Automatic stereowarehouse is a kind of class warehouse that can be automatically performed and pick and place goods function.Piler is automated three-dimensional
Realize that automation picks and places the nucleus equipment of goods in warehouse, three direction coordinated movements of various economic factors of piler simultaneously pass through electrical control, automatically will
Cargo unit is stored in or takes out tiered warehouse facility, can complete the access procedure of efficient handling of goods and materials and automation, effective section
About human cost and management cost.
With the increase of the height and speed of lane stacker, piler itself waves aggravation in docking process, directly
Connect and have influence on its operating efficiency and security.Current China, the piler for generally using is anti-to wave technology, substantially directly
Wave phenomenon to eliminate for piler vibration characteristics in itself, due to the operation acceleration of vibration characteristics and piler and itself
Mechanical structure is all directly related, therefore every vibration characteristics of piler all has specificity, it is necessary to be directed to specific stacking in advance
Machine is calculated, or increases angular transducer and carry out Real-time Feedback to waving phenomenon, can be by changing the machinery of piler
Structure or existing operation curve reach the purpose for eliminating and waving phenomenon.
Meanwhile, the operation curve of piler has direct relation with operation speed governing again, and common operation speed governing is by programmable control
Device (PLC) control processed, it is given to run the different speed of service of motor to reach speed governing mesh by desired value and currency difference
's.Due to the specificity of piler mechanical structure, and external environment condition difference, every optimal speed governing distance of piler not phases
Together, conventional speed control principle cannot eliminate specificity, cause electrical control to realize standardization, increased in debugging process when
Between cost and human cost.Meanwhile, conventional piler speed governing uses the speed Control of constant acceleration, when the whole height of piler
And the speed of service is when reaching a threshold value, bottom drives the hard acceleration and deceleration of piler to cause that the upper end of piler is waved
Phenomenon, increases the parking positioning time of piler, and loading platform accurate positioning when top picks and places goods declines, and makes piler metal knot
There is vibrating fatigue in structure, be a relatively inefficient use, and control effect is difficult to ensure that.
Also have by increasing piler upper drive mechanism to realize upper and lower speed sync, this is needed on conventional piler
Increase other set device, cost increases.
Utility model content
(1) technical problem to be solved
The purpose of this utility model is to provide piler anti-sway device and piler, is shaken with solving reduction piler end
Shimmy width, eliminates piler because waving the restricted problem of the height and speed of service limiting value caused by phenomenon.
(2) technical scheme
In order to solve the above-mentioned technical problem, the utility model provides a kind of piler anti-sway device, and it includes：Control
Device, frequency converter, electric machine assembly and position sensor, wherein, the position sensor is arranged at the level moving machinery of piler
On, the controller, the sensor, the electric machine assembly are connected with the frequency converter respectively；The electric machine assembly with it is described
Level moving machinery is connected.
In certain embodiments, preferably, the electric machine assembly includes：Connected motor and motor encoder, the electricity
Machine is connected with the level moving machinery, and the motor encoder accesses the frequency converter by terminal interface.
In certain embodiments, preferably, the motor encoder includes：Connected motor rotations collector and signal are changed
Calculate device；The motor rotations collector and the motor connection, the signal route marker access the frequency conversion by terminal interface
In certain embodiments, preferably, the position sensor is laser range finder.
In certain embodiments, preferably, the position sensor accesses the frequency converter by plug interface.
In certain embodiments, preferably, the controller includes：Connected human-computer interaction interface and PLC technology
Device, the human-computer interaction interface is provided with target location input frame, and the Programmable Logic Controller is connected with the frequency converter.
In certain embodiments, preferably, the frequency converter includes：Locator, location processor, power take off and many
Individual interface, the locator is converted with the signal of the position sensor, controller and electric machine assembly respectively by interface respectively
Device is connected；The location processor is connected with the locator, the power take off respectively, the power take off with it is described
The motor connection of electric machine assembly.
In certain embodiments, preferably, the frequency converter also includes：Setting value filter, the setting value filter
It is arranged on the connection line between the locator and the location processor.
The utility model additionally provides a kind of piler, and it includes that level moving machinery and above-mentioned piler are prevented waving dress
Put, the position sensor of the piler anti-sway device is arranged on the level moving machinery, the piler is anti-to wave
The electric machine assembly of device is connected with the level moving machinery.
