CN116621082B - Three-degree-of-freedom walking type lifting equipment and high-precision closed-loop control method - Google Patents
Three-degree-of-freedom walking type lifting equipment and high-precision closed-loop control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F9/072—Travelling gear therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07554—Counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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Abstract
The application discloses three-degree-of-freedom walking type lifting equipment and a high-precision closed-loop control method, wherein the equipment comprises an electrical control system; a fixed frame; the double cargo platform comprises a truss slipway and a support truss arranged on the truss slipway; a cargo platform for tools that is vertically movable on one side of the support truss; cargo tables for a cargo warehouse vertically movable on the other side of the support truss; the walking transmission mechanism is used for realizing the integral transverse movement of the truss slipway on the fixed frame; a tool lifting mechanism for vertically lifting and lowering the cargo platform for the tool; a storehouse elevating system for vertical lift of cargo bed for storehouse. Compared with the prior art, the application has the advantages of expanding capability and flexibility, simplifying addressing and positioning functions, realizing a high-precision closed-loop control method, improving equipment safety and the like. These advantages make the application have potential application and market value in the fields of logistics storage and the like.
Description
Technical Field
The application relates to the technical field of machinery, in particular to three-degree-of-freedom walking type lifting equipment and a high-precision closed-loop control method.
Background
When the intelligent three-dimensional warehousing system and the automatic logistics conveying line operate, the lifting equipment needs to be moved for auxiliary operation, so that material equipment transportation and unitized cargo storage are realized. The roadway type stacker at the present stage is limited by the structural layout of a goods shelf, and generally shuttles in a warehouse roadway to realize goods storage and retrieval, and has the defects of high installation and construction difficulty, low equipment flexibility, insufficient expansion capacity and the like.
The roadway type stacker which is most widely used at present adopts a stacking and warehousing technology, and realizes the warehouse-out and warehouse-in operation of cargoes with different layer heights and the same specification in different warehouse through completing horizontal running and vertical lifting operation in a goods shelf roadway; in addition, the roadway type stacker at the present stage mostly adopts a variable frequency speed regulating motor to drive a synchronous belt and a chain mechanism to drive, and different warehouse addressing and positioning are realized through a peripheral installation position sensor. At present, in an intelligent warehouse logistics system, equipment such as a mechanical operation device, a shuttle car, an AGV and the like is gradually added, and the equipment also has warehouse-out warehouse-in storage and access requirements. The current tunnel stacker is provided with a set of cargo carrying platform, so that the cargo storing and taking operation of the same specification can be realized; in addition, the effective triggering position of the output of the externally mounted proximity switch is required to correspond to the goods warehouse in the goods shelf, and the addressing and positioning functions of the equipment greatly depend on the internal structure of the goods shelf and the installation layout of the equipment, so that the equipment has the defects of high construction difficulty, low flexibility, low addressing and positioning precision, poor expandability and the like.
In view of the limitations of roadway stackers in the prior art, it is necessary to provide a three-degree-of-freedom walking type lifting device and a high-precision closed-loop control method, which provide more possibilities for improvement and development of stackers.
Disclosure of Invention
In order to overcome the technical defects, the application provides three-degree-of-freedom walking type lifting equipment and a high-precision closed-loop control method.
According to the present application, a three degree of freedom walk-behind lift device comprises:
an electrical control system;
a fixed frame;
the double cargo platform comprises a truss slipway and a support truss arranged on the truss slipway;
a cargo platform for tools that is vertically movable on one side of the support truss;
cargo tables for a cargo warehouse vertically movable on the other side of the support truss;
the walking transmission mechanism is used for realizing the integral transverse movement of the truss slipway on the fixed frame, and the transverse movement of the truss slipway is controlled by the electric control system;
the tool lifting mechanism is used for vertically lifting the cargo platform for the tool, and the lifting of the tool lifting mechanism is controlled by the electric control system;
a storehouse elevating system for vertical lift of cargo bed for storehouse, through the lift of electric control system control storehouse elevating system.
Further, the walking drive mechanism includes walking motor and gear, be equipped with guide rail and drive rack along length direction in the fixed frame, the bottom of truss slip table passes through horizontal slider and guide rail sliding fit, the walking motor sets up on the truss slip table, the output shaft of walking motor passes through reducing gear box and gear connection and gear and drive rack meshing transmission, and wherein walking motor configuration band-type brake coil prevents that the walking motor from removing unexpected rotation after enabling.
Further, instrument elevating system includes instrument motor, instrument cargo table transmission shaft, first bearing frame subassembly and first counter weight subassembly, the side of supporting truss is equipped with first longitudinal rail just instrument cargo table passes through longitudinal slide and first longitudinal rail sliding fit, instrument cargo table transmission shaft rotates through first bearing frame subassembly and sets up in supporting truss top just instrument motor is used for driving the rotation of instrument cargo table transmission shaft through the reducing gear box, be equipped with first belt pulley on the instrument cargo table transmission shaft, instrument cargo table upper end is connected with around the first hold-in range of establishing on first belt pulley, first counter weight subassembly passes through the longitudinal guide pulley slip and sets up and keep away from instrument cargo table's one end and first counter weight subassembly upper end in supporting truss inboard and first hold-in range, wherein instrument motor configuration brake coil prevents that instrument motor from unexpected falling after removing the enable.
