is the value output by the first sensor 61 of the second position detection device, and the second bit of the second material level signal, i.e., the rightmost bit of the binary value, is the value output by the second sensor 62 of the second position detection device. Therefore:

[0109] When the second material level signal is 00, the second material level signal indicates no material.

[0110] When the second material level signal is 01, the second material level signal is close to 01.

[0111] When the second material level signal is 11, the second material level signal indicates that the material is in place.

[0112] When the second material level signal is 10, the second material level signal indicates departure.

[0113] Using 1 to represent detection and 0 to represent non-detection is just one example. In practice, 0 can also be used to represent detection and 1 to represent non-detection, then:

[0114] When the second material level signal is 11, the second material level signal indicates no material.

[0115] When the second material level signal is 10, the second material level signal is close to 10.

[0116] When the second material level signal is 00, the second material level signal indicates that the material is in position.

[0117] When the second material level signal is 01, the second material level signal indicates departure.

[0118] In one embodiment, the first positioning detection device 5 includes: a first positioning detection device first sensor 51 located downstream and a first positioning detection device second sensor 52 located upstream. The first positioning detection device 5 outputs a first material level signal, which includes a first material level signal bit output by the first positioning detection device first sensor 51 and a second material level signal bit output by the first positioning detection device second sensor 52. The first material level signal includes no material, approaching, in position, and away, wherein:

[0119] When both the first bit and the second bit of the first material level signal are not detected, the first material level signal indicates no material.

[0120] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is detected, the first material level signal is close to being detected.

[0121] When both the first bit and the second bit of the first material level signal are detected, the first material level signal is considered to be in position.

[0122] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is considered to be out.

[0123] Specifically, 1 represents detection and 0 represents non-detection. The first material level signal is represented by two binary digits. The first bit (leftmost bit) of the binary value is the output value of the first sensor 51 of the first material level detection device, and the second bit (rightmost bit) is the output value of the second sensor 52 of the first material level detection device. Therefore:

[0124] When the first material level signal is 00, the first material level signal indicates no material.

[0125] When the first material level signal is 01, the first material level signal is close to 01.

[0126] When the first material level signal is 11, the first material level signal indicates that the material is in place.

[0127] When the first material level signal is 10, the first material level signal indicates departure.

[0128] Using 1 to represent detection and 0 to represent non-detection is just one example. In practice, 0 can also be used to represent detection and 1 to represent non-detection, then:

[0129] When the first material level signal is 11, the first material level signal indicates no material.

[0130] When the first material level signal is 10, the first material level signal is close to 10.

[0131] When the first material level signal is 00, the first material level signal indicates that the material is in place;

[0132] When the first material level signal is 01, the first material level signal indicates departure.

[0133] When the current workstation is determined to be without material, step S302 is executed, raising the first stopper 1 of the current workstation and lowering the second stopper 2 of the current workstation.

[0134] Specifically, by raising the first stopper 1, the carrier is prevented from flowing directly to the downstream workstation, while the second stopper 2 is lowered to receive the carrier from the upstream workstation.

[0135] Then, step S303 is executed to obtain the second material level signal of the second position detection device 6 at the current workstation. The second material level signal includes: no material, approaching, in position, and leaving.

[0136] Then, step S304 is executed. When the second material level signal changes from leaving to no material, it is determined that the first carrier 3 leaves the second stopper 2 of the current station and the second stopper 2 is raised.

[0137] Specifically, 1 represents detection and 0 represents non-detection. During the process of receiving the first carrier 3 and the second carrier 4 at the workstation, the changes of the first material level signal and the second material level signal are as follows:

[0138] At the first moment: the first material level signal is 00 and the second material level signal is 00. At this time, the first carrier 3 and the second carrier 4 have just flowed out from the upstream station and have not yet reached the current station.

[0139] Second moment: The first material level signal is 00, the second material level signal is 01. At this time, the first carrier 3 has just entered the current station. The first sensor 51 and the second sensor 52 of the first positioning detection device do not detect it. The second sensor 62 of the second positioning detection device detects it. The first sensor 61 of the second positioning detection device does not detect it. The second carrier 4 has not reached the current station.

[0140] Third moment: The first material level signal is 00, and the second material level signal is 11. At this time, the first carrier 3 has completely entered the area before the second blocker 2 of the current station. The first sensor 51 and the second sensor 52 of the first positioning detection device do not detect it. The first sensor 61 and the second sensor 62 of the second positioning detection device detect it at the same time. The second carrier 4 has not reached the current station.

