CN105692221B - Large-scale cement component steaming kiln Full automatic stacking system and its control method - Google Patents

Abstract

The present invention relates to large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, it is characterised in that：Described control system and palletizing apparatus is communicatively coupled by Profibus DP networks and EPA, described control system includes host computer, ground substation, vehicle frame main website and lifting substation, described host computer includes industrial computer and touch-screen, it is communicatively coupled between described ground substation and vehicle frame main website by Ethernet, it is communicatively coupled between described vehicle frame main website and lifting substation by Profibus DP networks, the vehicle frame main website includes PLC, frequency transformer control module；The lifting substation includes ET200M, S120 servo-driver；The ground substation and the touch-screen, which are arranged on, to be placed in the industrial computer switch board on ground；The ground substation includes ET200M.The full-automatic intelligent operation of concrete component pallet truck can be realized.

Description

Fully automatic palletizing system and its control method for steam-cured kilns of large cement components

technical field

The invention relates to the technical field of production and maintenance of cement components, in particular to a full-automatic stacking system and a control method for a steam-cured kiln for large cement components.

Background technique

The traditional method of allowing cement to solidify naturally is generally used in the manufacture of cement prefabricated components in the construction industry. This production method occupies a large area and is labor-intensive, and the quality of cement components cannot be effectively guaranteed. In the construction industry, a component with hidden dangers may cause potential safety hazards in the entire building, threatening the safety of people's lives and properties. With the rapid development of science and technology and the continuous improvement of productivity levels, people pay more attention to reducing labor intensity and improving the working environment. At present, the three-dimensional arrangement steam curing kiln curing cement components can maintain and store multiple cement components in each column. Components can effectively improve the output and quality of cement components, reduce the floor space, and promote the production of cement components. The cement component has the characteristics of large volume and heavy weight, and high positioning accuracy is required when accessing the cement component (positioning accuracy <2mm), and the operation is cumbersome, requiring the operation of opening and closing the door of the steam curing kiln. Since the maintenance of cement components at this stage is basically performed manually, accidents such as tilting and falling will occur if workers are negligent, and there are great safety hazards. Therefore, it is extremely important to adopt a fully automatic palletizing method for steam curing kilns.

Contents of the invention

The purpose of the present invention is to provide a combination position sensing system and effective control strategy that overcomes the deficiencies of the prior art and can realize the combination of horizontal and vertical motion mechanisms, realize fast and accurate leveling and alignment of large inertia systems, and realize stacking of concrete components A fully automatic palletizing system and a control method for a steam-cured kiln for large cement components with fully automatic and intelligent operation of the car.

In order to achieve the above object, the technical means adopted in the present invention are:

A fully automatic palletizing system for a steam-cured kiln for large cement components, including a control system and a palletizing device. The control system and the palletizing device are connected through Profibus-DP network and industrial Ethernet, and the control system includes a host computer , the ground substation, the frame master station and the lifting substation, the upper computer includes an industrial computer and a touch screen, and the communication connection between the ground substation and the frame master station is carried out through Ethernet, and the vehicle frame master The station and the lifting sub-station are connected through the Profibus-DP network. The frame master station includes PLC and frequency converter; the lifting sub-station includes ET200M and S120 servo drives; the ground sub-station and the touch screen are installed In the industrial computer control cabinet placed on the ground; the ground substation includes ET200M.

The palletizing device includes a vehicle frame, a walking positioning device, a lifting device, a mold base, a mold base driving device, a door lifting mechanism, a pushing mechanism, and a limit device. The vehicle frame includes a rectangular support and a top plate, and the top plate is fixed on the rectangular support. There are multiple perspective holes on the top of the frame, the walking positioning device and the limiting device are arranged at the bottom of the frame, the frame reciprocates back and forth through the walking positioning device and the limiting device, the mold base and the mold base driving device are set on the frame Inside, the door-lifting mechanism is fixed on the left side of the vehicle frame, and the pushing mechanism is fixed between the mold base and the door-lifting mechanism.

The push mechanism includes a push claw driving motor, a push claw and a push claw rotating motor, and the push claw is driven to reciprocate left and right under the drive of the push claw drive motor, and the push claw is Driven by the rotary motor of the push claw, the push claw rotates around the axis of the push claw in the vertical plane, and the maximum rotation angle of the push claw is 90°.

