CN113511449A - Automatic anti-swing device for stacker, stacker and corresponding anti-swing method - Google Patents
Automatic anti-swing device for stacker, stacker and corresponding anti-swing method Download PDFInfo
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- CN113511449A CN113511449A CN202110759939.6A CN202110759939A CN113511449A CN 113511449 A CN113511449 A CN 113511449A CN 202110759939 A CN202110759939 A CN 202110759939A CN 113511449 A CN113511449 A CN 113511449A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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Abstract
The invention relates to the technical field of intelligent storage, and discloses an automatic anti-swing device for a stacker, the stacker and a corresponding anti-swing method, wherein the automatic anti-swing device comprises the following components: crossbeam arm, be located the position sensor at crossbeam arm top and be located the pendulum stopping device of crossbeam arm bottom, the pendulum stopping device includes: two braked wheel and brake equipment, brake equipment includes: the braking device comprises a circulating ball type screw nut, a double-end spindle motor, a universal joint, a variable pitch screw rod, a brake shoe and a reset device, wherein the variable pitch screw rod is in threaded connection with the circulating ball type screw nut, the brake shoe is arranged around the bottom side of a brake wheel, two ends of the brake shoe are in threaded connection with two ends of the variable pitch screw rod, the reset device is fixed between the circulating ball type screw nut and two ends of the brake shoe, and two ends of the double-end spindle motor are respectively connected with the variable pitch screw rod through the universal joint. The automatic anti-swing device for the stacking machine not only can automatically identify swing and quickly brake a brake wheel through a motor, but also can timely close the brake after the swing stops and restore the original working condition.
Description
Technical Field
The invention relates to the technical field of intelligent storage, and discloses an automatic anti-swing device for a stacker, the stacker and a corresponding anti-swing method.
Background
With the rapid development of the logistics industry, more and more enterprises begin to adopt the automatic stereoscopic warehouse, because the operation efficiency and the automation technical level of the automatic stereoscopic warehouse can greatly improve the logistics efficiency of the enterprises, and the basic technology of the stereoscopic warehouse is increasingly mature. The stacker is used as a key storage execution unit of the intelligent warehousing system, and the operation stability of the stacker is particularly important.
The tunnel type stacker is machine equipment evolved from a forklift and a bridge type stacker, and the tunnel type stacker mainly shuttles back and forth in a narrow space at present and is frequently started and stopped. For the high-speed stacker, because the movement inertia is large, the stacker arm swings back and forth in a small amplitude due to flexibility when picking up goods, and particularly when the stacker arm is used for storing goods at high positions, so that the picking efficiency is reduced, the goods are easy to drop due to unstable picking, and unnecessary loss is caused.
For the anti-swing of the stacker, no effective technology exists at present, and the swing influence is weakened by mainly reducing the running speed and improving the speed reduction stability. It is urgent to provide an anti-sway device and corresponding stacker that can automatically adjust the speed and recover the original state in time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic anti-swing device for a stacker, the stacker and a corresponding anti-swing method, which can not only automatically identify swing and eliminate swing, but also stop working in time without interfering normal goods taking.
According to an aspect of the present invention, there is provided an automatic anti-swing device for a stacker, comprising: crossbeam arm, be located the position sensor at crossbeam arm top and be located the pendulum stopping device of crossbeam arm bottom, the pendulum stopping device includes: two braked wheel and brake equipment, brake equipment includes: the double-end spindle motor is characterized in that two ends of the double-end spindle motor are respectively connected with the variable-pitch lead screw through universal joints, a two-section type lead screw nut is welded at a bottom protrusion part at the outer side of the brake pad, a small-pitch lead screw is correspondingly arranged at the outer side end of the two-section type lead screw nut, a large-pitch lead screw is correspondingly arranged at the inner side end of the two-section type lead screw nut, the helical angle of the large-pitch lead screw is larger than a self-locking angle, and the helical angle of the small-pitch lead screw is smaller than the self-locking angle. The pitch of displacement lead screw increases progressively from both ends to the centre, and the thin pitch in both ends can make the brake lining not slide when both ends, and the broad pitch can accelerate the translation rate when needing to remove the brake to the centre, improves brake efficiency.
