CN111332712B - Control system and method for annular shuttle - Google Patents
Control system and method for annular shuttle Download PDFInfo
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- CN111332712B CN111332712B CN202010127586.3A CN202010127586A CN111332712B CN 111332712 B CN111332712 B CN 111332712B CN 202010127586 A CN202010127586 A CN 202010127586A CN 111332712 B CN111332712 B CN 111332712B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims abstract description 27
- 238000003854 Surface Print Methods 0.000 claims 1
- 125000003003 spiro group Chemical group 0.000 claims 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A control system and method of the annular shuttle car, its system includes the annular orbit, shifts the car, peripheral hardware orbit; the circular orbit have be used for transfer the car provide the interior rail of action foundation and for transfer the car and provide the orbital outer rail that removes, outer rail with interior rail parallel arrangement, outer rail one side be provided with the action station, peripheral hardware track set up in on the action station, the interior rail on be provided with the control two-dimensional code, the car that shifts have and be used for reading the code reader of control two-dimensional code. The invention realizes one-to-one matching control of the external track and the transfer trolley by setting a mode of controlling the two-dimensional code reading.
Description
Technical Field
The invention relates to the technical field of logistics equipment control, in particular to a control system and a control method of an annular shuttle vehicle.
Background
The matching between the input and output of the peripheral track of the existing annular conveying line and the action of the transfer trolley is carried out through the time sequence control of a program, in the mode, once the controller receives interference to cause delay of internal time sequence, the program is easy to run off to cause the problem of matching error, and the prior art carries out the action control of the transfer vehicle through the arrangement of a large number of sensors, and the matching of the peripheral rails, which can prevent the occurrence of matching error caused by timing error to a certain extent, but the cost is high, and once the control program needs to be changed, the subsequent actions of the judgment of all the sensors of the whole line are reprogrammed, the whole process is complicated, while the fact that the cooperation of the peripheral rails of the endless conveyor line with the transfer trolleys is only one-to-one, therefore, a new control scheme is needed to be designed to realize one-to-one coordinated control of the peripheral rails and the transfer trolley.
Disclosure of Invention
The invention aims to provide a control system and a control method of an annular shuttle vehicle, which can realize one-to-one matching control of an external track and a transfer trolley by setting a mode of controlling two-dimensional code reading.
The technical purpose of the invention is realized by the following technical scheme: a control system of an annular shuttle car comprises an annular track, a transfer car and an external track; the circular orbit have be used for transfer the car provide the interior rail of action foundation and for transfer the car and provide the orbital outer rail that removes, outer rail with interior rail parallel arrangement, outer rail one side be provided with the action station, peripheral hardware track set up in on the action station, the interior rail on be provided with the control two-dimensional code, the car that shifts have and be used for reading the code reader of control two-dimensional code.
Preferably, the transfer cart comprises moving wheels and pulleys arranged on two sides of the bottom, the moving wheels are connected with a rotating motor, the pulleys are connected with a rotating shaft, the pulleys are respectively arranged on two sides of the moving wheels, an equipment frame is arranged in the center of the bottom of the transfer cart, rollers are arranged at the upper end and the lower end of the equipment frame, and the code reader is fixedly connected to the equipment frame in a threaded connection mode.
Preferably, the inner rail includes slide rails disposed on upper and lower sides, the roller is connected to the slide rails, a pasting portion is disposed between the slide rails on the upper and lower sides, pasting pieces are linearly arranged on the pasting portion, and the control two-dimensional code is printed on the surface of the pasting piece.
Preferably, the top of the transfer car is provided with a conveying track, and the conveying direction of the conveying track is perpendicular to the moving direction of the transfer car.
The control device of the invention preferably further comprises a controller, wherein the controller is connected with the peripheral track, and is used for setting parameters of the peripheral track and printing the control two-dimensional code through a two-dimensional code printer according to the set parameters.
A control method of an annular shuttle car comprises the following steps,
a scheduling setting step, namely, using a controller to set transfer parameters of the external track, and determining coordination parameters for controlling the movement of the transfer vehicle according to the transfer parameters;
and a step of controlling two-dimensional code output, namely encoding the matching parameters by using the controller to form the control two-dimensional code, printing the control two-dimensional code into a pasting piece by using a two-dimensional code printer, pasting the pasting piece onto an inner rail of the circular track, and carrying the pasting position corresponding to the position of the action station where the peripheral track is located, where the transfer parameters are matched with the control two-dimensional code.
And a code scanning step of the transfer vehicle, wherein the transfer vehicle moves along the outer rail of the annular track at a rated speed, scans the control two-dimensional code on the pasting piece on the inner rail by using a code reader, and performs action control according to the scanning content.
