CN106269531A - A kind of control method of pallet sorter - Google Patents
A kind of control method of pallet sorter Download PDFInfo
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- CN106269531A CN106269531A CN201610742027.7A CN201610742027A CN106269531A CN 106269531 A CN106269531 A CN 106269531A CN 201610742027 A CN201610742027 A CN 201610742027A CN 106269531 A CN106269531 A CN 106269531A
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- Prior art keywords
- pallet
- speed
- luggage
- conveyer
- inject
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/12—Apparatus characterised by the means used for detection ofthe destination using electric or electronic detecting means
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- Control Of Conveyors (AREA)
Abstract
The technical problems such as the control method of a kind of pallet sorter, the present invention relates to Automated Sorting System technical field, solves prior art and causes luggage to skid in sort process, and its sorting efficiency is low.The invention mainly comprises acquisition pallet speed；Luggage speed is obtained by the first photoelectric detector and the second photoelectric detector；Adjust injection conveyer speed of service component velocity on pallet velocity attitude consistent with pallet speed；Dynamically adjusting each wait conveyer speed of service and compensate luggage speed and inject the speed of service of conveyer to matching, reallocation luggage is to predetermined pallet；When luggage arrives decanting point by injecting conveyer, control to inject conveyer and selectively luggage is injected into pallet；By pallet by baggage sorting to destination.The present invention is used for designing sorter and controls drive system.
Description
Technical field
The present invention relates to Automated Sorting System technical field, be specifically related to the control method of a kind of pallet sorter.
Background technology
Along with developing rapidly of China's Civil Aviation Industry, increasing people selects airplane to go on a journey.Seize the opportunity people to carry with
Parcel and luggage must consign, thereby increase the delivery quantity of luggage.At present, the subject matter that delivery exists is
The Luggage automatic sorting stage, (in sorting system, on whole rotating disk, all pallets were all equipped on respective carrier loader, delivery
It is rigidly connected between dolly；Inject pipeline and wait that by each conveyer is constituted with injecting conveyer；Decanting point, injects conveyer
Mate with tray edge).Therefore, how to combine China airport and arrive the sorting present situation of luggage, propose a set of convenience, succinct, high
The sorting transportation system of effect, just becomes the major issue promoting airport operation level.
Summary of the invention
For above-mentioned prior art, present invention aim at providing the control method of a kind of pallet sorter, solve existing
The technical problems such as technology causes luggage to skid in sort process, and its sorting efficiency is low.
For reaching above-mentioned purpose, the technical solution used in the present invention is as follows:
The control method of a kind of pallet sorter, comprises the steps
Step 1, acquisition pallet speed；
Step 2, respectively relatively to wait that conveyer speed of service direction is different angle, arrange the first photoelectric detector and
Second photoelectric detector, in waiting conveyer, places into luggage to waiting conveyer, by the first photoelectric detector and the second light
Photodetector obtains luggage speed；
Step 3, it is that 30-degree angle arranges injection conveyer with opposing tray velocity attitude, adjusts and inject conveyer and run speed
Degree component velocity on pallet velocity attitude is consistent with pallet speed；
Step 4, according to injecting the conveyer speed of service and the difference of luggage speed, dynamically adjust each and wait conveyer fortune
Line speed also compensates luggage speed and injects the speed of service of conveyer to matching, with keep injecting luggage on pipeline uniformly point
Cloth, reallocation luggage to predetermined pallet, constitute the injection window of predetermined frequency；
Step 5, when luggage by inject conveyer arrive decanting point, judge that predetermined pallet is by the 3rd photoelectric detector
The no free time, mate the speed of idle predetermined pallet, adjust the speed of service and the operation of each wait conveyer injecting conveyer
Speed, according to injecting window, controls to inject conveyer and selectively luggage is injected into pallet；
Step 6, by pallet by baggage sorting to destination.
In said method, described step 1, the carrier loader speed being obtained pallet by two forked type photoelectric detectors is made
For pallet speed.
In said method, described step 4, wherein, and described distribution luggage to predetermined pallet, comprise the steps,
At pallet anchor point, the 4th photoelectric detector is set, extra L-type blade apparatus is installed little in a delivery of pallet
Car, and as a pallet, when the 4th photoelectric detector detects L-type blade apparatus, trigger the most all pallets
Location and location calibration；
Use window control method again, on real-time tracking locating turntable all tray positions and distribute correspondence luggage.
