CN105692221B - Large-scale cement component steaming kiln Full automatic stacking system and its control method - Google Patents
Large-scale cement component steaming kiln Full automatic stacking system and its control method Download PDFInfo
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- CN105692221B CN105692221B CN201610150980.2A CN201610150980A CN105692221B CN 105692221 B CN105692221 B CN 105692221B CN 201610150980 A CN201610150980 A CN 201610150980A CN 105692221 B CN105692221 B CN 105692221B
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- die holder
- motor
- pallet truck
- vehicle frame
- claw
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- 239000004568 cement Substances 0.000 title claims abstract description 35
- 238000010025 steaming Methods 0.000 title claims abstract description 27
- 235000020673 eicosapentaenoic acid Nutrition 0.000 claims abstract description 4
- 210000000078 Claw Anatomy 0.000 claims description 63
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 239000002965 rope Substances 0.000 claims description 12
- 241001154287 Hucho taimen Species 0.000 claims description 8
- 210000004279 Orbit Anatomy 0.000 claims description 8
- 230000001808 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 210000001847 Jaw Anatomy 0.000 claims description 3
- 230000002146 bilateral Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000875 corresponding Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000001360 synchronised Effects 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
Classifications
-
- 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
-
- 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
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
Technical field
The present invention relates to the production of cement components and conservation technology field, particularly large-scale cement component steaming kiln are full-automatic
Palletizing system and its control method.
Background technology
The manufacture of building trade cement prefabricated component is generally using allowing the traditional approach of cement natural coagulation, this producer
Formula floor space is big, and labor intensity is big, and the quality of cement components can not be effectively ensured.In construction industry, one have it is hidden
The component of trouble may make entire building room potential safety hazard be present, threaten the security of the lives and property of people.With science and technology it is fast
Exhibition, the continuous improvement of productivity level are hailed, people pay attention to reducing labor intensity, improving working environment simultaneously, at present
The three-dimensional arranged type steaming kiln maintenance cement components used, can conserve the multiple cement components of access in each row, can effectively carry
The yield and quality of cement components are risen, reduces floor space, moreover it is possible to promote cement components to realize production line balance.Cement components have
Require that positioning precision is high (positioning precision ＜ 2mm) when having large volume, heavy weight feature, and accessing cement components, and operate
It is cumbersome, it is necessary to carry out the operation of enabling and the shutdown of steaming kiln.Because cement components maintenance at this stage is substantially by manually
Operation, worker, which slightly neglects, just occurs that placement tilts and dropped etc. accident, and potential safety hazard is very big, thus steaming kiln using entirely from
Activity code pile mode is particularly important.
The content of the invention
It is an object of the invention to provide a kind of overcome the deficiencies in the prior art, can realize horizontal and vertical movement mechanism group
Position sensing system and effective control strategy are closed, quick and precisely flat bed and the contraposition of large inertia system is realized, realizes concrete structure
The large-scale cement component steaming kiln Full automatic stacking system and its control method of the full-automatic intelligent operation of part pallet truck.
To achieve these goals, the technological means taken of the present invention is：
Large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, described control system
System and palletizing apparatus are communicatively coupled by Profibus-DP networks and EPA, and described control system includes upper
Position machine, ground substation, vehicle frame main website and lifting substation, the host computer include industrial computer and touch-screen, described ground substation
It is communicatively coupled by Ethernet between vehicle frame main website, is passed through between described vehicle frame main website and lifting substation
Profibus-DP networks are communicatively coupled, and the vehicle frame main website includes PLC, frequency converter；The lifting substation includes
ET200M, S120 servo-driver；The ground substation and the touch-screen are arranged on the industrial computer switch board being placed on ground
It is interior；The ground substation includes ET200M.
Described palletizing apparatus includes vehicle frame, walking positioning device, lowering or hoisting gear, die holder, die holder drive device, lift door machine
Structure, top-pushing mechanism, stopping means, vehicle frame include rectangle support and top plate, and top plate is fixed on the top of rectangle support and offered
Multiple sight vanes, walking positioning device and stopping means are arranged on the bottom of vehicle frame, and vehicle frame passes through walking positioning device and spacing
Device carries out front-rear reciprocation movement, and die holder and die holder drive device are arranged on the inside of vehicle frame, and Tai Men mechanisms are fixed on a vehicle frame left side
Side, top-pushing mechanism are fixed between die holder and Tai Men mechanisms.