Preferably, each action station corresponds to at least three control two-dimensional codes, and the three control two-dimensional codes comprise a preparation code arranged in front of the action station, an action code arranged in a position corresponding to the action station, and a reset code arranged behind the action station.
Preferably, the information content of the control two-dimensional code includes a control instruction and a control parameter.
Preferably, the method further comprises a related track binding step, wherein the input-output relationship of at least two peripheral tracks is determined, a transfer group is formed, the scheduling setting step and the control two-dimensional code output step are sequentially performed on the peripheral tracks in the transfer group, and then when the transfer vehicle executes the transfer vehicle code scanning step, the transfer vehicle executes only the action corresponding to the control two-dimensional code in the transfer group.
In conclusion, the invention has the following beneficial effects:
the invention has the advantages of realizing one-to-one matching control of the peripheral track and the transfer trolley and low matching error rate.
Drawings
FIG. 1 is a schematic top view of an embodiment of the present invention;
FIG. 2 is a schematic front view of an embodiment of the present invention;
FIG. 3 is a system block diagram of an embodiment of the present invention;
FIG. 4 is a schematic side view of an embodiment of the present invention;
FIG. 5 is an enlarged view of the structure at A in FIG. 2;
in the figure: 1-an annular track; 2-transfer vehicle; 3-peripheral rails; 1-1-outer rail; 1-2-inner rail; 4-action station; 5-a code reader; 6-moving wheels; 7-a pulley; 8-rotating the motor; 9-a rotating shaft; 10-equipment rack; 11-a roller; 5-1-camera; 5-2-decoder; 12-PLC; 13-a slide rail; 14-a pasting part; 15-a sticker; 16-a transfer track; 17-a controller; 18-two-dimensional code printer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, fig. 2, fig. 4, and fig. 5, the present embodiment includes an annular track 1, a transfer vehicle 2, and an external track 3, where the transfer vehicle 2 is connected to the annular track 1 and moves along the annular track 1, and the external track 3 is disposed outside the annular track 1 and cooperates with the transfer vehicle 2 to transfer materials; the annular track 1 is provided with an inner track 1-2 used for providing an action basis for the transfer vehicle 2 and an outer track 1-1 used for providing a moving track for the transfer vehicle 2, the outer track 1-1 and the inner track 1-2 are arranged in parallel, an action station 4 is arranged on one side of the outer track 1-1, the peripheral track 3 is arranged on the action station 4, a control two-dimensional code is arranged on the inner track 1-2, and the transfer vehicle 2 is provided with a code reader 5 used for reading the control two-dimensional code.
As shown in fig. 2, 4 and 5, the transfer cart 2 includes moving wheels 6 and pulleys 7 disposed on two sides of the bottom, a rotating shaft 9 of the moving wheels 6 is connected with a rotating motor 8, the rotating motor 8 is a brushless servo motor, the pulleys 7 are connected with the rotating shaft 9, the pulleys 7 are not in power-driven arrangement, the pulleys 7 are respectively disposed on two sides of the moving wheels 6, the number of the pulleys 7 disposed on two sides of the moving wheels 6 is the same, an equipment frame 10 is disposed at the center of the bottom of the transfer cart 2, the equipment frame 10 is implemented by a C-shaped profile, rollers 11 are rotatably disposed on the hems at the upper and lower ends of the equipment frame 10, a code reader 5 is fixedly connected to the equipment frame 10 by a screw thread connection manner, the code reader 5 includes a camera 5-1 and a decoder 5-2, the decoder 5-2 is connected with a PLC12 of the transfer cart 2 for decoding a control two-dimensional code read by the camera 5-1 into a control command and a control parameter, the control command and the control parameter are transmitted to the PLC12, and the PLC12 controls the movement of the transfer cart 2. The inner rail 1-2 comprises slide rails 13 arranged on the upper side and the lower side, the roller 11 is connected with the slide rails 13, a pasting part 14 is arranged between the slide rails 13 on the upper side and the lower side, pasting pieces 15 are linearly arranged on the pasting part 14 and pasted on the pasting part, each pasting piece 15 is a sticker or a plastic sheet with a non-setting adhesive on one surface, and a control two-dimensional code is printed on the surface of each pasting piece 15. The transfer car 2 is provided with a transfer rail 16 on the top, and the conveying direction of the transfer rail 16 is perpendicular to the moving direction of the transfer car 2.
As shown in fig. 3, this system includes controller 17, transfer car 2, peripheral hardware track 3, controller 17 is connected with peripheral hardware track 3 through RS485 communication mode, controller 17 is used for carrying out parameter setting to peripheral hardware track 3, and print control two-dimensional code through two-dimensional code printer 18 according to the parameter that sets up, the control two-dimensional code that will print out paste to paste portion 14 on can, it reads control two-dimensional code to sweep the sign indicating number through code reader 5 to transfer car 2, PLC12 carries out the action cooperation with peripheral hardware track 3 according to control two-dimensional code.
