CN105692115A - High-precision location control system for aerial self-propelled trolley - Google Patents
High-precision location control system for aerial self-propelled trolley Download PDFInfo
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- CN105692115A CN105692115A CN201410705070.7A CN201410705070A CN105692115A CN 105692115 A CN105692115 A CN 105692115A CN 201410705070 A CN201410705070 A CN 201410705070A CN 105692115 A CN105692115 A CN 105692115A
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- controller module
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- trolley
- dolly
- agv controller
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Abstract
The invention relates to a high-precision location control system for an aerial self-propelled trolley. One end of a slide wire is connected with a central controller, and the other end of the slide wire is connected with a trolley controller module, so that data communication is realized; a motor control unit is connected with the trolley controller module and is used for receiving a control signal sent by the trolley controller module and controlling the starting and stopping movement of a motor; a safe region scanning module is connected with the trolley controller module and is used for protecting the region safety in the advancing direction of the trolley and raising an alarm; and a communication module is connected with the trolley controller module and is used for feeding a communication signal back to a central controller unit through the slide wire. According to the high-precision location control system, motion states of a walking shaft, a lifting shaft and a rotating shaft of the trolley and position information of each shaft can be acquired in real time in the moving process, so that high-precision location of a trolley controller is realized, and furthermore, the high-precision location control system can be used for an occasion with a high requirement for automatic assembly location precision.
Description
Technical field
The present invention relates to Automated assembly field, specifically a kind of aerial automatic carriage of hi-Fix controls system。
Background technology
Controlling dolly voluntarily is a kind of relatively common mode in logistics conveyer system field。Owing to dolly is in moving process, communication modes is more special, Conventional communication mode cannot directly connect in trolley communication achieved above, and communication data amount is limited, and the factor that affected by workshop condition is relatively larger causes that signals collecting is unstable and cannot realize quick response。Dolly cannot realize full-track feedback and monitoring in running so that control system is hardly formed closed loop control, and stability and the reliability of control are poor, particularly requires high occasion in automaticity, it is impossible to meets the pinpoint requirement of high accuracy。
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of high-precision motion to position aerial automatic carriage control system, the kinestate of carriage walking axle, lifting shaft and rotating shaft is obtained by real-time communication in moving process, realize the hi-Fix of agv controller, such that it is able to be used in Automated assembly program to require high occasion。
The present invention be the technical scheme is that a kind of aerial automatic carriage of hi-Fix controls system for achieving the above object, and trolley one end connects central controller, and the other end connects agv controller module, it is achieved data communication；
Motor control unit connects agv controller module, receives the control signal that agv controller module sends, and controls the start and stop campaign of motor；
Safety zone scan module connects agv controller module, and dolly direction of advance carries out region security protection and warning；
Communication module is connected with agv controller module, and communication signal is fed back to central controller unit by trolley。
Described agv controller module includes RS485 communication interface and SSI communication interface；
Code reader module is connected by RS485 communication interface with agv controller module, gathers dolly current line and walks positional information；
Coder module is connected by SSI communication interface with agv controller module, gathers and obtains dolly present rotation angel degree and adjustable height positional information。
Also include pocket torch door to be connected with agv controller module, as exterior I/O Interface。
Coded scale is installed in parallel in the side of guide rail, being obtained the current value of coded scale by the code reader module being arranged on above dolly, feeding back to agv controller module, thus obtaining the walking position information that dolly is current。
The invention have the advantages that and advantage:
1. native system communication robust, it is achieved real-time position signal and state signal collecting in moving of car process, it is possible to achieve the hi-Fix of aerial automatic carriage, is particularly suitable for applications in automaticity and requires high occasion。
