CN105923334A - Auxiliary material automatic distribution system of super-speed cigarette making machine - Google Patents

Abstract

The invention relates to a cigarette production system, in particular to an automatic distribution system for ultra-high-speed cigarette production auxiliary materials. The present invention optimizes the information transfer between the above three systems by developing the data interaction interface between WMS (Auxiliary Materials Elevated Warehouse System) and BD (cigarette coil depalletizer) and the WMS and AGV (Automatic Car Transportation System) data interaction interface The process realizes the functions of data information interaction and safety interlock signal transmission between BD and WMS, WMS and AGV, and realizes machine requirements, machine empty pallet recovery, raw and auxiliary materials out of the warehouse, and raw and auxiliary materials distribution, etc. The organic combination of four single functions realizes intelligent production in the distribution of raw and auxiliary materials of ultra-high-speed cigarette making machines.

Description

An automatic distribution system of auxiliary materials for ultra-high-speed cigarette making machines

technical field

The invention relates to a cigarette production system, in particular to an automatic distribution system for ultra-high-speed cigarette production auxiliary materials.

technical background

In recent years, with the rapid development of information technology, the manufacturing technology and manufacturing mode of modern manufacturing enterprises have undergone major changes. Automation, informatization and intelligence have become the development trend of modern industrial manufacturing. Industrial enterprises are gradually applying artificial intelligence technology to high-intensity, high-frequency, and high-efficiency production and logistics management, so as to realize safe, efficient, reliable and flexible production and logistics models in multiple environments, improve operating efficiency, and shorten The working time is reduced, and the labor intensity is reduced.

In accordance with the requirements of the China Tobacco Internet of Things development plan, realize the comprehensive perception of cigarette logistics resources (including cigarette rods, boxes, turnover boxes, pallets, vehicles, forklifts, storage, and cargo locations), and ensure that cigarette logistics resources are always knowable, controllable, and Credible status; realize the overall optimization of the cigarette logistics operation process (including: cigarette production, warehousing, sorting, vehicle distribution, transportation and other business processes) to ensure continuous improvement of work efficiency; realize the basic management of cigarette logistics (expenses, costs, environment, safety, quality, etc.) to ensure the economical practicality and efficiency of cigarette logistics. Taking multiple measures at the same time, we will finally achieve the goal of visualization, process optimization and intelligent management of finished cigarette logistics operations.

However, judging from the status quo of the tobacco industry, many tobacco production enterprises do not hesitate to invest heavily in building production bases and introducing advanced equipment, but only adopt a single mode of information management (such as RFID and WSN technology) in the logistics storage and transportation of raw and auxiliary materials. Although it can improve the efficiency of local logistics transshipment, it has not formed a systematic and intelligent logistics system. At the same time, manual connection is required in different logistics links, which not only reduces operating efficiency, but also increases uncontrollable human factors, which is still far away from the overall planning and requirements of the industry.

M8-H/S1000 ultra-high-speed cigarette production equipment is the most advanced cigarette packaging unit in the world today, and the production speed can reach 20,000 cigarettes/minute, that is, 1,000 packs/minute. High-speed production also means high-speed consumption of raw and auxiliary materials. The timely and accurate supply of materials is directly related to the normal performance of equipment performance, which in turn affects the production efficiency of enterprises.

In view of this, the research of the present invention is based on the current logistics system, and it is the first in the tobacco industry to propose and apply the automatic distribution mode of the auxiliary materials of the ultra-high-speed cigarette machine M8. The stacker is integrated with information technology, taking logistics operation orders as the main line, realizing automatic scheduling of logistics resources such as inventory, vehicles, and loading and unloading platforms, and realizing intelligent guidance and operation of operations in the warehouse (inbound, in-warehouse, out-of-warehouse, and dumping) Automatic confirmation of documents to realize the whole logistics control of intelligent ultra-high-speed cigarette machine auxiliary materials.

Contents of the invention

In order to effectively improve the rapid supply capacity of raw and auxiliary materials such as tipping paper and coil paper for ultra-high-speed cigarette machines, the purpose of the present invention is to provide an automatic auxiliary material transportation method and system based on information interaction. The system can effectively realize the functions of batch management, rapid transshipment and dynamic inventory.

