CN1884017A - Total distributed control type self-propelled trolley - Google Patents
Total distributed control type self-propelled trolley Download PDFInfo
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- CN1884017A CN1884017A CNA2006100195039A CN200610019503A CN1884017A CN 1884017 A CN1884017 A CN 1884017A CN A2006100195039 A CNA2006100195039 A CN A2006100195039A CN 200610019503 A CN200610019503 A CN 200610019503A CN 1884017 A CN1884017 A CN 1884017A
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- dolly
- trolley
- signal
- controller
- control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention is aimed to improve the communication capability between a walking trolley and a central control system of a workshop to realize full-track feedback and monitoring of the trolley on a pipeline. So, the invention provides a total distributed control self-walking trolley system which comprises a trolley module, a track and a sliding contact line and a central control module, wherein, the trolley module contacts with the sliding contact line through a current collector, a signal amplifier is disposed between the central controller and the sliding contact line, also a signal amplifier is disposed between the trolley controller and the current collector. The invention can greatly improve the signal acquisition and processing capabilities because of increasing the signal amplifiers. The system has advantages of stable communication, perfect control on trolley, simple monitoring and setting of parameters.
Description
Technical field
The invention belongs to industrial logistics transportation art.
Background technology
Automatic carriage is a kind of equipment more common on logistics conveyer system.It is contact in to carry out power taking with trolley in being contained in track moving by the current colector installed on the car body, offers mobile dolly, and this way to take power has been a proven technique very.But the mode of carrying out communication by trolley and current colector in the moving contact process is a more special and difficult problem, because the trolley of the trolley of communication line and supply line is parallel lay-up in same track all, and distance is very near, between insulation is only arranged, the line body is exposed and do not have a shielding protection, and there is very big impedance (relative conventional communication modes) during with the current colector moving contact in trolley, contact factors such as effect instability in the sliding process, make the success ratio of its communication and reliability be difficult to guarantee.
Tradition automatic carriage product is to carry out power taking by current colector of installing on the car body (claiming brush again) and the trolley moving contact that is contained on the track.Be provided with main control PLC in the Ground Control cabinet, PLC and frequency converter generally also are housed on the dolly, main control PLC is the relay control signal by the trolley transmission, controls dolly and carries out corresponding technological action.But because the limitation of each side factors such as the requirement of the size of track and trolley, installation and economy index, make that the trolley on the track is quantitatively limited, eight trolleys are housed usually, three industrial power lines, a ground wire, three control signal wires and an occupy-place signal wire (SW).Wherein three control signal wire transmission is a kind of control signal of relay system, gather the state that it has electricity and does not have electricity, i.e. " 0 " (not having) and two kinds of signals of " 1 " (having), carry out permutation and combination by these three control signal wires then, form code signal and be used for carrying out simple " advancing ", " retreating ", " rising ", " decline ", " opening " and " closing " six action commands, control the work of dolly, the occupy-place signal wire (SW) provides station that the information of car is arranged in order to control center earthward.But because acquisition of signal instability, and error rate height, the message feedback of can not method whether dolly being finished the work is in central controller, be simple open loop control, can't carry out the complicated control that has communications protocol, the instruction of dolly response main control PLC just can't be carried out full-track feedback and monitoring like this, more can not transmit the parameter of analog quantity, make system be difficult to form closed loop control, the stability and the reliability of control are relatively poor, and fault rate is also than higher.Particularly during the specific question on solving some manufacturing line, just feel simply helpless sometimes.Along with the quickening of China every profession and trade modernization paces, the improving constantly of logistics travel line degree of automation requires also more and more higher, traditional PLC relay control can't satisfy the requirement of modern production to the automation control of the technological process of production.