Further, the goods storehouse elevating system includes goods storehouse motor, goods storehouse cargo bed transmission shaft, second bearing assembly and second counter weight subassembly, the side of supporting truss is equipped with the second longitudinal rail just goods storehouse is with cargo bed and second longitudinal rail sliding fit through the longitudinal slider, goods storehouse cargo bed transmission shaft passes through the second bearing assembly rotation setting and just the goods storehouse motor is used for driving the rotation of goods storehouse cargo bed transmission shaft through the reducing gear box, be equipped with the second belt pulley on the goods storehouse cargo bed transmission shaft, goods storehouse is with carrying cargo bed upper end and being connected with around the second hold-in range of establishing on the second belt pulley, the second counter weight subassembly is connected with second counter weight subassembly upper end through the inboard and the second hold-in range of longitudinal guide pulley one end that keeps away from goods storehouse cargo bed of supporting truss, wherein goods storehouse motor configuration brake coil prevents that the motor from falling after the messenger's accident.
Further, the electric control system comprises a PLC control system, an HMI, an electric control element of a walking transmission mechanism, an electric control element of a tool lifting mechanism, an electric control element of a warehouse lifting mechanism, a frequency converter group and a magnetic grid ruler group;
The output end of the PLC control system is electrically connected with the HMI, and the PLC control system comprises a power supply module, a CPU, a DI module, a DO module and three sets of high-speed pulse input modules;
the walking transmission mechanism electrical control element, the tool lifting mechanism electrical control element and the warehouse lifting mechanism electrical control element are electrically connected with the DI module;
the electric control element of the walking transmission mechanism comprises a walking lower limit travel switch, a walking lower limit switch, a walking origin switch, a walking upper limit switch and a walking upper limit travel switch, wherein the walking lower limit travel switch and the walking upper limit travel switch are respectively used as a rear mechanical limit and a front mechanical limit of the walking transmission mechanism to provide a safety protection function; the travel lower limit switch and the travel upper limit switch are used as a rear limit position and a front limit position of the travel transmission mechanism to limit the effective working stroke of the transmission mechanism to be positioned between the travel lower limit switch and the travel upper limit switch;
the walking origin switch is positioned at any position between the walking lower limit switch and the walking upper limit switch and is used as a reference zero point of the transmission mechanism;
The tool lifting mechanism electrical control element comprises a tool lower limit travel switch, a tool lower limit switch, a tool origin switch, a tool upper limit switch and a tool upper limit travel switch, wherein the tool lower limit travel switch and the tool upper limit travel switch are respectively used as an upper mechanical limit and a lower mechanical limit of the tool lifting mechanism, provide a safety protection function, respectively serve as a lower limit position and an upper limit position of the tool lifting mechanism, and limit the effective working travel of the transmission mechanism to be located between the lower limit position and the upper limit position; the tool origin switch is fixedly arranged at any position between the upper limit switch of the tool and the lower limit switch of the tool and is used as a reference zero point of the transmission mechanism;
the electrical control unit of the warehouse lifting mechanism comprises a lower warehouse limit travel switch, a lower warehouse limit switch, a warehouse origin switch, an upper warehouse limit switch and an upper warehouse limit travel switch; the lower limit travel switch of the cargo warehouse and the upper limit travel switch of the cargo warehouse are respectively used as the lower mechanical limit and the upper mechanical limit of the cargo warehouse lifting mechanism to provide a safety protection function; the lower limit travel switch of the warehouse and the upper limit travel switch of the warehouse are respectively used as a lower limit position and an upper limit position of the warehouse lifting mechanism, so that the effective working travel of the transmission mechanism is limited to be positioned between the lower limit travel switch and the upper limit travel switch of the warehouse; the origin switch is fixedly arranged at any position between the upper limit switch of the warehouse and the lower limit switch of the warehouse and is used as a reference zero point of the transmission mechanism;
Wherein the frequency converter group comprises a walking frequency converter, a tool frequency converter and a warehouse frequency converter, the input ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are respectively and electrically connected with a walking motor, a tool motor and a warehouse motor, the output ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are electrically connected with the CPU, and the walking frequency converter, the tool frequency converter and the warehouse frequency converter are in periodic communication with the PLC system through the industrial real-time Ethernet; the HMI is connected with the CPU system through a standard EtherNet protocol to provide functions of parameter setting, state monitoring, fault display and the like;
the running magnetic grating ruler is matched with the high-speed pulse input module, can feed back process information such as the running position, the running speed and the like of the running transmission mechanism to the PLC system in real time, can feed back process information such as the running position, the running speed and the like of the tool lifting mechanism to the PLC system in real time, and can feed back process information such as the running position, the running speed and the like of the tool lifting mechanism to the PLC system in real time; the walking magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating ruler output high-speed pulse signals A phase pulse and B phase pulse, three sets of high-speed pulse input modules are connected through shielding cables, and the high-speed pulse signals A phase pulse and B phase pulse are transmitted to the PLC system through a backboard bus.
Further, the PLC control system is also provided with a local operation subprogram, an origin regression subprogram, a positioning subprogram, an initialization and state resetting subprogram and a communication subprogram, wherein the local operation subprogram is used for providing manual debugging and warehouse addressing position recording functions, the origin regression subprogram is used for providing a magnetic grid ruler reference point searching function, the positioning subprogram is used for realizing setting addressing and positioning to a designated warehouse position, the initialization and state resetting subprogram is used for realizing variable initialization and necessary safety protection functions, and the communication subprogram is used for providing network communication function support.
