CN105692221A - Full-automatic stacking system for large cement component steam curing kiln and control method of system - Google Patents
Full-automatic stacking system for large cement component steam curing kiln and control method of system Download PDFInfo
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- CN105692221A CN105692221A CN201610150980.2A CN201610150980A CN105692221A CN 105692221 A CN105692221 A CN 105692221A CN 201610150980 A CN201610150980 A CN 201610150980A CN 105692221 A CN105692221 A CN 105692221A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/32—Stacking of articles characterised by stacking during transit
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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
- 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
- G05B19/058—Safety, monitoring
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Abstract
The invention relates to a full-automatic stacking system for a large cement component steam curing kiln. The full-automatic stacking system comprises a control system and a stacking device and is characterized in that the control system and the stacking device are in communication connection through a Profibus-DP network and an industrial Ethernet; the control system comprises an upper computer, a ground substation, a vehicle frame main station and a lifting substation; the upper computer comprises an industrial personal computer and a touch screen; the ground substation is in communication connection with the vehicle frame main station through the Ethernet, the vehicle frame main station is in communication connection with the lifting substation through the Profibus-DP network, the vehicle frame main station comprises a PLC and a frequency changer control module; the lifting substation comprises an ET200M and an S120 servo driver; the ground substation and the touch screen are mounted in an industrial personal computer control cabinet on the ground; and the ground substation comprises the ET200M. According to the system, full-automation intelligent running of a concrete component pallet truck can be achieved.
Description
Technical field
The present invention relates to the production of cement components and maintenance technology field, particularly large-scale cement component steaming kiln Full automatic stacking system and control method thereof。
Background technology
Building trade cement prefabricated component manufacture the commonly used traditional approach allowing cement natural coagulation, this mode of production floor space is big, and labor intensity is big, and the quality of cement components cannot be effectively ensured。In building industry, a component having hidden danger, it is possible to make entire building room there is potential safety hazard, threatens the security of the lives and property of people。Fast development along with science and technology, improving constantly of the level of the productive forces, people are to reducing labor intensity, improving working environment and pay attention to simultaneously, the cubic arrangement formula steaming kiln maintenance cement components adopted at present, maintenance multiple cement components can be accessed at every string, can effectively promote yield and the quality of cement components, reduce floor space, moreover it is possible to promote cement components to realize production line balance。Cement components has large volume, heavy weight feature, and requires positioning precision high (positioning precision < 2mm) when accessing cement components, and complex operation, it is necessary to the enabling carrying out steaming kiln and the operation closed the door。Owing to present stage cement components maintenance is substantially by manual hand manipulation, workman slightly neglects and arises that placement tilts and drop etc. accident, and potential safety hazard is very big, so steaming kiln adopts Full automatic stacking mode particularly important。
Summary of the invention
It is an object of the invention to provide one and overcome the deficiencies in the prior art, it is capable of horizontal and vertical motion block position sensor-based system and effective control strategy, realize quick and precisely flat bed and the para-position of large inertia system, it is achieved the large-scale cement component steaming kiln Full automatic stacking system of the full-automatic intelligent operation of concrete component pallet truck and control method thereof。
To achieve these goals, the technological means that the present invention takes is:
Large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, described control system and palletizing apparatus are communicatively coupled by Profibus-DP network and EPA, described control system includes host computer, substation, ground, vehicle frame main website and lifting substation, described host computer includes industrial computer and touch screen, it is communicatively coupled by Ethernet between described substation, ground and vehicle frame main website, it is communicatively coupled by Profibus-DP network between described vehicle frame main website and lifting substation, described vehicle frame main website includes PLC, converter；Described lifting substation includes ET200M, S120 servo-driver；Substation, described ground and described touch screen are arranged on and are placed in ground industrial computer switch board；Substation, described ground includes ET200M。