[0141] Fourth moment: The first material level signal is 00, the second material level signal is 10. At this time, the first carrier 3 is leaving the area before the second stopper 2 of the current station and is passing through the second stopper 2. The first sensor 51 and the second sensor 52 of the first positioning detection device do not detect anything. The first sensor 61 of the second positioning detection device detects something, but the second sensor 62 of the second positioning detection device does not detect anything. The second carrier 4 has not reached the current station.

[0142] Fifth moment: The first material level signal is 01, and the second material level signal is 00. At this time, the first carrier 3 completely leaves the area before the second stopper 2 of the current station and arrives at the area before the first stopper 1 of the current station. The second sensor 52 of the first positioning detection device detects it, while the first sensor 51 of the first positioning detection device does not detect it. The first sensor 61 and the second sensor 62 of the second positioning detection device also do not detect it. At this time, the second stopper 2 rises, and the second carrier 4 does not arrive at the current station.

[0143] At the sixth moment: the first material level signal is 11 and the second material level signal is 01. At this time, the first carrier 3 has completely reached the area in front of the first stopper 1 of the current station, and the second carrier 4 begins to enter the area in front of the second stopper 2 of the current station. The second sensor 52 of the first positioning detection device detects the material level, the first sensor 51 of the first positioning detection device detects the material level, the first sensor 61 of the second positioning detection device does not detect the material level, and the second sensor 62 of the second positioning detection device detects the material level.

[0144] At the seventh moment: the first material level signal is 11, the second material level signal is 11, at this time the first carrier 3 is blocked by the first stopper 1 and cannot move, while the second carrier 4 has completely reached the area before the second stopper 2 of the current station and is blocked by the second stopper 2. The second sensor 52 of the first positioning detection device detects the position, the first sensor 51 of the first positioning detection device detects the position, the first sensor 61 of the second positioning detection device detects the position, and the second sensor 62 of the second positioning detection device detects the position.

[0145] Specifically, from the first moment to the fourth moment, the second blocker 2 descends, and from the fifth moment to the seventh moment, the second blocker ascends.

[0146] Then, step S305 is executed to determine whether the current workstation has been completed.

[0147] Specifically, the operation of the workpiece at the workstation can be performed by other equipment. Once the operation of other equipment is completed, the current workstation is considered finished.

[0148] In one embodiment, determining whether the current workstation has been completed includes: when the first lifting device that performs the lifting operation on the first carrier 3 of the current workstation is detected to be rising, setting the first obstruction working memory value of the current workstation; when the first obstruction working memory value is set, when the first lifting device is detected to be lowered into place, clearing the first obstruction working memory value of the current workstation and setting the first obstruction work completed value of the current workstation.

[0149] When the second lifting device that is performing a lifting operation on the second carrier 4 at the current workstation is detected to rise, the second block working memory value of the current workstation is set. When the second block working memory value is set, when the second lifting device is detected to have descended into place, the second block working memory value of the current workstation is cleared and the second block working completion value of the current workstation is set.

[0150] When both the first and second barrier completion values ​​of the current workstation are set, it is determined that the current workstation has been completed.

[0151] Specifically, the lifting equipment is used to lift the carrier and the workpiece supported by the carrier. The carrier and the workpiece as a whole are moved from the lifting equipment to other positions to perform operations. After the operation is completed, the workpiece is moved back to the lifting equipment, and the lifting equipment is lowered to put the carrier back to the current work position.

[0152] Therefore, when the first lifting device rises, the first obstacle in working memory value is set to 1. Then, with the first obstacle in working memory value set, if the first lifting device is detected to be descending and has reached its designated position, the first obstacle in working memory value is cleared to 0, and the first obstacle completion value is set to 1. Similarly, when the second lifting device rises, the second obstacle in working memory value is set to 1. Then, with the second obstacle in working memory value set, if the second lifting device is detected to be descending and has reached its designated position, the second obstacle in working memory value is cleared to 0, and the second obstacle completion value is set to 1.

[0153] Then, if both the first and second blocking work completion values ​​are set to 1, it is determined that the current workstation has been completed.

[0154] This embodiment records the lifting and lowering of the lifting equipment by setting and clearing the memory value, thereby automatically determining whether the current workstation has been completed.

[0155] In some embodiments, when the two-hand button at the current workstation is detected to be pressed, it is determined that the current workstation has been completed. Specifically, after the corresponding operation is completed on the workpiece at the current workstation, the two-hand button is pressed manually to trigger the signal indicating that the current workstation has been completed.

[0156] After the current workstation is completed, step S306 is executed to check the first and second material level signals of the downstream workstation. If both the first and second material level signals of the downstream workstation are empty, it is determined that the downstream workstation is empty; otherwise, it is determined that the downstream workstation has material.

