CN203064612U - Intelligent control system of stereo logistics system - Google Patents

Intelligent control system of stereo logistics system Download PDF

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Publication number
CN203064612U
CN203064612U CN 201320063592 CN201320063592U CN203064612U CN 203064612 U CN203064612 U CN 203064612U CN 201320063592 CN201320063592 CN 201320063592 CN 201320063592 U CN201320063592 U CN 201320063592U CN 203064612 U CN203064612 U CN 203064612U
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CN
China
Prior art keywords
traffic
corner
lane
piler
machine
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CN 201320063592
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Chinese (zh)
Inventor
侯媛彬
李龙
王磊
秦国柱
李倩
毛金波
杜京义
陈毅静
王生成
宋春峰
杨学存
郭建彪
李红岩
焦妍君
唐亚鹏
薛亚莉
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西安科技大学
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Priority to CN 201320063592 priority Critical patent/CN203064612U/en
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Publication of CN203064612U publication Critical patent/CN203064612U/en

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Abstract

The utility model discloses an intelligent control system of a stereo logistics system, which comprises a cargo transport line control cabinet, a stacker movement control cabinet and a monitoring host computer, wherein a PLC (programmable logic controller) module and a first Profibus bus communication module are arranged in the cargo transport line control cabinet; an embedded-type movement controller is arranged in the stacker movement control cabinet; a second Profibus bus communication module is integrated in the embedded-type movement controller; the input end of the PLC module is connected with a plurality of cargo arrival detection sensors and a plurality of cargo position detection sensors; the output end of the PLC module is connected with a plurality of frequency converters and a plurality of contactors; the input end of the embedded-type movement controller is connected with a stacker state detection sensor; and the output end of the embedded-type movement controller is connected with an X-axis stepping motor driver, a Y-axis stepping motor driver and a Z-axis stepping motor driver. The intelligent control system has the advantages of reasonable design, convenience in use and operation, high control accuracy, high operational reliability and stability, high logistics efficiency, and high popularization and application value.

Description

A kind of three-dimensional logistics system intelligence control system
Technical field
The utility model relates to three-dimensional logistics system control technology field, especially relates to a kind of three-dimensional logistics system intelligence control system.
Background technology
In three-dimensional logistics system, piler is wherein crucial Work machine equipment, is the core of whole automated three-dimensional logistics system.Can piler move normally and directly affect whole automated three-dimensional logistics system and work normally, its rational speed control, accurate localization design and accurately fault localization system be the key that whole automated three-dimensional logistics system realizes high efficiency, split hair caccuracy, tight security operation.And the main bottleneck that further improves automated three-dimensional logistics system efficient also is piler, is to improve the most important thing of whole automated three-dimensional logistics system efficient so improve the efficient of piler.
In the control system of the three-dimensional logistics system of prior art, the control of most of pilers adopts PLC and frequency converter to realize, the piler start and stop are not very steady under this mode, when just causing the piler start and stop, this produces bigger vibration, had a strong impact on the service life of piler, and vibrated conference and have influence on the safety that it transports goods.On the whole, the control system of the three-dimensional logistics system of prior art kind also exists the deficiency that control accuracy is lower, functional reliability is lower, fault rate is higher, logistic efficiency is low.
The utility model content
Technical problem to be solved in the utility model is at above-mentioned deficiency of the prior art, a kind of three-dimensional logistics system intelligence control system is provided, it is reasonable in design, it is convenient to realize, uses simple operation, the control accuracy height, functional reliability and stability are high, the logistic efficiency height, practical, the application value height.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of three-dimensional logistics system intelligence control system, described three-dimensional logistics system comprises shelf, piler and freight traffic line, described shelf are made up of the front-seat shelf that arrange at interval and back row's shelf, be provided with the piler track for the piler operation between described front-seat shelf and the back row's shelf, described freight traffic line is by the belt lane of traffic, cylinder lane of traffic and double-speed chain lane of traffic constitute, described belt lane of traffic, the cylinder lane of traffic, double-speed chain lane of traffic and front-seat shelf head and the tail are the adjacent rectangular shape that surrounds successively, be provided with into the goods platform between described double-speed chain lane of traffic and the described front-seat shelf, be provided with the shipment platform between described front-seat shelf and the described belt lane of traffic, be provided with the first corner machine between described belt lane of traffic and the cylinder lane of traffic, be provided with the second corner machine between described cylinder lane of traffic and the double-speed chain lane of traffic, described double-speed chain lane of traffic is provided with the station stopper, describedly go into the goods platform by going into the operation of goods platform driven by motor, described shipment platform is moved by shipment platform driven by motor, described belt lane of traffic is moved by belt lane of traffic driven by motor, described cylinder lane of traffic is moved by cylinder lane of traffic driven by motor, described double-speed chain lane of traffic is moved by double-speed chain lane of traffic driven by motor, the belt of the described first corner machine is driven to give on the first corner machine forward or backwards by the dynamo-electric machine of first corner and transports and shipment outward, the described first corner machine just changes by the first corner machine air pump with the first corner machine cylinder drive that the first corner machine air pump joins or turns round, the belt of the described second corner machine is driven to give on the second corner machine forward or backwards by the dynamo-electric machine of second corner and transports and shipment outward, the described second corner machine just changes by the second corner machine air pump with the second corner machine cylinder drive that the second corner machine air pump joins or turns round, and described piler is by the X-axis servomotor, Y-axis servomotor and Z shaft step motor drive operation; It is characterized in that: described access goods path optimization control system comprises the freight traffic line control housing, piler motion control cabinet and monitoring upper computer, be provided with in the described freight traffic line control housing for the PLC module that freight traffic line is controlled and the Profibus bus communication module that joins with the PLC module, be provided with for the Embedded Motion that piler is controlled in the described piler motion control cabinet, be integrated with the 2nd Profibus bus communication module in the described Embedded Motion, described PLC module is connected with described monitoring upper computer by a Profibus bus communication module and communicates by letter, described Embedded Motion is connected with described monitoring upper computer by the 2nd Profibus bus communication module and communicates by letter, the input end of described