CN112225129A - Anti-collision stacker and control method - Google Patents

Anti-collision stacker and control method Download PDF

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Publication number
CN112225129A
CN112225129A CN202010950897.XA CN202010950897A CN112225129A CN 112225129 A CN112225129 A CN 112225129A CN 202010950897 A CN202010950897 A CN 202010950897A CN 112225129 A CN112225129 A CN 112225129A
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CN
China
Prior art keywords
plc
rail
driving module
collision
stacker
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Pending
Application number
CN202010950897.XA
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Chinese (zh)
Inventor
王琼
赵思元
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Individual
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Individual
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Priority to CN202010950897.XA priority Critical patent/CN112225129A/en
Publication of CN112225129A publication Critical patent/CN112225129A/en
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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"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K7/00—Railway stops fixed to permanent way; Track brakes or retarding apparatus fixed to permanent way; Sand tracks or the like
    • B61K7/16—Positive railway stops
    • B61K7/18—Buffer stops
    • 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
    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/07572—Propulsion arrangements
    • B66F9/07577—Propulsion arrangements not supported by wheels, e.g. tracks or air cushions

Abstract

The invention provides an anti-collision stacker and a control method in the technical field of logistics equipment, wherein the stacker comprises: a ground rail; a sky rail; the rail guided vehicle runs on a ground rail; the bottom end of the upright post component is arranged on the rail guided vehicle, and the top end of the upright post component is in rolling connection with the sky rail; the lifting assembly is arranged on the upright post assembly; the telescopic fork is arranged on the lifting assembly; the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork; the overload protector is connected with the driving module; the PLC is connected with the overload protector; the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC; the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC; the plurality of encoders are arranged on the driving module and are connected with the PLC; and the emergency stop switch group is connected with the PLC. The invention has the advantages that: the safety of the stacker is greatly improved.