A high-precision closed-loop control method of three-degree-of-freedom walking type lifting equipment specifically comprises the following steps:
step one, determining that mechanical equipment is installed ready and an electrical control system is installed ready;
step two, motor tuning optimization, driving frequency converter parameter setting and mechanical equipment parameter calculation: after the output shaft of the walking motor passes through the reduction gearbox, the truss slipway is driven by the gear and the transmission rack to realize linear operation, so that the walking rated speed is obtainedWherein->For the nominal rotational speed of the travelling motor (6), +.>Is the reduction ratio of the reduction gearbox corresponding to the walking motor (6) >Is the distance between the rack and the auxiliary tooth, and is%>For the nominal operating speed of the running gear, unit +.>The method comprises the steps of carrying out a first treatment on the surface of the The same applies to the lifting nominal speed>Wherein->Rated rotational speed of the cargo compartment motor (16), -for>The warehouse motor (16) corresponds to the reduction ratio of the reduction gearbox and is in the way of being in the form of ∈10>Is the number of teeth of the belt wheel and is->For the tooth pitch of synchronous belt->Rated operating speed of tool lifting mechanism and warehouse lifting mechanism is +.>The method comprises the steps of carrying out a first treatment on the surface of the Further, the frequency converter in the second step provides a ramp function generator, so that a speed curve in the acceleration and deceleration process of the frequency conversion speed regulation motor can be smoothly transited, and the setting is changedThe acceleration and deceleration curve of the frequency device is S-shaped, so that the lifting and positioning are accurate, the stable impact of the motor in the running process is small, the motor acceleration time is set to be a larger value of 1S, and the motor deceleration time is set to be a smaller value of 0.01S.
Further, in step one, in order to prevent the equipment from being accidentally disconnected due to the motor during operation, the truss slipway, the tool cargo platform or the cargo platform changes position due to external force, and even a crash accident occurs. The walking motor, the tool motor and the warehouse motor selected in the first step are all provided with a band-type brake mechanism, and the band-type brake logic is as follows: when the addressing positioning starting motor is started, the PLC control system transmits an operation instruction to the walking frequency converter, the tool frequency converter and the warehouse frequency converter, and outputs an effective band-type brake coil, after the PLC control system detects that a feedback band-type brake coil signal is effective, the PLC control system transmits an operation frequency to the walking frequency converter, the tool frequency converter and the warehouse frequency converter, and the walking frequency converter, the tool frequency converter and the warehouse frequency converter can respectively drive the walking motor, the tool motor and the warehouse motor to operate; when the addressing positioning is finished and the motor stops, the PLC control system transmits the running frequency of 0HZ to the frequency converter, meanwhile, the output band-type brake coil is invalid, after waiting 500ms, a stop command is transmitted to the running frequency converter, the tool frequency converter and the warehouse frequency converter, namely, the band-type brake mechanism is closed, and then the motor running motor, the tool motor and the warehouse motor are disconnected to enable.
Step three, programming a control program: according to the motor band-type brake logic implementation method, an addressing positioning implementation method and a reference point zeroing implementation method, a control program is compiled, and the control program comprises a local running subprogram and provides manual debugging and warehouse addressing position recording functions; an origin regression subroutine for providing a magnetic grid ruler reference point searching function; an addressing positioning subprogram for setting addressing positioning to a designated bin; initializing and resetting a state subroutine to realize variable initialization and necessary safety protection functions; a communication subroutine providing network communication function support; the control method has an in-situ operation mode, wherein the mode provides a debugging function and an addressing position recording function; in an in-situ operation mode, the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism operate in a point-by-point mode and are independent of each other, in addition, in the operation process of the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism, the current position values of the corresponding mechanisms can be fed back in real time through the walking magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating ruler respectively, the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism are operated in a point-by-point mode to corresponding warehouse positions in a goods shelf, the current position values of the warehouse positions are written in a PLC control system, and the warehouse position addressing position is recorded; the goods shelf is internally provided with a plurality of bin positions, and the real-time position values of the bin positions are recorded one by repeating the operations.
Step four, in-situ mode test operation, judging that the control program is correct: executing an origin regression program, and searching for the position of a reference point; recording addressing position values of all bins in the goods shelf; setting addressing positioning technological parameters; the control method has a zeroing mode, and the mode is used for determining the positions of the walking magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating reference points; in the zeroing mode, the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism observe the zeroing logic and passively search the reference point position, after the reference point is found, the position value is written in by the PLC control system to be equal to 0, and because the walking origin switch, the tool origin switch and the warehouse origin switch are fixedly arranged on the walking lifting equipment, the positions of the walking origin switch, the tool origin switch and the warehouse origin switch are uniquely determined, when the addressing position recording operation is carried out in the local mode, the positions of all warehouse positions in the goods shelf can be uniquely determined relative to the origin switch.
Further, in the fourth step, the zeroing logic is to set the traveling transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism as default to search the origin switch signal along the upper limit proximity switch direction, if the initial positions of the truss slipway, the tool carrying platform and the warehouse carrying platform are between the lower limit proximity switch and the origin switch, the starting position is stopped after the origin switch signal is searched, and the position value is written into by the PLC control system to be equal to 0; if the initial positions of the truss slipway, the tool cargo carrying platform and the cargo carrying platform are located between the origin switch and the upper limit proximity switch, immediately reversely searching the lower limit proximity switch signal after searching the upper limit proximity switch signal, searching the origin switch signal along the direction of the upper limit proximity switch after waiting to search the lower limit proximity switch signal, stopping after searching the origin switch signal, and writing the position value equal to 0 by the PLC control system.
Selecting the number of columns and layers from a cargo platform for a positioning tool to a specific bin in a goods shelf and then executing an addressing positioning function; the control method has an addressing and positioning mode capable of driving the traveling crane to move the tool loading platform and the warehouse loading platform to a specified warehouse level, arranging the layers of the warehouse levels, selecting the number of columns and layers for driving the tool loading platform or the warehouse loading platform to the destination target, and then executing the addressing and positioning operation.