Described top-pushing mechanism includes pushing tow claw motor, pushing tow claw and pushing tow claw electric rotating machine, pushing tow card
Pawl does bilateral reciprocation under the driving of pushing tow claw motor, and pushing tow claw is under the driving of pushing tow claw electric rotating machine
Axis around pushing tow claw in vertical plane rotates, and the maximum anglec of rotation of pushing tow claw is 90 °.
The walking positioning device includes wheel and servo drive motor, servo drive motor be two groups be oppositely arranged the
One servomotor and the second servomotor.
The lowering or hoisting gear include bracket, steel wire rope, top pulleys, bracket pulley, support pulley, lifting motor,
Drawstring encoder, described steel wire rope one end are fixed on the bottom of top pulleys bearing around top pulleys, after bracket pulley successively,
The steel wire rope other end is fixed and on gear shaft is wrapped in；Lift motor and the first capstan winch is driven by decelerator and shaft coupling
Group rotates, so as to drive bracket to move up and down.
Described die holder is the steel plate of tiling, and the bottom surface of die holder is provided with brace rod, and four are set in the lower section of die holder
Individual die holder motor, respectively the first die holder motor, the second die holder motor, the 3rd die holder motor, the 4th
Die holder motor, die holder lower section equidistantly arrange several support pulleys, and die holder moves on support pulley.
The stopping means includes the first proximity switch support, the second proximity switch support, and close installed in first
The first proximity switch on switch bracket and the second proximity switch on the second proximity switch support, in addition to it is located at code
Second sensor block of the pile car level to the first sensor block of stroke front end and positioned at pallet truck level to stroke rearmost end；It is described
First proximity switch positioned at pallet truck level to the first sensor block of stroke front end with being used cooperatively, when pallet truck is transported forward
OK, close to the first sensor block, proximity switch sends high potential signal and controls the first servomotor to PLC, PLC the first proximity switch
Running frequency with the second servomotor is 0Hz；Second proximity switch is with being located at pallet truck level to stroke rearmost end
Second sensor block is used cooperatively, and when pallet truck is run backward, the second proximity switch sends high close to the second sensor block, proximity switch
For electric potential signal to PLC, it is 0Hz that PLC, which controls the running frequency of the first servomotor and the second servomotor,.
The Tai Men mechanisms include baffle plate, sliding block, sprocket wheel, chain, track baffle plate, fixed mount, lift door catche, track, rail
Road side wall, claw support, lift door motor；The track baffle plate is fixed on the support of vehicle frame by fixed mount；The track
For the groove being arranged on track baffle plate；The lift door catche pumps in orbit；The orbit sidewall and card
Pawl support forms a groove, for withdrawing simultaneously 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 operation：Selection needs to deposit the row of plate on the industrial computer, opens automatic mode, pallet truck
Upper electricity；
Second step, pallet truck trajectory path planning：Using the row chosen as target column, and by PLC according to pallet truck both sides
The distribution situation of target column plans pallet truck moving line automatically；
3rd step, pallet truck start：PLC controls servo drive motor to rotate by S120 servo-drivers, so as to drive
Pallet truck moves back and forth；
4th step, located lateral control：Pallet truck works as stacking by the encoder reading position information built in servomotor
When car is close to target column, pallet truck is reduced speed now, and subsequent pallet truck car is run with low speed；When encoder read positional information with
When the positional information of target column is consistent, pallet truck is out of service；
5th step, longitudinal register control：Frequency Converter Control lifting motor rotates, and lifting motor passes through deceleration
Device, shaft coupling drive the first capstan winch group and the second capstan winch group to rotate simultaneously, by tighten up or loosen steel wire rope reach lifted or under
The purpose of drop, and determine by the positional information of drawstring encoder feedback the position of bracket；
6th step, deposits plate：Lift door motor driving lift door catche moves up along track, so as to which door be lifted；The
One die holder motor, the second die holder motor, the 3rd die holder motor, the 4th die holder motor rotate simultaneously, will
Die holder is sent into kiln together with the cement components placed on die holder, and pushing tow claw stretches out, and rotates 90 °, and die holder is pushed into kiln；With
Afterwards, pushing tow claw rotates backward 90 ° and retracted, and lift door motor driving lift door catche moves down along track, and enters
In groove, door is closed；
7th step, update motion path：PLC module gathers kiln position information in real time, and there are three kinds of states each kiln position：
Failure, use, be not used, controller is according to the kiln position state programming movement path for updating target column；
8th step, lift door take plate：Lift door motor driving lift door catche moves up along track, so as to which door be lifted
Rise；Pushing tow claw extend out to die holder bottom, rotates 90 °, and claw is withdrawn, and drives die holder to be moved on support pulley, the first mould
Seat motor, the second die holder motor, the 3rd die holder motor, the 4th die holder motor rotate simultaneously, band dynamic model
Seat is moved on pallet truck together with the cement components placed on die holder, and lift door motor driving lift door catche is downward along track
It is mobile, and enter in groove, door is closed；
9th step, design protection：When servo drive motor is currently running, die holder motor or lifting motor
During operation, lift door motor frequency is 0Hz；When pushing tow claw do not retract in place, claw motor do not playback or has
During limit signal, servo drive motor running frequency is 0Hz.