Description

Anti-collision stacker and control method
Technical Field
The invention relates to the technical field of logistics equipment, in particular to an anti-collision stacker and a control method.
Background
A stacker, namely a stacking crane, is a special crane which takes a fork or a string rod as a fetching device and grabs, carries and stacks the goods in a warehouse, a workshop and the like or takes and places unit goods from a high-rise goods shelf. The stacker is suitable for conveying heavy workpieces due to high acceleration and moving speed; the guide rail is fixed, so that the walking is stable, and the parking position is accurate; the control system has the advantages of simplicity, good reliability, low cost, convenience for popularization and application and the like, and gradually becomes the most important hoisting and transporting equipment in the stereoscopic warehouse.
The mainstream stacker adopts the fork of MIAS company, and realizes the anti-collision function of the stacker only by a mechanical torsion limiter, and when the fork receives a certain reaction force, the torsion limiter acts to enable the fork to slip and stop advancing. However, there are disadvantages as follows: the tuning precision of the torque limiter is not high, frequent false alarm can occur if the tuning is too sensitive, and the situation that the goods are overturned before the fork stops can occur if the tuning is not sensitive enough.
Therefore, how to provide an anti-collision stacker and a control method thereof to realize the safety of lifting the stacker becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an anti-collision stacker and a control method, so as to realize the safety of lifting the stacker.
In a first aspect, the present invention provides an anti-collision stacker, comprising:
a ground rail;
a sky rail;
the rail guided vehicle runs on the ground rail;
the bottom end of the upright post assembly is arranged on the rail guided vehicle, and the top end of the upright post assembly is in rolling connection with the sky rail;
the lifting assembly is arranged on the upright post assembly;
the telescopic fork is arranged on the lifting assembly;
the power output end of the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork;
the overload protector is connected with the driving module;
the PLC is connected with the overload protector;
the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC;
the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC;
the plurality of encoders are arranged on the driving module and are connected with the PLC;
and the emergency stop switch group is connected with the PLC.
Further, still include:
a trolley line;
and the power supply module is connected with the driving module through the sliding contact line.
Furthermore, the power module adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
Further, still include:
the first wireless communication module is connected with the driving module;
and one end of the second wireless communication module is connected with the first wireless communication module, and the other end of the second wireless communication module is connected with the PLC.
Further, the first wireless communication module and the second wireless communication module are both infrared communication modules.
Further, the pillar assembly includes:
the two upright columns are symmetrically arranged at two ends of the rail guided vehicle;
the cross rod is arranged at the upper ends of the two upright posts;
the rail wheels are arranged on the cross rod and roll on the sky rail.
Further, the driving module includes:
the first motor is used for driving the rail guided vehicle to translate and is connected with the overload protector;
the second motor is used for driving the lifting assembly to lift and is connected with the overload protector;
and the third motor is used for driving the telescopic fork to stretch and is connected with the overload protector.
Further, the scram switch group includes:
the first emergency stop switch is used for emergency stop of the first motor and is connected with the PLC;
the second emergency stop switch is used for emergency stop of the second motor and is connected with the PLC;
and the third emergency stop switch is used for emergency stop of the third motor and is connected with the PLC.
Further, still include:
the smoke alarm is connected with the PLC;
the audible and visual alarm is connected with the PLC;
the velocimeter is arranged on the ground rail and is connected with the PLC;
the photoelectric sensors are arranged on the telescopic goods fork and connected with the PLC;
and the two hydraulic buffers are respectively arranged at two ends of the ground rail.
In a second aspect, the present invention provides a method for controlling an anti-collision stacker, including the following steps:
s1, setting operation scenes of a plurality of stackers on the PLC, and respectively setting a torque threshold of a driving module for each operation scene;
step S2, the PLC starts a driving module based on the operation scenes, and then the PLC is linked with the rail guided vehicle to move on a ground rail, the lifting of a lifting component and the stretching of a telescopic fork, so that the goods in each operation scene are forked and operated;
and step S3, the PLC monitors the current value of the driving module in real time through the overload protector, converts the current value into the torque value of the driving module, and immediately and automatically stops the driving module when the torque value exceeds the torque threshold value in the set operation scene.
The invention has the advantages that:
1. the first laser range finder and the second laser range finder are arranged to measure the distance of the goods in real time, and when the distance reaches a preset threshold value, the PLC immediately stops the operation of the driving module, so that the situation that the goods are turned over is avoided; recording the movement positions of the first motor, the second motor and the third motor by setting the encoder, further calculating the movement speed of each motor, and immediately sending an alarm by the PLC through an audible and visual alarm if the movement speed of each motor is not matched with the movement speed of the goods; through the arrangement of the overload protector, if the current or the torque of the driving module exceeds a preset threshold value, the PLC immediately stops the operation of the driving module, and the safety of the stacker is greatly improved.