[0157] Specifically, the first material level signal of the downstream station is obtained from the first position detection device 5 of the downstream station, and the second material level signal of the downstream station is obtained from the second position detection device 6 of the downstream station.

[0158] Finally, when the downstream station determines that there is no material, step S307 is executed to lower the first stopper 1 and the second stopper 2 at the current station.

[0159] When the downstream station determines that there is no material, the downstream station will perform the same operation as the current station: raising the first stop 1 and lowering the second stop 2. Meanwhile, the current station will lower its first stop 1 and second stop 2, allowing the first carrier 3 and second carrier 4 of the current station to be transported to the downstream station. The dual-carrier workpiece transport control method of this embodiment will then be implemented at the downstream station to control the stops.

[0160] In this embodiment, two carriers at the upstream station are released simultaneously. By judging the two material level signals, when the second material level signal changes from leaving to no material, that is, at the falling edge of the second material level signal, the second stopper at the current station is controlled to rise, thereby separating the first and second carriers and solving the collision problem between the two carriers. This doubles the operation speed and reduces the station operation time from the original 12s to 6s, greatly improving work efficiency.

[0161] In one embodiment, each workstation further includes a first photoelectric detection device 7 and a second photoelectric detection device 8. The first photoelectric detection device 7 is disposed between the first blocker 1 and the second blocker 2 of the workstation, and the second photoelectric detection device 8 is disposed between the second blocker 2 of the workstation and the first blocker 1 of the upstream workstation. The method further includes:

[0162] Acquire the first detection information output by the first photoelectric detection device 7 and the second detection information output by the second photoelectric detection device 8 at the current workstation;

[0163] The first carrier 3 is determined to have a workpiece based on the first detection information, and the second carrier 4 is determined to have a workpiece based on the second detection information.

[0164] If the current workstation is determined to have material, and the first carrier 3 and / or the second carrier 4 are determined to have no workpiece, an alarm will be triggered.

[0165] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the first photoelectric detection device 7 and the second photoelectric detection device 8 detect whether there is a workpiece 9 on the first carrier 3 and / or the second carrier 4 by emitting light. When the emitted light is blocked, it is determined that there is a workpiece on the carrier. Specifically, the first photoelectric detection device 7 detects whether there is a workpiece 9 on the first carrier 3, and the second photoelectric detection device 8 detects whether there is a workpiece 9 on the second carrier 4.

[0166] If the current workstation indicates that there is material, but the first photoelectric detection device 7 indicates that the first carrier 3 has no workpiece, and / or the second photoelectric detection device 8 indicates that the second carrier 4 has no workpiece, then an alarm is triggered.

[0167] In some embodiments, the alarm if the current workstation is determined to have material and the first carrier 3 and / or the second carrier 4 is determined to have no workpiece includes:

[0168] If the first material level signal of the current workstation is in position, the second material level signal is in position, and the first carrier 3 and / or the second carrier 4 determine that there is no workpiece, then an alarm will be triggered.

[0169] This embodiment issues an alarm when there is material at the workstation but no workpiece is detected, to remind the user.

[0170] like Figure 8 The diagram shown is a flowchart of a dual-carrier workpiece conveying control method according to a preferred embodiment of the present invention, used in a dual-carrier workpiece conveying system as shown in Figure 4, wherein the left stopper at each station is the first stopper, and the right stopper is the second stopper. The method includes:

[0171] Step S801: Power-on initial state, execute automatic program, cycle start;

[0172] Step S802: Determine the material level signal of this station. If the first material level signal of this station is 00 and the second position signal is 00, then execute step S803; otherwise, continue to wait.

[0173] Step S803: The left stopper rises and the right stopper falls.

[0174] Step S804: Determine the material level signal of this station. If the second material level signal of this station changes from 10 to 00, ignore the first material level signal and proceed to step S806; otherwise, continue to wait.

[0175] Step S805: The left stopper rises, and the right stopper rises.

[0176] Step S806: Determine the material level signal of this station. If the first material level signal of this station is 11 and the second material level signal is 11, then execute step S807; otherwise, continue to wait.

[0177] Step S807: Determine whether this workstation has completed its task. If so, proceed to step S808; otherwise, continue waiting.

[0178] Step S808: Determine whether there is no interference signal at the lower station. If the first material level signal at the lower station is 00 and the second material level signal is 00, determine that there is no interference signal at the lower station and execute step S809; otherwise, continue to wait.

[0179] Step S809: The left stopper descends, and the right stopper descends.

