CN116354277B - Electrical control system of curve double-drive fork type shuttle - Google Patents
Electrical control system of curve double-drive fork type shuttle Download PDFInfo
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- CN116354277B CN116354277B CN202310362283.3A CN202310362283A CN116354277B CN 116354277 B CN116354277 B CN 116354277B CN 202310362283 A CN202310362283 A CN 202310362283A CN 116354277 B CN116354277 B CN 116354277B
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- shuttle body
- shuttle
- speed
- frequency converter
- control system
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- 238000001514 detection method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
-
- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- 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
- B66F9/07559—Stabilizing means
-
- 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
- B66F9/07568—Steering arrangements
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the field of shuttling vehicles, and provides a bend double-drive fork type shuttling vehicle electrical control system which comprises a central controller, a frequency converter master station, a frequency converter slave station and a shuttling vehicle body, wherein the central controller is electrically connected with the frequency converter master station, and the frequency converter master station is electrically connected with the frequency converter slave station. In the use, through setting up a plurality of points on the track, the shuttle body is when passing through different points, controls its speed size to guarantee that the shuttle body is fast running on straight line track, and stable the going on the bend.
Description
Technical Field
The invention relates to the technical field of shuttling vehicles, in particular to a curve double-drive fork type shuttling vehicle electrical control system.
Background
At present, as requirements on warehouse storage capacity are higher and higher, particularly requirements on automatic stereoscopic warehouses, requirements on shuttle vehicle selection, transportation, warehouse-in and warehouse-out frequency and the like are also higher and higher, and the application of the goods shelf shuttle vehicle in the intelligent warehouse field is wider and wider. The shuttle car walks on the track of three-dimensional goods shelves to carry the workbin on the goods shelves storage position to the shuttle car, perhaps carry the workbin to the storage position. And the tire manufacturing industry also applies the shuttle to take and place finished products when in warehouse storage.
Tire products contained in the cargo cages reach the road junction of the shuttle car through conveying, and then are conveyed to each picking delivery port (fixed cargo bed) through the shuttle car, so that the shuttle car can convey the cargo cages on conveying equipment to different fixed cargo beds and then pick and deliver the cargo.
However, in actual operation, the factory shipment position is not on a straight line, and there are often curves, so that the wheels are easy to slip, and the speed of the shuttle is generally constant, and the wheels are easy to slip when passing through the curves. Therefore, we propose a curve dual-drive fork type shuttle electric control system to solve the above problems.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the electric control system of the bend double-drive fork type shuttle, which solves the problem that the wheels of the shuttle are easy to slip when the shuttle runs in multiple bends in the use process.
Technical proposal
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a bend double-drive fork type shuttle electric control system, includes central controller, converter main website, converter slave website and shuttle body, central controller with converter main website electricity is connected, converter main website with converter slave website electricity is connected;
the speed protection system is used for controlling the speeds of the shuttle car body at different positions of the track.
In a new embodiment, the shuttle body further includes two first travel switches, two second travel switches and two end switches, two the first travel switches are used for performing travel limit protection, two the second travel switches are used for performing curve speed change protection, and two the end switches are used for end speed change protection.
In a new embodiment, the shuttle body is further connected with a detection frame, and the detection frame is connected with a plurality of photoelectric sensors.
In a new embodiment, the number of photosensors is 12.
In a new embodiment, the shuttle body is further connected with a fork, and the fork is further connected with a plurality of photoelectric sensors.
In a new embodiment, the number of photosensors is two.
In a new embodiment, the speed protection system comprises:
detecting the position of the shuttle body on the track;
and adjusting the speed according to the position of the shuttle body.
In a new embodiment, the adjusting the speed according to the position of the shuttle body includes:
if the current forward position of the shuttle body is in front of the point a or behind the point d, controlling the real-time speed of the shuttle body to be smaller than the first speed;
and if the current forward position of the shuttle body is between the point b and the point c, controlling the real-time speed of the shuttle body to be equal to the second speed.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
1. the speed of the shuttle body is controlled when the shuttle body passes through different points by arranging a plurality of points on the track, so that the shuttle body can rapidly run on the linear track and stably run on a curve;
2. through the setting of a plurality of photoelectric sensor, can accurately discern the position of goods to get fast and put, take place to get the number of times of putting the mistake greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the connection structure of a central controller and a primary and secondary frequency converter station according to the present invention;
FIG. 2 is a schematic view of a track structure;
FIG. 3 is a schematic diagram of a connection structure of a master-slave converter;
fig. 4 is an electrical curve control program diagram of the shuttle vehicle according to the present application.
In the figure: 1. a central controller; 2. a frequency converter main station; 3. a frequency converter slave station; 4. a track.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the embodiment of the application, the problem that a vehicle slips in the driving process is solved by providing the electric control system of the double-drive fork type shuttle in the curve, so that the speed at the curve is controlled when the vehicle runs on the curved rail, and the driving stability is ensured.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1-4, a curve double-drive fork type shuttle electric control system comprises a central controller 1, a frequency converter main station 2, a frequency converter auxiliary station 3 and a shuttle body, wherein the central controller 1 is electrically connected with the frequency converter main station 2, and the frequency converter main station 2 is electrically connected with the frequency converter auxiliary station 3;
the speed protection system is used for controlling the speeds of the shuttle body at different positions of the track 4.
