CN218298837U - Centering transfer vehicle control system - Google Patents

Centering transfer vehicle control system Download PDF

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Publication number
CN218298837U
CN218298837U CN202222619993.3U CN202222619993U CN218298837U CN 218298837 U CN218298837 U CN 218298837U CN 202222619993 U CN202222619993 U CN 202222619993U CN 218298837 U CN218298837 U CN 218298837U
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China
Prior art keywords
centering
motor
walking
control board
workpiece
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Active
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CN202222619993.3U
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Chinese (zh)
Inventor
陆利新
郑荣书
高文
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Zhejiang Zunyou Intelligent Equipment Co ltd
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Zhejiang Zunyou Intelligent Equipment Co ltd
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Priority claimed from CN202111463958.0A external-priority patent/CN114153170A/en
Priority claimed from CN202111478004.7A external-priority patent/CN114397863A/en
Application filed by Zhejiang Zunyou Intelligent Equipment Co ltd filed Critical Zhejiang Zunyou Intelligent Equipment Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The centering transfer vehicle control system is characterized in that a main controller is in communication connection with an industrial control board arranged on a centering transfer vehicle through a wireless network; the device also comprises a walking motor for controlling the walking mechanism to move horizontally, a first centering motor for driving the first translation mechanism to move transversely, a second centering motor for driving the second translation mechanism to move longitudinally and a distance measuring unit for measuring the longitudinal distance between two ends of the workpiece; the walking motor, the first centering motor, the second centering motor and the distance measuring unit are respectively in communication connection with the industrial control board. Distance information is respectively obtained by the distance measuring units positioned at the front end and the rear end of the workpiece, and then longitudinal translation is carried out, so that the centering operation is simple and convenient, additional equipment or complex software is not required to be started, and the cost is saved; the unified operation command of each mechanism is realized; the running state of each mechanism is sensed in real time, signals are transmitted in real time, and an alarm is given in time; the operation of centering transfer car is high-efficient, the simple operation, and the accident rate is low.