2. can realize the transformation of other states in trolley travelling process, including adjustable height and the anglec of rotation, realize being accurately positioned of three axles simultaneously, so can meet the instructions for use of production line assembly manipulation。
3. undertaken distributing unitedly and controlling by central controller unit, it is achieved the automatic operation of all dollies on assembly line, carry out, with other equipment and device, the assembling that cooperates after being accurately positioned, improve automaticity and the operational efficiency of assembly line。
Accompanying drawing explanation
Fig. 1 is the hardware structure diagram of the present invention。
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail。
The aerial automatic carriage high-accuracy position system of the present invention, dolly is walked on steel construction, and equipped with independent control system on dolly, adopting Lenze controller model is LBC_DUMMY_ANGEBOT, and trolley control system is mainly made up of PLC and Servo Control Board。Being hung in orbit by dolly by train, and retrain it along track travel, every dolly also has lifting and the function of upset, can arrange requirement according to different station, automatic height adjustment and angle value in position fixing process。Central controller is made up of PLC and signal processing module, trolley control system is internal adopts CAN-BUS communication, gather position and the status information of each axis servomotor, then carry out signal processing and amplifying and be transferred in DECA-BUS bus by current collector, central controller receives the communication signal from trolley by the signal processing module being arranged within cupboard, numbering according to every dolly differentiates the data message that different dolly sends, and is then saved in internal register and carries out signal processing。
Dolly adopts main control PLC to perform control command, inputs control by pocket torch door button and can realize manual function, including front and back walking motion, lifting action and rotary movement。It is arranged on the safety zone scanning before dolly, it is possible to the scope identifying object is set, it is prevented that collide in trolley travelling process。Adopt PEPPERL FUCHS position WCS3 coding system, rustless steel coded scale starts coding from 100, it is installed in parallel in the side of ring-shaped guide rail, the code reader being fixed on dolly front end is adopted to read the positional value of coded scale with photoelectricity form, code reader model is WCS3B-LS257, interface shape is RS485, after dolly powers on, the positional value that code reader reads current dolly in real time is used to carry out Real-time Feedback, trolley control system is walked positional information according to feedback row and is adjusted the walking running status of dolly, thus realizing being accurately positioned of carriage walking action, feedback carriage walking positional information is to central controller unit simultaneously。
Vertical axis lifting motor adopts PEPPERL FUCHS multi-turn absolute type encoder location, and model is AVM58N-011K1R0GN-1213, and interface shape is SSI, by setting dead-center position, then reads encoder values and is converted into vertical axis height value。Trolley control system adjusts the lifting running status of dolly according to feed back height positional information, thus realizing being accurately positioned of dolly lifting action, feedback dolly lifting position information is to central controller unit simultaneously。
Rotating shaft upset motor adopts PEPPERL FUCHS RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER location, and model is AVS58N-011AAR0GN-0013, and interface shape is SSI。Rotation axis horizontal position is defined as zero-bit, just clockwise turns to, and rotates to be negative counterclockwise, by setting dead-center position, then reads encoder and is converted into rotation shaft angle value。Trolley control system adjusts the rotating operation state of dolly according to feedback angle positional information, thus realizing being accurately positioned of dolly spinning movement, feedback dolly rotary position information is to central controller unit simultaneously。
Dolly is with four groups of trains, often group train includes a BOGEY WHEEL and four constraint wheels, one of them BOGEY WHEEL is driving wheel, by these several groups of trains, dolly is hung in orbit, and retrain it along track travel, every dolly also has lifting and the function of upset, can arrange requirement according to different station, automatic height adjustment and angle value in running。
Dolly adopts main control PLC to perform control command, inputs control by pocket torch door button and can realize manual function, including front and back walking motion, lifting action and rotary movement。It is arranged on the safety zone scanning before dolly, it is possible to the scope identifying object is set, it is prevented that collide in trolley travelling process。Adopting the code reader being fixed on dolly front end to read the positional value of coded scale with photoelectricity form, by SSI interface, position data is sent to controller, reading accuracy can reach ± 0.4mm。