In order to achieve the above object, the present invention adopts the following technical solutions:

An automatic distribution system for auxiliary materials for ultra-high-speed cigarette machines, the system includes an upper system for auxiliary material elevated warehouses, a BD paper feeding device, and an AGV automatic transportation system, an upper system for auxiliary materials elevated warehouses, paper feeding devices for cigarette coil paper depalletizers, and AGV automatic transportation The systems communicate over a wireless network and/or with each other;

The BD paper feeding device has two automatic coil changing machines BOB1 and BOB2, which respectively provide cigarette paper and tipping paper raw materials for the cigarette maker; when the BD paper feeding device detects that the cigarette paper or tipping paper on the tray is exhausted, , the information will be sent to the WMS system through the LAN communication system to request for empty pallet recycling and new raw material replenishment;

The AGV automatic transportation system includes an AGV trolley and a dispatching computer: the AGV trolley is a battery-powered, unmanned vehicle equipped with a non-contact navigation device; the AGV trolley automatically drives to the job according to a pre-established path according to the operation instruction. During the driving process, the AGV uses the laser head to scan and calculate the surrounding reflectors to navigate and correct its own deviation, so as to ensure the accuracy of walking and positioning; the AGV car communicates with the dispatching computer through a wireless LAN, and the AGV car Report and display its own status and task execution on the graphic monitoring system;

The upper system of the auxiliary material elevated warehouse is a storage system based on RFID cargo location tags, including multiple matrix-shaped cargo locations, stackers for moving goods, conveyors, forklifts, pallets, and pallet electronics installed on pallets. Labels and WMS system for information processing; each pallet raw and auxiliary material has a unique RFID identification label, and the corresponding data is stored in the WMS system; when the WMS system receives an application for a BD paper supply device, it will automatically find The corresponding raw and auxiliary materials are transported to the auxiliary material export platform through stackers and conveyors, and then give instructions to the AGV automatic transportation system, and the system dispatches idle AGV cars to perform tasks.

The present invention realizes data information interaction and safety interlocking between BD and WMS and between WMS and AGV by developing the WMS and BD data interaction interface, WMS and AGV data interaction interface, and optimizing the information transfer process between the above three systems Functions such as signal transmission have realized the organic combination of four single functions, such as machine material collection, machine empty tray recovery, raw and auxiliary material delivery, and raw and auxiliary material delivery, and realized the automatic delivery of raw and auxiliary materials for the M8 ultra-high-speed cigarette making machine , so as to improve the efficiency and accuracy of front-line production operations, and realize the automation and intelligent management of cigarette logistics and transportation business processes.

Description of drawings

Figure 1 is a schematic diagram of the communication relationship between the empty pallet recovery task BD, WMS and AGV.

Figure 2 is a schematic diagram of the communication relationship between the physical disk requesting task BD, WMS and AGV.

Fig. 3 is a schematic structural diagram of a BD paper feeding device.

Figure 4 is a schematic diagram of the structure of the AGV trolley.

detailed description

Related technical explanation:

1. Finished cigarettes: every 20 cigarettes is a small pack, every 10 small packs is one pack, every 50 packs is one pack, and every 30 packs is a pallet.

2. Dimensions of auxiliary material wooden pallet: 1000*1500*150mm.

3. M8 ultra-high-speed cigarette making machine: PROTOS-M8 ultra-high-speed cigarette making machine is a world-class equipment imported from HAUNI company. Its production speed can reach up to 20,000 cigarettes/min, and it has a high degree of automation. The cigarette making machine is divided into 5 parts, which are BD paper feeding device, VE feeding device, SE cigarette rod rolling and forming device, MAX filter tip forming device and VARIOS cigarette conveying/storage device.

4. BD paper feeding device: BD paper feeding device is designed for automatic unloading of raw and auxiliary materials of cigarettes. BD is divided into BOB1 and BOB2, which provide cigarette paper and tipping paper for SE and MAX devices respectively. The function of the BD is to supply a new reel to a BOB-ME through a reel pallet or intermediate stacker when a BOB-ME is short of material, thus ensuring that the BOB-ME can run without interruption.

5. AGV automatic transportation system: The AGV automatic transportation system includes an AGV trolley and a scheduling computer: the AGV trolley is a battery-powered, unmanned vehicle equipped with a non-contact navigation device; The established path automatically drives to the operation point for operation. The AGV trolley installs a laser reflector with precise position around the driving path. The AGV emits the laser beam and collects the laser beam reflected by the reflector at the same time, and reports these data to the AGV for automatic transportation. system. The system calculates the current position of the transport vehicle according to these angles, and determines the driving route of the transport vehicle according to the preset program, so that the AGV can accurately and efficiently reach the target machine. During the driving process, the AGV uses the laser head to scan and calculate the surrounding reflectors to navigate and correct its own deviation, so as to ensure the accuracy of walking and positioning; the AGV car communicates with the dispatching computer through a wireless local area network, and the AGV car communicates its own status at any time Report and display the execution status of tasks and tasks on the graphic monitoring system.