Further, the condition of the addressing and positioning mode in the fifth step is that the positions of the reference points of the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism are determined, and the positions of all warehouse positions in the goods shelf are recorded.
Further, the addressing locating logic in the fifth step is to execute the addressing locating function after selecting the number of columns and layers of the locating target position. The PLC control system firstly reads current values of the walking transmission mechanism, the tool lifting mechanism and the corresponding walking magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating ruler in the warehouse lifting mechanism as initial position values, and obtains equipment target position values by analyzing the number of columns and the number of layers of target warehouse positions. If the absolute value of the difference between the device initial position value and the device target position value is smaller than the allowable limit of the positioning error, judging that the device is currently positioned at the addressing positioning target position, and not executing positioning operation; otherwise, the equipment executes addressing positioning operation, the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism are driven to operate by the PLC control system, the magnetic grating ruler in each transmission mechanism feeds back the current actual position value and the current operation speed value to the PLC control system in real time (closed-loop control), when the absolute value of the difference between the current position value of the magnetic grating ruler and the target position value of the equipment is judged to be smaller than the allowable limit of positioning error, the addressing positioning is indicated to reach the target position, and the equipment stops executing positioning operation.
Furthermore, in the addressing and positioning mode in the step five, in order to improve the working efficiency, shorten the addressing and positioning time and improve the positioning precision, the high-speed and low-speed segmented positioning execution operation is adopted, the parameters of high-speed addressing and positioning speed, low-speed addressing and positioning distance and positioning error tolerance limit are required to be set, the speed switching position is calculated in the PLC control system, and the speed switching position value is equal to the positioning target position minus the low-speed addressing and positioning distance. The high-low speed sectional positioning execution logic is that when the current feedback position value of the magnetic grating ruler of the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism is between the initial position value and the speed switching position value, the equipment runs at the high-speed addressing positioning speed, the PLC control system detects that the current feedback position value of the magnetic grating ruler is not less than the speed switching position value, the equipment runs at the low-speed addressing positioning speed, and when the absolute value of the difference value between the current position value of the magnetic grating ruler and the target position value of the equipment is less than the allowable limit of positioning error, the addressing positioning reaches the target position, and the equipment stops running.
Further, in the addressing positioning mode of the step five, if the absolute value of the difference between the addressing positioning target position and the initial position value of the walking transmission mechanism, the tool lifting mechanism and the warehouse lifting mechanism is smaller than the low-speed addressing positioning distance, the PLC control system drives the equipment to operate at the low-speed addressing positioning speed until the positioning is reached.
Step six, the PLC control system sends an operation command to the walking transmission frequency converter, the tool lifting frequency converter and the warehouse lifting frequency converter, the walking motor operates according to the speed specified in the control program, the truss sliding table is dragged to horizontally walk through the gear and the transmission rack, and the closed-loop control of the walking frequency converter and the truss sliding table is realized according to the current position value and the operation speed value of the truss sliding table obtained by real-time feedback of the walking magnetic grating ruler; through instrument converter and storehouse converter, instrument motor and storehouse motor are according to the speed operation that prescribes in the control program, drag instrument respectively with carrying cargo platform and storehouse with cargo platform lift through first belt pulley and second belt pulley, realize instrument converter and instrument with cargo platform closed-loop control and storehouse converter and cargo platform closed-loop control for cargo platform according to instrument magnetic grating chi and the current position and the running speed of cargo platform for storehouse of storehouse magnetic grating chi real-time feedback, can realize the high accuracy addressing locate function.
And step seven, positioning is achieved, the number of columns and layers of specific bins in the shelf are reselected after the current addressing and positioning are finished, and a new round of addressing and positioning operation is executed.
Compared with the prior art, the application has the advantages that:
1. the three-degree-of-freedom walking type lifting equipment provided by the application can realize synchronous horizontal transverse movement and vertical lifting operation of mechanical operation equipment, cargoes and other carriers, meet the warehouse-out and warehouse-in storage requirements of different-specification and size carriers in different layers and different lanes in a goods shelf, and improve the expandability and flexibility of the equipment.
2. According to the application, the travelling transmission mechanism, the tool lifting mechanism and the magnetic grid ruler in the warehouse lifting mechanism address and record the position of each warehouse in the goods shelf, so that the approach switch installed in each warehouse in the goods shelf is prevented from being used as a positioning arrival judgment signal, the dependence of the addressing and positioning function of the equipment on the internal structure and the installation layout of the goods shelf is reduced, the complexity of the equipment is simplified, and the construction difficulty is reduced. The positioning target position is adjusted aiming at a user, a certain bin position in the goods shelf is added or shielded, and only the addressing record position value is required to be modified, so that the operation difficulty is simplified, and the convenience and usability of the equipment are improved.
3. The application provides a high-precision closed-loop control method, which is characterized in that a magnetic grid ruler feeds back a current position value and a current speed value of a traveling transmission mechanism, a tool lifting mechanism and a warehouse lifting mechanism in real time, and a PLC control system controls an addressing and positioning process according to the current actual position value of equipment through the addressing and positioning logic. The control method has the advantages of quick addressing and positioning, small positioning error and the like, and gives consideration to the running efficiency of the equipment on the premise of ensuring the positioning precision of the walking type lifting equipment.
4. The invention provides a high-precision closed-loop control method, and a PLC control system can effectively avoid the situation that a moving part changes position due to external force and even crashes due to accidental disconnection caused by motor in the running process of equipment through the band-type brake logic, and improve the safety of the equipment.