In said method, described step 5, comprise the following steps,
Step 5.1, when luggage by inject conveyer arrive decanting point, by the 3rd photoelectric detector obtain pallet work
Make state；
If step 5.2.1 pallet works state is idle, and meets injected pulse frequency window, then control to inject
Luggage is injected into predetermined pallet by conveyer；
If step 5.2.2 pallet works state is idle, but is unsatisfactory for injected pulse frequency window, then control to inject
Conveyer carries out slowing down and waits, then controls each wait conveyer reducing speed, weighs luggage on injection pipeline successively simultaneously
The pallet that new distribution is predetermined, then jump to step 5.1, until luggage enters the pallet distributed；
If step 5.3 pallet works state is for occupying, then controls to inject conveyer and carry out wait of slowing down, then control each
Individual wait conveyer reducing speed, redistributes predetermined pallet successively to luggage on injection pipeline simultaneously, then jumps to step
Rapid 5.1, until luggage enters the pallet distributed.
In said method, for each pallet on whole rotating disk,
It is respectively provided with all linear electric motors and is in warm standby state, enable straight-line electric according to the linear electric motors quantity set
Machine, drives the carrier loader of pallet, if after detecting that current linear electric motors break down, is immediately switched to the hot standby straight line that can use
Motor.
In said method, any one step in described step 1 to step 5, the linear electric motors of the carrier loader of pallet are set
Crashproof detection, specifically,
By arrange track intermediate groove detection carrier loader blade whether normal through groove, thus judge delivery
Dolly the most normally works；
If blades impact track intermediate groove, reverse brake hard will be triggered.
In said method, the reverse brake hard of described triggering, wherein,
Control linear electric motors relatively current pallet velocity attitude and carry out the carrier loader of reverse drive pallet, and obtain in real time
Pallet speed, when pallet speed less than 0.4 metre per second (m/s) or reverse drive time more than 4 seconds time, stop linear electric motors.
Compared with prior art, beneficial effects of the present invention: coordinated by the speed of sorting system device, continuous, accurate,
Reasonably inject luggage；Detection luggage and the position of pallet in real time；Eliminate the skidding of luggage；Improve baggage sorting effect
Rate；By Photoelectric Detection pallet state, with low cost.
Accompanying drawing explanation
Fig. 1 is key step schematic diagram of the present invention；
Fig. 2 is introducing port structural principle schematic diagram of the present invention；
Fig. 3 is forked type photoswitch structural representation of the present invention；
Fig. 4 is carrier loader top cutter of the present invention detection device and the structural representation of L-type first bus blade detection；
Fig. 5 is anti-collision detection device structural representation of the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
The present invention will be further described below in conjunction with the accompanying drawings:
Embodiment 1
I, pallet lead-in wire controls
I .1, injecting principle: each luggage introducing port uses 30 degree of oblique angle conveyers to inject, and controls to inject the fortune of conveyer
Line speed, makes the pallet direction component velocity of conveyer keep consistent with the speed of service of pallet.So it is injected into pallet when luggage
Effectively avoided two velocity attitude inconsistent row caused time upper to displacement error, luggage can be made to be injected into reservation accurately
Pallet centre position.After luggage component velocity on pallet traffic direction is consistent with pallet speed, luggage inject time not
There will be skidding causes injection to the rear, also will not go out forward the pallet of reservation, such as Fig. 2.
I .2, injection accurately control: owing to each introducing port end feed machine is 30 degree of angle injection modes, when luggage arrives
The time of the luggage arrival pallet examining the conveyer left side and the right during to entrance will be inconsistent, and the motion of pallet simultaneously also can be drawn
Act the deviation injected.In order to eliminate the deviation that 30 degree of angles are brought, pallet being provided with two speeds of service, we are defeated in wait
Send and two skew ray electro-detection luggage in-positions are installed on machine, dynamically adjust and wait that decanting point eliminates what 30 degree of injector angles brought
Error, makes luggage can be injected into corresponding pallet accurately.
I .3, the high efficiency of injection: judge that predetermined tray trolley is the most idle when luggage arrives detection photoelectricity, if
Pallet is idle and decanting point just can be directly injected in set point.If beyond the injected pulse scope set, then sentenced
Whether the pallet that the disconnected next one arrives is empty, then calculates next pallet if sky and arrives the pulse deviation of decanting point, record
And follow the tracks of this pulse, when luggage arrives No. 02 conveyer end according to the speed that the pulse recorded and No. 03 conveyer are properly functioning
Degree calculates the time that current luggage needs to run on No. 03 conveyer, and the running frequency providing No. 03 conveyer makes luggage straight
Connect and be injected on pallet, decrease luggage in the shutdown of introducing port and wait number of times, improve injection efficiency.If the pallet arrived
All have luggage, then luggage arrives and will halt at detection photoelectricity, waits that empty pallet is further continued for moving ahead after arriving, it is to avoid luggage hits
Bag.
