CN106882734A - Intelligent stacker - Google Patents

Intelligent stacker Download PDF

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Publication number
CN106882734A
CN106882734A CN201710271899.4A CN201710271899A CN106882734A CN 106882734 A CN106882734 A CN 106882734A CN 201710271899 A CN201710271899 A CN 201710271899A CN 106882734 A CN106882734 A CN 106882734A
Authority
CN
China
Prior art keywords
coordinate
dimensional coordinate
driver element
controller
goods yard
Prior art date
Application number
CN201710271899.4A
Other languages
Chinese (zh)
Inventor
石红斌
张鸣
叶培林
厉明
郑朝华
Original Assignee
深圳市鸿鹭工业设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市鸿鹭工业设备有限公司 filed Critical 深圳市鸿鹭工业设备有限公司
Priority to CN201710271899.4A priority Critical patent/CN106882734A/en
Publication of CN106882734A publication Critical patent/CN106882734A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/0755Position control; Position detectors

Abstract

The invention provides a kind of intelligent stacker, it is related to piler field.User only need to be input into target goods yard three-dimensional coordinate and enabled instruction in man-machine interaction unit, controller is by controlling the first driver element, when second driver element drives loading platform to be moved with pallet fork, by receiving the three-dimensional coordinate information included in the RF tag that each deposits station that tag recognizer is collected, so as to control the first driver element, second driver element drives loading platform to reach aiming station with pallet fork, now controller controls the container that the 3rd driver element will deposit in aiming station to take out or container is deposited in into aiming station, it is achieved thereby that access of the whole-course automation to container, save substantial amounts of human cost, the operating experience of the operating personnel of raising, and improve the efficiency of goods access.

Description

Intelligent stacker

Technical field

The present invention relates to piler field, in particular to a kind of intelligent stacker.

Background technology

The development of storing stream is very fast, particularly big part warehouse logistics, in order to utilize storage area as far as possible, so storehouse The shelf in storehouse are all large-scale and position large-scale shelf very high, therefore, the special lifting for accessing goods from High Level Rack Machine piler just arises at the historic moment.Piler is mainly pallet fork or boom is seized, carried and stacking or the access from High Level Rack The special purpose crane of unit goods (being transported see blocking).It is a kind of depot equipment (see material carrying machine), is divided into bridge-type Two kinds of stakcer crane and laneway type stakcer crane (also known as laneway type crane), so as to largely be removed instead of manpower Cargo transport thing, for people provide it is convenient.

Piler of the prior art, when the carrying to container is carried out, it is still desirable to operating personnel's operating control handle, By goods so as to be stored in target location on the ground, or container is taken out from the target location of shelf, it is desired nonetheless to waste a large amount of Human cost, have impact on operating experience sense, and inefficiency.

The content of the invention

It is an object of the invention to provide a kind of intelligent stacker, to improve above-mentioned problem.

A kind of intelligent stacker is the embodiment of the invention provides, the intelligent stacker includes loading platform, is installed on loading The pallet fork of platform bottom, the first column, the second column, bottom support frame, man-machine interaction unit and direction-control apparatus, the goods Pitch and stretch a telescopic fork for double, first column connects with the second column interval setting and respectively with the bottom support frame Connect, the bottom support frame is provided with least three wheels, the loading platform, the pallet fork be located at first column with it is described Between second column, the loading platform is slidably connected with first column, second column respectively, the direction controlling dress Put including the first driver element, the second driver element, the 3rd driver element, control board and tag recognizer, the mark Sign identifier and be arranged at the loading platform, the control board is disposed with controller, and the controller is man-machine with described respectively Interactive unit, first driver element, second driver element, the 3rd driver element and the tag recognizer Electrical connection, the man-machine interaction unit is used to obtain target goods yard three-dimensional coordinate and the enabled instruction of user input, the control Device is used to control second driver element to drive described at least three after target goods yard three-dimensional coordinate and enabled instruction is obtained Wheel is moved, and the tag recognizer is for the capture setting during at least three wheel movement in the radio frequency of shelf The three-dimensional coordinate of label, the controller is used to judge the three-dimensional coordinate for collecting with target goods yard three-dimensional coordinate in X It is the coordinate of axle, whether consistent in the coordinate of Y-axis, if it is, control first driver element drives the loading platform and institute State pallet fork to rise with second column along first column, the controller is additionally operable to receive the tag recognizer again The three-dimensional coordinate of transmission, judges that the three-dimensional coordinate for collecting is with the coordinate in Z-direction of target goods yard three-dimensional coordinate It is no consistent, if it is, control the 3rd driver element drives described pair to stretch a telescopic fork elongation takes out goods in current goods yard Case.