Description

Centering transfer vehicle control system
Technical Field
The utility model belongs to the technical field of storage logistics equipment's control and specifically relates to centering moves and carries car control system.
Background
At present, rail connection is generally arranged between a plurality of different goods shelves and warehouses in warehouse logistics, and a transfer cart is used for conveying workpieces. In the process of acquiring goods and conveying the goods to the next place by the rail shuttle, the workpiece is placed on the shuttle normally manually at the beginning, so that the position of the workpiece is inaccurate/the precision of the workpiece is insufficient, and the workpiece cannot completely correspond to the grabbing component of the next place when the workpiece reaches the preset position. In order to solve the problem, the position of the goods is usually determined again after the vehicle is stopped, or a centering recognition device is additionally arranged to assist in grabbing the parts, so that not only is time and labor wasted, but also additional equipment is required to be added, and the time and manufacturing cost of warehouse logistics are increased.
The problem is solved by designing a centering transfer vehicle capable of performing centering adjustment in the re-conveying process, wherein the centering transfer vehicle comprises a walking mechanism, a transverse and longitudinal translation mechanism and a plurality of distance measuring units. The mechanism is provided with a plurality of motors serving as power sources, and the motors need to be replaced and operated stage by stage so as to realize smooth operation and improve the working efficiency; the operation of each part in each mechanism needs to meet the requirements, and the moving position and the working state of each part are both required and limited, so that the condition of each part needs to be sensed in real time so as to better operate, find faults in time and avoid accidents. If a plurality of mechanisms are independently controlled, a unified remote system is not provided, the operation difficulty is high, and the workpiece transfer efficiency is low; and the fault condition is difficult to be detected in time, and the requirement of actual operation cannot be met.
Disclosure of Invention
The utility model discloses a solve current problem, aim at providing a centering transfer car control system.
In order to achieve the purpose, the utility model adopts the technical proposal that the device comprises a walking mechanism, a first translation mechanism, a second translation mechanism, a plurality of distance measuring units and a main controller, wherein the main controller is provided with a control panel for manual operation; the main controller is in communication connection with an industrial control board arranged on the centering transfer vehicle through a wireless network; the lifting transfer vehicle also comprises a walking motor for controlling the walking mechanism to move horizontally, a first centering motor for driving the first translation mechanism to move transversely, a second centering motor for driving the second translation mechanism to move longitudinally and a distance measuring unit for measuring the longitudinal distance between two ends of a workpiece; the walking motor, the first centering motor, the second centering motor and the distance measuring unit are respectively in communication connection with the industrial control board.
The first translation mechanism comprises a telescopic arm, and a bracket for placing a workpiece is arranged on the upper end face of the telescopic arm; a weight sensor for measuring the weight of the obtained workpiece is arranged at the bottom of the bracket, and a telescopic distance sensor for obtaining the moving distance of the telescopic arm is arranged on the telescopic arm; the weight sensor and the telescopic distance sensor are respectively in communication connection with the industrial control board and send signals.
The distance measuring units are longitudinally arranged at two ends of a central axis of the walking mechanism; after the first translation mechanism transversely moves the workpiece to the middle part, the distance measuring units respectively detect the distances between the workpiece and the two ends of the workpiece and send distance signals to the industrial control board; and driving the second centering motor to adjust the longitudinal position of the workpiece until the two distance signals are consistent.
The industrial control board is also in communication connection with a plurality of walking limit sensors which limit the moving range of the walking mechanism on the rail in the walking mechanism, and the walking limit sensors send alarm signals to the industrial control board when exceeding a threshold value or finding faults.
The industrial control board finishes acquisition of manual control signals, limit signals or alarm signals of the control board through the switching value input module; finishing pulse output to the traveling motor, the first centering motor or the second centering motor through a high-speed pulse output module; the output of direction signals of the walking motor, the first centering motor or the second centering motor is finished through the switching value output module; and the analog input module is used for completing signal acquisition of the walking limit sensor, the weight sensor, the distance measuring unit and the telescopic distance sensor.
The industrial control board is communicated with the WIFI module through the RS485 communication module, and the WIFI module is in communication connection with the main controller through a wireless network.
The battery unit is arranged in a battery box of the walking mechanism, and is respectively connected with drivers of the walking motor, the lifting motor and the telescopic motor through a main power relay on a main power circuit and supplies power; the industrial control board inputs pulse and direction to each driver, and the driver accesses the alarm signal to the first industrial control board. The four pairs of normally closed contacts controlled by the main power relay respectively control U, V, W and N, and the coils of the normally closed contacts are electrified and disconnected in emergency, so that a main power circuit is cut off, and the whole system is protected. The battery unit also comprises an electric quantity detection sensor for detecting the electric quantity of the battery unit; and when the electric quantity is lower than the safety threshold value, the electric quantity detection sensor sends an alarm signal to the main controller.
