CN109733778A - A kind of traveling control device and control method of lane stacker - Google Patents
A kind of traveling control device and control method of lane stacker Download PDFInfo
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- CN109733778A CN109733778A CN201811586196.1A CN201811586196A CN109733778A CN 109733778 A CN109733778 A CN 109733778A CN 201811586196 A CN201811586196 A CN 201811586196A CN 109733778 A CN109733778 A CN 109733778A
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- stacking body
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- lane stacker
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Abstract
The invention discloses a kind of traveling control devices of lane stacker, including tunnel combination track and the stacking body being located in tunnel combination track, stacking body is combined with tunnel is equipped with horizontal running mechanism between track, it is additionally provided with the walking communications localization system based on the Gray bus communication technology and the traveling control system for controlled level walking mechanism and walking communications localization system on stacking body, is equipped with walking track on the upper surface of tunnel combination track and the front and rear sides face of tunnel combination track；A kind of ambulation control method of lane stacker includes the following steps: S100, based on different work patterns, and stacking body receives control instruction, determines object run and start to work；S200, during the work time, is accurately positioned stacking body and speed control in real time；After the completion of S300, work, stacking body returns to initial position, easy to operate, can realize the precise locating function to lane stacker while guarantee high speed high Accelerating running state.
Description
Technical field
The present invention relates to lane stacker technical field, the traveling control device of specially a kind of lane stacker and control
Method.
Background technique
Laneway type piler is evolved by fork truck, bridge type stacking machine, bridge type stacking machine due to gantry heaviness thus
The speed of service is very restricted, it is only applicable to out to be put in storage, and frequency is not high or the storehouse of storage elongated raw material and bulky goods
Library, lane stacker are mainly used for operation of shuttling in the tunnel of High Level Rack, and the cargo for being located at access adit is deposited
Enter goods lattice；Alternatively, taking out goods handling in goods lattice to access adit, core material of the lane stacker as automatic stereowarehouse
Flow device is not only in tiered warehouse facility most important in most widely used material conveyance equipment and logistic storage system set
Standby, with the expansion of automatic stereowarehouse scale and the proposition of quick response customer requirement, piler needs when very short
The tasks such as interior completion storage, sorting, outbound, dispatching, it is higher and higher to operational efficiency requirement, and present lane stacker
It is mostly manual operation to complete, the automation manual labor that performance is poor, working efficiency is low and spent is at high cost, artificial
During operating lane stacker, the cargo transported is also possible to fall so that injuring operator by a crashing object, and security performance is not high, institute
With the appearance for automating piler becomes trend, and still, existing automation piler function is relatively simple, the work of automation
Make process, once breaking down, will be unable to work, repair more troublesome；Moreover, in the automation piler course of work, heap
The speed of travel of stack machine is often fixation, can be only done starting, emergency stop and the operation run with certain speed, and speed is too small,
Making the working efficiency of piler reduces；Speed is too big, and is easy to happen shock accident, and due to effect of inertia, makes piler
Position accuracy is low, so that its work quality be made to be deteriorated.
As application No. is a kind of 201310435614.8 entitled inventions of automatic stereowarehouse intelligent control method,
The invention recognizes location device with the horizontal direction that piler moves forward and backward by being equipped in piler base cross members, corresponding
The ground location recognized location piece and correspond to each column freight house, it is every pass through a column freight house, horizontal direction recognize location device by recognize location baffle issue
One pulse signal achievees the purpose that column recognize location, to realize the automatic operation of piler walking in a horizontal state, accelerates to PLC
The working efficiency of piler, still, for above-mentioned proposed other problems, there is no solve for the invention.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides traveling control device and the control of a kind of lane stacker
Method processed, it is easy to operate, the precise positioning to lane stacker can be realized while guarantee high speed high Accelerating running state
Function, and can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of traveling control device of lane stacker, including tunnel combination track and the stacking being arranged in tunnel combination track
Body, the stacking body is combined with tunnel is provided with horizontal running mechanism between track, is additionally provided with and is based on stacking body
The walking communications localization system of the Gray bus communication technology and for controlled level walking mechanism and walking communications localization system
Traveling control system, is provided on the upper surface of tunnel combination track and the front and rear sides face of tunnel combination track
Walking track；
The horizontal running mechanism includes two groups of drive wheel assemblies, and the drive wheel assemblies include that can combine in track along tunnel
The bearing directive wheel of the walking track movement on surface, two difference can combine the walking rail on the face of track front and rear sides along tunnel
The traveling driving wheel of road movement and two motor for being respectively used to drive two traveling driving wheels, the bearing directive wheel
Upper end is connect by taking turns mounting base with the lower end of stacking body, and the lower section of stacking body, and motor is arranged in the motor
Transmission shaft and traveling driving wheel core wheel axis connection.
