CN105573238B - More stack position multi items palletizing methods and control system based on PLC controls - Google Patents
More stack position multi items palletizing methods and control system based on PLC controls Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of more stack position multi items palletizing methods and control system based on PLC controls.The present invention is based on the control systems of more stack position multi items stackings of PLC controls comprising：Human-computer interaction interface is shown for Real-time process flow, technological parameter setting and warning message are shown；The selection of the size of each kind cargo, the distance, kind and stowed location of each stowed location can be inputted.Human-computer interaction interface is connected with PLC.PLC executes internal logic operation and data operation for collecting external control signal.Sensor assembly is used for real-time position detection and Stateful Inspection；Sensor assembly is also connected with execution electrical appliance module.Electrical appliance module is executed, the control command of PLC is executed.Servo motor or stepper motor can be used as tri- direction stacking machine X, Y, Z operation execute electric appliance, it can be achieved that stacking machine accurate positionin.Control system of the present invention has the characteristics that efficient, varietal adaptation is strong, easy to operate, versatility is wide.
Description
Technical field
The invention belongs to technical field of logistics control, and in particular to a kind of more stack position multi items stackings based on PLC controls
Method and control system.
Background technology
In recent years, cargo automatic stacking control technology plays an important role in modern logistics warehousing system, Ke Yiman
The requirement of the systematicness of cargo and automation in sufficient warehouse.But in existing stacking control technology, to the goods of some babinet classes
Still it is that manpower stacking mode is in the majority at present since automated procedures are not high in terms of object stacking.And manpower stacking mode is dangerous
The defects of property is big, efficiency is low, of high cost, cannot be satisfied with the fast development of modern society.
Invention content
To solve the deficiency that the manpower in existing warehouse to cargo stacks stacking, the present invention provides one kind to be controlled based on PLC
More stack position multi items stacking control systems of system apply to automatic cargo and stack stacking.
Against the background of the prior art, according to requirement is stacked, PLC is utilized to design more stack positions of a three axes formula stacking machine
Multi items stacking control system can operate with logistic storage system now.PLC (programmable controller) is due in severe ring
It is worked in border with many advantages, such as reliability is high, real-time is good, powerful, easy to use, so being widely used in reality
In the engineering of border.High-speed pulse output function and high-speed counter function are weights of the PLC in position control and motion control field
Want component part.It, can be with the rotating speed of sample motor and rotation using pulse coder by high-speed pulse output come driving motor
Direction is converted into impulse form, is then accurately counted to its high-frequency pulse by high-speed counter, to realize
Controls of the PLC to motor.The PLC for having both functions can be applied in position control and motion control, such as beverage, book
Each industrial circle of the packed and transported of the whole packet of the FCL such as sheet, instant noodles.
The present invention adopts the following technical scheme that：
The control system of more stack position multi items stackings based on PLC controls comprising：
Human-computer interaction interface is shown for Real-time process flow, technological parameter setting and warning message are shown；It can input
The selection of the size of each kind cargo, the distance, kind and stowed location of each stowed location.Human-computer interaction interface is connected with PLC.
PLC executes internal logic operation and data operation for collecting external control signal.Logical operation includes mainly
According to the stacking place selected and assortment of article, the logical operation of corresponding subprogram selection and each output action are carried out
Logic judgment.Numerical operation is mainly to carry out stacking machine three-dimensional according to the quantity of goods and stacking distance stacked and run servo
The operation of umber of pulse needed for motor and the calculating for stacking numerical value.Operation by program obtains the motion impulse number of servo motor
With executing instruction for grasping movement, and control instruction is sent out.PLC is connected with electrical appliance module is executed.
Sensor assembly is used for real-time position detection and Stateful Inspection；Sensor assembly is also connected with PLC module.
Electrical appliance module is executed, the control command of PLC, the action of driving motor, pneumatic operated valve and hydraulic valve are executed.Servo motor
Or stepper motor can be used as tri- direction stacking machine X, Y, Z operation execute electric appliance, it can be achieved that stacking machine accurate positionin.According to
Servo motor, then the feedback coder of motor the detection of current location can be provided.Pneumatic operated valve or hydraulic valve can be used for driving stacking
The action of machine end effector mechanism.Servo motor, pneumatic operated valve and hydraulic valve are connect with PLC output ends, servo motor feedback encoding
Device is connect with PLC input terminals, all carries out unified driving by PLC.
