CN110963308B

CN110963308B - Stacking machine

Info

Publication number: CN110963308B
Application number: CN201811139688.6A
Authority: CN
Inventors: 韦景民
Original assignee: Jabil Electronics Guangzhou Co ltd
Current assignee: Jabil Electronics Guangzhou Co ltd
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2021-11-09
Anticipated expiration: 2038-09-28
Also published as: CN110963308A

Abstract

A stacker crane is suitable for stacking cargoes and comprises a base, a stand column, a cantilever, a fixing unit and a driving unit. The stand forms along upper and lower direction extension, the stand can with be on a parallel with the upper and lower direction just runs through the first axis of rotation of stand sets up as the axle center rotation ground on the base. The cantilever is perpendicular to the upright and can be arranged on the upright in a sliding manner along the upright. The holding unit comprises a sliding part which can be arranged on the cantilever along the cantilever in a sliding way and a holding module which is arranged on the sliding part and is used for holding goods, and the holding module can rotate relative to the sliding part by taking a second rotating shaft which is parallel to the vertical direction and penetrates through the holding module as an axis. The driving unit can drive the upright post, the cantilever and the holding unit to move.

Description

Stacking machine

Technical Field

The invention relates to a stacker crane, in particular to a stacker crane suitable for stacking cargoes.

Background

The existing rectangular coordinate type stacker crane for stacking goods is composed of a vertical seat and a cantilever unit with at least two cantilevers, the two cantilevers which are perpendicular to each other and can slide relatively in the cantilever unit are used for grabbing the goods to any position in a plane coordinate, but the rectangular coordinate type stacker crane is required to be provided with the two cantilevers, so that the rectangular coordinate type stacker crane is complex in structure and large in occupied space.

Disclosure of Invention

The object of the present invention is to provide a palletizer which overcomes at least one of the drawbacks of the prior art.

The invention provides a stacker crane which is suitable for stacking cargoes. The upright post is formed by extending along the vertical direction, and can be arranged on the base in a self-rotating way by taking a first rotating shaft which is parallel to the vertical direction and penetrates through the upright post as an axis. The cantilever is perpendicular to the upright and can be arranged on the upright in a sliding manner along the upright. The fixing unit comprises a sliding part which can be arranged on the cantilever in a sliding mode along the cantilever and a fixing module which is arranged on the sliding part and used for fixing goods, and the fixing module can rotate relative to the sliding part by taking a second rotating shaft which is parallel to the vertical direction and penetrates through the fixing module as an axis. The driving unit can drive the upright post, the cantilever and the holding unit to move.

In some embodiments, the holding module includes a support, at least one holding mechanism and a sensing unit, the holding mechanism includes a connecting member movably disposed on the support, and a holding member connected below the connecting member and adapted to hold the goods, and defines that the holding mechanism is located at an initial position relative to the support when holding the goods, the sensing unit is disposed on the support and is configured to sense a displacement of the holding mechanism from the initial position, and if the displacement exceeds a predetermined range, the sensing unit sends a signal to the driving unit to stop the holding module from moving.

In some embodiments, the holding mechanism is slidably disposed on the bracket along an up-down direction, the displacement includes a sliding distance of the holding mechanism relative to the bracket along the up-down direction, the sensing unit includes at least one sliding sensor disposed on the bracket for sensing the sliding distance of the holding mechanism, and the sliding sensor sends a first warning signal to the driving unit when the sliding distance exceeds the preset range.

In some embodiments, the connecting member of the holding mechanism has a rod portion slidably penetrating the bracket along the up-down direction and connecting the holding member, and a head portion connected to a tip of the rod portion and having a width larger than that of the rod portion.

In some embodiments, the holding module further comprises at least one first return spring connected between the bracket and the holding mechanism, and the first return spring is used for providing an elastic restoring force for positioning the holding mechanism at the initial position.

In some embodiments, the sliding sensing element has a sensing portion facing the holding mechanism, and the holding mechanism further includes a buffer member disposed at one end of the connecting element for preventing the connecting element from striking the sensing portion.

