CN112009920A - Stacker for warehousing and use method thereof - Google Patents

Stacker for warehousing and use method thereof Download PDF

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Publication number
CN112009920A
CN112009920A CN201910455728.6A CN201910455728A CN112009920A CN 112009920 A CN112009920 A CN 112009920A CN 201910455728 A CN201910455728 A CN 201910455728A CN 112009920 A CN112009920 A CN 112009920A
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CN
China
Prior art keywords
goods
lifting
motor
cylinder
clamping
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
CN201910455728.6A
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Chinese (zh)
Inventor
钱达
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huzhou Peng Zhi Automation Technology Co ltd
Original Assignee
Huzhou Peng Zhi Automation Technology Co ltd
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 Huzhou Peng Zhi Automation Technology Co ltd filed Critical Huzhou Peng Zhi Automation Technology Co ltd
Priority to CN201910455728.6A priority Critical patent/CN112009920A/en
Publication of CN112009920A publication Critical patent/CN112009920A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/041Camera

Abstract

The invention discloses a stacker crane for storage and a using method thereof, wherein the stacker crane comprises a supporting seat, a moving seat, a clamping plate and an anti-skid rubber sheet, a tray is arranged on the inner side of the supporting seat, goods are arranged at the upper end of the tray, a controller is arranged at the front end of the supporting seat, longitudinal supporting beams are arranged on two sides of the supporting seat, a longitudinal moving slide rail is arranged at the upper end of each longitudinal supporting beam, a transverse supporting beam is arranged on the upper side of each longitudinal moving slide rail, a sliding block is arranged between each longitudinal moving slide rail and each transverse supporting beam, and two transverse moving slide rails are arranged. Has the advantages that: rational in infrastructure, the device adopts two-way clamp to press from both sides tightly, is provided with the bottom plate simultaneously, avoids the goods to drop, easy operation, and the device utilizes the position and the angle that the vision camera can detect the goods, and later stage can automatic adjustment and centre gripping, has improved work efficiency, is provided with anti-skidding sheet rubber, avoids when the breakable article of centre gripping, and the too big emergence of exerting oneself damages.