Compared with the prior art, the distance measuring unit respectively acquires distance information by the distance measuring units positioned at the front end and the rear end of the workpiece, and then longitudinally translates, so that the centering operation is simple and convenient, additional equipment or complex software is not required to be started, and the cost is also saved; the main controller remotely controls the industrial control board to respectively control the starting and stopping of the walking motor, the first translation mechanism and the second translation mechanism, and is in communication connection with a plurality of sensors for acquiring the stress states of the positions and the weights of the mechanical parts, so that the unified operation command of each mechanism is realized; the sensor senses the running state of each mechanism in real time, transmits signals in real time and gives an alarm in time; the operation of centering transfer car is high-efficient, the simple operation, and the accident rate is low.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a centering transfer cart;
FIG. 3 is a schematic structural view of a centering transfer cart;
FIG. 4 is a schematic structural view of the centering device;
fig. 5 is a cross-sectional view of the first translation mechanism;
fig. 6 is an electrical schematic diagram of an embodiment of the present invention;
referring to the attached drawings, a traveling wheel 1, an underframe 2, a mounting bracket 3, a telescopic arm 4, a first centering motor 5, a telescopic base 6, a battery box 7, a distance measuring unit 8, a traveling limit sensor 9, a motor 10, a speed reducer 11, a dovetail groove 12, a second centering motor 13, a polished rod 14, a centering screw 15, a support 16, a driving gear 17, a rack 18, a bearing 19, a gear 20, a telescopic distance sensor 21 and a weight sensor 22 are arranged on the traveling wheel.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings.
Referring to fig. 1 to 6, fig. 1 to 6 show an embodiment of the present invention, which includes a walking device for horizontal walking of the whole mechanism and a centering device for centering the mechanism after loading cargo. Referring to fig. 1, the control part of the present embodiment includes a main controller, which is an industrial computer, and the main controller, which is a client, is provided with a control panel for manual operation, on which an operation button is provided; and a display screen is also arranged. The main controller is in communication connection with an industrial control board arranged on the centering transfer car through a wireless network, and controls the walking mechanism, the first translation mechanism, the second translation mechanism and the two distance measuring units which are respectively used for measuring the longitudinal distance of two ends of the workpiece.
The main controller is in communication connection with the industrial control board through the WIFI module; the WIFI module receives and sends information through an MQTT protocol, and the information is transmitted through a 485 protocol after being converted. The industrial control board is preferably an STM32F407 chip.
Referring to fig. 2, the running gear is used to move on a track connecting two storage racks/devices; for convenience of explanation, the traveling direction of the traveling device along the rail is referred to as a longitudinal direction, and a direction perpendicular thereto is referred to as a lateral direction. The walking mechanism comprises a bottom frame which is a rectangular frame body, one side of the upper end face of the bottom frame is provided with a region for placing the lifting mechanism, the region of the other side of the bottom frame is provided with a battery box, and a battery unit for supplying power is arranged in the battery box. The lower end surface of the underframe is also rotatably connected with an axle with walking wheels at two ends through a bearing. The walking motor is in communication connection with the first industrial control board and is controlled by the first industrial control board, and the walking motor drives the axle to rotate through the speed reducer, so that the walking along the rail is realized.
Further, referring to fig. 3, a walking limit sensor is arranged at a side of the underframe, the walking limit sensor is a laser ranging module, and a plurality of corresponding reflecting plates are arranged at the edges of the starting point and the ending point of the track stroke; a metal proximity switch TB1204-N may also be selected. The walking limit sensor is respectively in communication connection with the industrial control board, and sends out electric signals or alarm signals to the industrial control board when the walking mechanism reaches a starting point (a goods area), a terminal point, a charging point (a cabinet area) or exceeds an operation range through information reflected by laser. If the walking limiting sensor does not receive the reflection signal in each preset position and gives an alarm, the walking motor can be manually controlled by the main controller to carry out fine adjustment and correction of the position.
Referring to fig. 4, the centering device includes a first translation mechanism for lateral movement, a second translation mechanism for longitudinal movement, and a distance measuring unit, which are disposed one above the other. After the two translation mechanisms are overlapped in the vertical direction, the workpiece can be moved and adjusted in two horizontal degrees of freedom. In this embodiment, a set of two distance measuring units (laser distance measuring sensors) is longitudinally arranged in the center of two ends of the walking device, and the space between the connecting lines of the two distance measuring units is the measurable range of the distance measuring units.
Referring to fig. 5, the first translation mechanism includes two sets of telescopic bases and corresponding telescopic arms disposed along the transverse direction. The lower end face of the telescopic arm is provided with a groove which is transversely arranged, and the rack with the tooth surface facing downwards is also transversely arranged at the bottom of the groove and is meshed with the gear with the wheel surface vertically arranged, so that transmission is realized. The first centering motor drives a driving gear on an output shaft of the first centering motor to rotate forwards or backwards, the driving gear drives the gear to rotate passively, and gear teeth of the gear drive the telescopic arm to extend out or retract towards the side along the transverse direction by shifting the rack.
Furthermore, a telescopic distance sensor for obtaining the moving distance of the telescopic arm, preferably a metal proximity switch TB1204-N, is arranged on the telescopic arm, and the telescopic distance sensor faces to one side end face of the telescopic arm. The telescopic distance sensors are respectively in communication connection with the industrial control board and send signals/alarm signals to the industrial control board when the threshold value is exceeded or a fault is found.