In some embodiments, the holding module includes a plurality of holding mechanisms spaced apart from each other, and the holding mechanisms can swing with respect to the bracket, the holding module further includes a synchronization frame connected to at least two of the holding mechanisms and swinging synchronously with the corresponding holding mechanisms, the sensing unit further includes a swing sensing member disposed on the bracket and sensing a swing distance of the synchronization frame, and the displacement includes the swing distance, and when the swing distance exceeds the preset range, the swing sensing member sends a second warning signal to the driving unit.

In some embodiments, the bottom side of the head of each holding mechanism is hemispherical, the bracket is formed with a plurality of through holes for the connecting pieces of the holding mechanism to penetrate through, each through hole has a limiting portion for the rod portion of the corresponding holding mechanism to penetrate through, and a counter bore portion communicated with the upper side of the limiting portion and used for accommodating the head of the corresponding holding mechanism, the aperture of the limiting portion is slightly larger than the rod portion of the holding mechanism, and the aperture is gradually enlarged downwards, so that the holding mechanism can swing relative to the bracket, and the synchronization frame is sleeved on the rod portion of the corresponding holding mechanism and located below the corresponding through hole to swing synchronously with the corresponding holding mechanism.

In some embodiments, the holding module further comprises at least one second return spring connected between the bracket and the synchronous frame, the second return spring being configured to provide a resilient restoring force for positioning the corresponding holding mechanism in the initial position via the synchronous frame.

In some embodiments, the synchronization frame is formed with a circular hole, the swing sensing element has a sensing portion penetrating through the circular hole, and when a distance between an inner wall surface of the synchronization frame defining the circular hole and the sensing portion is smaller than a second distance, the swing distance exceeds the preset range, and at this time, the swing sensing element sends the second warning signal to the driving unit.

In some embodiments, the holding mechanism can be disposed on the bracket in a swinging manner relative to the bracket, the displacement includes a swinging distance of the holding mechanism relative to the bracket, the sensing unit further includes a swinging sensing element disposed on the bracket and used for sensing the swinging distance of the holding mechanism, and the swinging sensing element sends a second warning signal to the driving unit when the swinging distance exceeds the preset range.

In some embodiments, the holding member of the holding module is a suction cup for adsorbing the goods, the holding module further includes a pressure switch connected to the holding member, the pressure switch is configured to detect whether the pressure in the holding member is lower than a preset pressure value when the holding member adsorbs the goods, and if the pressure in the holding member is not lower than the preset pressure value, the pressure switch sends a third warning signal to the driving unit.

The stacker crane is suitable for stacking cargoes and comprises a base, a stand column, a cantilever, a fixing unit and a driving unit. The stand set up in the base, the stand can wind self the central axis for the base rotation. The cantilever is perpendicular to the upright and can be arranged on the upright in a sliding manner along the upright. The holding unit can be arranged on the cantilever in a sliding mode along the cantilever and used for holding goods, and the holding unit can rotate by taking an axis of rotation which is parallel to the central axis and penetrates through the holding module as an axis. The driving unit can drive the upright post, the cantilever and the holding unit to move.

The invention relates to a stacker crane which is suitable for stacking cargoes and comprises a base, a stand column, a cantilever, a sliding piece and a fixing module. The stand set up in the base, the stand can wind the rotation axis rotation of extending from top to bottom. The cantilever is arranged on the upright post and can rotate along with the upright post. The sliding part is arranged on the cantilever and can slide along the cantilever. The fixing module is arranged below the sliding piece and used for fixing goods, and the fixing module can rotate around a rotation shaft extending up and down relative to the sliding piece.

The invention has the beneficial effects that: the stacker crane can move in a motion mode of a polar coordinate system without a second cantilever to rotate the goods to a required angle and stack the goods to a required position, so that the stacker crane has a simple structure and occupies a small space compared with the traditional stacker crane.