I .4, introducing port conveyor speed control: first calculate 30 degree according to the speed of service of pallet and import conveyer
The speed of service.Calculate luggage diverse location on a conveyor the most again and arrive the time difference that pallet produces, coordinate No. 02 wait
The position of the horizontal photoelectricity of conveyer skew ray electrical distance, calculates the speed of service of No. 02 conveyer.The operation speed of No. 03 conveyer
Spend the injection length deviation according to each luggage No. 02 conveyer of arrival and dynamically adjust the speed of service of No. 03 conveyer.
I .5, high speed conveyer are the most energy-conservation: after introducing port pipeline (can set) as required through after a while
Being not detected by newline lijin to enter, high speed conveyer will enter energy-conservation stop mode, restart after having luggage to enter.Subtract
Having lacked high speed conveyer and caused the abrasion of equipment because of long-play, favourable protects equipment, improves the use longevity of equipment
Life.
The crashproof detection of I .6, introducing port: each introducing port front end is provided with luggage detection photoelectricity, and whether detection pallet has
Luggage, when detect have luggage on pallet time, take corresponding luggage labelling at corresponding pallet, it is to avoid luggage re-injects and draws
Play luggage and hit bag.
II, pallet controls
II .1, speed controlling: use the present speed installing two fork-shaped Photoelectric Detection rotating disks in orbit, and take it
Meansigma methods is as the criterion, and improves the precision of speed calculation.When pallet operates, tray trolley passes through fork-shaped photoswitch, produces
Step-by-step counting, calculates the speed of service of pallet according to the length of little turning insert and count pulse.When detecting one of them photoelectricity
This photoelectric switching signal of automatic shield can be controlled by PLC program after switch fault, only be as the criterion with the normal photoelectricity used.And
Each tray trolley deviation post in respective window, and luggage injection length is judged, it is ensured that OK according to photoelectric counting pulse
Lee can accurately be injected on the pallet of reservation, and such as Fig. 3 and Fig. 4, wherein, in Fig. 3,1 is mounting seat, and 2 is connector, and 3 for propping up
Support member.
II .2, dolly position: install a blade detection on a dolly, when this dolly is often through one-time detection
All tray trolley all of on rotating disk is reorientated, calibrated during photoswitch.After can effectively avoiding because of unexpected power-off, because of
Pallet also will from line slip one segment distance but photosignal can not be detected, cause the situation of dolly dislocation.Adopt simultaneously
The mode coordinating the photoswitch that tests the speed often to move a dolly window through a dolly with window technique determines each dolly
Real time position, is accurately positioned dolly running orbit on rotating disk, follows the tracks of.
II .3, rotary speed regulate: use first high frequency to start upon power-up of the system, transfer setting after rotating disk starts up to
Frequency also keeps time of one minute, and whether detection speed reaches predetermined speed, if beyond set point, controlled by PLC
Adjust an output frequency at interval of 10 seconds, if velocity deviation is relatively big, use quickly regulation (regulation in every 2 seconds is once) to make speed
Degree is rapidly achieved setting requirement.
II .4, rotating disk linear electric motors automatically switch: each pallet is reserved with standby linear electric motors when mounted, works as torr
Dish has detected in running after breaking down with motor, sends corresponding fault alarm prompting staff, simultaneously
In order to not affect the operation of system, by PLC logic control, automatically switch to standby linear electric motors, it is ensured that whole pallet energy
Properly functioning, if available linear electric motors quantity in set point all without causing shutdown.Simultaneously in order to ensure all directly
Line motor is upstate and can switch at any time, all pass through during start every time PLC control to switch one with motor to standby directly
Line motor, it is ensured that all motors are in warm standby state.
II .5, rotating disk linear electric motors are crashproof: be provided with anti-collision detection device at 6 meters and 3 meters, every linear electric motors front end,
After tray trolley being detected there was a mechanical failure skew or sedimentation occur, dolly cannot be normal through crashproof detection through blade
The intermediate groove of device, thus detection device is bumped against and sends corresponding warning, emergent stopping pallet operates, it is to avoid tray trolley
Damage equipment is bumped against, such as Fig. 5 with linear electric motors.
