CN113581723A - Operation system of storage stacking crane - Google Patents

Operation system of storage stacking crane Download PDF

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Publication number
CN113581723A
CN113581723A CN202110939193.7A CN202110939193A CN113581723A CN 113581723 A CN113581723 A CN 113581723A CN 202110939193 A CN202110939193 A CN 202110939193A CN 113581723 A CN113581723 A CN 113581723A
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CN
China
Prior art keywords
crane
coordinate
path
turning point
target
Prior art date
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Pending
Application number
CN202110939193.7A
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Chinese (zh)
Inventor
金庆好
宋照恒
雷金柱
张书霞
于海增
林冰洋
史山
王峰
张广科
聂雨萱
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Nucleon Xinxiang Crane Co Ltd
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Nucleon Xinxiang Crane Co Ltd
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Publication date
Application filed by Nucleon Xinxiang Crane Co Ltd filed Critical Nucleon Xinxiang Crane Co Ltd
Priority to CN202110939193.7A priority Critical patent/CN113581723A/en
Publication of CN113581723A publication Critical patent/CN113581723A/en
Pending legal-status Critical Current

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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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means

Abstract

A storage pile crane operation system plans a crane operation path through an operation module, and utilizes a PLC to control a crane to move along the operation path, so that the automatic operation of the crane is realized, the manual configuration during the operation of the crane is effectively reduced, the smoothness during the operation process of the crane is higher, and the goods handling efficiency of the crane is improved; in addition, the PLC controls the crane to move the goods mechanism, so that the crane can automatically carry goods, manual configuration during storage operation is further reduced, and the labor cost of the storage operation is effectively reduced.

Description

Operation system of storage stacking crane
Technical Field
The invention relates to the technical field of storage stacking cranes, in particular to an operation system of a storage stacking crane.
Background
In a known storage rack arrangement mode of a modern warehouse, a plurality of rows and a plurality of columns are arranged, transverse and vertical passages are arranged between every two adjacent storage racks and between the storage racks and an inner wall of the warehouse, and the warehouse-out position and the warehouse-in position of the warehouse are the same; along with the continuous development of intelligent storage, the requirements on the warehouse-in and warehouse-out efficiency of goods in a warehouse are higher and higher, and the warehouse type stacking crane is used as a hoisting device working under the storage environment, has higher technical requirements on mechanical safety and control accuracy than a general crane, is especially more outstanding in the aspects of motion control accuracy and production efficiency, and is a running mechanism formed by a cart, a trolley and the like as the general crane, but the goods moving mechanism of the stacking crane adopts the combination of a vertical track and a telescopic fork instead of the combination of a steel wire rope and a lifting hook of the general crane; however, the operation of the traditional warehouse type stacking crane and the telescopic action of the fork are still realized by the operation of workers, while the operation of the manually operated crane usually depends on the experience of the workers to determine the operation track of the crane, and in the operation process of the crane, at least one assistant person is needed in the warehouse to assist an operator in completing the transportation of the goods, so that the labor cost of the traditional warehouse type stacking crane is higher, in addition, in the operation process of the fork of the manually operated crane, in order to ensure that the fork reaches the goods, multiple observation and judgment steps are often needed, further the time consumed in the whole transportation process of the goods is longer, and the transportation efficiency is lower;
thus, in view of the foregoing, there is a need in the marketplace for a stocker stacker crane that reduces worker deployment and improves cargo handling efficiency.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses an operation system of a storage and stacking crane.
In order to achieve the purpose, the invention adopts the following technical scheme:
a warehouse stacking crane operation system takes warehouse exit and warehouse entry positions as coordinate origin points, the length direction of a goods shelf is a y axis, the width direction of the goods shelf is an x axis, the height direction of the goods shelf is a z axis to establish a space rectangular coordinate system, wherein the goods positions and the aisles of the goods shelf are provided with coordinate values, and in the space rectangular coordinate system, corresponding space areas are used for representing space coordinate points;
the system comprises a positioning module, an operation module and a PLC;
the positioning module can record the current position coordinate of the crane in real time;
the operation module can receive a cargo warehousing or warehousing instruction and corresponding target coordinates sent by the control room, and then plan the operation path of the crane according to the current position coordinates and the target coordinates of the crane;
the PLC can receive the information sent by the operation path planned by the operation module and the control room, and control the crane operation mechanism and the goods handling mechanism to execute corresponding actions, and because the crane only executes the warehousing and ex-warehousing instructions, the stopping position of the crane only has an x-axis direction passageway close to the origin of coordinates and a y-axis direction passageway between two goods shelves;
the goods handling mechanism comprises a vertical track, a base, a slide rail and a fork rod, wherein the vertical track is formed by two track plates, the track surfaces of the two track plates are arranged oppositely, the head ends of the two track plates are correspondingly connected with a trolley in the crane running mechanism, and the base capable of moving up and down is correspondingly arranged between the two track plates; the top face of base is equipped with two and can removes to the base tip simultaneously, and stretches out the slide rail outside the vertical track to and can judge the stop gear of slide rail position, it is equipped with a coaxial fork arm to slide respectively in the two slide rails.