Description

Stacker for warehousing and use method thereof
Technical Field
The invention relates to the field of warehousing, in particular to a stacker crane for warehousing and a using method thereof.
Background
At present, with the increasing labor cost of manufacturing industry, the automation level of each industry is promoted. In recent years, a large number of manipulator stacking devices appear in the market, and the existing stacking devices combine a stacking manipulator and a pallet base to realize a stacking function; transport appointed position with a plurality of pallets through pallet conveyor promptly, grab the pallet and get hacking machine department after, transmit signal for the pile up neatly manipulator, begin to place the product on the corresponding pallet, realize the pile up neatly. At present, common enterprises manually stack produced products by workers, so that the time and labor are wasted, the production efficiency is low, the labor intensity of workers is high, and the development process of realizing large-scale batch production by the enterprises is seriously restricted. Therefore, the stacking manipulator is researched and designed, manual stacking can be completely replaced, waste of a large amount of human resources is reduced, labor intensity of workers is reduced, labor production efficiency is improved, yield is increased to the greater extent, the requirement of enterprises on large-scale batch production is met, and the stacking manipulator has very important significance. With the development of economy in China, the mechanical arm becomes more and more important in production application, and can replace manual labor in many industrial fields to realize production automation; by using the manipulator, the physical labor of people can be reduced, the waste of human resources is reduced, and the working efficiency can be effectively improved; the operation of the manipulator of the stacker crane in the prior art is not stable enough, and the manipulator is not tidy enough during stacking; meanwhile, the rotation angle and the working space of the palletizing manipulator are limited to a certain extent, so that an improvement space exists.
At present, the manipulator cannot use large goods, and the large fragile goods need to be carried manually, so that the stacking is still very troublesome.
Disclosure of Invention
The invention aims to solve the problems and provide a stacker crane for warehousing, which improves the working efficiency and avoids damaging goods.
The invention realizes the purpose through the following technical scheme:
a stacker crane for warehousing comprises a supporting seat, a moving seat, clamping plates and anti-skid rubber sheets, wherein a tray is arranged on the inner side of the supporting seat, goods are arranged at the upper end of the tray, a controller is arranged at the front end of the supporting seat, the controller is FX3G, longitudinal supporting beams are arranged on two sides of the supporting seat, longitudinal moving sliding rails are arranged at the upper ends of the longitudinal supporting beams, transverse supporting beams are arranged on the upper sides of the longitudinal moving sliding rails, sliding blocks are arranged between the longitudinal moving sliding rails and the transverse supporting beams, two transverse moving sliding rails are arranged at the upper ends of the transverse supporting beams, supporting wheels are arranged on one side of the upper ends of the transverse supporting beams, a first motor seat is arranged on the other side of the upper ends of the transverse supporting beams, a transverse moving motor is arranged on the first motor seat, a belt driving wheel, a moving seat mounting rack is arranged at the upper end of the transverse moving slide rail, a belt fixing clamp is arranged between the moving seat mounting rack and the belt, the sliding block is arranged between the moving seat mounting rack and the transverse moving slide rail, a second motor seat is arranged at the front end of the longitudinal supporting beam, a longitudinal moving motor is arranged on the second motor seat, the moving seat is arranged at the upper end of the moving seat mounting rack, a lifting frame is arranged at the front end of the moving seat, a lifting motor is arranged at the rear end of the moving seat, a lifting clamping block is arranged between the lifting frame and the moving seat, a ruler strip is arranged at one end of the lifting clamping block, a lifting gear is arranged at one side of the ruler strip, a rotating cylinder is arranged at the lower end of the lifting frame, a telescopic cylinder is arranged at the lower end of the rotating cylinder, the clamping plates are arranged at two sides of, the utility model discloses a clamp plate, including splint, die clamping cylinder, telescopic cylinder, force sensor model and bottom plate, the splint outside is provided with die clamping cylinder, the die clamping cylinder lower extreme is provided with the bottom plate, die clamping cylinder with be provided with the connecting seat between the bottom plate, telescopic cylinder lower extreme is provided with the vision camera, the inside pressure sensor that is provided with of antiskid sheet rubber, the force sensor model is STI 8010.
Preferably: the pressure sensor is embedded in the anti-skid rubber sheet, and the anti-skid rubber sheet is connected with the clamping plate through screws.
According to the arrangement, the pressure sensor plays a detection role, and the embedding connection stability is good.
Preferably: the splint pass through bolted connection in telescopic cylinder, die clamping cylinder pass through bolted connection in splint, the belt action wheel pass through the screw connect in die clamping cylinder with the bottom plate.
So set up, splint play the clamping action, have guaranteed joint strength through bolted connection.
