CN111924766A - Skew detection cargo carrying table based on inclination angle detection stacker - Google Patents
Skew detection cargo carrying table based on inclination angle detection stacker Download PDFInfo
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- CN111924766A CN111924766A CN202010765013.3A CN202010765013A CN111924766A CN 111924766 A CN111924766 A CN 111924766A CN 202010765013 A CN202010765013 A CN 202010765013A CN 111924766 A CN111924766 A CN 111924766A
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- detection
- stacker
- cargo
- cargo carrying
- fork
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices 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
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices 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
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices 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
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention relates to a skew detection cargo carrying table based on an inclination angle detection stacker, which comprises a vertical frame and a cargo carrying table, wherein the top of the cargo carrying table is provided with an outer detection frame, the top surface of the cargo carrying table is connected with a fork assembly in a front-back sliding manner, four corners of the top surface of the cargo carrying table are respectively provided with a non-contact inclination angle detection sensor, the front side and the back side of the left side and the right side of the outer detection frame are respectively provided with a distance detection sensor, the cargo carrying table further comprises a control module, the control module comprises a processing chip and an alarm unit, and the processing chip is respectively in communication connection with the fork assembly, the distance detection sensors, the non. According to the invention, on the premise of not changing the appearance of the loading platform of the traditional stacker, the horizontal postures of the loading platform in four directions are detected in real time by four non-contact inclination angle detection sensors, and the safety accidents of tray overturning and falling, tray and stacker collision and the like caused by the fact that the tray and the storage rack are scraped when the pallet fork extends are avoided as the basis.
Description
Technical Field
The invention relates to the technical field of logistics storage automation equipment, in particular to a skew detection cargo carrying table based on an inclination angle detection stacker.
Background
Along with the development of the technology, the automatic warehouse is widely applied, more and more stackers shuttle in the automatic stereoscopic warehouse of each industry, the stackers send trays into a goods shelf, the pallets need to be taken back by using forks at first, when the pallets are positioned to the positions of the goods shelf, the pallets with the trays are stopped at a high position, then the forks with the trays stretch out to a specified position, the trays and the forks fall to a low position together with a goods carrying platform, at the moment, the goods shelf cross beam supports the trays, the trays are separated from the forks, and finally the forks are retracted, and the trays are placed on the goods shelf cross beam. In the process of stacker positioning operation or fork action for taking and placing goods, the levelness of the goods carrying platform in four directions must be kept within a certain error range, and the normal operation of the stacker can be ensured. In the design and manufacture of the stacking machine at the present stage, the horizontal of the two directions of the loading platform is realized by the matching of a synchronous belt, a chain or a steel wire rope and a guide wheel guide rail, which are used for dragging the loading platform to move up and down. When the cargo carrying platform is installed, the traction mechanisms such as the steel wire rope, the synchronous belt or the chain are installed at the fixed points on the two sides of the cargo carrying platform manually, then the cargo carrying platform is lifted and suspended through the traction mechanisms, and finally the levelness of the cargo carrying platform is adjusted through adjusting the guide wheel on the side of the upright post. On the one hand, the installation alignment of carrying cargo bed is accomplished by the manual work, has human error, and on the other hand, the guide pulley and the drive mechanism that adjust can appear warping or even damage in the use, all can lead to carrying cargo bed levelness to receive the influence, surpasss error range. And at present, the cargo carrying platform is not provided with a matched detection device for monitoring the horizontal posture of the cargo carrying platform, so that in the using process, if the levelness deviation of the cargo carrying platform is too large, the cargo carrying platform cannot be found and processed in time, the cargo carrying platform continues to operate under the condition, the abrasion of a mechanical structure is accelerated, the stability of equipment is reduced, and the service life is shortened. In severe cases, the frame structure of the cargo platform may collide with the rack, with mechanical structures on the stacker upright (e.g., lift limit stops), or with the cargo within the rack. In the process of warehousing, goods placing and receiving of the stacker, the goods carrying table is not horizontal, so that the goods forks are not parallel to the bottom surface of the pallet after extending out, the pallet forks cut and rub the pallet or the goods shelf, accidents such as turnover and falling of the pallet, collision of the pallet and the stacker and the like occur slightly, and the whole goods shelf structure is damaged seriously, so that large-area accidents are caused. Similar risks exist when the stacker goes out of a warehouse and takes the trays, namely the trays are stored in a certain goods position, but due to the fact that the goods carrying platform is not horizontal, the forks may collide with the trays or scratch the cross beam of the goods shelf when extending out at a low position, and therefore the forks collide with the trays (goods) when the goods are taken and extended, the trays are pushed away from the goods shelf, and accidents such as falling occur.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a skew detection cargo carrying table based on a tilt angle detection stacker.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a crooked detection carries cargo bed based on inclination detects stacker, include vertical frame, set up in the platform of carrying cargo of vertical frame right side bottom, it is equipped with outer detection frame to carry cargo bed top, sliding connection has the fork subassembly around carrying cargo bed top surface, it respectively is equipped with a non-contact inclination detection sensor to carry cargo bed top surface four corners, respectively be equipped with a distance detection sensor around the outer detection frame left and right sides, be equipped with on the vertical frame with the stacker on guide rail complex guide pulley, vertical frame with the vertical sliding connection of stacker, it still includes control module to carry cargo bed, control module is including handling chip, alarm unit, handle the chip respectively with fork subassembly, distance detection sensor, non-contact inclination detection sensor and alarm unit communication connection. And the automation control is convenient.