Preferably, the top surface of the base is provided with two slots in parallel, two ends of each slot are respectively communicated with two end surfaces of the base correspondingly, the tops of the two slots are provided with slideway structures, and the slideway structures of the two slots are respectively connected with a sliding rail in a corresponding sliding fit manner; two drive mechanisms for driving the sliding movement are arranged in the two slots, and the bottom surfaces of the two slots are respectively provided with a limiting mechanism.
Preferably, the driving mechanism comprises a driving motor and a gear, the driving motor is mounted on the side wall of the slot, the driving end of the driving motor is fixedly provided with the gear, and the bottom surface of the sliding rail is provided with a rack which is correspondingly meshed with the gear.
Preferably, stop gear contains first proximity switch and travel switch, and first proximity switch establishes to two, and two first proximity switches are located the both ends of fluting tank bottom surface respectively, and the slide rail both ends correspond with first proximity switch's response contact and locate to be equipped with an response piece respectively, are equipped with a travel switch between two first proximity switches and the fluting port that corresponds respectively, and travel switch's mechanical contact can correspond with the response piece and contradict.
Preferably, the top surface of the slide rail is provided with a slide groove, notches at two ends of the slide groove are respectively and correspondingly communicated with two end surfaces of the slide rail, a fork rod is correspondingly and slidably connected in the slide groove, and two ends of the slide groove are respectively provided with a positioner; the top surfaces of the two fork rods correspondingly protrude out of the sliding groove, the tops of the two fork rods are correspondingly connected through a plurality of connecting rods, and positioning holes are formed in the bottom surfaces of the connecting rods at the two ends of the fork rods; the top face of base is equipped with the recess, and the recess corresponds parallelly with the fork arm, is equipped with the walking piece that can remove in the recess, and the top of walking piece is equipped with can correspond the complex telescopic link with the locating hole.
Preferably, the top surface of the fork rod is provided with a supporting plate.
Preferably, both ends of the supporting plate are provided with flanges which are bent upwards.
Preferably, the locator comprises a magnetic suction base and a second proximity switch.
Preferably, when the crane is located in an x-axis direction aisle close to the origin of coordinates, the method for planning the crane operation path by the walking module comprises the following steps:
a. setting a horizontal connecting line between a current coordinate area of the crane and a y-axis direction passageway adjacent to a target coordinate as a first-stage path, and setting the other end point of the first-stage path as a first turning point, wherein the x coordinate value of the first turning point is positioned in an interval formed by the current x coordinate value and a target x coordinate value of the crane;
b. setting a coordinate area in the passageway in the y-axis direction where the first turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a second turning point, and setting a connecting line of the first turning point and the second turning point as a second-stage path;
c. correspondingly connecting the first-stage path with the second-stage path to obtain a running path of the crane;
secondly, when the crane is positioned at a y-axis direction passageway between two goods shelves, the method for planning the running path of the crane by the walking module comprises the following steps:
a. setting a vertical connecting line between a current coordinate area of the crane and a first X-axis direction passageway in a target coordinate direction as a first-stage path, and setting the other end point of the first path as a first turning point; when the first-stage path is correspondingly overlapped with a y-axis direction aisle adjacent to a target coordinate, and the current y-axis coordinate value of the crane and the y-axis coordinate value of the target coordinate are located in the same shelf interval, deleting the original first-stage path, setting a coordinate area, which is in the aisle of the crane in the y-axis direction and is the same as the y-axis coordinate value of the target coordinate, as an operation end point, and setting a connecting line between the current coordinate area of the crane and the operation end point as the operation path of the crane;
b. setting a horizontal connecting line between the first turning point and a y-axis direction passageway adjacent to the target coordinate as a second-stage path, and setting the other end point of the second-stage path as a second turning point, wherein the y-axis coordinate value of the second turning point is positioned between the current y-axis coordinate value and the target y-axis coordinate value of the crane;
c. setting a coordinate area in the y-axis direction passageway where the second turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a third turning point, and setting a connecting line of the second turning point and the third turning point as a third-stage path;
d. and correspondingly connecting the first stage path, the second stage path and the third stage path to form the running path of the crane.
Preferably, the crane cargo carrying mechanism comprises the following operating steps:
a. firstly, controlling the base to move along a vertical track, so that the z-axis coordinate value of the base is the same as the z-axis coordinate value of the target cargo space;
b. then the fork rod is controlled to extend out towards the direction of the target goods space;
c. when the fork rod extends to the proper position, the slide rail is controlled to extend towards the target goods position, so that the fork rod is positioned below the goods;
d. the base rises along the vertical track until the fork rod lifts the goods;
e. and the sliding rail and the fork rod are sequentially retracted, and the base is controlled to return to the initial position.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the operation system of the storage stacking crane, the operation path of the crane is planned through the operation module, and the crane is controlled to move along the operation path by utilizing the PLC, so that the automatic operation of the crane is realized, the manual configuration during the operation of the crane is effectively reduced, the smoothness during the operation process of the crane is higher, and the goods handling efficiency of the crane is improved; in addition, the PLC controls the crane to move the goods mechanism, so that the crane can automatically carry goods, manual configuration during storage operation is further reduced, and the labor cost of the storage operation is effectively reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is an enlarged view of the portion A in FIG. 1;
FIG. 3 is a schematic structural view of a limiting mechanism;
FIG. 4 is a schematic illustration of a coordinate system and a first run path planning scenario within a warehouse;
FIG. 5 is a schematic illustration of a coordinate system within a warehouse and a second type of travel path planning scenario;
fig. 6 is a schematic diagram of an in-warehouse coordinate system and a third scenario of a path plan.