Preferably: the vision camera passes through the screw connect in telescopic cylinder, telescopic cylinder pass through bolted connection in revolving cylinder, revolving cylinder pass through bolted connection in the crane.
So set up, the vision camera plays detection and mating reaction, has guaranteed joint strength through screwed connection.
Preferably: the lifting frame is connected with the moving seat in a sliding mode, the ruler strip is connected with the lifting frame through bolts, the lifting gear key is connected with the lifting motor, and the lifting gear is meshed with the ruler strip.
So set up, the crane plays lift and installation effect, the chi strip plays the linkage effect, has guaranteed joint strength through bolted connection.
Preferably: the controller is connected with the transverse moving motor, the longitudinal moving motor, the lifting motor, the rotating cylinder, the telescopic cylinder, the clamping cylinder, the vision camera and the pressure sensor through leads.
So set up, the controller plays control and processing effect, has guaranteed information processing's ageing through the wire connection.
The invention also provides a using method of the stacker crane for warehousing, which is applied to the stacker crane for warehousing, and the specific using method comprises the following steps:
a. the controller is used for controlling equipment to start, the goods are conveyed to the inner side of the supporting seat through an external conveyor belt, and the longitudinal moving motor and the transverse moving motor are matched to move the moving seat to the upper end of the goods;
b. the lifting motor drives the lifting gear, the ruler strip and the lifting frame so as to enable the clamping plate to descend, and the vision camera detects the distance between the goods and the clamping plate;
c. when the vision camera detects that the distance between the goods and the clamping plates is enough, the vision camera sends a signal to the controller, the controller controls the lifting motor to stop, and meanwhile, the vision camera detects the angular position of the goods, so that the controller controls the longitudinal moving motor and the transverse moving motor to carry out fine adjustment, and meanwhile, the rotary cylinder drives the telescopic cylinder to rotate, and the two clamping plates are opposite to the goods;
d. the telescopic cylinder is tightened, the clamping plate starts to clamp the goods, the pressure sensor detects pressure, when the pressure is proper, the telescopic cylinder stops, and meanwhile, the clamping cylinder contracts to drive the bottom plate to be inserted at the lower end of the goods;
e. the longitudinal moving motor, the transverse moving motor and the lifting gear are matched to transport goods to the upper end of the tray, the goods are orderly arranged, one-time stacking is finished, and the goods are transported in the later period according to the same operation.
Compared with the prior art, the invention has the following beneficial effects:
1. the device is reasonable in structure, adopts bidirectional clamping, and is provided with the bottom plate, so that goods are prevented from falling;
2. the device is simple to operate, the position and the angle of the goods can be detected by using the visual camera, and the goods can be automatically adjusted and clamped in the later period, so that the working efficiency is improved;
3. the anti-slip rubber sheet is arranged, so that damage caused by excessive force when fragile objects are clamped is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a stacker for warehousing according to the present invention;
FIG. 2 is a first structural schematic view of a cross-line support beam of the palletiser for warehousing according to the present invention;
FIG. 3 is a second structural view of a cross-line support beam of the stacker for warehousing according to the present invention;
FIG. 4 is a schematic view of a first arrangement of cleats of a palletizer for warehousing according to the present invention;
FIG. 5 is a second structural view of a clamping plate of the stacker crane for warehousing according to the invention;
FIG. 6 is a schematic diagram of the internal structure of the anti-skid rubber sheet of the stacker crane for warehousing, which is disclosed by the invention;
FIG. 7 is a block diagram of a circuit structure of the stacker crane for warehousing according to the present invention.
The reference numerals are explained below:
1. a supporting seat; 2. a tray; 3. goods; 4. a movable seat; 5. a splint; 6. a transverse support beam; 7. a longitudinal support beam; 8. a lifting frame; 9. lifting the clamping block; 10. a lifting gear; 11. a support wheel; 12. a mobile seat mounting frame; 13. longitudinally moving the slide rail; 14. a slider; 15. transversely moving the slide rail; 16. a first motor mount; 17. a transverse moving motor; 18. a belt; 19. a belt driving wheel; 20. a longitudinal movement motor; 21. a second motor mount; 22. a belt fixing clip; 23. a lifting motor; 24. a ruler strip; 25. a rotating cylinder; 26. a telescopic cylinder; 27. a clamping cylinder; 28. a base plate; 29. a connecting seat; 30. a vision camera; 31. an anti-slip rubber sheet; 32. a pressure sensor; 33. and a controller.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be further described with reference to the accompanying drawings in which:
examples
