Positioning system, positioning method and control method of heavy-load stacking machine

Abstract

The invention discloses a positioning system, a positioning method and a control method of a heavy-load stacking machine. The positioning system comprises a stacking machine ground rail, a reflector plate, a laser range finder, a reflector plate, a reflective photoelectric sensor and a controller. The stacking machine ground rail is parallel to the extending direction of a plurality of stacking stations, and the stacking machine is installed on the stacking machine ground rail in a sliding mode. The reflector is fixed on one side of a ground rail of the stacking machine; the laser range finderis installed on the stacking machine, and the laser emitting direction of the laser range finder faces the reflector. The reflector plates are sequentially arranged in the length direction of the stacking machine ground rail corresponding to the stacking stations. The reflection type photoelectric sensor is installed on the stacking machine, wherein the signal receiving and sending end of the reflection type photoelectric sensor faces the stacking machine ground rail. The signal output ends of the laser range finder and the reflective photoelectric sensor are respectively connected with the controller. By means of the system and method, positioning control over the stacking machine with the alternating-current motor without the position feedback function can be achieved, the principle structure is simple, and accuracy and reliability are high.

Description

technical field [0001] The invention relates to the technical field of AC motor control, in particular to a positioning system, a positioning method and a control method of a heavy-duty stacker using an AC motor. Background technique [0002] In the current industry, there are generally two types of motors used in stackers: one uses AC motors and is controlled by frequency converters; the other is using servo motors and is controlled by servo drives. In applications with heavy loads, AC motors are more cost-effective and practical than servo motors. [0003] For heavy-duty stackers using AC motors, since the motor itself does not have encoder position feedback, a positioning device must be added for assistance. At present, there are generally two methods of stacker positioning: absolute addressing and relative addressing, such as barcode positioning, laser positioning, encoder positioning, and reflective sheet positioning. In recent years, laser positioning with high posit...

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Problems solved by technology

[0004] However, as far as the heavy-duty stacker is concerned, even if the relatively advanced method of laser ranging is adopted, and the closed-loop speed curve control is used to make the stacker start and stop relatively smoothly, the following problems still generally exist: 1. Due to problems such as stacker shaking and data transmission delay, the positioning accuracy is relatively low; 2. When the positioning equipment fails, it may cause the stacker to lose control and cause an accident; 3. For each cargo location, The position of the stacker needs to be pre-set in the controller, and generally can only be obtained through manual measurement. For large-scale storage projects, the debugging workload is huge

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