SU1388904A1 - Device for autoaddressing transport facility - Google Patents

Abstract

The invention relates to automation and computer technology and can be used, for example, in warehouses of packaged cargoes equipped with stacker cranes. The purpose of the invention is to improve the positioning accuracy of the vehicle. For this purpose, the device containing the address setting unit 16, the initial position memory block 9, the comparison block 7, the predetermined position memory block 8, the drive enable unit 4, the OR element 11, the memory element 13, the feedback sensor 3, the elements 1, 2, the decoder 15, the formers 19, 24 of rectangular pulses, the triggers 22, 23, the elements OR 20, 21, and the delay element 18 with the corresponding connections are introduced. 1 il. e $

Description

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The invention relates to automation and computer technology and can be used, for example, in warehouses of packaged cargoes equipped with stacker cranes,

The purpose of the invention is to improve the accuracy of vehicle positioning.

Moreover, this allows in the future to generate a signal informing that the stacker crane is in a position one address less than the specified one.

The stacker crane begins to move forward along the racks. With the passage of a crane stacker past hell

The drawing shows a diagram of the oral positions cG sensor 3 to the input

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I The device contains And 1 elements: And 2, feedback sensor 3, block 4; switching on the drive, outputs 5 and 6 of block 1, 7 comparison, block 8 of the memory of the set position, block 9 of the memory of the initial position, output 10, element OR 11, | device reset input 12, memory element 1l3, input 7 of block 7, decoder 15, address setting block 16, device start input 17, delay element 18, rectangular pulse generator 19, OR element 20 , element | ШШ 21, triggers 22 and 23, and shaper 24 square pulses. i The device operates as follows.

Before the start of operation, the crane stack is placed in its initial position at the loading / unloading table. At input 12, a Reset command is given, which La leads block 9., Block 8 and memory elements 13 to their initial position. The block | 16 sets the address, the binary code of which from the decoder 15 through separate inputs of the triggers is written into. The counter of block 8. At the command of Start Vaukhod 17, element 13 is triggered by T, from which code. In block 7 (a comparison of input 14, a signal is given allowing comparison of the numbers written in blocks 8 and 9, since block 9 is in zero state AND the number written in block 8 is greater than the number written in block 9, as a result of comparing the numbers at the output 6 of the comparison block 7, a signal appears, which connects the sensor 3 through the element 2 to the counting input of the block 9 and turns on the actuator drive forward movement through block 4. At the same time, the signal Pu ck element 18 generates a signal that provides a delay in the formation of a pulse by shaper 19. Thus, prior to the beginning of movement, one night pulse through element OR 20 and element II 2 is entered into block 9. and changes the value of the address by one pain

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block 9, pulses are received, which are summed by block 9. Each new state of block 9 is compared by block 7 to the state of block 8. When the crane stacker reaches an address different from one given, the number written in block 9 becomes equal due to recording a single pulse before starting movement in block 9 to the number recorded in block 8, i.e. equality of numbers occurs earlier at one address of a given cell. The Forward signal at output 6 of block 7 disappears, and the trigger 22 turns on after its decline. By the signal from the output of trigger 22, in block 4, the Forward command is formed slowly and the stacker crane reaches the address of the next cell, which is given, in slow motion. At the same time, from the sensor 3, the pulse to the input of block 9 does not fall, since element And 2 is closed by the absence of a signal at output 6 of block 7, and flips trigger 22 to its initial state. The signal at the output of the OR element 21 disappears, and by its decay, the driver 24 generates a Stop signal, which through the element OR 11 sets the initial state of block 8 and element 13. The signal allowing the comparison of numbers at input 14 of comparison block 7 is removed. In this case, in block 9, there is a number corresponding to the number of the address position at which the crane stacker was stopped, and block 8 is in the zero state. To address the stacker crane to the next cell, block 16 sets its address, which is recorded in block 8. On the Start command at input 17, comparison block 7 compares the numbers recorded in the preset position memory and the initial position memory. In this case, two cases are possible: the number set in block 16 is greater than the number of the address position at which the stacker crane is located; the number set in block 10 is less than the number of but-

a measure of the address position at which the stacker crane is located.

In the first case, the number recorded in block 8 is greater than the number recorded in block 9 of the memory of the initial position. After issuing the Start command, the Forward signal appears at the output of comparator block 7. This signal connects sensor 3 via element 2 to the input of block 9 and switches the actuator on forwards. The stacker crane begins to move forward. When the stacker reaches the specified address, the number recorded in block 9 becomes equal to the number recorded in block 8, and the Forward signal disappears. The stacker crane stops at the specified address.

In the second case, the number recorded in block 8 will be less than the number recorded in block 9 of the memory of the initial position. After the Start command is given, the Back signal appears at the output 5 of block 7 of the comparison. This signal connects the sensor 3 through the element And 1 to the input of block 8 and turns on the actuator actuator on the movement back. The stacker crane begins to move back along the rack. When the crane passes through the address positions from sensor 3, pulses are received at the input of block 8, which are summed by block 8. Each new state of block 8 is compared by block 7 to the state of block 9. When the stacker crane reaches the specified address, the number recorded in block 8 becomes equal to the number recorded in block 9. Signal. Back at output 5 of block 7 of the comparison disappears, the back drive is turned off.

Accordingly, both cases are delayed during start-up (for a short comparison time) the pulse from the former 19 is recorded through AND 2 at block 9 or AND 1 at block 8. In the second case, when moving backward, the Back signal disappears one step before specified address. The flip-flop 23 overturns, and the signal from its output in block 4 generates a Back command slowly.

Upon reaching the next, i.e. a predetermined cell at the pulse front from sensor 3, trigger 23 returns to

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the initial state, the drive is turned off and the stacker crane is stopped, and the pulse from the driver 24 through the element OR 11 sets the initial state to block 8 and element 13.

Claims (1)

Invention Formula A device for automatically addressing a vehicle,  The containing address setting block, the initial position memory block, the comparison block, the drive enable block, the predetermined position memory block, the first OR element, the memory element, the feedback sensor, two AND elements, the decoder, whose input is connected to the output of the reference block addresses, and the output is connected to the recording input of the memory block for: a given position, the first and second information inputs of the comparison block are connected to the outputs of the memory block of the initial position and the memory block for this position, respectively, the Outputs More and Less than the comparison block are connected to the inputs Forward and Backward drive unit incorporating respectively connected with the reset input device mounting a memory input block starting position and . by the first input of the first element OR,  the output of which is connected to the installation points of the memory block of a given position and the memory element, whose information input is connected to the device start input, the memory element output is connected to the comparison resolution input of the comparison block, the first inputs of the first and second elements are AND connected to the outputs More and Less than the comparison unit, respectively, and the inputs connected to the information inputs of the storage unit of the initial position and the storage unit of the specified position, the output of the switching unit The drive is an output of the device, characterized in that, in order to improve the positioning accuracy of the vehicle, two square pulse drivers, two triggers, the second and third OR elements, and the delay element, whose input is connected to the start input of the device, are introduced into it, and the output through the first driver of rectangular pulses is connected to the first input., of the second element OR, you 5 13889046 the stroke of which is connected to the second front of Slowly forward block by the inputs of the first and second elements of the drive and to the first input of the CID, the second input of the second element OR, the element OR, the output of the second and the zero inputs of the first and second trigger are connected to the back input the triggers are connected to the sensor-slow sensor power-up unit and ka feedback, single inputs with the second input of the third element the first and second triggers of the connection-OR, the output of which through the second with outputs More and Less - the shaper of the rectangular comparison impulse unit, respectively, you are connected to the second input, the primary source of the first trigger is connected to the input element OR.