Further, if the three-dimensional coordinate that the controller is additionally operable to collect exists with target goods yard three-dimensional coordinate The coordinate of X-axis, when the coordinate of Y-axis is inconsistent, according to the three-dimensional coordinate that collects and target goods yard three-dimensional coordinate point At least three wheel is not driven to move forward or backward in the coordinate of X-axis, the second driver element described in the coordinate control in Y-axis It is dynamic, until the three-dimensional coordinate for collecting and the coordinate in X-axis of target goods yard three-dimensional coordinate, consistent in the coordinate of Y-axis;If The three-dimensional coordinate for collecting with target goods yard three-dimensional coordinate when the coordinate of Z-direction is inconsistent, according to collecting The driver element of coordinate control first in Z-direction of three-dimensional coordinate and target goods yard three-dimensional coordinate states loading described in driving Platform and the pallet fork are risen or fallen until collecting and the target goods yard along first column and second column The coordinate in Z-direction of three-dimensional coordinate is consistent.

Further, the loading platform is additionally provided with image collecting device, described image harvester and the controller Electrical connection, the controller is additionally operable to be searched according to target goods yard three-dimensional coordinate information pre-stored with the three-dimensional coordinate There is the case number information of corresponding relation in information, and the three-dimensional coordinate and target goods yard three-dimensional coordinate collected in judgement When the coordinate of Z-direction is consistent, control described image harvester IMAQ is carried out to the container, extraction is collected Container image in case number information, whether the case number information extracted of judgement and pre-stored case number information Unanimously, if unanimously, the 3rd driver element of control drives double telescopic fork of stretching to extend in current goods yard taking-up container.

Further, after the controller is additionally operable to the multiple different target goods yard three-dimensional coordinate of acquisition user input, Recorded according to the corresponding intelligent stacker movement locus of multiple three-dimensional coordinate informations for receiving, and according to multiple target goods The movement locus of position three-dimensional coordinate and record is supported vector machine study, and sets up automated path lookup model.

Further, the intelligent stacker also includes identity authenticating unit, the identity authenticating unit and the control Device electrically connect, the identity authenticating unit include for scan user ID card information identity card scan interface, for clapping Take the photograph user's facial image recognition of face camera, for identifying user carry radio-frequency identification card radio frequency reading identifier with And for recognizing at least one of the barcode scanner of bar code or Quick Response Code, the identity authenticating unit is used to obtain The subscriber identity information of user input, the controller is used to judge whether to be pre-stored with the subscriber identity information of user input, If it is, into picking pattern, the man-machine interaction unit is used under picking pattern, obtains the target goods yard of user input Three-dimensional coordinate and enabled instruction.

Further, the inside of the pallet fork is embedded with pressure sensor and alarm, the pressure sensor with it is described Controller is electrically connected, and the pressure sensor is used to gather the weight information of container, and the controller is used to judge what is collected Whether weight information is more than pre-stored payload ratings information, if it is, controlling the alarm equipment alarm.

Further, the control board there also is provided wireless communication module, the controller and the radio communication Module is electrically connected, the controller be additionally operable to be controlled after picking is finished first driver element drive the loading platform and Pallet fork returns to original position, and controls second driver element to drive at least three wheel to return to original position, and The prompt message that generation picking is finished, the prompt message that picking is finished is sent to an intelligence eventually by the wireless communication module End.

Further, the man-machine interaction unit is display unit, the combination of operation keyboard, or is touch-screen.