According to an exemplary embodiment of the present invention, a large pitch thread length in the two-stage lead screw nut is greater than an air space of the large pitch thread from an inner side end of the two-stage lead screw nut, the air space of the large pitch thread from the inner side end of the two-stage lead screw nut is greater than a small pitch thread length, and the small pitch thread length is greater than a gap between the large pitch thread and the small pitch thread.
According to an exemplary embodiment of the present invention, the position sensor is a velocity sensor, an acceleration sensor, or an electromagnetic induction sensor.
According to the exemplary embodiment of the present invention, the brake shoe end is provided with a brake rod, one end of the brake rod extends to the inner side of the brake shoe, and the middle part of the brake rod is fixedly connected with the outer end of the reset device.
According to an exemplary embodiment of the present invention, the bottom side of the headblock is provided with wheel grooves along a centrally symmetrical position.
According to the exemplary embodiment of the present invention, both ends of the double-headed spindle motor are connected with the motor spindle through the first coupling, and the motor spindle is connected with the variable pitch lead screw through the second coupling.
According to an exemplary embodiment of the present invention, the return means is a return spring which is capable of restoring the tightened brake shoes.
According to an exemplary embodiment of the present invention, a dust cover may be further disposed at the bottom of the beam arm, and the dust cover and the beam arm are fixed by bolts.
According to another aspect of the present invention, there is provided a stacker comprising: the stacker is with automatic anti-swing device, sky rail and stacker main part above any, wherein, stacker is with automatic anti-swing device's crossbeam arm one side fixed on the stacker main part, and the sky rail sets up between two braked wheels of stacker with automatic anti-swing device.
According to the exemplary embodiment of the present invention, the bottom of the sky rail is provided with a wing plate, and the edge of the wing plate is provided with a plurality of position sensing patches at equal intervals.
According to an exemplary embodiment of the present invention, the position sensor of the automatic anti-swing device for the stacker is a position sensing probe corresponding to the position of the position sensing patch.
According to another aspect of the invention, a sway preventing method for the stacker is provided, wherein the position sensing probe obtains a displacement signal according to the displacement of the position sensing patch, when the relative displacement is detected, the double-head spindle motor is activated, the double-head spindle motor drives the variable-pitch screw rod to rotate relative to the circulating ball type screw nut, two ends of the brake shoe are tightened towards the middle under the action of the variable-pitch screw rod, so that the brake shoe circumferentially wraps the bottom side of the brake wheel, the brake wheel is braked, and the sway eliminating effect is achieved through the limiting effect of the sky rail on the brake wheel.
According to an exemplary embodiment of the present invention, when no relative displacement is detected, the double-ended spindle motor is de-energized and the reset device resets the brake shoes.
The beneficial effects obtained by the invention are as follows: the automatic anti-swing device for the stacker provided by the invention not only can automatically identify swing and quickly realize braking through the braking wheel of the motor, so that the swing energy is quickly exhausted, and the function of preventing swing is realized, but also can timely close braking and recover the original working condition after the swing is stopped, and the normal work of the stacker is not influenced, thereby improving the working efficiency.
Drawings
Fig. 1 is a schematic view of the bottom side structure of an automatic sway preventing device for a stacker according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of the top side structure of an automatic anti-swing device for a stacker according to embodiment 1 of the present invention.
Fig. 3 is a rear view of an automatic anti-swing device for a stacker according to embodiment 1 of the present invention.
Fig. 4 is a partially enlarged view of a brake apparatus according to embodiment 1 of the present invention.
Fig. 5 is a schematic structural view of an automatic anti-swing device (including a sky rail) for a stacker according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural view of a sky rail according to embodiment 1 of the present invention.