Drawings

FIG. 1 is a schematic elevation view illustrating the gripping of goods by an embodiment of a palletizer as provided by the present invention;

FIG. 2 is a schematic top view of the embodiment;

FIG. 3 is a schematic perspective view illustrating a holding module according to an embodiment;

FIG. 4 is a schematic side view illustrating the holding mechanism of the holding module being not subjected to an external force pushing upward;

FIG. 5 is a schematic side view illustrating the holding mechanism of the holding module being pushed upward by an external force and moving beyond a sliding distance of a predetermined range;

FIG. 6 is a perspective view from a different perspective than FIG. 3;

FIG. 7 is an enlarged partial schematic view of FIG. 6;

FIG. 8 is a cross-sectional schematic view of FIG. 4 taken along line VIII-VIII; and

fig. 9 is a partial schematic view illustrating a case where the embodiment suffers from foreign object blocking when gripping goods.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings and embodiments:

referring to fig. 1 and 2, a stacker crane 10 according to the present invention is adapted to stack a cargo 20, and the stacker crane 10 includes a base 1, a column 2, a boom 3, a holding unit 4, and a driving unit 5 capable of driving the column 2, the boom 3, and the holding unit 4 to move.

The column 2 extends in the vertical direction D1, and the column 2 is provided on the base 1 so as to be rotatable about a first rotation axis a1 that is parallel to the vertical direction D1 and passes through the column 2, and more specifically, the column 2 rotates in the rotation direction R (see fig. 2). More specifically, in the present embodiment, the driving unit 5 includes a first driving module (not shown) provided in the base 1 and driving the column 2. For example, the first driving module may be composed of a speed reduction motor disposed in the base 1 and connected to the upright 2 and an encoder coupled to the speed reduction motor, so as to drive the upright 2 to rotate relative to the base 1, but not limited thereto.

The boom 3 is provided to the column 2 so as to be perpendicular to the column 2 and to be slidable up and down along the column 2. In the present embodiment, the column 2 has the slide rails 21 located at both side edges and parallel to the vertical direction D1, the boom 3 is the sliding part 31 having the slide rails 21 provided on the column 2 so as to be vertically slidable along the slide rails 21 of the column 2, and the boom part 32 provided on the sliding part 31, the sliding part 31 has two fixing parts 311 arranged in parallel with each other at an interval along the vertical direction D1, and the boom part 32 is correspondingly fixed between the two fixing parts 311 of the sliding part 31, but not limited thereto. More specifically, in the present embodiment, the driving unit further includes a second driving module 51 disposed on the column 2 and configured to drive the boom 3. More specifically, the second driving module 51 has two sprockets 510 respectively disposed at the center of the upper and lower ends of the upright 2 and having an axis perpendicular to the vertical direction D1, a chain 511 disposed on the upright 2 along the vertical direction D1, sleeved on the two sprockets 510 and connected to the sliding portion 31, a motor 512 connected to the lower sprocket 510 for driving the chain 511, and an encoder 513 connected to the motor 512 for driving the chain 511 so that the sliding portion 31 connected to the chain 511 slides up and down along the upright 2, wherein a sprocket groove 22 for the lower sprocket 510 is formed at the lower end of the upright 2. Moreover, since the motor 512 has a positioning brake structure inside, the chain 511 can be still fixed even if the motor is not powered, so as to prevent the cantilever 3 from falling from a high position along the upright 2 when the power is turned off, but not limited thereto.

The holding unit 4 includes a sliding member 41 disposed on the suspension arm 3 to be horizontally slidable along the suspension arm 3, and a holding module 42 disposed on the sliding member 41 and used for holding the cargo 20, wherein the holding module 42 can rotate with respect to the sliding member 41 by taking a second rotation axis a2 parallel to the vertical direction D1 and penetrating through the holding module 42 as an axis. More specifically, in the present embodiment, the driving unit 5 further includes a third driving module 52 disposed on the suspension arm 3 for driving the sliding member 41, and a fourth driving module 53 disposed on the sliding member 41 for driving the holding module 42. In more detail, the third driving module 52 includes two sprockets (not shown) respectively disposed in two sprocket grooves (not shown) formed at the centers of the left and right ends of the suspension arm 3, a chain 521 disposed on the suspension arm 3 along the length direction of the suspension arm 3 and connected to the sliding member 41, and a servo motor 522 disposed on the suspension arm 3 and connected to the sprockets to drive the chain 521, so that the sliding member 41 can slide along the suspension arm 3, and the fourth driving module 53 includes a servo motor 531 disposed on the sliding member 41 and connected to the holding module 42 to drive the holding module 42 to rotate with respect to the sliding member 41, but not limited thereto.