The method of the invention is implemented by the following steps,
a scheduling setting step, in which the controller 17 is used for setting transfer parameters of the external track 3, the transfer parameters are used for adjusting the action time and the action speed of the external track 3, and the matching parameters for controlling the action of the transfer vehicle 2 are determined according to the transfer parameters;
and a control two-dimensional code output step, namely encoding the matching parameters by using a controller 17 to form a control two-dimensional code, printing the control two-dimensional code into a pasting piece 15 by using a two-dimensional code printer 18, pasting the pasting piece 15 on the inner rail 1-2 of the annular track 1, wherein the pasting position corresponds to the position of the action station 4 where the peripheral track 3 carrying the transfer parameters matched with the control two-dimensional code is located.
And a code scanning step of the transfer vehicle 2, wherein the transfer vehicle 2 moves along the outer rail 1-1 of the circular track 1 at a rated speed, a code reader 5 is used for scanning the control two-dimensional code on the pasting piece 15 on the inner rail 1-2, and action control is carried out according to the scanning content.
Each action station 4 corresponds three control two-dimensional code at least, and three control two-dimensional code is including setting up the preparation sign indicating number in action station 4 the place ahead, setting up the action sign indicating number that corresponds the position in action station 4 and setting up the reset code in action station 4 rear.
The control two-dimensional code is used as the action basis of the transfer vehicle 2, the information content of the control two-dimensional code comprises a control instruction and a control parameter, the control instruction content comprises the actions of stopping, starting and conveying the track 16, and the control parameter content comprises the stopping time, the speed of the transfer vehicle 2, the working time of the conveying track 16 and the action speed of the conveying track 16.
The second embodiment of the method embodiment of the present invention further comprises a step of binding additional associated tracks, determining the input-output relationship of at least two peripheral tracks 3, and forming a transfer group, the steps of scheduling and setting the peripheral tracks 3 in the transfer group and controlling the output of the two-dimensional code are sequentially carried out, then when the transfer vehicle 2 executes the code scanning step of the transfer vehicle 2, the transfer vehicle 2 only executes the action corresponding to the control two-dimension code in the transfer group, and the other control two-dimensional codes are read at any time, but the read content is not executed, the transfer vehicle 2 is provided with grouping switching buttons, the execution codes corresponding to each grouping switching button are different, all the control two-dimensional codes in each transfer group are unified, and the transfer vehicle 2 executes the content of the control two-dimensional codes with the execution codes corresponding to the grouping switching buttons according to the grouping switching button which is pressed currently. The execution codes are coded into the control two-dimensional codes together during coding, and all the control two-dimensional codes in the same transfer group are unified.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a control system of annular shuttle which characterized in that: comprises an annular track (1), a transfer vehicle (2) and an external track (3); the annular track (1) is provided with an inner track (1-2) used for providing an action basis for the transfer vehicle (2) and an outer track (1-1) used for providing a moving track for the transfer vehicle (2), the outer track (1-1) and the inner track (1-2) are arranged in parallel, one side of the outer track (1-1) is provided with an action station (4), the peripheral track (3) is arranged on the action station (4), the inner track (1-2) is provided with a control two-dimensional code, and the transfer vehicle (2) is provided with a code reader (5) used for reading the control two-dimensional code; the control system is characterized by further comprising a controller (17), wherein the controller (17) is connected with the peripheral track (3), the controller (17) is used for setting parameters of the peripheral track (3) and printing the control two-dimensional code through a two-dimensional code printer (18) according to the set parameters;
comprises the following steps of (a) carrying out,
a scheduling setting step, namely, using a controller (17) to set transfer parameters of the external track (3), and determining matching parameters for controlling the movement of the transfer vehicle (2) according to the transfer parameters;
a control two-dimensional code output step, namely encoding the matching parameters by using the controller (17) to form a control two-dimensional code, printing the control two-dimensional code into a pasting piece (15) by using a two-dimensional code printer (18), pasting the pasting piece (15) on an inner rail (1-2) of an annular rail (1), wherein the pasting position corresponds to the position of an action station (4) where the peripheral rail (3) carrying the transfer parameters matched with the control two-dimensional code is located;
and a code scanning step of the transfer vehicle (2), wherein the transfer vehicle (2) moves along an outer rail (1-1) of the annular track (1) at a rated speed, a code reader (5) is used for scanning the control two-dimensional code on the pasting piece (15) on the inner rail (1-2), and action control is carried out according to the scanning content.