The walking positioning device includes wheels and servo drive motors, and the servo drive motors are two sets of first servo motors and second servo motors arranged oppositely.

The lifting device includes a bracket, a steel wire rope, a top pulley, a bracket pulley, a support pulley, a lifting drive motor, and a rope encoder. At the bottom, the other end of the wire rope is fixed and wound on the gear shaft; the lifting drive motor drives the first winch group to rotate through the reducer and the coupling, thereby driving the bracket to move up and down.

The mold base is a flat steel plate, and a supporting rib is arranged on the lower surface of the mold base, and four mold base drive motors are arranged below the mold base, which are respectively the first mold base drive motor and the second mold base drive motor , The third mold base driving motor, the fourth mold base driving motor, several support pulleys are arranged at equal intervals under the mold base, and the mold base moves on the support pulleys.

The limiting device includes a first proximity switch bracket, a second proximity switch bracket, and a first proximity switch installed on the first proximity switch bracket and a second proximity switch installed on the second proximity switch bracket, and also includes a The first sensor block at the front end of the pallet truck's horizontal stroke and the second sensor block at the rear end of the pallet truck's horizontal stroke; the first proximity switch cooperates with the first sensor block located at the front end of the pallet truck's horizontal stroke In use, when the pallet truck moves forward, the first proximity switch is close to the first induction block, and the proximity switch sends a high potential signal to the PLC, and the PLC controls the operating frequency of the first servo motor and the second servo motor to be 0Hz; the second The proximity switch is used in conjunction with the second sensor block located at the end of the horizontal stroke of the pallet truck. When the pallet truck runs backwards, the second proximity switch is close to the second sensor block. The proximity switch sends a high potential signal to the PLC, and the PLC controls the first sensor block. The operating frequency of the servo motor and the second servo motor is 0 Hz.

The door lifting mechanism includes a baffle, a slider, a sprocket, a chain, a track baffle, a fixed frame, a door lifting claw, a track, a track side wall, a claw holder, and a door lifting drive motor; the track baffle passes through The fixed frame is fixed on the bracket of the vehicle frame; the track is a groove arranged on the track baffle plate; the door-lifting jaws reciprocate up and down in the track; the side wall of the track and the claw holder form a concave Slots for retracting and securing the jaws.

A method for controlling the automatic stacking system of a steam-cured kiln for large cement components, comprising the following steps:

The first step, host computer operation: select the column that needs to store boards on the industrial computer, turn on the automatic mode, and power on the pallet truck;

The second step is the planning of the movement path of the pallet truck: the selected column is used as the target column, and the PLC automatically plans the movement route of the pallet truck according to the distribution of the target columns on both sides of the pallet truck;

The third step is to start the pallet truck: the PLC controls the rotation of the servo drive motor through the S120 servo driver, thereby driving the pallet truck to reciprocate;

The fourth step is lateral positioning control: the pallet truck reads the position information through the encoder built in the servo motor. When the pallet truck approaches the target column, the pallet truck starts to decelerate, and then the pallet truck runs at a low speed; when the encoder When the read position information is consistent with the position information of the target column, the pallet truck stops running;

The fifth step, longitudinal positioning control: the inverter controls the rotation of the hoisting drive motor, and the hoisting drive motor drives the first winch group and the second winch group to rotate simultaneously through the reducer and coupling, and the lifting or lowering is achieved by tightening or loosening the wire rope purpose, and determine the position of the bracket through the position information fed back by the rope encoder;

The sixth step is to store the board: the door lifting drive motor drives the door lifting claws to move up along the track, thereby lifting the door; the first mold base drive motor, the second mold base drive motor, the third mold base drive motor, the fourth mold base The drive motor of the mold base rotates at the same time, and the mold base and the cement components placed on the mold base are sent into the kiln. Rotate 90° and retract, the door-lifting drive motor drives the door-lifting claws to move down along the track and enter the groove, and the door is closed;

The seventh step is to update the movement path: the PLC controller module collects kiln location information in real time, and each kiln location has three states: failure, used, and unused. The controller plans the movement path according to the state of the kiln location in the update target column;

