Path generation and motion control method for shunt stacking machine

Abstract

The invention discloses a path generation and motion control method for a shunt stacking machine, which is applied to the control of the shunt stacking machine and a turnout shunting mechanism. Systemhardware consists of a vehicle-mounted PLC (Programmable Logic Controller), a conveying line PLC, a walking addressing device, a walking driving device, a shunt driving device and a shunt in-place sensor. The control method comprises a shunt path generating method, a path conflict detecting method, a shunt command generating method, and a turnout controlling and path state detecting method. The control method generates a path based on a generation tree, and realizes control oriented to the path, so that the program design and interaction data are simplified greatly, and modular design of thestacking machine and the turnout shunting mechanism is realized. Interaction between an upper computer and a lower computer is reduced, and the shunting operation efficiency is improved remarkably.

Description

technical field [0001] The invention relates to the field of automated warehousing and logistics equipment, in particular to an electrical control method suitable for generating a transition path of a transition stacker system and interlocking the stacker with a switch transition mechanism. Background technique [0002] The stacker crane is the most critical component equipment in the automated three-dimensional warehouse. It shuttles in the lanes between the shelves to realize the handling of goods and the operation of entering and exiting the warehouse. It has the advantages of saving land and manpower, and operating quickly and accurately. [0003] Since the development of the stacker, the function and structure have been very mature. 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 transfer type stacker is that a small number of stackers are configured in multi...

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

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