CN103523492A - Automatic control system and control method for unloading of raw material plant multi-stock-bin trolley - Google Patents
Automatic control system and control method for unloading of raw material plant multi-stock-bin trolley Download PDFInfo
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Abstract
The invention discloses an automatic control system and control method for unloading of a raw material plant multi-stock-bin trolley. The control system comprises the unloading trolley and a trolley guide rail matched with the unloading trolley, and the unloading trolley is matched with a feeding belt. The system is characterized in that the lower portion of the trolley guide rail is provided with stock bin positioning switches matched with the upper openings of stock bins, stock bin material level detection switches are arranged in the stock bins, ultimate stop limiting switches are arranged on the lower portions of the two ends of the trolley guide rail on the outer sides of the stock bin positioning switches, and the ultimate stop limiting switches, the stock bin positioning switches and the stock bin material level detection switches are connected with a control system body through wires. According to the control system and control method, the walking process and the unloading process of the unloading trolley can be monitored in real time, unmanned work of a mobile vehicle can be achieved, labor intensity of on-site operators is reduced, work efficiency is improved, and safe, efficient and automated production is achieved.
Description
Technical field
The present invention relates to technical field of automatic control, relate in particular to a kind of many feed bins of raw material plant dolly discharging autonomous cruise speed system and control method, realize unmanned automatic discharging and the management participating in of dolly discharge system.
Background technology
The many feed bins of raw material plant, many kinds raw material automatic control technology are widely used, but most systems application is undesirable, have problems more, not only Equipment Inspection aspect, and program design is complicated, loaded down with trivial details inapplicable aspect programming control, thinking is unintelligible, to field control, has brought many troubles.Automatic system is thrown and is not used, operating personal moves with dolly, the on-the-spot manually control dump car of using is realized the discharging to feed bin, inaccurate with the judgement of changing storehouse to the arrival target position in storehouse of dolly, the accident that easily causes wrong storehouse batch mixing, directly have influence on the stability of material composition, cause off quality.
Summary of the invention
Object of the present invention is exactly the problems referred to above that exist for solving prior art, and a kind of many feed bins of raw material plant dolly discharging autonomous cruise speed system is provided; Realize many feed bins dolly discharging overall process and automatically control, can monitor in real time truck traveling, truck discharge process, realize the unmanned operation of mobile vehicle, reduce field operation personnel's labour intensity, increase work efficiency, realize safe and efficient, automated production.
The present invention also provides the control method of utilizing this autonomous cruise speed system.
The technical scheme of technical solution problem of the present invention is:
A kind of many feed bins of raw material plant dolly discharging autonomous cruise speed system, comprise dump car, the vehicle guide coordinating with dump car, dump car coordinates with charging belt, vehicle guide bottom is provided with the feed bin position-sensing switch coordinating with the upper opening position of feed bin, in feed bin, be provided with bin-level detector switch, the bottom, vehicle guide two ends in feed bin position-sensing switch outside is provided with the ultimate limit switch that stops, and the described ultimate limit switch, feed bin position-sensing switch, bin-level detector switch of stopping is connected with control system by wire respectively.
Described control system adopts PLC central controller unit, described PLC central controller unit is connected with upper computer picture operation system, the described ultimate position signal that stops the dolly that limit switch detects, and feed bin position-sensing switch, bin-level detector switch, bin-level signal send PLC central controller unit to by wire.
Described PLC central controller cellular installation is in operator's compartment control housing, and upper computer is arranged in operating table surface, installing operating system software and operation supervise and control picture in upper computer.
Utilize the control method of the present invention to the discharging of many feed bins of raw material plant dolly, comprise the following steps:
1) primary data detects
The signal of material level detector switch is all connected with the load module of PLC central controller unit by wire, the data information transfer detecting is arrived to PLC central controller unit, as primary data information, participate in the programming logic processing of PLC central controller unit; PLC central controller unit output module signal after treatment arrives carriage walking actuating unit by wire transmission, carries out the real time location tracking of dolly and controls.Utilize PLC programming technique, by the separation spatially of discharging region locating point, carry out segmentation control and logic judgement, realize cleverly walking and the localizing objects discharging of dolly, thereby realize on-the-spot unattended discharging operating system, control.