PLC module is connected to be arranged on goes into goods platform arrival detecting sensor on the goods platform, the a plurality of belt cargo location detecting sensors that are arranged on the belt lane of traffic and are used for the run location of goods on the belt lane of traffic detected, be arranged on the first corner machine arrival detecting sensor on the first corner machine, the a plurality of cylinder cargo location detecting sensors that are arranged on the cylinder lane of traffic and are used for the run location of goods on the cylinder lane of traffic detected, be arranged on the second corner machine arrival detecting sensor on the second corner machine, be arranged on the double-speed chain lane of traffic and be used for a plurality of double-speed chain cargo location detecting sensors that goods is detected at the run location on the double-speed chain lane of traffic and be arranged on shipment platform arrival detecting sensor on the shipment platform, the mouth of described PLC module is connected to for the belt lane of traffic frequency converter that belt lane of traffic motor is carried out frequency control, for the cylinder lane of traffic frequency converter that cylinder lane of traffic motor is carried out frequency control, for the double-speed chain lane of traffic frequency converter that double-speed chain lane of traffic motor is carried out frequency control, what be used for that control goes into the start and stop of goods platform motor goes into goods platform contactless switch, be used for the positive contactor of the dynamo-electric machine of first corner that the dynamo-electric machine of control first corner is just changeing, the dynamo-electric machine counter-rotating of first corner contactless switch that is used for the dynamo-electric machine counter-rotating of control first corner, the first corner machine air-pump inflating relay that is used for the control first corner machine air-pump inflating, the first corner machine air pump venting relay that is used for the venting of the control first corner machine air pump, be used for the positive contactor of the dynamo-electric machine of second corner that the dynamo-electric machine of control second corner is just changeing, the dynamo-electric machine counter-rotating of second corner contactless switch that is used for the dynamo-electric machine counter-rotating of control second corner, the second corner machine air-pump inflating relay that is used for the control second corner machine air-pump inflating, the second corner machine air pump venting relay that is used for the venting of the control second corner machine air pump, be used for the shipment platform contactless switch of control shipment platform motor start and stop and be used for the flexible station stopper contactless switch of control station stopper, described belt lane of traffic motor and described belt lane of traffic frequency converter join, described cylinder lane of traffic motor and described cylinder lane of traffic frequency converter join, described double-speed chain lane of traffic motor and described double-speed chain lane of traffic frequency converter join, describedly go into goods platform contactless switch and be connected in the current supply circuit of goods platform motor, be connected in the current supply circuit of the dynamo-electric machine of first corner after the dynamo-electric positive contactor of machine of described first corner and the dynamo-electric machine counter-rotating of first corner contactless switch are parallel with one another, be connected in the current supply circuit of the first corner machine air pump after the described first corner machine air-pump inflating relay and first corner machine air pump venting relay are parallel with one another, be connected in the current supply circuit of the dynamo-electric machine of second corner after the dynamo-electric positive contactor of machine of described second corner and the dynamo-electric machine counter-rotating of second corner contactless switch are parallel with one another, be connected in the current supply circuit of the second corner machine air pump after the described second corner machine air-pump inflating relay and second corner machine air pump venting relay are parallel with one another, described shipment platform contactless switch is connected in the current supply circuit of shipment platform motor, and described station stopper contactless switch is connected in the current supply circuit of station stopper; The input end of described Embedded Motion is connected to the piler state detection sensor that detects for the mode of operation to piler, the mouth of described Embedded Motion is connected to X-axis motor servo driver, Y-axis motor servo driver and Z shaft step motor actuator, described X-axis servomotor and described X-axis motor servo driver join, described Y-axis servomotor and described Y-axis motor servo driver join, and described Z shaft step motor and described Z shaft step motor actuator join.
Above-mentioned a kind of three-dimensional logistics system intelligence control system is characterized in that: described monitoring upper computer is industrial control computer.
Above-mentioned a kind of three-dimensional logistics system intelligence control system is characterized in that: described PLC module is S700 series of PLC module, and a described Profibus bus communication module is the EM277 communication module.
Above-mentioned a kind of three-dimensional logistics system intelligence control system is characterized in that: described Embedded Motion is solid high GT movement sequence controller.
Above-mentioned a kind of three-dimensional logistics system intelligence control system, it is characterized in that: describedly go into goods platform arrival detecting sensor, belt cargo location detecting sensor and shipment platform arrival detecting sensor and be opto-electronic pickup, described cylinder cargo location detecting sensor, double-speed chain cargo location detecting sensor, the first corner machine arrival detecting sensor and the second corner machine arrival detecting sensor are stroke sensor, and the quantity of described station stopper is a plurality of and the corresponding rear that is arranged on a plurality of described double-speed chain cargo location detecting sensors respectively.
Above-mentioned a kind of three-dimensional logistics system intelligence control system is characterized in that: described piler state detection sensor comprises and is arranged on the piler track and is used for piler at a plurality of piler run location detecting sensors that the run location on the piler track detects and the piler loading platform position-detection sensor that is arranged on the piler frame under the loading platform that is positioned at described piler and is used for the position of the loading platform of piler is detected.
Above-mentioned a kind of three-dimensional logistics system intelligence control system, it is characterized in that: described piler run location detecting sensor and piler loading platform position-detection sensor are micro-switch, the quantity of described piler run location detecting sensor is four, and two head ends that are disposed on described piler track wherein, two other is disposed on the tail end of described piler track; The quantity of described piler loading platform position-detection sensor is two.
The utility model compared with prior art has the following advantages:
1, the utility model has adopted integrated, modular design, and is simple in structure, reasonable in design, and it is convenient to realize.
2, the utility model has adopted solid high GT movement sequence controller that piler is controlled, Gu high GT movement sequence controller can be realized high performance of control calculating, drive the X-axis servomotor by the X-axis motor servo driver, drive the Y-axis servomotor by the Y-axis motor servo driver, can make the operation of piler more steady, accuracy of positioning is more accurate, can significantly prolong the service life of piler, and has reduced the operating potential safety hazard of three-dimensional logistics system.
