WO2021109236A1

WO2021109236A1 - Transfer machine control method and transfer machine control device

Info

Publication number: WO2021109236A1
Application number: PCT/CN2019/125882
Authority: WO
Inventors: 苏军伟; 汤小明
Original assignee: 浙江德马科技股份有限公司
Priority date: 2019-12-06
Filing date: 2019-12-17
Publication date: 2021-06-10
Also published as: CN111049431A

Abstract

A transfer machine control method and a transfer machine control device, related to the technical field of lifting/lowering transferring logistics equipment. The method comprises: when a sensor above or below a machine frame of a transfer machine is triggered to reach a pulse signal, and when the transfer machine control device reaches a signal edge jump of the pulse signal, triggering an interrupt service program, and controlling a lifting/lowering electric motor to brake. The device comprises a signal collecting module, used, when the sensor above or below the machine frame of the transfer machine is triggered to reach the pulse signal, for collecting a signal edge reaching the pulse signal, and triggering a brake control module; the brake control module, used for starting the interrupt service program and controlling the lifting/lowering electric motor to brake. The present solution is implemented on the basis of an existing transfer machine control system, a control logic is simply provided before the transfer machine is shipped from factory, the transfer machine is capable of stopping at a standard position, smoothly transferring, and preventing a cargo container from deviation or collision.

Description

Transfer machine control method and transfer machine control device

Technical field

The invention belongs to the technical field of lifting transfer logistics equipment, and in particular relates to a transfer machine control method and a transfer machine control device.

Background technique

At the intersection of two conveying lines in a logistics conveying system, it is usually necessary to use lifting and transferring logistics equipment to change the conveying direction of items, that is, to transfer items from one conveying line to another. The traditional transfer machine adopts PLC programming control, and the transfer machine is fixed on a cam mechanism driven by a DC geared motor. Specifically, the PLC collects the position of the photoelectric sensor, controls the rotation of the DC deceleration motor, and the DC deceleration motor drives the cam mechanism to rotate. The cam rotation drives the transfer machine up and down. When the transfer machine rises to the top, the PLC controls the rotation of the transfer machine belt to realize the goods from One station moves to another station. When the goods are transferred to the station, the belt stops rotating, the PLC controls the DC decelerating motor to drive the cam mechanism to rotate, the transfer machine descends, and the upper electric roller rotates, and the goods are removed from the transfer machine to achieve the purpose of diversion and diversion of the goods.

Install the metal sensor sheet on the cam, fix the upper non-contact position photoelectric sensor above the installation frame, and fix the lower non-contact position photoelectric sensor under the installation frame, the metal sensor sheet is between the upper and lower non-contact position photoelectric sensors, PLC During position acquisition, when the metal sensor sheet touches the non-contact position photoelectric sensor, the acquisition signal changes from "0" to "1". At this time, it is judged that the transfer machine rises to the top and the decelerating motor is controlled to stop. When leaving, the signal changes from "1" "Becomes "0"; when the metal sensor sheet touches the non-contact position photoelectric sensor, the signal collected by the lower sensor changes from "0" to "1". At this time, it is judged to drop to the bottom and control the decelerating motor to stop. Refer to the lifting device of the lifting transfer equipment disclosed in the applicant's earlier application CN200967736Y. The lifting device uses an induction plate to sense the proximity switch, and then the proximity switch sends a pulse signal to stop the motor from braking, and the lifting platform stays at a high or low position.

The traditional transfer machine control is realized by PLC programming, and there are the following problems:

1. Most of the non-contact position photoelectric sensors of the transfer machine use M18 non-contact sensors, with a sensing distance of 0.6-6mm. When the distance from the metal sensing sheet is greater than 6mm, its output signal remains "0". When the distance is 0.6-6mm, its output The signal is kept at "1"; because the PLC collects external signals by periodic scanning, the sampling cycle of the PLC is about 30ms for one sampling. When the metal sensor sheet reaches 6mm from the sensor, its output keeps the signal "1" due to the existence of the scanning cycle , It may sample the sensor signal "1" within 1-30ms, and then control the DC decelerating motor to stop. However, with a delay of 1-30ms, the distance between the metal sensor sheet and the sensor has been less than 6mm, causing the cam structure to deviate from the highest optimal stop position. The stop position of the transfer machine is no longer in the top area of the cam. The stopping position and the standard position are leading or lagging, and the stopping position is not at the top of the cam mechanism, causing eccentricity. When heavy goods are being transferred, the cam is pressed down and the position of the goods is lowered, making it impossible to transfer smoothly. As a result, each device is continuously tested and adjusted, resulting in a lot of labor costs and delayed delivery of goods.

