Control device of double-drive separate-control disc stacking machine

Abstract

The utility model discloses a control device, belongs to the technical field of double-drive separate-control disc stacking machines, and particularly relates to a control device of a double-drive separate-control disc stacking machine, which comprises a left motor drive control assembly, a right motor drive control assembly and a programmable logic control assembly. The left motor driving control assembly and the right motor driving control assembly are respectively connected with the programmable logic control assembly; the left motor drive control assembly and the right motor drive control assembly are both provided with absolute value encoders so as to synchronously collect the operation states of a left shaft and a right shaft, and speed comparison and relative synchronization can be carried out on control logic through the method that the absolute value encoders are electrically and additionally arranged. In this way, the problem of mechanical jamming is effectively solved, and due to the open-loop combination of the double encoders, the synchronization precision of the lead screw set reaches the degree of reducing traditional alarms. In the field, a more efficient and more stable working mode is achieved.

Description

Technical Field

[0001] The utility model discloses a control device, belongs to the technical field of double-drive and separately-controlled stacking machines, and particularly relates to a control device for a double-drive and separately-controlled stacking machine. Background Art

[0002] The main function of a heavy-duty pallet stacker is to accurately and quickly stack goods stacked on the ground into designated locations. This equipment not only improves logistics efficiency but also optimizes the use of storage space. The single-drive shaft synchronous frame pallet stacker currently used in transformer production has been proven, after multiple tests, to be only suitable for lighter pallets (under 1 ton). When using a single-drive shaft synchronous frame pallet stacker with heavier products, efficiency slows and stalls occur. There is also the issue of the pallet stacker not being able to fit within the frame. Utility Model Content

[0003] The purpose of the utility model is to provide a control device for a dual-drive and separately controlled stacking machine to solve the above-mentioned problems.

[0004] Technical solution: A control device for a dual-drive, separately controlled stacking machine, comprising: the control device comprising: a left motor drive control component, a right motor drive control component, and a programmable logic control component;

[0005] The left motor drive control component and the right motor drive control component are respectively connected to the programmable logic control component;

[0006] The left motor drive control component and the right motor drive control component are both equipped with absolute encoders to synchronously collect the operating status of the left and right axes.

[0007] In a further embodiment, the left motor drive control assembly and the right motor drive control assembly have the same structure and are respectively arranged on both sides of the dual-drive and separately controlled stacking machine.

[0008] In a further embodiment, the programmable logic control component is composed of a programmable logic controller A4, a counter A4-1 and a counter A4-2, the positive power supply terminal 1L+ of the programmable logic controller A4 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply, the negative power supply terminal 1M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply, the counter A4-1 and the counter A4-2 are connected to the programmable logic controller A4 and input a 24V DC power supply, the positive power supply terminal L+ of the counter A4-1 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply, and the negative power supply terminal M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply.

[0009] In a further embodiment, the left motor drive control assembly includes: a frequency converter QSDPJL, a power distribution circuit breaker F14, a motor M8, a brake / brake switch Y8, a switch KM8, and an encoder B30 for the left motor SS1;

[0010] The input end of the distribution circuit breaker F14 is connected to the three-phase electricity L1, L2 and L3, and the output end is connected to the three-phase power supply ends L1, L2 and L3 of the frequency converter QSDPJL; the three No. 1 ports of the switch KM8 are respectively connected to the U2, V2, and W2 ports of the frequency converter QSDPJ, and the three No. 2 ports of the switch KM8 are respectively connected to the U1, V1, and W1 ports of the motor M8 and correspond to the U2, V2, and W2 ports of the frequency converter QSDPJ; the two No. 13 ports of the switch KM8 are respectively connected to the L2 and L3 ports of the frequency converter QSDPJ, and the two No. 14 ports of the switch KM8 are respectively connected to the No. 5 and No. 6 ports of the brake / brake switch Y8, and the left motor SS1 encoder B30 is correspondingly connected to the counter A4-1.

[0011] In a further embodiment, the right motor drive control assembly includes: a frequency converter QSDPJR, a power distribution circuit breaker F15, a motor M9, a brake / brake switch Y9, a switch KM9, and an encoder B31 for the right motor SS1;

[0012] The input end of the distribution circuit breaker F15 is connected to the three-phase electricity L1, L2 and L3, and the output end is connected to the three-phase power supply ends L1, L2 and L3 of the frequency converter QSDPJR; the three No. 1 ports of the switch KM9 are respectively connected to the U2, V2, and W2 ports of the frequency converter QSDPR, and the three No. 2 ports of the switch KM9 are respectively connected to the U1, V1, and W1 ports of the motor M9 and correspond to the U2, V2, and W2 ports of the frequency converter QSDPR; the two No. 13 ports of the switch KM9 are respectively connected to the L2 and L3 ports of the frequency converter QSDPR, and the two No. 14 ports of the switch KM9 are respectively connected to the No. 5 and No. 6 ports of the brake / brake switch Y9, and the right motor SS1 encoder B31 is correspondingly connected to the counter A4-2.