The beneficial effects of the invention are as follows：PLC is according to the real-time status on-line optimization of each kiln position of three-dimensional steaming kiln
The moving line of pallet truck so that the process of pallet truck access plate is more efficient, energy-conservation, and pallet truck double closed-loop control system passes through
Multiple-axis servo driver synchronizes motion control to walking servomotor and the real time data feedback of drawstring encoder ensure that
The accuracy of two free degree control.Accurate position feedback device and motion planning are combined by horizontal and vertical movement mechanism
Strategy, quick and precisely flat bed and the contraposition of large inertia system are realized, realize the full-automatic intelligent fortune of concrete component pallet truck
OK.
Brief description of the drawings
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 Fig. 2 southwestern normal axomometric drawing.
Fig. 4 is Fig. 2 southeast normal axomometric drawing.
Fig. 5 is the explosive view of Zhong Taimen mechanisms of the present invention.
Embodiment
The present invention is large-scale cement component steaming kiln Full automatic stacking system and its control method.
The present invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Specific embodiment, as shown in Figures 1 to 5, large-scale cement component steaming kiln Full automatic stacking system, including control system
System and palletizing apparatus, key are：Described control system and palletizing apparatus passes through Profibus-DP networks and EPA
It is communicatively coupled, described control system includes host computer, ground substation, vehicle frame main website and lifting substation, the host computer
Including industrial computer and touch-screen, it is communicatively coupled between described ground substation and vehicle frame main website by Ethernet, it is described
It is communicatively coupled between vehicle frame main website and lifting substation by Profibus-DP networks, the vehicle frame main website includes PLC, become
Frequency device, PLC CPU use Siemens 315-2PN/DP；Frequency converter uses Siemens MM440；The lifting substation includes
ET200M, S120 servo-driver；The ground substation and the touch-screen are arranged on the industrial computer switch board being placed on ground
It is interior；The ground substation includes ET200M.
Described palletizing apparatus includes vehicle frame 1, walking positioning device, lowering or hoisting gear, die holder 3, die holder drive device, lift door
Mechanism 4, top-pushing mechanism, stopping means, vehicle frame 1 include rectangle support and top plate 5, top plate 5 be fixed on the top of rectangle support and
Multiple sight vanes are offered, facilitate worker's attended operation in later stage, can clearly see situation clearly, walking positioning device and spacing
Device is arranged on the bottom of vehicle frame 1, and vehicle frame 1 carries out front-rear reciprocation movement, the He of die holder 3 by walking positioning device and stopping means
Die holder drive device is arranged on the inside of vehicle frame 1, and Tai Men mechanisms 4 are fixed on the lower section of die holder 3, and top-pushing mechanism is fixed on die holder 3
Between Tai Men mechanisms 4.
Described die holder 3 is the steel plate of tiling, and die holder 3 is used to carry concrete component, in the bottom surface setting of die holder 3
There is brace rod, four die holder motors of setting below die holder 3, die holder motor uses Siemens 1.5kw
1LE0001 serial motors, respectively the first die holder motor 2, the second die holder motor 17, the 3rd die holder motor
24th, the 4th die holder motor 25, each die holder motor have been at least connected with a support pulley 14, and die holder 3 is supporting
Moved on pulley 14.
