CN112340656A - Empty box stacking machine and automatic control method - Google Patents
Empty box stacking machine and automatic control method Download PDFInfo
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- CN112340656A CN112340656A CN202011206468.8A CN202011206468A CN112340656A CN 112340656 A CN112340656 A CN 112340656A CN 202011206468 A CN202011206468 A CN 202011206468A CN 112340656 A CN112340656 A CN 112340656A
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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
- B66F9/0755—Position control; Position detectors
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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
- B66F9/075—Constructional features or details
- B66F9/07559—Stabilizing means
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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
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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
- B66F9/22—Hydraulic devices or systems
Abstract
The invention provides an empty box stacking machine and an automatic control method, wherein the empty box stacking machine comprises a control system, the control system comprises a processor and a sensor, the sensor is a distance measuring sensor arranged below an outer door frame, the processor is connected with the distance measuring sensor, and a lifting cylinder is controlled to work according to an output result of the distance measuring sensor. The automatic control method of the empty box stacking machine realizes the control of the operation of the lifting appliance according to the detection data of the sensor. According to the invention, the control system is added in the empty box stacking machine, and the work of the lifting appliance is controlled by using the detected state information, so that the misoperation is overcome.
Description
Technical Field
The invention relates to an empty box stacking machine and an automatic control method.
Background
The empty box stacking machine is a key device for container transportation, is widely used for stacking and transferring empty boxes of containers in ports, docks, railway and highway transfer stations and storage yards, and has the characteristics of high stacking layer number, high stacking and carrying speed, high operation efficiency, flexibility, field saving and the like, wherein a hoisting system of the empty box stacking machine reflects the hoisting capacity and the loading and unloading efficiency of the stacking machine and is an important factor for determining the operation productivity of the stacking machine, and the operation productivity of the empty box stacking machine depends on the hoisting and descending speed of the hoisting system.
The lifting device of the stacking machine mainly comprises an inner gantry, an outer gantry, a lifting cylinder, a tilting cylinder, a lifting appliance and the like, and the stacking machine drives the inner gantry to lift by controlling the lifting cylinder between the inner gantry and the outer gantry so as to lift the lifting appliance connected to the inner gantry.
The lifting appliance of the forklift is composed of a bearing beam 01 and two telescopic beam assemblies which extend outwards from two ends of the bearing beam 01, and the telescopic beams comprise a left telescopic beam 02-1 and a right telescopic beam 02-2 as shown in figure 1. The lifting appliance is positioned on the side surface of the container, the telescopic beams can be transversely stretched under the driving of the telescopic cylinders, the left telescopic beam 02-1 is stretched leftwards, and the right telescopic beam 02-2 is stretched rightwards, so that the container operation of 20 feet and 40 feet is met. The outer end of the telescopic beam is provided with a vertical cylinder barrel, the outer end of the left telescopic beam 02-1 is provided with a left vertical cylinder barrel 03-1, the outer end of the right telescopic beam 02-2 is provided with a right vertical cylinder barrel 03-2, a pair of vertical cylinder barrels are respectively provided with an arm frame head capable of moving up and down, the upper end of the arm frame head is respectively provided with a rotary lock device, and similarly, the arm frame head and the rotary lock device are respectively provided with a left arm frame head 04-1, a right arm frame head 04-2, a left rotary lock device 05-1, a right rotary lock device 05-2, a left arm frame head movable rod 06-1 and a right arm frame head movable rod 06-2. When the lifting appliance is aligned with the container through the guide angle plate, the rotary locking device is inserted into the angular hole of the container, and the container can be locked for lifting after rotating 90 degrees.
In the actual hoisting process, when the lifting appliance is in a 40-foot state, namely when the left telescopic beam 02-1 and the right telescopic beam 02-2 extend outwards from two ends of the bearing beam 01, the combination position of the left telescopic beam 02-1 and the right telescopic beam 02-2 of the lifting appliance and the bearing beam 01 of the lifting appliance is seriously worn or cracked; the joint of the left arm frame head 04-1 and the left arm frame head movable rod 06-1 in the left vertical cylinder barrel and the joint of the right arm frame head 04-2 and the right arm frame head movable rod 06-2 in the right vertical cylinder barrel are frequently impacted and cracked, and a larger potential safety hazard exists in a place surrounded by a fracture line in a figure 1; the existing method is that after serious abrasion or cracking occurs, a cutting and repairing mode is adopted for maintenance, but the abrasion or cracking problem can not be solved, and cutting and repairing maintenance needs to be carried out again after a period of time; in addition, the whole strength of the spreader is influenced after multiple cutting and repairing, the service life of the spreader is influenced, the repairing value is lost, scrapping treatment is carried out, the service life of the spreader is far shorter than the design life, and statistics shows that cracks begin to appear at the joint position of the spreader telescopic beam and the spreader bearing beam of the stacking machine when the spreader is used for 2-3 years, and the cracks often occur at the bottom of the telescopic beam.