The shuttle body adopts a double-drive control mode, as shown in fig. 1, the control function is realized on the basis of a PLC and a frequency converter master station 2, and the frequency converter master station 2 and a frequency converter slave station 3.
As shown in fig. 4, the parameter design of the master-slave function of the frequency converter realizes the functions of synchronous operation of the motor, load distribution, torque optimization and the like.
The shuttle body further comprises two first travel switches (SQ 3 and SQ 4), two second travel switches (SQ 1 and SQ 2) and two end switches (GB 8 and GB 9), wherein the two first travel switches are used for carrying out travel limit protection, the two second travel switches are used for carrying out curve speed change protection, and the two end switches are used for end speed change protection.
The shuttle body is further connected with a detection frame, and the detection frame is connected with a plurality of photoelectric sensors.
The number of the photoelectric sensors is 12.
The shuttle body is also connected with a fork, and the fork is also connected with a plurality of photoelectric sensors.
The number of the photoelectric sensors is two.
On the other hand, the shuttle still sets up detecting switch, and the hardware protection increases factor of safety. SQ3 and SQ4 are used for stroke limit protection, SQ1 and SQ2 are used for curve speed change protection, and GB8 and GB9 are used for end speed change protection.
The shuttle appearance detects the switch overall arrangement.
The double-drive fork type shuttle on the curve is provided with a cargo detection frame, and 12 photoelectric sensors are arranged for detecting whether the cargoes on the shuttle are ultra-wide left/right, ultra-long front and back, ultra-high and the like, so that the conditions of inclination, incorrect positions and the like of the fetched cargoes are avoided, and the cargo placing positions and the like are influenced;
two photoelectric sensors are arranged on the fork of the shuttle car and used for detecting whether goods exist on the goods shelf or not and the conditions of goods taking, goods filling and the like are avoided, so that the high accuracy of goods taking/placing is achieved.
The speed protection system includes:
detecting the position of the shuttle body on the track 4;
and adjusting the speed according to the position of the shuttle body.
The speed adjusting according to the position of the shuttle body includes:
if the current forward position of the shuttle body is in front of the point a or behind the point d, controlling the real-time speed of the shuttle body to be smaller than the first speed;
and if the current forward position of the shuttle body is between the point b and the point c, controlling the real-time speed of the shuttle body to be equal to the second speed.
In the actual use process, by detecting the position of the shuttle body on the track 4, the track 4 comprises four points, namely, a point, b point, c point and d point, when the shuttle body is in front of the a point or behind the d point, namely, in a straight line running, the first speed can be set to be the speed when the shuttle body runs at constant power, and the constant power of the shuttle bodies of different types is different, so the first speed is not specifically described herein, and when the shuttle body is between the b point and the c point, the shuttle body is required to pass through a curve, the speed is required to be reduced, and the second speed can be set according to tire materials, track 4 materials and the like, and can be set to be any speed value in the range of 2m/s-20m/s as required. Thus, when passing through a specific position, the vehicle automatically decelerates, thereby avoiding the wheel slipping and ensuring the shuttle body to run more stably.
The RGV adopts a carrier communication mode, and the upper computer controls the operation of the shuttle through carrier communication; the carrier communication has high reliability and economy, is basically consistent in distribution of scheduling management, can not interrupt communication during overhauling and grounding of a power transmission line, is less influenced by a system short circuit grounding fault, and is easy to realize long-distance nonlinear communication.
The RGV horizontal double-drive running program is optimally designed, and a speed curve program is written according to the relation between the running distance and the real-time position, so that the RGV can run stably at high speed.
RGV touch screen (HMI human-machine interface) function.
The touch screen content comprises a starting picture, a maintenance interface, manual/automatic, I/O signal inquiry, a parameter setting picture, an alarm picture, alarm resolution, scram and the like. The initial picture design displays the functional module of the touch screen and is provided with the picture of the design, so that the content and the function of the design can be clear at a glance.
When the shuttle is in fault, a maintenance working mode interface is selected, and the interface is provided with a forward key, a backward key, an ascending key, a descending key, a left-extending key and a right-extending key, and corresponding indicator lamps are placed, so that the current working state of the shuttle can be clearly seen when the shuttle is operated. The manual operation of lifting, walking, fork taking and placing and the like of the shuttle car can be directly performed in the maintenance mode.
When 'manual' is selected to enter a manual operation interface, a touch switch is operated to perform corresponding operation according to the requirement; inputting corresponding columns and layers, and positioning the corresponding columns and layers after long-time pressing column writing or layer writing, wherein an operator can perform extending and contracting fork operation; the pick-and-place operation is automatically and continuously performed, and when the horizontal and vertical stops, the fork operation can be performed, and when the shuttle is in the low position, the fork performs a pick-and-place process, and when the shuttle is in the high position, the fork performs a place process.
