CN103569680A - Universal stack arrangement control method for stacker crane - Google Patents
Universal stack arrangement control method for stacker crane Download PDFInfo
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- CN103569680A CN103569680A CN201310543386.6A CN201310543386A CN103569680A CN 103569680 A CN103569680 A CN 103569680A CN 201310543386 A CN201310543386 A CN 201310543386A CN 103569680 A CN103569680 A CN 103569680A
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- stacker
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Abstract
The invention discloses a universal stack arrangement control method for a stacker crane. The method comprises steps as follows: an integral stacking procedure is broken up into a plurality of modularized action units; a stack type arrangement rule is created based on the action units and binary numbers and the stack type setting is presented in a human-computer interface of the stacker crane, wherein the stack type arrangement rule refers to that each action unit is added by 2n correspondingly, and the added binary numbers control and drive corresponding action units; and an operating worker sets the number of stacking layers, the number of periodic boxes and each action value set according to a box feeding sequence through the human-computer interface to form a stacking formula, and the stacker crane operates the stacking formula to finish the stacking automatically. With application and implementation of the universal stack arrangement control method, programmable control applicability corresponding to different stacker cranes is enlarged, debug time increase due to program vulnerability is prevented, convenience of a stack type design is improved, the operation is simple and convenient, and productivity per unit time can be calculated intelligently.
Description
Technical field
The present invention relates to a kind of piling programmed control method, the general row who relates in particular to a kind of gantry stacker piles up neatly control method, is applicable to the stacker of various single channel inlets.
Background technology
It is all single type that the piling of existing single channel inlet is controlled, every unit all needs again to write the control program of a set of correspondence, in conjunction with various piling formula, need again write control program again, this has increased design effort amount and field adjustable cost greatly, and buttress type is limited serious.
Summary of the invention
In view of the defect that above-mentioned prior art exists, the general row who the object of the invention is to propose a kind of stacker piles up neatly control method, solves for the loaded down with trivial details problem of different stacker programming Control, reduces remote control design labor content and field adjustable time, reduces cost of product.
Above-mentioned purpose of the present invention, to be achieved by the following technical programs: a kind of general row of stacker piles up neatly control method, the program controller of the stacker based on single channel inlet is realized, and it is characterized in that: the complete process decomposition of piling is become to modular several motor units; In program controller, each motor unit and binary number are set up to buttress type queueing discipline and the setting of buttress type is presented in the man-machine interface of stacker, its Parma type queueing discipline is: corresponding handling maneuver, the first gear case valve events, the second gear case valve events, single-row inlet promote to add respectively 2 to bit motion, workbench half promotion work and workbench entirely
n, added each binary number is controlled and is driven each corresponding motor unit; Operating personnel by man-machine interface set the piling number of plies, cycle case number and according to inlet order respectively the set numerical value that respectively moves form a piling and fill a prescription, stacker operation piling formula completes piling automatically, wherein n gets 0 or arbitrary positive integer.
Further, the program controller of stacker has memory cell, and operating personnel sets and forms after piling formula, is recorded in memory cell standby.
Further, the program controller of stacker is provided with the buttress type graphical treatment unit that is presented in man-machine interface, presents preview figure intuitively, as the reference of revising input action data according to the piling number of plies, cycle case number and the numerical value that respectively moves of operating personnel's input.
Further, corresponding to two gear case valve events, described program controller is set up delay time and is set, and only when gear case valve events is enabled, is presented in man-machine interface.
Further, buttress type queueing discipline is: handling maneuver adds that the 1, first gear case valve events adds that the 2, second gear case valve events adds 4, single-row inlet to bit motion add 8, workbench half promote to do to add 16 and workbench entirely promote work and add 32.
The general row of application implementation the present invention piles up neatly control method, and its remarkable result that compares to traditional programmed method is: expanded the program control applicability for different stackers, be conducive to prevent bug and increase burn in period; Improved the convenience, easy and simple to handle of Pack design, and production capacity that can the Intelligent statistical unit time.
Below just accompanying drawing in conjunction with the embodiments, is further described the specific embodiment of the present invention, so that technical solution of the present invention is easier to understand, grasp.
Accompanying drawing explanation
Fig. 1 is that the general row of the present invention piles up neatly control method and is applied to the row of ground floor in a preferred buttress type one-period and piles up neatly schematic diagram.
Fig. 2 is that the general row of the present invention piles up neatly control method and is applied to the row of the second layer in a preferred buttress type one-period and piles up neatly schematic diagram.
Fig. 3 is that preferred buttress type shown in corresponding diagram 1 and Fig. 2 is at the setting schematic diagram of man-machine interface.
