CN211811614U - Stacker unit control device - Google Patents
Stacker unit control device Download PDFInfo
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- CN211811614U CN211811614U CN202020116812.3U CN202020116812U CN211811614U CN 211811614 U CN211811614 U CN 211811614U CN 202020116812 U CN202020116812 U CN 202020116812U CN 211811614 U CN211811614 U CN 211811614U
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Abstract
The application discloses stacker unit controlling means includes: the device comprises a horizontal operation module, a longitudinal operation module, a telescopic goods taking module and a control module; the control module is respectively connected with the horizontal operation module, the longitudinal operation module and the telescopic goods taking module; the control module comprises a speed regulating unit, a distance measuring unit and a control unit, the speed regulating unit and the distance measuring unit are connected with the control unit, the distance measuring unit monitors in real time to obtain position data of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module and transmits the position data to the control unit, so that the control unit can adjust movement routes of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module according to the position data through the speed regulating unit. The method and the device solve the technical problem that in the prior art, the resource utilization rate of the storage facilities is less than 40% due to the fact that existing storage management is backward, the logistics efficiency is generally low, and the storage cost is reduced.
Description
Technical Field
The application relates to the technical field of automatic stereoscopic warehouses, in particular to a stacker single-machine control device.
Background
The automatic stereoscopic warehouse is an important component in modern logistics, is a system for automatically storing and taking materials without direct manual processing, is a high-tech product developed by the modern industrial society, and has important significance for improving the productivity and reducing the cost. In the early 70 s of the 20 th century, China began to research a stereoscopic warehouse adopting a rail roadway type stacker (abbreviated as a stacker). In 1980, the first automatic stereoscopic warehouse in China was put into production in Beijing automobile manufacturers, and the automatic stereoscopic warehouse is rapidly developed in China.
The storage stacker is the core equipment of the whole automatic stereoscopic warehouse, and realizes the purpose of carrying goods from one place to another place through manual operation, semi-automatic operation or full-automatic operation, so that the speed of obtaining and carrying in the storage can be effectively improved, and a large amount of manpower is saved. Since the sixties of the last century, the development and application of the automatic storage stacker to a product have been continuously developed and are applied to the end of an automatic production line in large quantities. The automatic storage stacker is an electromechanical integrated automatic production device which is operated by a person, automatically, can be programmed repeatedly and can finish the storage of articles in a three-dimensional space. Is suitable for flexible production of various products and batches. Plays an important role in improving the production efficiency and improving the labor conditions.
The existing warehouse logistics function is single, the informatization degree is low, the service level and the capability are not high, and the development trend of the existing market demand is difficult to adapt. Most of the traditional warehousing industry is products of planned economic era, and the warehousing industry at that time mainly provides warehousing and a small amount of short-distance transportation services for material or commercial and commercial circulation enterprises in the industry, namely, the traditional logistics business is engaged in, the informatization degree is low, the operation mode is extensive, the economic benefit is not good, and the warehousing management socialization degree is not high. Even in the same enterprise, some internal logistics resources cannot be shared. Due to the fact that existing warehousing management is laggard, the resource utilization rate of warehousing facilities is lower than 40%, and logistics efficiency is generally low.
SUMMERY OF THE UTILITY MODEL
The application provides a stacker unit control device, through the real-time supervision control to the motion module in the three position of stacker, solved prior art because current storage management falls behind, storage facility resource utilization is less than 40%, leads to the technical problem that the commodity circulation efficiency is general low, has improved logistics efficiency, has reduced the storage cost.
The application provides a stacker stand-alone control device, includes:
the device comprises a horizontal operation module, a longitudinal operation module, a telescopic goods taking module and a control module;
the control module is respectively connected with the horizontal operation module, the longitudinal operation module and the telescopic goods taking module;
the control module comprises a speed regulating unit, a distance measuring unit and a control unit, wherein the speed regulating unit and the distance measuring unit are connected with the control unit, the distance measuring unit monitors in real time to obtain position data of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module and transmits the position data to the control unit, so that the control unit adjusts the movement routes of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module according to the position data passing through the speed regulating unit.
Optionally, the speed regulation unit is specifically a frequency converter.