In the figure: 1. a shelf; 2. an operating mechanism; 3. a goods carrying mechanism; 301. a vertical track; 302. a base; 3021. grooving; 3022. an induction block; 3023. a groove; 303. a slide rail; 3031. a sliding groove; 304. a limiting mechanism; 3041. a first proximity switch; 3042. a travel switch; 305. a fork lever; 306. a drive mechanism; 3061. a gear; 3062. a rack; 307. a positioner; 308. a connecting rod; 309. a walking block; 310. a telescopic rod; 311. supporting the supporting plate; 312. and (7) blocking edges.
Detailed Description
In the following description, the technical solutions of the present invention will be described with reference to the drawings of the embodiments of the present invention, and it should be understood that, if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "left", "right", etc., it is only corresponding to the drawings of the present invention, and for convenience of describing the present invention, it is not necessary to indicate or imply that the indicated devices or elements have a specific orientation:
the operation system of the warehouse stacking crane described in conjunction with the attached figures 1-6 is characterized in that a space rectangular coordinate system is established by taking warehouse exit and warehouse entry positions as origin of coordinates, the length direction of a goods shelf 1 as a y-axis, the width direction of the goods shelf 1 as an x-axis and the height direction of the goods shelf 1 as a z-axis, wherein the goods position and the passageway of the goods shelf 1 are provided with coordinate values; as shown in fig. 4-5, in the rectangular spatial coordinate system, the spatial coordinate points are represented by corresponding spatial regions, that is, the space where each cargo space is located is a coordinate point, and the corresponding coordinate point of the aisle is further divided by the cargo space, and the width of the aisle is a coordinate value;
the system comprises a positioning module, an operation module and a PLC;
the positioning module can update the current position coordinate of the crane in real time, namely after the position coordinate of the crane is changed, the positioning module records the new position coordinate and deletes the previous position coordinate, so that the storage burden of the positioning module is reduced, the data calling speed of the operation module and the PLC is higher, and the called data accuracy is high;
the operation module can receive a goods warehousing or ex-warehousing instruction and corresponding target coordinates sent by the control room, and plan the operation path of the crane according to the current position coordinates and the target coordinates of the crane, wherein the control room is a place for managing warehouse goods and has the functions of observing the operation condition of the stacking crane in the warehouse, recording goods warehousing positions, scheduling goods and the like; when goods are warehoused, the goods are at the warehousing and ex-warehouse positions, namely the origin of coordinates, the operation module plans an action path between the current crane position and the target goods firstly, if the crane is positioned at the warehousing and ex-warehouse positions, the planning is not needed, and then plans an action path between the warehousing and ex-warehouse positions and the target goods positions; when goods are delivered from the warehouse, the operation module plans an action path between the crane and the target goods, and then plans an action path between the current crane position and the warehouse-in and warehouse-out position;
the PLC can receive the running path planned by the running module and information sent by the control room and control the crane running mechanism 2 and the goods handling mechanism 3 to execute corresponding actions; firstly, executing a running path planned by a running module, and controlling the motions of a cart and a trolley in the crane running mechanism 2 by the PLC according to the corresponding route so as to realize that the crane runs according to the running path; after the crane runs to a target position, the PLC controls the goods moving mechanism 3 to load and unload goods according to a goods warehousing-in or warehousing-out command;
the goods carrying mechanism 3 comprises a vertical track 301, a base 302, a sliding rail 303 and a fork rod 305, wherein the vertical track 301 is composed of two track plates, the track surfaces of the two track plates are oppositely arranged, namely two surfaces of the vertical track 301 are opening surfaces, the two opening surfaces correspondingly face the direction of an x axis, the head ends of the two track plates are correspondingly connected with a trolley in the crane running mechanism 2, so that the trolley can drive the vertical track 301 to move together, the base 302 capable of moving up and down is correspondingly arranged between the two track plates, the base 302 is used for bearing goods and bearing and installing the sliding rail 303, the goods can be driven to move up and down together through the lifting action of the base 302, and the z-axis coordinate value of the goods is adjusted; the top surface of the base 302 is provided with two sliding rails 303 which can move towards the end of the base 302 at the same time and extend out of the vertical rail 301, and the sliding rails 303 provide a certain supporting force for the fork rod 305 on one hand and also allow the fork rod 305 to extend to a farther position on the other hand; the top surface of the base 302 is also provided with a limiting mechanism 304 capable of judging the position of the slide rail 303, when one end of the slide rail 303 slides out of the base 302 for a certain length, the limiting mechanism 304 can judge that the slide rail 303 should not extend any more at the moment, and then a command signal is sent to the PLC to enable the PLC to stop the action of the slide rail 303; a coaxial fork rod 305 is respectively arranged in the two slide rails 303 in a sliding manner, the slide rails 303 and the fork rod 305 jointly form a fork structure of the crane cargo handling mechanism 3, the fork structure is used for forking cargos, and the operation of loading the cargos onto the crane or placing the cargos on a cargo position is realized through the simultaneous extending and retracting actions of the slide rails 303 and the fork rod 305;
in addition, the fork structure has the two-way flexible function, can stretch out from the arbitrary open face of vertical track 301 promptly, make the fork structure can place the goods on goods shelves 1 of passageway both sides, perhaps fork the goods on the goods shelves 1 of passageway both sides, need not rotate carrying goods mechanism 3, perhaps let carry goods mechanism 3 and must be located the specific side of goods shelves 1 and just can work, the flexibility when this stacker crane carries the goods has effectively been improved, and carry goods efficiency, made things convenient for the loading and unloading operation of this stacker crane to the goods.