3, the utility model can not only once carry out a plurality of goods outbound, put in storage, move the storehouse or processing operation, and path and the order of picking on this basis, have been optimized, sharp work in order, under the prerequisite that does not influence three-dimensional logistics system function, simplified the operation of conventional three-dimensional logistics system, the operating efficiency height makes things convenient for personnel operation and monitoring in real time, and has greatly improved the efficient of whole logistics system.
4, the utility model is good to operation control accuracy height, the rapidity of three-dimensional logistics system, time saving and energy saving, can carry out real-time control operation and trouble diagnosing, the reliability and stability of total system are increased, also improved the operating efficiency of three-dimensional logistics system, practical, the application value height.
In sum, the utility model is reasonable in design, and it is convenient to realize, uses simple operation, the control accuracy height, and functional reliability and stability are high, and the logistic efficiency height is practical, the application value height.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Fig. 2 is the structural representation of the three-dimensional material resources of the utility model system.
Description of reference numerals:
1-1-PLC module; 1-2-the one Profibus bus communication module;
1-3-belt lane of traffic frequency converter; 1-4-cylinder lane of traffic frequency converter;
1-5-double-speed chain lane of traffic frequency converter; 1-6-go into goods platform contactless switch;
The positive contactor of the dynamo-electric machine of 1-7-first corner; The dynamo-electric machine counter-rotating of 1-8-first corner contactless switch;
1-9-first corner machine air-pump inflating relay; 1-10-first corner machine air pump venting relay;
The positive contactor of the dynamo-electric machine of 1-11-second corner; The dynamo-electric machine counter-rotating of 1-12-second corner contactless switch;
1-13-second corner machine air-pump inflating relay; 1-14-second corner machine air pump venting relay;
1-15-shipment platform contactless switch; 1-16-station stopper contactless switch;
2-1-Embedded Motion; 2-2-the 2nd Profibus bus communication module;
2-3-X-axis motor servo driver; 2-4-Y-axis motor servo driver;
2-5-Z shaft step motor actuator; 3-monitoring upper computer;
4-go into goods platform arrival detecting sensor; 5-belt cargo location detecting sensor;
6-the first corner machine arrival detecting sensor; 7-cylinder cargo location detecting sensor;
8-the second corner machine arrival detecting sensor; 9-double-speed chain cargo location detecting sensor;
10-shipment platform arrival detecting sensor; 11-piler run location detecting sensor;
12-piler loading platform position-detection sensor; 13-front-seat shelf;
14-back row's shelf; 15-piler track; 16-piler;
17-belt lane of traffic; 18-cylinder lane of traffic; 19-double-speed chain lane of traffic;
20-go into the goods platform; 21-shipment platform; 22-the first corner machine;
23-the second corner machine; 24-station stopper; 25-go into goods platform motor;
26-shipment platform motor; 27-belt lane of traffic motor; 28-cylinder lane of traffic motor;
29-double-speed chain lane of traffic motor; 30-the first corner machine air pump;
The 31-second corner machine air pump; 32-X axle servomotor; 33-Y axle servomotor;
34-Z shaft step motor; The dynamo-electric machine of 35-the first corner; The dynamo-electric machine of 36-the second corner.
The specific embodiment
As depicted in figs. 1 and 2, a kind of three-dimensional logistics system intelligence control system described in the utility model, described three-dimensional logistics system comprises shelf, piler 16 and freight traffic line, described shelf are made up of the front-seat shelf 13 that arrange at interval and back row's shelf 14, be provided with the piler track 15 for piler 16 operations between described front-seat shelf 13 and the back row's shelf 14, described freight traffic line is by belt lane of traffic 17, cylinder lane of traffic 18 and double-speed chain lane of traffic 19 constitute, described belt lane of traffic 17, cylinder lane of traffic 18, double-speed chain lane of traffic 19 and front-seat shelf 13 head and the tail are the adjacent rectangular shape that surrounds successively, be provided with into goods platform 20 between described double-speed chain lane of traffic 19 and the described front-seat shelf 13, be provided with shipment platform 21 between described front-seat shelf 13 and the described belt lane of traffic 17, be provided with the first corner machine 22 between described belt lane of traffic 17 and the cylinder lane of traffic 18, be provided with the second corner machine 23 between described cylinder lane of traffic 18 and the double-speed chain lane of traffic 19, described double-speed chain lane of traffic 19 is provided with station stopper 24, describedly go into goods platform 20 and drive operation by going into goods platform motor 25, described shipment platform 21 drives operation by shipment platform motor 26, described belt lane of traffic 17 drives operation by belt lane of traffic motor 27, described cylinder lane of traffic 18 drives operation by cylinder lane of traffic motor 28, described double-speed chain lane of traffic 19 drives operation by double-speed chain lane of traffic motor 29, the belt of the described first corner machine 22 is driven to give on the first corner machine 22 forward or backwards by the dynamo-electric machine 35 of first corner and transports and shipment outward, the described first corner machine 22 just changes by the first corner machine air pump 30 with the first corner machine cylinder drive that the first corner machine air pump 30 joins or turns round, the belt of the described second corner machine 23 is driven to give on the second corner machine 23 forward or backwards by the dynamo-electric machine 36 of second corner and transports and shipment outward, the described second corner machine 23 just changes by the second corner machine air pump 31 with the second corner machine cylinder drive that the second corner machine air pump 31 joins or turns round, and described piler 16 is by X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drive operation; Described access goods path optimization control system comprises the freight traffic line control housing, piler motion control cabinet and monitoring upper computer 3, be provided with in the described freight traffic line control housing for the PLC module 1-1 that freight traffic line is controlled and the Profibus bus communication module 1-2 that joins with PLC module 1-1, be provided with the Embedded Motion 2-1 that controls for to piler 16 in the described piler motion control cabinet, be integrated with the 2nd Profibus bus communication module 2-2 in the described Embedded Motion 2-1, described PLC module 1-1 is connected with described monitoring upper computer 3 by a Profibus bus communication module 1-2 and communicates by letter, described Embedded Motion 2-1 is connected with described monitoring upper computer 3 by the 2nd Profibus bus communication