6. The upper system of the auxiliary material high-bay warehouse is a storage system based on RFID location tags, including multiple matrix-shaped storage locations, stackers for moving goods, conveyors, forklifts, pallets, and pallets installed on pallets. Pallet electronic label and WMS system for information processing; each pallet raw and auxiliary material has a unique RFID identification label, and the corresponding data is stored in the WMS system; when the WMS system receives the application for the BD paper supply device, it will Automatically find the corresponding raw and auxiliary materials and transport them to the auxiliary material export platform through stackers and conveyors, and then issue instructions to the AGV automatic transportation system, which will dispatch idle AGV cars to perform tasks.

The WMS system of the auxiliary material warehouse is composed of three major systems: upper management, scheduling and electronic control.

(1) Upper-level management system: The upper-level management system is the brain of the elevated warehouse of auxiliary materials. It dominates the tasks of all lower-level equipment, and can automatically realize the storage of materials required for enterprise production according to the production scheduling instructions of the upper-level MES, ERP and other management systems. , Out of the warehouse automation and other functions.

(2) Scheduling system: Scheduling is the link between the information management layer and the equipment control layer, including scheduling background services and scheduling interface programs, responsible for decomposing logistics tasks into each transportation section, and issuing corresponding controls according to the definition of the transportation section controller At the same time, it collects the information of the controller in real time, and converts it into a request for material in and out of the warehouse according to the function definition of the control equipment and the completion of the instruction.

(3) Electric control system: The electric control system directly controls the underlying motor equipment, and is composed of multiple electric control boxes and electric control terminal computers.

The system works as follows:

1) The auxiliary material tray in-position detection sensor in the BD paper supply device detects that the number of tipping paper or cigarette paper on the auxiliary material tray is less than one, and the BD paper supply device sends the "replace pallet from BD" message to the WMS system through the LAN communication system The request covers information about the location of the main material machine, the type of the coil, and the quantity of the coil; the upper management system of the auxiliary material warehouse responds to the request information of the BD paper supply device in a timely manner. Use the old count to send the old command, or the BD paper feeding device sends the "counter reset" command, and the counters on both sides are reset to zero synchronously.

2) The WMS system acknowledges the request for "recycle empty pallets from BD":

① After the WMS system establishes a connection with the BD paper supply device, the WMS system will send the parameter "1" to the BD paper supply device. After the WMS system is disconnected from the BD paper feeder, the WMS system will send parameter "0" to the BD paper feeder. The change of this parameter enables the BD paper feeding device to know whether the communication with the WMS system is normal, and the sending rate is 60 seconds.

② The counter will increment for each new command. If the response is lost due to connection interruption, the WMS system sends the old command with the old count after reconnecting, or the WMS system sends a "counter reset" command, and the counters on both sides are reset to zero synchronously.

③The WMS system reads the data information in the data buffer area.

④ The WMS system confirms the request of "recover empty pallets from BD".

3) The WMS system issues the task of "recycling empty pallets":

①The upper system of the WMS system sends the empty pallet recycling command to the AGV automatic transportation system.

② The AGV automatic transport system performs the task of "empty pallet recycling":

a. The AGV automatic transportation system automatically assigns the task to the idle AGV car closest to the operating point through the wireless LAN communication system, which is determined by the traveling time of the car in the middle section of the path planning.

b. The AGV car arrives at the door of the BD paper supply device, and the AGV automatic transport system sends the AGV car arrival information to the WMS system.

c. The WMS system sends a door opening request to the BD paper feeder system.

d. The BD paper feeding device receives the signal and judges that the condition is established. Under the control of the pressure control valve RV2, the valve Y61 or valve Y63 will open the material door.

e. The proximity switch B64 or B65 of the BD paper supply device recognizes that the material door is opened, and sends a signal to the WMS system to allow the AGV trolley to enter the BD paper supply device.

f. The WMS system sends a signal to the AGV automatic transport system to allow access to the inside of the BD paper supply device.