2. By arranging the emergency stop switch group, the operation of the anti-collision stacker can be stopped emergently when an accident happens; by arranging the smoke alarm, the fire can be found in time; the speed measuring instrument is arranged to monitor the movement speed of the rail guided vehicle, and emergency braking is carried out on the rail guided vehicle when the speed is still fast when the rail guided vehicle is positioned at the edge of a ground rail; through the hydraulic buffer, when the rail guided vehicle rushes out of the ground rail, effective buffering can be carried out, and the safety of the stacker is further improved.
3. Through set up photoelectric sensor on the flexible fork, realize detecting the virtual reality of goods position, avoid fork again and get the goods under the condition of having had the goods on the flexible fork.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a stacker crane according to the present invention.
FIG. 2 is a front view of a stacker crash of the present invention.
FIG. 3 is a side view of a stacker crash of the present invention.
FIG. 4 is a top view of a stacker crash of the present invention.
FIG. 5 is a schematic block diagram of a circuit of a collision stacker of the present invention.
Description of the labeling:
100-an anti-collision stacker, 1-a velometer, 2-a photoelectric sensor, 3-a rail guided vehicle, 4-a stand column assembly, 5-a lifting assembly, 6-a telescopic fork, 7-a driving module, 8-an overload protector, 9-a PLC, 10-a first laser range finder, 11-a second laser range finder, 12-an encoder, 13-an acousto-optic alarm, 14-an emergency stop switch group, 15-a sliding contact wire, 16-a power supply module, 17-a first wireless communication module, 18-a second wireless communication module, 19-a smoke alarm, 41-a stand column, 42-a cross rod, 43-a rail wheel, 71-a first motor, 72-a second motor, 73-a third motor, 141-a first emergency stop switch, 142-a second scram switch, 143-a third scram switch.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: through setting up first laser range finder 10, second laser range finder 11, overload protection ware 8, encoder 12, torque sensor 13, emergency stop switch group 14 and PLC9, PLC9 can be in real time surveyed the goods, right drive module 7's electric current, functioning speed, moment of torsion carry out real-time supervision, when monitoring there is the dangerous condition, PLC9 is automatic to drive module 7 braking, also can manually pass through emergency stop switch group 14 stops crashproof stacker 100's operation, and then promotes the security of stacker operation.
Referring to fig. 1 to 5, a preferred embodiment of a stacker crane 100 according to the present invention includes:
a ground rail (not shown) for running the track guided vehicle 3;
a sky rail (not shown) for improving the stability of the operation of the track guided vehicle 3;
the rail guided vehicle 3 runs on the ground rail and is used for moving cargos;
the bottom end of the upright post component 4 is arranged on the rail guided vehicle 3, and the top end of the upright post component is in rolling connection with the sky rail and is used for providing support for lifting cargoes;
the lifting assembly 5 is arranged on the upright post assembly 4 and used for lifting goods, and the concrete implementation is not limited to any structure, such as lifting through belt transmission;
the telescopic fork 6 is arranged on the lifting component 5 and used for forking cargoes;
the power output end of the driving module 7 is connected with the rail guided vehicle 3, the lifting assembly 5 and the telescopic fork 6 and is used for providing power for the rail guided vehicle 3, the lifting assembly 5 and the telescopic fork 6;
the overload protector 8 is connected with the driving module 7 and is used for carrying out overload protection on the current of the driving module 7;
the PLC9 is connected with the overload protector 8 and is used for controlling the operation of the anti-collision stacker 100;
the first laser range finder 10 is arranged at the top end of the upright post component 4, is vertically downward in direction, is connected with the PLC9, and is used for measuring the distance of goods in real time and avoiding overturning the goods;
the second laser range finder 11 is arranged at the rear end of the telescopic fork 6, is horizontally forward in direction, is connected with the PLC9, and is used for measuring the distance of the goods in real time to avoid overturning the goods;
the encoders 12 are arranged on the driving module 7, connected with the PLC9, and used for recording the movement positions of the first motor 71, the second motor 72 and the third motor 73, and further calculating the movement speed of each motor;
and the emergency stop switch group 14 is connected with the PLC9 and is used for emergency stop of the driving module 7.
Further comprising:
a trolley line 15;
and the power supply module 16 is connected with the driving module 7 through the sliding contact line 15.
The power module 16 adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
Further comprising:
a first wireless communication module 17 connected to the driving module 7;
and a second wireless communication module 18 having one end connected to the first wireless communication module 17 and the other end connected to the PLC 9.
The first wireless communication module 17 and the second wireless communication module 18 are both infrared communication modules.
The pillar assembly 4 includes:
two upright columns 41 symmetrically arranged at two ends of the rail guided vehicle 3;
a cross bar 42 provided at the upper ends of the two columns 41;
and the rail wheels 43 are arranged on the cross rod 42 and roll on the sky rail.
The drive module 7 includes:
a first motor 71 for driving the rail guided vehicle 3 in translation, connected to the overload protection device 8;
a second motor 72 for driving the lifting assembly 5 to ascend and descend is connected with the overload protector 8;
and the third motor 73 is used for driving the telescopic fork 6 to stretch and contract and is connected with the overload protector 8.
