SU844517A1 - Automatic control device for motion of transport mechanism along storage rack - Google Patents

Description

the main platform of the transport mechanism and connected to the control units: phenomena;

The invention is illustrated in the drawings, where in FIG. 1 shows a block diagram of an apparatus for automatically controlling the movement of a transport mechanism; in fig. 2 - a general view of the mechanism.

The device contains a program input unit 1 (receiving and storing commands, monitoring their execution, transferring computer information or to an operator about the position of the mechanism, converting commands into control signals and distributing them into blocks) connected by an output to one of the inputs of the starting control unit 2 the equipment of the transport mechanism, to the other inputs of which, via drivers, for example, counters of 3 pulses, are connected linear sensors 4 measuring the distance traveled by the loading platform of the mechanism. The stacker drives work as long as the specified command does not match the code of the desired warehouse zone.

Blocks of control of the rack cells and fixation of the cargo platform relative to the cells of the rack are made on ultrasonic finders (locators), including ultrasonic heads 5 connected to the control blocks 6 and designed to detect structural details of the racks and loads and to recognize them by the echo signal , switching the generated signals along the appropriate circuits, applying an amplitude signal to precisely stop the load platform of the mechanism and monitor cell occupancy. The outputs of blocks 6 are connected to the inputs of the drivers, in particular, the counters 7, and to the inputs of the block 2 of control of the starting equipment. Pulse counters 7 (signal conditioners) perform pulse counting, giving commands for switching the speed of electric motors and stopping the mechanism and their outputs are connected to the inputs of control unit 2. The unit 2 for controlling the starting apparatus of the transport mechanism commands the starting apparatus of the mechanism to turn on, switch, stop, brake the electric motors and executes a program of commands to take or put, the output of this unit is also connected to the inputs of the control panel 8 of the transport mechanism.

Linear sensors 4 paths, ultrasonic heads 5 and the remote with installed in it blocks 1, 2 and 6 and counters 3 and 7 pulses are placed on the transport mechanism.

The device works as follows.

The command to search for cargo or storage place as a code from a computer or operator control panel is received via communication. In block I of the program input, where it is stored and converted into the corresponding control signals. The control signals are sent to the transport equipment starting control unit 2 for switching on the electric motors of the mechanism and, in the form of a predetermined number of pulses, counters 7, which memorize them and, when counting the required number of pulses, issue control signals to the motor switching speed control unit 2.

When the mechanism moves, the counters 7 read the racks and shelves of the racks by the signals of the ultrasound finders. Moreover, each ultrasound finder is characterized by characteristic features (by distance to

heads, overall dimensions, direction) distinguishes the rack from the shelf and outputs to the corresponding counter 7 (along the X or F coordinate) a signal for counting (in the search mode, duplication of the work of the searchers is performed). At the time specified by the program, the gear speed is switched.

At low speed, the load platform of the mechanism approaches the given cell. The loading platform, brought to a predetermined point, with a certain accuracy, by signals from ultrasonic finders, which enter directly into the control unit 2 of the starting equipment, is fixed relative to the rack or load cell.

The heads 5 of the ultrasound finders are placed on the load platform in such a way that in the “load” mode, one head controls the position of the platform relative to the shelf and the stand, and the second is the presence of loads in the cell. In the "take load" mode, one of the heads controls the position of the platform relative to the rack and shelf, and the second - the lower edge of the load,

which makes it possible to determine the presence of cargo in the cell and, if present, fix the platform in such a way that it provides the necessary clearance between the bottom of the cargo and the grip.

According to the control signals of unit 2, the control of the starting equipment by the transport mechanism, the program "take up or put" the load is processed. The linear sensors 4 by the way and during the transport mechanism twisting measure the two-way software using the cargo platform traveled by the platform and send discrete signals to the corresponding counters 3 transmitting the control signals to block 2

control of starting equipment.

The starting equipment control unit compares the signals from the linear sensors 4 ways and from the ultrasonic finders, after which the control

the signals are fed to the starting equipment of the transport mechanism for switching speeds and turning off the electric motors. In this case, the fixation of the platform relative to the cell rack or load

happens as above with

The ultrasound finders and the programs “take and put” the load are processed. The use of ultrasound finders that fix the transport mechanism on the details of the rack and cargo allows you to get rid of a lot of code marks on the racks, additional digitizers in the system, and in combination with linear sensors of the way to bring the transport mechanism to any given point in space, take part of the cell contents and use racks with different cell sizes, displace the racks relative to each other in the same inter-shelf passage. As a result, the entire search system is simplified, the labor costs for mounting the racks are reduced, the reliability of operation is increased, and the range of functional capabilities of the automatic control system for moving the transport mechanism is expanded.

Claims (2)

1. The UK patent number 1278929, cl. In 65G 1/00, 1972. 2. US patent number 3734310, class. 214-16.4, 1973 (prototype).  5-6 Jh