2. Since the DC deceleration lifting motor is started, in order to improve efficiency, a higher speed is used to start operation. When the distance between the metal sensor sheet and the sensor reaches 6mm, the PLC controls the lifting motor to stop immediately at high speed. Due to the moment of inertia, a certain amount of braking is required. Braking distance. The actual position of the metal sensor sheet is less than 6mm from the sensor, causing the cam structure to deviate from the highest or lowest optimal stop position. As a result, the height of the transfer machine and its docking equipment are not at the same level, and the cargo box will deviate or collide during transfer.

3. Because the equipment cannot be set up uniformly when leaving the factory, the site relies on PLC programming control, and the programming methods and debugging methods of each programming technician are different, resulting in poor linkage between the transfer equipment, resulting in slow conveying speed, blocking the waiting of the goods, and low efficiency.

The invention patent application CN201711467927.6 discloses a transfer device and a transfer method using the transfer device to complete the transfer process, and specifically discloses the method including (1) When the material is transported from the feeding roller table to the transfer area , The feed sensor switch senses the material to enter the transfer area and transmits the material signal to the PLC controller; (2) After the PLC controller receives the material signal, it controls the rollers of the feeding roller table to stop rotating and output the transfer signal, The transfer machine starts the transfer action, the cylinder is retracted, and the material is pulled to the reclaiming roller table through the material pulling device; (3) After the transfer machine completes the transfer action, the discharge sensor switch on the reclaiming roller table senses the material and The discharging signal is transmitted to the PLC controller. After receiving the discharging signal, the PLC controller sends a cancel signal to the transfer machine, the transfer machine cancels the transfer action, the cylinder is ejected, the pulling device is reset and standby, and the feeding roller table is at the same time The rollers resume rotation. This method is to send materials from the feeding roller table to the transfer area through the induction signal, and does not involve the coordinated control of the lifting process of the transfer machine. In addition, the PLC controller senses the signal to control the action of the cylinder, and there is a difference in the working mode of the cylinder and the motor.

The utility model patent CN201720055351.1 discloses the lifting drive device of the transfer platform in the palletizer, and specifically discloses that when the transfer platform 3 moves upward to touch the upper end travel protection switch 21, the upper end travel protection switch 21 can send a signal To the PLC central controller 10, so as to drive the PLC central controller 10 to issue a stop command; the lower end of the support frame 2 is provided with a lower end travel protection switch 22, when the transfer platform 3 moves down to touch the lower end travel protection switch 22 , The lower end travel protection switch 22 can send a signal to the PLC central controller 10, thereby driving the PLC central controller 10 to issue a shutdown instruction. That is, this process has problem 1 in the prior art. In addition, the utility model also discloses that the PLC central controller 10 can feed back the frequency adjustment amount to the inverter 101 in real time according to the current position and height of the transfer platform 3 and the current speed of the transfer platform 3, so that the motor 102 can be easily adjusted. The speed of the motor can be adjusted in real time, so that the motor 102 can accelerate or decelerate with variable acceleration at any initial stage, so that the transmission chain 4 can drive the transfer platform 3 to accelerate or decelerate with variable acceleration. This process can avoid the occurrence of speed discontinuities and speed jumps during the operation of the transfer platform 3, thereby effectively reducing the impact of the transfer platform 3 on the entire palletizer during the operation. Although this utility model solves the problem 2 in the prior art to a certain extent by adjusting the motor acceleration in real time, it does not disclose the coordinated control of the lifting process of the transfer machine and the transfer process of the transfer machine.

technical problem

In view of the problems in the prior art, the present invention proposes a transfer machine control method and a transfer machine control device based on the hardware equipment of the existing transfer machine control system. The invention only controls the transfer machine before leaving the factory. The logical setting enables the transfer machine to stop at the standard position, and the height of the transfer machine is at the same level as the docking equipment, which smoothly transfers and avoids the deviation or collision of the cargo box.

Technical solutions

A control method of a transfer machine of the present invention includes:

When the sensor above or below the frame of the transfer machine is triggered to reach the pulse signal, the transfer machine control device triggers the interrupt service program when the signal edge of the arrival pulse signal jumps, and controls the lifting motor to brake.