Further, the walking communications localization system includes position detecting module and data communication module, the position
Detection module includes the address transmitting unit for being mounted on earth-fixed station, the address detection unit and day being mounted on stacking body
Line case one and the Gray bus cable for being mounted on tunnel trackside in combination, the address transmitting unit pass through electromagnetic coupling mode
It passes the signal on Gray bus cable, the address detection unit and traveling control system are electrically connected.
Further, the data communication module includes antenna box two, the inductive communication list being arranged in earth-fixed station
Member one, the inductive communication unit two and two pair being arranged on stacking body add the induction loop in Gray bus cable, and
The inductive communication unit one realizes both-way communication, the inductive communication list by inductive communication mode with inductive communication unit two
Member two is also electrically connected with traveling control system.
Further, the traveling control system includes host computer and the electrical control cabinet that is arranged on stacking body, institute
The inside for stating electrical control cabinet is equipped with PLC controller, and the input terminal and walking communications localization system of the PLC controller connect
It connects, output end is connect with horizontal running mechanism, and the host computer sends control to PLC controller by infrared communication mode and refers to
It enables.
Further, intelligent frequency-conversion regulation module is additionally provided between the PLC controller and horizontal running mechanism, it is described
Intelligent frequency-conversion regulates and controls the velocity sensor that module includes frequency converter and is arranged on horizontal running mechanism, and the PLC controller
Input terminal be also electrically connected with velocity sensor, the output end of PLC controller and frequency converter are electrically connected, and the frequency converter is also
It is connect with horizontal running mechanism.
Further, it is additionally provided with Manual touch screen on the stacking body, the Manual touch screen passes through DP mouthfuls and PLC
Controller carries out data communication, and several behaviour for sending operational order to PLC controller are additionally provided on Manual touch screen
Make button.
Further, the both ends of the tunnel combination track are provided with Buffer Unit, and the Buffer Unit includes compound
The upper end of only row baffle and photoelectric sensor, the compound only row baffle is provided with installation cavity body, and the photoelectric sensor is set
It sets in installation cavity body, and the transmitting terminal of photoelectric sensor is arranged towards the direction of stacking body, compound only row baffle deviates from
The end face of stacking body is provided with reinforcing rib block.
Further, it is described it is compound only row baffle from close to stacking body one end to far from stacking body one end successively
It include rubber shock-absorbing layer, polyurethane buffering layer and steel plate layer, and the rubber shock-absorbing layer is internally provided with several hollow cavities,
Damping spring is provided in the hollow cavity.
A kind of ambulation control method of lane stacker, includes the following steps:
S100, based on different work patterns, stacking body receives control instruction, determines object run and starts to work；
S200, during the work time, is accurately positioned stacking body and speed control in real time；
After the completion of S300, work, stacking body returns to initial position.
Further, in the step S100, the work pattern includes manual working, automatic job and on-line job.