g. The AGV automatic transportation system sends a parameter modification command to the AGV car, and the "Allow to enter BD" button function is valid.

h. After the operator confirms that the automatic material door of the BD paper feeding device is opened, press and hold the "Enter BD" button for 3 seconds.

i. The AGV trolley enters the BD paper feeding device, lifts the fork to load the empty pallet.

j. The AGV trolley exits outside the BD paper feeding device, pauses briefly, reports the completion information of empty tray loading to the AGV automatic transport system, and drives away.

k. The AGV automatic transport system reports the empty pallet loading completion information to the WMS system.

l. The WMS system sends a signal to the BD paper feeding device system to close the material door.

m. Under the control of pressure control valve RV2, valve Y62 or valve Y64 closes the automatic material door, and the equipment operates normally.

4) The auxiliary material tray arrival detection sensor in the BD paper feeding device system cannot detect the tray. The BD paper supply device sends a request for "physical tray replenishment" to the WMS system through the LAN communication system, covering the information about the position of the feeder machine, the type of the coil, and the quantity of the coil. The upper management system of the auxiliary material warehouse responds to the request information of the BD paper supply device in time. If the response is lost due to connection interruption, the BD paper supply device sends the old command with the old count after reconnection, or the BD paper supply device sends the "counter reset" command , the counters on both sides are reset to zero synchronously.

5) The WMS system confirms the request for "replenishment of physical pallets":

① After the WMS system establishes a connection with the BD paper supply device, the WMS system will send the parameter "1" to the BD paper supply device. After the WMS system is disconnected from the BD paper feeder, the WMS system will send parameter "0" to the BD paper feeder. The change of this parameter can make the BD paper feeding device know whether the communication with the WMS system is normal, and the sending rate is 60 seconds.

② The counter will increment for each new command. If the reply is lost due to connection interruption, the WMS system can send the old command with the old count after reconnecting, or the WMS system can send a "counter reset" command, and the counters on both sides are reset to zero synchronously.

③The WMS system reads the data information in the data buffer area.

④ The WMS system confirms the request for "replenishment of physical pallets".

6) The WMS system issues the task of "replenishment of physical pallets":

①The upper system of the WMS system looks for the corresponding physical pallets of raw and auxiliary materials in the high-bay warehouse of auxiliary materials, and sends the task of removing the pallets to the stacker scheduling system of the high-bay warehouse of auxiliary materials.

②The palletizer dispatching system of the auxiliary material high-bay warehouse automatically assigns the task to the idle stacker closest to the task operation point, and the palletizer ③ takes the physical pallet out of the warehouse location of the high-bay warehouse and transports it to the conveying channel.

④Transport the physical pallet to the auxiliary material unloading platform through the conveying channel.

7) The AGV automatic transport system performs the task of "replenishment of physical pallets"

a. The AGV automatic transportation system automatically assigns the task to the idle AGV car closest to the task operation point through the LAN communication system.

b. The AGV trolley runs to the unloading platform of the physical pallet, adjusts the position, lifts the fork, loads and picks up the goods, pauses briefly, and reports the loading completion information to the AGV automatic transportation system.

c. The AGV trolley transports the physical pallet to the door of the BD paper supply device of the feeder machine, and the AGV automatic transport system sends the AGV arrival information to the WMS system.

d. The WMS system sends the physical tray information to the BD paper feeding device system, including the type of auxiliary material, the quantity of auxiliary material, the code of the auxiliary material and the door opening request.

e. The BD paper feeding device receives the signal and judges that the condition is established. Under the control of the pressure control valve RV2, the valve Y61 or valve Y63 will open the material door.

f. The proximity switch B64 or B65 of the BD paper supply device recognizes that the material door is opened, and sends a signal to the WMS system to allow the AGV to enter the BD paper supply device.

g. The WMS system sends a signal to the AGV automatic transport system to allow access to the inside of the BD paper supply device.

h. The AGV automatic transport system sends a parameter modification command to the AGV car, and the button "Allow to enter the BD paper supply device" is valid.

i. After the operator confirms that the automatic material door of the BD paper feeding device is opened, press and hold the "Allow to enter the BD paper feeding device" button for 3 seconds.

j. The AGV trolley enters the BD paper feeding device, the fork descends, and the physical tray is put down.

k. The AGV trolley exits to the outside of the BD paper feeding device, pauses briefly, reports the delivery completion information of the physical pallet to the AGV automatic transport system, and drives away.

l. The AGV automatic transport system reports the delivery completion information of the physical pallet to the WMS system.

m. WMS system sends door close signal to BD paper feeder system.

n. Under the control of pressure control valve RV2, valve Y62 or valve Y64 closes the automatic material door, and the equipment operates normally.