In certain embodiments, preferably, the level moving machinery includes：Active wheels, follower group and girder steel knot
Structure, the steel beam structure is installed in the active wheels and the follower group.
In certain embodiments, preferably, the piler is the double-column piler that bottom singly drives
(3) beneficial effect
The technology that the utility model is provided, position sensor gathers the position of piler level moving machinery, with reference to frequency conversion
Device receives the given target location of controller, and frequency converter carries out VFC, with the operation of controlled motor component, electric machine assembly band
Dynamic level moving machinery carries out gear shift curve operating, to reduce swing amplitudes of the piler in startup and stopping, eliminating stacking
Machine is because the column waved caused by phenomenon is rocked.
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is used to illustrate the utility model, but is not limited to scope of the present utility model.
Based in the prior art in order to be processed when preventing from piler from waving causing deviations and the low problem of location efficiency
Mode is complicated, the problem of DeGrain, and the utility model provides a kind of piler anti-sway device and piler.
Next, being specifically described by basic engineering, extension design and alternative design：
A kind of piler anti-sway device, as shown in figure 1, it is main by controller, frequency converter 5, electric machine assembly and position
Sensor 9 is constituted.Wherein, position sensor 9 is arranged on the level moving machinery of piler, collection piler real time execution
Locating numerical.Controller, sensor, electric machine assembly are connected with frequency converter 5 respectively, are uploaded with frequency converter 5 or passed down with various
The signal transmission of the information content.Electric machine assembly is connected with level moving machinery, drives level moving machinery motion.
The basic functional principle of said structure is：Controller is used to receiving the target location of outside input, and by target position
Put and be converted to frequency converter readable data and be transferred to frequency converter 5；Electric machine assembly is by real-time revolution information transfer to frequency converter 5；Position
Sensor 9 is put by the location transmission of piler to frequency converter 5；The combining target position of frequency converter 5, revolution, the real-time position of piler
Put, the inside speed governing algorithm of frequency converter basic fixed position function determines that motor 8 runs power, carries out the speed governing of motor operation, runs
Power passes back to electric machine assembly, and electric machine assembly is adjusted according to corresponding operation power, operates.
Specific to electric machine assembly, it is mainly made up of motor 8 and motor encoder 7, and motor 8 is driven with level moving machinery
Connection, motor encoder 7 accesses frequency converter 5 by terminal interface 4.Frequency values and power that motor 8 is transmitted to out according to frequency converter 5
Value work.After motor encoder 7 is by the real-time revolution coding of motor 8, by terminal interface 4 by comprising real-time revolution information
Signal is sent to frequency converter 5.Exist between electric machine assembly and frequency converter 5 and upload and two information communications of download information.
In certain embodiments, motor 8 can select the model of SEW.
In certain embodiments, it is main by motor rotations collector and signal route marker, motor rotations for motor encoder 7
Collector is connected with motor 8, and signal route marker accesses frequency converter 5 by terminal interface 4.Motor rotations collector is used to adopt in real time
Collect the revolution of motor 8, frequency converter 5 is sent to after the real-time revolution conversion that signal route marker gathers motor rotations collector.
Wherein, position sensor is laser range finder, can be arranged as required in some position of level moving machinery
Put, the locating numerical of piler real time execution is accessed into frequency converter 5.
It should be noted that the specific installation site of laser range finder can be exchanged according to actual application environment.Together
When, the number of laser range finder can also set multiple, and multiple can be connected with frequency converter 5, in certain embodiments, can be with
Selection simultaneous communications, it is also possible to carry out selective communication, the mode that other communication lines can be closed when selectively communication is entered
Position sensor 9 can use the connected mode of various signal transmissions with frequency converter 5, such as：Position sensor leads to
Cross plug interface 6 and access frequency converter 5.
In addition, specific to controller, it essentially consists in man-machine interaction, the functions such as target location, display are obtained.Its it is main by
Connected Project Configuration 1, human-computer interaction interface 2 and Programmable Logic Controller 3 are constituted.It is defeated that human-computer interaction interface 2 is provided with target location
Enter frame, the target location input frame can be input through keyboard, screen handwriting input, voice collecting input, predeterminated position selection
Deng multiple input modes, multiple input modes can and be deposited, it is also possible to simultaneously be deposited or single setting part.Programmable Logic Controller 3, uses
In by various input information such as target location be changed into machinery prophesy or can transmit, readable signal is transferred to frequency converter 5.Control
Connected by communication modes between device and frequency converter 5, controller can realize point-to-point absolute position to frequency converter 5 by program
Control function is put, controller does not realize speed-regulating function in itself.