[0013] Beneficial effects: This practical invention focuses on solving the problem of heavy-loaded pallet stacking. It adopts left and right dual motor drive, and can achieve relative synchronization of the left and right motors through absolute encoders on the basis of differentiating and reducing the motor power, making the heavy-load stacking machine more load-bearing and more efficient. The impact generated by a large motor driving a heavy load is differentiated and eliminated by two small motors, which provides a guarantee for the smooth operation of the factory power system. Since the stacking machine is frequently started and stopped, it is also energy-saving when used for a long time. In addition, the stability of electrical control gives the heavy-load stacking machine a lower failure rate; the utility model can compare and synchronize the speed in the control logic through the method of electrically adding an absolute encoder, which will effectively solve the problem of mechanical jamming. The dual encoder open-loop combination makes the synchronization accuracy of the screw rod group reach the level of reducing traditional alarms. A more efficient and stable working mode has been achieved in this field. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a programmable logic controller A4 of a programmable logic control component of the present invention.

[0015] Figure 2 This is a schematic diagram of the drive circuit of the left motor drive control component of the present invention.

[0016] Figure 3 This is a schematic diagram of the motor circuit of the left motor drive control component of the present utility model.

[0017] Figure 4 This is a connection diagram of the programmable logic control component counter A4-1 of the present utility model.

[0018] Figure 5 This is a schematic diagram of the connection of the left motor SS1 encoder B30 of the present invention.

[0019] Figure 6 It is a schematic diagram of the drive circuit of the right motor drive control component of the present utility model.

[0020] Figure 7 This is a schematic diagram of the motor circuit of the right motor drive control component of the present utility model.

[0021] Figure 8 This is a connection diagram of the programmable logic control component counter A4-2 of the present utility model.

[0022] Figure 9 This is a schematic diagram of the connection of the encoder B31 of the right motor SS1 of the present invention. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] A control device for a dual-drive, separately controlled stacking machine, comprising: a left motor drive control component, a right motor drive control component, and a programmable logic control component;

[0027] The left motor drive control component and the right motor drive control component are respectively connected to the programmable logic control component;

[0028] The left motor drive control component and the right motor drive control component are both equipped with absolute encoders to synchronously collect the operating status of the left and right axes.

[0029] In one embodiment, the left motor drive control assembly and the right motor drive control assembly have the same structure and are respectively arranged on both sides of the dual-drive and separately controlled stacking machine.

[0030] In one embodiment, Figure 1As shown, the programmable logic control component is composed of a programmable logic controller A4, a counter A4-1 and a counter A4-2. The positive power supply terminal 1L+ of the programmable logic controller A4 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply. The negative power supply terminal 1M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply. The counters A4-1 and A4-2 are connected to the programmable logic controller A4 and input a 24V DC power supply. The positive power supply terminal L+ of the counter A4-1 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply. The negative power supply terminal M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply.

[0031] In one embodiment, Figures 2 to 5 As shown, the left motor drive control assembly includes: inverter QSDPJL, distribution circuit breaker F14, motor M8, brake / brake switch Y8, switch KM8, left motor SS1 encoder B30;

[0032] The input end of the distribution circuit breaker F14 is connected to the three-phase electricity L1, L2 and L3, and the output end is connected to the three-phase power supply ends L1, L2 and L3 of the frequency converter QSDPJL; the three No. 1 ports of the switch KM8 are respectively connected to the U2, V2, and W2 ports of the frequency converter QSDPJ, and the three No. 2 ports of the switch KM8 are respectively connected to the U1, V1, and W1 ports of the motor M8 and correspond to the U2, V2, and W2 ports of the frequency converter QSDPJ; the two No. 13 ports of the switch KM8 are respectively connected to the L2 and L3 ports of the frequency converter QSDPJ, and the two No. 14 ports of the switch KM8 are respectively connected to the No. 5 and No. 6 ports of the brake / brake switch Y8, and the left motor SS1 encoder B30 is correspondingly connected to the counter A4-1.

[0033] In one embodiment, Figures 6 to 9 As shown, the right motor drive control component includes: inverter QSDPJR, distribution circuit breaker F15, motor M9, brake / brake switch Y9, switch KM9, right motor SS1 encoder B31;

[0034] The input of the power distribution circuit breaker F15 is connected to the three-phase power supply terminals L1, L2, and L3, and the output is connected to the three-phase power supply terminals L1, L2, and L3 of the frequency converter QSDPJR. The three ports 1 of the switch KM9 are connected to the U2, V2, and W2 ports of the frequency converter QSDPR, respectively. The three ports 2 of the switch KM9 are connected to the U1, V1, and W1 ports of the motor M9, respectively, and correspond to the U2, V2, and W2 ports of the frequency converter QSDPR. The two ports 13 of the switch KM9 are connected to the L2 and L3 ports of the frequency converter QSDPR, respectively. The two ports 14 of the switch KM9 are connected to the 5 and 6 ports of the brake switch Y9, respectively. The encoder B31 of the right motor SS1 is connected to the counter A4-2 in a corresponding manner.