Fig. 7 is a schematic view of the bottom side structure of the automatic sway preventing device for a stacker according to embodiment 2 of the present invention.
Fig. 8 is a rear view of an automatic anti-swing device for a stacker according to embodiment 2 of the present invention.
Fig. 9 is a cross-sectional view of a two-piece lead screw nut according to embodiment 2 of the invention.
Fig. 10 is a partial structural schematic view of a pitch-variable screw rod according to embodiment 2 of the present invention.
In the figure: 1-sky rail; 1-1-position sensing patch; 1-2-wing plate; 2-a beam arm; 2-1-position sensing probe; 2-2-recirculating ball-type feed screw nut; 2-3-double-head spindle motor; 2-4-gimbal; 2-5-two-section type screw nut; 3-a swing stopping device; 3-1-brake wheel; 3-2-wheel axle; 3-3-brake disc; 3-4-brake lining; 3-5-a return spring; 3-6-variable pitch lead screw; 3-6-1-coarse pitch lead screw; 3-6-2-small-pitch screw rod; 3-7-motor spindle; 4-dust cover.
Detailed Description
In order to make the technical problems, technical solutions and advantages solved by the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back, top, bottom … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indicator is changed accordingly.
Example 1
As shown in fig. 1 to 4, the present invention provides an automatic anti-swing apparatus for a stacker. This automatic anti-swing device for stacker includes: a beam arm 2, a position sensor at the top of the beam arm 2 and a swing stop 3 at the bottom of the beam arm 2.
As shown in fig. 1 and 3, the swing stopper device includes: two brake wheels 3-1 and a brake device. The brake device includes: the device comprises a circulating ball type lead screw nut 2-2, a double-head spindle motor 2-3, a variable-pitch lead screw 3-6, a brake shoe 3-4 and a reset device (for example, a reset spring 3-5). Although fig. 1 shows only one pair of headblocks 3-1. It should be noted that according to other embodiments of the present invention, the anti-sway device can be implemented by using a plurality of pairs of brake wheels 3-1 arranged in parallel.
Wherein, the circulating ball type lead screw nuts 2-2 are welded at two ends of the bottom of the beam arm 2. The variable-pitch screw rod 3-6 is in threaded connection with the circulating ball type screw rod nut 2-2. The variable-pitch screw rod 3-6 comprises a variable-pitch screw rod positioned on the left side of the recirculating ball type screw nut 2-2 and a variable-pitch screw rod positioned on the right side of the recirculating ball type screw nut 2-2. It should be noted that the variable pitch lead screws 3-6 are symmetrically arranged, the pitch of the variable pitch lead screws 3-6 increases from two ends to the middle (namely, the two end sides are correspondingly provided with the small pitch lead screws 3-6-2 of the small pitch thread, and the middle side is correspondingly provided with the large pitch lead screw 3-6-1 of the large pitch thread), the small pitch at the two ends can prevent the brake shoe from sliding when the brake shoe is at the two ends, and the wide pitch can accelerate the moving speed when the brake shoe needs to be moved to the middle to increase the braking efficiency.
The brake shoes 3-4 are disposed around the brake wheel 3-1 at the bottom side portion of the beam arm 2 (in the initial state, the brake shoes 3-4 and the brake wheel 3-1 are not in contact with each other).
According to other embodiments of the present invention, the brake wheel 3-1 can be disposed on the top of the beam arm 2, the brake disc 3-3 is disposed at the bottom of the beam arm 2 corresponding to the brake wheel 3-1, and the brake wheel 3-1 and the brake disc 3-3 are fixedly connected through the wheel shaft 3-2 penetrating the beam arm 2. At this time, the brake lining 3-4 is arranged around the brake disc 3-3 (in an initial state, the brake lining 3-4 and the brake disc 3-3 are not in contact with each other).
As shown in figures 3 and 4, two ends of the brake shoe 3-4 are in threaded connection with two ends of the variable-pitch screw rod 3-6. The return spring 3-5 is fixed between the bottom support frame of the circulating ball type lead screw nut 2-2 and the two ends of the brake block 3-4.