The eighth step is to lift the door and take out the plate: the door-lifting drive motor drives the door-lifting claws to move upward along the track, thereby lifting the door; The mold base moves to the support pulley, the first mold base drive motor, the second mold base drive motor, the third mold base drive motor, and the fourth mold base drive motor rotate simultaneously, driving the mold base and the cement components placed on the mold base to move On the pallet truck, the door-lifting drive motor drives the door-lifting claws to move down along the track and enter the groove, and the door is closed;

The ninth step, protection design: when the servo drive motor is running, the mold base drive motor or the lifting drive motor is running, the frequency of the door lift drive motor is 0Hz; When the bit or limit signal is used, the operating frequency of the servo drive motor is 0Hz.

The beneficial effects of the present invention are: the PLC controller optimizes the movement route of the pallet truck online according to the real-time status of each kiln position of the three-dimensional steam-cured kiln, so that the process of accessing and withdrawing the pallet by the pallet truck is more efficient and energy-saving, and the double closed-loop control of the pallet truck The system performs synchronous motion control on the walking servo motor through the multi-axis servo driver and real-time data feedback from the rope encoder to ensure the accuracy of the two degrees of freedom control. Through the combination of horizontal and vertical motion mechanisms with precise position feedback devices and motion planning strategies, the rapid and accurate leveling and alignment of large inertia systems can be realized, and the fully automatic and intelligent operation of concrete component pallet trucks can be realized.

Description of drawings

Fig. 1 is a schematic structural diagram of the control system of the present invention.

Fig. 2 is a structural schematic diagram of the palletizing device in the present invention.

FIG. 3 is a southwest isometric view of FIG. 2 .

FIG. 4 is a southeast isometric view of FIG. 2 .

Fig. 5 is an exploded view of the door lifting mechanism in the present invention.

Detailed ways

The invention relates to a full-automatic stacking system and a control method for a steam-cured kiln for large cement components.

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Specific embodiments, as shown in Figures 1 to 5, a large-scale cement component steam-cured kiln automatic palletizing system, including a control system and a palletizing device, the key lies in: the control system and the palletizing device pass through the Profibus-DP network Communication connection with industrial Ethernet, the control system includes an upper computer, a ground sub-station, a frame master station and a lifting sub-station, the upper computer includes an industrial computer and a touch screen, and the ground sub-station and the frame master The communication connection between the stations is through Ethernet, and the communication connection between the main station of the vehicle frame and the lifting sub-station is carried out through the Profibus-DP network. The main station of the vehicle frame includes PLC and frequency converter, and the CPU of PLC adopts Siemens 315 -2PN/DP; the inverter adopts Siemens MM440; the lifting substation includes ET200M and S120 servo drivers; the ground substation and the touch screen are installed in the industrial computer control cabinet placed on the ground; the ground substation Includes ET200M.

The palletizing device includes a vehicle frame 1, a walking positioning device, a lifting device, a mold base 3, a mold base driving device, a door lifting mechanism 4, a pushing mechanism, and a limit device. The vehicle frame 1 includes a rectangular support and a top plate 5, The top plate 5 is fixed on the top of the rectangular bracket and is provided with a plurality of perspective holes, which is convenient for workers to maintain and operate in the later stage, and can clearly see the situation. The positioning device and the limit device reciprocate back and forth, the mold base 3 and the mold base driving device are arranged inside the vehicle frame 1, the door lifting mechanism 4 is fixed under the mold base 3, and the pushing mechanism is fixed on the mold base 3 and the door lifting mechanism. Between institutions 4.

Described mold base 3 is the steel plate of tiling, and mold base 3 is used for carrying concrete member, is provided with support rib on the lower bottom surface of mold base 3, and four mold base drive motors are set below mold base 3, and mold base drives The motor adopts Siemens 1.5kw1LE0001 series motors, which are respectively the first mold base driving motor 2, the second mold base driving motor 17, the third mold base driving motor 24, and the fourth mold base driving motor 25. Each mold base driving motor has at least A support pulley 14 is connected, and the mold base 3 moves on the support pulley 14 .

