CN114919957B - Control method of stacker crane and stacker crane - Google Patents
Control method of stacker crane and stacker crane Download PDFInfo
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- CN114919957B CN114919957B CN202210598578.6A CN202210598578A CN114919957B CN 114919957 B CN114919957 B CN 114919957B CN 202210598578 A CN202210598578 A CN 202210598578A CN 114919957 B CN114919957 B CN 114919957B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
Landscapes
- Control And Safety Of Cranes (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention provides a control method of a stacker crane, which comprises the following steps: acquiring a material taking height value and a stacking height value through a controller, and calculating a stacking height predicted value; calculating a height reference value by a controller according to the material taking height value and the stacking height predicted value; planning an optimized movement mode of overlapping three actions of lifting, translating and descending of the grabbing device according to the material taking height value, the stacking height predicted value and the height reference value by the controller; the controller controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to carry out stacking; the driving assembly is controlled by the controller to drive the grabbing device to return to the material taking area according to the movement path of stacking; repeating the above steps until stopping or the material height reaches the maximum value. The control method of the stacker crane can shorten the time required by each stacking action of the stacker crane and improve the efficiency. The invention also provides a stacker crane utilizing the control method.
Description
Technical Field
The invention relates to a control method, in particular to a control method of a stacker crane. The invention also relates to a stacker crane utilizing the control method.
Background
When the existing stacker crane stacks materials, the materials in the material taking area are generally grabbed firstly, lifted to the maximum height along the vertical direction, then horizontally moved to the stacking area, and finally put down the materials along the vertical direction. In the whole process, the material moves along the maximum travel and moves along one of the vertical direction and the horizontal direction at each time point, and as the material has fixed moving speed in the vertical direction and the horizontal direction, each stacking action time is long, and the stacker cannot operate with the highest efficiency.
Disclosure of Invention
The invention aims to provide a control method of a stacker crane, which can shorten the time required by each stacking action of the stacker crane and improve the overall efficiency.
Another object of the present invention is to provide a palletizer that can shorten the time required for each palletizing action, improving the overall efficiency.
The invention provides a control method of a stacker crane, which comprises a controller, a grabbing device and a driving component, wherein the controller can control the driving component to drive the grabbing device to do lifting motion and horizontal motion, and materials in a material taking area are conveyed to a stacking area for stacking, and the control method comprises the following steps of:
acquiring a material taking height value representing the height of the material in the material taking area and a stacking height value representing the height of the material in the stacking area through a controller, and adding the stacking height value and the height of the material to obtain a stacking height predicted value;
calculating a height reference value representing the minimum safe lifting height of the grabbing device according to the material taking height value and the stacking height predicted value by the controller;
planning an optimized movement mode of overlapping three actions of lifting, translating and descending of the grabbing device according to the material taking height value, the stacking height predicted value and the height reference value by the controller;
the controller controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to carry out stacking;
the driving assembly is controlled by the controller to drive the grabbing device to return to the material taking area according to the movement path of stacking; and
repeating the steps until the height of the material in the stopping or stacking area reaches the maximum value.
According to the control method of the stacker crane, before each stacking action is performed, the material taking height value and the stacking height predicted value are obtained through the controller, the height reference value representing the minimum safe lifting height of the grabbing device is judged and calculated, and the optimal movement mode of the grabbing device is further planned, so that three actions of lifting, translating and descending of the grabbing device are performed in an overlapping mode as much as possible. The controller controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to stack and reset in a shorter time, and the overall efficiency is improved.
In another exemplary embodiment of the control method of the palletizer, the controller selects the greater of the material taking height value and the palletizing height predicted value and adds the greater to a safety compensation value to obtain the height reference value.
In another exemplary embodiment of the control method of a palletizer, the driving assembly comprises two servomotors for driving the gripping devices to make a lifting movement and a horizontal movement, respectively, characterized by the steps of: the method comprises the steps of obtaining a material taking height value representing the height of a material in a material taking area and a stacking height value representing the height of the material in a stacking area through a controller, and obtaining a stacking height predicted value by adding the stacking height value and the height of the material, and specifically comprises the following steps:
the controller controls the servo motor to stop the descending movement of the grabbing device when receiving the trigger signal;
before starting the stacker crane, arranging a grabbing device on the material taking area;
after the stacker crane is started, the two servo motors are controlled by the controller, and the grabbing device is driven to finish one-time stacking with the maximum stroke; and
and receiving a feedback signal of the servo motor through the controller to obtain a material taking height value and a stacking height value, and adding the stacking height value and the height of the material to obtain a stacking height predicted value.