Further, the intelligent stacker includes steel cable spool, steel cable, two directive wheels and two rollers, institute State the first column and the second column is provided with guide rail, each described roller is embedded in a guide rail, the steel Rope reel, described two directive wheels are connected successively by the steel cable, and the second driver element is used to drive the steel cable to roll up The rotation of axle, the loading platform is connected to by the steel cable of the steel cable spool folding and unfolding, and two directive wheels are installed on described standing Column top, the loading platform is connected to by the steel cable of the steel cable spool folding and unfolding by two directive wheels.

Further, double upper fork body upper surfaces for stretching a telescopic fork are arranged with slipmat.

The beneficial effect of intelligent stacker that the present invention is provided is:User only need to be in man-machine interaction unit input target goods yard Three-dimensional coordinate and enabled instruction, controller are driving loading platform and pallet fork by controlling the first driver element, the second driver element When mobile, the three-dimensional coordinate included in the RF tag that each deposits station collected by receiving tag recognizer is believed Breath, so as to control the first driver element, the second driver element to drive loading platform and pallet fork to reach aiming station, now controller control Make the 3rd driver element to deposit in the container taking-up of aiming station or container is deposited in into aiming station, it is achieved thereby that whole The access to container is automated, substantial amounts of human cost, the operating experience of the operating personnel of raising is saved, and improve goods The efficiency of thing access.

Brief description of the drawings

Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other related accompanying drawings.

Fig. 1 is the structural representation of intelligent stacker provided in an embodiment of the present invention (pallet fork is in contraction state);

Fig. 2 is the structural representation in contact condition between pallet fork provided in an embodiment of the present invention and loading platform;

Fig. 3 is the circuit connection block diagram of intelligent stacker provided in an embodiment of the present invention.

Icon:101- loading platforms;102- pallet forks;103- bottoms support frame;104- slipmat;The columns of 105- first;106- Second column;The driver elements of 107- first;The driver elements of 108- second;The driver elements of 109- the 3rd;110- steel cable spools;111- Directive wheel;112- man-machine interaction units;113- wheels;114- tag recognizers;115- controllers;116- identity authenticating units; 117- image collecting devices;118- identity authenticating units;119- pressure sensors;120- alarms;121- wireless communication modules.

Specific embodiment

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein The component of example can be arranged and designed with a variety of configurations.

Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, this area is common The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection Enclose.

It should be noted that:Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.

In the description of the invention, it is to be understood that term " " center ", " on ", D score, "left", "right", " vertical ", The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, or should Orientation or position relationship that invention product is usually put when using, or the orientation or position that those skilled in the art usually understand Relation is put, the description present invention is for only for ease of and is simplified description, it is necessary rather than the equipment or element for indicating or imply meaning With specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.

Additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying Relative importance.

In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ", " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one The connection of body ground;Can mechanically connect, or electrically connect;Can be joined directly together, it is also possible to indirect by intermediary It is connected, can is two connections of element internal.For the ordinary skill in the art, can be with concrete condition understanding State term concrete meaning in the present invention.

Embodiment

Refer to Fig. 1, the embodiment of the invention provides a kind of intelligent stacker, the intelligent stacker include loading platform 101, It is installed on pallet fork 102, the first column 105, the second column 106, bottom support frame 103, the man-machine interaction list of the bottom of loading platform 101 Unit 112 and direction-control apparatus.Pallet fork 102 is used for the cargo transportation on shelf to loading platform 101, or by loading platform 101 On cargo transportation to shelf in, loading platform 101 be used for bearing goods, by a certain ad-hoc location of freight lifting to shelf or will Goods handling on shelf on a certain position is to another location.As shown in figure 3, pallet fork 102 stretches a telescopic fork for double, for example, adopting A telescopic fork is stretched with two sections or three-section type are double, in the present embodiment, pallet fork 102 stretches a telescopic fork using three-section type is double, and three-section type is double It is to include fork body, middle fork, fixation fork and guide roller to stretch a telescopic fork.Wherein, fixation fork is installed on loading platform 101, Centre fork can move outwardly to the end of fixation fork under gear, the driving of tooth bar from fixation fork.Upper fork body can be pitched from centre On move outwardly to the end of middle fork.