Compared with prior art, the beneficial effects of the present invention are:
The present invention uses the traveling control system using PLC as core, realizes that lane stacker was walked based on Gray bus technology
Precise positioning in journey and its speed of travel is regulated and controled by using frequency converter, realizes the lane stacker and walking
High-speed cruising, steady throw-over and low speed in the process stops quasi- function, ensure that the continuity and stabilization in its course of work
Reliability, realizes the automatically working of lane stacker, and then improves the working efficiency of lane stacker；By touching manually
The setting of screen and operation button is touched, it can be achieved that manual operation to lane stacker, after breaking down convenient for lane stacker
Operation and maintenance operation are resetted, improves the safety in maintenance process, and enhance the practical performance of the lane stacker.
Detailed description of the invention
Fig. 1 is whole control signal flow graph of the invention；
Fig. 2 is that track structural schematic diagram is combined in tunnel of the invention；
Fig. 3 is drive wheel assemblies mounting structure schematic diagram of the invention；
Fig. 4 is compound only row baffle cross section structure schematic diagram of the invention.
Figure label:
Combine track in the tunnel 1-；2- stacking body；3- horizontal running mechanism；4- traveling control system；5- drive wheel assemblies；6-
Set detection module；7- data communication module；8- intelligent frequency-conversion regulates and controls module；The compound only row baffle of 9-；10- walking communication positioning system
System；11- walking track；12-PLC controller；13- Manual touch screen；14- operation button；15- Buffer Unit；16- photoelectric sensing
Device；17- installation cavity body；18- reinforcing rib block；
401- host computer；402- electrical control cabinet；
501- supports directive wheel；502- travels driving wheel；503- motor；504- takes turns mounting base；
The address 601- transmitting unit；602- address detection unit；603- antenna box one；604- Gray bus cable；
701- antenna box two；702- inductive communication unit one；703- inductive communication unit two；704- induction loop；
801- frequency converter；802- velocity sensor；
901- rubber shock-absorbing layer；902- polyurethane buffering layer；903- steel plate layer；904- hollow cavity；905- damping spring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the present invention provides a kind of traveling control devices of lane stacker, including tunnel to combine
Track 1 and the stacking body 2 being arranged in tunnel combination track 1, the stacking body 2 is combined with tunnel to be arranged between track 1
Have horizontal running mechanism 3, be additionally provided on stacking body 2 the walking communications localization system 10 based on the Gray bus communication technology with
And the traveling control system 4 for controlled level walking mechanism 3 and walking communications localization system 10, by contactless absolute
Position detection mode works, the precision of real-time detection up to 5 ㎜, and can long-term stable operation, contactless mode avoids sliding
The failures such as de- and abrasion, can continuously, accurately detect absolute address, to realize the lane stacker automatically walk and complete
It is automatically brought into operation, is provided with walking on the upper surface of the tunnel combination track 1 and the front and rear sides face of tunnel combination track 1
Track 11.
Horizontal running mechanism 3 includes two groups of drive wheel assemblies 5, and the drive wheel assemblies 5 include can be along tunnel in combination
501, two difference of bearing directive wheel that the walking track 11 of 1 upper surface of rail moves can combine 1 front and rear sides of track along tunnel
The traveling driving wheel 502 of walking track 11 movement on face and two electricity for being respectively used to drive two traveling driving wheels 502
Motivation 503 can be met the high of lane stacker walking and be accelerated high-speed demand, " side wheel using " side wheel synchronous mode " walking mechanism
In synchronous mode " walking mechanism, when stacking body 2 starts, travels adhesive force suffered by driving wheel 502 and increase, make its acceleration
Degree just increases, and starts to that the time used in normal speed is shorter, and speed is also higher from static state, the bearing directive wheel 501
Upper end by take turns mounting base 504 connect with the lower end of stacking body 2, the motor 503 is arranged under stacking body 2
Side, and the core wheel axis connection of the transmission shaft of motor 503 and traveling driving wheel 502.