Optionally, the speed regulating unit includes a motor and an encoder, the motor is connected to the encoder, the motor drives the encoder to act when running, and the encoder feeds back a pulse signal to the control unit in the motion process.
Optionally, the telescopic goods taking module is specifically a fork.
Optionally, the speed regulating unit comprises a horizontal speed regulating unit, a longitudinal speed regulating unit and a goods taking speed regulating unit; the horizontal speed regulating unit is connected with the horizontal operation module; the longitudinal speed regulating unit is connected with the longitudinal operation module; the goods taking speed regulating unit is connected with the telescopic goods taking module.
Optionally, the distance measuring unit is specifically a laser measuring instrument, and the laser measuring instrument transmits the position data to the control unit through serial port communication.
Optionally, the control module further includes an address recognizer, connected to the control unit, and configured to receive task information, analyze a task address, obtain speed and torque information according to the task address, and send the speed and torque information to the speed adjusting unit.
Optionally, the addressor comprises a longitudinal addressor and a horizontal addressor, both connected to the control unit.
In order to solve the technical problem existing in the prior art, the application provides a stacker stand-alone control device, including:
the device comprises a horizontal operation module, a longitudinal operation module, a telescopic goods taking module and a control module;
the control module is respectively connected with the horizontal operation module, the longitudinal operation module and the telescopic goods taking module;
the control module comprises a speed regulating unit, a distance measuring unit and a control unit, wherein the speed regulating unit and the distance measuring unit are connected with the control unit, the distance measuring unit monitors in real time to obtain position data of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module and transmits the position data to the control unit, so that the control unit adjusts the movement routes of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module according to the position data passing through the speed regulating unit.
The application provides a pair of stacker unit controlling means, can be through presetting horizontal operation module in advance, vertical operation module, the flexible position data who gets the goods module to in horizontal operation module, vertical operation module, the flexible motion process of getting the goods module, real-time supervision acquires three's position data, contrasts with presetting the position data, and adjusts three's removal orbit according to the comparison result, arrives the task position until the three. The real-time monitoring control of the movement modules in the three directions of the stacker solves the technical problem that the logistics efficiency is generally low due to the fact that the existing warehousing management is backward and the utilization rate of warehousing facility resources is less than 40% in the prior art, improves the logistics efficiency and reduces the warehousing cost.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a stacker stand-alone control device provided in the present application;
fig. 2 is a schematic structural diagram of another embodiment of a stacker stand-alone control device provided in the present application;
reference numerals: a control unit 10; a horizontal addressor 20; a longitudinal addressor 30; a cargo detection module 40; a limit protection module 50; a longitudinal speed regulating unit 60; a horizontal speed regulating unit 70; a pick-up speed regulating unit 80; a longitudinal travel module 90; a horizontally running module 100; a telescopic pick-up module 110; a speed regulating unit 120; a motor 130; a laser measuring instrument 140; an encoder 150.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The stereoscopic warehouse is a warehouse which stores goods by adopting a high-rise goods shelf and performs warehouse-out and warehouse-in operations by using hoisting, loading, unloading and transporting mechanical equipment. Such warehouses are called "stereoscopic warehouses" because they utilize space to store and retrieve goods, mainly through high-rise shelves.
The automatic storage stacker is material handling equipment which shuttles back and forth between goods shelf roadways of an automatic stereoscopic warehouse.
The S7-1500PLC is a central processing unit of Siemens. TIA is software for debugging siemens plc.
The application provides a stacker unit control device, through the real-time supervision control to the motion module in the three position of stacker, solved prior art because current storage management falls behind, storage facility resource utilization is less than 40%, leads to the technical problem that the commodity circulation efficiency is general low, has improved logistics efficiency, has reduced the storage cost.