Drawings
FIG. 1 is a schematic front view of a three degree of freedom walking lift device;
FIG. 2 is a schematic left view of a three degree of freedom walking lift device;
fig. 3 is a right side view of a three degree of freedom walking type lifting device
FIG. 4 is a topology of an electrical control system;
FIG. 5 is a schematic diagram of the sensor arrangement of the travel drive mechanism, tool lift mechanism, and warehouse lift mechanism;
FIG. 6 is a schematic view of a shelf mechanism;
FIG. 7 is a schematic diagram of a closed loop control method program implementation;
FIG. 8 is a diagram of a reference point search path in origin regression mode;
FIG. 9 is a diagram illustrating high and low speed segment positioning execution for an auto-addressing mode of operation;
FIG. 10 is a logic control flow diagram of band-type brake;
FIG. 11 is a flow chart of a high-precision closed-loop control method implementation;
reference numerals: 1. the device comprises a fixed frame, 2, a truss sliding table, 3, a support truss, 4, a tool cargo carrying platform, 5, a cargo carrying platform for a cargo warehouse, 6, a walking motor, 7, gears, 8, a transmission rack, 9, a guide rail, 10, a tool motor, 11, a tool cargo carrying platform transmission shaft, 12, a first bearing seat assembly, 13, a first counterweight assembly, 14, a first belt pulley, 15, a first synchronous belt, 16, a cargo carrying motor, 17, a cargo carrying platform transmission shaft, 18, a second bearing seat assembly, 19, a second counterweight assembly, 20, a second belt pulley, 21 and a second synchronous belt.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples
Referring to fig. 1 to 3, a three degree of freedom walk-behind lift apparatus includes:
an electrical control system;
a fixed frame 1;
the double cargo platform comprises a truss slipway 2 and a support truss 3 arranged on the truss slipway 2;
a cargo platform 4 for tools which is vertically movable on one side of the support truss 3;
a cargo bed 5 for a cargo room vertically movable on the other side of the support truss 3;
the walking transmission mechanism is used for realizing the overall transverse movement of the truss slipway 2 on the fixed frame 1, and the transverse movement of the truss slipway 2 is controlled by the electric control system;
the tool lifting mechanism is used for vertically lifting the cargo platform 4 for the tool, and the lifting of the tool lifting mechanism is controlled by the electric control system;
the cargo room lifting mechanism is used for vertically lifting the cargo table 5 for the cargo room, and the lifting of the tool lifting mechanism is controlled by the electric control system.
In this embodiment, the walking drive mechanism includes walking motor 6 and gear 7, is equipped with guide rail 9 and drive rack 8 along length direction on the fixed frame 1, and the bottom of truss slip table 2 passes through horizontal slider and guide rail 9 sliding fit, and walking motor 6 sets up on truss slip table 2, and the output shaft of walking motor 6 passes through the reducing gear box and is connected with gear 7 and drive rack 8 meshing transmission.
In this embodiment, the tool lifting mechanism includes a tool motor 10, a tool cargo carrying platform transmission shaft 11, a first bearing seat assembly 12 and a first counterweight assembly 13, a first longitudinal guide rail 9 is provided on a side surface of the support truss 3, the tool cargo carrying platform 4 is slidably matched with the first longitudinal guide rail 9 through a longitudinal sliding block, the tool cargo carrying platform transmission shaft 11 is rotatably provided above the support truss 3 through the first bearing seat assembly 12, the tool motor 10 is used for driving rotation of the tool cargo carrying platform transmission shaft 11 through a reduction gearbox, a first belt pulley 14 is provided on the tool cargo carrying platform transmission shaft 11, a first synchronous belt 15 wound on the first belt pulley 14 is connected to an upper end of the tool cargo carrying platform 4, the first counterweight assembly 13 is slidably provided on an inner side of the support truss 3 through a longitudinal guide wheel, and one end of the first synchronous belt 15 far from the tool cargo carrying platform 4 is connected to an upper end of the first counterweight assembly 13.
In this embodiment, the cargo lift mechanism includes a cargo lift mechanism including a cargo motor 16, a cargo carrying platform transmission shaft 17, a second bearing assembly 18 and a second counterweight assembly 19, the side of the support truss 3 is provided with a second longitudinal rail 9 and the cargo carrying platform 5 for cargo carrying is slidably matched with the second longitudinal rail 9 through a longitudinal sliding block, the cargo carrying platform transmission shaft 17 is rotatably arranged above the support truss 3 through the second bearing assembly 18 and the cargo carrying motor 16 is used for driving the rotation of the cargo carrying platform transmission shaft 17 through a reduction gearbox, a second belt pulley 20 is arranged on the cargo carrying platform transmission shaft 17, the upper end of the cargo carrying platform 5 for cargo carrying is connected with a second synchronous belt 21 wound on the second belt pulley 20, and the second counterweight assembly 19 is slidably arranged inside the support truss 3 through a longitudinal guide pulley and one end of the second synchronous belt 21 far away from the cargo carrying platform 5 for cargo carrying is connected with the upper end of the second counterweight assembly 19.
The walking transmission mechanism, the tool lifting mechanism and the goods lifting mechanism can independently operate, so that the debugging function, the reference point searching function and the addressing position recording function are met; can operate in a linkage way, and can meet the addressing and positioning functions of the tool cargo carrying platform and the cargo carrying platform in the horizontal and vertical directions.
Examples
The present embodiment is different from embodiment 1 in including an electrical control system. The electric control system drives the equipment, and can realize the high-precision addressing and positioning function.