According to the incomplete statistics of wharfs, the cracking condition of 58 stacking machine lifting appliances in 2015-2019 is as follows (including reparation):
the reasons for the analysis include the following:
the design strength of the lifting appliance is not enough, and the welding defects are generated in the manufacturing process of the lifting appliance.
And (3) violation operation, the speed is reduced, the box is lightly put and slowly lifted when the lifting appliance is not used for carrying out box aligning, the lifting speed of the lifting appliance is too high, and the impact force is too large, so that the lifting appliance is frequently impacted and fatigued and exceeds the design category.
When the empty box with the large height difference of the towing frame is operated, a plurality of times of operation errors (the box is hooked on one side, and the other side is suspended and quickly descends).
Disclosure of Invention
The invention aims to provide an empty box stacking machine and an automatic control method aiming at the problems that a lifting appliance is cracked due to the defects of the existing empty box stacking machine and illegal operation.
The technical scheme of the invention is as follows: an empty box stacking machine comprises an inner gantry, an outer gantry, a lifting cylinder and a lifting appliance; the lifting cylinder is arranged between the inner gantry and the outer gantry and drives the inner gantry to lift; the lifting appliance is connected to the inner gantry and ascends and descends together with the inner gantry, and comprises a bearing beam and telescopic beams which horizontally stretch out and draw back from two ends of the bearing beam to the outside under water, wherein the tail ends of the telescopic beams are provided with vertical arm cylinders, arm frame heads capable of moving up and down are respectively arranged in the vertical arm cylinders, and the upper ends of the arm frame heads are respectively provided with a rotary lock device; the lifting cylinder is controlled to work according to the output result of the ranging sensor.
Further, in the above-mentioned empty box stacking machine: the distance measuring sensor is an ultrasonic distance sensor capable of adjusting distance, the installation height is 500mm, and the elevation angle is 45 degrees.
Further, in the above-mentioned empty box stacking machine: and an arm frame head combination detection switch is arranged between the arm frame head and the vertical cylinder barrel and is connected with the processor.
The invention also provides an automatic control method of the empty box stacking machine, which comprises the following steps:
A. when the empty box stacking machine stacks boxes or takes the boxes,
a1, detecting the distance of the cart close to the stacking container;
a2, when the cart approaches the stacking container and is 1-1.5 m away, the lifting of the spreader is automatically decelerated;
B. when the empty box stacking machine falls to the ground,
b1, detecting the height from the ground when the empty box descends;
b2, when the empty box descends about 1-1.5 m away from the ground, the lifting of the lifting appliance is automatically decelerated;
C. the empty box stacking machine is used for loading or unloading boxes by a trailer;
c1, detecting the distance of the cart close to the trailer;
and C2, when the cart approaches the trailer for about 1-1.5 m, the lifting of the lifting appliance is automatically decelerated.