module 2-2 and communicates by letter, the input end of described PLC module 1-1 is connected to be arranged on goes into goods platform arrival detecting sensor 4 on the goods platform 20, the a plurality of belt cargo location detecting sensors 5 that are arranged on the belt lane of traffic 17 and are used for the run location of goods on belt lane of traffic 17 detected, be arranged on the first corner machine arrival detecting sensor 6 on the first corner machine 22, the a plurality of cylinder cargo location detecting sensors 7 that are arranged on the cylinder lane of traffic 18 and are used for the run location of goods on cylinder lane of traffic 18 detected, be arranged on the second corner machine arrival detecting sensor 8 on the second corner machine 23, be arranged on the double-speed chain lane of traffic 19 and be used for a plurality of double-speed chain cargo location detecting sensors 9 that goods is detected at the run location on the double-speed chain lane of traffic 19 and be arranged on shipment platform arrival detecting sensor 10 on the shipment platform 21, the mouth of described PLC module 1-1 is connected to for the belt lane of traffic frequency converter 1-3 that belt lane of traffic motor 27 is carried out frequency control, for the cylinder lane of traffic frequency converter 1-4 that cylinder lane of traffic motor 28 is carried out frequency control, for the double-speed chain lane of traffic frequency converter 1-5 that double-speed chain lane of traffic motor 29 is carried out frequency control, what be used for that control goes into 25 start and stop of goods platform motor goes into goods platform contactless switch 1-6, be used for the positive contactor 1-7 of the dynamo-electric machine of first corner that the dynamo-electric machine 35 of control first corner is just changeing, the dynamo-electric machine counter-rotating of first corner contactless switch 1-8 that is used for dynamo-electric machine 35 counter-rotatings of control first corner, the first corner machine air-pump inflating relay 1-9 that is used for 30 inflations of the control first corner machine air pump, the first corner machine air pump venting relay 1-10 that is used for 30 venting of the control first corner machine air pump, be used for the positive contactor 1-11 of the dynamo-electric machine of second corner that the dynamo-electric machine 36 of control second corner is just changeing, the dynamo-electric machine counter-rotating of second corner contactless switch 1-12 that is used for dynamo-electric machine 36 counter-rotatings of control second corner, the second corner machine air-pump inflating relay 1-13 that is used for 31 inflations of the control second corner machine air pump, the second corner machine air pump venting relay 1-14 that is used for 31 venting of the control second corner machine air pump, be used for the shipment platform contactless switch 1-15 of control shipment platform motor 26 start and stop and be used for the station stopper contactless switch 1-16 that control station stopper 24 stretches, described belt lane of traffic motor 27 joins with described belt lane of traffic frequency converter 1-3, described cylinder lane of traffic motor 28 joins with described cylinder lane of traffic frequency converter 1-4, described double-speed chain lane of traffic motor 29 joins with described double-speed chain lane of traffic frequency converter 1-5, describedly go into goods platform contactless switch 1-6 and be connected in the current supply circuit of goods platform motor 25, be connected in the current supply circuit of the dynamo-electric machine 35 of first corner after the dynamo-electric positive contactor 1-7 of machine of described first corner and the dynamo-electric machine counter-rotating of first corner contactless switch 1-8 are parallel with one another, be connected in the current supply circuit of the first corner machine air pump 30 after the described first corner machine air-pump inflating relay 1-9 and first corner machine air pump venting relay 1-10 are parallel with one another, be connected in the current supply circuit of the dynamo-electric machine 36 of second corner after the dynamo-electric positive contactor 1-11 of machine of described second corner and the dynamo-electric machine counter-rotating of second corner contactless switch 1-12 are parallel with one another, be connected in the current supply circuit of the second corner machine air pump 31 after the described second corner machine air-pump inflating relay 1-13 and second corner machine air pump venting relay 1-14 are parallel with one another, described shipment platform contactless switch 1-15 is connected in the current supply circuit of shipment platform motor 26, and described station stopper contactless switch 1-16 is connected in the current supply circuit of station stopper 24; The input end of described Embedded Motion 2-1 is connected to the piler state detection sensor that detects for the mode of operation to piler 16, the mouth of described Embedded Motion 2-1 is connected to X-axis motor servo driver 2-3, Y-axis motor servo driver 2-4 and Z shaft step motor actuator 2-5, described X-axis servomotor 32 joins with described X-axis motor servo driver 2-3, described Y-axis servomotor 33 joins with described Y-axis motor servo driver 2-4, and described Z shaft step motor 34 joins with described Z shaft step motor actuator 2-5.
In the present embodiment, described monitoring upper computer 3 is industrial control computer.Described PLC module 1-1 is S7-200 series of PLC module, and a described Profibus bus communication module 1-2 is the EM277 communication module.Described Embedded Motion 2-1 is solid high GT movement sequence controller.
In the present embodiment, describedly go into goods platform arrival detecting sensor 4, belt cargo location detecting sensor 5 and shipment platform arrival detecting sensor 10 and be opto-electronic pickup, described cylinder cargo location detecting sensor 7, double-speed chain cargo location detecting sensor 9, the first corner machine arrival detecting sensor 6 and the second corner machine arrival detecting sensor 8 are stroke sensor, and the quantity of described station stopper 24 is a plurality of and the corresponding rear that is arranged on a plurality of described double-speed chain cargo location detecting sensors 9 respectively.
In the present embodiment, described piler state detection sensor comprises and is arranged on the piler track 15 and is used for piler 16 at a plurality of piler run location detecting sensors 11 that the run location on the piler track 15 detects and the piler loading platform position-detection sensor 12 that is arranged on piler 16 frames under the loading platform that is positioned at described piler 16 and is used for the position of the loading platform of piler 16 is detected.Described piler run location detecting sensor 11 and piler loading platform position-detection sensor 12 are micro-switch, the quantity of described piler run location detecting sensor 11 is four, and two head ends that are disposed on described piler track 15 wherein, two other is disposed on the tail end of described piler track 15; The quantity of described piler loading platform position-detection sensor 12 is two.
