CN114229296A - Sensor group system based on Crane operation and Crane trolley - Google Patents
Sensor group system based on Crane operation and Crane trolley Download PDFInfo
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- CN114229296A CN114229296A CN202111367779.7A CN202111367779A CN114229296A CN 114229296 A CN114229296 A CN 114229296A CN 202111367779 A CN202111367779 A CN 202111367779A CN 114229296 A CN114229296 A CN 114229296A
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
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Abstract
The invention provides a sensor group system based on chord operation and a chord trolley, wherein the system comprises: the first photoelectric sensor group is used for detecting whether a product is on the fork plate or not and detecting the position of the product; a second group of photosensors for detecting the presence or absence of an object on the detector plate; a third photosensor group for detecting a state of the chucking assembly; a fourth photoelectric sensor group and a fifth photoelectric sensor group for detecting the position state of the fork arm; a sixth photosensor group and a seventh photosensor group for detecting a position state of the rotary plate; an eighth set of photosensors for detecting whether a product is in the reservoir; a ninth photoelectric sensor group used for carrying out storage location; a tenth photoelectric sensor group for detecting the abnormal condition of the running track of the trolley; an eleventh photoelectric sensor group for detecting the position state of the running shaft; and a twelfth photoelectric sensor group for detecting the position state of the lifting shaft. The auxiliary trolley runs stably and reliably.
Description
Technical Field
The invention relates to the field of storage equipment in the glass panel industry, in particular to a photoelectric sensor group system based on chord operation and a chord trolley.
Background
In the production process of the glass panels, storage is often involved, products need to be transported in a storage system, a crane trolley is generally used for transporting in the existing storage system, and for convenience of automatic production, the crane trolley is generally automatically transported according to a set flow, and the products are placed in storage positions. The set flows are simple, the running conditions cannot be effectively known or judged, the fault downtime in the carrying process is easily caused, and the product damage is also easily caused.
Disclosure of Invention
The invention aims to provide a sensor group system based on the cruise operation and a cruise trolley.
In order to achieve the above object, a first aspect of the present invention provides a Crane-based photosensor group system, including:
the first photoelectric sensor group is arranged on a diagonal line from the center to four corners of the fork plate and used for detecting whether a product and the position of the product exist on the fork plate or not;
the second photoelectric sensor group is arranged on the front and rear eaves of the fork plate and used for detecting whether an object exists on the detection plate;
the third photoelectric sensor group is arranged on the machine frame adjacent to the clamping arm and used for detecting the state of the clamping assembly;
the fourth photoelectric sensor group and the fifth photoelectric sensor group are arranged on the rotating plate and used for detecting the position state of the fork arm;
the sixth photoelectric sensor group and the seventh photoelectric sensor group are arranged on the robot platform, are positioned on two sides of one end of the robot platform (301) connected with the lifting shaft, are adjacent to the rotating plate and are used for detecting the position state of the rotating plate;
the eighth photoelectric sensor group is arranged on the two sides of the robot platform, is positioned on the central line of the rotating plate and is used for detecting whether a product exists in the storage position or not;
the ninth photoelectric sensor group is arranged on the robot platform, is positioned at two sides of one end of the robot platform (301) far away from the lifting shaft and is used for carrying out storage positioning;
the tenth group of photoelectric sensor groups are arranged at the two ends of the vehicle chassis along the walking direction and used for detecting the abnormal condition of the running track of the trolley;
the eleventh photoelectric sensor group is arranged at the bottom of the vehicle chassis and used for detecting the position state of the walking shaft; and
and a twelfth photoelectric sensor group arranged on the lifting shaft and used for detecting the position state of the lifting shaft.
Further, the first photosensor group includes four diffuse reflection sensors; the second photoelectric sensor group comprises at least two opposite photoelectric sensors, and the transmitting end and the receiving end of each opposite photoelectric sensor are respectively arranged on the front eave and the rear eave of the fork plate.