2. The control system of the endless shuttle as claimed in claim 1, wherein: transfer car (2) including setting up in removal wheel (6) and pulley (7) of the both sides of bottom, removal wheel (6) be connected with rotation motor (8), pulley (7) be connected with axis of rotation (9), pulley (7) set up respectively in the both sides of removing wheel (6), the bottom central point of transferring car (2) put and be provided with equipment rack (10), the upper and lower both ends of equipment rack (10) be provided with gyro wheel (11), equipment rack (10) on through spiro union mode fixedly connected with code reader (5).
3. The control system of the endless shuttle as claimed in claim 2, wherein: interior rail (1-2) including setting up in slide rail (13) of upper and lower both sides, gyro wheel (11) with slide rail (13) are connected, are provided with between slide rail (13) of upper and lower both sides and paste portion (14), paste portion (14) on the linear arrangement and paste piece (15), the surface printing of pasting piece (15) have the control two-dimensional code.
4. The control system of the endless shuttle as claimed in claim 1, wherein: the top of the transfer trolley (2) is provided with a conveying track (16), and the conveying direction of the conveying track (16) is perpendicular to the moving direction of the transfer trolley (2).
5. The control system of the endless shuttle as claimed in claim 1, wherein: each action station (4) correspond threely at least control two-dimensional code, it is three control two-dimensional code including set up in the preparation sign indicating number in action station (4) the place ahead, set up in action station (4) correspond the action sign indicating number of position and set up in the reset code of action station (4) rear.
6. The control system of the endless shuttle as claimed in claim 1, wherein: the information content of the control two-dimensional code comprises a control instruction and a control parameter.
7. The control system of the endless shuttle as claimed in claim 1, wherein: the method comprises a control two-dimensional code scanning step, a transfer group and a related track binding step, wherein the control two-dimensional code scanning step comprises the steps of determining the input-output relation of at least two peripheral tracks (3), forming the transfer group, sequentially carrying out the scheduling setting step and the control two-dimensional code output step on the peripheral tracks (3) in the transfer group, and then when the transfer vehicle (2) carries out the code scanning step of the transfer vehicle (2), the transfer vehicle (2) only carries out actions corresponding to the control two-dimensional codes in the transfer group.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010127586.3A CN111332712B (en) | 2020-02-28 | 2020-02-28 | Control system and method for annular shuttle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010127586.3A CN111332712B (en) | 2020-02-28 | 2020-02-28 | Control system and method for annular shuttle |
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| CN111332712A CN111332712A (en) | 2020-06-26 |
| CN111332712B true CN111332712B (en) | 2021-11-19 |
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| CN114572636B (en) * | 2022-05-07 | 2023-03-24 | 泸州智通自动化设备有限公司 | Fermented grain conveying device for discharging and entering cellar |
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| WO2003042077A1 (en) * | 2001-11-13 | 2003-05-22 | Joakim Abrahamsson | A pallet type transport system |
| CN103738686A (en) * | 2013-12-05 | 2014-04-23 | 国家电网公司 | Flexible conveying system based on RGV and AGV |
| US8733661B2 (en) * | 2003-06-30 | 2014-05-27 | Comau, Inc. | Precised transport positioning apparatus using a closed loop controlled, non-direct or friction drive system with absolute positioning encoder |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN206691878U (en) * | 2017-04-07 | 2017-12-01 | 湖州锐格物流科技有限公司 | A kind of annular shuttle |
| CN110116889A (en) * | 2019-05-31 | 2019-08-13 | 中铁第四勘察设计院集团有限公司 | A kind of high-speed rail logistics rail mounted automatic sensing platform automatic assembling and disassembling system |
-
2020
- 2020-02-28 CN CN202010127586.3A patent/CN111332712B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003042077A1 (en) * | 2001-11-13 | 2003-05-22 | Joakim Abrahamsson | A pallet type transport system |
| US8733661B2 (en) * | 2003-06-30 | 2014-05-27 | Comau, Inc. | Precised transport positioning apparatus using a closed loop controlled, non-direct or friction drive system with absolute positioning encoder |
| CN103738686A (en) * | 2013-12-05 | 2014-04-23 | 国家电网公司 | Flexible conveying system based on RGV and AGV |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN206691878U (en) * | 2017-04-07 | 2017-12-01 | 湖州锐格物流科技有限公司 | A kind of annular shuttle |
| CN110116889A (en) * | 2019-05-31 | 2019-08-13 | 中铁第四勘察设计院集团有限公司 | A kind of high-speed rail logistics rail mounted automatic sensing platform automatic assembling and disassembling system |
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Address after: 313000 No.518 Huanzhu Road, South Taihu hi tech Industrial Park, Huzhou City, Zhejiang Province Patentee after: Zhejiang Ruige Logistics Technology Co.,Ltd. Address before: 313000 No.518 Huanzhu Road, South Taihu hi tech Industrial Park, Huzhou City, Zhejiang Province Patentee before: HUZHOU RIGOR TECHNOLOGY CO.,LTD. |