According to the requirement, two open slots 3021 are arranged in parallel on the top surface of the base 302, two ends of the open slot 3021 are respectively and correspondingly communicated with two end surfaces of the base 302, the sliding rail 303 can slide out of the open surfaces of the base 302 and the vertical rail 301 through the open slot 3021, the top portions of the two open slots 3021 are respectively provided with a slide way structure, and the slide way structures of the two open slots 3021 are respectively and correspondingly and slidably connected with the sliding rail 303, wherein the slide way structure is that a slide way is arranged on the top portions of two slot walls of the open slot 3021, at this time, the slot wall portion above the slide way is a protrusion, the bottom portion of the sliding rail 303 is provided with a slide way matched with the protrusion of the open slot 3021, and a part of the bottom portion of the sliding rail 303 is also provided with a protrusion, the protrusion of the sliding rail 303 is matched with the slide way on the open slot 3021, and the slide way of the sliding rail 303 is matched with the protrusion of the open slot 3021, so that the slide way structures of the sliding rail 303 and the open slot 3021 are correspondingly matched and slidably connected, therefore, the connection stability between the sliding rail 303 and the base 302 is high, and even if a part of the sliding rail 303 slides out of the base 302 and goods are forked on the fork rod 305, the connection stability between the sliding rail 303 and the base 302 can still be ensured through the support of the protruding part; the top surface of the slide rail 303 protrudes out of the slot 3021, and the top surface of the slide rail 303 is larger than the top notch surface of the slot 3021, that is, the slide rail 303 covers the protruding part of the slot 3021, thereby further improving the connection stability between the rail and the base 302; a driving mechanism 306 for driving the sliding movement is arranged in the two slots 3021, the driving mechanism 306 is controlled by a PLC, and a limiting mechanism 304 is respectively arranged on the bottom surface of each of the two slots 3021.
In addition, the driving mechanism 306 comprises a driving motor and a gear 3061, the driving motor is controlled by a PLC, the driving motor is installed on the side wall of the slot 3021, the driving end of the driving motor is fixedly provided with the gear 3061, the bottom surface of the sliding rail 303 is provided with a rack 3062 which is correspondingly engaged with the gear 3061, and the transmission structure of the gear 3061 and the rack 3062 can ensure that the moving process of the sliding rail 303 is kept at a constant speed and the moving process of the sliding rail 303 is kept stable.
As required, the limiting mechanism 304 includes two first proximity switches 3041 and two travel switches 3042, the two first proximity switches 3041 are respectively located at two ends of the bottom surface of the slot 3021, and a sensing block 3022 is respectively disposed at the two ends of the slide rail 303 and corresponding to the sensing contact point of the first proximity switch 3041, when the slide rail 303 is located at the initial position in the slot 3021 of the base 302, the two sensing blocks 3022 on the slide rail 303 are respectively sensed by the corresponding first proximity switches 3041, that is, the signals output to the PLC by the two first proximity switches 3041 are both "1", at this time, the slide rail 303 is in a completely retracted state, and when the slide rail 303 extends out of the base 302, there are two states of the slide rail 303 extending out and the slide rail 303 extending out, wherein the two sensing blocks 3022 on the slide rail 303 are not sensed by the first proximity switches 3041, at this time, the signals output to the PLC by the two first proximity switches 3041 are both "0", when the slide rail 303 is extended to the position, one sensing block 3022 on the slide rail 303 is not sensed by the first proximity switch 3041, the other sensing block 3022 on the slide rail 303 is sensed by the first proximity switch 3041, and at this time, one of the two first proximity switches 3041 outputs a signal to the PLC as "0" and the other outputs a signal to the PLC as "1", so that the PLC determines the state of the slide rail 303 at this time according to the signals output to the PLC by the two first proximity switches 3041, respectively; when the sliding rail 303 is in a completely retracted state, the PLC sends a starting signal to the driving motor to enable the sliding rail 303 to extend outwards, when the sliding rail 303 is in an extending state, the PLC controls the driving motor to be kept in a starting state, and when the sliding rail 303 is in an extending in-place state, the PLC stops the driving motor immediately, so that the sliding rail 303 stops extending;
a travel switch 3042 is respectively arranged between the two first proximity switches 3041 and the corresponding ports of the slot 3021, a mechanical contact of the travel switch 3042 can be abutted against the sensing block 3022, but the mechanical contact cannot be abutted against the sliding rail 303, when the sliding rail 303 is in the fully retracted state, the mechanical contact of the travel switch 3042 is in the normal state, when the sliding rail 303 enters the extending state from the fully retracted state, the sensing block 3022 located at the extending end of the sliding rail 303 will be abutted against one travel switch 3042 once, when the sliding rail 303 enters the extending state from the extending state, the travel switch 3042 will not be abutted against, when the sliding rail 303 is normally in the extending state, the sliding rail 303 stops moving, the travel switch 3042 will not be abutted against, that is, when the travel switch 3042 is abutted against one time, the PLC determines that the sliding rail 303 is in the normal extending process, but if the travel switch 3042 is abutted against twice, the slide rail 303 is not stopped after being in the extended state, that is, the slide rail 303 has a risk of being separated from the base 302, and at this time, the PLC immediately and forcibly turns off the power supply of the crane, so that the slide rail 303 is forcibly stopped from moving, and the purpose of improving the safety of the cargo loading and unloading process is achieved.