Claims (1)

1. the adjuvant automatic delivery of a ultrahigh speed cigarette machine, it is characterized in that this system includes adjuvant shelf magazine Upper system, BD paper feed and AGV automated transport system, adjuvant shelf magazine Upper system, cigarette bobbin paper unpiler paper feed and AGV automated transport system are by wireless network and/or are in communication with each other；

Described BD paper feed has two automatic changing machine BOB1 of obbbin and BOB2, respectively cigarette machine to provide cigarette paper and cork paper raw material；When BD paper feed detects that the cigarette paper on pallet or cork paper are used up, information can be sent empty pallet by Local network communication system to WMS system and reclaim and new raw material augmentation requests；

Described AGV automated transport system includes AGV dolly and dispatching: AGV dolly is a kind of with battery as power, equipped with the automatic driving vehicle of noncontact guider；AGV dolly automatically drives towards setting according to job instruction by the path pre-established and carries out operation, and AGV utilizes laser head to navigate the scanning of peripheral reflection plate and calculating and revises the deviation of self in the process of moving, thus ensures walking and the precision of location；AGV dolly is contacted by WLAN with dispatching, and the state of self and the implementation status of task are reported and show on graph monitoring system by AGV dolly at any time；

Described adjuvant shelf magazine Upper system is warehousing system based on RFID goods yard label, including the goods yard of multiple matrix shape, piler, conveyer, fork truck, pallet, the pallet electronic tag being installed on pallet and the WMS system for information processing for transporting goods；Unique RFID is all had on each pallet raw and auxiliary material Identifying label, corresponding data are stored in WMS system；When WMS system receives BD paper feed application, understand the corresponding raw and auxiliary material of Automatic-searching and transport auxiliary feed outlet platform by piler and conveyer, then assigning and instruct to AGV automated transport system, this system call free time AGV dolly perform task；

This system is operated by the following method:

1) to level detection sensor, the adjuvant pallet in BD paper feed detects that the cork paper on adjuvant pallet or cigarette paper quantity are less than 1, BD paper feed sends the request of " changing pallet from BD " by Local network communication system to WMS system, contains board position to be expected, obbbin type, obbbin quantity relevant information；Adjuvant storehouse upper management system timely responds to the solicited message of BD paper feed, lose if as disconnecting response, then BD paper feed sends old order with old counting after reconnect, or BD paper feed sends " counter resets " order, and both sides counter synchronisation makes zero；

2) request that WMS system validation " reclaims empty pallet from BD ":

1., after WMS system is set up with BD paper feed and is connected, WMS system will send parameter " 1 " to BD paper feed；After WMS system and BD paper feed disconnect, WMS system will send parameter " 0 " to BD paper feed；The change of this parameter makes BD paper feed know the communication with WMS system the most normally, and transmission rate is 60 seconds；

2. each new order will be incremented by by enumerator；Lose if as disconnecting response, then WMS system sends old order with old counting after reconnect, or WMS system sends " counter resets " order, and both sides counter synchronisation makes zero；

3. the data message during WMS system reads data buffer area；

4. the request that WMS system validation " reclaims empty pallet from BD "；

3) WMS system assigns the task of " empty pallet recovery ":

1. empty pallet recovery command is assigned to AGV automated transport system by WMS system Upper system；

2. the task of AGV automated transport system execution " empty pallet recovery ":

A. AGV automated transport system assigns the task to the AGV dolly from the nearest idle condition of setting automatically by WLAN communication system, the carriage walking time on path planning stage casing determine；

B.AGV dolly arrives BD paper feed doorway, and AGV automated transport system sends AGV dolly to WMS system and puts in place information；

C.WMS system sends, to BD paper feed system, the request of enabling；

D.BD paper feed receives signal and Rule of judgment is set up, and under the control of pressure-control valve RV2, material gate is opened by valve Y61 or valve Y63；

Proximity switch B64 or B65 of e.BD paper feed identifies that material gate is opened, and sends the signal allowing AGV dolly to enter BD paper feed to WMS system；

F.WMS system sends to AGV automated transport system and allows access into the signal within BD paper feed；