Double upper fork body upper surfaces for stretching a telescopic fork are arranged with slipmat 104, slipmat 104 can by pasting, welding, The forms such as bolt fixation are installed on fork body, and specifically, slipmat 104 can also use rubber antiskid pad 104, metal sanding Slipmat 104, is seldom limited herein.Slipmat 104 can increase goods and double frictional force stretched between a telescopic fork, to prevent Goods on pallet fork 102 falls during being accessed or transporting from pallet fork 102, improves the security of piler.

First column 105 is connected with the interval setting of the second column 106 and respectively with bottom support frame 103, bottom support frame 103 are provided with least three wheels 113, and in the present embodiment, bottom support frame 103 is provided with four wheels 113.Loading platform 101, Pallet fork 102 be located between the first column 105 and the second column 106, loading platform 101 respectively with the first column 105, the second column 106 are slidably connected, direction-control apparatus include the first driver element 107, the second driver element 108, the 3rd driver element 109, Control board and tag recognizer 114.

Intelligent stacker also includes steel cable spool 110, steel cable, two directive wheels 111 and two rollers, the first column 105 and second column 106 be provided with guide rail, each roller is embedded in a guide rail, and steel cable spool 110, two is led It is connected successively by steel cable to wheel 111, the second driver element 108 is used to drive the rotation of steel cable spool 110, is rolled up by steel cable The steel cable of the folding and unfolding of axle 110 is connected to loading platform 101, and two directive wheels 111 are installed on column top, by the folding and unfolding of steel cable spool 110 Steel cable be connected to loading platform 101 by two directive wheels 111.

Tag recognizer 114 is arranged at loading platform 101, and control board is disposed with controller 115, as shown in figure 3, control Device 115 respectively with man-machine interaction unit 112, the first driver element 107, the second driver element 108, the 3rd driver element 109 with And tag recognizer 114 is electrically connected.Man-machine interaction unit 112 is used to obtain the target goods yard three-dimensional coordinate of user input and start Instruction, in the present embodiment, man-machine interaction unit 112 can use display unit, the combination of operation keyboard, or be touch-screen;The One driver element 107, the second driver element 108 and the 3rd driver element 109 can be cylinder or motor, not limit herein System.

Controller 115 is used to control the second driver element 108 to drive after target goods yard three-dimensional coordinate and enabled instruction is obtained Move four wheels 113 to move, tag recognizer 114 is for the capture setting during the movement of at least three wheel 113 in goods The three-dimensional coordinate of the RF tag of frame.Controller 115 is used for the three-dimensional coordinate and target goods yard three-dimensional coordinate for judging to collect It is coordinate in X-axis, whether consistent in the coordinate of Y-axis, if it is, control the first driver element 107 drives loading platform 101 and goods Fork 102 rises along the first column 105 with the second column 106, and controller 115 is additionally operable to receive tag recognizer 114 again and sends Three-dimensional coordinate, whether the three-dimensional coordinate that collects of judgement consistent with the coordinate in Z-direction of target goods yard three-dimensional coordinate, such as Fruit is then to control the 3rd driver element 109 to drive double telescopic fork of stretching to extend in current goods yard taking-up container.

If controller 115 is additionally operable to the coordinate in X-axis of the three-dimensional coordinate and target goods yard three-dimensional coordinate for collecting, in Y When the coordinate of axle is inconsistent, according to the three-dimensional coordinate and the coordinate respectively in X-axis of target goods yard three-dimensional coordinate for collecting, in Y Second driver element of coordinate control 108 of axle drives at least three wheels 113 to be moved forward or rearward, until the three-dimensional for collecting It is coordinate and the coordinate in X-axis of target goods yard three-dimensional coordinate, consistent in the coordinate of Y-axis;If the three-dimensional coordinate for collecting and target Goods yard three-dimensional coordinate when the coordinate of Z-direction is inconsistent, according to the three-dimensional coordinate that collects and target goods yard three-dimensional coordinate The first driver element of coordinate control 107 in Z-direction drive and state loading platform 101 and pallet fork 102 along the first column 105 and the Two columns 106 rise or fall consistent with the coordinate in Z-direction of target goods yard three-dimensional coordinate until what is collected.