Preferably, input quantity operation and logical operation program inside PLC.
Preferably, control system can set different stowed locations, and system stacks automatic cycle selection nearby.And work as goods
After the transformation of article kind, corresponding drive actions can be executed according to the setting of corresponding stowed location.
Preferably, control system can set different assortment of article, and system is by the stacking of automatic compact.According to cargo
Length and width dimensions, system smoothly stack the operation umber of pulse of adjust automatically stacking position to realize that cargo is compact.
Preferably, control system can carry out respective kind, the counting of stack position and storage to different cultivars, different stacking points
Numerical value.
The palletizing method of more stack position multi items using the above structure provided by the invention, carries out according to the following steps：
Cargo is transported on step 1. conveyer belt reaches stacking initial bit, this position sensor has detected cargo arrival, and
Send a signal to PLC.
The end effector of step 2. stacking machine reaches initial bit and carries out Cargo Claim, is sent a signal to after the completion of action
PLC.Hydraulic pressure can be used in end effector or pneumatic mode is realized.
After the completion of step 3. extraction action, the setting according to man-machine interface to kind and stacking place, PLC, which is combined, works as former code
The counting of stack position stack goods carries out logic and numerical operation, calculates the corresponding umber of pulse of servo motor for driving each axis.
Step 3 is specially：
Step 3.1 selects the cargo can heap the setting of kind and stacking place according to man-machine interface according to nearby principle
The nearest stacking position put.Specific embodiment referring to Fig. 3 explanation.
Step 3.2 stacks the existing cargo number in place according to current, carries out numerical operation.It calculates in a certain stacking place
On, position that the number of plies and next cargo that cargo has been stacked will stack.
If the cargo number stacked is N；According to the stacking form of setting, the quantity of goods of every layer of placement is m；Then N is removed by m
Division algorithm expression formula be N=A × m+B, wherein A is quotient, indicates the number of plies that should place of current cargo；B is remainder,
Indicate the corresponding positional number of current layer number.
Step 3.3 combines the corresponding size of current stack goods kind and the position of stacking to carry out numerical operation, calculates
Stacking machine needs the specific distance run on tri- directions X, Y, Z, to make its compact stable stacking.
Based on distance of the range ability of X-axis and Y-axis by stack position apart from initial bit, the specific stowed location of incorporating cargo into
Row plus-minus compensation operation, the distance setting of different stowed locations.Specific embodiment referring to Fig. 4 explanation.
The range ability of Z axis is calculated according to formula H=L-A × hi, wherein hi is the height of cargo, that is, stacks one
The height of layer；L is the total height of stacking machine；H is the distance that stacking machine needs to run along Z-direction.
After the completion of step 4.PLC internal processes operations, the servo motor of tri- axis of X, Y, Z operates simultaneously, extremely by goods movement
Corresponding position.
After step 5. reaches designated position, stacking machine end executive device is unclamped, and puts down cargo, the goods of position stacking
Object number adds 1, and judges whether the quantity of the stacking position has expired.
After step 6. puts down cargo, tri- axis of stacking machine X, Y, Z returns to the dead-center position respectively set, at the beginning of waiting for cargo stacking
The cargo arriving signal of beginning position.
The present invention combines modules can complete the cargo of different cultivars in selected stowed location together, according to
Nearby principle, by the overlapped way of setting, stable stack goods.
Compared with prior art, the beneficial effects of the invention are as follows：Different assortment of article, different stacking can be directed to
Point, different stacking heights carry out automatically selecting stacking, include mainly carrying out quantity to the length size of different assortment of article
It calculates, logical operation is then carried out according to the stacking place of setting, nearest stacking place is selected to stack, after the completion of stacking again
Degree selects nearest stacking point to be stacked, and monitors the place that can be stacked, automatic cycle operation in real time.Certainly, in stacks of cargo
It puts in mode, with the variation for stacking the number of plies, a kind of form of automatic cycle keeps the cargo that it is stacked more steady, safe.It is man-machine
It interactive interface, PLC, sensor assembly and executes electrical appliance module and be combined with each other control, complete each process section requirement jointly, realize and flow
Journey automatically controls, and alarms the abnormal conditions occurred in stacking process.Control system synthesis integral measuring of the present invention, control
The functions such as system, alarm, security control and Product Data Management, with efficient, varietal adaptation is strong, easy to operate, versatility
The features such as wide.