Adopt the utility model to carry out the method for three-dimensional logistics system access goods, may further comprise the steps:
Step 1, the input of logistics task signal: by operation supervise and control upper computer 3, input selection goods yard numbering, and input outbound, processing, put or move the logistics control signal in storehouse in storage, described monitoring upper computer 3 writes goods yard numbering and logistics control signal in the logistics system data bank that is stored in advance wherein;
Step 2, logistics task are carried out, and detailed process is as follows:
Step 201, described monitoring upper computer 3 call path optimization's module and carry out path optimization, the logistics that is optimized order;
Step 202, described monitoring upper computer 3 are transferred to Embedded Motion 2-1 with the optimization logistics order that obtains in the step 201 by the 2nd Profibus bus communication module 2-2, and export corresponding control signal and be transferred to PLC module 1-1 by a Profibus bus communication module 1-2 according to the logistics control signal, described Embedded Motion 2-1 and PLC module 1-1 control piler 16 respectively and freight traffic line is carried out corresponding logistics task, and detailed process is:
When the logistics control signal is outbound:
2021, described Embedded Motion 2-1 exports corresponding control signal in proper order according to its optimization logistics that receives and gives X-axis motor servo driver 2-3, Y-axis motor servo driver 2-4 and Z shaft step motor actuator 2-5, X-axis motor servo driver 2-3 drives 32 actions of X-axis servomotor, Y-axis motor servo driver 2-4 drives 33 actions of Y-axis servomotor, Z shaft step motor actuator 2-5 drives 34 actions of Z shaft step motor, X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drives pilers 16 and moves in proper order according to optimizing logistics, takes out goods and is placed on the loading platform of piler 16 from shelf successively by optimizing the logistics order;
2022, X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drive piler 16 and run to shipment platform 21 positions, and goods is placed on the shipment platform 21;
2023, described shipment platform arrival detecting sensor 10 detects shipment platform 21 arrival information in real time and detected signal is exported to PLC module 1-1, receive the shipment platform 21 arrival signals of described shipment platform arrival detecting sensor 10 outputs as described PLC module 1-1 after, described PLC module 1-1 control shipment platform contactless switch 1-15 connects the current supply circuit of shipment platform motor 26, shipment platform motor 26 drives 21 operations of shipment platform, and by 17 operations of belt lane of traffic frequency converter 1-3 control belt lane of traffic motor 27 drive belt lane of traffic, shipment platform 21 passes to belt lane of traffic 17 with goods, the run location of a plurality of 5 pairs of goods of described belt cargo location detecting sensor on belt lane of traffic 17 detects in real time and detected signal exported to PLC module 1-1, described PLC module 1-1 receives the signal of a plurality of described belt cargo location detecting sensor 5 outputs and carries out analyzing and processing, when described PLC module 1-1 judges belt lane of traffic 17 and has goods to arrive, described PLC module 1-1 control shipment platform contactless switch 1-15 disconnects the current supply circuit of shipment platform motor 26, and shipment platform motor 26 stops to drive 21 operations of shipment platform;
2024, when described PLC module 1-1 judges the midway location place of the goods arrival belt lane of traffic 17 on the belt lane of traffic 17, described PLC module 1-1 stops to drive 17 operations of belt lane of traffic by belt lane of traffic frequency converter 1-3 control belt lane of traffic motor 27;
2025, manually goods is taken off from belt lane of traffic 17, the goods outbound is finished;
When the logistics control signal is warehouse-in:
2026, manually goods is placed on the double-speed chain lane of traffic 19, described PLC module 1-1 drives 19 operations of double-speed chain lane of traffic by double-speed chain lane of traffic frequency converter 1-5 index drum lane of traffic motor 28, the run location of a plurality of 9 pairs of goods of described double-speed chain cargo location detecting sensor on double-speed chain lane of traffic 19 detects in real time and detected signal exported to PLC module 1-1, and described PLC module 1-1 receives the signal of a plurality of described double-speed chain cargo location detecting sensor 9 outputs and carries out analyzing and processing;
2027, when described PLC module 1-1 judges double-speed chain lane of traffic 19 and has goods to send, described PLC module 1-1 controls into goods platform contactless switch 1-6 and connects current supply circuit into goods platform motor 25, go into goods platform motor 25 and drive 20 operations of goods platform, describedly go into goods platform arrival detecting sensor 4 and detect goods platform 20 arrival information in real time and detected signal is exported to PLC module 1-1, when described PLC module 1-1 receive described go into 4 outputs of goods platform arrival detecting sensor go into goods platform 20 arrival signals after, described PLC module 1-1 controls into goods platform contactless switch 1-6 and disconnects current supply circuit into goods platform motor 25, goes into goods platform motor 25 and stops to drive 20 operations of goods platform;
2028, described Embedded Motion 2-1 exports corresponding control signal and gives X-axis motor servo driver 2-3, Y-axis motor servo driver 2-4 and Z shaft step motor actuator 2-5, X-axis motor servo driver 2-3 drives 32 actions of X-axis servomotor, Y-axis motor servo driver 2-4 drives 33 actions of Y-axis servomotor, Z shaft step motor actuator 2-5 drives 34 actions of Z shaft step motor, X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drive piler 16 and run to into goods platform 20 positions, and goods is placed on the loading platform of piler 16 from going into goods platform 20;
2029, described Embedded Motion 2-1 exports corresponding control signal in proper order according to its optimization logistics that receives and gives X-axis motor servo driver 2-3, Y-axis motor servo driver 2-4 and Z shaft step motor actuator 2-5, X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drive piler 16 and move in proper order according to optimizing logistics, successively the goods on the loading platform is placed on the shelf by optimizing the logistics order, goods warehousing is finished;
When the logistics control signal when moving the storehouse:
20210, described Embedded Motion 2-1 exports corresponding control signal in proper order according to its optimization logistics that receives and gives X-axis motor servo driver 2-3, Y-axis motor servo driver 2-4 and Z shaft step motor actuator 2-5, X-axis motor servo driver 2-3 drives 32 actions of X-axis servomotor, Y-axis motor servo driver 2-4 drives 33 actions of Y-axis servomotor, Z shaft step motor actuator 2-5 drives 34 actions of Z shaft step motor, X-axis servomotor 32, Y-axis servomotor 33 and Z shaft step motor 34 drive piler 16 and move in proper order according to optimizing logistics, successively goods is taken out and is stored on the target goods yard from existing goods yard by optimizing the logistics order, goods moves the storehouse and finishes;