Further, the motor 503 in the present invention is using adjustable frequency motor, and adjustable frequency motor is in frequency conversion drive
When, there are a lower noise and smaller electric and magnetic oscillation compared with common motor, and adjustable frequency motor is for needing frequent starting, frequently
The occasion mediate, frequently braked, better than common motor, adjustable frequency motor also have good heat dissipation performance；
Bearing directive wheel 501 and traveling driving wheel 502 are all made of polyurethane alloys material and are made, and polyurethane is that PU " is handed in nanometer
Connection " the nanocomposite of resistance to high-speed polyurethane, it is possible to reduce permanent deformation, elongation increase, and tensile strength greatly improves, nanometer
Enhancement effect is fairly obvious, and damping and amortization is greatly lowered, and leads to considerably reduce bearing made of polyurethane alloys material
Endogenous heat when to wheel 501 and travelling 502 high-speed rotation of driving wheel, polyurethane material also have certain elasticity, under loads,
Certain increase is had with the contact area of walking track 11, this material increases coefficient of friction between wheel track to a certain extent, into
And the acceleration of the lane stacker in the process of walking can be improved to a certain degree, vibration when also helping its high-speed cruising and
Noise, but when the acceleration of lane stacker is 1.5m/s2When above, the adhesion between wheel track is not just reached requirement, this
By the setting of above-mentioned " side wheel synchronous mode " walking mechanism in invention, the operation demand of its high speed height acceleration is realized.
Communications localization system 10 of walking includes position detecting module 6 and data communication module 7, detection module 6 until
Setting, realize the real-time and precise positioning function in lane stacker walking process；The setting of data communication module 7, it is complete
At data communication exchange, the both-way communication between earth-fixed station and the lane stacker is established, realizes the remote of automation
Process control operation, the position detecting module 6 include the address transmitting unit 601 for being mounted on earth-fixed station, are mounted on stacking
Address detection unit 602 and antenna box 1 on body 2 and the Gray bus cable for being mounted on 1 side of tunnel combination track
604(Gray bus cable 604 includes a pair of of reference line and several pairs of address wires, and between the reference line and address wire according to
The layout of Gray code rule), the address transmitting unit 601 passes the signal to Gray bus cable by electromagnetic coupling mode
It on 604, is communicated, is not limited by environmental condition using electromagnetic coupling mode, receiving sensitivity is high, the address detected list
Member 602 is electrically connected with traveling control system 4, and the address signal that address transmitting unit 601 issues passes through Gray bus cable
604 launch, and address detection unit 602 can directly detect address signal, and complete the decoding to address signal, will decode
Signal afterwards reaches traveling control system 4 by antenna box 1.
Data communication module 7 includes antenna box 2 701, the inductive communication unit 1 being arranged in earth-fixed station, sets
It sets in the inductive communication unit 2 703 and two pairs of induction loops 704 added in Gray bus cable 604 on stacking body 2,
By the way that induction loop 704 to be installed in Gray bus cable 604, so that simpler, occupied sky is safeguarded in construction and installation
Between reduce, field device will not be changed, there is preferable compatibility, and the inductive communication unit 1 and inductive communication list
Member 2 703 realizes that both-way communication, the inductive communication unit 2 703 are also electric with traveling control system 4 by inductive communication mode
Property connection.
When carrying out data communication, inductive communication unit 1 is directly connected with the computer in earth-fixed station, induction
Communication unit 2 703 is connected by antenna box 2 701 with PLC controller 12, and the tunnel may be implemented by inductive communication mode
Both-way communication between piler and ground-based computer equally if installing a ground PLC in earth-fixed station, also may be used
It realizes the both-way communication between the lane stacker and ground PLC, ultimately forms the ground centered on lane stacker and calculate
Machine, piler, ground PLC three information exchange.
Supplementary explanation, the antenna box 1 and antenna box 2 701 are all made of hollow type frame structure, and coil twines
It is wound on frame, to can reduce its weight.
Traveling control system 4 includes host computer 401 and the electrical control cabinet 402 being arranged on stacking body 2, described electrical
The inside of control cabinet 402 is equipped with PLC controller 12, the input terminal and walking communications localization system 10 of the PLC controller 12
It connects (position signal for detecting position detecting module 6 feeds back to PLC controller 12), output end and walking in a horizontal state machine
Structure 3 connects (for controlling the speed of service of motor 503), and the host computer 401 is controlled by infrared communication mode to PLC
Device 12 sends control instruction.