The sliding member 41 is capable of moving within a circumferential range around the first rotation axis a1 and around the arm 3, by cooperation of the column 2 which rotates in the rotation direction R around the first rotation axis a1 with respect to the base 1, the arm 3 which is perpendicular to the column 2 and is slidably provided in the column 2 up and down along the column 2, and the sliding member 41 which is slidably provided in the arm 3 along the arm 3. In addition, the cargo 20 can be placed at a correct angle by the holding module 42 which is disposed on the slider 41, holds the cargo 20, and can rotate with respect to the slider 41 about the second rotation axis a 2. In other words, the stacker crane 10 moves by the movement of the polar coordinate system, so that the cargo 20 can be stacked to a desired position without having a second cantilever, and the structure is simpler than that of the conventional stacker crane and occupies a smaller space.

Referring to fig. 1 and 3-5, the holding module 42 includes a support 421, six holding mechanisms 422, and a sensing unit 423. The holding mechanisms 422 are arranged at intervals, each holding mechanism 422 comprises a connecting piece 422a movably arranged on the support 421 and a holding piece 422b connected below the connecting piece 422a and suitable for holding the goods, and the holding mechanism 422 is defined to be at an initial position relative to the support 421 at the beginning of holding the goods 20. The sensing unit 423 is disposed on the support 421 and is used for sensing a displacement of the holding mechanism 422 from the initial position, and when the displacement exceeds a predetermined range, the sensing unit 423 sends a signal to the driving unit 5 to stop the downward movement of the holding module 42 through the driving unit 5. It should be noted that the number of the holding mechanisms 422 can be adjusted according to the requirement, and the number thereof can be one or more than two, which is not limited to the number in the embodiment. In addition, in the embodiment, the holding module 42 further includes a synchronous wheel 420 connected to the top of the bracket 421 and disposed on the sliding member 41, and the synchronous wheel 420 is connected to a reduction gear (not shown) at an output end of the servo motor 531, so that the servo motor 531 can drive the holding module 42 to rotate around the second rotation axis a 2.

Further, in the present embodiment, the holding mechanism 422 is slidably disposed on the support 421 along the up-down direction D1. Specifically, the support 421 has a frame body 421a, and six support seats 421b provided on the frame body 421a and respectively supporting the holding mechanism 422, each support seat 421b is penetratingly formed with a through hole 421c along the up-down direction (see fig. 8), the connection piece 422a of each holding mechanism 422 has a rod portion 422c slidably inserted through the through hole 421c of the corresponding support seat 421b along the up-down direction and connected to the holding piece 422b, and a head portion 422d connected to the top end of the rod portion 422c and having a width larger than that of the rod portion 422 c. The displacement amount includes a sliding distance of the holding mechanism 422 relative to the support 421 along the up-down direction D1. The sensing unit 423 includes four sliding sensing pieces 423a disposed on the frame 421a of the support 421 and used for sensing the sliding distance of the holding mechanism 422, and in this embodiment, the sliding sensing pieces 423a are metal sensors and have sensing portions 423b facing downward and facing the holding mechanism 422. Specifically, the sliding sensors 423a are respectively disposed above the holding mechanism 422, and when the distance between the top end of the holding mechanism 422 and the sensing portion 423b of the corresponding sliding sensor 423a is smaller than a first distance, the sliding distance exceeds a preset range, and at this time, the sliding sensor 423a sends a first warning signal to the driving unit 5, so that the driving unit 5 stops the holding module 42 from moving continuously. In this embodiment, the first distance may be adjusted according to the requirement of the sensing sensitivity, and the adjustment range is 1 to 5mm, but not limited thereto. In other words, when the holding module 42 hangs and carries the cargo 20 above the predetermined position, the sliding portion 31 will further slide downward relative to the pillar 2, and simultaneously drive the lifting arm portion 32 and the holding module 42 to decelerate and drive the cargo 20 to move downward toward the predetermined position, and if the cargo 20 has reached the predetermined position and is placed on another object but the holding module 42 continues to move downward, the holding mechanism 422 is pushed by the cargo 20 to slide upward relative to the support 421 by a sliding distance (see fig. 5) exceeding a predetermined range, and the driving unit 5 will receive the first warning signal sent by the sliding sensor 423a to control the pillar 2, the cantilever 3 and the holding unit 4 to stop moving, so as to prevent the holding module 42 from continuing to move downward. Therefore, the damage of other objects below the goods 20 caused by the holding module 42 pressing the goods excessively can be avoided, and the holding mechanism 422 releases the goods 20 after the goods 20 are stacked, so that the goods 20 are prevented from being bumped due to falling of the goods 20 because the goods 20 are released without being supported. In addition, it should be noted that the number of the sliding sensing pieces 423a can be adjusted as required, the number thereof can be one or more than two, and the arrangement manner thereof can also be changed, which is not limited to the manner in which the number thereof is four and the sliding sensing pieces are respectively disposed in the holding mechanism 422 and located at the four corners in the present embodiment.