For example, the three-dimensional coordinate for collecting is (10m, 10m, 10m), target goods yard three-dimensional coordinate is (20m, 20m, 20m), The now control of controller 115 second driver element 108 drives four wheels 113 to be moved towards the positive direction of X-axis to along landing ground 10m, specifically, if RF tag sets one along X-direction, Y direction and Z-direction every 0.5m, works as controller 115 receive tag recognizer 114 send 20 three-dimensional coordinate signals when, that is, represent positive direction of the intelligent stacker along X-axis 10m is moved, similarly, the now control of controller 115 second driver element 108 drives four wheels 113 to face Y-axis further along ground Positive direction movement 10m, now controller 115 can determine existing for the three-dimensional coordinate that collects and target goods yard three-dimensional coordinate The coordinate of X-axis, now controller 115 control first driver element 107 driving loading platform 101 and goods consistent in the coordinate of Y-axis Fork 102 rises 10m, and the now interpretation of controller 115 to the three-dimensional coordinate for collecting is with target goods yard three-dimensional coordinate in Z-direction Coordinate it is consistent, you can the 3rd driver element 109 of control drives double to be stretched a telescopic forks elongation and takes out container in current goods yard.

Loading platform 101 is additionally provided with image collecting device 117, and image collecting device 117 is electrically connected with controller 115, control Device processed 115 is additionally operable to there is corresponding relation with three-dimensional coordinate information according to what the three-dimensional coordinate information lookup of target goods yard was pre-stored Case number information, and it is consistent with the coordinate in Z-direction of target goods yard three-dimensional coordinate in the three-dimensional coordinate for judging to collect When, control image collecting device 117 carries out IMAQ to container, the case number letter in the container image that extraction is collected Whether breath, the case number information that judgement is extracted is consistent with pre-stored case number information, if unanimously, control the 3rd Driver element 109 drive it is double stretch a telescopic forks elongation and take out container in current goods yard, when authenticate to the three-dimensional coordinate that collects with Whether target goods yard three-dimensional coordinate is consistent, now also need to further verify the container deposited in current goods yard for needed for operating personnel Container, the numbering marked on each container, when the numbering in the container image that image collecting device 117 is collected with it is pre- Storage it is consistent with the case number information that three-dimensional coordinate information has corresponding relation when, that is, illustrate the container of current goods yard storage Container for needed for operating personnel, the accuracy of container is extracted so as to improve.

After controller 115 is additionally operable to the multiple different target goods yard three-dimensional coordinate of acquisition user input, foundation is received The corresponding intelligent stacker movement locus of multiple three-dimensional coordinate informations recorded, and according to multiple target goods yards three-dimensional coordinates And the movement locus of record is supported vector machine study, and automated path lookup model is set up, when user is input into mesh again During mark goods yard three-dimensional coordinate, controller 115 is capable of achieving automatic control without receiving the three-dimensional coordinate that tag recognizer 114 is transmitted again Intelligent stacker processed further improves the efficiency of picking to target goods yard.

Intelligent stacker also includes identity authenticating unit 118, and identity authenticating unit 118 is electrically connected with controller 115, identity Authentication unit 118 include for scan user ID card information identity card scan interface, for shooting user's facial image Recognition of face camera, for identifying user carry radio-frequency identification card radio frequency reading identifier and for recognizing bar shaped At least one of barcode scanner of code or Quick Response Code, identity authenticating unit 118 is used to obtain the user of user input Identity information, controller 115 is used to judge whether to be pre-stored with the subscriber identity information of user input, if it is, into taking Goods pattern, man-machine interaction unit 112 is used under picking pattern, and the target goods yard three-dimensional coordinate for obtaining user input refers to startup Order, so as to improve the security of intelligent stacker, it is to avoid lawless person carries out picking using the intelligent stacker.

