CN112390202A - Control unit and control method for fork assembly - Google Patents
Control unit and control method for fork assembly Download PDFInfo
- Publication number
- CN112390202A CN112390202A CN202011250771.8A CN202011250771A CN112390202A CN 112390202 A CN112390202 A CN 112390202A CN 202011250771 A CN202011250771 A CN 202011250771A CN 112390202 A CN112390202 A CN 112390202A
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- Prior art keywords
- fork
- goods
- fork assembly
- unit
- assembly control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a control unit and a control method for a fork assembly. The hardware comprises a photoelectric sensor input module, a finger-dialing driving unit, a state indicating unit, a fork driving unit, a fork-changing driving unit and a communication unit. The control method comprises power-on self-test, parameter setting, control function, state feedback and fault alarm. The control logic of the main control PLC or the embedded main control board to the pallet fork part is simplified, the working efficiency is improved, and the modularization and the standardization of product design are favorably realized.
Description
Technical Field
The invention relates to the technical field of warehousing automation, in particular to a fork assembly control unit and a control method.
Background
In the box type storage logistics equipment applied to the fork, the action logic of the fork is relatively complex, and the fork is generally provided with a finger shifting structure and a fork changing structure, so that the control logic is very complex. The design of the fork assembly control unit is mainly to simplify the control logic of the main control PLC or the embedded main control board to the fork part, improve the working efficiency and facilitate the realization of the modularization and the standardization of the product design.
The fork assembly control unit has the functions of data acquisition, data recording, data analysis and the like. The data such as action times, travel records, real-time current, current change and the like are used for providing reference for product delivery inspection and equipment fault early warning, and providing data support for process design.
Disclosure of Invention
The invention aims to solve the problem of fork control in warehouse logistics equipment. Therefore, the invention provides a control method of the fork assembly, which simplifies the control logic of the main control unit and is beneficial to realizing the modularization and standardization of product design.
The invention further provides a control unit of the fork assembly.
In a first aspect, the present invention provides a method for controlling a fork assembly, comprising:
firstly, entering a self-checking reset flow.
And if the self-checking flow does not pass, the main function program is not entered. At this time, it is necessary to check whether there is a problem in the wiring and whether the communication is normal.
And if the self-checking flow passes, entering a main function program.
After entering the main function program, the main control unit sends a state query instruction to the fork assembly control unit at a time interval of 400ms, and the fork assembly control unit returns a fork state, a current position of the fork, a fork changing state, a current position of the fork, a finger shifting state, a sensor state, an operation state and a fault code.
Further, the state query instruction refers to a command message sent by the main control unit to the fork assembly control unit, and supports a Modbus communication protocol.
Further, the fork state mainly comprises that the fork is in operation and the fork is in rest.
Furthermore, the current position of the fork mainly comprises left extension of the fork, right extension of the fork and return of the fork.
Further, the variable fork state mainly comprises the variable fork operation and the variable fork static state.
Furthermore, the current position of the variable fork mainly comprises left extension of the variable fork, right extension of the variable fork and return of the variable fork.
Further, the finger-dialing state mainly comprises that the finger-dialing is opened and the finger-dialing is closed.
Further, the sensor state includes the fork normal position, and the fork is overlength on the left side, and the fork is overlength on the right side, and the fork has or not goods, surveys the goods about the fork.
Furthermore, the operation state mainly comprises that the goods taking of the fork is completed, and the goods releasing of the fork is completed in the goods releasing of the fork.
Further, the fault code mainly comprises that the pallet fork takes out no goods, the pallet fork puts in goods, the finger shifting action is overtime, and the finger shifting action is overtime.
In another aspect, the present invention provides a fork assembly control unit comprising:
the device comprises a photoelectric sensor input module, a finger-dialing driving unit, a state indicating unit, a fork driving unit, a fork-changing driving unit and a communication unit.
Further, the photoelectric sensor input module supports 9-channel PNP or NPN digital quantity photoelectric sensor data acquisition.
Furthermore, the finger driving unit is a control module for controlling the action of the finger motor.
Further, the state indicating unit is a display system used for displaying the working state and alarm information of the fork assembly control unit.
Further, the fork driving unit is a control module for controlling the action of the fork motor.
Furthermore, the variable fork driving unit is a control module for controlling the variable fork structure to act.
Further, the communication unit refers to an interface module in data communication with the main control unit.
The fork assembly control unit and the control method provided by the invention have Modbus RTU and Can open communication protocols, Can enable a user to conveniently access a PLC (programmable logic controller) or an embedded control system, have an IO (input/output) digital quantity input end, a manual control button input end and various state indicating lamps, Can flexibly configure a control mode of a fork, and Can more simply and reliably realize fork control through various signal combination judgment.