In a further exemplary embodiment of the control method of the palletizer, planning the optimized movement pattern comprises calculating a horizontal movement start time value and a lowering movement start time value of the gripping device.
In another exemplary embodiment of the control method of the palletizer, the steps of: the controller is used for planning an optimized motion mode of the grabbing device according to the material taking height value, the stacking height predicted value and the height reference value, and the method specifically comprises the following steps of:
judging the sizes of the material taking height value and the stacking height predicted value;
if the material taking height value is larger than or equal to the stacking height predicted value, selecting the moment when the grabbing device starts lifting movement as the horizontal movement starting time value of the grabbing device;
calculating and judging whether the sum of the time required by the grabbing device to lift from the material taking height value to the height reference value and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value is larger than the time required by the horizontal movement of the grabbing device;
if yes, the moment when the grabbing device is lifted to the height reference value is selected as the descending motion initial time value of the grabbing device;
if not, taking the difference value between the time required by the horizontal movement of the grabbing device and the time required by the falling of the height reference value to the stacking height predicted value as the falling movement starting time value of the grabbing device;
if the material taking height value is smaller than the stacking height predicted value, the moment from the material taking height value to the stacking height predicted value of the grabbing device is selected as the horizontal movement starting time value of the grabbing device;
calculating and judging whether the sum of the time required by the grabbing device to lift from the stacking height predicted value to the height reference value and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value is larger than the time required by the horizontal movement of the grabbing device;
if yes, the moment when the grabbing device is lifted to the height reference value is selected as the descending motion initial time value of the grabbing device; and
if not, taking the difference between the sum of the time required by the horizontal movement of the grabbing device and the time required by lifting the height from the material taking height value to the stacking height predicted value and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value as the descending movement starting time value of the grabbing device.
The invention also provides a stacker crane which comprises a grabbing device, a driving assembly and a controller. The grabbing device can grab materials and do lifting motion and horizontal motion so as to convey the materials in the material taking area to the stacking area for stacking. The driving component can drive the grabbing device to do lifting motion and horizontal motion. The controller is in signal connection with the driving component, the controller is configured to obtain a material taking height value representing the height of materials on the material taking area and a stacking height value representing the height of materials on the stacking area, a stacking height predicted value is obtained by adding the stacking height value and the height of the materials, a height reference value representing the minimum safe lifting height of the grabbing device is obtained by calculation, an optimized movement mode which enables three movements of lifting, translating and descending of the grabbing device to overlap is planned according to the material taking height value, the stacking height predicted value and the height reference value, and the driving component is controlled to drive the grabbing device to stack and return to the material taking area according to the movement path of stacking according to the height reference value and the optimized movement mode.
According to the stacker crane provided by the invention, before each stacking action is performed, the controller is used for acquiring the material taking height value and the stacking height predicted value, judging and calculating the height reference value representing the minimum safe lifting height of the grabbing device, and further planning the optimized movement mode of the grabbing device, so that the lifting, translating and descending actions of the grabbing device are performed as overlapping as possible. The controller controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to stack and reset in a shorter time, and the overall efficiency is improved.
In another exemplary embodiment of the palletizer, the controller is configured to select the greater of the pick-up height value and the palletizing height prediction value to be added to a safety compensation value to obtain the height reference value.
In another exemplary embodiment of the palletizer, the driving assembly comprises two servomotors for driving the gripping devices to make a lifting movement and a horizontal movement, respectively. The stacker crane further comprises a trigger device which is arranged on the grabbing device and is in signal connection with the controller, the trigger device can touch materials and generate a trigger signal when the grabbing device makes descending movement, the controller controls the servo motor to stop descending movement of the grabbing device when receiving the trigger signal, the controller is configured to control the two servo motors after the stacker crane is started, the grabbing device is driven to finish one-time stacking with the maximum stroke, the feedback signal of the servo motor is received to obtain a material taking height value and a stacking height value, and the stacking height predicted value is obtained by adding the stacking height value and the height of the materials.