Further, intelligent frequency-conversion regulation module 8 is additionally provided between PLC controller 12 and horizontal running mechanism 3, it is described
Intelligent frequency-conversion regulation module 8 includes that the working principle of frequency converter 801(frequency converter is to realize friendship by changing ac frequency mode
The control of galvanic electricity, the circuit of frequency converter are generally made of 4 parts: rectification, intermediate DC link, inversion and control, frequency converter
Transform component as power, it is possible to provide the AC power source of controllable high-performance variable voltage variable frequency) and be arranged in horizontal running mechanism 3
On velocity sensor 802, and the input terminal of the PLC controller 12 also with velocity sensor 802 be electrically connected, PLC control
The output end and frequency converter 801 of device 12 are electrically connected, and the frequency converter 801 also connect with horizontal running mechanism 3, controlled by PLC
Device 12 processed sends motion control instruction to frequency converter 801, is used for drive motor 503, and velocity sensor 802 is arranged electronic
On machine 503, for the travel speed of real-time detection traveling driving wheel 502, and speed signal is fed back into PLC controller 12, used
The order of frequency converter 801 is sent in adjusting PLC controller 12.
When stacking body 2 is advanced towards a certain target position, according to piler speed in the PLC program finished in advance
Control strategy, the difference between the physical location of the stacking body 2 fed back further according to target position and position detecting module 6
Value, the frequency for selecting frequency converter 801 different realize speed control when stacking body 2 is run.When 2 distance objective position of stacking body
When setting farther out, first make stacking body 2 close to target position with higher speed, is then smoothly transitioned into lower speed fortune
Row, thus realize that high-speed cruising, steady throw-over and the low speed of the lane stacker in the process of walking stop quasi- function, moreover,
It can effectively avoid when close to target position, due to excessive velocities, impingement phenomenon occur, ensure that the lane stacker is worked
Stability and security reliability in journey.
Further, it is additionally provided with Manual touch screen 13 on stacking body 2, by the setting of Manual touch screen 13, realized
The lane stacker can manually handle function, greatly strengthen the practicality energy, and manually control in maintenance process, more
Add safe and reliable, operation is played also more convenient, and the Manual touch screen 13 is led to by DP mouthful with the progress data of PLC controller 12
News, and several operation buttons 14 for sending operational order to PLC controller 12 are additionally provided on Manual touch screen 13.
As preferred embodiment, the both ends of tunnel combination track 1 are provided with Buffer Unit 15, pass through Buffer Unit
15 setting can play the role of bumper and absorbing shock, avoid hitting when stacking body 2 strikes tunnel combination 1 both ends of track
The damage of track 1 and stacking body 2 is combined to tunnel, the Buffer Unit 15 includes compound only row baffle 9 and photoelectric sensing
The upper end of device 16, the compound only row baffle 9 is provided with installation cavity body 17, and the photoelectric sensor 16 is arranged in installation cavity
In body 17, and the transmitting terminal of photoelectric sensor 16 is arranged towards the direction of stacking body 2, the transmitting concave end of photoelectric sensor 16
It is arranged in installation cavity body 17, extruding when can effectively avoid shock to photoelectric sensor 16, compound only row baffle 9 deviates from heap
The end face of stack machine body 2 is provided with reinforcing rib block 18, and the setting of reinforcing rib block 18 greatly strengthens compound the anti-of only row baffle 9 and squeezes
Pressure energy power, so that Buffer Unit 15 is more solid and reliable；By 16 real-time detection stacking body 2 of photoelectric sensor apart from tunnel group
The distance of track 1 is closed, and passes to PLC controller 12, it is first when stacking body 2 is closely located to tunnel combination certain one end of track 1
First, under the action of PLC control 12 and frequency converter 801, the meeting low speed operation of stacking body 2, if caused not due to breaking down
The timely reduction of speed of energy, and stacking body 2 is made to bump against tunnel combination certain end of track 1, disappear at this point, compound only row baffle 9 is just used to realize
Except the vibration generated is hit, bring injury will be hit and minimized, to extend the service life of the lane stacker, reduced
Maintenance frequency guarantees the continuity and high efficiency of its work.