In addition, each holding mechanism 422 further includes a buffer 422e disposed at the top end of the connecting member 422a for preventing the connecting member 422a from directly impacting the sensing portion 423 b. In addition, the holding module 42 further includes six first restoring elastic members 424 respectively connected between the support 421 and the holding mechanism 422, and the first restoring elastic members 424 are used for providing an elastic restoring force to position the holding mechanism 422 at the initial position, so that the holding mechanism 422 can be stably positioned at the initial position when not being subjected to other external forces. In the present embodiment, the buffer 422e and the first elastic restoring element 424 are both springs, but they may be other elastic elements, and in other variation, the holding module 42 may not include the buffer 422e or the first elastic restoring element 424, so that the disclosure should not be limited thereto.

Referring to fig. 3, 6 to 8, in the present embodiment, the holding mechanism 422 can also swing relative to the support 421. Specifically, the bottom side of the head 422d of each holding mechanism 422 is hemispherical, the through hole 421c of each supporting seat 421b has a limiting portion 421d through which the rod 422c of the corresponding holding mechanism 422 passes, and a counter bore portion 421e communicating with the top of the limiting portion 421d and receiving the head 422d of the corresponding holding mechanism 422, the aperture of the limiting portion 421d is slightly larger than the rod 422c of the holding mechanism 422 and gradually enlarges downward, so that the holding mechanism 422 can swing relative to the support 421, and it should be noted that each supporting seat 421b has a body 421f with a through hole 421c formed therein and a thread (not shown) formed at the bottom of the outer surface thereof, and a nut 421g cooperating with the thread of the body 421f and locked and fixed to the frame 421a together with the body 421 f. The holding module 42 further includes a substantially X-shaped synchronization frame 425 swinging synchronously with the holding mechanism 422, and more specifically, a circular hole 425a is formed in the middle of the synchronization frame 425, the synchronization frame 425 has four rod bodies 425b extending outward from the middle to jointly form the X shape and respectively connected to one holding mechanism 422, each rod body 425b has a ring-shaped portion 425c located at the end and respectively sleeved under the rod portion 422c of the holding mechanism 422 and located below the corresponding through hole 421c, each ring-shaped portion 425c is sandwiched between the corresponding supporting seat 421b and the first restoring elastic member 424, and the ring-shaped portion 425c can prevent the first restoring elastic member 424 from extending into the limiting portion 421d of the through hole 421c to affect the swinging performance of the holding mechanism 422. The sensing unit 423 further includes a swing sensing element 423c disposed on the support 421 and configured to sense a swing distance of the synchronous frame 425, and the displacement sensed by the sensing unit 423 further includes the swing distance. In the present embodiment, the swinging sensor 423c is a metal sensor and has a sensing portion 423d penetrating through the circular hole 425a, and when the distance between the inner wall surface of the circular hole 425a defined by the synchronization frame 425 and the sensing portion 423d is smaller than the second distance, the swinging distance exceeds the preset range. When the swing distance exceeds the preset range, the swing sensor 423c sends a second warning signal to the driving unit 5, so that the driving unit 5 drives the column 2, the cantilever 3 and the holding unit 4 to stop moving. In this embodiment, the second distance may be adjusted according to the requirement of the sensing sensitivity, and the adjustment range is 1 to 5mm, but not limited thereto. In this way, when the transported goods 20 are blocked by the foreign objects 30 during the moving process (as shown in fig. 9), the holding mechanism 422 holding the goods 20 drives the synchronous frame 425 to synchronously swing relative to the support 421, and when the swing distance exceeds the preset range, the driving unit 5 receives the second warning signal to control the upright 2, the cantilever 3 and the holding unit 4 to stop moving, so as to prevent the goods 20 or the stacker crane 10 from being damaged or causing other possible dangerous situations due to the blocking of the foreign objects 30.