Described top-pushing mechanism includes pushing tow claw 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 motor 29, and pushing tow claw 19 rotates in pushing tow claw
Axis under the driving of motor 18 around pushing tow claw 19 in vertical plane rotates, and 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 can just hold the brace rod of the bottom surface of die holder 3, make mould
Seat 3 moves on support pulley 14, and pushing tow claw electric rotating machine 18 is using Siemens's 0.55kw 1LE0001 serial motors, top
Push away claw motor 29 and use 1.1kw1LE0001 serial motors.
The walking positioning device includes wheel 23 and servo drive motor, and servo drive motor uses Siemens
3kw1FT6 Series AC servos, servo drive motor are two groups of first servomotors 16 being oppositely arranged and the second servo
Motor 22, two groups of servo drive motor synchronous operations, ensures the even running of pallet truck, industrial computer and touch-screen are whole stackings
The host computer of system, they are communicated by Ethernet with the ET200M of PLC and ground substation；PLC passes through DP
Network communicates with lifting the ET200M of substation, the first servo drive motor of PLC control S120 servo driver drives 16
With the second servo drive motor 22, the encoder Real-time Feedback positional information built in servomotor forms row to PLC
Walk closed-loop control system.
The lowering or hoisting gear includes bracket 28, steel wire rope 11, top pulleys 12, bracket pulley 13, support pulley 14, lifting
Motor 9, drawstring encoder 15, drawstring encoder 15 reach PLD series displacement sensor for pull rope, the steel wire using roc power
Restrict 11 one end and be fixed on successively around top pulleys 12, after bracket pulley 13 bottom of the bearing of top pulleys 12, steel wire rope 11 is another
One end is fixed and on gear shaft is wrapped in；Lift motor 9 and first capstan winch group 6 is driven by decelerator 8 and shaft coupling 7
Rotate, so as to drive bracket 28 to move up and down, lifting motor 9 uses 55kw 1LE0001 serial motors, PLC
Motor 9 is lifted by Frequency Converter Control, drawstring encoder 15 feeds back the positional information of bracket 28 to PLC, formed
Lift closed-loop control system.
The stopping means includes the first proximity switch support 20, the second proximity switch support 21, and installed in first
The first proximity switch on proximity switch support 20 and the second proximity switch on the second proximity switch support 21, also
Including positioned at pallet truck level to the first sensor block of stroke front end and positioned at pallet truck level to stroke rearmost end second
Sensor block；First proximity switch works as code with being used cooperatively positioned at pallet truck level to the first sensor block of stroke front end
Pile car is run forward, and for the first proximity switch close to the first sensor block, proximity switch sends high potential signal to PLC, PLC controls the
The running frequency of one servomotor 16 and the second servomotor 22 is 0Hz；Second proximity switch is horizontal with being located at pallet truck
Be used cooperatively to the second sensor block of stroke rearmost end, when pallet truck is run backward, the second proximity switch close to the second sensor block,
Proximity switch sends high potential signal to PLC, and PLC controls the running frequency of the first servomotor 16 and the second servomotor 22 to be
0Hz。
The Tai Men mechanisms 4 include baffle plate 401, sliding block 402, sprocket wheel 403, chain 404, track baffle plate 405, fixed mount
406th, door catche 407, track 408, orbit sidewall 409, claw support 410, lift door motor 411 are lifted, lifts door motor
411 using Siemens's 1.5kw 1LE0001 serial motors；The track baffle plate 405 is fixed on vehicle frame 1 by fixed mount 406
On support；The track 408 is the groove being arranged on track baffle plate 405；The lift door catche 407 is done in track 408
Lower reciprocating motion；The orbit sidewall 409 and claw support 410 form a groove, for withdrawing simultaneously stationary jaw.