In another exemplary embodiment of the palletizer, the controller is configured to plan an optimized movement pattern of the gripping device by calculating a horizontal movement start time value and a lowering movement start time value of the gripping device.
In another exemplary embodiment of the palletizer, the controller is configured to determine the magnitude of the take height value and the palletizing height prediction value. If the material taking height value is larger than or equal to the stacking height predicted value, the moment when the grabbing device starts lifting movement is selected as the horizontal movement starting time value of the grabbing device, the sum of the time required by the grabbing device to lift from the material taking height value to the height reference value and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value is calculated and judged to be larger than the horizontal movement required time of the grabbing device, if yes, the moment when the grabbing device lifts to the height reference value is selected as the descending movement starting time value of the grabbing device, and if not, the difference between the horizontal movement required time of the grabbing device and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value is used as the descending movement starting time value of the grabbing device. If the material taking height value is smaller than the stacking height predicted value, the moment of lifting the material taking height value to the stacking height predicted value of the gripping device is selected as the horizontal movement starting time value of the gripping device, the sum of the time required for lifting the gripping device from the stacking height predicted value to the height reference value and the time required for descending the gripping device from the height reference value to the stacking height predicted value is calculated and judged to be larger than the horizontal movement required time of the gripping device, if yes, the moment of lifting the gripping device to the height reference value is selected as the descending movement starting time value of the gripping device, and if not, the sum of the time required for lifting the gripping device from the material taking height value to the stacking height predicted value and the difference of the time required for descending the gripping device from the height reference value to the stacking height predicted value are used as the descending movement starting time value of the gripping device.
Drawings
The following drawings are only illustrative of the invention and do not limit the scope of the invention.
FIG. 1 is a schematic flow chart of an exemplary embodiment of a control method of a palletizer.
FIG. 2 is a schematic diagram of one embodiment of a control method of a palletizer.
Fig. 3 is a flow chart of part of the steps of the control method of the palletizer.
Fig. 4 is a flow chart of part of the steps of the control method of the palletizer.
Fig. 5 is a schematic diagram of a motion trajectory of a material in one case.
Fig. 6 is a schematic diagram of a motion trajectory of a material under another condition.
Description of the reference numerals
10 grabbing device
20 servo motor
30 controller
40 trigger device
50 materials
S1 material taking area
S2 stacking area
P1 horizontal movement start position
P2 descent motion start position
h1 safety compensation value
h2 taking height value
h3 stacking height value
h4 pile up neatly height predictive value
Detailed Description
For a clearer understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.
In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution.
FIG. 1 is a schematic flow chart of an exemplary embodiment of a control method of a palletizer. FIG. 2 is a schematic diagram of one embodiment of a control method of a palletizer. Referring to fig. 1 and 2, the palletizer comprises a controller 30, a gripping device 10, a drive assembly and a triggering device 40. The controller 30 can control the driving assembly to drive the grabbing device 10 to do lifting motion and horizontal motion, and the material 50 in the material taking area S1 is conveyed to the stacking area S2 for stacking. In the exemplary embodiment of fig. 2, the controller 30 is a PLC programmable logic controller, the driving assembly is two servomotors 20, and the two servomotors 20 are respectively used for driving the gripping device 10 to perform lifting motion and horizontal motion. The trigger device 40 is disposed on the gripping device 10 and is in signal connection with the controller 30, and when the gripping device 10 performs a descending motion, the trigger device 40 can touch an object and generate a trigger signal, and when the controller 30 receives the trigger signal, the controller 30 controls the servo motor 20 to stop the descending motion of the gripping device 10. The material taking area S1 is a conveying roller table capable of automatically feeding materials. In other exemplary embodiments, the controller 30 and the drive assembly may be devices such as a robotic arm and a drive control unit, among others.