Further, the third photoelectric sensor group comprises four groove plug-in type photoelectric sensors, the four groove plug-in type photoelectric sensors are in a group in pairs and are respectively arranged on the frames adjacent to the two clamping arms, an induction sheet is arranged on each clamping arm, one of the groove plug-in type photoelectric sensors is used for detecting the opening state of the clamping arm, and the other groove plug-in type photoelectric sensor is used for detecting the closing state of the clamping arm.
Further, the fourth photosensor group includes a fork retract state detection photosensor, a fork negative limit detection photosensor, and a fork origin detection photosensor;
the fifth photoelectric sensing group comprises a fork extension state detection photoelectric sensor and a fork positive limit detection photoelectric sensor;
the fourth photoelectric sensor group is arranged at a first position, the fifth photoelectric sensor group is arranged at a second position, a connecting line from the first position to the central point of the rotating plate and a connecting line from the second position to the central point of the rotating plate form an included angle of 90 degrees, and the fourth photoelectric sensor group and the fifth photoelectric sensor group are groove plug-in type photoelectric sensors and share a sensing sheet arranged on a large arm of a fork arm (304).
Further, the sixth photosensor group includes a rotation plate 0 ° detection photosensor, a rotation plate negative limit detection photosensor, and a rotation plate origin detection photosensor;
the seventh photoelectric sensor group comprises a rotating plate 180 DEG detection photoelectric sensor and a rotating plate positive limit detection photoelectric sensor; the sixth photoelectric sensor group is arranged at a third position, the seventh photoelectric sensor group is arranged at a fourth position, and the third position and the fourth position are respectively positioned at two sides of the vehicle body plate; the sixth photoelectric sensor group and the seventh photoelectric sensor group are groove plug-in type photoelectric sensors and share sensing pieces mounted on the top ends of the two sides of the rotating plate (303).
Further, the eighth photosensor group includes two acoustic wave sensors or distance detection sensors; the ninth photosensor group includes two retro-reflective sensors.
Further, the tenth photo-detection sensor group includes two infrared light detection sensors; the eleventh photodetection sensor group comprises three groove plug-in type sensors.
Furthermore, the twelfth photoelectric detection sensor group comprises a positive limit detection sensor arranged at the uppermost end of the lifting shaft (201), an origin detection sensor arranged in the middle of the lifting shaft (201) and a negative limit detection sensor arranged at the lowermost end of the lifting shaft (201).
Further, the photosensor bank system further includes:
a fork arm bumper sensor arranged at the front edge of the fork arm; and
and the trolley running track collision detection sensors are arranged at two ends of the trolley chassis along the walking direction.
The invention provides a cane trolley which comprises the photoelectric sensor group system running based on cane.
Through the technical scheme, the sensing sensor groups are additionally arranged at different positions of the cane trolley, the added sensing sensor groups can acquire the running state of a cane trolley carrying mechanism, the running state of a cane trolley travelling mechanism and the corresponding state of a storage position, all-around information acquisition in the product carrying process can be realized, the stable and reliable running of the cane trolley is assisted by the information, and the downtime frequency and the product damage rate are reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic view of a complete machine of a cane trolley provided by one embodiment of the invention;
FIG. 2 is a schematic top view of a robot mechanism of a cane cart according to one embodiment of the present invention;
FIG. 3 is a schematic top view of a robot platform and rotating plate of a cane cart in accordance with one embodiment of the present invention;
FIG. 4 is a schematic illustration of a rotating plate of a cane cart provided in accordance with one embodiment of the present invention;
FIG. 5 is a schematic view of a travelling axle of a Crane trolley according to an embodiment of the invention.