The double-end spindle motor 2-3 is arranged on a support frame which is arranged at the bottom of the beam arm 2 and is positioned between the circulating ball type lead screw nuts 2-2. Two ends of the double-head spindle motor 2-3 are connected with the motor spindle 3-7 through a first coupler. The motor main shaft 3-7 is connected with the variable-pitch screw rod 3-6 through a second coupling.
Specifically, the position sensor is a velocity sensor, an acceleration sensor, or an electromagnetic induction sensor. According to an embodiment of the present invention, the position sensor preferably employs an electromagnetic induction sensor.
Further, as shown in fig. 1 and 3, a brake rod is arranged at the end of the brake shoe 3-4, one end of the brake rod extends to the inner side of the brake shoe 3-4 (in an initial state, one end of the brake rod is not contacted with the brake wheel 3-1 or the brake disc 3-3), and the middle part of the brake rod is fixedly connected with the outer end of the return spring 3-5. When one end of the brake rod extends to the inner side of the brake shoe 3-4, the brake shoe 3-4 is correspondingly provided with a corresponding opening. The brake lever has a certain elasticity. Preferably, the clearance between the brake shoe 3-4 and the brake disc 3-3 is 2 cm.
As shown in figure 3, in order to cooperate with the brake of the brake rod, the brake disc 3-3 is provided with wheel grooves along the central symmetrical position, so when the brake shoe 3-4 is tightened, the rapid braking is realized through the cooperation of the brake rod and the wheel grooves.
As shown in fig. 5, a dust cover 4 may be further disposed at the bottom of the beam arm 2, and the dust cover 4 and the beam arm 2 are fixed by bolts.
As shown in fig. 5, an embodiment of the present invention provides a stacker, including: the stacker uses an automatic anti-swing device, a head rail 1, and a stacker body (not shown in the figure). One side of a beam arm of the automatic anti-swing device for the stacker is fixed on a stacker body, and a top rail 1 is arranged between two brake wheels 3-1 of the automatic anti-swing device for the stacker.
Fig. 6 (b) is an enlarged view of a part of the structure of fig. 6 (a). As shown in fig. 6 (a), the bottom of the sky rail 1 is provided with a wing plate 1-2 extending outwards. As shown in fig. 6 (b), a plurality of position sensing patches 1-1 are arranged at equal intervals on the edge of the wing plate 1-2. The middle part of the sky rail 1 is provided with a reinforcing rib plate. The distance between the two brake wheels 3-1 is equal to the distance between the outer edges of the two side wing plates.
As shown in fig. 2, the position sensor of the automatic anti-swing device for the stacker is a position sensing probe 2-1 corresponding to the position of the position sensing patch 1-1. Specifically, the position sensing probe 2-1 may be positioned directly above the position sensing patch 1-1.
Example 2
As shown in fig. 7 and 8, unlike embodiment 1, the braking apparatus in this embodiment includes: the device comprises a circulating ball type lead screw nut 2-2, a double-head spindle motor 2-3, a universal joint 2-4, a variable pitch lead screw 3-6, a brake shoe 3-4 and a reset device (for example, a reset spring 3-5). A motor spindle 3-7 of the double-head spindle motor 2-3 drives a variable-pitch screw rod 3-6 to rotate through a universal joint 2-4. And the two-section type lead screw nuts 2-5 are welded on the bottom protrusions of the brake shoes 3-4. The outer side end of the two-section type lead screw nut 2-5 is correspondingly provided with a small-pitch lead screw 3-6-2, and the inner side end of the two-section type lead screw nut 2-5 is correspondingly provided with a large-pitch lead screw 3-6-1.
