SU1193690A1 - Device for controlling drive of piler crane - Google Patents

Abstract

1. A DEVICE FOR CONTROLLING A DRIVE OF A STACKER CRANE containing an address setting unit, a current address position generation unit, a comparison unit, the first information input of which is connected to the output of the current address position generation unit, a feedback sensor, a memory block specified in the address position, the drive relay activation unit, the initial state setting unit and the start unit whose output is connected to the enabling input of the comparator unit, the code of the drive relay actuation unit is the device output, the memory unit output The specified address position is connected to the second information input of the comparison unit, the outputs of the Forward and Backward signals are connected respectively to the first and second inputs of the drive relay enablement block, characterized in that, in order to improve performance, two groups of elements AND and a signal conditioning unit are entered into it records and settings, the first and second outputs of the recording resolution of which are connected respectively to the first inputs of the AND elements of the first and second groups, the second inputs of which are connected to the output of the block are set addresses, outputs of elements AND of the first group are connected to the information input of the memory block of a given address position, outputs of elements of the second group are connected to the information input of the current address position formation unit, the write enable input of which is connected to the second write resolution of the recording and setting signal generation unit , the first and second installation (L outputs of which are connected respectively to the inputs of the recording of the constant of the memory block of a given address position and the formation unit of the current address position, inputs for increasing the current address, decreasing the current address, and storing the current address whose input is connected respectively to the outputs of the Forward, Back and Stop signals of the comparator block: about QD and synchronous input connected to the output of the feedback sensor, prohibiting input of the actuator relay enablement unit and the first input of the start block is connected to the output of the signal. The comparison block stops; the second input of the start block and the input of the recording and setting signal generation unit are connected to the output of the initial state setting unit. 2. The device according to claim 1, characterized in that the block forming the recording signals and set

Description

The ki contains four switching elements, four amplifiers and two OR elements whose outputs are the first and second block installation outputs, respectively, and the outputs of the first and second bridge elements are connected to the first and second outputs of the block through the first and second amplifiers, respectively. the first and second elements OR, the second inputs of which through the third and fourth amplifiers are connected respectively to the outputs of the third and fourth switching elements. 3. The device according to claim 1, characterized in that the block forming the current address position contains a reversible counter, three one-shot, two elements AND-NOT and element NOT, the output of which is connected to the first inputs of the first and second elements AND-NOT, the second in 0 . which are combined and connected to the output of the first one-shot, the input of which is. It is the synchronous input of the block, the inputs of increasing, decreasing and storing the current address of which are connected respectively to the third input of the first element AND-NOT, the third input of the second element AND-NOT and the input of the element NOT, the outputs of the first and second elements AND-NOT are connected to the inputs of the add and subtracting the reversible counter, respectively, the output of which is connected to the output of the block, the write enable input of which is connected to the input of the second one-oscillator, the output of which is connected to the input of the third one-oscillator, the output of which is connected to input channeling yuschim down counter, Kotoporo set input connected to the input setting unit, first information input coupled to kotors Inforga mation input down counter.

The invention relates to computing and can be used, for example, in warehouses of tarnish cargoes equipped with cranes.

The aim of the invention is to increase productivity.

FIG. 1 shows the structural and functional diagram of the device; in fig. 2 - functional diagram of the group of elements; in fig. 3 is a block diagram of the recording and setting signal generation unit; in fig. 4 is a block diagram of the formation of the current address position; in fig. 5 is a diagram of a memory block of a given address position; in fig. 6 is a block comparison diagram; in fig. 7 is a block diagram of the actuator relay on; in fig. 8 - block diagram, start; in fig. 9 is a block diagram of a given address.

The circuit contains (Fig. 1) an address setting unit 1, a signal generation unit 2. and installations, groups

3 and 4 elements AND, node 5 for setting the initial state, block 6 for forming the current address position, block 7 for comparison, memory block 8 for the given address for position, block 9 for starting, sensor 10 for feedback, drive 11, block 12 for switching on the drive relay elements And 13 ,. switching elements 14-17, amplifiers 18-21, elements OR 22 and 23, reversible counter 24, one-shot 25-27, elements AND-NO 28 and 29, element NOT 30, elements NOT 31-34, triggers 35-37, circuit 38 .. comparison, elements NOT 39-42, elements

.I 43-45, element OR 46, elements AND-NOT 47-50, element EXCLUSIVE OR 51, element NOT 52, elements AND-NOT 5354, diodes 55 and 56, relay 57-60, actuator 61 actuator, switching

element 62, matching element 63, memory node 64, element OR 65, element NOT 66, address setting device 67, decimal code 68 to binary-decimal converter 68, converter

