CN107168232A - A kind of rail mounted picker control system - Google Patents
A kind of rail mounted picker control system Download PDFInfo
- Publication number
- CN107168232A CN107168232A CN201710466755.4A CN201710466755A CN107168232A CN 107168232 A CN107168232 A CN 107168232A CN 201710466755 A CN201710466755 A CN 201710466755A CN 107168232 A CN107168232 A CN 107168232A
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- Prior art keywords
- control system
- servo drive
- central control
- rail mounted
- servo
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- 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
- G05B2219/10—Plc systems
- G05B2219/12—Plc mp multi processor system
- G05B2219/1214—Real-time communication between plc, Ethernet for configuration, monitor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
Abstract
A kind of rail mounted picker control system, including central control system, servo drive, sorting plant and linearity test sensor；Central control system is connected with servo drive, sorting plant and linearity test sensor respectively, for receiving, processing information, and sends control instruction；Servo drive is connected with central control system and sorting plant respectively, for receiving control instruction, and drives sorting plant to carry out positioning adjustment；Sorting plant is connected with central control system and servo drive respectively, for being chosen after positioning adjustment to having positioned the object put；Linearity test sensor is connected with central control system, the profile for recognizing selection object, gathers position data.Present invention selection is quick, accurate, automation, and the selection for being suitably applied rail mounted picker, especially rectangular co-ordinate picker and single coordinate movement picker is controlled.
Description
Technical field
The present invention relates to picker control system, specifically, it is related to a kind of control system of the picker moved by track
System.
Technical background
With developing rapidly for industrial automation, logistic industry and production and processing industry gradually replace artificial using picker
Chosen, to improve operating efficiency.But existing picker can only often be chosen to having positioned the object put, if
Object's position and commitment positions have deviation, then selection can be caused unsuccessful or selection mistake, cause storehouse management chaotic or stream
Waterline is chaotic.
It would therefore be highly desirable to which design a kind of can enter Mobile state adjustment, and the selection of accurate positioning according to the position of selection object
Machine control system.
The content of the invention
Based on the deficiencies in the prior art, the present invention provides a kind of rail mounted picker control system, passed by linearity test
Sensor feedback selection object's position, central control system analysis deviation value, servo drive adjusts position in good time according to deviation
Put, make up deviation.
The present invention is adopted the technical scheme that to achieve these goals：
A kind of rail mounted picker control system, it is characterised in that：Including central control system, servo drive is picked
Screening device and linearity test sensor；
The central control system is sensed with the servo drive, the sorting plant and the linearity test respectively
Device is connected, for receiving, processing information, and sends control instruction；
The servo drive is connected with the central control system and the sorting plant respectively, for receiving control
System instruction, and drive the sorting plant to carry out positioning adjustment；
The sorting plant is connected with the central control system and the servo drive respectively, is adjusted for positioning
Chosen after whole to having positioned the object put；
The linearity test sensor is connected with the central control system, the profile for recognizing selection object, adopts
Collect position data.
Further, the central control system includes programmable logic controller (PLC), communication module and input/output module；
The programmable logic controller (PLC) is coupled with communication module, is used for the processing and control into row information；
The communication module is coupled with the programmable logic controller (PLC), the input/output module respectively, for setting up
The network-bus communications protocol of the input/output module, and carry out the programmable logic controller (PLC) and the input and output mould
Information transfer between block；
The input/output module is respectively by network-bus and the communication module, the servo drive, described
Sorting plant and linearity test sensor coupling, the transmission for information.
Further, the servo drive is at least four sets, including walking servo drive, traversing servo-drive
Device, lifting servo drive and rotating servo drive device.
Further, the walking servo drive includes movable motor and movable motor servo-driver；The horizontal stroke
Moving servo drive includes traversing motor and traversing servo driver of motor；The lifting servo drive includes lifting electricity
Machine and lifting motor servo-driver；The rotating servo drive device includes electric rotating machine and electric rotating machine servo-driver.
Further, the servo drive is in series with terminal resistance.
Further, the sorting plant includes sucker and air compressor；The air compressor is connected by controller
Connect the central control system.
Further, the linearity test sensor is at least two sets, is installed on the sucker edge.
Further, in addition to bar code control system, the bar code control system includes bar code reading device and is pasted on
Bar code on track.
Further, in addition to ground maneuvers system；The ground maneuvers system passes through WAP and the center
Control system is communicated to connect.
Further, the ground maneuvers system is WMS or PLC.
Beneficial effect：The invention discloses a kind of rail mounted picker control system, programmable logic controller (PLC) passes through logical
News module and input/output module are connected with peripheral input-output equipment, it is ensured that the fast and stable of network service；Linearity test
Sensor feedback chooses object's position, and programmable logic controller (PLC) analysis deviation value, servo drive is in good time according to deviation
Adjustment position, makes up deviation, and then is chosen automatically by sorting plant, and selection is quick, accurate, automation, is adapted to application
In the selection control of rail mounted picker, especially rectangular co-ordinate picker and single coordinate movement picker.