Under the prerequisite that does not change traditional stacker and carry cargo bed appearance in the above-mentioned design, come real-time detection to carry cargo bed at the ascending horizontal gesture of four directions through four non-contact inclination detection sensors, and regard this as the foundation, can judge on the one hand and carry cargo bed whether in the level, carry cargo bed whether there is distortion deformation, on the other hand can stretch out the change condition of four sensor return values of withdrawal in-process according to the fork, judge and carry cargo bed drive mechanism and guide pulley whether there is deformation, damage or the condition of installation irregularity, cut the piece of a knife and rub the tray when avoiding appearing fork and stretching out, goods shelves, it falls to take place the tray to overturn, incident such as tray and stacker collision, control module is convenient for automated control.
As a further improvement of the design, the non-contact tilt angle detection sensor is a double-shaft tilt angle sensor, and the precision is high.
As a further improvement of the design, the detection range of the non-contact type inclination angle detection sensor is +/-10 degrees, the resolution ratio of the non-contact type inclination angle detection sensor is not higher than 0.01 degrees, and the detection plane of the non-contact type inclination angle detection sensor is parallel to the plane of the top surface of the cargo carrying platform.
As a further improvement of design, the fork assembly comprises a slide rail, a slide seat, a fork body, a transmission shaft and a fork motor, wherein the slide rail is arranged at the top of the cargo carrying platform and extends horizontally from front to back, the slide seat is connected with the slide rail in a sliding manner, the fork body is arranged on the slide seat, the transmission shaft is arranged on the slide seat, the fork motor is arranged on the slide seat, and the fork motor is in driving connection with the transmission shaft.
As a further improvement of design, a tray matched with the fork assembly is arranged on the fork assembly, a cargo groove convenient for the fork assembly to insert is formed in the bottom of the tray, and the cargo groove extends forwards and backwards. The device is convenient to be matched with a distance detection sensor and a non-contact inclination angle detection sensor, and the measurement is more accurate.
The invention has the beneficial effects that: according to the invention, on the premise of not changing the appearance of the traditional stacker cargo carrying table, the horizontal postures of the cargo carrying table in four directions are detected in real time through four non-contact inclination angle detection sensors, and the horizontal postures are taken as the basis, so that whether the cargo carrying table is horizontal or not and whether the cargo carrying table is distorted or not can be judged on the one hand, and whether the cargo carrying table traction mechanism and the guide wheel are deformed, damaged or irregularly installed can be judged according to the change conditions of return values of the four sensors in the process of extending and retracting the forks, and safety accidents such as scraping and rubbing the pallet and the goods shelf when the forks extend, falling of the pallet, collision of the pallet and the stacker and the like are avoided.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic left side view of the present invention.
In the figure, 1, a vertical frame, 2, a cargo carrying platform, 3, an outer detection frame, 4, a distance detection sensor, 5, a tray, 6, a non-contact inclination angle detection sensor, 7, a cargo fork motor, 8, a guide wheel, 9, a control module, 10, a processing chip, 11, an alarm unit, 12, a transmission shaft, 13, a cargo fork body, 14, a sliding seat, 15, a sliding rail and 16 a cargo trough are arranged.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
Example (b): a skew detection cargo carrying platform 2 based on an inclination angle detection stacker comprises a vertical frame 1 and a cargo carrying platform 2 arranged at the bottom of the right side of the vertical frame 1, the top of the cargo carrying platform 2 is provided with an outer detection frame 3, the top surface of the cargo carrying platform 2 is connected with a fork assembly in a front-back sliding way, four corners of the top surface of the cargo carrying platform 2 are respectively provided with a non-contact inclination angle detection sensor 6, the front and the back of the left and the right sides of the outer detection frame 3 are respectively provided with a distance detection sensor 4, the vertical frame 1 is provided with a guide wheel 8 matched with a guide rail on the stacker, the vertical frame 1 is vertically connected with the stacker in a sliding way, the cargo carrying platform 2 further comprises a control module 9, the control module 9 comprises a processing chip 10 and an alarm unit 11, the processing chip 10 is in communication connection with the fork assembly, the distance detection sensor 4, the non-contact tilt angle detection sensor 6 and the alarm unit 11 respectively. And the automation control is convenient.