Described palletizing apparatus includes vehicle frame, walking positioning device, lowering or hoisting gear, die holder, die holder driving device, Tai Men mechanism, top-pushing mechanism, stopping means, vehicle frame includes rectangle support and top board, top board is fixed on the top of rectangle support and offers multiple sight vane, walking positioning device and stopping means are arranged on the bottom of vehicle frame, vehicle frame carries out front-rear reciprocation movement by walking positioning device and stopping means, die holder and die holder driving device are arranged on the inside of vehicle frame, Tai Men mechanism is fixed on the left of vehicle frame, and top-pushing mechanism is fixed between die holder and Tai Men mechanism。
Described top-pushing mechanism includes pushing tow claw drive motor, pushing tow claw and pushing tow claw electric rotating machine, pushing tow claw does bilateral reciprocation under the driving of pushing tow claw drive motor, pushing tow claw rotates around the axis of pushing tow claw under the driving of pushing tow claw electric rotating machine in vertical plane, and the maximum anglec of rotation of pushing tow claw is 90 °。
Described walking positioning device includes wheel and servo drive motor, and servo drive motor is two groups of first servomotors being oppositely arranged and the second servomotor。
Described lowering or hoisting gear includes bracket, steel wire rope, top pulleys, bracket pulley, supports pulley, promotes drive motor, stay cord encoder, described steel wire rope one end is fixed on the bottom of top pulleys bearing after walking around top pulleys, bracket pulley successively, the steel wire rope other end is fixed and is being wrapped on gear shaft；Promoting drive motor drives the first capstan winch group to rotate by decelerator and shaft coupling, thus driving bracket to move up and down。
Described die holder is the steel plate of tiling, bottom surface at die holder is provided with brace rod, it is arranged below four die holder drive motors at die holder, respectively the first die holder drive motor, the second die holder drive motor, the 3rd die holder drive motor, the 4th die holder drive motor, equidistantly arranging several support pulleys below die holder, die holder moves on support pulley。
Described stopping means includes the first proximity switch support, the second proximity switch support, and it is arranged on the first proximity switch on the first proximity switch support and the second proximity switch being arranged on the second proximity switch support, also include being positioned at pallet truck level and to stroke the first sensor block foremost and be positioned at the pallet truck level the second sensor block to stroke rearmost end；Described first proximity switch be positioned at pallet truck level to stroke the first sensor block foremost with the use of, when pallet truck runs forward, first proximity switch is near the first sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor and the second servomotor to PLC, PLC is 0Hz；Described second proximity switch be positioned at pallet truck level to the second sensor block of stroke rearmost end with the use of, when pallet truck runs backward, second proximity switch is near the second sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor and the second servomotor to PLC, PLC is 0Hz。
Described Tai Men mechanism includes baffle plate, slide block, sprocket wheel, chain, track baffle plate, fixed mount, lifts door catche, track, orbit sidewall, claw holder, lifts a drive motor；Described track baffle plate is fixed on the support of vehicle frame by fixed mount；Described track is the groove being arranged on track baffle plate；Described door catche of lifting pumps in orbit；Described orbit sidewall and claw holder form a groove, for regaining and stationary jaw。
The control method of large-scale cement component steaming kiln Full automatic stacking system, comprises the following steps:
The first step, host computer operates: selecting to need to deposit the row of plate on described industrial computer, open automatic mode, pallet truck powers on；
Second step, pallet truck trajectory path planning: using the row chosen as target column, and automatically planned pallet truck moving line by PLC according to the distribution situation of pallet truck both sides target column；
3rd step, pallet truck starts: PLC controls servo drive motor by S120 servo-driver and rotates, thus driving pallet truck to move back and forth；
4th step, located lateral controls: pallet truck reads positional information by the encoder that servomotor is built-in, and when pallet truck is close to target column, pallet truck reduces speed now, and pallet truck car is with low cruise subsequently；When the positional information that encoder reads is consistent with the positional information of target column, pallet truck is out of service；