Described pushing mechanism comprises pushing claw driving motor 29, pushing claw 19 and pushing claw rotary motor 18, and pushing claw 19 is done left and right reciprocating motion under the driving of pushing claw driving motor 29, The push claw 19 rotates around the axis of the push claw 19 in the vertical plane under the drive of the push claw rotary motor 18, and the maximum rotation angle of the push claw 19 is 90°. When the push claw 19 When rotating to the vertical direction, the push claws 19 can just pull the support ribs on the bottom surface of the mold base 3, so that the mold base 3 moves on the support pulley 14, and the push claw rotating motor 18 adopts Siemens 0.55kw 1LE0001 series Motor, pushing claw drive motor 29 adopts 1.1kw1LE0001 series motor.

Described walking positioning device comprises wheel 23 and servo drive motor, and servo drive motor adopts Siemens 3kw1FT6 series AC servo motor, and servo drive motor is the first servo motor 16 and the second servo motor 22 that two groups of relative arrangements, two groups of servo drive motors Synchronous operation ensures the stable operation of the pallet truck. The industrial computer and the touch screen are the host computers of the entire palletizing system. They communicate with the PLC controller and the ET200M of the ground substation through Ethernet; the PLC controller communicates with the lifting substation through the DP network ET200M communication, the PLC controller controls the S120 servo driver to drive the first servo drive motor 16 and the second servo drive motor 22, and the built-in encoder of the servo motor feeds back the position information to the PLC controller in real time to form a walking closed-loop control system.

The lifting device includes a bracket 28, a steel wire rope 11, a top pulley 12, a bracket pulley 13, a support pulley 14, a lifting drive motor 9, a rope encoder 15, and the rope encoder 15 adopts Peng Lida PLD series rope displacement Sensor, one end of the steel wire rope 11 is fixed on the bottom of the top pulley 12 support after going around the top pulley 12 and the bracket pulley 13 in turn, and the other end of the steel wire rope 11 is fixed and wound on the gear shaft; the lifting drive motor 9 passes through the reducer 8 And the coupling 7 drives the first winch group 6 to rotate, thereby driving the bracket 28 to move up and down, the lifting drive motor 9 adopts a 55kw 1LE0001 series motor, the PLC controller controls the lifting drive motor 9 through a frequency converter, and the rope encoder 15 feeds back the support The position information of frame 28 is given to the PLC controller to form a lifting closed-loop control system.

Described limiter comprises a first proximity switch bracket 20, a second proximity switch bracket 21, and the first proximity switch installed on the first proximity switch bracket 20 and the second proximity switch installed on the second proximity switch bracket 21 , also includes a first induction block located at the front end of the pallet truck's horizontal stroke and a second induction block located at the rear end of the pallet truck's horizontal stroke; the first proximity switch and the first sensor block located at the front end of the pallet truck's horizontal stroke An induction block is used together, when the pallet truck moves forward, the first proximity switch is close to the first induction block, and the proximity switch sends a high potential signal to the PLC, and the PLC controls the operating frequency of the first servo motor 16 and the second servo motor 22 to 0Hz; the second proximity switch is used in conjunction with the second induction block located at the rearmost end of the horizontal stroke of the pallet truck. When the pallet truck runs backwards, the second proximity switch is close to the second induction block, and the proximity switch sends a high potential signal to PLC, PLC controls the operating frequency of the first servo motor 16 and the second servo motor 22 to be 0 Hz.

The door lifting mechanism 4 includes a baffle 401, a slider 402, a sprocket 403, a chain 404, a track baffle 405, a fixed frame 406, a door lifting claw 407, a track 408, a track side wall 409, a claw holder 410, The door-lifting drive motor 411, the door-lifting drive motor 411 adopts Siemens 1.5kw 1LE0001 series motor; the track baffle 405 is fixed on the support of the vehicle frame 1 by the fixing frame 406; the track 408 is arranged on the track baffle 405 The door lifting claw 407 reciprocates up and down in the track 408; the track side wall 409 and the claw holder 410 form a groove for retracting and fixing the claw.