Description of the drawings
Fig. 1 is the control system the general frame that the present invention stacks automatically.
Fig. 2 is that the displacement scale that the present invention stacks automatically marks schematic diagram
Fig. 3 is the stacking distance location schematic diagram that the present invention stacks automatically.
Fig. 4 is the automatic stacking form figure for stacking stacking of the present invention.
Specific implementation mode
Example elaboration is done to the present invention below in conjunction with the accompanying drawings.
Fig. 1 shows a kind of more stack position multi items stacking control system overall structure block diagrams of preferred embodiment of the present invention.
The control system of the more stack position stacking machines of the present embodiment, including human-computer interaction interface, are shown using touch screen, are controlled.It touches
Screen is for inputting, controlling and fault alarm show, realization human-computer dialogue.The length and width of different cargos can be inputted in touch screen
It is high, stack height, stack place and starting point in three directions at a distance from and different cargos stack it is different stack set
The data such as fixed.Touch screen can also monitor operational process in real time, control the isolated operation of all parts, read failure alarm point and place
The corresponding alarm of reason.
The control system of the present embodiment further include PLC, sensor assembly and execute electrical appliance module, human-computer interaction interface with
PLC is connected, and PLC and execution electrical appliance module, sensor assembly are all connected.
Sensor assembly is used for characterization processes parameter and flow monitoring signal, and sensor assembly includes that multiple limit switches pass
Sensor, multiple laser sensors, multiple proximity sensors and multiple pressure sensors, the fortune being respectively used on three directions of limitation
The safety detection of the operating status and system of row distance, detection current cargo.
It includes three servo motors, several air air valves and hydraulic valve to execute electrical appliance module.
Sensor assembly provides detection signal in operational process to PLC, PLC in the process of running, to human-computer interaction
The detection signal that the data parameters and sensor of interface input provide carries out logical operation and data operation, then provides instructions to
Electrical appliance module is executed, driving servo motor moves on three traffic directions, and encoder monitors the operating number of servo motor in real time
According to PLC, the real-time monitoring and control to running position, while all kinds of valves are driven in corresponding position, complete corresponding action.
Certainly in the process of running, all there is respective safety detection, real-time report Safety actualities to PLC and people for various operating statuses
Machine interactive interface, PLC judge various fault conditions and act accordingly.
Fig. 2 shows more stack position multi items stacking control systems of an embodiment of the present invention on tri- directions X, Y, Z
Displacement orientation definition.Figure includes stacking machine 1, the end effector mechanism 2 of stacking machine, track 3, cargo 4, stacking position 5.Its
In, direction along ng a path is X-direction, is Y direction along end effector mechanism direction, is Z-direction along column direction.Work as stacking
When machine is located at initial position shown in figure, long a, wide b cargo 3 be extracted here, according to selected kind and stack ground
Point, and the yarn packet number placed on place is currently stacked to calculate the displacement in tri- directions X, Y, Z.Stacking machine 1, code
The end effector mechanism 2 of stack machine, track 3, stacking position 5 etc. are the prior art.
Fig. 3 shows more stack position multi items stacking control systems of an embodiment of the present invention on stacking distance location
Setting.Different stowed locations can be selected according to different kinds, such as：The selection of kind 1 stacks point 1 and stacks point 3, and product
When point 2 and stacking point 4 are stacked in 2 selection of kind, kind 1 and 2 corresponding length and width high parameter of kind, heap are inputted on human-computer interaction interface
A little 1,2,3,4 corresponding distance parameter is put, the logical operation and data operation that PLC can be according to storage inside calculate phase automatically
The cargo of the movement locus answered, kind 1 can preferentially be stacked to nearest stacking point --- as stacked point 1, stacked until stacking point 1
Count to up to after setting value, system can automatically stack cargo to next nearest stacking point --- as stacked point 3, when stacking point
After 3 stacking numbers reach setting value, system selects nearest stacking point once again, so recycles, until all stacking points stack quota
Until, but after the cargo for stacking point is removed, and stacking can be recalculated.Certainly in stacking process, if the change of kind occurs
More, system can carry out automatically according to the stacking route of kind 2, and executive mode is identical as the mode of kind 1.