The present invention is implemented based on the existing transfer machine control system described in the background art, and the control logic setting, such as the PLC control logic setting, is performed before the transfer machine leaves the factory. The present invention changes the signal acquisition method of the existing transfer machine control device, that is, no periodic scanning method acquisition is performed, but the edge of the signal is acquired to trigger the brake instantaneously.

The transfer machine moves up and down on the rack. When it moves upwards, the metal sensor sheet on the cam contacts the sensor (usually a photoelectric sensor) above the rack, it is assumed that the transfer machine rises to the top and needs to stop at the machine. The standard position above the rack (refers to the position where the transfer machine can transfer the load smoothly); when the metal sensor sheet on the cam touches the sensor below the rack when moving downwards, the transfer machine is considered to be lowered to the bottom. Stop at the bottom of the rack. The braking situation includes the braking situation stopping at the standard position and the braking situation stopping at the bottom of the frame. The arrival pulse signal is an arrival pulse signal when the transfer machine stops at a standard position, or an arrival pulse signal when the transfer machine stops at the bottom position of the frame. The arrival pulse signal refers to a pulse signal that changes from 0 to 1, or a pulse signal that changes from 1 to 0. When the signal when the sensor is not triggered is 0, the transfer machine control device collects the signal edge (that is, the rising edge) of the pulse signal and jumps to trigger the interrupt service program; and when the sensor is not triggered, the signal is 1 When the time, the transfer machine control device collects the signal edge (that is, the falling edge) of the pulse signal and jumps to trigger the interrupt service program. The invention adopts edge interrupt control and trigger mode to collect, which can quickly control the brake of the lifting motor within a short stroke collected by the sensor, and reduce the delay caused by similar PLC control.

Preferably, the method further includes: upon receiving the brake command of the lifting motor, the transfer machine control device outputs the brake reverse torque calculated in real time based on the PID torque control algorithm to the lifting motor, so that the lifting motor can quickly brake.

The existing lifting motor uses a higher speed to start. When it needs to stop immediately, due to the moment of inertia, a certain braking distance is required, which in turn causes the stop position of the transfer mechanism to deviate from the standard position, such as the deviation from the docking equipment at the same level position. For this reason, the present invention changes the existing braking method of long braking distance under high-speed operation, adopts PID real-time adjustment, and realizes fast braking with short braking distance by outputting a reverse torque greater than the motor torque at the moment of braking. .

Since the present invention has solved the problem of signal acquisition delay when the interrupt program is triggered, the braking distance is further optimized and controlled on this basis, so that the final braking position of the transfer machine is the standard position. This is an optimization of the brake control accuracy during the entire braking process (that is, from the triggering of the brake signal-the execution of the brake signal-the end of the brake command).

Preferably, the braking reverse torque is greater than the motor rotating torque at the moment of braking of the lifting motor.

Preferably, the method further includes: when the lifting motor is braking, when the transfer machine control device monitors that the busbar voltage exceeds the voltage threshold, connects to a bleeder circuit to release the current, so as to reduce the back electromotive force of the lifting motor until the busbar voltage is low The bleeder circuit is disconnected when the voltage threshold is reached.

Preferably, the method further includes: when the transfer machine control device receives the goods arrival signal, the transfer machine control device starts the lifting motor to rise, and at the same time starts the transfer motor to rotate.

The existing transfer machine only considers lifting control or transfer level control unilaterally, and does not perform coordinated control of lifting and transfer. The invention further optimizes the zero-wait intelligent linkage between lifting and transfer control under the optimization control of the brake position accuracy, so as to improve the transmission efficiency of the existing transfer machine control system.

Preferably, when the lifting motor rises from the sensor below the frame to the sensor above the frame, the rotation speed of the transfer motor is increased from 0 to the set speed value according to the starting curve.

Preferably, when the transfer machine transfers the goods into place, the transfer machine control device controls the transfer motor to stop rotating, and at the same time controls the lifting motor to descend.

A transfer machine control device, including:

Signal acquisition module, used to collect the signal edge of the pulse signal when the sensor above or below the transfer machine frame is triggered to reach the pulse signal, and trigger the brake control module;

The brake control module is used to start the interrupt service program and control the brake of the lifting motor.

The transfer machine control device of the present invention is the drive control core of the entire transfer control system, which is used to collect the signal edge (rising edge or falling edge) of the arriving pulse signal, and control the braking and braking of the lifting motor.