It should be noted that the holding module 42 further includes two collars 426 respectively sleeved on the holding mechanism 422 not connected to the synchronous frame 425 and sandwiched between the corresponding supporting seat 421b and the first restoring elastic element 424, and the structure of the collars 426 is consistent with the structure of the annular portion 425c of the synchronous frame 425 and is used for preventing the first restoring elastic element 424 from extending into the limiting portion 421d of the through hole 421 c.

In addition, in other embodiments, the synchronous frame 425 may have other structures connected to at least one of the holding mechanisms 422 instead of the X-shaped structure, and even in a modified embodiment, the holding module may not include the synchronous frame 425, and the swing sensor 423c directly senses the swing distance of the holding mechanism 422, which should not be limited by the aspects of the present embodiment.

In addition, the holding module 42 further includes a plurality of second restoring springs 427 connected between the support 421 and the synchronizing frame 425, and the second restoring springs 427 are used for providing elastic restoring force for making the corresponding holding mechanism 422 located at the initial position via the synchronizing frame 425, so as to further enable the holding mechanism 422 to be stably located at the initial position without external force. In the present embodiment, the second elastic restoring member 427 is a spring, but it may be another elastic member, and in other variation, the holding module 42 may not include the second elastic restoring member 427, so it should not be limited thereto.

In addition, in other embodiments, the holding mechanism 422 may be disposed on the support 421 only in a manner of sliding up and down relative to the support 421 or swinging relative to the support 421, or may even be disposed on the support 421 in another movable manner such as sliding horizontally, and the sensing unit 423 senses the displacement of the holding mechanism 422 from the initial position corresponding to the movable manner, and sends a signal to the driving unit 5 accordingly, which is not limited by the movable manner of the present embodiment. In other embodiments, the sliding sensor 423a and the swinging sensor 423c may be replaced with any other sensor capable of sensing the movement of the holding mechanism 422, such as an optical fiber sensor or a travel switch, as required, and the metal sensor in this embodiment should not be limited.

In addition, in the present embodiment, the holder 422b of each holding mechanism 422 is a suction cup, and the holding module 42 further includes a negative pressure generator 428 communicated with the holder 422b and used for drawing air out of the inside of the holder 422b so that the holder 422b adsorbs the cargo 20, and a pressure switch 429 communicated with the holder 422b and coupled to the driving unit, it should be noted that the pipeline communicated between the holder 422b and the negative pressure generator 428 and the pipeline communicated between the holder 422b and the pressure switch 429 are omitted. The pressure switch 429 is used for detecting whether the pressure inside the retainer 422b is lower than a preset pressure value when the retainer 422b adsorbs the cargo 20, and if the pressure inside the retainer 422b is not lower than the preset pressure value, the pressure switch 429 sends a third warning signal to the driving unit 5, so that the driving unit 5 controls the column 2, the cantilever 3 and the retainer 4 to stop operating. In this way, when the holding piece 422b does not adsorb the goods 20, the pressure in the holding piece 422b is not lower than the preset pressure value, and at this time, the driving unit 5 receives the third warning signal to control the upright 2, the cantilever 3 and the holding unit 4 to stop operating, so as to prevent the stacker crane 10 from continuously generating false operation under the condition of not successfully grabbing the goods 20. It should be noted that in other embodiments, the holding mechanism 422 may not have the holding piece 422b in the form of a suction cup but may be other holding structures capable of picking up the goods 20, such as a mechanical clamping jaw, and the holding module 42 may not include the pressure switch 429, which is not limited in this embodiment.