2) target position in storehouse is selected
At upper bit manipulation computer picture select target position in storehouse, the instruction of choosing is " 1 ", otherwise is " 0 ", and this instruction is transferred to PLC central controller unit by computing machine.
3) follow the tracks of dolly locus
Ultimately stop limit switch and position in storehouse dolly position-sensing switch is spatially separated the control area of dolly, realize logic judgement and the segmentation control of dolly; The direction that dolly moves forward and backward stops after limit switch, changes direction by ultimate;
4) target storehouse arrives
The arrival in dolly target storehouse divides three kinds of situations,
1. dolly advances;
2. dolly retreats;
3. dolly is parked in target position in storehouse;
According to dolly target position in storehouse, select and above-mentioned advance, retreat condition, using PLC carries out programming, realizes the full automatic control of dolly;
5) feed bin allows discharging
Bin-level detector detects material level signal, by wire, be connected with PLC central controller unit, the real-time data transmission detecting to PLC central controller unit; PLC central controller cell processing, surpasses material level setting value, produces alerting signal, and does not allow dolly discharging; If feed bin does not allow discharging, return to target position in storehouse and select, reselect position in storehouse, carry out circulation program loop;
6) target storehouse discharging
Dump car arrives target position in storehouse, and target storehouse position in storehouse do not arrive material level alarming value, starts the discharging of target storehouse;
7) discharging finishes
Dolly is in the discharging of target storehouse, in discharge process, if bin-level detector signal alarm arrives material level setting value, stop discharging, if do not have new target feed bin selected, dolly is parked in as you were, after choosing etc. new feed bin, advance or retreat, arriving new target feed bin.
The automated production that integrated computer technology of the present invention, network communications technology, PLC control technology and location technology are integrated is controlled administrating system, the accurate location that adopts induction wireless coding cable technology to carry out truck traveling, monitor in real time truck traveling, truck discharge process, realize the unmanned operation of mobile vehicle, reduce field operation personnel's labour intensity, increase work efficiency, realize safe and efficient, automated production.
Native system dump car control system can realize many feed bins and control, feed bin is arranged in order, dolly is walked on guide rail, each feed bin is provided with location discharging switch, two of feed bin is provided with ultimate halt switch, feed bin is provided with charge level detector, feed bin is provided with location discharging switch detection signal, the ultimate halt switch signal in two of feed bin, the detection signal of bin-level detector and all by wire, is connected with input, the output module of PLC system with carriage walking signal, be transferred to PLC central controller unit, implement to follow the tracks of and control.Utilize PLC programming technique, by the separation spatially of discharging region locating point, carry out segmentation control and logic judgement, realize walking and the localizing objects discharging of dolly, thereby realize on-the-spot unattended discharging operating system, control.
Beneficial effect of the present invention:
1. registration of the present invention, can monitor truck traveling, truck discharge process in real time, realizes the unmanned operation of mobile vehicle, reduces field operation personnel's labour intensity, increases work efficiency, and realizes safe and efficient, automated production.
2. the present invention can realize many feed bins control, by the separation spatially of discharging region locating point, carries out segmentation control and logic judgement, realizes walking and the localizing objects discharging of dolly, thereby realize on-the-spot unattended discharging operating system, controls.
Accompanying drawing explanation
Fig. 1 is that dolly discharge system process equipment is arranged;
Fig. 2 is that the automatic control area of dolly discharge system is divided schematic diagram;
Fig. 3 is many feed bins dolly discharging automatic controlling system diagram of circuit;
Wherein, 1. dump car, 2. vehicle guide, the 3. ultimate limit switch that stops, 4. feed bin position-sensing switch, 5. bin-level detector switch, 6. feed bin, 7. charging belt, 8.PLC central controller unit, 9. upper computer;
LZA, LZB, LZC, LZD are limit area, and LF1, LF2, LF3, LF4, LF5 are the region of advancing,
LH1, LH2, LH3, LH4, LH5 are back off area,
for distributing trolley locating point.
The specific embodiment
In order to understand better the present invention, below in conjunction with accompanying drawing, explain in detail embodiments of the present invention.
