SU1441354A1 - Apparatus for program control of loading/unloading mechanisms - Google Patents

Abstract

The invention relates to automation and can be used to automate loading and unloading operations. The purpose of the invention is to increase reliability by fixing the stages of the loading-unloading cycle. The address sensor sets the address to which the loading-unloading mechanism should be sent. The comparison unit I compares this address with the code combination taken from the upper or lower level sensors installed on each stage of the rack, depending on the state of the cocks of the presence sensor. As a result of the comparison, signals are generated Up or Down. With the Equal Signal signal coming from the output of the comparison unit, the group captures of the mechanism are controlled. 1 pe. c (O (L

Description

with

SP

The invention relates to automation and can be used, in particular, in the automation of loading and unloading operations in warehouses

Lazhnogo type, equipped with cranes-shta Bellerami.

The aim of the invention is to increase the reliability of operation by fixing the stages of the loading-unloading cycle.

The drawing shows the functional diagram of the device.

The device contains sensors 1 ver: the upper level and sensors 2 lower: the level located in each cell I of the rack, the outputs connected to; the first inputs of the first 3 and second 4 elements Ij connected to the first element OR 5, whose output is connected to the first input of the block b comparison, the second input of which is connected with the setting device 7 addresses, and the output Equal to the element 8 BANKS, the first trigger 9, the sensor 10 of the final position of the load grip, one-shot 11, connected to the third 12 and fourth

13 AND elements associated with the second 14 and third 15 triggers whose inverse outputs are connected to the fifth element AND 16 connected to the sixth 17 and seventh 18 elements And, second 19, third 20 and fourth 21 elements OR, fourth trigger 22, sensor 23 ends of the ki-unload loading cycle, as well as the closing 24 and disconnecting 25 contacts of the load presence sensor.

The device works as follows.

After starting the device, all the triggers are set to the zero state, the contacts 24, 25 of the load presence sensor are in the position shown in the diagram,

The address setting unit 7 sets the address to which the loading and unloading mechanism should be directed. From the output of the setting device 7 of the address, this address in the form of a binary number is fed to the first input of the comparison block b. The address for finding the mechanism read from address sensors. 1 or 2 through the first element AND 3 or the element I 4, depending on the presence or absence of the load, and the first element OR 5 also as a binary number is fed to the second input of the comparison unit 6. According to the results of

ki at its output a signal is produced Less or More, which, respectively, through the elements AND 17 or 18 and the elements OR 20 or 21 enters the actuator of the mechanism. As the loading mechanism moves at each address position, address code sensors 1 or 2 read a code combination of signals assigned only to that address. If the address of finding a mechanism with a given address coincides, it stops.

Suppose a mechanism is moving with a load to a given address position. Since there is a load on the load gripping mechanism, the contact 24 of the load presence sensor is closed and the contact 25 is open. Therefore, sensors are interrogated. 1 is the upper level, since at the first input of the element AND 3 is level 1, and at the first input of the element 4, it is level O. When the loading and unloading mechanism reaches a predetermined target position at the output of More or Less than comparison unit 6, a zero signal appears The lift or lower mechanism stops. At the same time, a single signal appears at the output of the EQUAL comparison block 6, which, through the BANNER element 8, enters the clock C input of the first trigger 9 and directly at the clock C inputs of the second n third

triggers 14 and 15, Under the influence of I

This signal at the flip-flops 14 and 15 is confirmed by the zero state, and the trigger 9 is set to the single HHtjHoe state. A single signal from the code of the first trigger 9 forms the Right command, as a result of which the load grip begins to move to the right until the moment when the sensor 10 triggers the end position of the load grip. A single signal from the output of the sensor 10 is fed to the R input reset input of the trigger 9 and sets it to the zero state, resulting in the movement of the cargo capture to the right is stopped. At the same time, the output signal of the sensor 10 is fed to the input of the one-vibrator 11, which generates a pulse arriving at the inputs of the elements 12 and 13, Since the third element And 12 is on the cargo hold of the mechanism, the pulse from the output of the one-vibrator