With reference to accompanying drawing 1 to accompanying drawing 5, the control method of large-scale cement component steaming kiln Full automatic stacking system, including it is following
Step：
The first step, host computer operation：Selection needs to deposit the row of plate on the industrial computer, opens automatic mode, pallet truck
Upper electricity；
Second step, pallet truck trajectory path planning：Using the row chosen as target column, and by PLC according to pallet truck both sides
The distribution situation of target column plans pallet truck moving line automatically；
3rd step, pallet truck start：PLC controls servo drive motor to rotate by S120 servo-drivers, so as to drive
Pallet truck moves back and forth；
4th step, located lateral control：Pallet truck by the encoder reading position information built in servo drive motor, when
Encoder built in first servo drive motor 16 and the second servo drive motor 22 reads position and the target column of pallet truck
When corresponding parking spot is at a distance of 35cm, PLC controls S120 servo-drivers by the running frequency of servo drive motor by 20Hz
It is reduced to 10Hz；When encoder reads the position parking spot corresponding with target column of pallet truck at a distance of 10cm, servo-drive
Motor is run with 5Hz frequency；When the positional information that encoder is read is consistent with the positional information of target column, pallet truck stops
Only run；
5th step, longitudinal register control：Frequency Converter Control lifting motor 9 rotates, and lifting motor 9 passes through deceleration
Device 8, shaft coupling 7 drive the first capstan winch group 6 and the second capstan winch group 10 to rotate simultaneously, are reached by tightening up or loosen steel wire rope 11 and carried
The purpose for rising or declining, and the positional information fed back by drawstring encoder 15 determines the position of bracket；
6th step, deposits plate：The drive sprocket 403 of lift door motor 411 rotates, and drives chain 404 to rotate clockwise, Gu
The sliding block 402 for being scheduled on the side of chain 404 is connected with lift door catche 407, and sliding block 402 moves up with the rotation of chain 404,
So as to drive cambered surface of the lift door catche 407 along the bottom of orbit sidewall 409 to be removed from the groove for withdrawing claw, and along track
408 move up, so as to which the door of steaming kiln be lifted automatically；First die holder motor 2, the second die holder motor 17,
Three die holder motors 24, the 4th die holder motor 25 are rotated simultaneously, and die holder 3 is sent together with the cement components placed on die holder
Enter in kiln, pushing tow claw motor 29 drives pushing tow claw 19 to stretch out, and drives claw 19 by pushing tow claw electric rotating machine 29
90 ° are rotated, die holder 3 is pushed into kiln；Then, pushing tow claw 19 is driven by pushing tow claw electric rotating machine 29 and rotates backward 90 ° simultaneously
Retract；Lift door motor 411 drives lift door catche 407 to be moved down along track 408, and enters in groove, steaming kiln
Door is automatic to close；
7th step, update motion path：PLC module gathers kiln position information in real time, and there are three kinds of states each kiln position：
Failure, use, be not used, controller is according to the kiln position state programming movement path for updating target column；
8th step, lift door take plate：The drive sprocket 403 of lift door motor 411 rotates, and drives chain 404 to turn clockwise
Dynamic, the sliding block 402 for being fixed on the side of chain 404 is connected with lift door catche 407, and sliding block moves up with the rotation of chain, from
And drive cambered surface of the lift door catche 407 along the bottom of orbit sidewall 409 to be removed from the groove for withdrawing claw, and along track 408
Move up, so as to which the door of steaming kiln be lifted；Pushing tow claw 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 withdrawn, and drives die holder to be moved on support pulley 14,
First die holder motor 2, the second die holder motor 17, the 3rd die holder motor 24, the 4th die holder motor 25 are same
When rotate, drive die holder be moved to together with the cement components placed on die holder on pallet truck；Lift door motor 411 and drive lift door
Claw 407 is moved down along track 408, and enters in groove, and the door of steaming kiln is closed；
9th step, design protection：When servo drive motor is currently running, die holder motor or lifting motor
During operation, lift door motor frequency is 0Hz；When pushing tow claw do not retract in place, claw motor do not playback or has
During limit signal, servo drive motor running frequency is 0Hz.
PLC of the present invention is according to the motion road of the real-time status on-line optimization pallet truck of each kiln position of three-dimensional steaming kiln
Line so that the process of pallet truck access plate is more efficient, energy-conservation, and pallet truck double closed-loop control system passes through multiple-axis servo driver
The real time data feedback that motion control and drawstring encoder are synchronized to walking servomotor ensure that two free degree controls
Accuracy, accurate position feedback device and motion planning strategy are combined by horizontal and vertical movement mechanism, realized big used
The quick and precisely flat bed of amount system and contraposition, realize the full-automatic intelligent operation of concrete component pallet truck.