Drawings
FIG. 1 is a diagram of a fork assembly control panel hardware layout for a fork assembly control unit and method in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of a fork assembly control unit and control method according to an embodiment of the present invention;
Detailed Description
The conception and the technical effects produced will be clearly and completely described in conjunction with the specific embodiments to fully explain the objects, the features and the effects of the present invention. It should be apparent that the embodiments described below are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive efforts based on the embodiments of the present invention are within the protection scope of the present invention.
Referring to fig. 1, a hardware layout diagram of a fork assembly control board of a fork assembly control unit and a control method of the fork assembly control unit according to an embodiment of the present invention is shown. The specific hardware comprises:
the device comprises a photoelectric sensor input module, a finger-dialing driving unit, a state indicating unit, a fork driving unit, a fork-changing driving unit and a communication unit.
The photoelectric Sensor modules are positioned at the right sides of the lower end and the upper end of the control board of the fork assembly and are marked with label numbers of Sensor 1-Sensor 12.
The shifting finger driving unit is positioned on the left side of the control plate of the fork assembly.
The state indicating unit is positioned at the middle lower part and the right side of the control plate of the fork assembly.
The fork drive unit is located the upper end left side of fork assembly control panel, supports CANopen communication protocol.
Become fork drive unit and be located the upper end left side of fork assembly control panel, support CANopen communication protocol.
The communication unit is located the upper end left side of fork assembly control panel, realizes being connected with PLC or embedded main control board, supports Modbus RTU communication protocol.
Referring to fig. 2, a control unit and a control method of a fork assembly according to an embodiment of the present invention are shown in block diagram. The concrete content comprises:
the PLC or the embedded main control unit is communicated with the fork assembly control panel through a 485 communication interface, the fork assembly control panel controls the variable fork motor and the fork motor through the CAN communication interface, the fork assembly control panel controls the state indicating lamp through digital quantity output, the fork assembly control panel controls the shifting finger motor through the 485 communication interface, and the fork assembly control panel acquires an input signal of the photoelectric sensor through digital quantity input.
The operation steps of the control method of the fork assembly are power-on self-detection, parameter setting, control function, state feedback and fault alarm. The specific implementation steps are as follows:
step 1: after the control panel of the fork assembly is electrified, whether the power indicator lamp is lightened or not is observed, if the power indicator lamp is not lightened, the power indicator lamp is lightened to indicate that the power supply is normal.
Step 2: after the power is normally powered on, the self-checking reset process is firstly entered. And if the self-checking flow does not pass, the main function program is not entered. At this time, it is necessary to check whether there is a problem in the wiring and whether each communication is normal.
And step 3: and after the self-checking is passed, entering a circular main program flow, and firstly setting parameters. The method comprises the steps of parameter setting of a pallet fork extending position encoder, speed parameter setting, acceleration parameter setting and bin size parameter setting.
And 4, step 4: and after the parameter setting is finished, the control function is entered and is divided into a manual function and an automatic function. The manual function mainly refers to manual control of fork extending, fork retracting, fork changing and finger shifting opening and closing. The automatic function is mainly to realize getting goods, putting goods, moving goods automatically, realizes becoming the fork automatically according to the workbin size, and the automatic judgement fork is interior to have goods, gets, puts goods position and has goods.
And 5: the fork assembly control board returns whether the action result is successful or failed according to the received command.
Step 6: and returning the alarm code when the abnormity occurs according to the predefined alarm code.
After entering the main circulation function program, the PLC or the embedded equipment sends a state query instruction to the fork assembly control board at a time interval of 400ms, the fork assembly control board returns a finger shifting state, a fork state, a current position of the fork, a fork changing state, a current position of the fork, a sensor state and an operation state, and if the fork assembly control board gives an alarm, a corresponding fault code is returned.
And the fork assembly control board receives the PLC or embedded equipment instruction and takes and puts the goods from the material box on the goods position. In the goods taking process, the fork firstly runs to the goods taking position, gradually accelerates, the shifting finger touches the material box, then runs to the goods taking and returning position, and then runs to the original position of the fork. In the goods placing process, the control panel of the fork assembly has the goods reversing function. When goods are put, if the bin is in the fork and the position of the bin in the fork is not on the same side as the goods putting position, the goods are poured in the fork, after the goods are poured, the shifting fingers are opened, the fork moves to one side of the goods putting position, the shifting fingers are retracted, the fork returns to the middle position, and the original position is returned. And finally, the work bin is put to a specified goods position.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (7)
1. A fork assembly control unit, comprising:
the device comprises a photoelectric sensor input module, a finger-dialing driving unit, a state indicating unit, a fork driving unit, a fork-changing driving unit and a communication unit;
the photoelectric sensor input module is used for realizing the input of a digital quantity signal of the photoelectric sensor;
the shifting finger driving unit is used for controlling the swinging of the shifting fingers on the fork assembly;
the fork driving unit is used for controlling the extension and retraction of a fork on the fork assembly;
the fork changing driving unit is used for controlling the inward contraction or outward expansion of the fork so as to change the size of the space between the forks.