Fig. 4 shows the stacking form of more stack position multi items stacking control systems of an embodiment of the present invention.Stacking shape
In order to make cargo stack more steady and safety in formula, selected a kind of mode that mutual dislocation presses, the 1st, 3,5...... layers
The form mutual dislocation put with the 2nd, 4,6 layer heaps, cycle are stacked.
The existing cargo number in place is stacked according to current, carries out numerical operation.It calculates on a certain stacking place, cargo
The position that the number of plies and next cargo stacked will stack.
If the cargo number stacked is N；According to the stacking form of setting, the quantity of goods of every layer of placement is 5；Then N is removed by 5
Division algorithm expression formula be N=A × 5+B, wherein A is quotient, indicates the number of plies that should place of current cargo；B is remainder,
Indicate the corresponding positional number of current layer number.
In terms of operation is arranged in distance, realized using plus-minus compensation operation, the 1st, 2,3,4, No. 5 cargo is equivalent to A and is
Even number, remainder B are respectively 1,2,3,4,0.It is odd number that 6th, 7,8,9, No. 10 cargo, which is equivalent to A, remainder B is respectively 1,2,3,4,
0.The distance operation of each placement position is as follows：
No. 1 cargo：X-axis range ability is Xi-b, and Y-axis range ability is Yi+ (a+b)/2；
No. 2 cargos：X-axis range ability is Xi, and Y-axis range ability is Yi+ (a+b)/2；
No. 3 cargos：X-axis range ability is Xi+b, and Y-axis range ability is Yi+ (a+b)/2；
No. 4 cargos：X-axis range ability is Xi-a/2, and Y-axis range ability is Yi+a；
No. 5 cargos：X-axis range ability is Xi+a/2, and Y-axis range ability is Yi+a；
No. 6 cargos：X-axis range ability is Xi-a/2, and Y-axis range ability is Yi；
No. 7 cargos：X-axis range ability is Xi+a/2, and Y-axis range ability is Yi；
No. 8 cargos：X-axis range ability is Xi-b, and Y-axis range ability is Yi+ (a+b)/2；
No. 9 cargos：X-axis range ability is Xi, and Y-axis range ability is Yi+ (a+b)/2；
No. 10 cargos：X-axis range ability is Xi+b, and Y-axis range ability is Yi+ (a+b)/2；
a:The length of cargo
b:The width of cargo
y:Cargo is in starting point at a distance from stacking in the Y-axis direction
xi:Cargo starting point and each stacking point in the X-axis direction at a distance from
The range ability of Z axis is calculated according to formula H=L-A × hi, and wherein hi is the height of cargo, that is, stacks one layer
Height；L is the total height of stacking machine；H is the distance that stacking machine needs to run along Z-direction.
Certainly every layer of disposing way selects different stacking disposing ways according to the length and width dimensions of different cargos, puts
It puts proportional region of the mode based on length and width and selects more optimized disposing way.
It is above-mentioned that the preferred embodiment of the present invention is described in detail, for those of ordinary skill in the art, according to
According to technical solution provided by the invention and technical concept, the various modifications made in specific implementation mode, variation also fall into this
In the protection domain of invention.
Claims (5)
1. the control system of more stack position multi items stackings based on PLC controls, it is characterized in that including：
Human-computer interaction interface, shown for Real-time process flow, technological parameter setting and warning message show, input each kind goods
The selection of the size of object, the distance of each stowed location, kind and stowed location；Human-computer interaction interface is connected with PLC；
PLC executes internal logic operation and data operation, obtains the movement arteries and veins of servo motor for collecting external control signal
Executing instruction for number and grasping movement is rushed, and sends out control instruction；PLC is connected with electrical appliance module is executed；
Sensor assembly is used for real-time position detection and Stateful Inspection；Sensor assembly is connected with PLC module；
Electrical appliance module is executed, the control command of PLC, the action of driving motor, pneumatic operated valve and hydraulic valve are executed；
The control system sets different stowed locations, and control system stacks automatic cycle selection nearby；And work as cargo
After kind transformation, according to the setting of corresponding stowed location, corresponding drive actions are executed.
2. the control system of more stack position multi items stackings as described in claim 1 based on PLC controls, characterized in that described
Control system sets different assortment of article, and control system is by the stacking of automatic compact.
3. the control system of more stack position multi items stackings based on PLC controls as described in claim any one of 1-2, feature
It is that the control system carries out respective counting and simultaneously store numerical value to different cultivars, different stacking points.