The sudden stop switch group 14 includes:
a first emergency stop switch 141 for emergency stop of the first motor 71, connected to the PLC 9;
a second emergency stop switch 142 for emergency stopping the second motor 72, connected to the PLC 9;
a third emergency stop switch 143 for emergency stopping the third motor 73 is connected to the PLC 9.
Further comprising:
the smoke alarm 19 is connected with the PLC9 and is used for detecting smoke;
the audible and visual alarm 13 is connected with the PLC9 and is used for warning workers;
the speed measuring instrument 1 is arranged on the ground rail, is connected with the PLC9 and is used for monitoring the movement speed of the rail guided vehicle 3, and when the rail guided vehicle 3 is positioned at the edge of the ground rail, the speed is still fast, so that the rail guided vehicle can be emergently braked;
the photoelectric sensors 2 are arranged on the telescopic fork 6 and connected with the PLC9 and used for detecting the true and false of the cargo space and avoiding forking the cargo under the condition that the cargo is already on the telescopic fork 6.
Further comprising:
two hydraulic buffers (not shown) are respectively arranged at two ends of the ground rail and are used for providing buffer when the guided vehicle 3 rushes out of the ground rail.
The invention discloses a preferred embodiment of a control method of an anti-collision stacker, which comprises the following steps:
step S1, setting a plurality of operation scenes of the stacker 100 on the PLC9, and respectively setting a torque threshold of the driving module 7 for each operation scene; the operation scene at least comprises getting close goods, getting far goods, putting goods and being still; namely, under each operation scene, torque thresholds corresponding to different loads, actions and pallet fork positions of the first motor 71, the second motor 72 and the third motor 73 are respectively set, and the torque thresholds can be set in a sectional and regional manner according to actual application scenes;
step S2, the PLC9 starts the driving module 7 based on the operation scenes, further links the rail guided vehicle 3 to move on the ground rail, links the lifting of the lifting component 5, and links the stretching of the stretching fork 6, and further forks and operates the goods in each operation scene;
step S3, the PLC9 monitors the current value of the driving module 7 in real time through the overload protector 8, converts the current value into the torque value of the driving module 7, and when the torque value exceeds the torque threshold value in the set operation scene, the PLC9 immediately and automatically stops the operation of the driving module 7. By setting the torque threshold of the driving module 7 in each operation scene and monitoring in real time, and immediately stopping the operation of the driving module 7 when the torque threshold is exceeded, the stacker 100 is controlled finely and precisely, the stacker 100 is prevented from overturning cargoes, and the safety of valuable cargoes is greatly improved.
The working principle of the invention is as follows:
the PLC9 starts a driving module 7, so that the rail guided vehicle 3 is linked to move on a ground rail, the lifting assembly 5 is linked to lift, the telescopic fork 6 is linked to stretch, and then goods are forked and operated; the PLC9 measures the distance of the goods in real time through the first laser distance meter 10 and the second laser distance meter 11, monitors the current of the driving module 7 through the overload protector 8, records the moving positions of the first motor 71, the second motor 72 and the third motor 73 through the encoder 12, further calculates the moving speed of each motor, monitors the torque of the driving module 7 through the torque sensor 13, monitors the running speed of the rail guided vehicle 3 through the speed meter 1, detects the false and true of the goods position through the photoelectric sensor 2, when the running state of the anti-collision stacker 100 is detected to exceed a preset value, the PLC9 immediately and automatically stops the running of the driving module 7, and if the PLC9 cannot stop the running of the driving module 7, the emergency stop switch group 14 can also manually stop the running of the driving module 7, if the rail guided vehicle 3 rushes out of the ground rail under the action of inertia, the hydraulic buffer is contacted for buffering.
In summary, the invention has the advantages that:
1. the first laser range finder and the second laser range finder are arranged to measure the distance of the goods in real time, and when the distance reaches a preset threshold value, the PLC immediately stops the operation of the driving module, so that the situation that the goods are turned over is avoided; recording the movement positions of the first motor, the second motor and the third motor by setting the encoder, further calculating the movement speed of each motor, and immediately sending an alarm by the PLC through an audible and visual alarm if the movement speed of each motor is not matched with the movement speed of the goods; through the arrangement of the overload protector, if the current or the torque of the driving module exceeds a preset threshold value, the PLC immediately stops the operation of the driving module, and the safety of the stacker is greatly improved.
2. By arranging the emergency stop switch group, the operation of the anti-collision stacker can be stopped emergently when an accident happens; by arranging the smoke alarm, the fire can be found in time; the speed measuring instrument is arranged to monitor the movement speed of the rail guided vehicle, and emergency braking is carried out on the rail guided vehicle when the speed is still fast when the rail guided vehicle is positioned at the edge of a ground rail; through the hydraulic buffer, when the rail guided vehicle rushes out of the ground rail, effective buffering can be carried out, and the safety of the stacker is further improved.
3. Through set up photoelectric sensor on the flexible fork, realize detecting the virtual reality of goods position, avoid fork again and get the goods under the condition of having had the goods on the flexible fork.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (10)