In summary, the stacker crane 10 according to the present invention includes the column 2 capable of rotating relative to the base 1, the cantilever 3 perpendicular to the column 2 and slidably disposed on the column 2 along the column 2, the holding unit 4 slidably disposed on the cantilever 3 along the cantilever 3 and configured to grasp the goods 20, and the holding module 42 capable of rotating relative to the slider 41, so that the stacker crane 10 can move in a polar coordinate system without having a second cantilever to rotate the goods 20 to a desired angle and stack the goods to a desired position, and the stacker crane 10 is simpler in structure and occupies a smaller space than a conventional stacker crane. In addition, the holding mechanism 422 movably disposed on the support 421 and adapted to hold the goods 20, and the sensing unit 423 disposed on the support 421 and capable of sending a signal to the driving unit 5 according to the displacement of the holding mechanism 422, so that the driving unit 5 can stop the holding module 42 from moving according to the signal. Thereby preventing the goods 20 or the palletizer 10 from being damaged or possibly causing other dangerous conditions due to blocking by other objects, and simultaneously enabling the holding mechanism 422 to release the goods 20 after the stacking of the goods 20 is completed, so as to avoid the goods 20 from being impacted due to falling caused by the release of the goods 20 without being supported. In addition, the pressure switch 429 can prevent the stacker crane 10 from further malfunction in case of unsuccessful grabbing of the goods 20.

However, the above description is only an embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all simple equivalent changes and modifications made according to the claims and the description of the present invention are included in the scope of the present invention.

Claims

1. A palletizer suitable for stacking goods; it is characterized in that the stacker crane comprises:

a base;

the upright post is formed by extending along the vertical direction and can be arranged on the base in a self-rotating mode by taking a first rotating shaft which is parallel to the vertical direction and penetrates through the upright post as an axis;

a cantilever perpendicular to the upright and slidably disposed along the upright;

the fixing unit comprises a sliding part which can be arranged on the cantilever along the cantilever in a sliding way and a fixing module which is arranged on the sliding part and is used for fixing goods, and the fixing module can rotate relative to the sliding part by taking a second rotating shaft which is parallel to the vertical direction and penetrates through the fixing module as an axis; and

the driving unit can drive the vertical column, the cantilever and the holding unit to move;

the fixing module comprises a support, at least one fixing mechanism and a sensing unit, wherein the fixing mechanism comprises a connecting piece movably arranged on the support and a fixing piece connected below the connecting piece and suitable for fixing goods, the fixing piece is defined to be located at an initial position relative to the support when the fixing mechanism fixes the goods, the sensing unit is arranged on the support and used for sensing the displacement of the fixing mechanism deviating from the initial position, and when the displacement exceeds a preset range, the sensing unit sends a signal to the driving unit so that the driving unit stops the movement of the fixing module;

the holding module comprises a plurality of holding mechanisms which are arranged at intervals, the holding mechanisms can swing relative to the bracket, the holding module also comprises a synchronous frame which is connected with at least two of the holding mechanisms and synchronously swings with the corresponding holding mechanisms, the sensing unit also comprises a swing sensing piece which is arranged on the bracket and used for sensing the swing distance of the synchronous frame, the displacement comprises the swing distance, when the swing distance exceeds the preset range, the swing sensing piece sends a second warning signal to the driving unit,

the holding module further comprises at least one second reset elastic piece connected between the bracket and the synchronous frame, and the second reset elastic piece is used for providing elastic restoring force for enabling the corresponding holding mechanism to be located at the initial position through the synchronous frame.

2. A palletiser as claimed in claim 1, wherein: the holding mechanism is configured to be slidably disposed on the bracket along an up-down direction, the displacement includes a sliding distance of the holding mechanism relative to the bracket along the up-down direction, the sensing unit includes at least one sliding sensing element disposed on the bracket and used for sensing the sliding distance of the holding mechanism, and when the sliding distance exceeds the preset range, the sliding sensing element sends a first warning signal to the driving unit.

3. A palletiser as claimed in claim 2, wherein: the connecting piece of the holding mechanism is provided with a rod part which can penetrate through the bracket in a sliding way along the vertical direction and is connected with the holding piece, and a head part which is connected with the top end of the rod part and has a width larger than that of the rod part.

4. A palletiser as claimed in claim 2, wherein: the fixing module further comprises at least one first reset elastic piece connected between the support and the fixing mechanism, and the first reset elastic piece is used for providing elastic restoring force for enabling the fixing mechanism to be located at the initial position.