Further, in the above method for automatically controlling an empty box forklift, the following steps are performed:
when the empty box stacking machine stacks and takes boxes, and a trailer unloads the boxes, the empty lifting appliance descends at a speed reduced by one stage, the twist lock device is inserted into the corner hole of the container, when any one side has a landing signal or any one arm frame head is disconnected with the detection switch, the second-stage speed reduction is realized on the lifting speed of the lifting appliance, and when the lifting appliance slowly descends at the speed reduced by the second stage to the state that landing signals are fed back to both sides, the descending of the lifting appliance automatically stops; if the lifting appliance descends and only one side has a landing signal or both sides do not have landing signal feedback, the lifting appliance slowly and continuously descends to any vertical cylinder barrel to stop the switch induction action, and the descending of the lifting appliance automatically stops;
when the empty box stacking machine stacks and stacks boxes and a trailer is loaded, the lifting empty box lifted by the stacking machine descends at the speed reduced by the first stage, when any one side has a landing signal or any one arm frame head is disconnected with a detection switch, the second stage speed reduction is realized on the lifting speed of the lifting appliance, the lifting appliance slowly descends at the speed reduced by the second stage to the state that both sides have landing signal feedback or when any one arm frame head is disconnected with the detection switch, or the induction action of a stop switch under any one vertical cylinder barrel is carried out, and the descending of the lifting appliance is automatically stopped;
the empty case fork lift truck gets the case at the stack, and when the trailer unloads the case, empty hoist will descend with speed behind the one-level speed reduction, when arbitrary one cantilever crane head combines the detection switch disconnection, realizes the second grade speed reduction to the elevating speed of hoist, and the hoist will slow down the stop switch response action under arbitrary one perpendicular cylinder with the speed after the second grade speed reduction, and the hoist descends automatic stop.
According to the invention, the control system is added in the empty box stacking machine, and the work of the lifting appliance is controlled by using the detected state information, so that the misoperation is overcome.
The invention will be explained in more detail below with reference to the drawings and examples.
Drawings
FIG. 1 is a prior art hollow box forklift spreader structure diagram.
FIG. 2 shows an embodiment 1 of the present invention in which there is no object in front of the ultrasonic ranging sensor.
Fig. 3 shows that the ultrasonic ranging sensor of embodiment 1 of the present invention is effective in detecting a front stacking container.
FIG. 4 shows a forklift provided with an ultrasonic distance measuring sensor in embodiment 1 of the present invention.
Fig. 5 is a schematic view of a proximity switch according to embodiment 1 of the present invention.
Detailed Description
Embodiment 1, this embodiment has solved the automatic identification pile/get the case, and the trailer is loaded/unloaded the case and is fallen to the ground to case and empty case operating mode, realizes the lift automatic deceleration to the hoist, and the hoist lifting speed that originally controlled the hoist by the manual work changes into the fork lift truck automatic control promptly, and other circumstances then keep the full speed, do not influence handling efficiency. In the embodiment, the device is provided with an ultrasonic distance sensor 101 which can be adjusted in distance and is arranged below an outer door frame 102 of an empty box stacking machine 100, the installation height is 500mm, and the elevation angle is 45 degrees. The detection distance of the ultrasonic sensor is set to be 1.5-2.0 m, so that the ultrasonic sensor can effectively detect and feed back signals when the forklift approaches a stacking container or a trailer for about 1-1.5 m, and the lifting of the lifting appliance is automatically decelerated; meanwhile, when the lifting empty box 200 of the stacking machine descends to about 1 meter away from the ground, the ultrasonic sensor can effectively detect and feed back signals; the lifting automatic deceleration of the lifting appliance is realized. As shown in fig. 2 and 3.
In this embodiment, the empty box forklift 100 includes an inner gantry 103, an outer gantry 102, a lifting cylinder 104, and a spreader 200; the ultrasonic distance sensor 101 is below the outer gantry 102, as shown in fig. 4.
In this embodiment, the gantry comprises an inner gantry 103 and an outer gantry 102, the inner gantry 103 is sleeved inside the outer gantry 102, and the inner gantry 103 is driven to move up and down in the outer gantry 102 through a lifting cylinder 104 and a large chain 105. The inner gantry 103 drives the lifting appliance 200 to move up and down through the small chain 106, the small chain 106 is connected to a bearing cross beam 201 of the lifting appliance 200, and two ends of the bearing cross beam 201 respectively extend out of a left telescopic beam 202-1 and a right telescopic beam 202-2.
In this embodiment, the lifting cylinder 301 is disposed between the inner gantry 103 and the outer gantry 102 to drive the inner gantry 103 to lift; the lifting appliance 200 is connected to the inner door frame 103 and lifts together with the inner door frame 103, and comprises a bearing beam 201 and telescopic beams which horizontally extend outwards from two ends of the bearing beam 201, namely a left telescopic beam 202-1 and a right telescopic beam 202-2, wherein the tail ends of the telescopic beams are provided with vertical cylinder barrels, namely a left vertical cylinder barrel 203-1 and a right vertical cylinder barrel 203-2; the vertical cylinder is provided with a movable rod and an arm frame head which can move up and down respectively, namely a left arm frame head 204-1 and a left arm frame head movable rod 206-1, a right arm frame head 204-2 and a right arm frame head movable rod 206-2, and the upper ends of the vertical cylinder are provided with a rotary lock device respectively, namely a left rotary lock device 205-1 and a right rotary lock device 205-2, as shown in figure 4. In practice, the twist lock and the container hole in the twist lock device are goose egg type, and when the twist lock is inserted into the container hole, the twist lock rotates 90 degrees, namely, the twist lock device locks the container.