1. The utility model provides an anticollision stacker which characterized in that: the method comprises the following steps:
a ground rail;
a sky rail;
the rail guided vehicle runs on the ground rail;
the bottom end of the upright post assembly is arranged on the rail guided vehicle, and the top end of the upright post assembly is in rolling connection with the sky rail;
the lifting assembly is arranged on the upright post assembly;
the telescopic fork is arranged on the lifting assembly;
the power output end of the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork;
the overload protector is connected with the driving module;
the PLC is connected with the overload protector;
the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC;
the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC;
the plurality of encoders are arranged on the driving module and are connected with the PLC;
and the emergency stop switch group is connected with the PLC.
2. An anti-collision stacker according to claim 1, wherein: further comprising:
a trolley line;
and the power supply module is connected with the driving module through the sliding contact line.
3. An anti-collision stacker according to claim 2, wherein: the power module adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
4. An anti-collision stacker according to claim 1, wherein: further comprising:
the first wireless communication module is connected with the driving module;
and one end of the second wireless communication module is connected with the first wireless communication module, and the other end of the second wireless communication module is connected with the PLC.
5. An anti-collision stacker according to claim 4, wherein: the first wireless communication module and the second wireless communication module are both infrared communication modules.
6. An anti-collision stacker according to claim 1, wherein: the pillar assembly includes:
the two upright columns are symmetrically arranged at two ends of the rail guided vehicle;
the cross rod is arranged at the upper ends of the two upright posts;
the rail wheels are arranged on the cross rod and roll on the sky rail.
7. An anti-collision stacker according to claim 1, wherein: the driving module includes:
the first motor is used for driving the rail guided vehicle to translate and is connected with the overload protector;
the second motor is used for driving the lifting assembly to lift and is connected with the overload protector;
and the third motor is used for driving the telescopic fork to stretch and is connected with the overload protector.
8. An anti-collision stacker according to claim 7, wherein: the scram switch group includes:
the first emergency stop switch is used for emergency stop of the first motor and is connected with the PLC;
the second emergency stop switch is used for emergency stop of the second motor and is connected with the PLC;
and the third emergency stop switch is used for emergency stop of the third motor and is connected with the PLC.
9. An anti-collision stacker according to claim 1, wherein: further comprising:
the smoke alarm is connected with the PLC;
the audible and visual alarm is connected with the PLC;
the velocimeter is arranged on the ground rail and is connected with the PLC;
a plurality of photoelectric sensors arranged on the telescopic fork and connected with the PLC
And the two hydraulic buffers are respectively arranged at two ends of the ground rail.
10. A control method of an anti-collision stacker is characterized by comprising the following steps: the method requires the use of a stacker according to any one of claims 1 to 9, comprising the steps of:
s1, setting operation scenes of a plurality of stackers on the PLC, and respectively setting a torque threshold of a driving module for each operation scene;
step S2, the PLC starts a driving module based on the operation scenes, and then the PLC is linked with the rail guided vehicle to move on a ground rail, the lifting of a lifting component and the stretching of a telescopic fork, so that the goods in each operation scene are forked and operated;
and step S3, the PLC monitors the current value of the driving module in real time through the overload protector, converts the current value into the torque value of the driving module, and immediately and automatically stops the driving module when the torque value exceeds the torque threshold value in the set operation scene.
CN202010950897.XA 2020-09-11 2020-09-11 Anti-collision stacker and control method Pending CN112225129A (en)