For easy understanding, please refer to fig. 1, which is a schematic structural diagram of an embodiment of a stacker stand controller provided in the present application;
the embodiment of the application provides a stacker stand-alone control device, includes:
the system comprises a horizontal operation module 100, a longitudinal operation module 90, a telescopic goods taking module 110 and a control module;
the control module is respectively connected with the horizontal operation module 100, the longitudinal operation module 90 and the telescopic goods taking module 110;
the control module comprises a speed regulating unit 120, a distance measuring unit and a control unit 10, the speed regulating unit 120 and the distance measuring unit are both connected with the control unit 10, the distance measuring unit monitors in real time to obtain position data of the horizontal operation module 100, the longitudinal operation module 90 and the telescopic goods taking module 110, and transmits the position data to the control unit 10, so that the control unit 10 can adjust movement routes of the horizontal operation module 100, the longitudinal operation module 90 and the telescopic goods taking module 110 according to the position data through the speed regulating unit 120.
It should be noted that the stacker single-machine control device provided in the embodiment of the present application is composed of a horizontally running walking mechanism, a vertically running hoisting mechanism, a fork extending mechanism for picking and delivering goods, and a control module. The moving motor 130 of the horizontal part and the moving motor 130 of the vertical part may adopt 380V three-phase ac asynchronous motors, and the control unit 10 controls the traveling mechanism running horizontally, the lifting mechanism running vertically and the fork-extending mechanism for picking up and delivering goods through the speed regulating unit 120. The horizontally running module 100, i.e. the horizontally running gear, is mainly used for column addressing, i.e. for transporting goods to a designated goods-placing position in the three-dimensional warehouse. When the stacker is started, the horizontal traveling mechanism of the stacker controls the start of the traveling motor 130 of the horizontal traveling mechanism and the motion control of acceleration, uniform speed, deceleration and stop through the speed curve calculated by the speed regulating unit 120.
The working speed of the longitudinal operation module 90 can be 2-60m/min, namely the lifting mechanism, when the lifting mechanism operates, no matter what speed is selected for the working speed, the pox opening is provided with a low-speed gear, so that the pox opening device can complete stable stopping and micro-lifting operation when goods are taken and placed. Compared with a travelling mechanism and a fork extending mechanism which run horizontally, the hoisting power of the hoisting mechanism is maximum.
The telescopic goods-taking module 110, i.e., the part for directly placing goods, can be extended and retracted to both sides of the stacker. Since the telescopic pick-up module 110 may easily cause damage to the goods if an error occurs during operation, the accuracy of the telescopic pick-up module 110 is very important for accessing the goods. When the telescopic goods taking module 110 reaches the goods position during goods taking, the goods position can move at a constant speed because the width of the goods position is not large.
And the control unit 10 in the control module compares the position data obtained by the measurement of the distance measuring unit with the preset motion process curves of the horizontal operation module 100, the longitudinal operation module 90 and the telescopic goods taking module 110, and if the position data and the preset motion process curves are deviated, the horizontal operation module 100, the longitudinal operation module 90 and the telescopic goods taking module 110 are adjusted until the motion tracks of the three conform to the preset motion process curves.
Further, the speed regulating unit 120 is embodied as a frequency converter.
It should be noted that the speed regulating unit 120 in the embodiment of the present application may be a frequency converter, and after the control unit 10 receives the task information, the task information is stored in the data block, and the position information obtained by calculation is sent to the frequency converter through a logic operation program inside the control unit 10. The frequency converter automatically calculates a motion process curve corresponding to the position information through an internal integrated control circuit according to the received position information, and then drives the connected motor 130 to operate through an output port according to the generated motion process curve. In the moving process, according to the position data acquired by the control unit 10 and the comparison result of the preset moving process curve, if the comparison result is a deviation, the control unit 10 sends a signal to the frequency converter, so that the frequency converter changes the output current signal after calculation by an internal control circuit, and further changes the moving state of the connected motor 130, thereby realizing the adjustment of the moving tracks of the horizontal moving module 100, the longitudinal moving module 90 and the telescopic goods taking module 110.
For easy understanding, please refer to fig. 2, which is a schematic structural diagram of another embodiment of a stacker crane stand-alone control device provided by the present application;
further, the speed regulating unit 120 includes a motor 130 and an encoder 150, the motor 130 is connected to the encoder 150, the motor 130 drives the encoder 150 to act when operating, and the encoder 150 feeds back a pulse signal to the control unit 10 during the movement.
