CN-120793444-B - Intelligent suspension conveying system for mechanical structural steel

CN120793444BCN 120793444 BCN120793444 BCN 120793444BCN-120793444-B

Abstract

The invention discloses an intelligent suspension conveying system for mechanical structural steel, which relates to the technical field of conveying equipment, and comprises a field device layer, a process control layer and a transportation management layer, wherein the field device layer consists of a track module, a suspension carrier, a driving device, a split-flow switching mechanism and a buffer section and provides a physical operation basis, the process control layer realizes real-time monitoring and safety control through a sensor network, a PLC (programmable logic controller), a section speed control module and an executor, the transportation management layer comprises four core modules of task allocation, path selection, load scheduling and conflict detection, the task scheduling is performed by using an improved wolf's group optimization algorithm, and a complete closed-loop control system is formed by combining space-time conflict detection with a conflict resolution algorithm based on back-word search. The invention can carry out intelligent scheduling and orderly transportation on a plurality of mechanical structural steel workpieces in a complex track network, remarkably improves the automation and intelligent level of production logistics and ensures the safety and high efficiency of the transportation process.

Inventors

LIU WEI
SHENG LILI
MA LIUPING
CHEN YUEWEI
Zhong Mengting

Assignees

溧阳市瑜信安机械有限公司

Dates

Publication Date: 20260508
Application Date: 20250905

Claims (5)

1. An intelligent suspension conveying system for mechanical structural steel, comprising: The field device layer consists of a track module, a suspension carrier, a driving device, a split-flow switching mechanism and a buffer section, wherein the track module is made of I-steel, and straight line sections, curve sections and turnout sections are combined in a modularized mode according to workshop layout; The process control layer consists of a sensor, a PLC (programmable logic controller), a segment speed control module and actuators, wherein the sensor is arranged along a track to detect the position, the speed and the workpiece state information of the carrier, and the PLC coordinates the actions of the actuators according to preset control logic after acquiring sensor signals; The transportation management layer consists of a task distribution module, a path selection module, a load scheduling module and a conflict detection module, performs data modeling based on a directed graph model and a carrier state vector, and performs task scheduling optimization through an improved wolf group optimization algorithm; the transportation management layer abstracts the track network into a directed graph model, specifically expressed as: G is a directed graph model, and V represents a track key node set, wherein the track key node set comprises stations, turnout nodes and buffer section starting and ending points; E represents a directed edge set, representing a track section, wherein each directed edge has the attributes of length, rated passing time and maximum carrier number; The carrier state vector is expressed as: wherein S represents a carrier state vector, p represents a current carrier position, w represents a current carrier load weight, st represents a carrier state, Representing a carrier task queue; The task allocation module adopts an improved wolf's group optimization algorithm, and the objective function is as follows: Wherein F represents an objective function, The maximum completion time is indicated as such, Representing tasks Is used for the completion time of the (c) process, Representing tasks Is used for the duration of the cut-off time of (c), Indicating carrier Is used for the idle running time of the vehicle, Representing the variance of the load of each carrier, A collision penalty term is represented and is used, 、、、、 Is a weight coefficient; the wolf pack optimization algorithm adopts a self-adaptive step length mechanism, and a step length updating formula is as follows: Wherein, the Represent the first The step size of the generation of the step size, And The lower and upper step size limits are indicated, Represents the attenuation coefficient, T represents the current iteration number, and T represents the maximum iteration number.
2. The intelligent suspension conveyor system of mechanical structural steel of claim 1, wherein: the conflict detection module is used for preventing conflicts in the transportation process through time conflict detection and space conflict detection, wherein the time conflict detection adopts a simple time network model and applies a Johnson algorithm to carry out consistency check, and the space conflict detection passes through a distance calculation formula: wherein distance represents the inter-carrier distance function, The i-th carrier is shown as being a carrier, Represents the jth carrier, t represents a specific moment, Indicating carrier The position coordinates at the time t are, Indicating carrier And calculating the minimum distance under the fine time step according to the estimated travelling track of the carrier, and judging that the space conflict hidden danger exists when the distance value is lower than a preset safety threshold value.
3. The intelligent suspension conveyor system of mechanical structural steel of claim 2, wherein: And the conflict detection module adopts an optimization adjustment method based on the back-font search to carry out conflict resolution, gradually expands the search range around the conflict occurrence area to search for feasible adjustment measures, and changes the driving path from the fine adjustment waiting time to the conflict resolution.
4. The intelligent suspension conveyor system of mechanical structural steel of claim 1, wherein: the PLC controller executes safety interlocking control, the track is divided into a plurality of safety sections according to a section control principle, the sensors are arranged at the inlet and the outlet of each section to detect the occupation condition of the carrier, and when the fact that the carrier is occupied in the front section is detected, the PLC commands the subsequent carrier to decelerate and stop at the buffer position of the current section.
5. The intelligent suspension conveyor system of mechanical structural steel of claim 1, wherein: The segment speed control module is combined with a variable frequency driver and speed regulating motor hardware to realize speed regulation of each track segment, and when the distance between two carriers is too small, the PLC reduces the driving speed of the segment where the rear vehicle is located so that the driving speed of the segment where the rear vehicle is located is kept at a safe distance from the front vehicle.