Fig. 9 shows a cross-sectional view of a two-part spindle nut. Here, L1 is the clearance on the left side (inner end) of the two-stage lead screw nut with the large pitch in the two-stage lead screw nut, L2 is the length of the large pitch thread in the two-stage lead screw nut, L3 is the gap between the large pitch thread and the small pitch thread in the two-stage lead screw nut, and L4 is the length of the small pitch thread in the two-stage lead screw nut. Preferably, L2 > L1 > L4 > L3. Specifically, L1=100mm, L2=125mm, L3=25mm, L4=50 mm.
Fig. 10 shows a schematic view of a detail of the pitch-controlled spindle adapted to fig. 9. Here, L5 is the spacing between the large pitch screw and the small pitch screw of the externally threaded portion. Preferably, L5=200mm, the large pitch lead screw pitch is 37.5mm, and the small pitch lead screw pitch is 25 mm. The helical angle of the screw pitch lead screw is larger than the self-locking angle alpha; the helical angle of the small-pitch screw rod is smaller than the self-locking angle alpha. Preferably, the inventive self-locking angle α is 8 °.
Through the design of fig. 9 and fig. 10, when braking is needed, the motor drives the spindle to rotate, the small-pitch lead screw 3-6-2 (two end lead screws) acts to enable the two-section lead screw nut 2-5 to move towards the large-pitch lead screw 3-6-1 (inner end lead screw), and when the small-pitch lead screw 3-6-2 drives the L4 to the last circle of threads, the first circle of threads of the L5 are just meshed with the first circle of threads of the large-pitch lead screw 3-6-1. When the brake needs to be loosened, the double-head spindle motor 2-3 is powered off, and the helical angle of the large-pitch lead screw 3-6-1 is not large enough to achieve self-locking, so that the brake disc 3-3 can restore to the original position to two sides under the pushing of the elastic force of the return spring 3-5, the two-section lead screw nut 2-5 is meshed with the small-pitch lead screw 3-6-2, and the self-locking can be realized due to the small helical angle of the small-pitch lead screw 3-6-2, so that the electric energy for loosening the brake can be saved in the process.
The working principle of the automatic anti-swing device for the stacker provided by the embodiment 2 of the invention is as follows:
when the stacker stops suddenly under the brake of the mobile driving device, the stacker at a high position can swing due to inertia, and the automatic anti-swing device starts to work after the mobile driving device stops running.
The stacker swings to drive the beam arm 2 to move on the sky rail 1, the position sensing probe 2-1 obtains a displacement signal according to the uniformly distributed position sensing patches 1-1, and the displacement signal activates the double-head spindle motor 2-3 to start working.
The double-end spindle motor 2-3 drives a motor spindle 3-7 to drive a variable-pitch screw rod 3-6 to relatively rotate along a two-section screw rod nut 2-2. The two ends of the brake shoe 3-4 are tightened towards the middle under the action of the variable-pitch screw rod 3-6, so that the brake shoe 3-4 is circumferentially wrapped on the brake disc 3-3, the brake wheel 3-1 is braked and prevented from swinging, and the effect of eliminating swinging is achieved through the limiting effect of the head rail 1 on the brake wheel 3-1. Meanwhile, when the brake shoe 3-4 is tightened, the brake rod is driven to be in contact with the brake disc 3-3, and therefore double braking of the brake wheel 3-1 is achieved.