5th step, longitudinal register controls: Frequency Converter Control promotes drive motor and rotates, promote drive motor drives the first capstan winch group and the second capstan winch group to rotate by decelerator, shaft coupling simultaneously, by tightening up or loosen the purpose that steel wire rope reaches to promote or decline, and determined the position of bracket by the positional information of stay cord encoder feedback；
6th step, deposits plate: lifts drive motor and drives and lift door catche and move up along track, thus being lifted by door；First die holder drive motor, the second die holder drive motor, the 3rd die holder drive motor, the 4th die holder drive motor rotate simultaneously, are sent in kiln together with the cement components placed on die holder by die holder, and pushing tow claw stretches out, and rotates 90 °, is pushed in kiln by die holder；Subsequently, pushing tow claw rotates backward 90 ° and retracts, and lifts drive motor and drives and lift door catche and move down along track, and enters in groove, and door is closed；
7th step, updates motion path: PLC module Real-time Collection kiln position information, and there are three kinds of states each kiln position: fault, uses, use, and controller is according to the state programming movement path, kiln position updating target column；
8th step, lifts door and takes plate: lifts drive motor and drives and lift door catche and move up along track, thus being lifted by door；Pushing tow claw extend out to die holder bottom, rotate 90 °, claw is regained, and drive die holder to move to supporting on pulley, first die holder drive motor, the second die holder drive motor, the 3rd die holder drive motor, the 4th die holder drive motor rotate simultaneously, drive die holder to move to pallet truck together with the cement components placed on die holder, lift drive motor and drive and lift door catche and move down along track, and entering in groove, door is closed；
9th step, design protection: when servo drive motor be currently running, die holder drive motor or promote drive motor be currently running time, lifting a drive motor frequency is 0Hz；Do not retract when pushing tow claw put in place, claw drive motor does not playback or during limited location signal, servo drive motor running frequency is 0Hz。
The invention has the beneficial effects as follows: the PLC moving line according to the real-time status on-line optimization pallet truck of three-dimensional each kiln position of steaming kiln, the process making pallet truck access plate is more efficient, energy-conservation, and the real time data that walking servomotor is carried out Synchronous motion control and stay cord encoder by multiple-axis servo driver by pallet truck double closed-loop control system feeds back the accuracy that ensure that two degree of freedom control。By horizontal and vertical motion in conjunction with accurate position feedback device and motion planning strategy, it is achieved the quick and precisely flat bed of large inertia system and para-position, it is achieved the full-automatic intelligent of concrete component pallet truck runs。
Accompanying drawing explanation
Fig. 1 is Control system architecture schematic diagram of the present invention。
Fig. 2 is the structural representation of palletizing apparatus in the present invention。
Fig. 3 is the southwestern normal axomometric drawing of Fig. 2。
Fig. 4 is the southeast normal axomometric drawing of Fig. 2。
Fig. 5 is the explosive view of Zhong Taimen mechanism of the present invention。
Detailed description of the invention
The present invention is large-scale cement component steaming kiln Full automatic stacking system and control method thereof。
Below in conjunction with the drawings and specific embodiments, the present invention will be further described。
Specific embodiment, as shown in Figures 1 to 5, large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, it is critical only that: described control system and palletizing apparatus are communicatively coupled by Profibus-DP network and EPA, described control system includes host computer, substation, ground, vehicle frame main website and lifting substation, described host computer includes industrial computer and touch screen, it is communicatively coupled by Ethernet between described substation, ground and vehicle frame main website, it is communicatively coupled by Profibus-DP network between described vehicle frame main website and lifting substation, described vehicle frame main website includes PLC, converter, the CPU of PLC adopts Siemens 315-2PN/DP；Converter adopts Siemens MM440；Described lifting substation includes ET200M, S120 servo-driver；Substation, described ground and described touch screen are arranged on and are placed in ground industrial computer switch board；Substation, described ground includes ET200M。