Claims (8)
1. large-scale cement component steaming kiln Full automatic stacking system, including control system and palletizing apparatus, it is characterised in that：It is described
Control system and palletizing apparatus be communicatively coupled by Profibus-DP networks and EPA, described control system
System includes host computer, ground substation, vehicle frame main website and lifting substation, and the host computer includes industrial computer and touch-screen, described
It is communicatively coupled by Ethernet between ground substation and vehicle frame main website, is passed through between described vehicle frame main website and lifting substation
Profibus-DP networks are communicatively coupled, and the vehicle frame main website includes PLC, frequency converter；The lifting substation includes
ET200M, S120 servo-driver；The ground substation and the touch-screen are arranged on the industrial computer switch board being placed on ground
It is interior；The ground substation includes ET200M；
Described palletizing apparatus includes vehicle frame (1), walking positioning device, lowering or hoisting gear, die holder (3), die holder drive device, lift door
Mechanism (4), top-pushing mechanism, stopping means, vehicle frame (1) include rectangle support and top plate (5), and top plate (5) is fixed on rectangle support
Top and offer multiple sight vanes, walking positioning device and stopping means are arranged on the bottom of vehicle frame (1), and vehicle frame (1) is logical
Cross walking positioning device and stopping means carries out front-rear reciprocation movement, die holder (3) and die holder drive device are arranged on vehicle frame (1)
Inside, Tai Men mechanisms (4) are fixed on the left of vehicle frame (1), and top-pushing mechanism is fixed between die holder (3) and Tai Men mechanisms (4).
2. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：Described top
Pushing mechanism includes pushing tow claw motor (29), pushing tow claw (19) and pushing tow claw electric rotating machine (18), pushing tow claw
(19) bilateral reciprocation is done under the driving of pushing tow claw motor (29), pushing tow claw (19) is in pushing tow claw electric rotating
Axis under the driving of machine (18) around pushing tow claw (19) in vertical plane rotates, and the maximum anglec of rotation of pushing tow claw (19) is
90°。
3. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：The walking
Positioner includes wheel (23) and servo drive motor, and servo drive motor is two groups of first servomotors being oppositely arranged
And the second servomotor (22) (16).
4. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：The lifting
Device includes bracket (28), steel wire rope (11), top pulleys (12), bracket pulley (13), support pulley (14), lifting driving electricity
Machine (9), drawstring encoder (15), described steel wire rope (11) one end are solid afterwards around top pulleys (12), bracket pulley (13) successively
The bottom of top pulleys (12) bearing is scheduled on, steel wire rope (11) other end is fixed and on gear shaft is wrapped in；Lifting driving electricity
Machine (9) drives the first capstan winch group (6) to rotate by decelerator (8) and shaft coupling (7), so as to drive bracket (28) to move up and down.
5. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：Described mould
Seat (3) is the steel plate of tiling, and the bottom surface of die holder (3) is provided with brace rod, sets four die holders to drive in the lower section of die holder (3)
Dynamic motor, respectively the first die holder motor (2), the second die holder motor (17), the 3rd die holder motor (24), the
Four die holder motors (25), die holder lower section equidistantly arrange several support pulleys (14), and die holder (3) is on support pulley (14)
It is mobile.
6. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：It is described spacing
Device includes the first proximity switch support (20), the second proximity switch support (21), and installed in the first proximity switch support
(20) the first proximity switch on and the second proximity switch on the second proximity switch support (21), in addition to it is located at code
Second sensor block of the pile car level to the first sensor block of stroke front end and positioned at pallet truck level to stroke rearmost end；It is described
First proximity switch positioned at pallet truck level to the first sensor block of stroke front end with being used cooperatively, when pallet truck is transported forward
OK, close to the first sensor block, proximity switch sends high potential signal and controls the first servomotor to PLC, PLC the first proximity switch
(16) and the running frequency of the second servomotor (22) is 0Hz；Second proximity switch is with being located at pallet truck level to stroke
Second sensor block of rearmost end is used cooperatively, and when pallet truck is run backward, the second proximity switch is close to open close to the second sensor block
Close and send high potential signal to PLC, PLC controls the running frequency of the first servomotor (16) and the second servomotor (22) to be
0Hz。
7. large-scale cement component steaming kiln Full automatic stacking system according to claim 1, it is characterised in that：The lift door
Mechanism (4) include baffle plate (401), sliding block (402), sprocket wheel (403), chain (404), track baffle plate (405), fixed mount (406),
Lift door catche (407), track (408), orbit sidewall (409), claw support (410), lift door motor (411)；The track
Baffle plate (405) is fixed on the support of vehicle frame (1) by fixed mount (406)；The track (408) is to be arranged on track baffle plate
(405) groove on；The lift door catche (407) pumps in track (408)；The orbit sidewall (409)
A groove is formed with claw support (410), for withdrawing simultaneously stationary jaw.