69 binary-decimal code to binary. 3 The device operates in the following way. Before starting work, the stacker crane can be either at the starting position at the loading and unloading table, or at any cell of the rack. When the power is turned on, the node p generates a signal that drives start-up unit 9, unit 6 and memory unit 8 of the specified address position to the initial state. Block 1 sets the binary address of the position address that goes to the inputs of group 3 of elements I. If there is a permission signal generated by block 2 at the input of block 3, the binary code goes to the inputs of the reversing counter of block 6 and is written into the reversible counter when there is a signal the allowable input of the block 6. By the address setting block 1, in the binary code, the address of the position to which the crane should move is set. This address is fed to the inputs of group 4 of elements I. If there is a permission signal formed by block 2 at the input of block 4, the binary code address is fed to the trigger inputs of memory block 8 of the specified address position and recorded when you click on the Start button from start block 9 A permission signal is received at the input of block 7 of the comparison, allowing the comparison of numbers in binary code recorded in blocks 6 and 8. In this case, three cases can occur: the number set in block 6, p but the number set in block 8, the number set in block 6} less than a number suspended in block 8; the number set in block 6 is greater than the number set in block 8. In the first case, if there is a permission signal at the input of the comparison block 7, a Stop signal appears at its output, which is fed to the inputs of block 6, block 12 and block 9. At This signal stops the summing counting input and subtracting the counting input of the reversible counter of block 6, prohibits the control of the drive 11 and removes the enable signal from the input of block 7. In the second case, if there is a enable signal at the input of the 6904 7 block of comparison, the Forward signal , which is fed to the input of block 6 and to the information input of block 12. At the same time, the Forward signal connects the feedback sensor 10 to the summing counting input of the reversing counter of block 6 and activates the actuator forwards. The crane stacker moves forward along the racks. When the cranaaggabeler passes by, the address positions from the feedback sensor fO receive pulses that are summed by the reversible counter of block 6. Each new state of the reversible counter of block 6 is compared in block 7 with the condition of the trigger of the set block 8, the number recorded in block 6, it becomes equal to the number recorded in block 8. The signal Forward at the output of block 7 disappears and the Stop signal appears at the output of block 7. Drive 11 turns off, the stacker crane stops at the set of address. At the same time, the resolution signal will be removed from the input of the comparator block 7. In the third case, if there is a permission signal at the input of the comparison unit 7, the Back signal is transmitted at its output, which goes to the input of block 6 and to the input of block 12. At the same time, the Back signal connects the feedback sensor 10 to the subtractive counting input of the reversible counter of block 6 and turns the actuator back on. The stacker crane moves back along the racks. When a stacker crane passes by the address posi tions from the feedback sensor 10, impulses are received that are subtracted by the reversible counter of block 6. Each new state of the reversible counter of block 6 is compared in block 7 with the state of the trigger of block 8 when the crane reaches the specified number , recorded in block 6, becomes equal to the number recorded in block 8. The signal Back at the output of block 7 disappears and the Stop signal appears. The drive t1 is turned off, the stacker crane is stopped at a given address. At the same time, the resolution signal is removed from the input of the comparator unit 7.

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Claims (3)

1. DEVICE FOR CONTROL DRIVE OF THE STACKER CRANE, comprising an address setting unit, a current address position generating unit, a comparison unit, the first information input of which is connected to an output of the current address position generating unit, a feedback sensor, a memory unit, a specified address position, an enable unit drive relay, initial state setting unit and start-up block, the output of which is connected to the resolving input of the comparison unit, the output of the drive turn-on switching unit is the device output, the output of the memory unit is set The th address position is connected to the second information input of the comparison unit, the signal outputs Forward and BACK of which are connected respectively to the first and second inputs of the drive relay enable unit, characterized in that, in order to increase productivity, two groups of AND elements and a formation unit are introduced into it recording and installation signals, the first and second outputs of which the recording permission is connected respectively to the first inputs of the elements And of the first and second groups, the second inputs of which are connected to the output of the address setting unit, output The elements of the And elements of the first group are connected to the information input of the memory block of the specified address position, the outputs of the elements And of the second group are connected to the information input of the block of forming the current address position, the recording permission input of which is connected to the second output of the recording permission of the recording and installation signal generation block, the first and second the installation outputs of which are connected respectively to the recording inputs of the constant of the memory block of the given address position and the block of forming the current address position, the inputs are increased the current address, decreasing the current address and the storage input of the current address of which are connected respectively to the outputs of the Forward ',' Back and Stop signals of the comparison unit, and the sync input is connected to the output of the feedback sensor, which prohibits the input of the drive relay enable unit and the first input of the start block signal output Stop of the comparison unit, the second input of the start-up unit and the input of the recording and installation signal generation unit are connected to the output of the initial state installation unit. 2. The device according to π. 1, characterized in that the recording and installation signal generation unit contains 193690 four switching elements, four amplifiers and two OR elements, the outputs of which are the first and second installation outputs of the unit, the outputs of the first and second switching elements through the first and second amplifiers are connected respectively to the first and second outputs of the blockade, the input of which is connected to the first inputs of the first and second elements OR, the second inputs of which through the third and fourth amplifiers are connected respectively to the output odes of the third and fourth switching elements. 3. The device pop. ^ characterized in that the unit for generating the current address position contains a reversible counter, three one-vibrators, two AND-NOT elements and a NOT element, the output of which is connected to the first inputs of the first and second AND-NOT elements, the second inputs of which are combined and connected to the output of the first one-shot, the input of which is the clock input of the block, the inputs of increasing, decreasing and storing the current address of which are connected respectively to the third input of the first AND-NOT element, the third input of the second AND-NOT element and the input of the NOT element, the outputs of the first of the second and second elements are NOT connected to the inputs of addition and subtraction of the reverse counter, respectively ^ the output of which is connected to the output of the unit, the recording enable input of which is connected to the input of the second one-shot, the output of which is connected to the input of the third one-shot, the output of which is connected to the control input of the reverse counter the installation input of which is connected to the installation input of the unit, the information input of which is connected to the information input of the reversible counter.