As shown in fig. 4, the electrical control system comprises a PLC control system, an HMI, a walking transmission mechanism electrical control element, a tool lifting mechanism electrical control element, a frequency converter set, and a magnetic grid ruler set;
the output end of the PLC control system is electrically connected with the HMI, and the PLC control system comprises a power supply module, a CPU, a DI module, a DO module and three sets of high-speed pulse input modules;
the walking transmission mechanism electric control element, the tool lifting mechanism electric control element and the warehouse lifting mechanism electric control element are electrically connected with the DI module;
the electric control element of the walking transmission mechanism comprises a walking lower limit travel switch, a walking lower limit switch, a walking original point switch, a walking upper limit switch and a walking upper limit travel switch;
the tool lifting mechanism electrical control element comprises a tool lower limit travel switch, a tool lower limit switch, a tool origin switch, a tool upper limit switch and a tool upper limit travel switch;
The electrical control unit of the warehouse lifting mechanism comprises a lower limit travel switch of the warehouse, a lower limit switch of the warehouse, a warehouse origin switch, an upper limit switch of the warehouse and an upper limit travel switch of the warehouse;
the frequency converter group comprises a walking frequency converter, a tool frequency converter and a warehouse frequency converter, wherein the input ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are respectively and electrically connected with the walking motor 6, the tool motor 10 and the warehouse motor 16, and the output ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are electrically connected with the CPU;
the magnetic grating ruler group comprises a traveling magnetic grating ruler, a tool magnetic grating ruler and a warehouse magnetic grating ruler, and the traveling magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating ruler are respectively and electrically connected with the three sets of high-speed pulse input modules.
In this embodiment, the PLC control system is further provided with a local operation subroutine, an origin regression subroutine, a positioning subroutine, an initialization and status reset subroutine, and a communication subroutine, where the local operation subroutine is used for providing a manual debugging and warehouse addressing location recording function, the origin regression subroutine is used for providing a magnetic grid ruler reference point searching function, the positioning subroutine is used for implementing setting addressing location to a designated warehouse, the initialization and status reset subroutine is used for implementing variable initialization and necessary security protection functions, and the communication subroutine is used for providing network communication function support.
As shown in fig. 8, the original point regression subroutine is a program implementation method thereof. Defaulting the position of the upper limit as an origin searching direction, if the equipment parking position is between the lower limit switch and the origin switch, searching the effective time of the signal of the origin switch, writing the position equal to 0, and finishing the position determination of the reference point; if the equipment parking position is between the original point switch and the upper limit switch, firstly searching for the upper limit switch signal to be effective, then searching for the lower limit switch signal in the reverse direction, then searching for the original point switch signal along the direction of the upper limit after searching for the lower limit switch signal to be effective, searching for the effective moment of the original point switch signal, writing the effective moment into the original point switch signal to be equal to 0, and finishing the position determination of the reference point.
As shown in fig. 9, the positioning logic implementation method is used for the addressing positioning subroutine. If the current feedback position value of the equipment is between the initial position value and the speed switching position value, the equipment operates at a high-speed addressing positioning speed, after detecting that the current feedback position value of the magnetic grating ruler is not smaller than the speed switching position value (switching position value=target position value-deceleration distance value), the equipment operates at a low-speed addressing positioning speed, and when judging that the absolute value of the difference value between the current position value of the magnetic grating ruler and the target position value of the equipment is smaller than the allowable limit of the positioning error, the addressing positioning reaches the target position, and the equipment stops operating. If the absolute value of the difference between the address positioning target position and the initial position value of the equipment is smaller than the low-speed address positioning distance, the equipment always operates at the low-speed address positioning speed until the positioning is reached.
The walking motor 6, the tool motor 10 and the warehouse motor 16 are all variable frequency speed regulating motors, and the control mode of the three motors is described by the variable frequency speed regulating motors, and fig. 8 shows a method for realizing the band-type brake logic of the variable frequency speed regulating motors. When the variable frequency speed-regulating motor is started, the PLC control system issues an operation instruction (control word) to the corresponding frequency converter, meanwhile, the output band-type brake coil is effective, after detecting that the feedback band-type brake signal is effective, the PLC control system issues an operation frequency to the corresponding frequency converter, and different frequency converters can drive the corresponding variable frequency speed-regulating motor to operate; when the variable frequency speed regulating motor stops, the control system transmits the running frequency of 0HZ to the corresponding frequency converter, meanwhile, the output band-type brake coil is invalid, after waiting 500ms, a stop command is transmitted to the corresponding frequency converter, namely, the band-type brake mechanism is closed, and then the variable frequency speed regulating motor is disconnected for enabling.
Examples
Referring to fig. 11, the embodiment provides a high-precision closed-loop control method of a three-degree-of-freedom walking type lifting device, which specifically includes the following steps:
step one, determining that mechanical equipment is installed ready and an electrical control system is installed ready;
step two, motor tuning optimization, driving frequency converter parameter setting and mechanical equipment parameter calculation: after the output shaft of the walking motor 6 passes through the reduction gearbox, the truss sliding table 2 is driven by the gear 7 and the transmission rack 8 to realize linear operation, so that the walking rated speed is obtained Wherein->For the nominal rotational speed of the travelling motor (6), +.>Is the reduction ratio of the reduction gearbox corresponding to the walking motor (6)>Is the distance between the rack and the auxiliary tooth, and is%>For the nominal operating speed of the running gear, unit +.>The method comprises the steps of carrying out a first treatment on the surface of the The same applies to the lifting nominal speed>Wherein->Rated rotational speed of the cargo compartment motor (16), -for>The warehouse motor (16) corresponds to the reduction ratio of the reduction gearbox and is in the way of being in the form of ∈10>Is the number of teeth of the belt wheel and is->For the tooth pitch of synchronous belt->Rated operating speed of tool lifting mechanism and warehouse lifting mechanism is +.>；
Step three, programming a control program: according to the motor band-type brake logic implementation method, an addressing positioning implementation method and a reference point zeroing implementation method, a control program is compiled, and the control program comprises a local running subprogram and provides manual debugging and warehouse addressing position recording functions; an origin regression subroutine for providing a magnetic grid ruler reference point searching function; an addressing positioning subprogram for setting addressing positioning to a designated bin; initializing and resetting a state subroutine to realize variable initialization and necessary safety protection functions; a communication subroutine providing network communication function support;
step four, in-situ mode test operation, judging that the control program is correct: executing an origin regression program, and searching for the position of a reference point; recording addressing position values of all bins in the goods shelf; setting addressing positioning technological parameters.