5. A palletiser as claimed in claim 2, wherein: the sliding sensing piece is provided with a sensing part facing the holding mechanism, and the holding mechanism further comprises a buffer piece which is arranged at one end of the connecting piece and used for preventing the connecting piece from impacting the sensing part.

6. A palletiser as claimed in claim 2, wherein: the bottom side of the head of each holding mechanism is hemispherical, the support is provided with a plurality of through holes for the penetration of the connecting pieces of the holding mechanisms, each through hole is provided with a limiting part for the penetration of the rod part of the corresponding holding mechanism and a counter bore part communicated with the upper part of the limiting part and used for accommodating the head part of the corresponding holding mechanism, the aperture of the limiting part is slightly larger than that of the rod part of the holding mechanism, and the aperture is gradually enlarged downwards, so that the holding mechanism can swing relative to the support, and the synchronous frame is sleeved on the rod part of the corresponding holding mechanism and positioned below the corresponding through hole to synchronously swing with the corresponding holding mechanism.

7. A palletiser as claimed in claim 2, wherein: the synchronous frame is provided with a round hole, the swing sensing piece is provided with a sensing part penetrating through the round hole, when the distance between the inner wall surface of the round hole defined by the synchronous frame and the sensing part is smaller than a second distance, the swing distance exceeds the preset range, and at the moment, the swing sensing piece sends out a second warning signal to the driving unit.

8. A palletiser as claimed in claim 1, wherein: the holding mechanism is configured to be arranged on the support in a swinging manner relative to the support, the displacement comprises a swinging distance of the holding mechanism relative to the support, the sensing unit further comprises a swinging sensing piece which is arranged on the support and used for sensing the swinging distance of the holding mechanism, and when the swinging distance exceeds the preset range, the swinging sensing piece sends a second warning signal to the driving unit.

9. A palletiser as claimed in claim 1, wherein: the fixing piece of the fixing module is a sucker for adsorbing goods, the fixing module further comprises a pressure switch communicated with the fixing piece, the pressure switch is used for detecting whether the pressure in the fixing piece is lower than a preset pressure value when the fixing piece adsorbs the goods, and if the pressure in the fixing piece is not lower than the preset pressure value, the pressure switch sends a third warning signal to the driving unit.

10. A palletizer suitable for stacking goods; it is characterized in that the stacker crane comprises:

a base;

the upright post is arranged on the base and can rotate around the central axis of the upright post relative to the base;

the holding unit can be arranged on the cantilever in a sliding mode along the cantilever and used for holding goods, and can rotate by taking a rotating shaft which is parallel to the central axis and penetrates through the holding unit as an axis; and

the fixing unit comprises a fixing module, the fixing module comprises a support, at least one fixing mechanism and a sensing unit, the fixing mechanism comprises a connecting piece movably arranged on the support and a fixing piece connected below the connecting piece and suitable for fixing goods, the fixing piece is defined to be located at an initial position relative to the support when the fixing mechanism fixes the goods, the sensing unit is arranged on the support and used for sensing the displacement of the fixing mechanism deviating from the initial position, and when the displacement exceeds a preset range, the sensing unit sends a signal to the driving unit so that the driving unit stops the movement of the fixing unit;

the holding unit comprises a plurality of holding mechanisms which are arranged at intervals, the holding mechanisms can swing relative to the bracket, the holding module further comprises a synchronous frame which is connected with at least two of the holding mechanisms and synchronously swings with the corresponding holding mechanisms, the sensing unit further comprises a swing sensing piece which is arranged on the bracket and used for sensing the swing distance of the synchronous frame, the displacement comprises the swing distance, and when the swing distance exceeds the preset range, the swing sensing piece sends a second warning signal to the driving unit,

11. A palletizer suitable for stacking goods; it is characterized in that the stacker crane comprises:

a base;

the upright post is arranged on the base and can rotate around a rotating shaft extending up and down;

the cantilever is arranged on the upright post and can rotate along with the upright post;

a slider provided to the cantilever and slidable along the cantilever; and

the fixing module is arranged below the sliding piece and used for fixing goods, and can rotate around a rotating shaft extending up and down relative to the sliding piece;

the driving unit can drive the upright column, the cantilever and the holding module to move;