Described palletizing apparatus includes vehicle frame 1, walking positioning device, lowering or hoisting gear, die holder 3, die holder driving device, Tai Men mechanism 4, top-pushing mechanism, stopping means, vehicle frame 1 includes rectangle support and top board 5, top board 5 is fixed on the top of rectangle support and offers multiple sight vane, facilitate workman's attended operation in later stage, can clearly see situation clearly, walking positioning device and stopping means are arranged on the bottom of vehicle frame 1, vehicle frame 1 carries out front-rear reciprocation movement by walking positioning device and stopping means, die holder 3 and die holder driving device are arranged on the inside of vehicle frame 1, Tai Men mechanism 4 is fixed on the lower section of die holder 3, top-pushing mechanism is fixed between die holder 3 and Tai Men mechanism 4。
Described die holder 3 is the steel plate of tiling, die holder 3 is used for carrying concrete component, bottom surface at die holder 3 is provided with brace rod, below die holder 3, four die holder drive motors are set, die holder drive motor adopts Siemens's 1.5kw1LE0001 serial motors, respectively first die holder drive motor the 2, second die holder drive motor the 17, the 3rd die holder drive motor the 24, the 4th die holder drive motor 25, each die holder drive motor has been at least connected with one and has supported pulley 14, and die holder 3 moves on support pulley 14。
Described top-pushing mechanism includes pushing tow claw drive motor 29, pushing tow claw 19 and pushing tow claw electric rotating machine 18, pushing tow claw 19 does bilateral reciprocation under the driving of pushing tow claw drive motor 29, pushing tow claw 19 rotates around the axis of pushing tow claw 19 under the driving of pushing tow claw electric rotating machine 18 in vertical plane, the maximum anglec of rotation of pushing tow claw 19 is 90 °, when pushing tow claw 19 rotates to vertical direction, pushing tow claw 19 just can hold the brace rod of the bottom surface of die holder 3, die holder 3 is made to move on support pulley 14, pushing tow claw electric rotating machine 18 adopts Siemens's 0.55kw1LE0001 serial motors, pushing tow claw drive motor 29 adopts 1.1kw1LE0001 serial motors。
Described walking positioning device includes wheel 23 and servo drive motor, servo drive motor adopts Siemens's 3kw1FT6 Series AC servo, servo drive motor is two groups of first servomotor 16 and second servomotors 22 being oppositely arranged, two groups of servo drive motor synchronous operations, ensure the even running of pallet truck, industrial computer and touch screen are the host computers of whole palletizing system, and they are communicated with the ET200M of PLC and substation, ground by Ethernet；PLC is communicated with the ET200M promoting substation by DP network, PLC controls S120 servo driver drives the first servo drive motor 16 and the second servo drive motor 22, the built-in encoder Real-time Feedback positional information of servomotor, to PLC, forms walking closed-loop control system。
Described lowering or hoisting gear includes bracket 28, steel wire rope 11, top pulleys 12, bracket pulley 13, supports pulley 14, promotes drive motor 9, stay cord encoder 15, stay cord encoder 15 adopts roc power to reach PLD series displacement sensor for pull rope, described steel wire rope 11 one end is fixed on the bottom of top pulleys 12 bearing after walking around top pulleys 12, bracket pulley 13 successively, steel wire rope 11 other end is fixed and is being wrapped on gear shaft 10；Promoting drive motor 9 drives the first capstan winch group 6 to rotate by decelerator 8 and shaft coupling 7, thus driving bracket 28 to move up and down, promote drive motor 9 and adopt 55kw1LE0001 serial motors, PLC promotes drive motor 9 by Frequency Converter Control, stay cord encoder 15 feeds back the positional information of bracket 28 to PLC, forms lifting closed-loop control system。
Described stopping means includes first proximity switch support the 20, second proximity switch support 21, and it is arranged on the first proximity switch on the first proximity switch support 20 and the second proximity switch being arranged on the second proximity switch support 21, also include being positioned at pallet truck level and to stroke the first sensor block foremost and be positioned at the pallet truck level the second sensor block to stroke rearmost end；Described first proximity switch be positioned at pallet truck level to stroke the first sensor block foremost with the use of, when pallet truck runs forward, first proximity switch is near the first sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor 16 and the second servomotor 22 to PLC, PLC is 0Hz；Described second proximity switch be positioned at pallet truck level to the second sensor block of stroke rearmost end with the use of, when pallet truck runs backward, second proximity switch is near the second sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor 16 and the second servomotor 22 to PLC, PLC is 0Hz。
Described Tai Men mechanism 4 includes baffle plate 401, slide block 402, sprocket wheel 403, chain 404, track baffle plate 405, fixed mount 406, lifts door catche 407, track 408, orbit sidewall 409, claw holder 410, lifts a drive motor 411, lifts a drive motor 411 and adopts Siemens's 1.5kw1LE0001 serial motors；Described track baffle plate 405 is fixed on the support of vehicle frame 1 by fixed mount 406；Described track 408 is the groove being arranged on track baffle plate 405；Described door catche 407 of lifting pumps in track 408；Described orbit sidewall 409 and claw holder 410 form a groove, for regaining and stationary jaw。
