A multi-motor drive marshalling and unloading trolley control system

Abstract

The utility model relates to the technical field of unloading trolley, especially a multi-motor drive marshalling unloading trolley control system, including including marshalling unloading trolley, marshalling unloading trolley lifting mechanism, a plurality of marshalling unloading trolley motor, rising proximity switch, falling proximity switch, forward proximity switch, backward proximity switch, mechanical axle, encoder and control system, forward proximity switch sets up in unloading trolley initial zero, backward proximity switch sets up in the limit position of marshalling unloading trolley backward, and marshalling unloading trolley lifting mechanism drives mechanical axle to lift, and marshalling unloading trolley motor drives mechanical axle to advance and retreat, and the output shaft of marshalling unloading trolley motor is connected mechanical axle through gear, and the encoder sets up in the middle axle tail part of marshalling unloading trolley motor and mechanical axle, realizes the accurate position movement control of marshalling unloading trolley and mechanical axle through the encoder and proximity switch, guarantees the safety of unloading trolley limit position.

Description

Technical Field

[0001] This utility model relates to the field of material unloading trolley technology, and in particular to a control system for a multi-motor driven grouped material unloading trolley. Background Technology

[0002] Grouping is a crucial piece of equipment in a steel rolling production line. Before the steelworks straightened by the straightener are cut to length, they need to be grouped to increase sawing efficiency. This involves programming the number of pieces into a group, then transporting the entire group to the length-cutting platform. Once the grouping platform has the programmed number of pieces, the grouping unloading trolley moves forward and rises, lifting the material from the platform. It then moves backward and lowers, and the overhead saw begins length-cutting. After sawing, the unloading trolley rises again, lifting the cut pieces onto the conveyor rollers, and then lowers. The rollers transport the cut finished product to the stacking platform. After the unloading trolley reaches its position, it moves backward to its initial position, completing one cycle. Over extended periods, the actual distance traveled by the unloading trolley may differ from the reported distance. The feedback may indicate that the trolley has reached the sawing position, but it may not actually have. This is due to accumulated errors caused by prolonged operation or mechanical backlash. This can lead to serious production accidents in automated sawing operations, hindering production and causing severe consequences. Utility Model Content

[0003] This utility model provides a multi-motor driven group unloading trolley control system. It achieves precise position movement control of the group unloading trolley and mechanical shaft through encoders, avoiding the problem of inconsistency between the actual distance traveled by the group unloading trolley and the feedback distance. It also ensures the safety of the group unloading trolley at extreme positions through proximity switches. The control system ensures the automation and precision of production.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A multi-motor driven group unloading trolley control system includes a group unloading trolley, a group unloading trolley lifting mechanism, several group unloading trolley motors, an upward proximity switch, a downward proximity switch, a forward proximity switch, a backward proximity switch, a mechanical shaft, an encoder, and a control system. The upward proximity switch is set at the extreme position when the group unloading trolley is raised to its maximum position; the downward proximity switch is set at the extreme position when the group unloading trolley is lowered to its maximum position; the forward proximity switch is set at the initial zero position of the group unloading trolley; and the backward proximity switch is set at the extreme position when the group unloading trolley is reversed. The group unloading trolley lifting mechanism drives the mechanical shaft to rise and fall. The group unloading trolley motors drive the mechanical shaft to move forward and backward. The output shaft of the group unloading trolley motors is connected to the mechanical shaft via gears for translation and rotation. The mechanical shaft is fixedly connected to the group unloading trolley. The encoder is located at the tail end of the central shaft of the group unloading trolley motors and the mechanical shaft. The signal lines of the encoder, the upward proximity switch, the downward proximity switch, the forward proximity switch, the backward proximity switch, and the group unloading trolley motors are all connected to the control system.

[0005] Furthermore, the control system includes a power supply module, a CPU module, a digital input module, a digital output module, a counting module, a power module, a single-axis control unit, and a multi-axis control unit. The power supply module supplies power to the CPU module. The input terminals of the digital input module are connected to the rising proximity switch, the falling proximity switch, the forward proximity switch, and the backward proximity switch. The output terminals of the digital output module are connected to the lifting mechanism of the trolley. The input terminals of the counting module are connected to the encoder at the tail of the mechanical shaft. The CPU module communicates with the multi-axis control unit via a communication cable. The multi-axis control unit communicates with the single-axis control unit via the power module and a communication cable. The input terminal of the single-axis control unit is connected to the encoder at the tail of the trolley motor shaft. The single-axis control unit communicates with the power module via a communication cable.