In conjunction with Fig. 1 to Fig. 3, a kind of many feed bins of raw material plant dolly discharging autonomous cruise speed system, comprise dump car 1, the vehicle guide 2 coordinating with dump car 1, dump car 1 coordinates with charging belt 7, vehicle guide 2 bottoms are provided with the feed bin position-sensing switch 4 coordinating with the upper opening position of feed bin 6, in feed bin 6, be provided with bin-level detector switch 5, the bottom, vehicle guide two ends in feed bin position-sensing switch 4 outsides is provided with the ultimate limit switch 3 that stops, the described ultimate limit switch 3 that stops, feed bin position-sensing switch 4, bin-level detector switch 5 is connected with control system by wire respectively, described control system adopts PLC central processing unit 8.Described PLC central processing unit 8 and the monitored picture of upper computer 9 are arranged in operator's compartment control housing and operating table surface.The ultimate limit switch 3 that stops is arranged on the A of guide rail, the end positions of B, prevents that dump car from surpassing the track two ends limit, and safety misadventure occurs; Feed bin position-sensing switch 4 is arranged on the guide rail side of each feed bin top, coordinates dolly location discharging; Charge level detector 5 is installed on the sidewall of each feed bin upper end, prevents discharging collision.
Described PLC central processing unit allows discharging information according to described dolly location information and position in storehouse, by the flow process of Fig. 3, is controlled, is carried out information processing, to control the running state of dolly.
Target position in storehouse in described Fig. 3 is selected, and on the computer picture of operator's compartment, selects.
The routine processes of described PLC central controller unit, as shown in Figure 2, stops limit switch 3 by control area according to reality ultimate and position in storehouse position-sensing switch 4 carries out spatial division, and distributes different titles.The position of each region logical signal and dolly has one-to-one relationship.
As shown in Figure 1, the automated production that integrated computer technology of the present invention, network communications technology, PLC control technology and location technology are integrated is controlled administrating system, the accurate location that adopts induction wireless coding cable technology to carry out truck traveling, monitor in real time truck traveling, truck discharge process, realize the unmanned operation of mobile vehicle, reduce field operation personnel's labour intensity, increase work efficiency, realize safe and efficient, automated production.
Utilize the control method of the present invention to the discharging of many feed bins of raw material plant dolly, comprise the following steps:
1) primary data detects
In conjunction with Fig. 1, each feed bin is provided with location discharging detector switch, two of feed bin is provided with ultimate spacing halt switch, feed bin is provided with material level detector switch, detector switch signal is all connected with the load module of PLC central controller unit by wire, the data information transfer detecting, to PLC central controller unit, as primary data information, is participated in the programming logic processing of PLC central controller unit.
PLC central controller unit output module signal after treatment arrives carriage walking actuating unit by wire transmission, carries out the real time location tracking of dolly and controls.Utilize PLC programming technique, by the separation spatially of discharging region locating point, carry out segmentation control and logic judgement, realize cleverly walking and the localizing objects discharging of dolly, thereby realize on-the-spot unattended discharging operating system, control.
2) target position in storehouse is selected
PLC central controller unit and upper bit manipulation computer equipment in conjunction with 8 indications in Fig. 1; At upper bit manipulation computer picture select target position in storehouse, the instruction of choosing is " 1 ", otherwise is " 0 ".This instruction is transferred to PLC central controller unit by computing machine.
3) follow the tracks of dolly locus
In conjunction with Fig. 2, ultimate limit switch 3 and the position in storehouse position-sensing switch 4 of stopping, spatially separating the control area of dolly, realizes logic judgement and the segmentation of dolly and controls.
In conjunction with Fig. 2, dolly discharge system control area be take six storehouses and is described as example, the discharging point station of corresponding 6 feed bins of 1-6, and 1-6 is set to 6 target storehouses at operation screen.
The operating mode of dolly is divided into manually and automatic two kinds of modes, dolly is under manual mode, can carry out by computer operation picture the start stop operation of optional position, but when charge level detector 5 detects certain bin-level arrival alerting signal, not allow in this storehouse discharging; Dolly initially for the first time time, enters automatic control area manually after 1 feed bin detection and localization switch, and the mode of dolly is for electing as automatically, and dolly just rests in ready-portioned region completely.