4. a kind of palletizing method of control system as described in any one of claims 1-3, carries out as follows：
Cargo is transported on step 1. conveyer belt and reaches stacking initial bit, and position sensor has detected cargo arrival at this time, concurrently
The number of delivering letters gives PLC；
The end effector of step 2. stacking machine reaches initial bit and carries out Cargo Claim, and PLC is sent a signal to after the completion of action；
After the completion of step 3. extraction action, the setting according to man-machine interface to kind and stacking place, PLC combines current stacking position
The counting of stack goods carries out logic and numerical operation, calculates the corresponding umber of pulse of servo motor for driving each axis；
After the completion of step 4.PLC internal processes operations, the servo motor of tri- axis of X, Y, Z operates simultaneously, by goods movement to corresponding
Position；
After step 5. reaches designated position, stacking machine end executive device is unclamped, and puts down cargo, the cargo number of position stacking
Add 1, and judges whether the quantity of the stacking position has expired；
After step 6. puts down cargo, tri- axis of stacking machine X, Y, Z returns to the dead-center position respectively set, waits for cargo stacking initial bit
Cargo arriving signal.
5. palletizing method as claimed in claim 4, it is characterized in that：Step 3 is specially：
Step 3.1 selects the cargo stackable the setting of kind and stacking place according to man-machine interface according to nearby principle
Nearest stacking position, also to the corresponding size of each kind cargo change, carry out numerical operation so that its compact stable heap
It puts；
Step 3.2 stacks the existing cargo number in place according to current, carries out numerical operation, calculates on a certain stacking place,
The position that the number of plies and next cargo that cargo has been stacked will stack；
Step 3.3 carries out numerical operation in conjunction with the size of current stack goods kind and the position of stacking, calculates stacking machine and exists
X, the specific distance run is needed on tri- directions Y, Z, to make its compact stable stacking.
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| CN106239512B (en) * | 2016-08-27 | 2019-02-05 | 南通通机股份有限公司 | A kind of robot palletizer control method based on Formula type |
| CN106406142B (en) * | 2016-10-10 | 2022-03-29 | 贵州慧联科技有限公司 | Cigarette carton stacking control method and system |
| CN107222147A (en) * | 2017-05-16 | 2017-09-29 | 珠海瑞合电气有限公司 | A kind of AC servo driver system |
| CN109533871A (en) * | 2018-12-29 | 2019-03-29 | 嘉兴奥拓迈讯自动化控制技术有限公司 | Intelligent stacking machine hand operation control system and its control method |
| CN111243243A (en) * | 2020-01-06 | 2020-06-05 | 北京小米移动软件有限公司 | Information processing method, device and storage medium |
| CN112101877A (en) * | 2020-11-06 | 2020-12-18 | 国为(南京)软件科技有限公司 | Goods stacking management platform based on Internet of things |
| CN112749883B (en) * | 2020-12-29 | 2023-06-27 | 芜湖新兴铸管有限责任公司 | Method for managing continuous casting billet feeding pipe |
| CN114454175A (en) * | 2022-03-11 | 2022-05-10 | 科达制造股份有限公司 | Simple robot stacking control system and method |
| CN115231333A (en) * | 2022-09-02 | 2022-10-25 | 德州海天机电科技有限公司 | Automatic operation control system of PC production line lifting type stacker crane |
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| US8542104B2 (en) * | 2007-03-01 | 2013-09-24 | Oracle International Corporation | RFID edge server having a programmable logic controller API |
| CN201804260U (en) * | 2010-09-01 | 2011-04-20 | 江苏天奇物流系统工程股份有限公司 | Automatic control system for seat tray stacking mechanism |
| CN103466249B (en) * | 2013-09-23 | 2016-02-24 | 深圳市纳瑞机器人有限公司 | A kind of Three-dimensional warehouse system |
| CN103482292B (en) * | 2013-09-23 | 2015-07-29 | 陕西科技大学 | A kind of automatic stereowarehouse intelligent control method |
| CN103569680B (en) * | 2013-11-06 | 2015-10-21 | 江苏新美星包装机械股份有限公司 | A kind of Universal stack arrangement control method of stacker |
| CN204241924U (en) * | 2014-10-28 | 2015-04-01 | 东莞市瑞辉机械制造有限公司 | A kind of unmanned method stacking electric-control system |
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