[0180] Step S810: Determine the material level signal of this station. If the first material level signal of this station is 00 and the second material level signal is 00, then execute step S802; otherwise, continue to wait.

[0181] like Figure 9 The diagram shown is a flowchart of the station execution detection process of a dual-carrier workpiece conveying control method according to the preferred embodiment of the present invention. Figure 8 The extension of step S808, which determines whether the current workstation has completed its execution, is... Figure 8 An extension of identifier A in the diagram. The left lift is the aforementioned first lifting device, and the right lift is the aforementioned second lifting device, including:

[0182] Step S901, left lift up, left block is working memory = 1;

[0183] Step S902, the left lift is in position, the left block is in operation and memory = 1;

[0184] Step S903, right lift up, right block is working memory = 1;

[0185] Step S904, the right lift is in position, the right block is working and memory = 1;

[0186] Step S905: Wait for the device to complete the operation, specifically including:

[0187] Method 1: Integration with other equipment - transplanting and handling

[0188] (The entire pallet and materials are moved from the lifting equipment to other workstations until the equipment completes its operation, and then moved back to the lifting equipment.)

[0189] Method 2: Manual packaging (press the two-hand button after the process is complete).

[0190] Step S906, left lift / lower, left block is in operation memory = 1;

[0191] Step S907: Left lift and lower in position, left block is working memory = 0, left block working completed = 1;

[0192] Step S908, right lift / lower, right block is in operation memory = 1;

[0193] Step S909: Right lift and lower in position, right block is working memory = 0, right block is working completed = 1;

[0194] Step S910: This workstation is now complete.

[0195] Specifically, steps S901, S902 and S903, S904 are executed independently, as are steps S906, S907 and S908, S909. When both the left blocking operation and the right blocking operation are completed (1), step S910 is executed to determine that the workstation has been completed.

[0196] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0197] like Figure 10 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising:

[0198] At least one processor 1001; and,

[0199] A memory 1002 is communicatively connected to at least one of the processors 1001; wherein,

[0200] The memory 1002 stores instructions that can be executed by at least one of the processors to enable the at least one of the processors to perform the dual-carrier workpiece transport control method as described above.

[0201] Figure 10 Take processor 1001 as an example.

[0202] The electronic device may also include an input device 1003 and a display device 1004.

[0203] The processor 1001, memory 1002, input device 1003 and display device 1004 can be connected by a bus or other means. The figure shows an example of connection by a bus.

[0204] The memory 1002, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the dual-carrier workpiece conveying control method in the embodiments of this application, for example, Figure 2 , Figure 3 The method flow is shown. The processor 1001 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 1002, thereby realizing the dual-carrier workpiece conveying control method in the above embodiments.

[0205] The memory 1002 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the dual-carrier workpiece transport control method, etc. Furthermore, the memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1002 may optionally include memory remotely located relative to the processor 1001, and these remote memories may be connected via a network to the apparatus performing the dual-carrier workpiece transport control method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0206] The input device 1003 can receive user clicks and generate signal inputs related to user settings and function control of the dual-carrier workpiece conveying control method. The display device 1004 may include a display screen or other display equipment.

[0207] When one or more modules are stored in the memory 1002 and are run by one or more processors 1001, the dual-carrier workpiece conveying control method in any of the above method embodiments is executed.

[0208] This invention simultaneously lowers the first and second blocking devices when releasing a carrier at the workstation, and raises only the first blocking device when receiving a carrier at the workstation. By judging the position of the first carrier, the second blocking device is raised in a timely manner to block the second carrier. Therefore, this invention can transport two carriers simultaneously, improving transport efficiency.

[0209] One embodiment of the present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the dual-carrier workpiece conveying control method described above.

[0210] In the context of this disclosure, a storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0211] One embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the dual-carrier workpiece conveying control method as described above.