In this embodiment, the lifting device further comprises a control system, the control system comprises a processor and a sensor, the sensor is an ultrasonic distance sensor 101 arranged below the outer gantry, the processor is connected with the ultrasonic distance sensor 101, and the lifting cylinder 104 is controlled to work according to an output result of the ultrasonic distance sensor 101.
In the embodiment, the height of the left boom frame head movable rod 206-1 and the right boom frame head movable rod 206-2 in the left vertical cylinder 203-1 and the right vertical cylinder 203-2, which move up and down, of only 220mm is also considered comprehensively, and if the speed is set too low after the lifting speed of the lifting appliance 200 is reduced, the loading and unloading efficiency is reduced; if the speed is set too high after the speed reduction, the impact between the telescopic beam of the lifting appliance 200 and the load-bearing beam of the lifting appliance, between the boom head of the lifting appliance and the vertical cylinder barrel, between the empty box and the trailer and the like is still large. That is, when the left telescopic beam 202-1 and the right telescopic beam 202-2 extend outwards from two ends of the carrier bar 201, the combination position of the left telescopic beam 202-1 and the right telescopic beam 202-2 of the lifting appliance 200 and the carrier bar 201 of the lifting appliance is seriously worn or cracked; the joint of the left arm frame head 204-1 and the left arm frame head movable rod 206-1 in the left vertical cylinder 203-1 and the joint of the right arm frame head 204-2 and the right arm frame head movable rod 206-2 in the right vertical cylinder 203-2 are frequently impacted and cracked. For this purpose, 1 proximity switch 210 is installed on each of the boom head and the vertical cylinder of the spreader 200 on both sides, as shown in fig. 5, a boom head joint is defined between the boom head and the vertical cylinder, and the proximity switch 210 installed on the boom head detects the state of the joint between the boom head and the vertical cylinder, and is used to realize the second-stage deceleration when any one of the boom head joint detection switches is turned off (i.e., when the boom head and the vertical cylinder are separated). The vertical cylinder barrels on two sides are respectively provided with 1 proximity switch (defined as a stop switch under the vertical cylinder barrels), the proximity switches are connected to the boom heads, the height of the boom heads moving up and down is set by the sensing stop blocks moving up and down along with the boom heads, the lifting appliance descends and stops when the stop switch senses the action under any vertical cylinder barrel, the height of the vertical cylinder barrel which is smaller than 220mm is ensured to descend, the situation that the chain and the oil pipe/cable are too loose due to the fact that the lower part of a movable rod of the boom heads is impacted by the vertical cylinder barrel and the lifting appliance continuously descends is avoided, the chain collides with a piston rod of a lifting oil cylinder.
This embodiment is fed back to the controller through ultrasonic sensor and proximity switch signal, realizes one-level speed reduction or second grade speed reduction to the elevating speed of hoist, realizes that the hoist piles up the buttress pile/gets the case, the trailer dress/unloads the case, the empty case falls to the ground, and the hoist descends and can automatic slowly put when rising, lightly, makes between hoist telescopic beam and the hoist load-bearing beam, the impact force obviously reduces between hoist cantilever crane head and the perpendicular cylinder, extension hoist life.
1. When the stacking machine empty lifting appliance or the lifting empty box cart is close to the stacking container or the trailer for about 1-1.5 m, the ultrasonic sensor can detect signals and feed the signals back to the controller, and primary speed reduction is realized on the lifting speed of the lifting appliance.