As shown in fig. 1-7, the stacker crane for warehousing comprises a support base 1, a movable base 4, a clamping plate 5 and an anti-skid rubber sheet 31, wherein a tray 2 is arranged on the inner side of the support base 1, goods 3 are arranged on the upper end of the tray 2, a controller 33 is arranged at the front end of the support base 1, longitudinal support beams 7 are arranged on two sides of the support base 1, longitudinal movable slide rails 13 are arranged on the upper ends of the longitudinal support beams 7, transverse support beams 6 are arranged on the upper sides of the longitudinal movable slide rails 13, a slide block 14 is arranged between the longitudinal movable slide rails 13 and the transverse support beams 6, two transverse movable slide rails 15 are arranged on the upper ends of the transverse support beams 6, a support wheel 11 is arranged on one side of the upper ends of the transverse support beams 6, a first motor base 16 is arranged on the other side of the upper ends of the transverse support beams 6, a transverse movable motor 17 is arranged, a moving seat mounting frame 12 is arranged at the upper end of the transverse moving slide rail 15, a belt fixing clamp 22 is arranged between the moving seat mounting frame 12 and the belt 18, a slide block 14 is arranged between the moving seat mounting frame 12 and the transverse moving slide rail 15, a second motor base 21 is arranged at the front end of the longitudinal supporting beam 7, a longitudinal moving motor 20 is arranged on the second motor base 21, a moving seat 4 is arranged at the upper end of the moving seat mounting frame 12, a lifting frame 8 is arranged at the front end of the moving seat 4, a lifting motor 23 is arranged at the rear end of the moving seat 4, a lifting clamping block 9 is arranged between the lifting frame 8 and the moving seat 4, a ruler strip 24 is arranged at one end of the lifting clamping block 9, a lifting gear 10 is arranged at one side of the ruler strip 24, a rotating cylinder 25 is arranged at the lower end of the lifting frame 8, a telescopic cylinder 26 is arranged at the, the outer side of the clamping plate 5 is provided with a clamping cylinder 27, the lower end of the clamping cylinder 27 is provided with a bottom plate 28, a connecting seat 29 is arranged between the clamping cylinder 27 and the bottom plate 28, the lower end of the telescopic cylinder 26 is provided with a vision camera 30, and a pressure sensor 32 is arranged inside an anti-skid rubber sheet 31.
The pressure sensor 32 is embedded in the anti-skid rubber sheet 31, the anti-skid rubber sheet 31 is connected to the clamping plate 5 through a screw, the pressure sensor 32 plays a role in detection, and the embedding connection stability is good; the clamping plate 5 is connected with the telescopic cylinder 26 through a bolt, the clamping cylinder 27 is connected with the clamping plate 5 through a bolt, the belt driving wheel 19 is connected with the clamping cylinder 27 and the bottom plate 28 through a screw, the clamping plate 5 plays a clamping role, and the connection strength is guaranteed through the bolt connection; the vision camera 30 is connected to the telescopic cylinder 26 through a screw, the telescopic cylinder 26 is connected to the rotary cylinder 25 through a bolt, the rotary cylinder 25 is connected to the lifting frame 8 through a bolt, the vision camera 30 plays a role in detection and matching, and the connection strength is guaranteed through screw connection; the lifting frame 8 is connected with the moving base 4 in a sliding mode, the ruler strip 24 is connected with the lifting frame 8 through a bolt, the lifting gear 10 is in key connection with the lifting motor 23, the lifting gear 10 is meshed with the ruler strip 24, the lifting frame 8 plays a lifting and mounting role, the ruler strip 24 plays a linkage role, and the connection strength is guaranteed through the bolt connection; the controller 33 is connected with the transverse moving motor 17, the longitudinal moving motor 20, the lifting motor 23, the rotating cylinder 25, the telescopic cylinder 26, the clamping cylinder 27, the vision camera 30 and the pressure sensor 32 through leads, the controller 33 plays a role in control and processing, and the timeliness of information processing is guaranteed through lead connection.
The invention also provides a using method of the stacker crane for warehousing, which is applied to the detection device for the sealing performance of the valve, and the specific using method is as follows:
a. the controller 33 is used for controlling the equipment to start, the goods 3 are conveyed to the inner side of the supporting seat 1 through an external conveyor belt, and the longitudinal moving motor 20 and the transverse moving motor 17 are matched to move the moving seat 4 to the upper end of the goods 3;
b. the lifting motor 23 drives the lifting gear 10, the ruler strip 24 and the lifting frame 8, so that the clamping plate 5 descends, and the vision camera 30 detects the distance between the goods 3 and the clamping plate 5;
c. when the vision camera 30 detects that the distance between the goods 3 and the clamping plates 5 is enough, the vision camera 30 sends a signal to the controller 33, the controller 33 controls the lifting motor 23 to stop, and meanwhile, the vision camera 30 detects the angle position of the goods 3, so that the controller 33 controls the longitudinal moving motor 20 and the transverse moving motor 17 to carry out fine adjustment, and meanwhile, the rotary cylinder 25 drives the telescopic cylinder 26 to rotate, so that the two clamping plates 5 are opposite to the goods 3;
d. the telescopic cylinder 26 is tightened, the clamping plate 5 starts to clamp the goods 3, the pressure sensor 32 detects the pressure, when the pressure is proper, the telescopic cylinder 26 stops, and meanwhile, the clamping cylinder 27 contracts to drive the bottom plate 28 to be inserted into the lower end of the goods 3;
e. the longitudinal moving motor 20, the transverse moving motor 17 and the lifting gear 10 are matched to transport goods to the upper end of the tray 2, the goods are orderly arranged, one-time stacking is finished, and the same operation is carried out in the later stage.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (7)