Summary of the invention
It is to improve walking dolly and this workshop master control system ability to communicate with realization dolly full-track feedback and monitoring on conveyor line that the present invention will solve technical matters.For this reason, the present invention proposes a kind of total distributed control type self-propelled trolley, comprise the dolly module, track and be contained in trolley and Central Control Module (CCM) in the track, wherein, Central Control Module (CCM) comprises central controller, the dolly module comprises dolly mechanical power mechanism and control circuit, the control circuit of described dolly comprises agv controller, the dolly module contacts with trolley by current colector, it is characterized in that: also be connected with the central controller signal amplifying apparatus between described central controller and the trolley, between described agv controller and current colector, also be connected with the dolly signal amplifying apparatus.Described effect with central controller and dolly bonded assembly signal amplifying apparatus is that the signal of exporting again to finish between its input equipment and the outdevice after the signal amplification that will import docks problem.
Owing to increased signal amplifying apparatus among the present invention, the abilitys to communicate such as acquisition of signal, identification and processing of system are improved greatly, further improvement of the present invention is that the coding registration device is housed on described dolly and guide rail for this reason.System of the present invention for strong ability to communicate is necessary to increase Content of communciation so that whole conveyor line is more accurate, more be rich in efficient, and the dolly position can be accurately located in this improvement, the progress of the whole flow process of so very convenient control.
The minimum need of system of the present invention are provided with six roots of sensation trolley on guide rail, wherein three industrial power lines, a grounding jumper and two connections.In order to improve the safety of system, can also on guide rail, increase by two trolleys again as the hardware protection signal wire (SW), making like this has eight trolleys on the whole guide rail.Two trolleys of this increase can be used for transmission and proofread and correct acknowledgment signal, send the signal that conveyor line interrupt signal (to prevent the dolly collision case) waits increase system stability, safety after above-mentioned signal interruption.
Total distributed control type self-propelled trolley of the present invention is compared traditional automatic carriage logistic transmission system makes the signal acquisition process ability be largely increased owing to increased signal amplifying apparatus, has solved the extensive processing capacity simple question of the controller of original system because of signal gathering unit.The native system communication robust, the phenomenon that the influence that is not interfered, communication can not occur interrupting, the control of dolly body is perfect, and independence is strong, and is also very simple and convenient to the monitoring and the setting of acquisition of signal, parameter.Be accompanied by the abundant and communication robust of signal, the present invention adopts comparatively advanced and more complicated industrial bus standard P rofiBus-DP communication standard bus architecture, improves the overall performance and the efficient of manufacturing line by program design more efficient use hardware resource.It is as follows to sum up beneficial effect of the present invention:
1. total system is made up of bus, by the slave station PLC communication on PLC of main website and the dolly, can remote programmable and operation, and containing much information of communication can make system reach the effect of feedback closed loop control, and can realize diagnosis function.The PLC of main website can carry out communication to the key-course in information and whole workshop again, reaches the information-based control and management of workshop or even full company like this.
2. adopt the coding location technology, dolly is having the control position of coding, can be according to the program work of appointment, and can feed back status information of dolly etc., and carriage walking is also by the Fieldbus Control frequency converter, and speed governing is convenient like this, and feedback information in time makes things convenient for, movable motor has brake equipment, make walking start and stop and running velocity is level and smooth and accuracy of positioning is high.
3. control system is simple, and operation and maintenance is all very convenient, and is capable of long-distance maintenance; can also finish the setting of partial parameters by man-machine interface, machine halt trouble also can be searched by man-machine interface, and the picture design is friendly; accurately convenient, make that the handling failure time short, increases work efficiency.
The advanced person of total system design configurations and control etc. and automation field to control theory synchronous, only need to change or increase few parts in can scrap build afterwards and can finish renewal and renovation of equipment, reduce the outfit of equipment cost.
Description of drawings
Figure is an electrical block scheme drawing of the present invention.