2. Stacking and taking boxes, unloading the boxes by a trailer (under the condition that the box surface is flat and a twist lock is inserted into a corner hole of a container), descending the empty lifting appliance at a speed reduced by one stage, inserting a twist lock device into the corner hole of the container, realizing second-stage speed reduction on the lifting speed of the lifting appliance when a landing signal is generated on any one side or any one arm frame head is disconnected with a detection switch (namely the arm frame head and a vertical cylinder barrel leave), and slowly descending the lifting appliance at the speed reduced by two stages until landing signals are fed back on both sides, wherein the descending of the lifting appliance is automatically stopped; if the lifting appliance descends and only one side has a landing signal or both sides do not have landing signal feedback, the lifting appliance slowly and continuously descends to any vertical cylinder barrel to stop the switch induction action, and the descending of the lifting appliance automatically stops; this condition is suitable for the loading/unloading operation of the trailer with uneven frame (high front and high back bottom).
3. The speed descends after the first-level speed reduction, when any one side has a landing signal or any one boom head is combined with the detection switch to be disconnected (namely when the boom head and the vertical cylinder leave), the second-level speed reduction is realized for the lifting speed of the lifting appliance, the lifting appliance slowly descends to the two sides with the speed after the second-level speed reduction to have the landing signal feedback or the time, or the stop switch induction action is carried out under any one vertical cylinder, and the lifting appliance descends and automatically stops.
4. The case is got to the stack, the trailer unloads the case (the twistlock can not insert the container corner hole, the misoperation condition when unilateral or both sides cantilever crane head case is hung at the case angle), empty hoist will descend with the speed behind the one-level speed reduction, when arbitrary cantilever crane head combines the detection switch disconnection (when cantilever crane head and perpendicular cylinder leave promptly), realize the second level speed reduction to the elevating speed of hoist, the hoist will descend slowly to stop switch response action under arbitrary perpendicular cylinder with the speed after the second level speed reduction, hoist decline automated stopping. The chain and the oil pipe/cable are loosened too much due to the fact that the vertical cylinder barrel impacts the lower portion of the movable rod of the boom head and the lifting appliance descends continuously, the chain impacts a piston rod of a lifting oil cylinder, and the oil pipe/cable is damaged due to the fact that peripheral accessories are hooked by the chain.
5. The stacking machine can lift the empty box to the ground, when the empty box falls to the bottom of the box and is about 1 meter away from the ground, the ultrasonic sensor arranged below the outer gantry of the empty box stacking machine can also detect signals and feed the signals back to the controller, the lifting speed of the lifting appliance is reduced at one stage, and the lifting appliance automatically stops falling until the empty box falls to the ground and landing signals are fed back from the two sides of the empty box stacking machine.
6. After the stacking/taking box, the trailer loading/unloading box and the empty box are fallen to the ground and unlocked or locked, the lifting appliance rises, and the lifting appliance rises at a second-stage deceleration speed because the landing signal or the boom head is kept in combination with the disconnection signal of the detection switch, and the direction of acting force between the telescopic beam and the bearing beam of the lifting appliance and between the boom head of the lifting appliance and the vertical cylinder barrel is inverted at the moment, but rises at the second-stage deceleration speed, the impact force is obviously reduced, and the impact force can be adjusted by setting the second-stage deceleration speed; delaying for 2 seconds after the landing signal of the lifting appliance is automatically disconnected, and automatically switching the lifting speed of the lifting appliance to be raised at a first-stage deceleration speed; when the distance between the cart and the stacked container or the trailer is larger than 1-1.5 m after the cart is overturned, and the ultrasonic sensor does not detect signal feedback, the lifting speed of the lifting appliance is automatically full speed.
7. The one-level deceleration speed is set, because different forklift lifting speeds are different, the one-level deceleration speed is set according to the condition that the forklift lifting empty box falls to the ground from a high position to the bottom of the box to be in contact with the ground, if the one-level deceleration speed is set to be too high, the impact of the bottom of the box on the ground is very large, and the setting is too low, so that the operation efficiency is influenced.
8. And setting a second-stage deceleration speed, namely, descending the vertical cylinder barrel to a lower stop position of the vertical cylinder barrel, ascending the lifting appliance at the speed of the second-stage deceleration, observing the impact of the vertical cylinder barrel and the cantilever crane head, and if the speed of the second-stage deceleration is set to be too high, the instantaneous impact of the vertical cylinder barrel and the cantilever crane head is very large, and if the setting is too low, the operation efficiency is influenced.