With reference to accompanying drawings 1 to 5, the control method for the automatic stacking system of a steam-cured kiln for large cement components includes the following steps:

The first step, host computer operation: select the column that needs to store boards on the industrial computer, turn on the automatic mode, and power on the pallet truck;

The second step is the planning of the movement path of the pallet truck: the selected column is used as the target column, and the PLC automatically plans the movement route of the pallet truck according to the distribution of the target columns on both sides of the pallet truck;

The third step is to start the pallet truck: the PLC controls the rotation of the servo drive motor through the S120 servo driver, thereby driving the pallet truck to reciprocate;

The fourth step, lateral positioning control: the pallet truck reads the position information through the encoder built in the servo drive motor, when the encoders built in the first servo drive motor 16 and the second servo drive motor 22 read the position of the pallet truck When the distance from the parking position corresponding to the target column is 35cm, the PLC controls the S120 servo drive to reduce the operating frequency of the servo drive motor from 20Hz to 10Hz; The servo drive motor runs at a frequency of 5Hz; when the position information read by the encoder is consistent with the position information of the target row, the pallet truck stops running;

The fifth step, longitudinal positioning control: the frequency converter controls the rotation of the hoisting drive motor 9, and the hoisting drive motor 9 drives the first winch group 6 and the second winch group 10 to rotate simultaneously through the reducer 8 and the coupling 7. By tightening or loosening The wire rope 11 achieves the purpose of lifting or lowering, and determines the position of the bracket through the position information fed back by the rope encoder 15;

The 6th step, save plate: lift the door drive motor 411 to drive the sprocket 403 to rotate, drive the chain 404 to rotate clockwise, the slider 402 fixed on one side of the chain 404 is connected with the claw 407 for lifting the door, and the slider 402 follows the movement of the chain 404 Rotate and move upward, thereby driving the door-lifting claw 407 to move out from the groove of the retracting claw along the arc surface of the lower part of the track side wall 409, and move upward along the track 408, thereby automatically lifting the door of the steam-curing kiln; The first mold base driving motor 2, the second mold base driving motor 17, the third mold base driving motor 24, and the fourth mold base driving motor 25 rotate simultaneously, and the mold base 3 and the cement components placed on the mold base are sent into the kiln , the push claw driving motor 29 drives the push claw 19 to stretch out, and the push claw rotating motor 29 drives the claw 19 to rotate 90°, and the mold base 3 is pushed into the kiln; subsequently, the push claw 19 Driven by the push claw rotary motor 29, it rotates 90° in reverse and retracts; the door lift drive motor 411 drives the door lift claw 407 to move down along the track 408 and enter the groove, and the door of the steam-curing kiln is automatically closed ;

The seventh step is to update the movement path: the PLC controller module collects kiln location information in real time, and each kiln location has three states: failure, used, and unused. The controller plans the movement path according to the state of the kiln location in the update target column;

The eighth step, lift the door and take out the plate: the drive motor 411 for lifting the door drives the sprocket 403 to rotate, and drives the chain 404 to rotate clockwise, the slider 402 fixed on one side of the chain 404 is connected with the claw 407 for lifting the door, and the slider follows the movement of the chain. Rotate and move upward, thereby driving the door-lifting claw 407 to move out from the groove of the retracting claw along the arc surface of the lower part of the track side wall 409, and move upward along the track 408, thereby lifting the door of the steam-curing kiln; The push claw driving motor 29 drives the push claw 19 to stretch out to the lower part of the mold base, and the push claw rotating motor drives the push claw to rotate 90°, the claw retracts, and drives the mold base to move to the support pulley 14, The first mold base driving motor 2, the second mold base driving motor 17, the third mold base driving motor 24, and the fourth mold base driving motor 25 rotate simultaneously, driving the mold base and the cement components placed on the mold base to move to the pallet truck Up; the door-lifting drive motor 411 drives the door-lifting claw 407 to move down along the track 408 and enter the groove, and the door of the steam-curing kiln is closed;

The ninth step, protection design: when the servo drive motor is running, the mold base drive motor or the lifting drive motor is running, the frequency of the door lift drive motor is 0Hz; When the bit or limit signal is used, the operating frequency of the servo drive motor is 0Hz.