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Application Number Priority Date Filing Date Title
CN202010950897.XA CN112225129A (en) 2020-09-11 2020-09-11 Anti-collision stacker and control method

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Application Number Priority Date Filing Date Title
CN202010950897.XA CN112225129A (en) 2020-09-11 2020-09-11 Anti-collision stacker and control method

Publications (1)

Publication Number Publication Date
CN112225129A true CN112225129A (en) 2021-01-15

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202046819U (en) * 2011-04-13 2011-11-23 江苏菲达宝开电气有限公司 Piler
CN104518483A (en) * 2013-09-26 2015-04-15 鸿富锦精密工业（深圳）有限公司 Overload protection system
AU2010101528A4 (en) * 2009-04-23 2015-05-28 Ron Baihelfer Vehicle Control Safety System
CN106853953A (en) * 2017-01-18 2017-06-16 江苏新美星液体包装工程技术研究中心有限公司 The lifting drive of shifting carrying platform in stacking machine
CN107826589A (en) * 2017-09-30 2018-03-23 广东友力智能科技有限公司 A kind of automatic stored control system
CN207468125U (en) * 2017-11-28 2018-06-08 黄石邦柯科技股份有限公司 A kind of super-high piler by Dual-Servo Motor Synchronization Control high-speed cruising
CN111174718A (en) * 2020-01-09 2020-05-19 徐工消防安全装备有限公司 Deflection measuring device and method and scissor truck
CN210855161U (en) * 2019-06-03 2020-06-26 太仓博特精工机械设备有限公司 Intelligent operation stacker assembly with multiple safety protection
CN213595796U (en) * 2020-09-11 2021-07-02 王琼 Anticollision stacker

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2010101528A4 (en) * 2009-04-23 2015-05-28 Ron Baihelfer Vehicle Control Safety System
CN202046819U (en) * 2011-04-13 2011-11-23 江苏菲达宝开电气有限公司 Piler
CN104518483A (en) * 2013-09-26 2015-04-15 鸿富锦精密工业（深圳）有限公司 Overload protection system
CN106853953A (en) * 2017-01-18 2017-06-16 江苏新美星液体包装工程技术研究中心有限公司 The lifting drive of shifting carrying platform in stacking machine
CN107826589A (en) * 2017-09-30 2018-03-23 广东友力智能科技有限公司 A kind of automatic stored control system
CN207468125U (en) * 2017-11-28 2018-06-08 黄石邦柯科技股份有限公司 A kind of super-high piler by Dual-Servo Motor Synchronization Control high-speed cruising
CN210855161U (en) * 2019-06-03 2020-06-26 太仓博特精工机械设备有限公司 Intelligent operation stacker assembly with multiple safety protection
CN111174718A (en) * 2020-01-09 2020-05-19 徐工消防安全装备有限公司 Deflection measuring device and method and scissor truck
CN213595796U (en) * 2020-09-11 2021-07-02 王琼 Anticollision stacker

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Application publication date: 20210115