The control method of the stacker crane comprises the following steps:
step S10: a material taking height value h2 representing the height of the material 50 in the material taking area S1 and a stacking height value h3 representing the height of the material 50 in the stacking area S2 are obtained by the controller 30, and a stacking height predicted value h4 is obtained by adding the stacking height value h3 to the height of the material 50. Specifically, referring to fig. 2 and 3, step S10 specifically includes the following steps:
step S11: the gripping device 10 is positioned on the material 50 in the reclaiming area S1 prior to start-up of the palletizer. When the stacker crane is started, since there are no initial material taking height value h2 and no stacking height value h3 in advance, it is necessary to manually adjust the initial position of the gripping device 10.
Step S12: after the stacker crane is started, the controller 30 controls the two servo motors 20 to drive the grabbing device 10 to finish one stacking with the maximum stroke. The maximum stroke of the gripping device 10 is determined by the structure of the stacker crane, specifically, the controller 30 controls one servo motor 20 to drive the gripping device 10 to lift to the maximum height, after stopping, the controller 30 controls the other servo motor 20 to drive the gripping device 10 to horizontally move to the position above the stacking area S2, after stopping, the controller 30 controls the initial servo motor 20 to drive the gripping device 10 to descend until the triggering device 40 generates the triggering signal, and then stopping.
Step S13: the controller 30 receives feedback signals of the servo motor 20 to obtain a material taking height value h2 and a stacking height value h3, and the stacking height value h3 is added with the height of the material 50 to obtain a stacking height predicted value h4. In the process that the controller 30 controls the two servo motors 20 to drive the gripping devices 10 to finish one-time stacking with the maximum stroke, the controller 30 can record feedback signals of the servo motors 20, and calculate a current material taking height value h2 and a stacking height value h3 according to the feedback signals, and the next stacking action can increase the height of one material 50 on the current stacking height value h3, so that a stacking height predicted value h4 obtained by adding the stacking height value h3 and the height of the material 50 is the stacking height value when the next stacking is finished.
Step S20: a height reference value representing the minimum safety elevation of the gripping device 10 is calculated by the controller 30 from the take-out height value h2 and the palletizing height prediction value h4. Since the minimum safety lifting height is required to be simultaneously larger than the material taking height value h2 and the stacking height predicted value h4, collision can not occur during stacking, and a safety compensation value h1 is required to be added in consideration of errors in the action process. Therefore, in a specific embodiment, the controller 30 selects the larger value of the reclaiming height value h2 and the stacking height predicted value h4 to be added to one safety compensation value h1, so as to obtain the height reference value.
Step S30: the controller 30 plans an optimized movement mode for enabling the three actions of lifting, translating and lowering of the grabbing device 10 to overlap according to the material taking height value h2, the stacking height predicted value h4 and the height reference value. Specifically, planning the optimal movement pattern includes calculating a horizontal movement start time value and a falling movement start time value of the grasping device 10.
Referring to fig. 2 and 4, step S30 specifically includes the following steps:
step S31: and judging the sizes of the material taking height value h2 and the stacking height predicted value h4.
Step S32: if the material taking height value h2 is greater than or equal to the stacking height predicted value h4, the time when the grabbing device 10 starts lifting movement is selected as the starting time value of the horizontal movement of the grabbing device 10. Fig. 5 is a schematic diagram of a motion track of a material in a case where a material taking height value is equal to or greater than a stacking height predicted value, and referring to fig. 5, since a material taking height value h2 is equal to or greater than a stacking height predicted value h4, and the gripping device 10 starts to perform a lifting motion first, the gripping device 10 does not collide with the horizontal motion at the moment when the gripping device 10 starts to perform the lifting motion, corresponding to a horizontal motion starting position P1 in fig. 5.
Step S33: and calculating and judging whether the sum of the time required for lifting the grabbing device 10 from the material taking height value h2 to the height reference value and the time required for descending from the height reference value to the stacking height predicted value h4 is larger than the time required for horizontal movement of the grabbing device 10. Since the stopping of the lowering movement of the gripping device 10 is determined by whether the triggering device 40 touches the object and generates the triggering signal, if the lowering movement starting position P2 is too early after the gripping device 10 starts the horizontal movement, it may happen that the gripping device 10 has fallen below the stacking height prediction value h4 before moving to the stacking area S2, and the continued operation may collide. Thus requiring an overall planning based on the time required for the horizontal movement and the time required for the lowering movement. Since the speeds of the lifting movement and the horizontal movement of the gripping device 10 have been set in advance and are stored in the controller 30, a calculation plan can be made by the controller 30.