Referring to fig. 5, the gears are disposed in the interlayer in the telescopic base through a horizontal gear shaft. The upper end of the gear extends out of the interlayer and is meshed with the rack, and the lower end of the gear is meshed with a driving gear driven by the first centering motor. Preferably, in this embodiment, there are two sets of telescopic bases and telescopic arms, and thus there are two sets of gear and rack mechanisms. The first centering motor drives the two driving gears to rotate respectively by driving the polished rods horizontally arranged along the longitudinal direction, and the driving gears drive the two gears which rotate passively to stir the racks respectively, so that the two telescopic arms move synchronously.
Referring to fig. 5, the two sides of the telescopic arm are provided with a plurality of bearings which are linearly arranged, the upper ends of the bearings are slightly higher than the top surface of the telescopic base, and the upper ends of the bearings are also contacted with the bottom of the groove of the telescopic arm to bear gravity and play the functions of guiding movement and reducing abrasion.
The upper end surfaces of the telescopic arms are respectively provided with a bracket for placing a workpiece, and the shape of the bracket is adapted to the workpiece; and the two brackets are aligned in the longitudinal direction. Further, the bottom of the bracket is also provided with a weight sensor for measuring the weight of the obtained workpiece, preferably a DLLF spoke type weighing sensor; the weight sensor is in communication connection with the industrial control board and sends a signal to the industrial control board when obtaining the weight or the weight change value.
Referring to fig. 4 and 5, the second translation mechanism includes a support member for supporting the first translation mechanism, and two square tubes are transversely disposed, and a connecting block for supporting a connecting plate below the telescopic base is disposed at the top of the support member. The supporting piece can slide in a sliding groove which is arranged longitudinally through a sliding block at the bottom of the supporting piece. The chute is preferably a dovetail groove, and a plurality of sliding blocks are arranged in the dovetail groove, so that good stability and good guiding effect can be kept.
The supporting seat on the supporting piece is fixedly connected with the threaded sleeve, and then the threaded sleeve and the centering lead screw form a movable lead screw-nut mechanism; after the second centering motor is started, the centering screw rod is driven to rotate, and the supporting piece is driven to move longitudinally.
Preferably, the second driving unit drives one end of the centering screw, and the other end of the centering screw is rotatably connected with a tailstock for fixing through a tailstock bearing, so that the centering screw is kept horizontal and stable.
Fig. 6 is an electrical schematic diagram of the present invention. The industrial control board finishes the collection of manual control signals, limit signals or alarm signals of the control board through the switching value input module; finishing pulse output to the traveling motor, the first centering motor or the second centering motor through a high-speed pulse output module; finishing outputting direction signals of the walking motor, the first centering motor or the second centering motor through the switching value output module; and the analog input module is used for completing the signal acquisition of the walking limit sensor and the weight sensor.
The battery unit arranged in the battery box of the walking mechanism is powered by a main power circuit, the power is 24V, and a main power relay on the main power circuit is respectively connected to the walking motor, the first lifting motor, the telescopic motor and the grabbing motor and supplies power. The power supply circuit principle of each motor is basically consistent, namely, a U phase, a V phase, a W phase and a three phase which are respectively controlled by a main power relay in a main power circuit are connected into a motor driver. The first industrial control board inputs pulse and direction to each driver, and the driver accesses an alarm signal to the first industrial control board. Four pairs of normally closed contacts controlled by the main power relay respectively control U, V, W and N, coils of the normally closed contacts are electrified under emergency, and the normally closed contacts are disconnected, so that a main power circuit is cut off, and the whole system is protected.
Preferably, the battery unit further comprises a power detection sensor for detecting the power of the battery unit, and the power detection sensor is preferably a power meter FS-TF03 capable of sending an alarm signal to the main controller when the power is lower than a safety threshold. And then the running mechanism can be controlled to move to a charging point (cabinet area) arranged at the middle position of the track for charging. When the device is used, an operator operates the device through the control panel, the control panel is provided with buttons for starting/stopping each motor, and the display is provided with parameters of each sensor. Initially, the telescopic boom is extended laterally towards the left, and the workpiece (cylindrical completion tool) is placed on the carriage by means of a manually operated manual boom or robotic arm at the starting point (cargo area); and the weight sensor sends a weight value signal. And starting the first centering motor, moving the telescopic arm with the workpiece towards the right side until the telescopic arm reaches the central position, sending a signal by the telescopic distance sensor, and stopping the first centering motor.
And starting the walking motor, moving the walking mechanism to the end point along the track, and stopping when the walking limit sensor obtains a reflected signal at the starting point (cargo area). During the period, the laser ranging sensor as the ranging unit receives the distance signals reflected by two ends of the workpiece, namely the distance value, and the operator judges whether the distance signals are consistent. And if the workpiece deviates from the centered position, starting the second centering motor, rotating the centering screw rod to drive the support piece to longitudinally move along the dovetail groove until the two distance signals are consistent, and turning off the second centering motor when the workpiece is at the longitudinally centered position.
When the walking mechanism moves to the end point, the grabbing component at the end point can directly and accurately grab the workpiece through fixed preset action without other operations such as checking, adjusting and the like. And after the operation is finished, resetting each mechanism of the centering and transferring vehicle, returning to the starting point (goods area), and circulating the next operation.
The embodiments of the present invention have been described with reference to the accompanying drawings and examples, the structures of which are not intended to limit the present invention, and those skilled in the art can make modifications as required, and various changes or modifications can be made within the scope of the appended claims.