Preferably, the device further includes: a torque closed-loop control module, which is used to calculate the braking reverse torque in real time based on the PID torque control algorithm when receiving the lifting motor brake command, and output it to the lifting motor.

Preferably, the device further includes: a coordinated operation module, which is used to start the lifting motor to rise and at the same time to start the transfer motor to rotate when the cargo arrival signal is received; when the transfer machine transfers the goods into place, the transfer machine control device controls The transfer motor stops rotating, and at the same time controls the lifting motor to descend.

Beneficial effect

The transfer machine control method and the transfer machine control device of the present invention are suitable for the existing transfer machine control system, and only carry out the control logic design before leaving the factory, which has the following advantages:

1. The braking force is greater than ordinary braking force and the braking distance is smaller.

2. When the height of the transfer equipment is inconsistent with other conveying equipment, adjust the position of the sensor to dynamically control the lifting height.

3. Realize linkage between devices and improve efficiency.

4. The reaction speed is fast, and the steering position is controlled accurately.

5. Modular design, easy to replace equipment.

6. The operation is simple, the factory setting only needs to adjust the position of the sensor.

7. The control is simple. Before the goods arrive, just add a start signal to start the whole system.

8. It can be used alone or as a subsystem of the system to coordinate operation with other equipment.

Description of the drawings

Fig. 1 is a schematic diagram of the work flow of a transfer machine control method according to the present invention;

Figure 2 is a schematic block diagram of a control device for a transfer machine of the present invention;

FIG. 3 is a schematic diagram of the wiring of the hardware structure of FIG. 2.

Embodiments of the present invention

The following are specific embodiments of the present invention combined with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

The existing transfer machine control system includes a transfer machine frame, a transfer motor, a cam, a lifting motor, two sensors arranged above and below the transfer machine frame, and a transfer machine control device. The transfer machine motor is usually a DC reduction belt transfer machine, and the lifting motor is usually a lifting DC reduction motor. The sensor is generally a non-contact position photoelectric sensor. The transfer machine control device is the core of the entire drive control and has an MCU core processor, which has a sensor signal acquisition interface, a motor drive control interface, an external PLC and an I/O expansion interface.

Based on the existing transfer machine control system, the present invention proposes a transfer machine control method, which does not require PLC control, and can be used after the test is completed before the transfer machine control device leaves the factory, saving time and labor costs.

The transfer machine control method includes: when the sensor above or below the transfer machine frame is triggered to reach the pulse signal, the transfer machine control device triggers an interrupt service program to control the lift when the signal edge of the arrival pulse signal jumps. Motor brake.

Specifically, when the sensor above the frame of the transfer machine is triggered to reach the pulse signal, the transfer machine control device triggers the interrupt service program when the signal edge of the arrival pulse signal jumps to control the elevator motor to brake above the frame. position. When the sensor under the transfer machine frame is triggered to arrive at the pulse signal, the transfer machine control device triggers the interrupt service program when the signal edge of the arrival pulse signal jumps, and controls the lifting motor to brake at the bottom of the frame. For example, when the existing sensor does not sense a signal by default, the signal is 0, and when a signal is sensed, the signal is 1. When the lifting motor drives the cam to rotate up or down, when the metal sensor sheet reaches the position of 6mm from greater than 6mm, the trigger sensor changes from 0 to 1, and the signal edge jumps. 0 delay, the interrupt service program is triggered immediately, and the lifting motor is controlled to brake immediately.

The method of the present invention also includes: upon receiving the brake command of the lifting motor, the transfer machine control device outputs the brake reverse torque calculated in real time based on the PID torque control algorithm to the lifting motor, so that the lifting motor can quickly brake and brake.

Specifically, real-time acquisition of the lifting motor torque, real-time adjustment using PID control, according to the PID torque control algorithm, continuous calculation of the dynamic brake reverse torque, so that the brake reverse torque is greater than the lifting motor braking moment motor torque, by adding The reverse braking force of the large lifting motor can output the brake reflection torque to the lifting motor at the moment of receiving the brake command of the lifting motor for rapid braking. For example, according to the standard position value of the brake stop and the current position of the motor, the brake speed value is calculated based on the PID algorithm. After that, the pulse width modulation signal is calculated based on the braking speed value, the current speed of the motor, and the current current of the motor. The pulse width modulation signal controls the lifting motor to brake under a large braking reverse torque. For example, the braking reverse torque is the torque of the motor at the moment of braking. 3 times. In this way, the motor runs at a high speed, decelerates immediately according to the trapezoidal curve at a speed of 10000RPM/min, and stops immediately within 10ms. The error is controlled within ±1℃, and it is guaranteed that the lifting motor will rise to the top error within the error range of ±1℃. It is less than 2mm. Since the structure design adopts the cam design, the height error transmitted to the transfer equipment is less than 1mm, which ensures that the lift height of the transfer equipment remains level with other equipment.