[0212] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A dual-carrier workpiece conveying control method, characterized in that, include: If there is material at the current workstation, and the current workstation is determined to be without material, the first blocker (1) of the current workstation is raised and the second blocker (2) of the current workstation is lowered. Each workstation is provided with a first blocker (1) for blocking the first carrier (3) and a second blocker (2) for blocking the second carrier (4). The first blocker (1) is located downstream of the second blocker (2). The workpiece is transported from upstream to downstream of the conveyor belt. The first carrier (3) and the second carrier (4) are used to support the workpiece. When it is determined that the first carrier (3) leaves the second stop (2) of the current work station, the second stop (2) of the current work station is raised. Determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material in the downstream workstation. When the downstream workstation determines that there is no material, lower the first blocker (1) and the second blocker (2) of the current workstation. Each workstation includes a first arrival detection device (5) and a second arrival detection device (6). The first arrival detection device (5) is located between the first stop (1) and the second stop (2) of the workstation, and the second arrival detection device (6) is located between the second stop (2) of the workstation and the first stop (1) of the upstream workstation. The step of raising the second stop (2) of the current workstation when it is determined that the first carrier (3) has left the second stop (2) of the current workstation includes: The second material level signal of the second position detection device (6) at the current workstation is obtained, and the second material level signal includes: no material, approaching, in position, and leaving. When the second material level signal changes from leaving to no material, it is determined that the first carrier (3) leaves the second stopper (2) of the current station and the second stopper (2) rises. The second level detection device (6) includes: a first sensor (61) of the second level detection device located downstream and a second sensor (62) of the second level detection device located upstream. The second level signal includes the first bit of the second level signal output by the first sensor (61) of the second level detection device and the second bit of the second level signal output by the second sensor (62) of the second level detection device, wherein: When both the first bit and the second bit of the second material level signal are not detected, the second material level signal indicates no material. When the first bit of the second material level signal is not detected and the second bit of the second material level signal is detected, the second material level signal is close to being detected. When both the first and second bits of the second material level signal are detected, the second material level signal is in position. When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is considered to have left.

2. The dual-carrier workpiece conveying control method according to claim 1, characterized in that, The first positioning detection device (5) includes: a first positioning detection device first sensor (51) located downstream and a first positioning detection device second sensor (52) located upstream. The first positioning detection device (5) outputs a first material level signal, which includes the first position of the first material level signal output by the first positioning detection device first sensor (51) and the second position of the first material level signal output by the second positioning detection device second sensor (52). The first material level signal includes no material, approaching, in position, and away. When both the first bit and the second bit of the first material level signal are not detected, the first material level signal indicates no material. When the first bit of the first material level signal is not detected and the second bit of the first material level signal is detected, the first material level signal is close to being detected. When both the first bit and the second bit of the first material level signal are detected, the first material level signal is in position. When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is "departure".

3. The dual-carrier workpiece conveying control method according to claim 2, characterized in that: The step of determining whether there is material at the current workstation includes: detecting the first material level signal and the second material level signal at the current workstation; when both the first material level signal and the second material level signal at the current workstation are empty, it is determined that there is no material at the current workstation; otherwise, it is determined that there is material at the current workstation. The step of determining whether there is material at the downstream station includes: detecting the first material level signal and the second material level signal at the downstream station; if both the first material level signal and the second material level signal at the downstream station are empty, it is determined that the downstream station is empty; otherwise, it is determined that the downstream station has material.

4. The dual-carrier workpiece conveying control method according to claim 1, characterized in that, The step of determining whether the current workstation has completed its execution includes: When the first lifting device that performs the lifting operation on the first carrier (3) of the current work station is detected to rise, the first obstruction working memory value of the current work station is set. When the first obstruction working memory value is set, when the first lifting device is detected to descend into place, the first obstruction working memory value of the current work station is cleared and the first obstruction working completion value of the current work station is set. When the second lifting device that performs the lifting operation on the second carrier (4) of the current work station is detected to rise, the second blocking working memory value of the current work station is set. When the second blocking working memory value is set, when the second lifting device is detected to descend into place, the second blocking working memory value of the current work station is cleared and the second blocking work completed value of the current work station is set. When both the first blocking work completion value and the second blocking work completion value of the current workstation are set, it is determined that the current workstation has been completed.

5. The dual-carrier workpiece conveying control method according to claim 1, characterized in that, Each of the workstations further includes a first photoelectric detection device (7) and a second photoelectric detection device (8). The first photoelectric detection device (7) is disposed between the first blocker (1) and the second blocker (2) of the workstation, and the second photoelectric detection device (8) is disposed between the second blocker (2) of the workstation and the first blocker (1) of the upstream workstation. The method further includes: Obtain the first detection information output by the first photoelectric detection device (7) and the second detection information output by the second photoelectric detection device (8) at the current workstation; Based on the first detection information, determine whether the first carrier (3) has a workpiece, and based on the second detection information, determine whether the second carrier (4) has a workpiece; If the first and second areas of the current workstation are determined to have material, and the first carrier (3) and / or the second carrier (4) are determined to have no workpiece, an alarm is triggered.

6. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the dual-carrier workpiece transport control method as described in any one of claims 1 to 5.

7. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the dual-carrier workpiece conveying control method as described in any one of claims 1 to 5.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the dual-carrier workpiece transport control method as described in any one of claims 1 to 5.

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