The inside of pallet fork 102 is embedded with pressure sensor 119 and alarm 120, pressure sensor 119 and controller 115 Electrical connection, pressure sensor 119 is used to gather the weight information of container, and controller 115 is used for the weight information for judging to collect Whether more than pre-stored payload ratings information, if it is, control alarm 120 is alarmed, so that it is current desired to lift user The container of picking has been more than the payload ratings of the intelligent stacker, it is necessary to changing the bigger piler of payload ratings carries out picking.

Control board there also is provided wireless communication module 121, and controller 115 is electrically connected with wireless communication module 121, control Device processed 115 is additionally operable to control the first driver element 107 to drive loading platform 101 and pallet fork 102 to return to starting after picking is finished Position, and control the second driver element 108 drives at least three wheels 113 to return to original position, and generates what picking was finished Prompt message, the prompt message that picking is finished is sent to an intelligent terminal by wireless communication module 121, so as to point out operation Personnel's picking is finished, and operating personnel only needs to move in container.

In sum, the intelligent stacker that the present invention is provided, user only need to be in the input target of man-machine interaction unit 112 goods yard Three-dimensional coordinate and enabled instruction, controller 115 are driving loading by controlling the first driver element 107, the second driver element 108 When platform 101 is moved with pallet fork 102, by receiving the RF tag that station is deposited positioned at each that tag recognizer 114 is collected The three-dimensional coordinate information for inside including, so as to control the first driver element 107, the second driver element 108 to drive loading platform 101 and goods Fork 102 reaches aiming station, and now controller 115 controls the container that the 3rd driver element 109 will deposit in aiming station to take out Or container is deposited in into aiming station, it is achieved thereby that access of the whole-course automation to container, saves substantial amounts of human cost, The operating experience of the operating personnel of raising, and improve the efficiency of goods access.

The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (10)