Description

Intelligent suspension conveying system for mechanical structural steel Technical Field The invention relates to the technical field of conveying equipment, in particular to an intelligent suspension conveying system for mechanical structural steel. Background The suspension conveying system is used as important material handling equipment in modern industrial production, is widely applied to the fields of automobile manufacturing, machining, heavy industry and the like, and particularly has the remarkable advantages of small occupied area, flexible conveying path, strong bearing capacity and the like in the aspect of conveying heavy workpieces such as mechanical structural steel and the like in workshops. The existing suspension conveying system is mainly divided into two major types, namely a continuous operation type and an intermittent operation type, wherein the continuous operation type system adopts a chain to drive a carrier to continuously operate along a fixed track, is suitable for conveying a large amount of standardized materials, and the intermittent operation type system realizes the start and stop of the carrier through sectional control, so that the operation beat requirements of different stations can be met. In the aspect of a driving mode, the traditional system mostly adopts a centralized driving mode, the whole conveying line is driven to operate through a central driving device, a track structure is usually I-steel or special-purpose steel, a carrier operates on a track through rollers or sliding shoes, and the functions of diversion and convergence are mainly realized by means of mechanical turnouts. Early suspension conveying systems were relatively simple to control, and were mainly implemented with relay control or basic PLC control to enable start-stop, speed regulation, and simple logic control. With the development of automation technology, modern suspension conveying systems start to adopt a distributed control architecture, and multipoint coordination control is realized through a field bus technology. However, in terms of scheduling management, the conventional system mostly adopts an operation mode of a fixed path and a time table, lacks dynamic scheduling and optimizing capability, has relatively fixed carrier operation paths, is difficult to flexibly adjust according to real-time production requirements, and generally adopts a simple first-in first-out principle for queuing management for a multi-carrier system, and lacks global optimizing consideration. The prior art has obvious defects in the aspect of intelligent scheduling, the system mainly depends on manual experience and preset programs in the aspects of task allocation and path planning, lacks intelligent decision capability based on real-time state, and is difficult to quickly respond and reschedule when a production plan changes or an emergency occurs. Conventional systems lack efficient prediction and handling mechanisms for time and space conflicts that may occur in multi-vehicle operation, which can generally be avoided only by simple zone locking, but which often results in reduced system efficiency. The existing system lacks optimization algorithm support from the global view angle in the aspects of load distribution, path selection and time scheduling, and each carrier always operates independently, so that the maximization of the overall efficiency of the system cannot be realized. Aiming at the problems, the invention provides an intelligent suspension conveying system for mechanical structural steel, which adopts a three-layer architecture design of a field device layer, a process control layer and a transportation management layer, and realizes the coordinated operation of multiple carriers in a complex track network through intelligent task allocation, optimized path selection, dynamic load scheduling and real-time conflict detection. Disclosure of Invention Aiming at the problems, the invention provides an intelligent suspension conveying system for mechanical structural steel, which aims to solve the problems that the prior art lacks intelligent scheduling decisions, cannot effectively prevent and treat space-time conflict of multiple carriers and lacks global optimization capability to cause low transportation efficiency. In order to solve the technical problems, the invention provides the following technical scheme that the intelligent suspension conveying system for the mechanical structural steel comprises: The field device layer consists of a track module, a suspension carrier, a driving device, a split-flow switching mechanism and a buffer section, wherein the track module is made of I-steel, and straight line sections, curve sections and turnout sections are combined in a modularized mode according to workshop layout; The process control layer consists of a sensor, a PLC (programmable logic controller), a segment speed control module and actuators, wherein the sensor is arranged along a track