When the shuttle is required to automatically work, the touch screen interface can be adjusted to be connected with an automatic working mode, and then the automatic operation interface is entered. The current task state of the shuttle car, the pick-up address and the put-in address can be clearly seen through the contents displayed on the touch screen.
Task input: and inputting a goods taking arrangement layer in the goods taking address and the goods placing address, automatically generating a task number by a task address, automatically supporting the input of multiple tasks, when multiple tasks are to be input, pressing a downward touch switch to enter the input of the next task, pressing an 'executing' touch switch after the task is input by a task zone bit input 1, and running an automatic program.
The curve double-drive fork type shuttle is developed from a reciprocating type shuttle, can process cargoes at different positions on one track, and overcomes the defect of insufficient conveying capacity of the reciprocating type shuttle. Under the conditions that the running route is not on the same straight line, the goods are conveyed to be ordered and the goods are required to be selected, the curve double-drive shuttle is preferentially selected for operation.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has 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 technical solutions of the embodiments of the present invention.
Claims (4)
1. The utility model provides a bend double-drive fork type shuttle electrical control system which is characterized by comprising a central controller (1), a frequency converter main station (2), a frequency converter auxiliary station (3) and a shuttle body, wherein the central controller (1) is electrically connected with the frequency converter main station (2), and the frequency converter main station (2) is electrically connected with the frequency converter auxiliary station (3);
the speed protection system is used for controlling the speeds of the shuttle body at different positions of the track (4);
the speed protection system includes:
detecting the position of the shuttle body on the track (4);
adjusting the speed according to the position of the shuttle body;
the speed adjusting according to the position of the shuttle body includes:
if the current forward position of the shuttle body is in front of the point a or behind the point d, controlling the real-time speed of the shuttle body to be smaller than the first speed;
if the current forward position of the shuttle body is between the point b and the point c, controlling the real-time speed of the shuttle body to be equal to the second speed;
the shuttle body further comprises two first travel switches, two second travel switches and two end switches, wherein the two first travel switches are used for performing travel limit protection, the two second travel switches are used for performing curve speed change protection, and the two end switches are used for performing end speed change protection;
the shuttle body is further connected with a detection frame, and the detection frame is connected with a plurality of photoelectric sensors.
2. The electrical control system of claim 1, wherein the number of photosensors is 12.
3. The electrical control system of claim 1, wherein the shuttle body is further coupled to a fork, and wherein the fork is further coupled to a plurality of photosensors.
4. The electrical control system of claim 1, wherein the number of photosensors is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310362283.3A CN116354277B (en) | 2023-04-07 | 2023-04-07 | Electrical control system of curve double-drive fork type shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310362283.3A CN116354277B (en) | 2023-04-07 | 2023-04-07 | Electrical control system of curve double-drive fork type shuttle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116354277A CN116354277A (en) | 2023-06-30 |
| CN116354277B true CN116354277B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310362283.3A Active CN116354277B (en) | 2023-04-07 | 2023-04-07 | Electrical control system of curve double-drive fork type shuttle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783535A (en) * | 2016-08-25 | 2018-03-09 | 丰田自动车株式会社 | Controller of vehicle |
| CN109896217A (en) * | 2019-04-19 | 2019-06-18 | 广州豪坤工业自动化控制技术有限公司 | A kind of Dual-channel type steering shuttle automatic material flow device of variable-ratio |
| CN112230655A (en) * | 2020-09-30 | 2021-01-15 | 江苏智库智能科技有限公司 | Walking control system and method of four-way shuttle |
| CN114084563A (en) * | 2021-11-29 | 2022-02-25 | 苏州彤新诺仓储***科技有限公司 | Double-drive railway vehicle and differential control method thereof |
| CN216071793U (en) * | 2021-07-24 | 2022-03-18 | 郑州敏捷物流有限公司 | There is rail guidance commodity circulation goods shelves shuttle system |
-
2023
- 2023-04-07 CN CN202310362283.3A patent/CN116354277B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783535A (en) * | 2016-08-25 | 2018-03-09 | 丰田自动车株式会社 | Controller of vehicle |
| CN109896217A (en) * | 2019-04-19 | 2019-06-18 | 广州豪坤工业自动化控制技术有限公司 | A kind of Dual-channel type steering shuttle automatic material flow device of variable-ratio |
| CN112230655A (en) * | 2020-09-30 | 2021-01-15 | 江苏智库智能科技有限公司 | Walking control system and method of four-way shuttle |
| CN216071793U (en) * | 2021-07-24 | 2022-03-18 | 郑州敏捷物流有限公司 | There is rail guidance commodity circulation goods shelves shuttle system |
| CN114084563A (en) * | 2021-11-29 | 2022-02-25 | 苏州彤新诺仓储***科技有限公司 | Double-drive railway vehicle and differential control method thereof |
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| CN116354277A (en) | 2023-06-30 |
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