In addition, the top surface of the slide rail 303 is provided with a slide groove 3031, notches at two ends of the slide groove 3031 are respectively and correspondingly communicated with two end surfaces of the slide rail 303, the slide groove 3031 is internally and correspondingly and slidably connected with a fork rod 305, the fork rod 305 is slidably connected with the slide groove 3031 and is also coated by the slide groove 3031, so that the connection strength between the fork rod 305 and the slide rail 303 is ensured, two ends of the slide groove 3031 are respectively provided with a positioner 307, the positioner 307 is controlled by a PLC, and the positioner 307 can fix the position of the fork rod 305 after the fork rod 305 extends in place and can judge whether the fork rod 305 extends or retracts in place;
the top surfaces of the two fork rods 305 correspondingly protrude out of the sliding groove 3031, the tops of the two fork rods 305 are correspondingly connected through a plurality of connecting rods 308, the synchronism of the telescopic process of the two fork rods 305 can be ensured through the plurality of connecting rods 308, and positioning holes are formed in the bottom surfaces of the connecting rods 308 at the two ends of the fork rods 305; the top face of base 302 is equipped with recess 3023, recess 3023 corresponds parallelly with fork arm 305, be equipped with the walking piece 309 that can remove in the recess 3023, the top of walking piece 309 is equipped with can correspond complex telescopic link 310 with the locating hole, through extending telescopic link 310, and the cooperation inserts the back in the locating hole, let walking piece 309 move along recess 3023, can drive fork arm 305 and stretch out base 302, and the fork structure that slide rail 303 and fork arm 305 constitute when needing to stretch out base 302 and vertical track 301, let fork arm 305 stretch out earlier, drive slide rail 303 stretches out again, and the fork structure is when withdrawing, then withdraws slide rail 303 earlier, withdraw fork arm 305 again.
Preferably, the top surface of the fork rod 305 is provided with a supporting plate 311, and the supporting plate 311 can increase the contact area with the cargo, thereby improving the stability when the cargo is forked.
In particular, both ends of the supporting plate 311 are provided with flanges 312 bent upward, and the flanges 312 can effectively prevent the goods from sliding off from both ends of the fork rod 305.
Preferably, the locator 307 comprises a magnetic attraction seat and a second proximity switch, wherein the magnetic attraction seat is used for fixing the position of the fork rod 305, the second proximity switch is used for judging whether the fork rod 305 extends or retracts to the right, and the shaft of the fork rod 305 is also provided with a sensing block used for being sensed by the second proximity switch.