In conjunction with Fig. 2, if dolly is advancing, dolly is by No. 1 feed bin position-sensing switch, and PLC central controller unit receives 1 switching point detection signal, the signal of the region LF1 that advances is set to 1, and all the other all regional signals that move forward and backward are set to 0; Dolly is by No. 2 feed bin position-sensing switches, and PLC central controller unit receives 2 switching point detection signals, the signal of the region LF2 that advances is set to 1, and all the other all signal areas that move forward and backward are set to 0; The like, when dolly passes through No. 6 feed bins, the signal of LZB is set to 1, and all the other all signals that move forward and backward are set to 0; Dolly is met after limit B, the signal of LZD is set to 1, and all the other all signals that move forward and backward are set to 0;
If dolly is retreating, when dolly passes through No. 6 feed bin detection and localization switches, PLC central controller unit receives 6 switching point detection signals, the signal of back off area LH5 is set to 1, and all the other all signal areas that move forward and backward are set to 0; When dolly passes through No. 5 feed bin detection and localization switches, PLC central controller unit receives 5 switching point detection signals, the signal of back off area LH4 is set to 1, and all the other all signals that move forward and backward are set to 0; The like, when dolly passes through No. 1 feed bin detection and localization switch, PLC central controller unit receives 1 switching point detection signal, and the signal of LZC is set to 1, and all the other all signals that move forward and backward are set to 0; Dolly is met after limit A, the signal of LZA is set to 1, and all the other all signals that move forward and backward are set to 0;
No matter dolly is in region or the back off area of advancing, as long as in automated regional, the position of each region logical signal and dolly has one-to-one relationship, has uniqueness.Realizing the location of dolly follows the tracks of.
The switching condition that dolly moves forward and backward, for to stop after limit switch by ultimate, changes direction.
4) target storehouse arrives
In conjunction with Fig. 2, the arrival in dolly target storehouse divides three kinds of situations,
A) dolly advances.2. dolly retreats.3. dolly is parked in target position in storehouse (extraordinary circumstances)
The integrated condition that judgement dolly advances is LFZ, in conjunction with Fig. 2, comprises 6 kinds of following situations:
1. select target position in storehouse No. 1, the condition that dolly advances is LZC=1 or LZA=1
2. select target position in storehouse No. 2, the condition that dolly advances is, LZC=1 or LZA=1 or LF1=1
3. select target position in storehouse No. 3, the condition that dolly advances is, LZC=1 or LZA=1 or LF1=1 or LF2=1
The like, select target position in storehouse No. 6, the condition that dolly advances is, LZC=1 or LZA=1 or LF1=1 or LF2=1 or LF3=1 or LF4=1 or LF5=1
The integrated condition that judgement dolly retreats is LHZ, in conjunction with Fig. 2, comprises 6 kinds of following situations:
1. select target position in storehouse No. 6, the condition that dolly retreats is, LZB=1 or LZD=1
2. select target position in storehouse No. 5, the condition that dolly retreats is, LZB=1 or LZD=1 or LH5=1
3. select target position in storehouse No. 4, the condition that dolly retreats is, LZB=1 or LZD=1 or LH5=1 or LH4=1.
The like, select target position in storehouse No. 1, the condition that dolly retreats is, LZB=1 or LZD=1 or LH5=1 or LH4=1 or LH3=1 or LH2=1 or LH1=1.
If dolly is parked in target position in storehouse (extraordinary circumstances), dolly need not advance or retreat.
In conjunction with Fig. 3, according to the selection of dolly target position in storehouse and above-mentioned advance, retreat condition, using PLC carries out programming, realizes the full automatic control of dolly.When selecting any one target position in storehouse, can find a qualified logic route, meet the condition that dolly advances or retreats, carry out operation and the location discharging of dump car.When checking system and control system are during if there is fault, can on upper operation screen, the control of dolly be switched to manual control, do not affect production; When fault is got rid of, dolly enters automatic control flow chart at automatic control area.So just realized the automatic control in the region-wide scope of dolly.
5) feed bin allows discharging
In conjunction with Fig. 1, bin-level detector 5, detects material level signal, by wire, be connected with PLC central controller unit, the real-time data transmission detecting to PLC central controller unit; PLC central controller cell processing, surpasses material level setting value, produces alerting signal, and does not allow dolly discharging.If feed bin does not allow discharging, return to target position in storehouse and select, reselect position in storehouse, carry out circulation program loop.