Brief description of the drawings
Fig. 1 is structural representation of the embodiment of the present invention；
Fig. 2 is central control system structural representation of the embodiment of the present invention；
Reference：1. central control system；11. programmable logic controller (PLC)；12. communication module；13. input and output mould
Block；2. servo drive；3. sorting plant；4. linearity test sensor；5. bar code control system；6. WAP.
Embodiment
With reference to embodiment, the invention will be further described：
Embodiment
As shown in Figure 1, 2, a kind of rail mounted picker control system, including central control system 1, servo drive 2,
Sorting plant 3 and linearity test sensor 4.
Central control system 1 is connected with servo drive 2, sorting plant 3 and linearity test sensor 4, for connecing
Receipts, processing information, and send control instruction；Servo drive 2 is connected with central control system 1 and sorting plant 3 respectively
Connect, for receiving control instruction, and drive sorting plant 3 to carry out positioning adjustment；Sorting plant 3 respectively with central control system 1
And servo drive 2 is connected, for being chosen after positioning adjustment to having positioned the object put；Linearity test sensor 4
It is connected with central control system 1, the profile for recognizing selection object gathers position data.
Central control system 1 includes programmable logic controller (PLC) 11, communication module 12 and input/output module 13；It is programmable
Logic controller 11 is coupled with communication module 12, is used for the processing and control into row information.Communication module 12 is respectively with may be programmed
Logic controller 11, input/output module 13 are coupled, and for setting up the network-bus communications protocol of input/output module, and are carried out
Information transfer between programmable logic controller (PLC) 11 and input/output module 13；Preferably, communication module 12 selects Siemens
Gateway.Input/output module 13 passes through network-bus and communication module 12, servo drive 2, sorting plant 3 and linear respectively
Detection sensor 4 is coupled, for carrying out information between programmable logic controller (PLC) 11 and the ancillary equipment of central control system 1
Transmission, shortens the response time of each equipment room, reduces transmission delay, it is ensured that the precision of positioning.
Servo drive 2 be at least four sets, including walking servo drive, traversing servo drive, lifted watch
Take drive device and rotating servo drive device, drive respectively sorting plant 3 carry out horizontal direction movement, vertical direction movement with
And rotary motion.Servo drive of walking includes movable motor and movable motor servo-driver；Traversing servo drive
Including traversing motor and traversing servo driver of motor；Lifting servo drive includes lifting motor and the drive of lifting motor servo
Dynamic device；Rotating servo drive device includes electric rotating machine and electric rotating machine servo-driver.Wherein, movable motor, traversing motor,
Lifting motor, electric rotating machine are performed respectively to be transmitted to movable motor servo-driver, traversing motor servo by central control system 1
The control instruction of driver, lifting motor servo-driver and electric rotating machine servo-driver, driving sorting plant 3 is chosen
The adjustment of position deviation.Further, servo drive 2 by Canopen network-bus, Profinet network-bus or
Any one connection central control system 1 in Modbus network-bus.Further, the network-bus of servo drive 2
Terminal tandem has terminal resistance, to eliminate the signal reflex in network-bus communication cable.
Preferably, sorting plant 3 includes sucker and air compressor；Air compressor passes through controller connection center control
System 1.During selection, central control system 1 by servo drive 2 control sucker carry out orbital direction walking,
Perpendicular to the rotation of traversing, vertical direction the lifting and decline of orbital direction, and sucker；When sucker is adjusted to selection object
Selection position when, central control system 1 sends selection control instruction to controller, controller control air compressor operation,
Make to produce negative pressure in sucker, and then absorption selection is carried out to selection object.
In another preferred embodiment, linearity test sensor 4 is installed on the edge of sucker at least provided with two sets.
Linearity test sensor 4 chooses the profile of object by projecting laser rays identification, and by the selection object location information collected
Transmit to central control system 1；11 pairs of selection object location informations of programmable logic controller (PLC) are analyzed and processed, and draw selection
Position deviation value, and then sucker adjustment position deviation is driven by servo drive 2；Carried out by linearity test sensor 4
The positioning of object is chosen, data precision is less than or equal to 1mm.Further, linearity test sensor 4 selects LES33.Further
Ground, linearity test sensor 4 connects central control system 1 by Profibus buses.
Preferably, present invention additionally comprises bar code control system 5, bar code control system 5 includes bar code reading device and stickup
In the bar code on track.Bar code reading device is laser code reader or camera, and is communicated to connect with central control system 1；Bar
Code is the one-dimension code or Quick Response Code being pasted on track；During the driving sucker of servo drive 2 is moved along track, bar code
Reading device reads the bar code being pasted on track, and bar code information is fed back into central control system 1, to reach the work(of positioning
Can, positioned by bar code control system 5, location data can be accurate to 0.1mm.Further, bar code control system is optional
With the PVC series of products or the BPS series of products of Lao Yice companies of Pepperl ＆ Fuchs Inc., by the connection of Profinet network-bus
Entreat control system 1.