In addition, when the crane is located at an x-axis direction aisle close to the origin of coordinates, the method for planning the crane running path by the walking module comprises the following steps:
a. setting a horizontal connecting line between a current coordinate area of the crane and a y-axis direction passageway adjacent to a target coordinate as a first-stage path, and setting the other end point of the first-stage path as a first turning point, wherein the x coordinate value of the first turning point is positioned in an interval formed by the current x coordinate value and a target x coordinate value of the crane;
b. setting a coordinate area in the passageway in the y-axis direction where the first turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a second turning point, and setting a connecting line of the first turning point and the second turning point as a second-stage path;
c. correspondingly connecting the first-stage path with the second-stage path to obtain a running path of the crane;
secondly, when the crane is positioned at the y-axis direction passageway between the two goods shelves 1, the method for planning the running path of the crane by the walking module comprises the following steps:
a. setting a vertical connecting line between a current coordinate area of the crane and a first X-axis direction passageway in a target coordinate direction as a first-stage path, and setting the other end point of the first path as a first turning point; when the first-stage path is correspondingly overlapped with the y-axis direction passage adjacent to the target coordinate and the current y-axis coordinate value of the crane and the y-axis coordinate value of the target coordinate are positioned in the same shelf 1 interval, deleting the original first-stage path, setting a coordinate area, which is in the y-axis direction passage where the crane is positioned and is the same as the y-axis coordinate value of the target coordinate, as an operation end point, and setting a connecting line between the current coordinate area of the crane and the operation end point as the operation path of the crane at the moment;
b. setting a horizontal connecting line between the first turning point and a y-axis direction passageway adjacent to the target coordinate as a second-stage path, and setting the other end point of the second-stage path as a second turning point, wherein the y-axis coordinate value of the second turning point is positioned between the current y-axis coordinate value and the target y-axis coordinate value of the crane;
c. setting a coordinate area in the y-axis direction passageway where the second turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a third turning point, and setting a connecting line of the second turning point and the third turning point as a third-stage path;
d. correspondingly connecting the first stage path, the second stage path and the third stage path to form a running path of the crane;
with reference to fig. 4, a specific embodiment of the traveling module planning the crane travel path when the crane is located at the x-axis direction aisle close to the coordinate origin is shown: assuming that the control room sends a warehousing instruction, the target coordinates of the goods are (5, 4, 3), and the current coordinate area of the crane is (0, 1, 0); firstly, setting a horizontal connecting line between a current coordinate area (0, 1, 0) of the crane and a y-axis direction passageway (namely, a passageway with an x coordinate value of 4 or 6) adjacent to a target coordinate as a first-stage path, and setting the other end point of the first-stage path as a first turning point, wherein the first turning point is (4, 1, 0) or (6, 1, 0), but because the x coordinate value of the point (6, 1, 0) exceeds an interval formed by the current x coordinate value "0" and a target x coordinate value "4" of the crane, (6, 1, 0) is omitted, so that the coordinate of the first turning point is (4, 1, 0); then, in a y-axis direction passageway where the first turning point (4, 1, 0) is located, a coordinate area which is the same as a y-axis coordinate value of the target coordinate is set as a second turning point (4, 4, 0), and a connecting line of the first turning point and the second turning point is set as a second-stage path; finally, the first-stage path and the second-stage path are correspondingly connected to form a running path for the delivery of the crane;
with reference to fig. 5, a specific embodiment of the traveling module planning the traveling path of the crane when the crane is located in the y-axis aisle between two shelves is shown: assuming that the control room sends out a warehouse-out command and the target coordinate of the goods is (-3, 6, 2), and the current coordinate of the crane is (4, 4, 0); firstly, setting a vertical connecting line between a current coordinate area (4, 4, 0) of the crane and a first X-axis direction passageway (namely, a passageway with a y coordinate value of 5) in a target coordinate direction as a first-stage path, setting the other end point of the first path as a first turning point, wherein the first turning point is (4, 5, 0), the first-stage path and the y-axis direction passageway adjacent to the target coordinate are not overlapped, and in addition, the current y-axis coordinate value of the crane and the y-axis coordinate value of the target coordinate are not positioned in the same shelf interval; therefore, the first turning point (4, 5, 0), the horizontal connecting line between the y-axis direction aisles adjacent to the destination coordinate (i.e. the aisle with the x coordinate value of-2 or-4) is set as the second stage path, and the other end point of the second stage path is set as the second turning point, wherein the second turning point is (-2, 5, 0) and (-4, 5, 0), but since the x coordinate value of the point (-4, 5, 0) exceeds the interval formed by the current x coordinate value "4" and the target x coordinate value "-3", the (4, 5, 0) is rounded off, so that the coordinate of the second turning point is (-2, 5, 0); setting a coordinate area in the y-axis direction passageway where the second turning point (-2, 5, 0) is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a third turning point (-2, 6, 0), setting a connecting line of the second turning point and the third turning point as a third-stage path, and finally correspondingly connecting the first-stage path, the second-stage path and the third-stage path to obtain an operation path of the crane;
with reference to fig. 6, another embodiment of the traveling module planning the traveling path of the crane when the crane is located in the y-axis aisle between two shelves is shown: assuming that the control room sends out a warehouse-out command and the destination coordinate of the goods is (5, 3, 1), and the coordinate of the crane currently located at the moment is (4, 4, 0): firstly, a vertical connecting line between a current coordinate area (4, 4, 0) of the crane and a first X-axis direction passageway (i.e. a passageway with a y coordinate value of 1) in the target coordinate direction is set as a first-stage path, the other end point of the first path is set as a first turning point, wherein the first turning point is (5, 1, 0), but the first stage path is coincident with the y-axis direction passage adjacent to the destination coordinate, in addition, the current y-axis coordinate value of the crane and the y-axis coordinate value of the destination coordinate are also positioned in the same shelf section, therefore, the original first-stage path is deleted, the coordinate area (4, 3, 0) in the passageway of the crane in the y-axis direction, which is the same as the y-axis coordinate value of the target coordinate, is set as the operation end point, and setting a connecting line of the current coordinate area (4, 4, 0) of the crane and the operation terminal (4, 3, 0) as a crane operation path.