The specific embodiment
The present invention is directed to the common defects of prior art, in order to reduce design labor content and field adjustable time, reduce cost of product, improve operation efficiency, adopt brand-new control method and unitized design concept, developed a set of normalisation, unitized control method, at mechanical mechanism, do not done in cataclysmal situation, this control method can be suitable for various buttress types and produce.
Principle summary from technical solution of the present invention: the general row of this stacker piles up neatly control method, the program controller of the stacker based on single channel inlet is realized, basic step key element is: the complete process decomposition of piling is become to modular several motor units, according to the common point action division of the complete procedures of various stackers, be mainly divided into and comprise that handling maneuver, the first gear case valve events, the second gear case valve events, single-row inlet partly promote work and workbench to bit motion, workbench and entirely promote to do.Each motor unit and binary number are set up to buttress type queueing discipline in program controller and buttress type are set and is presented in the man-machine interface of stacker, its Parma type queueing discipline for each motor unit respectively correspondence add 2
n, wherein n gets 0 or arbitrary positive integer, and added each binary number is controlled and is driven each corresponding motor unit.Operating personnel by man-machine interface set the piling number of plies, cycle case number and according to inlet order respectively the set numerical value that respectively moves form a piling and fill a prescription, stacker operation piling formula completes piling automatically.This control method software aspect adopts LAD and STL bilingual pattern.STL language part mainly completes a large amount of data processings; LAD language partly completes the logic operation of various digital quantities.Greatly reduced like this procedure quantity, the legibility of program is also provided simultaneously.
Further perfect as above-mentioned base case, the program controller of this stacker is provided with the buttress type graphical treatment unit that is presented in man-machine interface, according to the piling number of plies of operating personnel's input, cycle case number and the numerical value that respectively moves, process and present preview figure intuitively in man-machine interface, as the reference of revising input action data, improve operating personnel's customization efficiency of filling a prescription.
Corresponding to two gear case valve events, because the action of gear case itself has certain opening time, thus in the control method of program controller, also set up delay time setting, and only when gear case valve events is enabled, be presented in man-machine interface.
Further, the program controller of stacker has memory cell, and operating personnel sets and forms piling formula, completes after operation, just can be recorded in memory cell, in following production operation, as needed the buttress type of this correspondence, only need call existing piling formula and directly use or small parameter perturbations.
Below just by an example buttress type in production process, describe its control method in detail, be beneficial to understand innovation essence of the present invention.
In this example, piling is two-layer one-period, each cycle is containing 24 chests (or buttress bag), six layers (actual layer number can be self-defined more than two layers arbitrarily) of every buttress code, and the numeral inlet order on each chest shown in figure is distinguished mutually with the numerical value implication of respectively moving of inputting in binary number in buttress type queueing discipline and man-machine interface.For making buttress type Stability Analysis of Structures, in one-period, two-layer piling adopts Rotate 180 ° stacking, and direction, position and the inlet order of chest are as depicted in figs. 1 and 2 in every layer.
And in this example, program controller Parma type queueing discipline is: handling maneuver adds 1(2
0), the first gear case valve events adds 2(2
1), the second gear case valve events adds 4(2
2), single-row inlet adds 8(2 to bit motion
3), workbench half promotes to do to add 16(2
4) and workbench entirely promote to do to add 32(2
5).Wherein in each binary number, all contain each corresponding motor unit control drive signal (for example primary 1 in deputy 1, the first gear case valve events 10 in handling maneuver 01, by that analogy).Above buttress type queueing discipline is preferred embodiment, in practical application, and each binary number 2
nin n desirable 0 or arbitrary positive integer.
Corresponding with buttress type shown in Fig. 1, Fig. 2, operating personnel only need input corresponding parameter by diagram buttress type in man-machine interface, comprise the basic piling number of plies, cycle case number and flexible customization according to the inlet order set numerical value that respectively moves respectively, as shown in Figure 3.By inlet order: because front 3 casees need handling maneuver, therefore only need insert action numerical value 1 in corresponding frame; And the 4th case piling is except needs turn to, also need single-row inlet to promote to do to bit motion and workbench half, therefore need insert action numerical value 25(in corresponding frame, be 1+8+16); The 5th case is without turning to, but need to avoid the piling of blocking the 6th case to need the first gear case valve events, thus in corresponding frame, insert action numerical value 2, and corresponding delay time is set and is manifested and be set as 2 seconds; The 6th case with front 3 casees identical; And the 7th case needs single-row inlet to promote to do to bit motion and workbench half equally, therefore correspondingly insert 24(, be 8+16); The 8th case attonity, therefore only need insert 0; The 9th case need to carry out the second gear case valve events, single-row inlet promotes to do to bit motion and workbench half, therefore need insert 28(, is 4+8+16); The 10th case is with the 5th case; The same 3 casees of the 11st case; The 12nd case needs single-row inlet entirely to promote to do to bit motion and workbench, therefore need insert 40(, is 8+32).The second layer man-machine interface as shown in Figure 3 of gained of in like manner can deriving is set.After whole settings, can pass through the operation of program controller control code stack machine, complete required buttress type.