It should be noted that the motor 130 is connected to the encoder 150, so that when the frequency converter drives the motor 130 to operate through the output port according to the preset motion curve generated by the frequency converter, the motor 130 drives the encoder 150 with the coaxial tail shaft of the motor 130 to operate together when the motor 130 operates. The encoder 150 continuously transmits a pulse signal while rotating together with the motor 130, and feeds back the pulse signal to the control unit 10 through a connection cable with the control unit 10. The control unit 10 performs operation and analysis by using its internal circuit according to the pulse signal fed back by the encoder 150, and obtains data of the same data type as the initially given position data, and compares the two data, thereby tracking the actual operation state of the stacker. And if the stacker does not act according to the preset running track, carrying out corresponding adjustment action.
Further, the telescopic pick-up module 110 is embodied as a fork.
It should be noted that the telescopic goods taking module 110 may be a fork, which reaches the goods location when in stock and takes goods through actions of lifting, extending, releasing and retracting, and the like, and when unloading goods, takes goods through actions of extending, lifting, releasing and the like.
Further, the speed regulating unit 120 includes a horizontal speed regulating unit 70, a longitudinal speed regulating unit 60 and a goods taking speed regulating unit 80; the horizontal speed regulating unit 70 is connected with the horizontal running module 100; the longitudinal speed regulating unit 60 is connected with the longitudinal running module 90; the goods taking speed regulating unit 80 is connected with a telescopic goods taking module 110.
It should be noted that, in order to realize the precise control of the operations of the horizontal operation module 100, the longitudinal operation module 90, and the telescopic goods taking module 110, the three modules are respectively provided with corresponding speed regulating units 120, namely, the horizontal speed regulating unit 70, the longitudinal speed regulating unit 60, and the telescopic goods taking speed regulating unit 80. After receiving the task information, the control unit 10(PLC) analyzes the task address, and sends the speed and torque information corresponding to the task address to the three speed adjusting units 120, that is, the three frequency converters, respectively, through network communication, so that the three frequency converters adjust output current through their internal control circuits, and drive their respective connected motors 130 to move according to the speed curves calculated by the frequency converters. At the same time, the coaxial encoder 150 connected to the tail shaft of the motor 130 moves synchronously with the motor 130, and sends a pulse signal to the control unit 10 in real time during the movement process, so that the control unit 10 obtains the rotation speed of the motor 130 in real time according to the feedback period and frequency of the pulse signal. And the absolute position data acquired by the distance measuring unit is compared with the preset movement position data, and whether the movement track needs to be adjusted is judged according to the comparison result.
Further, the distance measuring unit is specifically a laser measuring instrument 140, and the laser measuring instrument 140 transmits the position data to the control unit 10 through serial port communication.
It should be noted that the distance measuring unit may be a laser measuring instrument 140, and the laser measuring instrument 140 obtains absolute position data of the horizontal operation module 100, the longitudinal operation module 90, and the telescopic goods taking module 110 in real time during the movement of the motor 130, and sends the measured position data to the control unit 10 for feedback through serial port communication.
Further, the control module further includes an address recognizer, connected to the control unit 10, and configured to receive the task information, analyze a task address, obtain speed and torque information according to the task address, and send the speed and torque information to the speed adjusting unit 120.
It should be noted that the control module further includes an address translator connected to the control unit 10, and the address translator is configured to analyze a task address through a corresponding address translator after the task information is received by the control unit 10(PLC), and send speed and torque information corresponding to the task address to the three speed adjusting units 120, that is, the three frequency converters through network communication, so that the three frequency converters adjust output currents through internal control circuits thereof, and drive the motors 130 connected thereto respectively to move according to speed curves calculated by the frequency converters.
Further, the addressor comprises a longitudinal addressor 30 and a horizontal addressor 20, both connected to the control unit 10.