Claims (9)

1. The utility model provides a centering moves carrier control system, includes to walk to construct, first translation mechanism, second translation mechanism and a plurality of range unit, its characterized in that: the device is also provided with a main controller, and the main controller is provided with a control panel for manual operation; the main controller is in communication connection with an industrial control board arranged on the centering transfer vehicle through a wireless network;
the lifting transfer vehicle also comprises a walking motor for controlling the walking mechanism to move horizontally, a first centering motor for driving the first translation mechanism to move transversely, a second centering motor for driving the second translation mechanism to move longitudinally and a distance measuring unit for measuring the longitudinal distance between two ends of a workpiece;
the walking motor, the first centering motor, the second centering motor and the distance measuring unit are respectively in communication connection with the industrial control board.
2. The centering transfer cart control system of claim 1, further comprising: the first translation mechanism comprises a telescopic arm, and a bracket for placing a workpiece is arranged on the upper end face of the telescopic arm; the bottom of the bracket is provided with a weight sensor for measuring the weight of the obtained workpiece, and the telescopic arm is provided with a telescopic distance sensor for obtaining the moving distance of the telescopic arm; the weight sensor and the telescopic distance sensor are respectively in communication connection with the industrial control board and send signals.
3. The centering transfer cart control system of claim 1, wherein: the distance measuring units are longitudinally arranged at two ends of a central axis of the walking mechanism; after the first translation mechanism transversely moves the workpiece to the middle part, the distance measuring units respectively detect the distances between the workpiece and the two ends of the workpiece and send distance signals to the industrial control board; and driving the second centering motor to adjust the longitudinal position of the workpiece until the two distance signals are consistent.
4. The centering transfer cart control system of claim 1, wherein: the industrial control board is also in communication connection with a plurality of walking limit sensors which limit the moving range of the walking mechanism on the rail in the walking mechanism, and the walking limit sensors send alarm signals to the industrial control board when exceeding a threshold value or finding faults.
5. The centering transfer cart control system of any one of claims 1-4, wherein: the industrial control board finishes the collection of manual control signals, limit signals or alarm signals of the control board through the switching value input module; and/or finishing pulse output to the walking motor, the first centering motor or the second centering motor through a high-speed pulse output module;
and/or finishing outputting direction signals of the walking motor, the first centering motor or the second centering motor through a switching value output module;
and/or the analog input module is used for completing the signal acquisition of the walking limit sensor and the weight sensor.
6. The centering transfer cart control system of claim 1, further comprising: the industrial control board is communicated with the WIFI module through the RS485 communication module, and the WIFI module is in communication connection with the main controller through a wireless network.
7. The centering transfer cart control system of claim 1, wherein: the battery unit is arranged in a battery box of the walking mechanism, and is respectively connected with drivers of the walking motor, the lifting motor and the telescopic motor through a main power relay on a main power circuit and supplies power; the industrial control board inputs pulse and direction to each driver, and the driver accesses an alarm signal to the first industrial control board.
8. The centering transfer cart control system of claim 5, wherein: four pairs of normally closed contacts controlled by the main power relay respectively control U, V, W and N, and a coil of the normally closed contact is electrified in an emergency and is disconnected, so that a main power circuit is cut off, and the whole system is protected.
9. The centering transfer cart control system of claim 5, wherein: the battery unit also comprises an electric quantity detection sensor for detecting the electric quantity of the battery unit; and when the electric quantity is lower than the safety threshold value, the electric quantity detection sensor sends an alarm signal to the main controller.
CN202222619993.3U 2021-12-03 2022-09-30 Centering transfer vehicle control system Active CN218298837U (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN2021114639580 2021-12-03
CN202111463958.0A CN114153170A (en) 2021-12-03 2021-12-03 Nonstandard track shuttle electrical control system
CN202111478004.7A CN114397863A (en) 2021-12-06 2021-12-06 Intelligent logistics storage electrical control system
CN2021114780047 2021-12-06

Publications (1)

Publication Number Publication Date
CN218298837U true CN218298837U (en) 2023-01-13

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ID=84804252

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Application Number Title Priority Date Filing Date
CN202211219424.8A Pending CN116224917A (en) 2021-12-03 2022-09-30 Control system of centering transfer vehicle
CN202222619993.3U Active CN218298837U (en) 2021-12-03 2022-09-30 Centering transfer vehicle control system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202211219424.8A Pending CN116224917A (en) 2021-12-03 2022-09-30 Control system of centering transfer vehicle

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