8. a kind of control method of large-scale cement component steaming kiln Full automatic stacking system as claimed in claim 1, its feature
It is to comprise the following steps：
The first step, host computer operation：Selection needs to deposit the row of plate on the industrial computer, opens automatic mode, electricity on pallet truck；
Second step, pallet truck trajectory path planning：Using the row chosen as target column, and by PLC according to pallet truck both sides target
The distribution situation of row plans pallet truck moving line automatically；
3rd step, pallet truck start：PLC controls servo drive motor to rotate by S120 servo-drivers, so as to drive stacking
Car moves back and forth；
4th step, located lateral control：Pallet truck is by the encoder reading position information built in servomotor, when pallet truck connects
During close-target row, pallet truck is reduced speed now, and subsequent pallet truck car is run with low speed；When the positional information and target that encoder is read
When the positional information of row is consistent, pallet truck is out of service；
5th step, longitudinal register control：Frequency Converter Control lifting motor (9) rotates, and lifting motor (9) passes through deceleration
Device (8), shaft coupling (7) drive the first capstan winch group (6) and the second capstan winch group (10) to rotate simultaneously, by tightening up or loosening steel wire rope
(11) lifting or the purpose declined are reached, and the positional information fed back by drawstring encoder (15) determines the position of bracket；
6th step, deposits plate：Lift door motor (411) driving lift door catche (407) moves up along track (408), so as to
Door is lifted；First die holder motor (2), the second die holder motor (17), the 3rd die holder motor (24), the 4th mould
Seat motor (25) rotates simultaneously, die holder is sent into kiln together with the cement components placed on die holder, pushing tow claw (19) is stretched
Go out, and rotate 90 °, die holder is pushed into kiln；Then, pushing tow claw (19) rotates backward 90 ° and retracted, and lifts door motor
(411) driving lift door catche (407) is moved down along track (408), and enters in groove, and door is closed；
7th step, update motion path：PLC module gathers kiln position information in real time, and there are three kinds of states each kiln position：Therefore
Hinder, used, be not used, controller is according to the kiln position state programming movement path for updating target column；
8th step, lift door take plate：Lift door motor (411) driving lift door catche (407) moves up along track (408),
So as to which door be lifted；Pushing tow claw (19) extend out to die holder bottom, rotates 90 °, claw is withdrawn, and drives die holder to be moved to support
On pulley (14), the first die holder motor (2), the second die holder motor (17), the 3rd die holder motor (24), the 4th
Die holder motor (25) rotates simultaneously, drives die holder to be moved to together with the cement components placed on die holder on pallet truck, lifts door
Motor (411) driving lift door catche (407) is moved down along track (408), and enters in groove, and door is closed；
9th step, design protection：When servo drive motor is currently running, die holder motor or lifting motor are currently running
When, lift door motor frequency is 0Hz；When pushing tow claw, retraction is not in place, claw motor does not playback or limited location
During signal, servo drive motor running frequency is 0Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150980.2A CN105692221B (en) | 2016-03-17 | 2016-03-17 | Large-scale cement component steaming kiln Full automatic stacking system and its control method |
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| CN201610150980.2A CN105692221B (en) | 2016-03-17 | 2016-03-17 | Large-scale cement component steaming kiln Full automatic stacking system and its control method |
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| CN105692221B true CN105692221B (en) | 2018-04-03 |
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| CN112388812B (en) * | 2020-11-18 | 2022-12-09 | 河北省机电一体化中试基地有限公司 | Full-automatic mold stacking system for semi-underground pit type prefabricated sleeper |
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| CN201082831Y (en) * | 2007-05-28 | 2008-07-09 | 徐金山 | Stack disc conveying controlling device |
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Address after: 050081 room 107, building 4, No. 46, Youyi South Street, Qiaoxi District, Shijiazhuang City, Hebei Province Patentee after: Hebei electromechanical integration pilot base Co.,Ltd. Address before: 050081 room 107, building 4, No. 46, Youyi South Street, Qiaoxi District, Shijiazhuang City, Hebei Province Patentee before: HEBEI MECHATRONICS INTERMEDIATE PILOT PRODUCTION BASE |