6) target storehouse discharging
Dump car arrives target position in storehouse, and target storehouse position in storehouse do not arrive material level alarming value, starts the discharging of target storehouse.
7) discharging finishes.
Dolly is in the discharging of target storehouse, in discharge process, if bin-level detector signal alarm arrives material level setting value, stop discharging, if do not have new target feed bin selected, dolly is parked in as you were, after choosing etc. new feed bin, advance or retreat, arriving new target feed bin.
Casehistory:
Hypothetical target position in storehouse is No. 4 positions in storehouse, and bin-level detects and does not report to the police, No. 4 feed bins can discharging, if at this moment dolly rests on a certain position within the scope of automated regional, at this moment always there is a regional signal to put 1, can find dolly is need to advance or the logic route that need to retreat, and has so also just reached and has realized automatic object completely.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of invention is described; but be not limiting the scope of the invention; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (4)
1. many feed bins of raw material plant dolly discharging autonomous cruise speed system, comprise dump car, the vehicle guide coordinating with dump car, dump car coordinates with charging belt, it is characterized in that, vehicle guide bottom is provided with the feed bin position-sensing switch coordinating with the upper opening position of feed bin, in feed bin, be provided with bin-level detector switch, the bottom, vehicle guide two ends in feed bin position-sensing switch outside is provided with the ultimate limit switch that stops, and the described ultimate limit switch, feed bin position-sensing switch, bin-level detector switch of stopping is connected with control system by wire respectively.
2. many feed bins of raw material plant dolly discharging autonomous cruise speed system as claimed in claim 1, it is characterized in that, described control system adopts PLC central controller unit, described PLC central controller unit is connected with upper computer picture operation system, the described ultimate position signal that stops the dolly that limit switch detects, and feed bin position-sensing switch, bin-level detector switch, bin-level signal send PLC central controller unit to by wire.
3. many feed bins of raw material plant dolly discharging autonomous cruise speed system as claimed in claim 2, it is characterized in that, described PLC central controller cellular installation is in operator's compartment control housing, and upper computer is arranged in operating table surface, installing operating system software and operation supervise and control picture in upper computer.
4. the control method of many feed bins of raw material plant dolly discharging, comprises the following steps:
1) primary data detects: the signal of material level detector switch is all connected with the load module of PLC central controller unit by wire, the data information transfer detecting is arrived to PLC central controller unit, as primary data information, participate in the programming logic processing of PLC central controller unit; PLC central controller unit output module signal after treatment arrives carriage walking actuating unit by wire transmission, carries out the real time location tracking of dolly and controls;
2) target position in storehouse is selected: at upper bit manipulation computer picture select target position in storehouse, the instruction of choosing is " 1 ", otherwise is " 0 ", and this instruction is transferred to PLC central controller unit by computing machine;
3) follow the tracks of dolly locus: ultimately stop limit switch and position in storehouse dolly position-sensing switch is spatially separated the control area of dolly, realize logic judgement and the segmentation control of dolly; The direction that dolly moves forward and backward stops after limit switch, changes direction by ultimate;
4) target storehouse arrives: according to dolly target position in storehouse, select and advance, retreat condition, using PLC carries out programming, realizes the full automatic control of dolly;
5) feed bin allows discharging: bin-level detector detects material level signal, by wire, be connected with PLC central controller unit, the real-time data transmission detecting to PLC central controller unit; PLC central controller cell processing, surpasses material level setting value, produces alerting signal, and does not allow dolly discharging; If feed bin does not allow discharging, return to target position in storehouse and select, reselect position in storehouse, carry out circulation program loop;
6) target storehouse discharging: dump car arrives target position in storehouse, and target storehouse position in storehouse do not arrive material level alarming value, starts the discharging of target storehouse;
7) discharging finishes: dolly is in the discharging of target storehouse, in discharge process, if bin-level detector signal alarm, arrive material level setting value, stop discharging, if do not have new target feed bin selected, dolly is parked in as you were, after choosing etc. new feed bin, advance or retreat, arriving new target feed bin.
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