Selecting the number of columns and layers from the cargo platform 4 for the positioning tool and the cargo platform 5 for the cargo warehouse to a specific bin position in the goods shelf, and then executing an addressing positioning function;
step six, the PLC control system sends an operation command to the walking transmission frequency converter, the tool lifting frequency converter and the warehouse lifting frequency converter, the walking motor operates according to the speed specified in the control program, the truss sliding table 2 is dragged to horizontally walk through the gear 7 and the transmission rack 8, and closed-loop control of the walking frequency converter and the truss sliding table 2 is realized according to the current position value and the operation speed value of the truss sliding table 2 obtained by real-time feedback of the walking magnetic grating ruler; through instrument converter and storehouse converter, instrument motor 10 and storehouse motor 16 are according to the speed operation that prescribes in the control program, drag instrument with cargo platform 4 and storehouse with cargo platform 5 respectively through first belt pulley 14 and second belt pulley 20 and go up and down, realize instrument with cargo platform 4 and storehouse with cargo platform 5 current position and operation speed of instrument converter and instrument with cargo platform 4 closed-loop control and storehouse converter and cargo platform 5 closed-loop control, can realize the addressing locate function of high accuracy according to instrument magnetic grating chi and storehouse magnetic grating chi real-time feedback.
And step seven, positioning is achieved, the number of columns and layers of specific bins in the shelf are reselected after the current addressing and positioning are finished, and a new round of addressing and positioning operation is executed.
The above embodiments are only for illustrating the technical solution of the embodiments of the present application, and are not limited thereto; although embodiments of the present application have been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions, which are defined by the appended claims.
Claims (2)
1. A three degree of freedom walk behind lift apparatus comprising:
an electrical control system;
a fixed frame (1);
the double-cargo platform comprises a truss slipway (2) and a support truss (3) arranged on the truss slipway (2);
a cargo platform (4) for tools which can move vertically on one side of the support truss (3);
a cargo bed (5) for a cargo warehouse which can be vertically moved on the other side of the support truss (3);
the walking transmission mechanism is used for realizing the overall transverse movement of the truss sliding table (2) on the fixed frame (1), and the transverse movement of the truss sliding table (2) is controlled by the electric control system;
The tool lifting mechanism is used for vertically lifting the cargo platform (4) for the tool, and the lifting of the tool lifting mechanism is controlled by the electric control system;
the cargo cabin lifting mechanism is used for vertically lifting the cargo platform (5) for the cargo cabin and controls the lifting of the cargo cabin lifting mechanism through the electric control system;
the walking transmission mechanism comprises a walking motor (6) and a gear (7), a guide rail (9) and a transmission rack (8) are arranged on the fixed frame (1) along the length direction, the bottom of the truss sliding table (2) is in sliding fit with the guide rail (9) through a transverse sliding block, the walking motor (6) is arranged on the truss sliding table (2), an output shaft of the walking motor (6) is connected with the gear (7) through a reduction gearbox, and the gear (7) is meshed with the transmission rack (8) for transmission;
the tool lifting mechanism comprises a tool motor (10), a tool carrying platform transmission shaft (11), a first bearing seat assembly (12) and a first counterweight assembly (13), a first longitudinal guide rail (9) is arranged on the side face of the supporting truss (3), the tool carrying platform (4) is in sliding fit with the first longitudinal guide rail (9) through a longitudinal sliding block, the tool carrying platform transmission shaft (11) is rotatably arranged above the supporting truss (3) through the first bearing seat assembly (12), the tool motor (10) is used for driving the tool carrying platform transmission shaft (11) to rotate through a reduction gearbox, a first belt pulley (14) is arranged on the tool carrying platform transmission shaft (11), a first synchronous belt (15) wound on the first belt pulley (14) is connected to the upper end of the tool carrying platform (4), and one end, far away from the tool carrying platform (4), of the first counterweight assembly (13) is slidably arranged on the inner side of the supporting truss (3) through the longitudinal guide wheel;
The cargo compartment lifting mechanism comprises a cargo compartment motor (16), a cargo compartment cargo carrying platform transmission shaft (17), a second bearing assembly (18) and a second counterweight assembly (19), a second longitudinal guide rail (9) is arranged on the side surface of the supporting truss (3), the cargo compartment cargo carrying platform (5) is in sliding fit with the second longitudinal guide rail (9) through a longitudinal sliding block, the cargo carrying platform transmission shaft (17) is rotatably arranged above the supporting truss (3) through the second bearing assembly (18), the cargo carrying motor (16) is used for driving the cargo carrying platform transmission shaft (17) to rotate through the reduction gearbox, the second belt pulley (20) is arranged on the cargo carrying platform transmission shaft (17), the upper end of the cargo carrying platform (5) for the cargo carrying is connected with a second synchronous belt (21) wound on the second belt pulley (20), the second counterweight assembly (19) is arranged on the inner side of the supporting truss (3) in a sliding manner through a longitudinal guide wheel, and one end, far away from the cargo carrying platform (5), of the second synchronous belt (21) is connected with the upper end of the second counterweight assembly (19);
the electric control system comprises a PLC control system, an HMI, an electric control element of a walking transmission mechanism, an electric control element of a tool lifting mechanism, an electric control element of a warehouse lifting mechanism, a frequency converter group and a magnetic grid ruler group;
The output end of the PLC control system is electrically connected with the HMI, and the PLC control system comprises a power supply module, a CPU, a DI module, a DO module and three sets of high-speed pulse input modules;