During selection, programmable logic controller (PLC) 11 receives the selection object's position of the collection of linearity test sensor 4
The precise positioning information that information and bar code control system 5 are provided, enters the comprehensive analysis of row information, calculate sorting plant 3 with
The position deviation value between object is chosen, and then sends control instruction and is chosen；Linearity test sensor 4 is controlled with bar code
Unite 5 co-locateds, it is ensured that positioning is quick, precisely, improves selection efficiency.
In addition, present invention additionally comprises ground maneuvers system；Ground maneuvers system passes through WAP 6 and center control system
System 1 is communicated to connect, and then facilitates scheduling controlling.Further, ground maneuvers system is WMS or PLC.
In another preferred embodiment, servo drive 2 of the invention and sorting plant 3 are set up on track；
And the switch board moved with servo drive 2, sorting plant 3 and linearity test sensor 4 is set, by central control system
1, the electric supply installation such as bar code reading device and breaker, power supply changeover device is mounted on switch board, to ensure selection process
The mobile security of middle device, stability.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited to reality shown in this article
Example is applied, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that being led for this technology
For the those of ordinary skill in domain, some modifications and retouching without departing from the principles of the present invention also should be regarded as the present invention's
Protection domain.
Claims (10)
1. a kind of rail mounted picker control system, it is characterised in that：Including central control system, servo drive, selection
Device and linearity test sensor；
The central control system respectively with the servo drive, the sorting plant and the linearity test sensor phase
Connection, for receiving, processing information, and sends control instruction；
The servo drive is connected with the central control system and the sorting plant respectively, refers to for receiving control
Order, and drive the sorting plant to carry out positioning adjustment；
The sorting plant is connected with the central control system and the servo drive respectively, for positioning after adjustment
The object put to having positioned is chosen；
The linearity test sensor is connected with the central control system, the profile for recognizing selection object, gathers position
Put data message.
2. a kind of rail mounted picker control system according to claim 1, it is characterised in that：The central control system
Including programmable logic controller (PLC), communication module and input/output module；
The programmable logic controller (PLC) is coupled with communication module, is used for the processing and control into row information；
The communication module is coupled with the programmable logic controller (PLC), the input/output module respectively, described for setting up
The network-bus communications protocol of input/output module, and carry out the programmable logic controller (PLC) and the input/output module it
Between information transfer；
The input/output module passes through network-bus and the communication module, the servo drive, the selection respectively
Device and linearity test sensor coupling, the transmission for information.
3. a kind of rail mounted picker control system according to claim 1, it is characterised in that：The servo drive
At least four sets, including walking servo drive, traversing servo drive, lifting servo drive and rotating servo drive
Dynamic device.
4. a kind of rail mounted picker control system according to claim 3, it is characterised in that：The walking servo-drive
Device includes movable motor and movable motor servo-driver；The traversing servo drive includes traversing motor and traversing electricity
Machine servo-driver；The lifting servo drive includes lifting motor and lifting motor servo-driver；The rotation is watched
Taking drive device includes electric rotating machine and electric rotating machine servo-driver.
5. a kind of rail mounted picker control system according to any one in claim 1,3,4, it is characterised in that：Institute
State servo drive and be in series with terminal resistance.
6. a kind of rail mounted picker control system according to claim 1, it is characterised in that：The sorting plant includes
Sucker and air compressor；The air compressor connects the central control system by controller.
7. a kind of rail mounted picker control system according to claim 6, it is characterised in that：The linearity test sensing
Device is at least two sets, is installed on the sucker edge.
8. a kind of rail mounted picker control system according to claim 1, it is characterised in that：Also include bar code and control system
System, the bar code control system includes bar code reading device and the bar code being pasted on track.
9. a kind of rail mounted picker control system according to claim 1, it is characterised in that：Also include ground maneuvers system
System；The ground maneuvers system is communicated to connect by WAP and the central control system.
10. a kind of rail mounted picker control system according to claim 9, it is characterised in that：The ground maneuvers system
Unite as WMS or PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466755.4A CN107168232A (en) | 2017-06-20 | 2017-06-20 | A kind of rail mounted picker control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466755.4A CN107168232A (en) | 2017-06-20 | 2017-06-20 | A kind of rail mounted picker control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107168232A true CN107168232A (en) | 2017-09-15 |
Family
ID=59819539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710466755.4A Pending CN107168232A (en) | 2017-06-20 | 2017-06-20 | A kind of rail mounted picker control system |
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Application publication date: 20170915 |
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