In conjunction with accompanying drawing 1 to accompanying drawing 5, the control method of large-scale cement component steaming kiln Full automatic stacking system, comprise the following steps:
The first step, host computer operates: selecting to need to deposit the row of plate on described industrial computer, open automatic mode, pallet truck powers on；
Second step, pallet truck trajectory path planning: using the row chosen as target column, and automatically planned pallet truck moving line by PLC according to the distribution situation of pallet truck both sides target column；
3rd step, pallet truck starts: PLC controls servo drive motor by S120 servo-driver and rotates, thus driving pallet truck to move back and forth；
4th step, located lateral controls: pallet truck reads positional information by the encoder that servo drive motor is built-in, when the encoder that the first servo drive motor 16 is built-in with the second servo drive motor 22 reads the position of the pallet truck parking spot corresponding with target column at a distance of 35cm, PLC controls S120 servo-driver and by 20Hz, the running frequency of servo drive motor is reduced to 10Hz；Encoder reads the position of the pallet truck parking spot corresponding with target column when 10cm, and servo drive motor runs with the frequency of 5Hz；When the positional information that encoder reads is consistent with the positional information of target column, pallet truck is out of service；
5th step, longitudinal register controls: Frequency Converter Control promotes drive motor 9 and rotates, promote drive motor 9 drives the first capstan winch group 6 and the second capstan winch group 10 to rotate by decelerator 8, shaft coupling 7 simultaneously, by tightening up or loosen the purpose that steel wire rope 11 reaches to promote or decline, and determined the position of bracket by the positional information of stay cord encoder 15 feedback；
6th step, deposit plate: lift a drive motor 411 drive sprocket 403 and rotate, chain 404 is driven to rotate clockwise, the slide block 402 being fixed on chain 404 side is connected with lifting door catche 407, slide block 402 moves up with the rotation of chain 404, lift door catche 407 removal from the groove regaining claw of the cambered surface along orbit sidewall 409 bottom thus driving, and move up along track 408, thus the door of steaming kiln is lifted automatically；First die holder drive motor the 2, second die holder drive motor the 17, the 3rd die holder drive motor the 24, the 4th die holder drive motor 25 rotates simultaneously, die holder 3 is sent in kiln together with the cement components placed on die holder, pushing tow claw drive motor 29 drives pushing tow claw 19 to stretch out, and driven claw 19 to rotate 90 ° by pushing tow claw electric rotating machine 29, die holder 3 is pushed in kiln；Subsequently, pushing tow claw 19 is driven by pushing tow claw electric rotating machine 29 and rotates backward 90 ° and retract；Lifting a drive motor 411 to drive and lift door catche 407 and move down along track 408, and enter in groove, the door of steaming kiln is automatically switched off；
7th step, updates motion path: PLC module Real-time Collection kiln position information, and there are three kinds of states each kiln position: fault, uses, use, and controller is according to the state programming movement path, kiln position updating target column；
8th step, lift door and take plate: lift a drive motor 411 drive sprocket 403 and rotate, chain 404 is driven to rotate clockwise, the slide block 402 being fixed on chain 404 side is connected with lifting door catche 407, slide block moves up with the rotation of chain, lift door catche 407 removal from the groove regaining claw of the cambered surface along orbit sidewall 409 bottom thus driving, and move up along track 408, thus the door of steaming kiln is lifted；Pushing tow claw drive motor 29 drives pushing tow claw 19 to extend out to die holder bottom, pushing tow claw is driven to rotate 90 ° by pushing tow claw electric rotating machine, claw is regained, and drive die holder to move to supporting on pulley 14, first die holder drive motor the 2, second die holder drive motor the 17, the 3rd die holder drive motor the 24, the 4th die holder drive motor 25 rotates simultaneously, drives die holder to move to pallet truck together with the cement components placed on die holder；Lifting a drive motor 411 to drive and lift door catche 407 and move down along track 408, and enter in groove, the door of steaming kiln is closed；
9th step, design protection: when servo drive motor be currently running, die holder drive motor or promote drive motor be currently running time, lifting a drive motor frequency is 0Hz；Do not retract when pushing tow claw put in place, claw drive motor does not playback or during limited location signal, servo drive motor running frequency is 0Hz。