The specific embodiment
Total distributed control type self-propelled trolley of the present invention, dolly places on the track and walks, and little vehicle control is housed on the dolly, and dolly and dolly control system are formed the dolly module.Little vehicle control mainly is made of PLC (programmable logic controller (PLC)) controller, also the smart machine that can adopt other can replace on an equal basis such as single board computer (SBC), DSP etc.Be connected with the dolly signal amplifying apparatus between dolly PLC controller and the current colector, as shown in the figure.The dolly signal amplifying apparatus can be made of signal amplifier, modem, and it can be integrated in the agv controller, also can independently be provided with.The current colector of dolly receives signal from central master station from trolley after, by amplifying demodulation work, signal is reverted to the communication signal that dolly PLC can receive, so just finished the communication work of main website and slave station.Agv controller is controlled wheeling mechanism by being connected with RHVC.Because the PLC of dolly can carry out a lot of orders, has very strong implementation capacity, therefore can be easy to realize functions such as dolly station location, Motor Driven Elevating Calabash, electric block are spacing, fault judgement by program.In order to realize more function, also have as the case may be and the dolly acquired signal unit of variation with the agv controller bonded assembly.Dolly acquired signal unit comprises and much enriches functional module, and they provide to agv controller can produce the not signal of same-action.For example installing can provide position signal to agv controller near switch on the dolly; The photoelectric encoder that is installed on the jacking system can detect lifting travel; The photoelectric switch that is contained in the dolly headstock can prevent to bump with the front dolly; The travel switch that is installed on the little vehicle clamper can detect folding situation of anchor clamps on the dolly or the like.
In whole total distributed control type self-propelled trolley,, the jacking system of dolly must be arranged according to the needs of logistics system.This jacking system adopts electric block usually, also can adopt the engine installation of comparatively simple asynchronous dynamo as lifting.
The trolley that the present invention is contained in the track is 8, wherein three industrial power lines, a grounding jumper, two connections and two check-back signal lines.Controller control dolly above the dolly advances, retreats, rises, descends, opens, cuts out even more action, can also realize material identification, dolly location recognition and carry out more other instructions of central controller, and all information is fed back in the central controller by these two Communication Control lines, make central controller know information states all on every dolly, reach the purpose of closed loop control, these two connections are as transmission intermediary, abide by the ProfiBus-DP agreement and have finished communication between the controller.
Need to prove if realize dolly material recognition function and usually probe need be installed on dolly, probe passes to agv controller with the material information that detects, and the information after agv controller is handled is issued central controller.In order to show the position of dolly more accurately, generally all adopted code device, confirm the position of dolly place route, also can adopt and collect the dolly actual location data such as the infrared trace tracking technique and position.
Two trolleys in addition on the track can be used as the hardware protection signal wire (SW), and these two is the trolley of segmentation, is in order to improve the safety of system.These two trolleys can be used for transmission and proofread and correct acknowledgment signal, send the signal that conveyor line interrupt signal (to prevent the dolly collision case) waits increase system stability, safety after above-mentioned signal interruption.
Central Control Module (CCM) of the present invention is mainly computer intelligence equipments such as input equipment such as central controller, keyboard and read-out output display unit.Central controller adopts PLC, the also smart machine that can adopt other can replace on an equal basis such as single board computer (SBC), DSP etc.Be connected with the central controller signal amplifying apparatus between central controller and the trolley.This signal amplifying apparatus equally plays the effect of amplifying communication signal of gathering with the dolly signal amplifying apparatus.As shown in the figure, trolley carries on the one hand and starts to control the light current communication signal of making usefulness, carries three-phase alternating-current supply on the one hand.Central controller sends control command to dolly by the central signal multiplying arrangement after according to routine processes voluntarily with the signal collected, also can receive such as again dolly being sent corresponding execution command after the manual operation of revealed control operation panels such as touch-screen, these instructions all belong to a kind of communication information.The present invention adopts touch-screen can cooperate the software supervision person can the fine real-time monitoring system working condition and the check and analysis system failure.Also be connected with control panel hand-manipulated with the central controller bonded assembly except touch-screen.The manual operations control panel is placed in the field activity environment, when the manual mode of operation works, with signals such as button on panel input central controller, plays the effect of total system being carried out manual operation, interference and adjustment by operating personal.
Claims (5)
1, total distributed control type self-propelled trolley, comprise dolly module, track and be contained in track interior trolley and Central Control Module (CCM), wherein, Central Control Module (CCM) comprises central controller, the dolly module comprises dolly mechanical power mechanism and control circuit, the control circuit of described dolly comprises agv controller, the dolly module contacts with trolley by current colector, it is characterized in that: also be connected with the central controller signal amplifying apparatus between described central controller and the trolley, between described agv controller and current colector, also be connected with the dolly signal amplifying apparatus.