1. A hacking machine for storage, its characterized in that: comprises a supporting seat (1), a moving seat (4), a clamping plate (5) and anti-skid rubber sheets (31), wherein a tray (2) is arranged on the inner side of the supporting seat (1), goods (3) are arranged at the upper end of the tray (2), a controller (33) is arranged at the front end of the supporting seat (1), longitudinal supporting beams (7) are arranged on the two sides of the supporting seat (1), longitudinal moving sliding rails (13) are arranged at the upper end of the longitudinal supporting beams (7), transverse supporting beams (6) are arranged on the upper side of the longitudinal moving sliding rails (13), a sliding block (14) is arranged between the longitudinal moving sliding rails (13) and the transverse supporting beams (6), two transverse moving sliding rails (15) are arranged at the upper end of each transverse supporting beam (6), supporting wheels (11) are arranged on one side of the upper end of each transverse supporting beam (6), and a first, the automatic lifting device is characterized in that a transverse moving motor (17) is arranged on the first motor base (16), a belt driving wheel (19) is arranged on the transverse moving motor (17), a belt (18) is arranged between the belt driving wheel (19) and the supporting wheel (11), a moving base mounting frame (12) is arranged at the upper end of the transverse moving sliding rail (15), a belt fixing clamp (22) is arranged between the moving base mounting frame (12) and the belt (18), the sliding block (14) is arranged between the moving base mounting frame (12) and the transverse moving sliding rail (15), a second motor base (21) is arranged at the front end of the longitudinal supporting beam (7), a longitudinal moving motor (20) is arranged on the second motor base (21), the moving base mounting frame (12) is arranged at the upper end of the moving base (4), and a lifting frame (8) is arranged at the front end of the moving base (4), the lifting mechanism is characterized in that a lifting motor (23) is arranged at the rear end of the movable base (4), a lifting clamping block (9) is arranged between the lifting frame (8) and the movable base (4), a ruler strip (24) is arranged at one end of the lifting clamping block (9), a lifting gear (10) is arranged on one side of the ruler strip (24), a rotary cylinder (25) is arranged at the lower end of the lifting frame (8), a telescopic cylinder (26) is arranged at the lower end of the rotary cylinder (25), clamping plates (5) are arranged on two sides of the telescopic cylinder (26), anti-skid rubber sheets (31) are arranged on the inner sides of the clamping plates (5), a clamping cylinder (27) is arranged on the outer side of the clamping plates (5), a bottom plate (28) is arranged at the lower end of the clamping cylinder (27), a connecting seat (29) is arranged between the clamping cylinder (27) and the bottom plate (28, and a pressure sensor (32) is arranged in the anti-skid rubber sheet (31).
2. A palletiser for warehousing according to claim 1, characterized in that: the pressure sensor (32) is embedded in the anti-skid rubber sheet (31), and the anti-skid rubber sheet (31) is connected to the clamping plate (5) through screws.
3. A palletiser for warehousing according to claim 1, characterized in that: splint (5) through bolted connection in telescopic cylinder (26), die clamping cylinder (27) through bolted connection in splint (5), belt action wheel (19) through the screw connect in die clamping cylinder (27) with bottom plate (28).
4. A palletiser for warehousing according to claim 1, characterized in that: the vision camera (30) is connected to the telescopic cylinder (26) through screws, the telescopic cylinder (26) is connected to the rotary cylinder (25) through bolts, and the rotary cylinder (25) is connected to the lifting frame (8) through bolts.
5. A palletiser for warehousing according to claim 1, characterized in that: the lifting frame (8) is connected with the movable base (4) in a sliding mode, the ruler strip (24) is connected with the lifting frame (8) through bolts, the lifting gear (10) is connected with the lifting motor (23) in a key mode, and the lifting gear (10) is meshed with the ruler strip (24).
6. A palletiser for warehousing according to claim 1, characterized in that: the controller (33) is connected with the transverse moving motor (17), the longitudinal moving motor (20), the lifting motor (23), the rotating cylinder (25), the telescopic cylinder (26), the clamping cylinder (27), the vision camera (30) and the pressure sensor (32) through leads.
7. Use of a palletiser for warehousing according to claim 1, applied to a palletiser for warehousing according to any one of claims 1 to 9, characterized in that: the use method of the stacker crane for warehousing comprises the following steps:
a. the controller (33) is used for controlling equipment to start, the goods (3) are conveyed to the inner side of the supporting seat (1) through an external conveyor belt, and the longitudinal moving motor (20) and the transverse moving motor (17) are matched to move the moving seat (4) to the upper end of the goods (3);
b. the lifting motor (23) drives the lifting gear (10), the ruler strip (24) and the lifting frame (8) to enable the clamping plate (5) to descend, and the visual camera (30) detects the distance between the goods (3) and the clamping plate (5);
c. when the visual camera (30) detects that the distance between the goods (3) and the clamping plates (5) is enough, the visual camera (30) sends a signal to the controller (33), the controller (33) controls the lifting motor (23) to stop, and meanwhile, the visual camera (30) detects the angular position of the goods (3), so that the controller (33) controls the longitudinal moving motor (20) and the transverse moving motor (17) to conduct fine adjustment, and meanwhile, the rotating cylinder (25) drives the telescopic cylinder (26) to rotate, and the two clamping plates (5) are enabled to be opposite to the goods (3);
d. the telescopic cylinder (26) is tightened, the clamping plate (5) starts to clamp the goods (3), the pressure sensor (32) detects pressure, and when the pressure is proper, the telescopic cylinder (26) stops, and meanwhile, the clamping cylinder (27) contracts to drive the bottom plate (28) to be inserted into the lower end of the goods (3);
e. the longitudinal moving motor (20), the transverse moving motor (17) and the lifting gear (10) are matched to transport goods to the upper end of the tray (2), the goods are orderly arranged, one-time stacking is finished, and the goods are transported in the later period according to the same operation.
CN201910455728.6A 2019-05-29 2019-05-29 Stacker for warehousing and use method thereof Withdrawn CN112009920A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910455728.6A CN112009920A (en) 2019-05-29 2019-05-29 Stacker for warehousing and use method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910455728.6A CN112009920A (en) 2019-05-29 2019-05-29 Stacker for warehousing and use method thereof