[0006] Furthermore, the encoder at the tail of the mechanical shaft is an absolute encoder, while the encoder at the tail of the motor of the grouping and unloading trolley is an incremental encoder.

[0007] Furthermore, it also includes a solenoid valve. The lifting mechanism of the group unloading trolley uses a hydraulic cylinder, and the output end of the digital output module is connected to the solenoid valve, which controls the lifting of the hydraulic cylinder.

[0008] Furthermore, the number of hydraulic cylinders is 9 to 12. Furthermore, the number of motors in the grouping and unloading trolley is 4 to 6.

[0009] Compared with the prior art, the beneficial effects of this utility model are: 1) Automatic lifting and forward / backward control of the grouped unloading trolley is achieved through the control system, the lifting mechanism of the grouped unloading trolley, and the motor of the grouped unloading trolley; 2) The rising and falling limit positions of the group unloading trolley are precisely controlled by rising and falling proximity switches. By setting the proximity switch to the initial zero position, the value of the absolute encoder is calibrated to the initial zero position, eliminating mechanical backlash and accumulated errors during the movement of the trolley. The backward proximity switch protects the backward limit of the unloading trolley. 3) The encoder and control system enable precise forward and backward movement of the grouped unloading trolley, improving the accuracy of trolley position control, ensuring product quality, and increasing production speed. Attached Figure Description

[0010] Figure 1 This is a wiring diagram of the multi-axis control unit described in this utility model.

[0011] Figure 2 This is a wiring diagram of the motor 1 of the grouping and unloading trolley described in this utility model.

[0012] Figure 3 Wiring diagram of motor 2 of the grouping and unloading trolley described in this utility model.

[0013] Figure 4 Wiring diagram of motor 3 of the grouping and unloading trolley described in this utility model.

[0014] Figure 5 Wiring diagram of motor 4 of the grouping and unloading trolley described in this utility model.

[0015] Figure 6 This is a wiring diagram of the counting module described in this utility model. Detailed Implementation

[0016] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings: This utility model discloses a multi-motor driven group unloading trolley control system, comprising 1 group unloading trolley, 11 group unloading trolley lifting mechanisms, 4 group unloading trolley motors, 11 rising proximity switches, 11 falling proximity switches, 1 forward proximity switch, 1 backward proximity switch, 11 solenoid valves, mechanical shafts, encoders, and a control system. The rising proximity switch is set at the extreme position when the group unloading trolley is raised to its maximum position, the falling proximity switch is set at the extreme position when the group unloading trolley is lowered to its maximum position, the forward proximity switch is set at the initial zero position of the group unloading trolley, and the backward proximity switch is set at the extreme position when the group unloading trolley is reversed. The lifting mechanism of the group unloading trolley drives the mechanical shaft to rise and fall, and the motor of the group unloading trolley drives the mechanical shaft to move forward and backward. The output shaft of the motor of the group unloading trolley is connected to the mechanical shaft through gears, driving the mechanical shaft to translate. The mechanical shaft is fixedly connected to the group unloading trolley. The encoder is set at the tail of the central shaft of the motor and the mechanical shaft of the group unloading trolley.

[0017] The control system includes a power supply module, a CPU module, a digital input module, a digital output module, a counting module, a power module, a single-axis control unit, and a multi-axis control unit. The power supply module supplies power to the CPU module. The input terminals of the digital input module are connected to 11 upward proximity switches, 11 downward proximity switches, 1 forward proximity switch, and 1 backward proximity switch. The output terminals of the digital output module are connected to 11 solenoid valves. The lifting mechanism of the grouped unloading trolley uses hydraulic cylinders, and the 11 solenoid valves control the lifting of the 11 hydraulic cylinders respectively. Figure 6 The input terminal of the counting module is connected to the encoder at the tail of the mechanical shaft; the encoder at the tail of the mechanical shaft is an absolute encoder; the CPU module communicates with the multi-axis control unit via a communication cable, and the multi-axis control unit communicates with the single-axis control unit via a communication cable through the power module; the input terminal of the single-axis control unit is connected to the encoder at the tail of the group unloading trolley motor; the encoder at the tail of the group unloading trolley motor is an incremental encoder; the single-axis control unit communicates with the power module via a communication cable; and the output terminal of the power module is connected to the group unloading trolley motor.

[0018] See Figure 1-5 The multi-axis control unit connects its own DRIVECLiQ port to the single-axis control unit DRIVECLiQ via a communication line, realizing the function of synchronously controlling multiple motors by the multi-axis control unit. The three-phase power input terminal of the power module is connected to a circuit breaker with a fuse, and the three-phase output terminal is connected in series with an output reactor. The output reactor is connected to the motor of the trolley unloading vehicle. One power module controls one trolley unloading vehicle motor. The power module, single-axis control unit and multi-axis control unit adopt the S120 series.