When the logistics control signal for adding man-hour:
Process 2021~2023 control pilers 16, shipment platform 21 and belt lane of traffic 17 when 20211, described Embedded Motion 2-1 and PLC module 1-1 are outbound according to above-mentioned logistics control signal carried out the logistics task of outbound;
20212, when described PLC module 1-1 judges the shipment position of the goods arrival belt lane of traffic 17 on the belt lane of traffic 17, described PLC module 1-1 is by controlling the current supply circuit that the positive contactor 1-7 of the dynamo-electric machine of first corner connects the dynamo-electric machine 35 of first corner, the dynamo-electric machine 35 of first corner is just changeing and the belt forward that drives the first corner machine 22 is given on the first corner machine 22 and conveyed goods, the first corner machine arrival detecting sensor 6 detects the first corner machine, 22 arrival information in real time and detected signal is exported to PLC module 1-1, receive the first corner machine, the 22 arrival signals of the described first corner machine arrival detecting sensor 6 outputs as described PLC module 1-1 after, described PLC module 1-1 controls the current supply circuit that the positive contactor 1-7 of the dynamo-electric machine of first corner disconnects the dynamo-electric machine 35 of first corner, and the dynamo-electric machine 35 of first corner stops just to change;
20213, described PLC module 1-1 controls the current supply circuit that the first corner machine air-pump inflating relay 1-9 connects the first corner machine air pump 30, the first corner machine air pump 30 is inflated and is made the first corner machine cylinder drive the first corner machine 22 and just turning 90 degrees, after the first corner machine 22 is rotated in place, described PLC module 1-1 drives 18 operations of cylinder lane of traffic by cylinder lane of traffic frequency converter 1-4 index drum lane of traffic motor 28, the run location of a plurality of 7 pairs of goods of described cylinder cargo location detecting sensor on cylinder lane of traffic 18 detects in real time and detected signal exported to PLC module 1-1, described PLC module 1-1 receives the signal of a plurality of described cylinder cargo location detecting sensor 7 outputs and carries out analyzing and processing, when described PLC module 1-1 judges when having goods to deliver on the cylinder lane of traffic 18, described PLC module 1-1 controls the current supply circuit that the first corner machine air-pump inflating relay 1-9 disconnects the first corner machine air pump 30, and control the current supply circuit that first corner machine air pump venting relay 1-10 connects the first corner machine air pump 30,30 venting of the first corner machine air pump also make the first corner machine cylinder drive the first corner machine to turn 90 degrees for 22 times and carry out return;
20214, when described PLC module 1-1 judges when having goods to send on the cylinder lane of traffic 18, described PLC module 1-1 is by controlling the current supply circuit that the positive contactor 1-11 of the dynamo-electric machine of second corner connects the dynamo-electric machine 36 of second corner, the dynamo-electric machine 36 of second corner is just changeing and the belt forward that drives the second corner machine 23 is given on the second corner machine 23 and conveyed goods, the second corner machine arrival detecting sensor 8 detects the second corner machine, 23 arrival information in real time and detected signal is exported to PLC module 1-1, receive the second corner machine, the 23 arrival signals of the described second corner machine arrival detecting sensor 8 outputs as described PLC module 1-1 after, described PLC module 1-1 controls the current supply circuit that the positive contactor 1-11 of the dynamo-electric machine of second corner disconnects the dynamo-electric machine 36 of second corner, and the dynamo-electric machine 36 of second corner stops just to change;
20215, described PLC module 1-1 controls the current supply circuit that the second corner machine air-pump inflating relay 1-13 connects the second corner machine air pump 31, the second corner machine air pump 31 is inflated and is made the second corner machine cylinder drive the second corner machine 23 and just turning 90 degrees, after the second corner machine 23 is rotated in place, described PLC module 1-1 drives 19 operations of double-speed chain lane of traffic by double-speed chain lane of traffic frequency converter 1-5 control double-speed chain lane of traffic motor 29, the run location of a plurality of 9 pairs of goods of described double-speed chain cargo location detecting sensor on double-speed chain lane of traffic 19 detects in real time and detected signal exported to PLC module 1-1, described PLC module 1-1 receives the signal of a plurality of described double-speed chain cargo location detecting sensor 9 outputs and carries out analyzing and processing, when described PLC module 1-1 judges when having goods to deliver on the double-speed chain lane of traffic 19, described PLC module 1-1 controls the current supply circuit that the second corner machine air-pump inflating relay 1-13 disconnects the second corner machine air pump 31, and control the current supply circuit that the second corner machine air-pump inflating relay 1-13 connects the second corner machine air pump 31,31 venting of the second corner machine air pump also make the second corner machine cylinder drive the second corner machine to turn 90 degrees for 23 times and carry out return;
20216, described PLC module 1-1 is according to the signal of a plurality of described double-speed chain cargo location detecting sensor 9 outputs, judge the position of goods on double-speed chain lane of traffic 19, time-delay a period of time, after arriving overhours, the station stopper contactless switch 1-16 of described PLC module 1-1 control corresponding position connects the current supply circuit of station stopper 24, station stopper 24 is from described double-speed chain lane of traffic 19 withdrawals, and releasing stops that goods continues in 19 transmission of double-speed chain lane of traffic;
20217, judge when having goods to send on the double-speed chain lane of traffic 19 as described PLC module 1-1, described PLC module 1-1 and Embedded Motion 2-1 according to above-mentioned logistics control signal for process 2027~2029 control double-speed chain lane of traffic 19 in when warehouse-in, go into the logistics task that goods platform 20 and piler 16 are carried out warehouse-in, warehouse-in is finished the back goods and is processed and namely finish.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; every any simple modification, change and equivalent structure of above embodiment being done according to the utility model technical spirit changes, and all still belongs in the protection domain of technical solutions of the utility model.