1. a kind of intelligent stacker, it is characterised in that the intelligent stacker includes loading platform, is installed on the goods of loading platform bottom Fork, the first column, the second column, bottom support frame, man-machine interaction unit and direction-control apparatus, the pallet fork stretch position for double Telescopic fork, first column is connected with the second column interval setting and respectively with the bottom support frame, the bottom Support frame is provided with least three wheels, the loading platform, the pallet fork be located at first column and second column it Between, the loading platform is slidably connected with first column, second column respectively, and the direction-control apparatus include first Driver element, the second driver element, the 3rd driver element, control board and tag recognizer, the tag recognizer set Be placed in the loading platform, the control board is disposed with controller, the controller respectively with the man-machine interaction unit, institute The electrical connection of the first driver element, second driver element, the 3rd driver element and the tag recognizer is stated, it is described Man-machine interaction unit is used to obtain target goods yard three-dimensional coordinate and the enabled instruction of user input, and the controller is used to obtain Second driver element is controlled to drive at least three wheel to move after target goods yard three-dimensional coordinate and enabled instruction, it is described Tag recognizer is used for the capture setting during at least three wheel is moved and is sat in the three-dimensional of RF tag of shelf Mark, the controller is used to judging the three-dimensional coordinate that collects and the coordinate in X-axis of target goods yard three-dimensional coordinate, in Y Whether the coordinate of axle is consistent, if it is, control first driver element drives the loading platform and the pallet fork along described First column rises with second column, and the controller is additionally operable to receive the three-dimensional seat that the tag recognizer sends again Whether mark, the three-dimensional coordinate that judgement is collected is consistent with the coordinate in Z-direction of target goods yard three-dimensional coordinate, if It is then to control the 3rd driver element to drive double telescopic fork of stretching to extend in current goods yard taking-up container.
2. intelligent stacker according to claim 1, it is characterised in that if the controller is additionally operable to the three-dimensional for collecting Coordinate and the coordinate in X-axis of target goods yard three-dimensional coordinate, when the coordinate of Y-axis is inconsistent, according to the three-dimensional for collecting Coordinate drives with the coordinate in X-axis respectively of target goods yard three-dimensional coordinate, the second driver element described in the coordinate control in Y-axis Move at least three wheel to be moved forward or rearward, until the three-dimensional coordinate for collecting and target goods yard three-dimensional coordinate It is coordinate in X-axis, consistent in the coordinate of Y-axis;If the three-dimensional coordinate for collecting is with target goods yard three-dimensional coordinate in Z axis side To coordinate it is inconsistent when, according to the coordinate in Z-direction of the three-dimensional coordinate that collects and target goods yard three-dimensional coordinate Control the first driver element drive described in state loading platform and the pallet fork rise with second column along first column or It is decreased until collect consistent with the coordinate in Z-direction of target goods yard three-dimensional coordinate.
3. intelligent stacker according to claim 1, it is characterised in that the loading platform is additionally provided with image collector Put, described image harvester is electrically connected with the controller, the controller is additionally operable to be sat according to the target goods yard is three-dimensional The pre-stored case number information that there is corresponding relation with the three-dimensional coordinate information of mark information searching, and judging to collect Three-dimensional coordinate with target goods yard three-dimensional coordinate when the coordinate of Z-direction is consistent, control described image harvester IMAQ, the case number information in the container image that extraction is collected, the container that judgement is extracted are carried out to the container Whether number information is consistent with pre-stored case number information, if unanimously, the 3rd driver element of control drives described double Stretch a telescopic fork elongation and take out container in current goods yard.
4. intelligent stacker according to claim 1, it is characterised in that the controller is additionally operable to obtain user input After multiple different target goods yard three-dimensional coordinates, according to the corresponding intelligent stacker motion of the multiple three-dimensional coordinate informations for receiving Track is recorded, and the movement locus of the multiple target goods yard three-dimensional coordinates of foundation and record is supported vector machine study, and Set up automated path and search model.
5. intelligent stacker according to claim 1, it is characterised in that the intelligent stacker also includes authentication list Unit, the identity authenticating unit is electrically connected with the controller, and the identity authenticating unit includes the identity for scanning user The identity card scan interface of card information, the recognition of face camera for shooting user's facial image, for identifying user carry Radio-frequency identification card radio frequency reading identifier and in the barcode scanner for recognizing bar code or Quick Response Code extremely Few one, the identity authenticating unit is used to obtain the subscriber identity information of user input, and the controller is used to judge whether The subscriber identity information of user input is pre-stored with, if it is, into picking pattern, the man-machine interaction unit is used to take Under goods pattern, target goods yard three-dimensional coordinate and the enabled instruction of user input are obtained.
6. intelligent stacker according to claim 1, it is characterised in that the inside of the pallet fork is embedded with pressure sensor With alarm, the pressure sensor electrically connects with the controller, and the pressure sensor is used to gather the weight letter of container Whether breath, the controller is used to judge the weight information for collecting more than pre-stored payload ratings information, if it is, control Make the alarm equipment alarm.
7. intelligent stacker according to claim 1, it is characterised in that the control board there also is provided radio communication Module, the controller is electrically connected with the wireless communication module, and it is described that the controller is additionally operable to the control after picking is finished First driver element drives the loading platform and pallet fork returns to original position, and controls second driver element to drive institute State at least three wheels and return to original position, and generate the prompt message that picking is finished, the prompt message that picking is finished is passed through The wireless communication module is sent to an intelligent terminal.
8. intelligent stacker according to claim 1, it is characterised in that the man-machine interaction unit is display unit, behaviour Make the combination of keyboard, or be touch-screen.
9. intelligent stacker according to claim 1, it is characterised in that the intelligent stacker include steel cable spool, Steel cable, two directive wheels and two rollers, first column and the second column are provided with guide rail, each described roller It is embedded in a guide rail, the steel cable spool, described two directive wheels are connected successively by the steel cable, the Two driver elements are used to drive the rotation of the steel cable spool, and the loading is connected to by the steel cable of the steel cable spool folding and unfolding Platform, two directive wheels are installed on the column top, and two guiding are passed through by the steel cable of the steel cable spool folding and unfolding Wheel is connected to the loading platform.
10. intelligent stacker according to claim 1, it is characterised in that double surfaces for stretching a telescopic fork are arranged with Slipmat.
CN201710271899.4A 2017-04-24 2017-04-24 Intelligent stacker CN106882734A (en)

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Application publication date: 20170623