During instant braking, there is a problem that the reverse electromotive force of the lifting motor rapidly rises. In order to avoid the influence on the motor drive circuit and the voltage of the motor power supply bus, the method of the present invention further includes: when the lifting motor is braking, the transfer machine control device monitors that the bus voltage exceeds the voltage threshold, connecting to the bleeder circuit to release the current, In order to reduce the back electromotive force of the lifting motor, the bleeder circuit will be disconnected until the bus voltage is lower than the voltage threshold.

The bleeder circuit can be directly grounded or connected to a resistor. For example, when the bus voltage exceeds 1.25 times of the rated voltage, immediately open the bleeder circuit to release the current, causing the bus voltage to drop rapidly. When it is lower than 1.25 times of the bus voltage, turn off the bleed circuit. The opening and closing of the bleeder circuit can be controlled by a switching device, such as a MOS tube, and the on-characteristic of the switching device can be used to connect or disconnect the bleeder circuit.

The method of the present invention also includes: when the transfer machine control device receives the goods arrival signal, the transfer machine control device starts the lifting motor to rise, and at the same time starts the transfer motor to rotate.

The transfer machine control device starts and controls the lifting motor and the transfer motor respectively. The transfer machine control device collects whether the goods arrive in real time through the external PLC or I/O expansion interface. When receiving the goods arrival signal, it starts the lifting motor to rise, and at the same time starts the transfer motor to rotate quickly. During the period when the transfer machine rises from the sensor below the rack to the sensor above the rack, the rotation speed of the transfer motor rises from 0 to the set speed value according to the starting curve. In this way, once the goods are controlled by the lifting motor to rise to the position to be transferred above the rack, the transfer motor immediately takes over the goods, realizing zero waiting time. Further, the method of the present invention further includes: when the transfer machine transfers the goods into place, the transfer machine control device controls the transfer motor to stop rotating, and at the same time controls the lifting motor to descend. After the transfer motor completes the transfer task, it stops rotating, and the lifting motor lowers to the bottom of the frame for the next cargo transportation. In this way, intelligent linkage can be realized, and it can avoid that the transfer has not been started or the starting speed has not reached the set speed, which causes the goods to wait or the transfer speed is lower than the set speed, which reduces the transmission efficiency of the transfer machine system.

Based on the above method, as shown in Figure 2, the present invention proposes a transfer machine control device, which includes a signal acquisition module and a brake control module. The signal acquisition module is used to collect the signal edge of the pulse signal to trigger the brake control module when the sensor above or below the transfer machine frame is triggered to reach the pulse signal. For example, the signal acquisition module may include a PNP sampling circuit and a voltage conversion circuit. The PNP sampling circuit obtains the sampling signal of the sensor, and then outputs the signal that can be received by the MCU processor through the voltage conversion circuit. For example, the MCU processor uses a low-power 32-bit ARM Cortex-M3 embedded processor with a 72MHz operating frequency, which can reach 1.25DMips/MHZ when the memory is accessed in a 0-wait period, ensuring high-speed real-time operation of the system. The brake control module is used to start the interrupt service program and control the brake of the lifting motor.

The transfer machine control device of the present invention also includes a torque closed-loop control module, which is used to calculate the braking reverse torque in real time based on the PID torque control algorithm when receiving the lifting motor brake command, and output it to the lifting motor. The torque loop control module may include a driving chip for driving the lifting motor. The MCU has 2 PWM advanced control timers to generate PWM signals, one is to drive the lifting motor through the drive chip of the torque loop control module, and the other is to drive the transfer motor through another drive chip.

The transfer machine control device of the present invention also includes a coordinated operation module, which is used to start the lifting motor to control the transfer machine to rise when receiving the goods arrival signal, and at the same time to start the transfer motor to rotate. When the transfer machine transfers the goods into place, the transfer machine control device controls the transfer motor to stop rotating, and at the same time controls the lifting motor to lower the transfer machine. The coordinated operation module is used to coordinate the 0 waiting operation process between the lifting motor and the transfer motor.