Step S34: if so, the time when the grabbing device 10 is lifted to the height reference value is selected as the initial time value of the descending motion of the grabbing device 10. At this time, it may be explained that the lowering movement of the gripping device 10 starts immediately after the lifting to the height reference value, and the lowering height of the gripping device 10 is not lower than the stacking height prediction value h4 until the horizontal movement of the gripping device 10 is completed.
Step S35: if not, the difference between the time required for the horizontal movement of the gripping device 10 and the time required for the lowering from the height reference value to the stacking height prediction value h4 is used as the lowering movement starting time value of the gripping device 10. It can be stated that the gripping device 10 cannot start the lowering movement immediately after the lifting to the height reference value, and needs to wait for a certain period of time before starting. The lowering movement start time value calculated in step S35 may be such that the horizontal movement of the gripping device 10 ends simultaneously with the lowering movement, which is the earliest time at which the horizontal movement can start.
Step S36: if the material taking height value h2 is smaller than the stacking height predicted value h4, the time when the material taking height value h2 of the grabbing device 10 is lifted to the stacking height predicted value h4 is selected as the horizontal movement starting time value of the grabbing device 10. Fig. 6 is a motion trace Cheng Yitu of a material under the condition that the material taking height value is smaller than the stacking height predicted value, referring to fig. 6, since the material taking height value h2 is smaller than the stacking height predicted value h4, it is necessary to ensure that the grabbing device 10 is lifted to the stacking height predicted value h4 and then horizontally moved, corresponding to the horizontal motion starting position P1 in fig. 6.
Step S37: and calculating and judging whether the sum of the time required for the grabbing device 10 to lift from the stacking height predicted value h4 to the height reference value and the time required for the grabbing device 10 to descend from the height reference value to the stacking height predicted value h4 is larger than the time required for the horizontal movement of the grabbing device 10.
Step S38: if so, the time when the grabbing device 10 is lifted to the height reference value is selected as the initial time value of the descending motion of the grabbing device 10. At this time, it may be explained that the lowering movement of the gripping device 10 starts immediately after the lifting to the height reference value, and the lowering height of the gripping device 10 is not lower than the stacking height prediction value h4 until the horizontal movement of the gripping device 10 is completed.
Step S39: if not, taking the sum of the time required by the horizontal movement of the grabbing device 10 and the time required by lifting the material taking height value h2 to the stacking height predicted value h4 and the difference of the time required by the grabbing device 10 to descend from the height reference value to the stacking height predicted value h4 as the descending movement starting time value of the grabbing device 10. It can be stated that the gripping device 10 cannot start the lowering movement immediately after the lifting to the height reference value, and needs to wait for a certain period of time before starting. The lowering movement start time value calculated in step S39, which is the earliest time at which the horizontal movement can be started, can be satisfied when the horizontal movement of the gripping device 10 is ended simultaneously with the lowering movement.
Step S40: the drive assembly is controlled by the controller 30 in accordance with the height reference and the optimised movement to drive the gripping device 10 for palletising. Since the speeds of the lifting movement and the horizontal movement of the gripping device 10 have been set in advance and stored in the controller 30, they can be calculated and controlled by the controller 30.
Step S50: the drive assembly is controlled by the controller 30 to drive the gripper 10 back to the take-out area S1 in the path of palletizing movement. The gripping device 10 is reset by the movement path of the palletizing after each palletizing is completed, ensuring safety and saving time to the greatest extent.
The above steps S10 to S50 are repeated until the height of the material 50 in the stopping or palletizing zone S2 reaches a maximum value.
According to the control method of the stacker crane, before each stacking action is performed, the controller 10 is used for obtaining the material taking height value h2 and the stacking height value h3, judging and calculating the height reference value representing the minimum safe lifting height of the grabbing device, and further planning the optimal movement mode of the grabbing device, so that the lifting, translating and descending actions of the grabbing device are performed as overlapping as possible. The controller 10 controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to stack and reset in a shorter time, and overall efficiency is improved.