Claims (7)
1. An empty box stacking machine comprises an inner gantry, an outer gantry, a lifting cylinder and a lifting appliance; the lifting cylinder is arranged between the inner gantry and the outer gantry and drives the inner gantry to lift; the lifting appliance is connected to the inner gantry and ascends and descends together with the inner gantry, and comprises a bearing beam and telescopic beams which horizontally extend outwards from two ends of the bearing beam, wherein the tail end of each telescopic beam is provided with a vertical cylinder barrel, boom heads capable of moving up and down are respectively arranged in the vertical cylinder barrels, and the upper ends of the boom heads are respectively provided with a rotary lock device; the method is characterized in that: the lifting cylinder is controlled to work according to the output result of the ranging sensor.
2. The empty box forklift according to claim 1, wherein: the distance measuring sensor is an ultrasonic distance sensor capable of adjusting distance, the installation height is 500mm, and the elevation angle is 45 degrees.
3. The empty box forklift according to claim 1 or 2, wherein: and an arm frame head combination detection switch is arranged between the arm frame head and the vertical cylinder barrel and is connected with the processor.
4. The empty box forklift according to claim 3, wherein: the arm frame head is combined with a detection switch.
5. The empty box forklift according to claim 3, wherein: a stop switch detection switch is arranged below the vertical cylinder barrel.
6. The automatic control method of the empty box stacking machine is characterized by comprising the following steps: the method comprises the following steps:
A. when the empty box stacking machine stacks boxes or takes the boxes,
a1, detecting the distance of the cart close to the stacking container;
a2, when the cart approaches the stacking container and is 1-1.5 m away, the lifting of the spreader is automatically decelerated;
B. when the empty box stacking machine falls to the ground,
b1, detecting the height from the ground when the empty box descends;
b2, when the empty box descends about 1-1.5 m away from the ground, the lifting of the lifting appliance is automatically decelerated;
C. the empty box stacking machine is used for loading or unloading boxes by a trailer;
c1, detecting the distance of the cart close to the trailer;
and C2, when the cart approaches the trailer for about 1-1.5 m, the lifting of the lifting appliance is automatically decelerated.
7. The method for automatically controlling the empty box forklift according to claim 6, wherein:
when the empty box stacking machine stacks and takes boxes, and a trailer unloads the boxes, the empty lifting appliance descends at a speed reduced by one stage, the twist lock device is inserted into the corner hole of the container, when any one side has a landing signal or any one arm frame head is disconnected with the detection switch, the second-stage speed reduction is realized on the lifting speed of the lifting appliance, and when the lifting appliance slowly descends at the speed reduced by the second stage to the state that landing signals are fed back to both sides, the descending of the lifting appliance automatically stops; if the lifting appliance descends and only one side has a landing signal or both sides do not have landing signal feedback, the lifting appliance slowly and continuously descends to any vertical cylinder barrel to stop the switch induction action, and the descending of the lifting appliance automatically stops;
when the empty box stacking machine stacks and stacks boxes and a trailer is loaded, the lifting empty box lifted by the stacking machine descends at the speed reduced by the first stage, when any one side has a landing signal or any one arm frame head is disconnected with a detection switch, the second stage speed reduction is realized on the lifting speed of the lifting appliance, the lifting appliance slowly descends at the speed reduced by the second stage to the state that both sides have landing signal feedback or when any one arm frame head is disconnected with the detection switch, or the induction action of a stop switch under any one vertical cylinder barrel is carried out, and the descending of the lifting appliance is automatically stopped;
the empty case fork lift truck gets the case at the stack, and when the trailer unloads the case, empty hoist will descend with speed behind the one-level speed reduction, when arbitrary one cantilever crane head combines the detection switch disconnection, realizes the second grade speed reduction to the elevating speed of hoist, and the hoist will slow down the stop switch response action under arbitrary one perpendicular cylinder with the speed after the second grade speed reduction, and the hoist descends automatic stop.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113979367A (en) * | 2021-10-12 | 2022-01-28 | 深圳中集智能科技有限公司 | Automatic identification system and method for container position |
| CN114705101A (en) * | 2022-04-14 | 2022-07-05 | 宁夏共享机床辅机有限公司 | Detection method and detection system for part precision on stacker |
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| CN113979367A (en) * | 2021-10-12 | 2022-01-28 | 深圳中集智能科技有限公司 | Automatic identification system and method for container position |
| CN114705101A (en) * | 2022-04-14 | 2022-07-05 | 宁夏共享机床辅机有限公司 | Detection method and detection system for part precision on stacker |
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