II .6, reverse brake hard: owing to the rotating disk speed of service is fast, the factors such as inertia is big, sliding when rotating disk normally stops
Row distance is longer.When there being emergency to need quick shutdown, system is provided with reverse direction brake function.I.e. press existing as staff
In the case of the emergency stop switch of field, rotating disc fault, the crashproof detection of dolly etc. need quickly to stop, rotating disk is all reverse by exporting
Signal is the most out of service.In order to avoid rotating disk inverted running excessively causes device damage, it is necessary to when accurately controlling reversion output
Between.System by PLC detection rotating disk present speed and reversion output time together with, when detect speed be less than 0.4 meter per second or time
Between more than 4 seconds time stop reversely output, i.e. having reached the effect of fast braking, to protect again equipment without damage.
II .7, pallet communication network control: use advanced leaky wave reliably wireless between whole pallet sorting system and PLC
Communication, the stability that i.e. improve wireless telecommunications decreases again interfering between network.Each tray trolley is tumbled motor
Employing servo-driver controls, and can control tumble angle and the tipping speed of motor accurately.CAN is passed through between driver
Connect, decrease control cable, effectively solve narrow space on rotating disk and be inconvenient to the problem connected up.
II .8, system reset function: after rotating disk breaks down shutdown, during staff investigates handling failure be
System will not run automatically, when after trouble shooting, the reset switch on control system cabinet door must be resetted by secondary-confirmation by staff
Rear rotating disk just can restart, it is to avoid unexpected personal injury.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Belong to those skilled in the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, all answer
Contain within protection scope of the present invention.
Claims (7)
1. the control method of a pallet sorter, it is characterised in that comprise the steps
Step 1, acquisition pallet speed；
Step 2, respectively relatively to wait that conveyer speed of service direction is different angle, the first photoelectric detector and second is set
Photoelectric detector, in waiting conveyer, places into luggage to waiting conveyer, by the smooth electric-examination of the first photoelectric detector and second
Survey device and obtain luggage speed；
Step 3, it is that 30-degree angle arranges injection conveyer with opposing tray velocity attitude, adjusts and inject the conveyer speed of service and exist
Component velocity on pallet velocity attitude is consistent with pallet speed；
Step 4, according to injecting the conveyer speed of service and the difference of luggage speed, dynamically adjust each and wait that conveyer runs speed
Spend and compensate luggage speed and inject the speed of service of conveyer to matching, to keep injecting being uniformly distributed of luggage on pipeline,
Reallocation luggage, to predetermined pallet, constitutes the injection window of predetermined frequency；
Step 5, when luggage by inject conveyer arrive decanting point, judge that predetermined pallet is the most empty by the 3rd photoelectric detector
In the spare time, mate the speed of idle predetermined pallet, adjust the speed of service and the speed of service of each wait conveyer injecting conveyer,
According to injecting window, control to inject conveyer and selectively luggage is injected into pallet；
Step 6, by pallet by baggage sorting to destination.
The control method of a kind of pallet sorter the most according to claim 1, it is characterised in that described step 1, passes through
Two forked type photoelectric detectors obtain the carrier loader speed of pallet as pallet speed.
The control method of a kind of pallet sorter the most according to claim 1, it is characterised in that described step 4, its
In, described distribution luggage to predetermined pallet, comprise the steps,
At pallet anchor point, the 4th photoelectric detector is set, extra L-type blade apparatus is installed in a carrier loader of pallet,
And as a pallet, when the 4th photoelectric detector detects L-type blade apparatus, trigger the location of the most all pallets
With location calibration；
Use window control method again, on real-time tracking locating turntable all tray positions and distribute correspondence luggage.
The control method of a kind of pallet sorter the most according to claim 1, it is characterised in that described step 5, including
Following steps,
Step 5.1, when luggage by inject conveyer arrive decanting point, by the 3rd photoelectric detector obtain pallet work shape
State；
If step 5.2.1 pallet works state is idle, and meets injected pulse frequency window, then control to inject conveying
Luggage is injected into predetermined pallet by machine；
If step 5.2.2 pallet works state is idle, but is unsatisfactory for injected pulse frequency window, then control to inject conveying
Machine carries out slowing down and waits, then controls each wait conveyer reducing speed, the most again divides luggage on injection pipeline simultaneously
Join predetermined pallet, then jump to step 5.1, until luggage enters the pallet distributed；
If step 5.3 pallet works state is for occupying, then control inject conveyer carry out slow down wait, then control each etc.
Machine reducing speed to be conveyed, redistributes predetermined pallet successively to luggage on injection pipeline simultaneously, then jumps to step
5.1, until luggage enters the pallet distributed.