Claims (7)

1. three-dimensional logistics system intelligence control system, described three-dimensional logistics system comprises shelf, piler (16) and freight traffic line, described shelf are made up of the front-seat shelf (13) that arrange at interval and back row's shelf (14), be provided with the piler track (15) for piler (16) operation between described front-seat shelf (13) and the back row's shelf (14), described freight traffic line is by belt lane of traffic (17), cylinder lane of traffic (18) and double-speed chain lane of traffic (19) constitute, described belt lane of traffic (17), cylinder lane of traffic (18), double-speed chain lane of traffic (19) and front-seat shelf (13) head and the tail are the adjacent rectangular shape that surrounds successively, be provided with into goods platform (20) between described double-speed chain lane of traffic (19) and the described front-seat shelf (13), be provided with shipment platform (21) between described front-seat shelf (13) and the described belt lane of traffic (17), be provided with the first corner machine (22) between described belt lane of traffic (17) and the cylinder lane of traffic (18), be provided with the second corner machine (23) between described cylinder lane of traffic (18) and the double-speed chain lane of traffic (19), described double-speed chain lane of traffic (19) is provided with station stopper (24), describedly go into goods platform (20) and drive operation by going into goods platform motor (25), described shipment platform (21) drives operation by shipment platform motor (26), described belt lane of traffic (17) drives operation by belt lane of traffic motor (27), described cylinder lane of traffic (18) drives operation by cylinder lane of traffic motor (28), described double-speed chain lane of traffic (19) drives operation by double-speed chain lane of traffic motor (29), the belt of the described first corner machine (22) is driven to give on the first corner machine (22) forward or backwards by the dynamo-electric machine of first corner (35) and transports and shipment outward, the described first corner machine (22) just changes by the first corner machine air pump (30) with the first corner machine cylinder drive that the first corner machine air pump (30) joins or turns round, the belt of the described second corner machine (23) is driven to give on the second corner machine (23) forward or backwards by the dynamo-electric machine of second corner (36) and transports and shipment outward, the described second corner machine (23) just changes by the second corner machine air pump (31) with the second corner machine cylinder drive that the second corner machine air pump (31) joins or turns round, and described piler (16) is by X-axis servomotor (32), Y-axis servomotor (33) and Z shaft step motor (34) drive operation; It is characterized in that: described access goods path optimization control system comprises the freight traffic line control housing, piler motion control cabinet and monitoring upper computer (3), be provided with in the described freight traffic line control housing for the PLC module (1-1) that freight traffic line is controlled and the Profibus bus communication module (1-2) that joins with PLC module (1-1), be provided with in the described piler motion control cabinet for the Embedded Motion (2-1) that piler (16) is controlled, be integrated with the 2nd Profibus bus communication module (2-2) in the described Embedded Motion (2-1), described PLC module (1-1) is connected with described monitoring upper computer (3) by a Profibus bus communication module (1-2) and communicates by letter, described Embedded Motion (2-1) is connected with described monitoring upper computer (3) by the 2nd Profibus bus communication module (2-2) and communicates by letter, the input end of described PLC module (1-1) is connected to be arranged on goes into goods platform arrival detecting sensor (4) on the goods platform (20), be arranged on a plurality of belt cargo location detecting sensors (5) that belt lane of traffic (17) goes up and is used for the run location of goods on belt lane of traffic (17) detected, be arranged on the first corner machine arrival detecting sensor (6) on the first corner machine (22), be arranged on a plurality of cylinder cargo location detecting sensors (7) that cylinder lane of traffic (18) goes up and is used for the run location of goods on cylinder lane of traffic (18) detected, be arranged on the second corner machine arrival detecting sensor (8) on the second corner machine (23), be arranged on that double-speed chain lane of traffic (19) goes up and be used for a plurality of double-speed chain cargo location detecting sensors (9) that goods is detected at the run location on the double-speed chain lane of traffic (19) and be arranged on shipment platform arrival detecting sensor (10) on the shipment platform (21), the mouth of described PLC module (1-1) is connected to for the belt lane of traffic frequency converter (1-3) that belt lane of traffic motor (27) is carried out frequency control, for the cylinder lane of traffic frequency converter (1-4) that cylinder lane of traffic motor (28) is carried out frequency control, for the double-speed chain lane of traffic frequency converter (1-5) that double-speed chain lane of traffic motor (29) is carried out frequency control, what be used for that control goes into goods platform motor (25) start and stop goes into goods platform contactless switch (1-6), be used for the dynamo-electric positive contactor of machine (1-7) of first corner that the control dynamo-electric machine of first corner (35) is just changeing, the dynamo-electric machine counter-rotating of first corner contactless switch (1-8) that is used for the control dynamo-electric machine of first corner (35) counter-rotating, the first corner machine air-pump inflating relay (1-9) that is used for the inflation of the control first corner machine air pump (30), the first corner machine air pump venting relay (1-10) that is used for the venting of the control first corner machine air pump (30), be used for the dynamo-electric positive contactor of machine (1-11) of second corner that the control dynamo-electric machine of second corner (36) is just changeing, the dynamo-electric machine counter-rotating of second corner contactless switch (1-12) that is used for the control dynamo-electric machine of second corner (36) counter-rotating, the second corner machine air-pump inflating relay (1-13) that is used for the inflation of the control second corner machine air pump (31), the second corner machine air pump venting relay (1-14) that is used for the venting of the control second corner machine air pump (31), be used for the shipment platform contactless switch (1-15) of control shipment platform motor (26) start and stop and be used for the flexible station stopper contactless switch (1-16) of control station stopper (24), described belt lane of traffic motor (27) joins with described belt lane of traffic frequency converter (1-3), described cylinder lane of traffic motor (28) joins with described cylinder lane of traffic frequency converter (1-4), described double-speed chain lane of traffic motor (29) joins with described double-speed chain lane of traffic frequency converter (1-5), describedly go into goods platform contactless switch (1-6) and be connected in the current supply circuit of goods platform motor (25), be connected in the current supply circuit of the dynamo-electric machine of first corner (35) after the dynamo-electric positive contactor of machine (1-7) of described first corner and the dynamo-electric machine counter-rotating contactless switch of first corner (1-8) are parallel with one another, be connected in the current supply circuit of the first corner machine air pump (30) after the described first corner machine air-pump inflating relay (1-9) and first corner machine air pump venting relay (1-10) are parallel with one another, be connected in the current supply circuit of the dynamo-electric machine of second corner (36) after the dynamo-electric positive contactor of machine (1-11) of described second corner and the dynamo-electric machine counter-rotating contactless switch of second corner (1-12) are parallel with one another, be connected in the current supply circuit of the second corner machine air pump (31) after the described second corner machine air-pump inflating relay (1-13) and second corner machine air pump venting relay (1-14) are parallel with one another, described shipment platform contactless switch (1-15) is connected in the current supply circuit of shipment platform motor (26), and described station stopper contactless switch (1-16) is connected in the current supply circuit of station stopper (24); The input end of described Embedded Motion (2-1) is connected to the piler state detection sensor that detects for the mode of operation to piler (16), the mouth of described Embedded Motion (2-1) is connected to X-axis motor servo driver (2-3), Y-axis motor servo driver (2-4) and Z shaft step motor actuator (2-5), described X-axis servomotor (32) joins with described X-axis motor servo driver (2-3), described Y-axis servomotor (33) joins with described Y-axis motor servo driver (2-4), and described Z shaft step motor (34) joins with described Z shaft step motor actuator (2-5).
2. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: described monitoring upper computer (3) is industrial control computer.
3. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: described PLC module (1-1) is S7-200 series of PLC module, and a described Profibus bus communication module (1-2) is the EM277 communication module.
4. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: described Embedded Motion (2-1) is solid high GT movement sequence controller.
5. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: describedly go into goods platform arrival detecting sensor (4), belt cargo location detecting sensor (5) and shipment platform arrival detecting sensor (10) are opto-electronic pickup, described cylinder cargo location detecting sensor (7), double-speed chain cargo location detecting sensor (9), the first corner machine arrival detecting sensor (6) and the second corner machine arrival detecting sensor (8) are stroke sensor, the quantity of described station stopper (24) be a plurality of and respectively correspondence be arranged on the rear of a plurality of described double-speed chain cargo location detecting sensors (9).
6. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: described piler state detection sensor comprises and is arranged on that piler track (15) is gone up and is used for piler (16) in a plurality of piler run location detecting sensors (11) that the run location on the piler track (15) detects be arranged on piler (16) frame under the loading platform that is positioned at described piler (16) and for the piler loading platform position-detection sensor (12) that the position of the loading platform of piler (16) is detected.
7. according to the described a kind of three-dimensional logistics system intelligence control system of claim 1, it is characterized in that: described piler run location detecting sensor (11) and piler loading platform position-detection sensor (12) are micro-switch, the quantity of described piler run location detecting sensor (11) is four, and two head ends that are disposed on described piler track (15) wherein, two other is disposed on the tail end of described piler track (15); The quantity of described piler loading platform position-detection sensor (12) is two.
CN 201320063592 2013-01-31 2013-01-31 Intelligent control system of stereo logistics system CN203064612U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103112680A (en) * 2013-01-31 2013-05-22 西安科技大学 Stereo logistics system access cargo path optimization control system and method
CN104495184A (en) * 2014-12-21 2015-04-08 江苏省烟草公司常州市公司 Automatic stereoscopic warehouse for tobacco stacks
CN104555220A (en) * 2014-12-03 2015-04-29 西安科技大学 RFID (Radio Frequency Identification)-based small-sized three-dimensional warehouse and goods storage control method thereof
CN104609086A (en) * 2015-01-12 2015-05-13 世仓物流设备(上海)有限公司 Four-directional shuttle vehicle control system based on road right tokens
CN104773432A (en) * 2015-04-20 2015-07-15 南京我乐家居制造有限公司 Automatic warehouse output and input device and method of plate production line
CN105292896A (en) * 2015-11-20 2016-02-03 苏州铭冠软件科技有限公司 Automatic stereoscopic warehouse system
CN105416963A (en) * 2015-12-17 2016-03-23 德阳九鼎智远知识产权运营有限公司 Automatic stereoscopic warehouse and control system thereof
CN105858046A (en) * 2016-06-06 2016-08-17 惠州市普源宏业科技有限公司 Intelligent crane type warehousing system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103112680A (en) * 2013-01-31 2013-05-22 西安科技大学 Stereo logistics system access cargo path optimization control system and method
CN104555220A (en) * 2014-12-03 2015-04-29 西安科技大学 RFID (Radio Frequency Identification)-based small-sized three-dimensional warehouse and goods storage control method thereof
CN104495184A (en) * 2014-12-21 2015-04-08 江苏省烟草公司常州市公司 Automatic stereoscopic warehouse for tobacco stacks
CN104609086A (en) * 2015-01-12 2015-05-13 世仓物流设备(上海)有限公司 Four-directional shuttle vehicle control system based on road right tokens
CN104773432A (en) * 2015-04-20 2015-07-15 南京我乐家居制造有限公司 Automatic warehouse output and input device and method of plate production line
CN104773432B (en) * 2015-04-20 2017-05-10 南京我乐家居股份有限公司 Automatic warehouse output and input device and method of plate production line
CN105292896A (en) * 2015-11-20 2016-02-03 苏州铭冠软件科技有限公司 Automatic stereoscopic warehouse system
CN105416963A (en) * 2015-12-17 2016-03-23 德阳九鼎智远知识产权运营有限公司 Automatic stereoscopic warehouse and control system thereof
CN105416963B (en) * 2015-12-17 2018-11-09 陈辉 A kind of automatic stereowarehouse and its control system
CN105858046A (en) * 2016-06-06 2016-08-17 惠州市普源宏业科技有限公司 Intelligent crane type warehousing system

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