The PLC of the present invention moving line according to the real-time status on-line optimization pallet truck of three-dimensional each kiln position of steaming kiln, the process making pallet truck access plate is more efficient, energy-conservation, the real time data that walking servomotor is carried out Synchronous motion control and stay cord encoder by multiple-axis servo driver by pallet truck double closed-loop control system feeds back the accuracy that ensure that two degree of freedom control, by horizontal and vertical motion in conjunction with accurate position feedback device and motion planning strategy, realize quick and precisely flat bed and the para-position of large inertia system, the full-automatic intelligent realizing concrete component pallet truck runs。
Claims (9)
1. large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, it is characterized in that: described control system and palletizing apparatus are communicatively coupled by Profibus-DP network and EPA, described control system includes host computer, substation, ground, vehicle frame main website and lifting substation, described host computer includes industrial computer and touch screen, it is communicatively coupled by Ethernet between described substation, ground and vehicle frame main website, it is communicatively coupled by Profibus-DP network between described vehicle frame main website and lifting substation, described vehicle frame main website includes PLC, converter；Described lifting substation includes ET200M, S120 servo-driver；Substation, described ground and described touch screen are arranged on and are placed in ground industrial computer switch board；Substation, described ground includes ET200M。
2. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterized in that: described palletizing apparatus includes vehicle frame (1), walking positioning device, lowering or hoisting gear, die holder (3), die holder driving device, Tai Men mechanism (4), top-pushing mechanism, stopping means, vehicle frame (1) includes rectangle support and top board (5), top board (5) is fixed on the top of rectangle support and offers multiple sight vane, walking positioning device and stopping means are arranged on the bottom of vehicle frame (1), vehicle frame (1) carries out front-rear reciprocation movement by walking positioning device and stopping means, die holder (3) and die holder driving device are arranged on the inside of vehicle frame (1), Tai Men mechanism (4) is fixed on vehicle frame (1) left side, top-pushing mechanism is fixed between die holder (3) and Tai Men mechanism (4)。
3. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterized in that: described top-pushing mechanism includes pushing tow claw drive motor (29), pushing tow claw (19) and pushing tow claw electric rotating machine (18), pushing tow claw (19) does bilateral reciprocation under the driving of pushing tow claw drive motor (29), pushing tow claw (19) rotates around the axis of pushing tow claw (19) under the driving of pushing tow claw electric rotating machine (18) in vertical plane, and the maximum anglec of rotation of pushing tow claw (19) is 90 °。
4. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterized in that: described walking positioning device includes wheel (23) and servo drive motor, servo drive motor is two groups of first servomotors (16) being oppositely arranged and the second servomotor (22)。
5. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterized in that: described lowering or hoisting gear includes bracket (28), steel wire rope (11), top pulleys (12), bracket pulley (13), support pulley (14), promote drive motor (9), stay cord encoder (15), described steel wire rope (11) one end walks around top pulleys (12) successively, the bottom of top pulleys (12) bearing it is fixed on after bracket pulley (13), steel wire rope (11) other end is fixed and is being wrapped on gear shaft (10)；Promoting drive motor (9) drives the first capstan winch group (6) to rotate by decelerator (8) and shaft coupling (7), thus driving bracket (28) to move up and down。
6. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterized in that: described die holder (3) is the steel plate of tiling, bottom surface at die holder (3) is provided with brace rod, it is arranged below four die holder drive motors at die holder (3), respectively the first die holder drive motor (2), second die holder drive motor (17), 3rd die holder drive motor (24), 4th die holder drive motor (25), several support pulleys (14) are equidistantly arranged below die holder, die holder (3) is upper mobile in support pulley (14)。
7. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterized in that: described stopping means includes the first proximity switch support (20), the second proximity switch support (21), and it is arranged on the first proximity switch on the first proximity switch support (20) and the second proximity switch being arranged on the second proximity switch support (21), also include being positioned at pallet truck level and to stroke the first sensor block foremost and be positioned at the pallet truck level the second sensor block to stroke rearmost end；Described first proximity switch be positioned at pallet truck level to stroke the first sensor block foremost with the use of, when pallet truck runs forward, first proximity switch is near the first sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor (16) and the second servomotor (22) to PLC, PLC is 0Hz；Described second proximity switch be positioned at pallet truck level to the second sensor block of stroke rearmost end with the use of, when pallet truck runs backward, second proximity switch is near the second sensor block, the running frequency that proximity switch transmission high potential signal controls the first servomotor (16) and the second servomotor (22) to PLC, PLC is 0Hz。