2. The fork assembly control unit of claim 1, wherein the photosensor input module supports 9 inputs of PNP or NPN photosensor digital signals and 6 inputs of push button switches.
3. The fork assembly control unit of claim 1, wherein the finger drive unit, the fork drive unit, and the fork change drive unit support brush motors, brushless motors, stepper motors, and servo motors.
4. The fork assembly control unit of claim 1, wherein the communication unit supports two 485 communication interfaces and one CANopen communication interface.
5. A fork assembly control method of the fork assembly control unit of any one of claims 1-4, comprising:
step 1: after a control panel of the fork assembly is electrified, observing whether a power indicator lamp is lightened, if the power indicator lamp is not lightened, indicating that the power supply is not switched on, lightening the power indicator lamp to indicate that the power supply is normal;
step 2: after the power is normally powered on, firstly, entering a self-checking reset process; if the self-checking flow does not pass, the main function program is not entered; at the moment, whether wiring is in a problem or not and whether each path of communication is normal or not need to be checked;
and step 3: after the self-checking is passed, entering a circulation main program flow, and firstly, setting parameters; the method comprises the steps of setting parameters of a pallet fork extending position encoder, setting speed parameters, setting acceleration parameters and setting bin size parameters;
and 4, step 4: after the parameter setting is finished, the control function is entered and divided into a manual function and an automatic function; the manual function mainly refers to manually controlling the fork to extend and retract the fork, change the fork and open and close the shifting fingers; the automatic function is mainly to realize automatic goods taking, placing and moving, realize automatic fork changing according to the size of the material box, automatically judge whether goods exist in the fork, and whether goods exist in the goods taking and placing positions;
and 5: the fork assembly control board returns whether the action result is successful or failed according to the received command;
step 6: and returning the alarm code when the abnormity occurs according to the predefined alarm code.
6. The fork assembly control method of claim 5, wherein the PLC or the embedded device sends a status query command to the fork assembly control board at 400ms intervals, and the fork assembly control board returns a finger state, a fork current position, a fork change state, a fork change current position, a sensor state, an operation state, and returns a corresponding fault code if the fork assembly control board alarms.
7. The method of claim 6, wherein the fork assembly control board receives PLC or embedded device commands to pick and place material from bins on the cargo space; in the goods taking process, the fork firstly moves to a goods taking position, the speed is gradually increased, the shifting finger touches the material box, then the fork moves to a goods taking return position, and then the fork moves to the original position of the fork; in the goods placing process, the control panel of the fork assembly has the goods reversing function; when goods are put, if the bin is in the fork and the position of the bin in the fork and the goods putting position are not on the same side, the goods are poured in the fork, after the goods are poured, the shifting fingers are opened, the fork moves to one side of the goods putting position, the shifting fingers are retracted, the fork returns to the original position, and the goods are finally put in the bin to the designated goods putting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011250771.8A CN112390202A (en) | 2020-11-11 | 2020-11-11 | Control unit and control method for fork assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011250771.8A CN112390202A (en) | 2020-11-11 | 2020-11-11 | Control unit and control method for fork assembly |
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| CN112390202A true CN112390202A (en) | 2021-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011250771.8A Pending CN112390202A (en) | 2020-11-11 | 2020-11-11 | Control unit and control method for fork assembly |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB918474A (en) * | 1960-10-11 | 1963-02-13 | Yale & Towne Mfg Co | Side-lift trucks |
| CN105399008A (en) * | 2015-12-23 | 2016-03-16 | 武汉中航传感技术有限责任公司 | Forklift safety control system and control method thereof |
| CN205274929U (en) * | 2016-01-08 | 2016-06-01 | 淄博矿业集团有限责任公司岱庄煤矿 | Mine hoisting safety abnormal condition monitors and cooperates with early warning system |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| CN209835548U (en) * | 2019-05-13 | 2019-12-24 | 浙江加力仓储设备股份有限公司 | Hydraulic valve group control system and intelligent piling car with same |
-
2020
- 2020-11-11 CN CN202011250771.8A patent/CN112390202A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB918474A (en) * | 1960-10-11 | 1963-02-13 | Yale & Towne Mfg Co | Side-lift trucks |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| CN105399008A (en) * | 2015-12-23 | 2016-03-16 | 武汉中航传感技术有限责任公司 | Forklift safety control system and control method thereof |
| CN205274929U (en) * | 2016-01-08 | 2016-06-01 | 淄博矿业集团有限责任公司岱庄煤矿 | Mine hoisting safety abnormal condition monitors and cooperates with early warning system |
| CN209835548U (en) * | 2019-05-13 | 2019-12-24 | 浙江加力仓储设备股份有限公司 | Hydraulic valve group control system and intelligent piling car with same |
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Application publication date: 20210223 |