The PLC controller of the present invention optimizes the movement route of the pallet truck online according to the real-time status of each kiln position of the three-dimensional steam-cured kiln, so that the process of accessing the boards of the pallet truck is more efficient and energy-saving. The driver performs synchronous motion control on the walking servo motor and the real-time data feedback from the rope encoder ensures the accuracy of the control of the two degrees of freedom. The large inertia system is realized by combining the horizontal and vertical motion mechanisms with precise position feedback devices and motion planning strategies. The fast and accurate leveling and alignment realizes the fully automatic and intelligent operation of the concrete component pallet truck.

Claims (8)

1. The automatic stacking system of steam-cured kiln for large-scale cement components, including a control system and a stacking device, is characterized in that: the control system and the stacking device are connected through Profibus-DP network and industrial Ethernet, and the described The control system includes an upper computer, a ground substation, a frame master station, and a lifting substation, the upper computer includes an industrial computer and a touch screen, and the communication connection between the ground substation and the frame master station is carried out through Ethernet, The frame main station and the lifting sub-station are connected through the Profibus-DP network, the frame main station includes PLC and frequency converter; the lifting sub-station includes ET200M, S120 servo driver; the ground sub-station The station and the touch screen are installed in an industrial computer control cabinet placed on the ground; the ground substation includes ET200M; The palletizing device includes a vehicle frame (1), a walking positioning device, a lifting device, a mold base (3), a mold base driving device, a door lifting mechanism (4), a pushing mechanism, a limit device, and the vehicle frame (1 ) includes a rectangular support and a top plate (5), the top plate (5) is fixed on the top of the rectangular support and has a plurality of perspective holes, the walking positioning device and the limit device are arranged at the bottom of the vehicle frame (1), and the vehicle frame (1) The back and forth reciprocating motion is carried out through the walking positioning device and the limit device. The mold base (3) and the mold base driving device are arranged inside the vehicle frame (1), and the door lifting mechanism (4) is fixed on the left side of the vehicle frame (1). The pushing mechanism is fixed between the mold base (3) and the door lifting mechanism (4). 2. The fully automatic stacking system for steam-cured kilns for large cement components according to claim 1, characterized in that: the pushing mechanism includes a driving motor for pushing claws (29), pushing claws (19) and Pushing away claw rotating motor (18), pushing away claw (19) is done left and right reciprocating motion under the driving of pushing away claw driving motor (29), and pushing away claw (19) is in pushing away claw rotating motor ( 18) rotates around the axis of the push claw (19) in the vertical plane under the drive of the push claw (19), and the maximum rotation angle of the push claw (19) is 90°. 3. The full-automatic stacking system for steam-cured kilns for large cement components according to claim 1, characterized in that: the walking positioning device includes wheels (23) and servo drive motors, and the servo drive motors are the second set of two groups of oppositely arranged A servo motor (16) and a second servo motor (22). 4. The fully automatic palletizing system for steam-cured kilns for large cement components according to claim 1, characterized in that: the lifting device includes a bracket (28), a wire rope (11), a top pulley (12), a bracket pulley (13), supporting pulley (14), hoisting drive motor (9), stay rope encoder (15), described wire rope (11) one end is fixed on after going around top pulley (12), bracket pulley (13) successively The bottom of the top pulley (12) support, the other end of the wire rope (11) is fixed and wound on the gear shaft; the lifting drive motor (9) drives the first winch group ( 6) rotate, thereby drive bracket (28) to move up and down. 5. The fully automatic stacking system for steam-cured kilns for large cement components according to claim 1, characterized in that: the mold base (3) is a flat steel plate, and the lower bottom surface of the mold base (3) is provided with Supporting ribs, four mold base drive motors are arranged below the mold base (3), which are respectively the first mold base drive motor (2), the second mold base drive motor (17), and the third mold base drive motor (24) , the fourth mold base driving motor (25), several support pulleys (14) are arranged at equal intervals below the mold base, and the mold base (3) moves on the support pulleys (14). 