Under the prerequisite that does not change traditional stacker and carry cargo bed 2 appearance in the above-mentioned design, come real-time detection to carry cargo bed 2 horizontal gesture in four directions through four non-contact inclination detection sensor 6, and regard this as the basis, on the one hand can judge and carry cargo bed 2 and be in the level, carry cargo bed 2 has distortion deformation, on the other hand can stretch out the change situation of four sensor return values of withdrawal in-process according to the fork, judge and carry cargo bed 2 drive mechanism and guide pulley 8 have the deformation, damage or the condition of installation irregularity, scrape tray 5 when avoiding appearing fork body 13 and cut the piece, goods shelves, take place tray 5 and overturn and fall, safety accidents such as tray 5 and stacker collision, control module 9 is convenient for automated control.
As a further improvement of the design, the non-contact tilt angle detection sensor 6 is a dual-axis tilt angle sensor. The sensor is light in structure and simple to install, and can finish horizontal detection on the basis of not changing the structure of the loading platform of the existing stacker; meanwhile, the detection resolution can meet the detection requirement of the horizontal posture of the cargo carrying platform, and the signal acquisition form is simple and universal.
As a further improvement of the design, the detection range of the non-contact tilt angle detection sensor 6 is ± 10 °, the resolution of the non-contact tilt angle detection sensor 6 is not higher than 0.01 °, and the detection plane of the non-contact tilt angle detection sensor 6 is parallel to the top plane of the cargo carrying table 2.
As a further improvement of the design, the fork assembly includes a slide rail 15 disposed on the top of the cargo carrying platform 2 and extending horizontally back and forth, a slide seat 14 slidably connected to the slide rail 15, a fork body 13 disposed on the slide seat 14, a transmission shaft 12 disposed on the slide seat 14, and a fork motor 7 disposed on the slide seat 14, wherein the fork motor 7 is drivingly connected to the transmission shaft 12.
As a further improvement of the design, a tray 5 matched with the fork assembly is arranged on the fork assembly, a cargo groove 16 convenient for the insertion of the fork assembly is formed in the bottom of the tray 5, and the cargo groove 16 extends forwards and backwards. The device is convenient to be matched with the distance detection sensor 4 and the non-contact inclination angle detection sensor 6, and the measurement is more accurate.
As shown in fig. 2, non-contact tilt angle detection sensors 6 are mounted at four corners of the cargo bed, and are numbered as device a, device B, device C, and device D. After the equipment is installed, in the power-on debugging stage, whether the levelness of the cargo carrying platform 2 is in an allowable error range is judged by detecting and evaluating feedback values (angle values) of the non-contact inclination angle detection sensors 6, if the return values of the four non-contact inclination angle detection sensors 6 are respectively A (0.06 degrees and 0.09 degrees), B (0.08 degrees and 0.1 degrees), C (0.06 degrees and 0.08 degrees) and D (0.06 degrees and 0.09 degrees), and if two axial detection values of the four non-contact inclination angle detection sensors 6 are smaller than an allowable tolerance +/-0.3 degrees, the cargo carrying platform 2 in the state is horizontal, so that whether the installation of the cargo carrying platform 2 meets the installation standard is judged. In the normal use process, the control module 9 can monitor the feedback values of the four non-contact inclination angle detection sensors 6 in real time, and monitor the horizontal postures of the cargo carrying platform 2 from two axial directions, so that the cargo carrying platform 2 is ensured to be always kept in a normal working state, and the collision of the cargo carrying platform 2 or the falling accident of the tray 5 caused by the deflection of the cargo carrying platform 2 are avoided.
Taking a group of distance detection sensors 4 on the left side as an example, when goods are put on the left side of the stacker, the stacker stops at the low position of the goods carrying table 2 and starts to receive forks, the processing chip 10 records the numerical values of the two distance detection sensors 4 on the left side, compares the feedback value and the recorded value of the current distance detection sensor 4 in real time in the fork receiving process, and stops receiving forks and sends out an alarm through the alarm unit 11 if the difference value between the feedback value and the recorded value exceeds a preset threshold value.