[0019] Working principle: The unloading trolley moves forward from the initial position, rises to lift the material, and then begins to reverse. It descends to the sawing position and begins sawing to the specified length. After sawing, the unloading trolley rises again to lift the cut rolled piece and moves forward onto the transport roller conveyor. It then descends, and the roller conveyor transports the cut finished product to the stacking rack. The unloading trolley then reverses back to the initial position, completing one cycle. The lifting mechanism consists of 11 hydraulic cylinders whose output shafts are mechanically coaxially connected. The cylinder synchronous control system lifts and lowers the unloading trolley. Fixed Pepperl+Fuchs proximity switches are installed at the upper and lower limits of each hydraulic cylinder. The translation mechanism is driven by four motors through a mechanical coaxial shaft. An absolute encoder is installed at the end of the mechanical shaft. The multi-motor drive unloading trolley control system based on absolute encoders and limit switches controls the unloading trolley to move to the fixed forward proximity switch. At this point, the value of the absolute encoder is calibrated to the initial zero position, eliminating mechanical backlash and accumulated errors during the movement of the trolley.

[0020] The above embodiments are implemented based on the technical solution of this utility model, providing detailed implementation methods and specific operation processes. However, the protection scope of this utility model is not limited to the above embodiments. Unless otherwise specified, the methods used in the above embodiments are conventional methods.

Claims

1. A control system for a multi-motor driven grouped unloading trolley, characterized in that, The system includes a grouped unloading trolley, a grouped unloading trolley lifting mechanism, several grouped unloading trolley motors, an upward proximity switch, a downward proximity switch, a forward proximity switch, a backward proximity switch, a mechanical shaft, an encoder, and a control system. The upward proximity switch is set at the extreme position when the grouped unloading trolley is raised to its maximum position, the downward proximity switch is set at the extreme position when the grouped unloading trolley is lowered to its maximum position, the forward proximity switch is set at the initial zero position of the grouped unloading trolley, and the backward proximity switch is set at the extreme position when the grouped unloading trolley is reversed. The grouped unloading trolley lifting mechanism drives the mechanical shaft to rise and fall, the grouped unloading trolley motors drive the mechanical shaft to move forward and backward, and the output shaft of the grouped unloading trolley motors is connected to the mechanical shaft through gears to drive the mechanical shaft to translate. The mechanical shaft is fixedly connected to the grouped unloading trolley. The encoder is located at the end of the central shaft of the grouped unloading trolley motors and the mechanical shaft. The signal lines of the encoder, the upward proximity switch, the downward proximity switch, the forward proximity switch, the backward proximity switch, and the grouped unloading trolley motors are all connected to the control system.

2. The control system for a multi-motor driven group unloading trolley according to claim 1, characterized in that, The control system includes a power supply module, a CPU module, a digital input module, a digital output module, a counting module, a power module, a single-axis control unit, and a multi-axis control unit. The power supply module supplies power to the CPU module. The input terminals of the digital input module are connected to the rising proximity switch, the falling proximity switch, the forward proximity switch, and the backward proximity switch. The output terminals of the digital output module are connected to the lifting mechanism of the trolley. The input terminals of the counting module are connected to the encoder at the tail of the mechanical shaft. The CPU module communicates with the multi-axis control unit via a communication cable. The multi-axis control unit communicates with the single-axis control unit via the power module and a communication cable. The input terminal of the single-axis control unit is connected to the encoder at the tail of the trolley motor shaft. The single-axis control unit communicates with the power module via a communication cable. The output terminal of the power module is connected to the trolley motor.

3. The control system for a multi-motor driven group unloading trolley according to claim 2, characterized in that, The encoder at the tail of the mechanical shaft is an absolute encoder, while the encoder at the tail of the motor of the group unloading trolley is an incremental encoder.

4. The control system for a multi-motor driven group unloading trolley according to claim 2, characterized in that, It also includes a solenoid valve. The lifting mechanism of the group unloading trolley uses a hydraulic cylinder. The output end of the digital output module is connected to the solenoid valve, and the solenoid valve controls the lifting of the hydraulic cylinder.

5. The control system for a multi-motor driven group unloading trolley according to claim 4, characterized in that, The number of hydraulic cylinders is 9 to 12.

6. The control system for a multi-motor driven group unloading trolley according to claim 1, characterized in that, The number of motors in the group feeding trolley is 4 to 6.

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