Further, it is compound only row baffle 9 from close to stacking body 2 one end to far from stacking body 2 one end successively
It include rubber shock-absorbing layer 901, polyurethane buffering layer 902 and steel plate layer 903, and the inside of the rubber shock-absorbing layer 901 is arranged
There are several hollow cavities 904, is provided with damping spring 905 in the hollow cavity 904.
The present invention also provides a kind of ambulation control methods of lane stacker, include the following steps:
S100, based on different work patterns, stacking body receives control instruction, determines object run and starts to work；
S200, during the work time, is accurately positioned stacking body and speed control in real time；
After the completion of S300, work, stacking body returns to initial position, and initial position is roadway entry.
Further, in the step S100, the work pattern includes manual working, automatic job and on-line job,
Reset etc. when the installation and debugging stage or lane stacker that manual working is generally used for lane stacker are abnormal, such
Under work pattern, operator is run by operation button 14, directly manipulation stacking body 2, is manually controlled it and is completed horizontal line
Walk shift action；Under automatic job mode, operator is manually entered by Manual touch screen 13 and is instructed into Delivery, stacking
Body 2 will be under the control of PLC controller 12, and be automatically performed specified goods yard enters outbound operation, finally returns to initial position and awaits orders；
Under on-line job mode, operator is inputted by 401 operating terminal of host computer and is instructed into Delivery, host computer 401 and PLC
Controller 12 is connected by infrared communication mode, and PLC controller 12 will be reached under job instruction, then automatic by PLC controller 12
It completes to operate into outbound.
In the present invention, lane stacker can be realized to be worked normally under three kinds of different operating modes, to increase
Strong the practicality energy, progress that is easy to repair and resetting operation.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of traveling control device of lane stacker, it is characterised in that: including tunnel combination track (1) and be arranged in tunnel
The stacking body (2) on track (1) is combined, the stacking body (2) combines with tunnel and is provided with walking in a horizontal state between track (1)
Mechanism (3) is additionally provided with the walking communications localization system (10) based on the Gray bus communication technology on stacking body (2) and uses
In the traveling control system (4) of controlled level walking mechanism (3) and walking communications localization system (10), track is combined in the tunnel
(1) walking track (11) is provided on the front and rear sides face of upper surface and tunnel combination track (1)；
The horizontal running mechanism (3) includes two groups of drive wheel assemblies (5), and the drive wheel assemblies (5) include can be along tunnel
The bearing directive wheel (501) of walking track (11) movement of combination track (1) upper surface, two difference can be along tunnels in combination
On rail (1) front and rear sides face walking track (11) movement traveling driving wheel (502) and two be respectively used to driving two
The motor (503) of driving wheel (502) is travelled, the upper end of bearing directive wheel (501) passes through wheel mounting base (504) and stacking
The lower end of body (2) connects, and the motor (503) is arranged in the lower section of stacking body (2), and the transmission of motor (503)
The core wheel axis connection of axis and traveling driving wheel (502).
2. a kind of traveling control device of lane stacker according to claim 1, it is characterised in that: the walking communication
Positioning system (10) includes position detecting module (6) and data communication module (7), and the position detecting module (6) includes installation
Address transmitting unit (601), the address detection unit (602) and antenna that are mounted on stacking body (2) in earth-fixed station
Case one (603) and the Gray bus cable (604) for being mounted on tunnel combination track (1) side, the address transmitting unit (601)
It is passed the signal on Gray bus cable (604) by electromagnetic coupling mode, the address detection unit (602) and walking are controlled
System (4) processed is electrically connected.