When goods are taken from the left side of the stacker, the goods carrying platform 2 of the stacker stops at a low position to be stretched and forked, the numerical values of the two distance detection sensors 4 on the left side are recorded, if the difference value of the two numerical values exceeds a set threshold value, the tray 5 is determined to be deviated or inclined in the goods shelf, and an alarm is sent out through the alarm unit 11 to remind manual processing; if the numerical value is normal, the goods are taken and the fork is extended, the feedback value and the record value of the current distance detection sensor 4 are compared in real time in the fork extending process, if the difference value of the feedback value and the record value exceeds a set threshold value, the stacker stops extending the fork, and an alarm is sent out through the alarm unit 11.
The non-contact tilt angle detection sensor 6, the control module 9 and the fork assembly are connected to an external power source through electric wires.
Compared with the prior art, the invention detects the distances of the trays 5 on the goods shelves at two sides in real time through the four distance detection sensors 4 on the premise of not changing the appearance of the traditional goods carrying platform 2 of the stacker, and based on the distances, on one hand, the invention can assist in detecting goods photoelectricity and judge whether the trays 5 exist, and on the other hand, the invention can judge whether the trays 5 are pushed away or dragged in the placing state of the trays 5 in the goods shelves, the fork extending and fork retracting processes, thereby avoiding safety accidents such as falling of the trays 5, collision of the trays 5 and the stacker and the like.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. The utility model provides a crooked detection carries cargo bed based on inclination detects stacker, include vertical frame, set up in the platform of carrying cargo of vertical frame right side bottom, its characterized in that, it is equipped with outer detection frame to carry cargo bed top, sliding connection has the fork subassembly around carrying cargo bed top surface, it respectively is equipped with a non-contact inclination detection sensor to carry cargo bed top surface four corners, respectively be equipped with a distance detection sensor around the outer detection frame left and right sides, be equipped with the guide rail complex guide pulley with the stacker on the vertical frame, vertical frame with the vertical sliding connection of stacker, it still includes control module to carry cargo bed, control module is including handling chip, alarm unit, handle the chip respectively with fork subassembly, distance detection sensor, non-contact inclination detection sensor and alarm unit communication connection.
2. The skew detection cargo bed based on the inclination detection stacker according to claim 1, wherein the non-contact inclination detection sensor is a dual-axis inclination sensor.
3. The inclination detection stacker-based skew detection cargo carrying platform according to claim 2, wherein the detection range of the non-contact inclination detection sensor is ± 10 °, the resolution of the non-contact inclination detection sensor is not higher than 0.01 °, and the detection plane of the non-contact inclination detection sensor is parallel to the top plane of the cargo carrying platform.
4. The skew detection cargo carrying table based on the inclination angle detection stacker according to claim 1, wherein the fork assembly comprises a slide rail arranged at the top of the cargo carrying table and horizontally extending forwards and backwards, a slide seat slidably connected with the slide rail, a fork body arranged on the slide seat, a transmission shaft arranged on the slide seat, and a fork motor arranged on the slide seat, wherein the fork motor is in driving connection with the transmission shaft.
5. The skew detection cargo carrying table based on the inclination angle detection stacker as claimed in claim 4, wherein a tray matched with the fork assembly is arranged on the fork assembly, a cargo groove for facilitating insertion of the fork assembly is formed in the bottom of the tray, and the cargo groove extends forwards and backwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010765013.3A CN111924766A (en) | 2020-08-03 | 2020-08-03 | Skew detection cargo carrying table based on inclination angle detection stacker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010765013.3A CN111924766A (en) | 2020-08-03 | 2020-08-03 | Skew detection cargo carrying table based on inclination angle detection stacker |
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| CN111924766A true CN111924766A (en) | 2020-11-13 |
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| CN202010765013.3A Pending CN111924766A (en) | 2020-08-03 | 2020-08-03 | Skew detection cargo carrying table based on inclination angle detection stacker |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112573446A (en) * | 2020-12-21 | 2021-03-30 | 中国科学院沈阳自动化研究所 | Multi-stage fork for safe stacker |
| CN112950549A (en) * | 2021-02-04 | 2021-06-11 | 科大智能物联技术有限公司 | Goods shelf deformation detection system and detection method based on machine vision |
| CN114380246A (en) * | 2021-12-15 | 2022-04-22 | 罗伯泰克自动化科技（苏州）有限公司 | Method and system for monitoring running state of fork of stacker |
| WO2022199644A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking tilt recognition device |
| CN115159402A (en) * | 2022-06-17 | 2022-10-11 | 杭州海康机器人技术有限公司 | Goods putting and taking method and device, electronic equipment and machine readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112573446A (en) * | 2020-12-21 | 2021-03-30 | 中国科学院沈阳自动化研究所 | Multi-stage fork for safe stacker |
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