According to the requirement, after the PLC controls the crane to run to the corresponding target coordinate position according to the running path planned by the running module, the PLC controls the goods carrying mechanism 3 of the crane to execute corresponding actions, and the action steps of the goods carrying mechanism 3 of the crane are as follows:
a. because the initial position of the base 302 is located at the lowest end of the vertical track 301, the base 302 is controlled to move along the vertical track 301, so that the z-axis coordinate value of the base 302 is the same as the z-axis coordinate value of the target cargo space, that is, the base 302 is as high as the cargo;
b. the fork rod 305 is then controlled to extend towards the target cargo space;
c. when the fork rod 305 extends to the proper position, the slide rail 303 is controlled to extend towards the target cargo space, so that the fork rod 305 is positioned below the cargo;
d. the base 302 is raised along the vertical rail 301 until the fork 305 lifts the cargo;
e. the slide rails 303 and the fork 305 are retracted in turn, and the base 302 is controlled to return to the initial position.
The invention is not described in detail in the prior art, and it is apparent to a person skilled in the art that the invention is not limited to details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Claims (9)

1. The utility model provides a storage pile buttress hoist operating system which characterized by: taking warehouse-in and warehouse-out positions as coordinate origin points, the length direction of the goods shelf (1) as a y axis, the width direction of the goods shelf (1) as an x axis, and the height direction of the goods shelf (1) as a z axis to establish a space rectangular coordinate system, wherein the goods positions and the aisles of the goods shelf (1) are provided with coordinate values, and in the space rectangular coordinate system, corresponding space areas are used for representing space coordinate points;
the system comprises a positioning module, an operation module and a PLC;
the positioning module can record the current position coordinate of the crane in real time;
the operation module can receive a cargo warehousing or warehousing instruction and corresponding target coordinates sent by the control room, and then plan the operation path of the crane according to the current position coordinates and the target coordinates of the crane;
and when the crane is positioned at the X-axis direction passageway close to the origin of coordinates, the method for planning the running path of the crane by the walking module comprises the following steps:
a. setting a horizontal connecting line between a current coordinate area of the crane and a y-axis direction passageway adjacent to a target coordinate as a first-stage path, and setting the other end point of the first-stage path as a first turning point, wherein the x coordinate value of the first turning point is positioned in an interval formed by the current x coordinate value and a target x coordinate value of the crane;
b. setting a coordinate area in the passageway in the y-axis direction where the first turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a second turning point, and setting a connecting line of the first turning point and the second turning point as a second-stage path;
c. correspondingly connecting the first-stage path with the second-stage path to obtain a running path of the crane;
secondly, when the crane is positioned at a y-axis direction passageway between two goods shelves, the method for planning the running path of the crane by the walking module comprises the following steps:
a. setting a vertical connecting line between a current coordinate area of the crane and a first X-axis direction passageway in a target coordinate direction as a first-stage path, and setting the other end point of the first path as a first turning point; when the first-stage path is correspondingly overlapped with a y-axis direction aisle adjacent to a target coordinate, and the current y-axis coordinate value of the crane and the y-axis coordinate value of the target coordinate are located in the same shelf interval, deleting the original first-stage path, setting a coordinate area, which is in the aisle of the crane in the y-axis direction and is the same as the y-axis coordinate value of the target coordinate, as an operation end point, and setting a connecting line between the current coordinate area of the crane and the operation end point as the operation path of the crane;
b. setting a horizontal connecting line between the first turning point and a y-axis direction passageway adjacent to the target coordinate as a second-stage path, and setting the other end point of the second-stage path as a second turning point, wherein the y-axis coordinate value of the second turning point is positioned between the current y-axis coordinate value and the target y-axis coordinate value of the crane;
c. setting a coordinate area in the y-axis direction passageway where the second turning point is located, wherein the coordinate area is the same as the y-axis coordinate value of the target coordinate, as a third turning point, and setting a connecting line of the second turning point and the third turning point as a third-stage path;
d. correspondingly connecting the first stage path, the second stage path and the third stage path to form a running path of the crane;
the PLC can receive the running path planned by the running module and information sent by the control room and control the crane running mechanism (2) and the goods carrying mechanism (3) to execute corresponding actions;
the goods carrying mechanism (3) comprises a vertical track (301), a base (302), a sliding rail (303) and a fork rod (305), wherein the vertical track (301) is formed by two track plates, the track surfaces of the two track plates are oppositely arranged, the head ends of the two track plates are correspondingly connected with a trolley in the crane operation mechanism (2), and the base (302) capable of moving up and down is correspondingly arranged between the two track plates; the top surface of the base (302) is provided with two sliding rails (303) which can move towards the end part of the base (302) and extend out of the vertical rail (301), and a limiting mechanism (304) which can judge the position of the sliding rails (303), wherein two coaxial fork rods (305) are respectively arranged in the sliding rails (303) in a sliding manner.