3. a kind of traveling control device of lane stacker according to claim 2, it is characterised in that: the data communication
Module (7) includes antenna box two (701), the inductive communication unit one (702) being arranged in earth-fixed station, is arranged in piler
Inductive communication unit two (703) and two pairs of induction loops (704) added in Gray bus cable (604) on body (2), and
The inductive communication unit one (702) realizes both-way communication by inductive communication mode with inductive communication unit two (703), described
Inductive communication unit two (703) is also electrically connected with traveling control system (4).
4. a kind of traveling control device of lane stacker according to claim 1, it is characterised in that: the travelling control
System (4) includes the electrical control cabinet (402) of host computer (401) and setting on stacking body (2), the electrical control cabinet
(402) inside is equipped with PLC controller (12), the input terminal and walking communications localization system of the PLC controller (12)
(10) it connects, output end is connect with horizontal running mechanism (3), and the host computer (401) is controlled by infrared communication mode to PLC
Device (12) processed sends control instruction.
5. a kind of traveling control device of lane stacker according to claim 4, it is characterised in that: the PLC control
Intelligent frequency-conversion regulation module (8) is additionally provided between device (12) and horizontal running mechanism (3), the intelligent frequency-conversion regulates and controls module
(8) velocity sensor (802) for including frequency converter (801) and being arranged on horizontal running mechanism (3), and the PLC controller
(12) input terminal is also electrically connected with velocity sensor (802), the output end of PLC controller (12) and frequency converter (801) electricity
Property connection, the frequency converter (801) also connect with horizontal running mechanism (3).
6. a kind of traveling control device of lane stacker according to claim 4, it is characterised in that: the stacking body
(2) it is additionally provided on Manual touch screen (13), the Manual touch screen (13) carries out data with PLC controller (12) by DP mouthfuls
Communication, and several operation buttons for sending operational order to PLC controller (12) are additionally provided on Manual touch screen (13)
(14).
7. a kind of traveling control device of lane stacker according to claim 1, it is characterised in that: the tunnel combination
The both ends of track (1) are provided with Buffer Unit (15), and the Buffer Unit (15) includes compound only row baffle (9) and photoelectric transfer
The upper end of sensor (16), compound only row baffle (9) is provided with installation cavity body (17), photoelectric sensor (16) setting
In installation cavity body (17), and the transmitting terminal of photoelectric sensor (16) is arranged towards the direction of stacking body (2), compound only to go
Baffle (9) is provided with reinforcing rib block (18) away from the end face of stacking body (2).
8. a kind of traveling control device of lane stacker according to claim 7, it is characterised in that: the compound only row
Baffle (9) successively includes rubber shock-absorbing layer from one end close to stacking body (2) to one end far from stacking body (2)
(901), polyurethane buffering layer (902) and steel plate layer (903), and the rubber shock-absorbing layer (901) is internally provided with several skies
The chambers of the heart (904), the hollow cavity (904) is interior to be provided with damping spring (905).
9. a kind of ambulation control method of lane stacker, characterized by the following steps:
S100, based on different work patterns, stacking body receives control instruction, determines object run and starts to work；
S200, during the work time, is accurately positioned stacking body and speed control in real time；
After the completion of S300, work, stacking body returns to initial position.
10. a kind of ambulation control method of lane stacker according to claim 9, it is characterised in that: the step
In S100, the work pattern includes manual working, automatic job and on-line job.
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| CN201811586196.1A CN109733778A (en) | 2018-12-25 | 2018-12-25 | A kind of traveling control device and control method of lane stacker |
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| CN201811586196.1A CN109733778A (en) | 2018-12-25 | 2018-12-25 | A kind of traveling control device and control method of lane stacker |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116871775A (en) * | 2023-09-08 | 2023-10-13 | 惠生（南通）重工有限公司 | Welding robot system for cross ground rail type 3D grid frame structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116871775A (en) * | 2023-09-08 | 2023-10-13 | 惠生（南通）重工有限公司 | Welding robot system for cross ground rail type 3D grid frame structure |
| CN116871775B (en) * | 2023-09-08 | 2023-11-14 | 惠生（南通）重工有限公司 | Welding robot system for cross ground rail type 3D grid frame structure |
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Application publication date: 20190510 |