A path generation and motion control method for a transfer stacker

Abstract

The invention discloses a path generation and motion control method of a rail transfer stacker, which is applied to the control of a rail transfer stacker and a turnout mechanism. The system hardware is composed of vehicle-mounted PLC, conveyor line PLC, walking address recognition device, traveling driving device, track changing driving device, and track changing in-position sensor. The control method includes four parts: the generation method of the transition path, the detection method of the path conflict, the generation method of the transition command, the control of the turnout and the detection method of the path state. The method that the present invention proposes. The control method of the invention is based on the spanning tree to generate the path, realizes the control facing the path, greatly simplifies the program design and interactive data, and realizes the modular design of the stacker and the turnout mechanism. The interaction between the upper and lower computers is reduced, and the efficiency of the transfer operation is significantly improved.

Description

technical field [0001] The invention relates to the field of automatic warehousing and logistics equipment, in particular to an electrical control method suitable for generating a rail transition path of a rail transition stacker system and for the linkage between the stacker and the switch rail transition mechanism. Background technique [0002] The stacker is the most critical component of the automated three-dimensional warehouse. It shuttles in the lanes between the shelves to realize the transportation of goods and the operation of entering and leaving the warehouse. It has the advantages of saving land and manpower, and operating quickly and accurately. [0003] The function and structure of the stacker have been very mature since the development of the stacker. According to the form of the track, it can be divided into: straight track, curved track, transition track, etc. The biggest advantage of the application of the swivel type stacker is that multiple lanes are eq...

AI Technical Summary

Problems solved by technology

[0011] 1. It is necessary to exhaustively enumerate and realize all possible path combinations in the program, the action logic of the involved turnout and stacker, the programming is complicated, and the program volume is especially huge when the track topology is complex;

[0012] 2. Only the occupancy status of the turnout mechanism is judged, but it is impossible to fundamentally detect and avoid task path conflicts;

[0013] 3. It is necessary to transmit control and status data between each stacker and each turnout mechanism, and the communication volume between PLCs is large and the programming is complicated

Images