11 enters the installation S input of the second trigger 14 and transfers it to a single state. As a result, at the output of the first element And 16 a zero level is established, as a result of which the elements 17 and 18 are locked. A single signal from the output of the second trigger 14 enters the input of the third element OR 20, as a result of which the Down command is formed, under the action of which the mechanism is lowered. . The fourth trigger 22 remains in the zero state, since its clock C input reacts to the decay of the input signal. During the lowering, the load is fixed in the cell of the rack, and further lowering of the mechanism continues without load. The consequence of this will be opening contact 24 and closing contact 25 of the load sensor. Upon reaching the loading and unloading

The control of a cargo capture mechanism occurs in the manner described above, only the output signal of a single vibrator 11, appearing after the cargo capture of the extreme position, is transmitted through the fourth element I 13 to the S input of the installation of the third trigger 15, the single signal from its third my output goes to the fourth element OR 21. c. the result of which is the formation of a Komawda Up. When the load catching mechanism reaches the load installed in the cell of the rack, contact 24 closes and contact 25 opens, therefore when sensor 1 reaches the upper level, this unit 6 of comparison is triggered, the output signal, which equals the third trigger; 15 to zero state , which causes the fourth trigger 22 to be set to a single state, as a result of which a command to the left is formed. When the sensor 2 is low

of the same floor in the code Equal to block-25 by the cargo capture of the original

In comparison, a single position is formed again. A single-position sensor 23 is triggered, which flips the second trigger 14 to the zero state. The operation of the first trigger 9 does not occur, since the unit 30 signal from the output of the sensor 10 blocks the element 8 of the PROHIBITION, preventing the passage of the signal Equal to the C input of the first trigger 9, the reset of the second trigger 14 causes a change in the output signal

35

the loop cycle, the fourth trigger 22 is reset to zero, and the movement to the left is stopped. Thus, the operation is to take the load.

Controlling the vertical movement of the loading and unloading mechanism, depending on the state of the upper and lower level sensors located in each cell of the rack, with reference to the presence or absence of cargo on the load gripper of the mechanism eliminates the influence of such disturbing influences, such as engine inertia, error kinematic relations, changes in environmental conditions, aging of the elements of the control circuit, and t, n, resulting in improved positioning accuracy, therefore, reliable operation structure. Software implementation of the entire loading-unloading cycle increases the productivity of the device by reducing the number of manual operations.

the second element OR 19 from one to zero, which causes the fourth trigger 22 to be set to one. As a consequence, the movement of the load gripping mechanism starts to the left. When the load grip reaches the initial position, the sensor 23 of the end of the loading-unloading cycle is triggered, its output signal is sent to the R input of the fourth trigger 22, which is transferred to the zero state, and the movement to the left is stopped. Thus, the operation is performed. The load mechanism can be redirected for further work on the nporpaNiMe,

In the case of movement of the mechanism to a given address position without a load, the contact 24 of the load presence sensor is open and the contact 25 is closed. As a result, information on the location of the mechanism is removed from the sensors 2 of the lower level. Signal formation

0

five

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The control of a cargo capture mechanism occurs in the manner described above, only the output signal of a single vibrator 11, appearing after the cargo capture of the extreme position, is transmitted through the fourth element I 13 to the S input of the installation of the third trigger 15, the single signal from its third my output goes to the fourth element OR 21. c. the result of which is the formation of a Komawda Up. When the load catching mechanism reaches the load installed in the cell of the rack, contact 24 closes and contact 25 opens, therefore when sensor 1 reaches the upper level, this unit 6 of comparison is triggered, the output signal, which equals the third trigger; 15 to zero state , which causes the fourth flip-flop 22 to be set to a single state, as a result of which the left command is formed,

the loop cycle, the fourth trigger 22 is reset to zero, and the movement to the left is stopped. Thus, the operation is to take the load.

Controlling the vertical movement of the loading and unloading mechanism, depending on the state of the upper and lower level sensors located in each cell of the rack, with reference to the presence or absence of cargo on the load gripper of the mechanism eliminates the influence of such disturbing influences, such as engine inertia, error kinematic relations, changes in environmental conditions, aging of the elements of the control circuit, and t, n, resulting in improved positioning accuracy, therefore, reliable operation structure. The software implementation of the entire loading-unloading cycle increases the productivity of the device by reducing the number of manual one-. walkie-talkies.

Claims (1)

Invention Formula A device for programmatically controlling loading and unloading mechanisms, comprising a master ad-. sa, high and low level sensors, first and second elements AND, four elements OR, four triggers.