Referring to fig. 2, the present invention also provides a palletizer comprising a gripping device 10, a drive assembly and a controller 30.
The gripping device 10 includes suction cups capable of gripping material and performing lifting and horizontal movement to convey the material from the material taking area S1 to the palletizing area S2 for palletizing. The drive assembly is capable of driving the gripping device 10 in a lifting motion and in a horizontal motion, and in the exemplary embodiment comprises two servomotors 20, the two servomotors 20 being used for driving the gripping device 10 in a lifting motion and in a horizontal motion, respectively. However, without limitation, in other exemplary embodiments, the drive assembly may be other devices such as a robotic arm.
The controller 30 is a PLC programmable logic controller, which is connected to the driving component by a signal, and the controller 30 is configured to obtain a material taking height value h2 representing the height of the material in the material taking area S1 and a stacking height value h3 representing the height of the material in the stacking area S2, and calculate a height reference value representing the minimum safe lifting height of the gripping device 10 by adding the stacking height value h3 to the height of the material to obtain a stacking height predicted value h4, and plan an optimized movement mode for overlapping the lifting, translating and lowering actions of the gripping device 10 according to the material taking height value h2, the stacking height predicted value h4 and the height reference value, and control the driving component to drive the gripping device 10 to stack and return to the material taking area S1 according to the height reference value and the optimized movement mode.
According to the stacker crane provided by the invention, before each stacking action is performed, the controller 30 is used for acquiring the material taking height value h2 and the stacking height predicted value h4, judging and calculating the height reference value representing the minimum safe lifting height of the grabbing device, and further planning the optimal movement mode of the grabbing device, so that the three actions of lifting, translating and descending of the grabbing device 10 are performed in an overlapping manner as much as possible. The controller 30 controls the driving assembly according to the height reference value and the optimized motion mode to drive the grabbing device 10 to stack and reset in a shorter time, so that the overall efficiency is improved.
In the illustrated embodiment, the palletizer further includes a trigger device 40 disposed on the gripping device 10 and in signal connection with the controller 30, wherein the trigger device 40 is capable of touching the material and generating a trigger signal when the gripping device 10 makes a descending motion, and the controller 30 controls the servo motor 20 to stop the descending motion of the gripping device 10 when receiving the trigger signal.
In the illustrated embodiment, the controller 30 is configured to control the two servomotors 20 after the stacker crane is started, drive the gripping device 10 to complete one stacking with a maximum stroke, and receive feedback signals from the servomotors 20 to obtain a material taking height value h2 and a stacking height value h3, and add the stacking height value h3 to the height of the material to obtain a stacking height predicted value h4. The controller 30 is configured to select the greater value of the reclaiming height value h2 and the stacking height predicted value h4 and add the greater value to a safety compensation value h1 to obtain a height reference value.
In the illustrated embodiment, the controller 30 is configured to plan an optimized movement pattern of the grasping device 10 by calculating a horizontal movement start time value and a descent movement start time value of the grasping device 10. Specifically, the controller 30 is configured to determine the magnitudes of the reclaiming height value h2 and the stacking height prediction value h4.
If the material taking height value h2 is greater than or equal to the stacking height predicted value h4, selecting the moment when the grabbing device 10 starts lifting movement as a horizontal movement starting time value of the grabbing device 10, calculating and judging whether the sum of the time required for lifting the grabbing device 10 from the material taking height value h2 to the height reference value h4 and the time required for descending from the height reference value h4 is greater than the time required for horizontal movement of the grabbing device 10, if yes, selecting the moment when the grabbing device 10 lifts to the height reference value as a descending movement starting time value of the grabbing device 10, and if not, taking the difference between the time required for horizontal movement of the grabbing device 10 and the time required for descending from the height reference value to the stacking height predicted value h4 as a descending movement starting time value of the grabbing device 10.