5. according to the control method of a kind of pallet sorter described in any one in claim 1-4, it is characterised in that for
Each pallet on whole rotating disk,
It is respectively provided with all linear electric motors and is in warm standby state, enable linear electric motors according to the linear electric motors quantity set, drive
The carrier loader of dynamic pallet, if after detecting that current linear electric motors break down, is immediately switched to the hot standby linear electric motors that can use.
The control method of a kind of pallet sorter the most according to claim 5, it is characterised in that described step 1 is to step
Any one step in rapid 5, the crashproof detection of linear electric motors of the carrier loader that pallet is set, specifically,
By whether arranging the blade of track intermediate groove detection carrier loader normal through groove, thus judge carrier loader
The most normally work；
If blades impact track intermediate groove, reverse brake hard will be triggered.
The control method of a kind of pallet sorter the most according to claim 6, it is characterised in that described triggering is the tightest
Anxious braking, wherein,
Control linear electric motors relatively current pallet velocity attitude and carry out the carrier loader of reverse drive pallet, and obtain pallet in real time
Speed, when pallet speed less than 0.4 metre per second (m/s) or reverse drive time more than 4 seconds time, stop linear electric motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742027.7A CN106269531B (en) | 2016-08-27 | 2016-08-27 | A kind of control method of pallet sorter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742027.7A CN106269531B (en) | 2016-08-27 | 2016-08-27 | A kind of control method of pallet sorter |
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| Publication Number | Publication Date |
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| CN106269531A true CN106269531A (en) | 2017-01-04 |
| CN106269531B CN106269531B (en) | 2018-08-31 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107657292A (en) * | 2017-09-14 | 2018-02-02 | 广州市弘宇科技有限公司 | The luggage identification display system and its method of work of a kind of baggage sorting rotating disk |
| CN107899957A (en) * | 2017-09-30 | 2018-04-13 | 北京极智嘉科技有限公司 | Automatic logistics sorting system and automatic logistics method for sorting |
| CN108595561A (en) * | 2018-04-12 | 2018-09-28 | 民航成都物流技术有限公司 | A kind of adjustment method of airdrome luggage visualization tracking |
| CN110434074A (en) * | 2018-05-02 | 2019-11-12 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus adjusting the sorter speed of service |
| CN110834912A (en) * | 2019-11-27 | 2020-02-25 | 常州工学院 | Method for improving loop speed of cross belt sorting machine |
| CN111960052A (en) * | 2020-08-28 | 2020-11-20 | 中邮科技有限责任公司 | Sorting trolley resetting device |
| CN114226261A (en) * | 2022-02-28 | 2022-03-25 | 民航成都物流技术有限公司 | Luggage conveying and sorting system and automatic luggage conveying and sorting method |
| CN117840046A (en) * | 2024-03-07 | 2024-04-09 | 民航机场成都电子工程设计有限责任公司 | Automatic sorting method based on window correction |
-
2016
- 2016-08-27 CN CN201610742027.7A patent/CN106269531B/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107657292A (en) * | 2017-09-14 | 2018-02-02 | 广州市弘宇科技有限公司 | The luggage identification display system and its method of work of a kind of baggage sorting rotating disk |
| CN107899957A (en) * | 2017-09-30 | 2018-04-13 | 北京极智嘉科技有限公司 | Automatic logistics sorting system and automatic logistics method for sorting |
| CN107899957B (en) * | 2017-09-30 | 2024-05-17 | 北京极智嘉科技股份有限公司 | Automatic logistics sorting system and automatic logistics sorting method |
| CN108595561A (en) * | 2018-04-12 | 2018-09-28 | 民航成都物流技术有限公司 | A kind of adjustment method of airdrome luggage visualization tracking |
| CN110434074A (en) * | 2018-05-02 | 2019-11-12 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus adjusting the sorter speed of service |
| CN110834912A (en) * | 2019-11-27 | 2020-02-25 | 常州工学院 | Method for improving loop speed of cross belt sorting machine |
| CN111960052A (en) * | 2020-08-28 | 2020-11-20 | 中邮科技有限责任公司 | Sorting trolley resetting device |
| CN114226261A (en) * | 2022-02-28 | 2022-03-25 | 民航成都物流技术有限公司 | Luggage conveying and sorting system and automatic luggage conveying and sorting method |
| CN117840046A (en) * | 2024-03-07 | 2024-04-09 | 民航机场成都电子工程设计有限责任公司 | Automatic sorting method based on window correction |
| CN117840046B (en) * | 2024-03-07 | 2024-05-10 | 民航机场成都电子工程设计有限责任公司 | Automatic sorting method based on window correction |
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| CN106269531B (en) | 2018-08-31 |
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