It should be noted that, it is those skilled in the art's conventional actions to understand that above-mentioned workbench half promotes to do or entirely promote to do, therefore introduce no longer in detail the concrete enforcement of each motor unit.
The application that the general row of the present invention piles up neatly control method has many-sided remarkable beneficial effect, by column:
1. different stackers adopt same standardized program, prevent bug, increase burn in period;
2. single channel inlet standardized program, is applicable to most boxes and buttress type;
3. user is easy to use, simple to operate, changes piling mode and only need in man-machine interface, revise parameter, then preserves formula, and producing required buttress type only needs a key to call formula;
4. on production capacity touch-screen, automatically show, and generate production capacity trend map per hour, this part, as the function of setting up of program controller, is easy to realize for being engaged in Electric Control Design, but this production capacity statistics application on stacker still belongs to pioneering.
To sum up, the general row of application implementation the present invention piles up neatly control method, has expanded the program control applicability for different stackers, is conducive to prevent bug and increases burn in period; Improved the convenience, easy and simple to handle of Pack design, and production capacity that can the Intelligent statistical unit time.
Claims (5)
1. the general row of stacker piles up neatly a control method, and the program controller of the stacker based on single channel inlet is realized, and it is characterized in that: the complete process decomposition of piling is become to modular several motor units; In program controller, each motor unit and binary number are set up to buttress type queueing discipline and the setting of buttress type is presented in the man-machine interface of stacker, its Parma type queueing discipline is: corresponding handling maneuver, the first gear case valve events, the second gear case valve events, single-row inlet promote to add respectively 2 to bit motion, workbench half promotion work and workbench entirely
n, added each binary number is controlled and is driven each corresponding motor unit; Operating personnel by man-machine interface set the piling number of plies, cycle case number and according to inlet order respectively the set numerical value that respectively moves form a piling and fill a prescription, stacker operation piling formula completes piling automatically, wherein n gets 0 or arbitrary positive integer.
2. the general row of stacker piles up neatly control method according to claim 1, it is characterized in that: the program controller of stacker has memory cell, and operating personnel sets and forms after piling formula, is recorded in memory cell standby.
3. the general row of stacker piles up neatly control method according to claim 1, it is characterized in that: the program controller of stacker is provided with the buttress type graphical treatment unit that is presented in man-machine interface, according to the piling number of plies, cycle case number and the numerical value that respectively moves of operating personnel's input, present preview figure intuitively, as the reference of revising input action data.
4. the general row of stacker piles up neatly control method according to claim 1, it is characterized in that: corresponding to two gear case valve events, described program controller is set up delay time and set, and only when gear case valve events is enabled, is presented in man-machine interface.
5. the general row of stacker piles up neatly control method according to claim 1, it is characterized in that: buttress type queueing discipline is: handling maneuver adds that the 1, first gear case valve events adds that the 2, second gear case valve events adds 4, single-row inlet to bit motion add 8, workbench half promote to do to add 16 and workbench entirely promote work and add 32.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573238A (en) * | 2016-01-11 | 2016-05-11 | 杭州电子科技大学 | Multi-pile-location multi variety piling method based on PLC control, and multi-pile-location multi variety piling control system based on PLC control |
| CN106348028A (en) * | 2016-11-15 | 2017-01-25 | 赵铭竹 | PLC for product stacking and product stacking method |
| WO2018120166A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Stacking method and device, and robot |
| CN108748136A (en) * | 2018-04-10 | 2018-11-06 | 上海新时达机器人有限公司 | Robot stacking program creating method, storage medium and teaching machine |
| CN111302078A (en) * | 2020-02-20 | 2020-06-19 | 深圳市今天国际物流技术股份有限公司 | Automatic stack shape changing method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573238A (en) * | 2016-01-11 | 2016-05-11 | 杭州电子科技大学 | Multi-pile-location multi variety piling method based on PLC control, and multi-pile-location multi variety piling control system based on PLC control |
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| WO2018120166A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Stacking method and device, and robot |
| CN108748136A (en) * | 2018-04-10 | 2018-11-06 | 上海新时达机器人有限公司 | Robot stacking program creating method, storage medium and teaching machine |
| CN111302078A (en) * | 2020-02-20 | 2020-06-19 | 深圳市今天国际物流技术股份有限公司 | Automatic stack shape changing method and device |
| CN111302078B (en) * | 2020-02-20 | 2021-05-28 | 深圳市今天国际物流技术股份有限公司 | Automatic stack shape changing method and device |
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| CN103569680B (en) | 2015-10-21 |
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