G.AGV automated transport system sends parameter modification instruction to this AGV dolly, and " allowing access into BD " push button function is effective；

H., after operator scene confirms that BD paper feed automatic material door is opened, " allowing access into BD " button is pinned 3 seconds；

I.AGV dolly enters in BD paper feed, promotes pallet fork load and takes empty pallet；

J.AGV dolly is withdrawn into outside BD paper feed, minibreak, is carried by empty pallet and takes into information reporting to AGV automated transport system, and sails out of；

K.AGV automated transport system reports empty pallet to carry to WMS system and takes into information；

L.WMS system sends the signal of closure bin gate to BD paper feed system；

M., under the control of pressure-control valve RV2, valve Y62 or valve Y64 closes automatic material door, and equipment is properly functioning；

4) the adjuvant pallet in BD paper feed system can't detect pallet to level detection sensor；BD paper feed sends the request of " pallet in kind supplements " by Local network communication system to WMS system, contains board position to be expected, obbbin type, obbbin quantity relevant information；Adjuvant storehouse upper management system timely responds to the solicited message of BD paper feed, lose if as disconnecting response, then BD paper feed sends old order with old counting after reconnect, or BD paper feed sends " counter resets " order, and both sides counter synchronisation makes zero；

5) request of WMS system validation " pallet in kind supplements ":

1., after WMS system is set up with BD paper feed and is connected, WMS system will send parameter " 1 " to BD paper feed；After WMS system and BD paper feed disconnect, WMS system will send parameter " 0 " to BD paper feed；The change of this parameter can make BD paper feed know the communication with WMS system the most normally, and transmission rate is 60 seconds；

2. each new order will be incremented by by enumerator；Lose if as disconnecting response, then WMS system can send old order with old counting after reconnect, or WMS system can send " counter resets " order, and both sides counter synchronisation makes zero；

3. the data message during WMS system reads data buffer area；

4. the request of WMS system validation " pallet in kind supplements "；

6) WMS system assigns the task of " in kind pallet supplement ":

1. WMS system Upper system finds the raw and auxiliary material material object pallet of correspondence in adjuvant shelf magazine, and pallet undercarriage task is assigned to adjuvant shelf magazine piler dispatching patcher；

2. adjuvant shelf magazine piler dispatching patcher assigns the task to leave one's post the nearest idle piler of business setting automatically, is taken out by heap 3. stack machine and is transported to transfer passage by pallet in kind from the warehouse compartment of shelf magazine；

4. by transfer passage, material object pallet is transported to adjuvant undercarriage platform；

7) AGV automated transport system performs the task of " pallet in kind supplements "

A. AGV automated transport system assigns the task to leave one's post by Local network communication system the AGV dolly of the nearest idle condition of business setting automatically；

B. AGV trolley travelling is to pallet undercarriage platform in kind, adjusts position, promotes pallet fork, carries picking thing, and minibreak, loading completes information reporting AGV automated transport system；

C. pallet in kind is transported to the BD paper feed doorway of board to be expected by AGV dolly, and AGV automated transport system sends AGV to WMS system and puts in place information；

D. WMS system sends tray information in kind to BD paper feed system, including adjuvant type, auxiliary product quantities, adjuvant code and request of opening the door；

E. BD paper feed receives signal and Rule of judgment is set up, and under the control of pressure-control valve RV2, material gate is opened by valve Y61 or valve Y63；

Proximity switch B64 or B65 of f.BD paper feed identifies that material gate is opened, and sends the signal allowing AGV to enter BD paper feed to WMS system；

G.WMS system sends to AGV automated transport system and allows access into the signal within BD paper feed；

H.AGV automated transport system sends parameter modification instruction to this AGV dolly, and " allowing access into BD paper feed " push button function is effective；

I., after operator scene confirms that BD paper feed automatic material door is opened, " allowing access into BD paper feed " button is pinned 3 seconds；

J., in AGV dolly enters into BD paper feed, pallet fork declines, puts down pallet in kind；

K. AGV dolly is withdrawn into outside BD paper feed, minibreak, material object pallet has transported information reporting to AGV automated transport system, and has sailed out of；

L. AGV automated transport system reports pallet in kind to transport information to WMS system；

M. WMS system sends to BD paper feed system and closes gate signal；

N., under the control of pressure-control valve RV2, valve Y62 or valve Y64 closes automatic material door, and equipment is properly functioning.