2. The warehouse stacker crane operating system of claim 1, wherein: the top surface of the base (302) is provided with two slots (3021) in parallel, two ends of each slot (3021) are respectively communicated with two end surfaces of the base (302) correspondingly, the tops of the two slots (3021) are provided with slide rail structures, and the slide rail structures of the two slots (3021) are respectively connected with a slide rail (303) in a corresponding sliding fit manner; a driving mechanism (306) for driving the sliding movement is arranged in the two open grooves (3021), and a limiting mechanism (304) is respectively arranged on the bottom surfaces of the two open grooves (3021).
3. The warehouse stacker crane operating system of claim 2, wherein: the driving mechanism (306) comprises a driving motor and a gear (3061), the driving motor is installed on the side wall of the groove (3021), the gear (3061) is fixedly arranged at the driving end of the driving motor, and a rack (3062) which is correspondingly meshed with the gear (3061) is arranged on the bottom surface of the sliding rail (303).
4. The warehouse stacker crane operating system of claim 2, wherein: the limiting mechanism (304) comprises two first proximity switches (3041) and two travel switches (3042), the two first proximity switches (3041) are respectively located at two ends of the bottom surface of the slot (3021), an induction block (3022) is respectively arranged at the two ends of the sliding rail (303) corresponding to the induction contacts of the first proximity switches (3041), a travel switch (3042) is respectively arranged between the two first proximity switches (3041) and the corresponding ports of the slot (3021), and the mechanical contacts of the travel switches (3042) can be correspondingly abutted against the induction block (3022).
5. The warehouse stacker crane operating system of claim 1, wherein: the top surface of the sliding rail (303) is provided with a sliding groove (3031), notches at two ends of the sliding groove (3031) are correspondingly communicated with two end surfaces of the sliding rail (303), a fork rod (305) is correspondingly and slidably connected in the sliding groove (3031), and two ends of the sliding groove (3031) are respectively provided with a positioner (307); the top surfaces of the two fork rods (305) correspondingly protrude out of the sliding groove (3031), the tops of the two fork rods (305) are correspondingly connected through a plurality of connecting rods (308), and positioning holes are formed in the bottom surfaces of the connecting rods (308) at the two ends of the fork rods (305); the top surface of base (302) is equipped with recess (3023), and recess (3023) correspond parallelly with fork arm (305), are equipped with walking piece (309) that can remove in recess (3023), and the top of walking piece (309) is equipped with can correspond complex telescopic link (310) with the locating hole.
6. The warehouse stacker crane operating system of claim 5, wherein: the top surface of the fork rod (305) is provided with a supporting plate (311).
7. The warehouse stacker crane operating system of claim 6, wherein: both ends of the supporting plate (311) are provided with flanges (312) which are bent upwards.
8. The warehouse stacker crane operating system of claim 5, wherein: the positioner (307) includes a magnetic suction base and a second proximity switch.
9. The warehouse stacker crane operating system of claim 1, wherein: the action steps of the crane goods carrying mechanism (3) are as follows:
a. firstly, controlling a base (302) to move along a vertical track (301) to enable the z-axis coordinate value of the base (302) to be the same as the z-axis coordinate value of a target cargo space;
b. then the fork rod (305) is controlled to extend towards the direction of the target cargo space;
c. when the fork rod (305) extends to the right position, the slide rail (303) is controlled to extend towards the direction of the target cargo position, so that the fork rod (305) is positioned below the cargo;
d. the base (302) rises along the vertical track (301) until the fork rod (305) lifts the goods;
e. the sliding rail (303) and the fork rod (305) are retracted in sequence, and the base (302) is controlled to return to the initial position.
CN202110939193.7A 2021-08-16 2021-08-16 Operation system of storage stacking crane Pending CN113581723A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Publication number Priority date Publication date Assignee Title
CN105858043A (en) * 2016-05-27 2016-08-17 陕西科技大学 Lifter and shuttle vehicle combined warehousing system dispatch optimizing method
CN106651987A (en) * 2016-10-10 2017-05-10 腾讯科技（深圳）有限公司 Path planning method and device
CN107867523A (en) * 2016-09-28 2018-04-03 辽宁聚龙海目星智能物流科技有限公司 A kind of bilateral reach automates national treasury storehouse mechanism
CN112027636A (en) * 2019-06-03 2020-12-04 顺丰科技有限公司 Linear stroke amplifying mechanism
CN112859852A (en) * 2021-01-08 2021-05-28 华为技术有限公司 Path planning method and device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105858043A (en) * 2016-05-27 2016-08-17 陕西科技大学 Lifter and shuttle vehicle combined warehousing system dispatch optimizing method
CN107867523A (en) * 2016-09-28 2018-04-03 辽宁聚龙海目星智能物流科技有限公司 A kind of bilateral reach automates national treasury storehouse mechanism
CN106651987A (en) * 2016-10-10 2017-05-10 腾讯科技（深圳）有限公司 Path planning method and device
CN112027636A (en) * 2019-06-03 2020-12-04 顺丰科技有限公司 Linear stroke amplifying mechanism
CN112859852A (en) * 2021-01-08 2021-05-28 华为技术有限公司 Path planning method and device

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