If the material taking height value h2 is smaller than the stacking height predicted value h4, selecting the time when the material taking height value h2 of the gripping device 10 is lifted to the stacking height predicted value h4 as a horizontal movement starting time value of the gripping device 10, calculating and judging whether the sum of the time required for the gripping device 10 to lift from the stacking height predicted value h4 to the height reference value and the time required for the gripping device 10 to descend from the height reference value to the stacking height predicted value h4 is larger than the horizontal movement required time value of the gripping device 10, if yes, selecting the time when the gripping device 10 is lifted to the height reference value as a descending movement starting time value of the gripping device 10, and if not, taking the sum of the time required for the horizontal movement of the gripping device 10 and the time required for the gripping device 10 to lift from the material taking height value h2 to the stacking height predicted value h4 as a descending movement starting time value of the gripping device 10.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical examples of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications, such as combinations, divisions or repetitions of features, without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (8)
1. The control method of the stacker crane comprises a controller, a grabbing device and a driving assembly, wherein the controller can control the driving assembly to drive the grabbing device to do lifting motion and horizontal motion, and materials in a material taking area are conveyed to a stacking area to be stacked, and the control method is characterized by comprising the following steps:
acquiring a material taking height value representing the height of the material in the material taking area and a stacking height value representing the height of the material in the stacking area through the controller, and adding the stacking height value and the height of the material to obtain a stacking height predicted value;
calculating by the controller according to the material taking height value and the stacking height predicted value to obtain a height reference value representing the minimum safety lifting height of the grabbing device;
the controller is used for planning an optimized movement mode which enables three actions of lifting, translating and descending of the grabbing device to be overlapped according to the material taking height value, the stacking height predicted value and the height reference value, and the method specifically comprises the following steps of:
judging the sizes of the material taking height value and the stacking height predicted value;
if the material taking height value is larger than or equal to the stacking height predicted value, selecting the moment when the grabbing device starts lifting movement as the horizontal movement starting time value of the grabbing device;
calculating and judging whether the sum of the time required by the grabbing device to rise from the material taking height value to the height reference value and the time required by the grabbing device to fall from the height reference value to the stacking height predicted value is larger than the time required by the horizontal movement of the grabbing device;
if yes, the moment when the grabbing device is lifted to the height reference value is selected as the descending motion starting time value of the grabbing device;
if not, taking the difference value between the time required by the horizontal movement of the grabbing device and the time required by the falling of the height reference value to the stacking height predicted value as the falling movement starting time value of the grabbing device;
if the material taking height value is smaller than the stacking height predicted value, selecting the moment of the grabbing device from the material taking height value to the stacking height predicted value as the horizontal movement starting time value of the grabbing device;
calculating and judging whether the sum of the time required by the grabbing device to rise from the stacking height predicted value to the height reference value and the time required by the grabbing device to fall from the height reference value to the stacking height predicted value is larger than the time required by the horizontal movement of the grabbing device;
if yes, the moment when the grabbing device is lifted to the height reference value is selected as the descending motion starting time value of the grabbing device; and
if not, taking the difference value of the sum of the time required by the horizontal movement of the grabbing device and the time required by lifting the material taking height value to the stacking height predicted value and the time required by the grabbing device to descend from the height reference value to the stacking height predicted value as the descending movement starting time value of the grabbing device;
the controller controls the driving assembly according to the height reference value and the optimized motion mode so as to drive the grabbing device to carry out stacking;
the driving assembly is controlled by the controller to drive the grabbing device to return to the material taking area according to the stacking movement path; and
repeating the steps until stopping or the material height of the stacking area reaches the maximum value.
2. A method of controlling a palletizer according to claim 1, wherein the greater of the take-out height value and the palletising height prediction value is selected by the controller and added to a safety compensation value to obtain the height reference value.
3. A method of controlling a palletizer according to claim 1, wherein the driving assembly includes two servomotors for driving the gripping devices to move up and down and horizontally, respectively, the palletizer further includes a trigger device provided to the gripping devices and signally connected to the controller, the trigger device being capable of touching an object and generating a trigger signal when the gripping devices move down, the controller controlling the servomotors to stop the lowering movement of the gripping devices when receiving the trigger signal, the method comprising the steps of: the method comprises the steps of obtaining a material taking height value representing the height of a material in a material taking area and a stacking height value representing the height of the material in a stacking area through a controller, and obtaining a stacking height predicted value by adding the stacking height value and the height of the material, wherein the method specifically comprises the following steps of: before starting the stacker crane, arranging the grabbing device on the material taking area;
after the stacker crane is started, the two servo motors are controlled by the controller, and the grabbing device is driven to finish one-time stacking with the maximum stroke; and
and receiving a feedback signal of the servo motor through a controller to obtain the material taking height value and the stacking height value, and adding the stacking height value and the height of the material to obtain the stacking height predicted value.