Publications (1)

Publication Number Publication Date
CN112009920A true CN112009920A (en) 2020-12-01

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CN201910455728.6A Withdrawn CN112009920A (en) 2019-05-29 2019-05-29 Stacker for warehousing and use method thereof

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112478801A (en) * 2020-10-30 2021-03-12 合肥固泰自动化有限公司 Pile up neatly machine people based on accuse structure in four connecting rods
CN113064210A (en) * 2021-03-22 2021-07-02 华北水利水电大学 Positioning device for underground pipeline detection and using method thereof
CN113213038A (en) * 2021-05-13 2021-08-06 莱德沃重工机械(上海)有限公司 Digital pickup device based on logistics storage
CN114380043A (en) * 2022-01-10 2022-04-22 天能电池集团(马鞍山)新能源科技有限公司 Stacking device for battery grading
CN115370942A (en) * 2022-08-03 2022-11-22 广东埃文低碳科技股份有限公司 Instrument data acquisition device and method based on 5G and machine vision
CN117533689A (en) * 2024-01-09 2024-02-09 山西怡顺行冷链物流有限公司 Box-type cargo stacking device for cold chain logistics storage

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112478801A (en) * 2020-10-30 2021-03-12 合肥固泰自动化有限公司 Pile up neatly machine people based on accuse structure in four connecting rods
CN113064210A (en) * 2021-03-22 2021-07-02 华北水利水电大学 Positioning device for underground pipeline detection and using method thereof
CN113213038A (en) * 2021-05-13 2021-08-06 莱德沃重工机械(上海)有限公司 Digital pickup device based on logistics storage
CN114380043A (en) * 2022-01-10 2022-04-22 天能电池集团(马鞍山)新能源科技有限公司 Stacking device for battery grading
CN115370942A (en) * 2022-08-03 2022-11-22 广东埃文低碳科技股份有限公司 Instrument data acquisition device and method based on 5G and machine vision
CN117533689A (en) * 2024-01-09 2024-02-09 山西怡顺行冷链物流有限公司 Box-type cargo stacking device for cold chain logistics storage
CN117533689B (en) * 2024-01-09 2024-03-22 山西怡顺行冷链物流有限公司 Box-type cargo stacking device for cold chain logistics storage

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