the walking transmission mechanism electrical control element, the tool lifting mechanism electrical control element and the warehouse lifting mechanism electrical control element are electrically connected with the DI module;
the electric control element of the walking transmission mechanism comprises a walking lower limit travel switch, a walking lower limit switch, a walking origin switch, a walking upper limit switch and a walking upper limit travel switch;
the tool lifting mechanism electrical control element comprises a tool lower limit travel switch, a tool lower limit switch, a tool origin switch, a tool upper limit switch and a tool upper limit travel switch;
the electrical control unit of the warehouse lifting mechanism comprises a lower warehouse limit travel switch, a lower warehouse limit switch, a warehouse origin switch, an upper warehouse limit switch and an upper warehouse limit travel switch;
the frequency converter group comprises a walking frequency converter, a tool frequency converter and a warehouse frequency converter, wherein the input ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are respectively and electrically connected with a walking motor (6), a tool motor (10) and a warehouse motor (16), and the output ends of the walking frequency converter, the tool frequency converter and the warehouse frequency converter are electrically connected with a CPU;
The magnetic grating ruler set comprises a walking magnetic grating ruler, a tool magnetic grating ruler and a warehouse magnetic grating ruler, and the walking magnetic grating ruler, the tool magnetic grating ruler and the warehouse magnetic grating ruler are respectively and electrically connected with the three sets of high-speed pulse input modules;
the PLC control system is also provided with a local operation subprogram, an origin regression subprogram, a positioning subprogram, an initialization and state resetting subprogram and a communication subprogram, wherein the local operation subprogram is used for providing manual debugging and warehouse addressing position recording functions, the origin regression subprogram is used for providing a magnetic grid ruler reference point searching function, the positioning subprogram is used for realizing setting addressing and positioning to a designated warehouse position, the initialization and state resetting subprogram is used for realizing variable initialization and necessary safety protection functions, and the communication subprogram is used for providing network communication function support.
2. The high-precision closed-loop control method of the three-degree-of-freedom walking type lifting device according to claim 1, which is characterized by comprising the following steps:
step one, determining that mechanical equipment is installed ready and an electrical control system is installed ready;
step two, motor tuning optimization, driving frequency converter parameter setting and mechanical equipment parameter calculation: after the output shaft of the walking motor (6) passes through the reduction gearbox, the truss sliding table (2) is driven by the gear (7) and the transmission rack (8) to realize linear operation, so that the walking rated speed is obtained Wherein->For the nominal rotational speed of the travelling motor (6), +.>Is the reduction ratio of the reduction gearbox corresponding to the walking motor (6)>Is the distance between the rack and the auxiliary tooth, and is%>For the nominal operating speed of the running gear, unit +.>The method comprises the steps of carrying out a first treatment on the surface of the The same applies to the lifting nominal speed>Wherein->Rated rotational speed of the cargo compartment motor (16), -for>The warehouse motor (16) corresponds to the reduction ratio of the reduction gearbox and is in the way of being in the form of ∈10>Is the number of teeth of the belt wheel and is->For the tooth pitch of synchronous belt->Rated operating speed of tool lifting mechanism and warehouse lifting mechanism is +.>；
Step three, programming a control program: according to the motor band-type brake logic implementation method, an addressing positioning implementation method and a reference point zeroing implementation method, a control program is compiled, and the control program comprises a local running subprogram and provides manual debugging and warehouse addressing position recording functions; an origin regression subroutine for providing a magnetic grid ruler reference point searching function; an addressing positioning subprogram for setting addressing positioning to a designated bin; initializing and resetting a state subroutine to realize variable initialization and necessary safety protection functions; a communication subroutine providing network communication function support;
step four, in-situ mode test operation, judging that the control program is correct: executing an origin regression program, and searching for the position of a reference point; recording addressing position values of all bins in the goods shelf; setting addressing positioning technological parameters;
Selecting the number of columns and layers from a cargo platform (4) for a positioning tool to a specific bin in a goods shelf and a cargo platform (5) for a goods shelf, and then executing an addressing positioning function;
step six, the PLC control system sends an operation command to the walking transmission frequency converter, the tool lifting frequency converter and the warehouse lifting frequency converter, the walking motor operates according to the speed specified in the control program, the truss sliding table (2) is dragged to horizontally walk through the gear (7) and the transmission rack (8), and closed-loop control of the walking frequency converter and the truss sliding table (2) is realized according to the current position value and the operation speed value of the truss sliding table (2) obtained by real-time feedback of the walking magnetic grating ruler; the tool motor (10) and the warehouse motor (16) operate according to the speed specified in the control program, the first belt pulley (14) and the second belt pulley (20) drag the tool cargo carrying platform (4) and the warehouse cargo carrying platform (5) to lift respectively, and the high-precision addressing and positioning functions can be realized according to the current positions and the operation speeds of the tool magnetic grating ruler and the warehouse magnetic grating ruler and the tool cargo carrying platform (4) and the warehouse cargo carrying platform (5) which are fed back in real time;
And step seven, positioning is achieved, the number of columns and layers of specific bins in the shelf are reselected after the current addressing and positioning are finished, and a new round of addressing and positioning operation is executed.
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| CN116621082A (en) | 2023-08-22 |
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