Figure 3 shows a schematic diagram of the hardware structure of the transfer machine control device. 3 is the MCU control chip, which has interfaces 1, 2, and 3. Interface 1 is sensor interface 1 for receiving sensor signals above the transfer machine frame, and interface 2 is sensor interface 2 for receiving sensor signals below the transfer machine frame. Interface 4 is PLC and expansion I/0 interface. The control chip is also connected with a PWM motor drive circuit 5 and a PWM motor drive circuit 6. The PWM motor drive circuit 5 is connected to the cam lifting actuator 7 for controlling the operation of the lifting motor, and the PWM motor drive circuit 6 is connected to the transfer machine actuator 8 for use To control the operation of the transfer motor.

Figure 1 shows the entire work flow of the transfer machine, which is implemented based on the transfer machine control method and the transfer machine control device proposed by the present invention. The transfer machine control device detects whether the goods arrival signal is received, if not, it waits, and if it receives the goods arrival signal, it controls the lifting motor and the transfer motor to rotate at the same time. During the rotation of the lifting motor, the transfer machine moves up. When the transfer machine control device collects the edge jump of the pulse signal triggered by the sensor above the transfer machine frame, the lift motor stops rotating. The transfer motor keeps increasing its speed according to the starting curve during the rotation process. When the lifting motor stops rotating and the transfer motor speed meets the preset value, the transfer machine transfers the goods and transfers it to the specified position. Once the transfer is in place, the transfer motor stops, and the transfer machine control device starts the lifting motor to rotate at the same time. At this time, the transfer machine moves downward, and when the transfer machine control device collects the edge jump of the pulse signal triggered by the sensor under the transfer machine frame, the lifting motor stops. Then repeat the above process for the next cargo transportation process.

Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the implementation of the present invention may have any deformation or modification.

Claims

A transfer machine control method, which is characterized in that it comprises: when the sensor above or below the transfer machine frame is triggered to reach the pulse signal, the transfer machine control device triggers an interrupt when the signal edge of the arrival pulse signal jumps The service program controls the brake of the lifting motor.
The transfer machine control method according to claim 1, characterized in that it further comprises: upon receiving a brake command of the lift motor, the transfer machine control device outputs the brake reverse torque to be calculated in real time based on the PID torque control algorithm. The lifting motor is used to quickly brake the lifting motor.
The transfer machine control method according to claim 2, wherein the braking reverse torque is greater than the motor rotation torque at the moment of braking of the lifting motor.
The transfer machine control method according to claim 2, further comprising: when the lifting motor is braking, when the transfer machine control device detects that the bus voltage exceeds the voltage threshold, connecting the bleeder circuit to release Current to reduce the back electromotive force of the lifting motor until the bus voltage is lower than the voltage threshold to disconnect the bleeder circuit.
The transfer machine control method according to claim 1, further comprising: when the transfer machine control device receives the goods arrival signal, the transfer machine control device starts the lifting motor to rise, and at the same time starts the transfer motor Rotate.
The transfer machine control method according to claim 5, wherein the transfer motor, during the period when the lifting motor rises from the sensor below the rack to the sensor above the rack, the speed increases from 0 according to the starting curve. To the set speed value.
The control method of a transfer machine according to claim 5, wherein when the transfer machine transfers the goods into position, the transfer machine control device controls the transfer motor to stop rotating, and at the same time controls the lifting motor to descend.
A control device for a transfer machine, which is characterized in that it comprises:

Signal acquisition module, used to collect the signal edge of the pulse signal when the sensor above or below the transfer machine frame is triggered to reach the pulse signal, and trigger the brake control module;

The brake control module is used to start the interrupt service program and control the brake of the lifting motor.
The transfer machine control device according to claim 8, further comprising: a torque closed-loop control module, which is used to calculate the brake reverse torque in real time based on the PID torque control algorithm when receiving the lifting motor brake command, And output to the lifting motor.
The transfer machine control device according to claim 8, further comprising: a coordinated operation module, which is used to start the lifting motor to rise and at the same time start the transfer motor to rotate when the cargo arrival signal is received; When the loading machine transfers the goods into place, the transfer machine control device controls the transfer motor to stop rotating, and at the same time controls the lifting motor to descend.