[0035] In one embodiment, the currently used single-drive shaft synchronous frame stacker has been tested in multiple projects and is only suitable for pallets below 1 ton. Therefore, this dual-motor stacker with a large load capacity came into being. This equipment is designed to de-stack large-weight pallets, greatly increasing the efficiency of warehouse utilization. However, because it is dual-drive, the synchronization problem of the shafts on both sides is difficult to solve mechanically. By electrically adding an absolute encoder, speed comparison and relative synchronization can be performed in the control logic, which will effectively solve the problem of mechanical jamming.

[0036] Working Principle: Absolute encoders are installed on both motors of the stacker to synchronously monitor the operating status of both axes. Initially, the electrical PLC selected required an S7-1500 series or higher CPU, along with a G120C series or higher control board. Positioning is then performed using an absolute encoder on the master axis. The SSI-to-PN module is used to collect dual-axis data. The master axis's position is synchronously transmitted to the slave axis. Any resulting errors are mitigated by the wheel buffer system, ensuring a matching operating state for both axes, preventing mechanical issues.

[0037] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A control device for a dual-drive, separately controlled stacking machine, characterized in that: The control device includes: a left motor drive control component, a right motor drive control component and a programmable logic control component; The left motor drive control component and the right motor drive control component are respectively connected to the programmable logic control component; The left motor drive control component and the right motor drive control component are both equipped with absolute encoders to synchronously collect the operating status of the left and right axes.

2. The control device of the dual-drive and separately controlled stacking machine according to claim 1, characterized in that: The left motor drive control component and the right motor drive control component have the same structure and are respectively arranged on both sides of the dual-drive and separately controlled stacking machine.

3. The control device of the dual-drive and separately controlled stacking machine according to claim 1, characterized in that: The programmable logic control component is composed of a programmable logic controller A4, a counter A4-1 and a counter A4-2. The positive power supply terminal 1L+ of the programmable logic controller A4 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply. The negative power supply terminal 1M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply. The counter A4-1 and the counter A4-2 are connected to the programmable logic controller A4 and input a 24V DC power supply. The positive power supply terminal L+ of the counter A4-1 is connected to the positive power supply IP24 and inputs a 24V DC positive power supply. The negative power supply terminal M of the programmable logic controller A4 is connected to the negative power supply IN24 and inputs a 24V DC negative power supply.

4. The control device of the dual-drive and separately controlled stacking machine according to claim 3, characterized in that: The left motor drive control assembly includes: frequency converter QSDPJL, power distribution circuit breaker F14, motor M8, brake / brake switch Y8, switch KM8, left motor SS1 encoder B30; The input end of the distribution circuit breaker F14 is connected to the three-phase electricity L1, L2 and L3, and the output end is connected to the three-phase power supply ends L1, L2 and L3 of the frequency converter QSDPJL; the three No. 1 ports of the switch KM8 are respectively connected to the U2, V2, and W2 ports of the frequency converter QSDPJ, and the three No. 2 ports of the switch KM8 are respectively connected to the U1, V1, and W1 ports of the motor M8 and correspond to the U2, V2, and W2 ports of the frequency converter QSDPJ; the two No. 13 ports of the switch KM8 are respectively connected to the L2 and L3 ports of the frequency converter QSDPJ, and the two No. 14 ports of the switch KM8 are respectively connected to the No. 5 and No. 6 ports of the brake / brake switch Y8, and the left motor SS1 encoder B30 is correspondingly connected to the counter A4-1.

5. The control device of the dual-drive and separately controlled stacking machine according to claim 3, characterized in that: The right motor drive control assembly includes: frequency converter QSDPJR, power distribution circuit breaker F15, motor M9, brake / brake switch Y9, switch KM9, right motor SS1 encoder B31; The input end of the distribution circuit breaker F15 is connected to the three-phase electricity L1, L2 and L3, and the output end is connected to the three-phase power supply ends L1, L2 and L3 of the frequency converter QSDPJR; the three No. 1 ports of the switch KM9 are respectively connected to the U2, V2, and W2 ports of the frequency converter QSDPR, and the three No. 2 ports of the switch KM9 are respectively connected to the U1, V1, and W1 ports of the motor M9 and correspond to the U2, V2, and W2 ports of the frequency converter QSDPR; the two No. 13 ports of the switch KM9 are respectively connected to the L2 and L3 ports of the frequency converter QSDPR, and the two No. 14 ports of the switch KM9 are respectively connected to the No. 5 and No. 6 ports of the brake / brake switch Y9, and the right motor SS1 encoder B31 is correspondingly connected to the counter A4-2.

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