4. A method of controlling a palletiser according to claim 3, wherein planning the optimised movement pattern comprises calculating a horizontal movement start time value and a descent movement start time value for the gripping device.
5. Hacking machine, its characterized in that includes:
a gripping device (10) capable of gripping material and performing lifting and horizontal movement to convey the material from the material take-out area to the palletizing area for palletizing;
a drive assembly capable of driving the gripping means (10) in a lifting movement and in a horizontal movement; and
a controller (30) in signal connection with the driving assembly, wherein the controller (30) is configured to obtain a material taking height value representing the height of the material in the material taking area and a stacking height value representing the height of the material in the stacking area, and calculate a height reference value representing the minimum safe lifting height of the gripping device (10) by adding the stacking height value and the height of the material, and according to the material taking height value, the stacking height reference value and the height reference value, plan an optimized movement mode in which three actions of lifting, translating and descending of the gripping device (10) can be overlapped, and judge the material taking height value and the stacking height prediction value; if the material taking height value is larger than or equal to the stacking height predicted value, selecting the moment when the grabbing device (10) starts lifting movement as a horizontal movement starting time value of the grabbing device (10), calculating and judging whether the sum of the time required for the grabbing device (10) to lift from the material taking height value to the height reference value and the time required for the grabbing device (10) to descend from the height reference value to the stacking height predicted value is larger than the horizontal movement required time of the grabbing device (10), if yes, selecting the moment when the grabbing device (10) lifts to the height reference value as a descending movement starting time value of the grabbing device (10), and if not, taking the difference between the time required for the grabbing device (10) to descend from the height reference value to the stacking height predicted value as a descending movement starting time value of the grabbing device (10); if the material taking height value is smaller than the stacking height predicted value, selecting the moment of lifting the material taking height value to the stacking height predicted value of the grabbing device (10) as a horizontal movement starting time value of the grabbing device (10), calculating and judging whether the sum of the time required for lifting the material taking height value to the height reference value of the grabbing device (10) and the time required for descending the material taking height value to the stacking height predicted value is larger than the horizontal movement required time of the grabbing device (10), if yes, selecting the moment of lifting the grabbing device (10) to the height reference value as a descending movement starting time value of the grabbing device (10), otherwise, taking the difference between the horizontal movement required time of the grabbing device (10) and the sum of the time required for lifting the material taking height value to the stacking height predicted value and the time required for descending the grabbing device (10) from the height reference value to the stacking height predicted value as the starting time value of the grabbing device (10); and controlling the driving assembly according to the height reference value and the optimized motion mode to drive the grabbing device (10) to carry out stacking and return to the material taking area according to a stacking motion path.
6. A palletizer according to claim 5, wherein the controller (30) is configured to select the greater of the pick-up height value and the palletising height prediction value to be added to a safety compensation value to obtain the height reference value.
7. A palletizer according to claim 5, wherein said drive assembly comprises two servomotors (20), two of said servomotors (20) being respectively for driving said gripping devices (10) in a lifting movement and in a horizontal movement; the stacker crane further comprises a trigger device (40) which is arranged on the grabbing device (10) and is in signal connection with the controller (30), the trigger device (40) can touch materials and generate a trigger signal when the grabbing device (10) moves downwards, the controller (30) controls the servo motor (20) to stop the descending movement of the grabbing device (10) when receiving the trigger signal, the controller (30) is configured to control the two servo motors (20) after the stacker crane is started, the grabbing device (10) is driven to finish one-time stacking with the maximum stroke, the feedback signal of the servo motor (20) is received to obtain the material taking height value and the stacking height value, and the stacking height predicted value is obtained by adding the stacking height value and the height of the materials.
8. A palletizer according to claim 7, wherein the controller (30) is configured to program the optimized movement pattern of the gripping device (10) by calculating a horizontal movement start time value and a descent movement start time value of the gripping device (10).
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