Сontrol system of robotic warehouse complex
Control system of robotic warehouse complex (hereinafter "RWC" or "complex") is provided for control of automatic loading and unloading of various cargoes, packed in containers.
Complex consists of two parallel racks with passage where robot device moves, resting on upper and lower running lines.
Delivery table mounted at the end of rack is provided for containers transloading from shop-floor travelers onto robot and conversely.
Complex is operated remotely from operator’s workstation or control panel located near the trolley.
Complex control system provides:
- remote control of three-dimensional robot movement;
- totally automatic execution of commands by robot "Bring", "Carry" with cells numbers indication;
- semi-automatic robots control with vertical and horizontal row number setting;
- manual robot control using PLC (programmable logic controller) commands "Onwards", "Backwards", etc.;
- manual robot control from control desk;
- continuous current position, robot movement speed and cells condition indication in real time;
- input phase voltage actual parameters indication;
- blocking of emergencies, not corresponding to control mode;
- all operator actions monitoring and archiving;
- emergencies and warnings indication and archiving.
Control system consists of:
- control cabinet with PLC;
- absolute encoders;
- operator automated workstation.
Сontrol cabinet is one-side maintenance metal cabinet including switching equipment, two frequency converters, microcontroller and interlockings relay circuit.
Сontrol cabinet is connected to ~ 380V network via automatic circuit breaker; power part is connected via line contactor.
Trolley motor and robot lift motor are controlled by frequency converters, which are further controlled by industrial logic controller (PLC) via Modbus interface.
Such control ensures high robot movement accuracy and smoothness, as well as efficient overload and other emergency modes protection.
Motors, brakes and clutches are controlled and regulated by PLC. Trolley and lift position is controlled by absolute encoders located on trolley and lift motors gear shafts.
Encoders are connected with PLC via Profibus-DP network.
Operator automated workstation is a PC connected to local area network (LAN) via hub. Specially configured software, which allows controlling station operation in three modes by operator, is installed on PC.
Controller receives "Bring", "Carry" commands together with cell number in automatic mode from PC; and afterwards determines next actions according to algorithm. Controller receives position command and "Start", "Stop" commands in semiautomatic mode.
Controller receives "Onwards", "Backwards", "Up", "Down", "Right", "Left" commands in manual mode from PC and executes them in accordance with all the execution conditions.
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