2, total distributed control type self-propelled trolley according to claim 1 is characterized in that: the coding registration device is housed on described dolly and guide rail.
3, total distributed control type self-propelled trolley according to claim 1 and 2 is characterized in that: 6 or 8 trolleys are arranged in the described guide rail.
4, according to claim 1 or 2 described total distributed control type self-propelled trolleys, it is characterized in that: the communication bus structure between described Central Control Module (CCM) and the agv controller is a ProfiBus-DP communication standard bus.
5, total distributed control type self-propelled trolley according to claim 3 is characterized in that: the communication bus structure between described Central Control Module (CCM) and the agv controller is a ProfiBus-DP communication standard bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100195039A CN1884017A (en) | 2006-06-26 | 2006-06-26 | Total distributed control type self-propelled trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100195039A CN1884017A (en) | 2006-06-26 | 2006-06-26 | Total distributed control type self-propelled trolley |
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| CN1884017A true CN1884017A (en) | 2006-12-27 |
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| CNA2006100195039A Pending CN1884017A (en) | 2006-06-26 | 2006-06-26 | Total distributed control type self-propelled trolley |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976066A (en) * | 2010-09-16 | 2011-02-16 | 黄石市三丰机械有限公司 | Intelligent code signal transmission and control system for self-actuated trolley |
| CN104512704A (en) * | 2013-10-04 | 2015-04-15 | 韩国Conveyor工业株式会社 | Wireless communication type cargo transferring system |
| CN105467995A (en) * | 2015-11-30 | 2016-04-06 | 天奇自动化工程股份有限公司 | Sliding contact line trolley control system |
| CN105692115A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | High-precision location control system for aerial self-propelled trolley |
| CN107442437A (en) * | 2017-08-31 | 2017-12-08 | 苏州天浩昌智能科技有限公司 | A kind of intelligent control system for sorter |
| CN112278890A (en) * | 2020-09-29 | 2021-01-29 | 建华建材（中国）有限公司 | Flight hopper conveying control system |
| CN112722745A (en) * | 2021-01-13 | 2021-04-30 | 上海市机电设计研究院有限公司 | Method for taking information of mounted materials by using suspended conveying trolley |
-
2006
- 2006-06-26 CN CNA2006100195039A patent/CN1884017A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976066A (en) * | 2010-09-16 | 2011-02-16 | 黄石市三丰机械有限公司 | Intelligent code signal transmission and control system for self-actuated trolley |
| CN101976066B (en) * | 2010-09-16 | 2012-04-25 | 湖北三丰智能输送装备股份有限公司 | Intelligent code signal transmission and control system for self-actuated trolley |
| CN104512704A (en) * | 2013-10-04 | 2015-04-15 | 韩国Conveyor工业株式会社 | Wireless communication type cargo transferring system |
| CN105692115A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | High-precision location control system for aerial self-propelled trolley |
| CN105467995A (en) * | 2015-11-30 | 2016-04-06 | 天奇自动化工程股份有限公司 | Sliding contact line trolley control system |
| CN107442437A (en) * | 2017-08-31 | 2017-12-08 | 苏州天浩昌智能科技有限公司 | A kind of intelligent control system for sorter |
| CN107442437B (en) * | 2017-08-31 | 2024-03-08 | 苏州健雄职业技术学院 | Intelligent control system for sorting machine |
| CN112278890A (en) * | 2020-09-29 | 2021-01-29 | 建华建材（中国）有限公司 | Flight hopper conveying control system |
| CN112722745A (en) * | 2021-01-13 | 2021-04-30 | 上海市机电设计研究院有限公司 | Method for taking information of mounted materials by using suspended conveying trolley |
| CN112722745B (en) * | 2021-01-13 | 2022-07-29 | 上海市机电设计研究院有限公司 | Method for taking information of mounted materials by using suspended conveying trolley |
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Open date: 20061227 |