It should be noted that, the control unit 10 is respectively connected to the vertical and horizontal locators 30 and 20, and is respectively configured to, after receiving the task information, the control unit 10(PLC) analyzes the task address in the horizontal direction or the vertical direction through the vertical and horizontal locators 30 and 20, and respectively sends the speed torque information corresponding to the task address to the three speed adjusting units 120, that is, the three frequency converters through network communication, so that the three frequency converters adjust the output current through their internal control circuits, and drive their respective connected motors 130 to move according to the speed curve calculated by the frequency converters. In particular, the control unit 10 of the present application may be a Siemens S7-1500 PLC. The motion motor 130 of the horizontal part and the motion motor 130 of the vertical part can adopt a 380V three-phase alternating current asynchronous motor, and are controlled by Siemens S7-1500PLC through frequency converters. The fork extending mechanism motor 130 adopts a 380V three-phase alternating current asynchronous motor and is controlled by Siemens S7-1500PLC through communication connection. In addition, the goods detection module 40 and the limiting protection module 50 are further arranged, when the goods detection module 40 detects that the goods fall off, the limiting protection module 50 intercepts the goods to prevent the goods from falling off, and the goods on the surface are damaged.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. A stacker stand-alone control device is characterized by comprising:
the device comprises a horizontal operation module, a longitudinal operation module, a telescopic goods taking module and a control module;
the control module is respectively connected with the horizontal operation module, the longitudinal operation module and the telescopic goods taking module;
the control module comprises a speed regulating unit, a distance measuring unit and a control unit, wherein the speed regulating unit and the distance measuring unit are connected with the control unit, the distance measuring unit monitors in real time to obtain position data of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module and transmits the position data to the control unit, so that the control unit adjusts the movement routes of the horizontal operation module, the longitudinal operation module and the telescopic goods taking module according to the position data passing through the speed regulating unit.
2. The stacker stand-alone control device according to claim 1, wherein the speed regulating unit is a frequency converter.
3. The stacker stand-alone control device according to claim 1, wherein the speed regulating unit comprises a motor and an encoder, the motor is connected with the encoder, the motor drives the encoder to act when running, and the encoder feeds back a pulse signal to the control unit during the running process.
4. The stacker stand controller according to claim 1, wherein said retractable pickup module is a fork.
5. The stacker stand-alone control device according to claim 1, wherein the speed regulating unit comprises a horizontal speed regulating unit, a longitudinal speed regulating unit and a goods taking speed regulating unit; the horizontal speed regulating unit is connected with the horizontal operation module; the longitudinal speed regulating unit is connected with the longitudinal operation module; the goods taking speed regulating unit is connected with the telescopic goods taking module.
6. The stacker stand-alone control device according to claim 1, wherein the distance measuring unit is a laser measuring instrument, and the laser measuring instrument transmits the position data to the control unit through serial port communication.
7. The stacker stand-alone control device according to claim 1, wherein the control module further comprises an address recognizer, connected to the control unit, for receiving task information, analyzing a task address, obtaining speed and torque information according to the task address, and sending the speed and torque information to the speed regulation unit.
8. The stacker crane stand control apparatus according to claim 7, wherein said addresser comprises a vertical addresser and a horizontal addresser, both connected to said control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020116812.3U CN211811614U (en) | 2020-01-17 | 2020-01-17 | Stacker unit control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020116812.3U CN211811614U (en) | 2020-01-17 | 2020-01-17 | Stacker unit control device |
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| CN211811614U true CN211811614U (en) | 2020-10-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086815A (en) * | 2020-01-17 | 2020-05-01 | 广东电网有限责任公司计量中心 | Stacker single machine control device and method |
| CN114644305A (en) * | 2022-03-02 | 2022-06-21 | 北自所(北京)科技发展股份有限公司 | Upright heavy-load stacker and cargo carrying platform leveling method and device thereof |
-
2020
- 2020-01-17 CN CN202020116812.3U patent/CN211811614U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086815A (en) * | 2020-01-17 | 2020-05-01 | 广东电网有限责任公司计量中心 | Stacker single machine control device and method |
| CN114644305A (en) * | 2022-03-02 | 2022-06-21 | 北自所(北京)科技发展股份有限公司 | Upright heavy-load stacker and cargo carrying platform leveling method and device thereof |
| CN114644305B (en) * | 2022-03-02 | 2022-12-23 | 北自所(北京)科技发展股份有限公司 | Upright heavy-load stacker and cargo carrying platform leveling method and device thereof |
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