6. The full-automatic palletizing system for steam-cured kilns of large cement components according to claim 1, characterized in that: the limit device includes a first proximity switch support (20), a second proximity switch support (21), and The first proximity switch installed on the first proximity switch bracket (20) and the second proximity switch installed on the second proximity switch bracket (21) also include the first induction block positioned at the front end of the horizontal stroke of the pallet truck and the second induction block located at the rear end of the pallet truck's horizontal stroke; the first proximity switch is used in conjunction with the first induction block located at the front end of the pallet truck's horizontal stroke. When the pallet truck moves forward, the first proximity switch The switch is close to the first induction block, and the proximity switch sends a high-potential signal to the PLC, and the PLC controls the operating frequency of the first servo motor (16) and the second servo motor (22) to be 0Hz; The second sensor block at the end of the horizontal stroke is used together. When the pallet truck runs backwards, the second proximity switch is close to the second sensor block. The proximity switch sends a high potential signal to the PLC, and the PLC controls the first servo motor (16) and the second sensor block. The operating frequency of the second servo motor (22) is 0Hz. 7. The automatic stacking system for steam-cured kilns for large cement components according to claim 1, characterized in that: the door lifting mechanism (4) includes a baffle (401), a slider (402), a sprocket (403 ), chain (404), track baffle (405), fixed frame (406), door lifting claw (407), track (408), track side wall (409), claw support (410), door lifting drive The motor (411); the track baffle (405) is fixed on the support of the vehicle frame (1) through the fixing frame (406); the track (408) is a groove arranged on the track baffle (405); The door lifting claw (407) reciprocates up and down in the track (408); the track side wall (409) and the claw support (410) form a groove for retracting and fixing the claw. 8. A control method of a large-scale cement component steam-cured kiln automatic palletizing system as claimed in claim 1, characterized in that it comprises the following steps: The first step, host computer operation: select the column that needs to store boards on the industrial computer, turn on the automatic mode, and power on the pallet truck; The second step is the planning of the movement path of the pallet truck: the selected column is used as the target column, and the PLC automatically plans the movement route of the pallet truck according to the distribution of the target columns on both sides of the pallet truck; The third step is to start the pallet truck: the PLC controls the rotation of the servo drive motor through the S120 servo driver, thereby driving the pallet truck to reciprocate; The fourth step is lateral positioning control: the pallet truck reads the position information through the encoder built in the servo motor. When the pallet truck approaches the target column, the pallet truck starts to decelerate, and then the pallet truck runs at a low speed; when the encoder When the read position information is consistent with the position information of the target column, the pallet truck stops running; The fifth step, longitudinal positioning control: the inverter controls the rotation of the lifting drive motor (9), and the lifting drive motor (9) drives the first winch group (6) and the second winch through the reducer (8) and the coupling (7) The group (10) rotates at the same time, the purpose of lifting or lowering is achieved by tightening or loosening the wire rope (11), and the position of the bracket is determined by the position information fed back by the rope encoder (15); The sixth step is to store the plate: the door lifting drive motor (411) drives the door lifting claw (407) to move upward along the track (408), thereby lifting the door; the first mold base drive motor (2), the second mold base The driving motor (17), the third mold base driving motor (24), and the fourth mold base driving motor (25) rotate simultaneously, and the mold base and the cement components placed on the mold base are sent into the kiln, and the claws (19 ) stretches out and rotates 90° to push the mold base into the kiln; then, the push claw (19) reversely rotates 90° and retracts, and the door-lifting drive motor (411) drives the door-lifting claw (407) Move down along the track (408), and enter the groove, and the door is closed; The seventh step is to update the movement path: the PLC controller module collects kiln location information in real time, and each kiln location has three states: failure, used, and unused. The controller plans the movement path according to the state of the kiln location in the update target column; The eighth step is to lift the door and take out the board: the door-lifting drive motor (411) drives the door-lifting claw (407) to move upward along the track (408), thereby lifting the door; the pushing claw (19) extends to the mold base The lower part rotates 90°, the claws are retracted, and the mold base is moved to the support pulley (14), the first mold base drive motor (2), the second mold base drive motor (17), the third mold base drive motor ( 24), the fourth mold base driving motor (25) rotates at the same time, driving the mold base and the cement components placed on the mold base to move to the pallet truck, and the door lifting drive motor (411) drives the door lifting claw (407) along the The track (408) moves down and enters the groove, and the door is closed; The ninth step, protection design: when the servo drive motor is running, the mold base drive motor or the lifting drive motor is running, the frequency of the door lift drive motor is 0Hz; When the bit or limit signal is used, the operating frequency of the servo drive motor is 0Hz.