In certain embodiments, controller can be selected and can passed through between Siemens S7-1500, with frequency converter 5
PROFINET agreements are communicated, and controller is assigned using the DriveLib storehouses SINA_POS that TIAPortal is provided to frequency converter 5
Message, realizes the position such as Jog, Homing, MDI control function.
Based on above-mentioned various parts, frequency converter 5 is very important information processing, the implementation tool of the operational decisions of motor 8,
It is main to be made up of locator, location processor, power take off and multiple interfaces, locator respectively by interface respectively with position
The signal route marker connection of sensor 9, controller and electric machine assembly is put, to obtain piler real time position, target location, motor
8 real-time revolutions, the information such as fluctuating acceleration parameter is introduced, and be sent to location processor after these information are done into simple process；Position
Put processor carries out generating after the treatment of logical process and internal speed governing algorithm basic fixed position and the operation work(of piler to information
Rate.Basic fixed position and operation power are exported to electric machine assembly by power take off.And realize being closed with double by the speed governing of frequency converter 5
Ring is controlled, and makes piler realize becoming Accelerating running, so that mitigate piler waves phenomenon.
It should be noted that reducing the purpose of mechanical system vibration in order to reach, frequency converter 5 also includes：Setting value filtering
Device, setting value filter is loaded to be prevented waving algorithm, and setting value filter is arranged at the connection between locator and location processor
On circuit, the time cost of walking positioning can be further saved, while increasing the stability of system architecture.
Setting value filter can be realized preventing waving algorithm by software kit OA-VIBX.
It should be noted that controller, frequency converter 5, electric machine assembly may be constructed three level hardware configurations from top to bottom,
Or possess the system engineering of this signal transmission structure.
In double-closed-loop control, fast debugging is completed according to the model of motor 8 first, complete the control of internal layer speed ring.Position
Ring is then combined to optimize by the Control panel in debugging acid Starter with Trace function phases.After realizing two close cycles,
The feedforward of adjustment position ring, and fluctuating acceleration parameter is introduced, realize more preferable dynamic response and precise positioning.
More fully protected to be done to technology, new piler is main to wave dress by level moving machinery and piler are anti-
Put composition.The position sensor of piler anti-sway device is arranged on level moving machinery, the electricity of piler anti-sway device
Thermomechanical components are connected with level moving machinery.
Wherein, level moving machinery is mainly made up of active wheels, follower group and steel beam structure, and steel beam structure is installed on
In active wheels and follower group, the level moving machinery band mechanical pilar entirety that bottom drives is transported in track along roadway direction
The piler is the double-column piler that bottom singly drives
The beneficial effects of the invention are as follows the piler based on frequency converter operation speed regulating control in the present invention is prevented waving skill
Art, compared with conventional piler is prevented waving technology, is only mitigated by changing the operation curve of piler and waves phenomenon, with heap
Stack machine mechanical structure in itself is not directly dependent upon, it is not necessary to the machinery specificity of piler is considered, without changing piler
The vibration amplitude and frequency of mechanical structure or calculated in advance or test piler.
The piler based on frequency converter operation speed regulating control in the present invention is prevented waving technology, introduces the general of fluctuating acceleration
Read, improve the hardware features of piler operation curve, alleviate open firmly, the inertia impact that hard stop is caused to piler, from basic
On the reason for alleviate piler and wave phenomenon, rather than eliminated for vibration characteristics.
The piler based on frequency converter operation speed regulating control in the present invention is prevented waving technology, introduces frequency converter timing
Pattern, eliminates the specificity of upper Programmable Logic Controller speed governing program, realizes the standardization of programmable controller program.
Although being described to preferred embodiment of the invention above in conjunction with accompanying drawing, the invention is not limited in above-mentioned
Specific embodiment and components selection, above-mentioned specific embodiment is only schematical, be not it is restricted, this
The those of ordinary skill in field is not departing from the present invention and scope of the claimed protection situation under enlightenment of the invention
Under, many forms can also be made, these are belonged within protection scope of the present invention.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.