8. large-scale cement component steaming kiln Full automatic stacking system according to claim 2, it is characterised in that: described Tai Men mechanism (4) includes baffle plate (401), slide block (402), sprocket wheel (403), chain (404), track baffle plate (405), fixed mount (406), lifts door catche (407), track (408), orbit sidewall (409), claw holder (410), lifts a drive motor (411)；Described track baffle plate (405) is fixed on the support of vehicle frame (1) by fixed mount (406)；Described track (408) is the groove being arranged on track baffle plate (405)；Described door catche (407) of lifting pumps in track (408)；Described orbit sidewall (409) and claw holder (410) form a groove, for regaining and stationary jaw。
9. the control method of a large-scale cement component steaming kiln Full automatic stacking system as claimed in claim 1, it is characterised in that comprise the following steps:
The first step, host computer operates: selecting to need to deposit the row of plate on described industrial computer, open automatic mode, pallet truck powers on；
Second step, pallet truck trajectory path planning: using the row chosen as target column, and automatically planned pallet truck moving line by PLC according to the distribution situation of pallet truck both sides target column；
3rd step, pallet truck starts: PLC controls servo drive motor by S120 servo-driver and rotates, thus driving pallet truck to move back and forth；
4th step, located lateral controls: pallet truck reads positional information by the encoder that servomotor is built-in, and when pallet truck is close to target column, pallet truck reduces speed now, and pallet truck car is with low cruise subsequently；When the positional information that encoder reads is consistent with the positional information of target column, pallet truck is out of service；
5th step, longitudinal register controls: Frequency Converter Control promotes drive motor (9) and rotates, promote drive motor (9) drives the first capstan winch group (6) and the second capstan winch group (10) to rotate by decelerator (8), shaft coupling (7) simultaneously, by tightening up or loosen the purpose that steel wire rope (11) reaches to promote or decline, and the positional information fed back by stay cord encoder (15) determines the position of bracket；
6th step, deposits plate: lifts a drive motor (411) and drives and lift door catche (407) and move up along track (408), thus being lifted by door；First die holder drive motor (2), the second die holder drive motor (17), the 3rd die holder drive motor (24), the 4th die holder drive motor (25) rotate simultaneously, die holder is sent in kiln together with the cement components placed on die holder, pushing tow claw (19) stretches out, and rotate 90 °, die holder is pushed in kiln；Subsequently, pushing tow claw (19) rotates backward 90 ° and retracts, and lifts a drive motor (411) and drives and lift door catche (407) and move down along track (408), and enters in groove, and door is closed；
7th step, updates motion path: PLC module Real-time Collection kiln position information, and there are three kinds of states each kiln position: fault, uses, use, and controller is according to the state programming movement path, kiln position updating target column；
8th step, lifts door and takes plate: lifts a drive motor (411) and drives and lift door catche (407) and move up along track (408), thus being lifted by door；Pushing tow claw (19) extend out to die holder bottom, rotate 90 °, claw is regained, and drive die holder to move to supporting on pulley (14), first die holder drive motor (2), the second die holder drive motor (17), the 3rd die holder drive motor (24), the 4th die holder drive motor (25) rotate simultaneously, die holder is driven to move to pallet truck together with the cement components placed on die holder, lift a drive motor (411) to drive and lift door catche (407) and move down along track (408), and entering in groove, door is closed；
9th step, design protection: when servo drive motor be currently running, die holder drive motor or promote drive motor be currently running time, lifting a drive motor frequency is 0Hz；Do not retract when pushing tow claw put in place, claw drive motor does not playback or during limited location signal, servo drive motor running frequency is 0Hz。
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| CN114408461A (en) * | 2022-02-14 | 2022-04-29 | 广州发展环保建材有限公司 | Wireless remote control pushing mechanism control method, device and system |
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| CN105692221B (en) | 2018-04-03 |
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