In automatic running, issued an order by central controller unit, judge the station of dolly according to the positional information that dolly is current, then provide the walking position of aiming station, lifting position and rotary position information。After dolly starts order of letting pass, then run to next station automatically according to target address information and position, thus accurately Product transport to specifying position。
Claims (4)
1. the aerial automatic carriage of hi-Fix controls system, it is characterised in that: trolley one end connects central controller, and the other end connects agv controller module, it is achieved data communication；
Motor control unit connects agv controller module, receives the control signal that agv controller module sends, and controls the start and stop campaign of motor；
Safety zone scan module connects agv controller module, and dolly direction of advance carries out region security protection and warning；
Communication module is connected with agv controller module, and communication signal is fed back to central controller unit by trolley。
2. the aerial automatic carriage of hi-Fix according to claim 1 controls system, it is characterised in that: described agv controller module includes RS485 communication interface and SSI communication interface；
Code reader module is connected by RS485 communication interface with agv controller module, gathers dolly current line and walks positional information；
Coder module is connected by SSI communication interface with agv controller module, gathers and obtains dolly present rotation angel degree and adjustable height positional information。
3. the aerial automatic carriage of hi-Fix according to claim 1 controls system, it is characterised in that: also include pocket torch door and be connected with agv controller module, as exterior I/O Interface。
4. the aerial automatic carriage of hi-Fix according to claim 1 controls system, it is characterized in that: coded scale is installed in parallel in the side of guide rail, the current value of coded scale is obtained by the code reader module being arranged on above dolly, feed back to agv controller module, thus obtaining the walking position information that dolly is current。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410705070.7A CN105692115A (en) | 2014-11-26 | 2014-11-26 | High-precision location control system for aerial self-propelled trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410705070.7A CN105692115A (en) | 2014-11-26 | 2014-11-26 | High-precision location control system for aerial self-propelled trolley |
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| CN105692115A true CN105692115A (en) | 2016-06-22 |
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| CN201410705070.7A Pending CN105692115A (en) | 2014-11-26 | 2014-11-26 | High-precision location control system for aerial self-propelled trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107098128A (en) * | 2017-03-23 | 2017-08-29 | 东风柳州汽车有限公司 | Line-shifting machine alignment system |
| CN109178759A (en) * | 2018-07-19 | 2019-01-11 | 长沙格力暖通制冷设备有限公司 | Aerial material-flow method, device, logistics equipment and computer readable storage medium |
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|---|---|---|---|---|
| CA967907A (en) * | 1971-07-15 | 1975-05-20 | Omf California | Conveying machine with process selector |
| CN1884017A (en) * | 2006-06-26 | 2006-12-27 | 十堰华昌达机电有限公司 | Total distributed control type self-propelled trolley |
| CN101898680A (en) * | 2010-03-03 | 2010-12-01 | 王瑜 | Remote numerical control multipurpose uphill and downhill trolley |
| CN102424253A (en) * | 2011-08-16 | 2012-04-25 | 江苏天奇物流系统工程股份有限公司 | Automobile cart conveying system |
| CN203450743U (en) * | 2013-08-08 | 2014-02-26 | 湖北华昌达智能装备股份有限公司 | Rail guided vehicle transmission system |
-
2014
- 2014-11-26 CN CN201410705070.7A patent/CN105692115A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA967907A (en) * | 1971-07-15 | 1975-05-20 | Omf California | Conveying machine with process selector |
| CN1884017A (en) * | 2006-06-26 | 2006-12-27 | 十堰华昌达机电有限公司 | Total distributed control type self-propelled trolley |
| CN101898680A (en) * | 2010-03-03 | 2010-12-01 | 王瑜 | Remote numerical control multipurpose uphill and downhill trolley |
| CN102424253A (en) * | 2011-08-16 | 2012-04-25 | 江苏天奇物流系统工程股份有限公司 | Automobile cart conveying system |
| CN203450743U (en) * | 2013-08-08 | 2014-02-26 | 湖北华昌达智能装备股份有限公司 | Rail guided vehicle transmission system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107098128A (en) * | 2017-03-23 | 2017-08-29 | 东风柳州汽车有限公司 | Line-shifting machine alignment system |
| CN109178759A (en) * | 2018-07-19 | 2019-01-11 | 长沙格力暖通制冷设备有限公司 | Aerial material-flow method, device, logistics equipment and computer readable storage medium |
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Application publication date: 20160622 |
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