After the swing stops, the position sensing probe 2-1 detects that no relative displacement exists, a displacement signal disappears, the double-end spindle motor 2-3 stops working, the two ends of the brake shoe 3-4 and the brake rod return to the original position (also called as the initial position) under the action of the return spring 3-5, and at the moment, the pitch of the two ends of the variable-pitch lead screw 3-6 is smaller, so that the effect of self-locking the brake shoe 3-4 can be achieved, and the brake disc 3-3 is prevented from being rubbed under the condition that the stacker moves or vibrates.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic anti-swing device for stacker which characterized in that, automatic anti-swing device includes: crossbeam arm (2), be located the position sensor at crossbeam arm (2) top and be located the pendulum device (3) that ends of crossbeam arm (2) bottom, pendulum device (3) are stopped and are included: two brake wheels (3-1) and a braking device, the braking device comprising: the double-head spindle motor comprises a circulating ball type screw nut (2-2), a double-head spindle motor (2-3), universal joints (2-4), a variable-pitch screw rod (3-6), brake shoes (3-4) and a reset device, wherein the variable-pitch screw rod (3-6) is in threaded connection with the circulating ball type screw nut (2-2), the brake shoes (3-4) are arranged around the bottom side of a brake wheel (3-1), two ends of the brake shoes (3-4) are in threaded connection with two ends of the variable-pitch screw rod (3-6), the reset device is fixed between the circulating ball type screw nut (2-2) and two ends of the brake shoes (3-4), two ends of the double-head spindle motor (2-3) are respectively connected with the variable-pitch screw rod (3-6) through the universal joints (2-4), and a protrusion part at the bottom of the outer side of the brake shoes (3-4) is welded with a two-section type screw nut (2-5), the outer side end of the two-section type lead screw nut (2-5) is correspondingly provided with a small-pitch lead screw (3-6-2), the inner side end of the two-section type lead screw nut (2-5) is correspondingly provided with a large-pitch lead screw (3-6-1), the helical angle of the large-pitch lead screw (3-6-1) is larger than the self-locking angle, and the helical angle of the small-pitch lead screw (3-6-2) is smaller than the self-locking angle.
2. The automatic anti-rocking device for stacker according to claim 1, wherein the length of the large pitch thread in the two-stage lead screw nut (2-5) is greater than the clearance between the large pitch thread and the inner end of the two-stage lead screw nut (2-5), the clearance between the large pitch thread and the inner end of the two-stage lead screw nut (2-5) is greater than the length of the small pitch thread, and the length of the small pitch thread is greater than the gap between the large pitch thread and the small pitch thread.
3. The automatic anti-sway device for a stacker crane of claim 1 or 2, wherein the position sensor is a velocity sensor, an acceleration sensor or an electromagnetic induction sensor.
4. The automatic anti-sway device for a stacker according to claim 3, characterized in that the brake shoe (3-4) has a brake bar at its end, one end of the brake bar extends to the inside of the brake shoe (3-4), and the middle part of the brake bar is fixedly connected to the outer end of the reset device.
5. The automatic anti-swing device for stacker according to claim 4, wherein the bottom side of the brake wheel (3-1) is provided with wheel grooves along the central symmetrical position.
6. A stacker, comprising: the automatic anti-swing device for a stacker, the head rail (1) and the stacker body according to any one of claims 1 to 5, wherein the cross beam arm (2) side of the automatic anti-swing device for a stacker is fixed to the stacker body, and the head rail (1) is disposed between two brake wheels (3-1) of the automatic anti-swing device for a stacker.
7. The stacker crane according to claim 6, wherein the bottom of the sky rail (1) is provided with a wing plate (1-2), and the edge of the wing plate (1-2) is provided with a plurality of position sensing patches (1-1) at equal intervals.
8. The stacker crane according to claim 7, wherein the position sensor of the automatic anti-swing device for a stacker crane is a position sensing probe (2-1) corresponding to the position of the position sensing patch (1-1).
9. An anti-sway method for a stacker crane according to claim 8, characterized in that the position sensing probe (2-1) obtains a displacement signal according to the displacement of the position sensing patch (1-1), when a relative displacement is detected, the double-head spindle motor (2-3) is activated, the double-head spindle motor (2-3) drives the variable pitch lead screw (3-6) to rotate relative to the recirculating ball lead screw nut (2-2), and both ends of the brake shoe (3-4) are tightened to the middle under the action of the variable pitch lead screw (3-6), so that the brake shoe (3-4) circumferentially wraps the bottom side of the brake wheel (3-1).
10. Anti-sway method according to claim 9, characterized in that when no relative displacement is detected, the double-ended spindle motor (2-3) is de-energized and the reset means reset the brake shoes (3-4).
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| CN113511449B (en) | 2023-03-31 |
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