Description of the reference numerals
1-vehicle chassis, 101-running shaft, 2-supporting frame, 201-lifting shaft, 3-robot mechanism, 301-robot platform, 302-machine chassis, 303-rotating plate, 304-fork arm, 305-clamping mechanism, 306-fork plate, 4-first photoelectric sensor group, 5-second photoelectric sensor group, 6-third photoelectric sensor group, 7-fourth photoelectric sensor group, 8-fifth photoelectric sensor group, 9-sixth photoelectric sensor group, 10-seventh photoelectric sensor group, 11-eighth photoelectric sensor group, 12-ninth photoelectric sensor group, 13-tenth photoelectric sensor group, 14-first schematic photoelectric sensor group, 15-twelfth photoelectric sensor group, 16-trolley running track collision detection sensor, 17-fork arm bumper sensor.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The Crane trolley is a common carrying device in a warehousing system, and the trolley used in the application is shown in figures 1-5 and comprises a trolley chassis 1 used for walking, a supporting frame 2 used for arranging a lifting shaft 201 and a robot mechanism 3 used for executing warehousing carrying actions. The chassis 1 comprises a walking shaft 101, walking wheels and other mechanisms, and the support frame 2 is provided with a lifting shaft 201 and other devices such as lighting and monitoring cameras. robot mechanism 3 includes robot platform 301 with lift shaft 201 fixed connection, installs rotor plate 303 and frame 302 on robot platform 301, installs detection fork arm 304 on rotor plate 303, and fork arm 304 includes the big arm that rotates with rotor plate 303 and rotates the forearm of being connected with the big arm, and the other end and the fork board 306 of forearm are connected, installs the fixture 305 that is used for centre gripping product on the frame 302, and fixture 305 includes the centre gripping arm. In order to control the cane trolley to realize product conveying, a controller is arranged on the cane trolley and controls orderly actions of all mechanisms according to a program, meanwhile, all movement mechanisms of the cane trolley are provided with devices for providing power, such as motors, and in the cane trolley, servo motors are adopted to provide power for all the movement mechanisms.
As shown in fig. 1-5, the present invention provides a Crane-based photosensor group system, comprising:
the first photoelectric sensor group 4 is arranged on the diagonal line from the center to the four corners of the fork board 306 and is used for detecting whether a product is on the fork board 306 and the position of the product, the first photoelectric sensor group 4 comprises four diffuse reflection sensors, the diffuse reflection sensors are used for detecting the distance of 5mm-10mm, and the detection surface faces upwards when the photoelectric sensor group is installed. When light emitted by the diffuse reflection sensor is reflected by the product and then received by the diffuse reflection sensor, an electric signal is generated and transmitted to the controller of the crank, the controller determines that the product is on the fork board 306 according to the received signals of the four diffuse reflection sensors, and the position of the product is not cheap. When the position of the product is deviated, the light emitted by one of the diffuse reflection sensors at the four corners cannot be reflected back by the product, and the electric signal cannot be generated. Based on the absence of the electric signal, the controller can judge that the position of the product deviates, alarm is given to abnormal conditions in time, damage to the product can be avoided, and the deviation condition of the product can be simply determined according to the installation position of the sensor with the signal missing.
It should be noted that the first photo-sensor group 4 is disposed on the diagonal line from the center to the four corners of the fork board 306, and the distance between each sensor and the center of the fork board 306 can be adjusted according to the size of the product.
The photosensor assembly system of the present application further includes: and the second photoelectric sensor group 5 is arranged on the front and rear eaves of the fork board 306 and is used for detecting whether an object exists on the fork board. The second photo-electric sensor group 5 includes at least two opposite-type photo-electric sensors, and an emitting end and a receiving end of each opposite-type photo-electric sensor are respectively disposed on a front eaves and a rear eaves of the fork board 306. In the working process of the second photoelectric sensor group 5, if there is no object on the fork board 306, the optical signal sent by the transmitting end of the correlation photoelectric sensor can be effectively received by the receiving end, and an electrical signal is generated and transmitted to the controller of the bridge, and the controller judges that there is no object on the fork board 306 currently according to the received electrical signal. If an object exists on the fork board 306, the optical signal sent by the transmitting end of the photoelectric sensor is blocked by the object and cannot be effectively received by the receiving end, no electric signal is generated and transmitted to the controller of the cane, and the controller judges that the object exists on the fork board 306 at present according to the fact that the electric signal is not received and gives an alarm. This can avoid the articles left on the fork board 306 from obstructing the product during transportation and damaging the product.
It should be noted that, in the scheme shown in the drawings, the second photosensor group 5 includes only two opposite emission photosensors, in other embodiments, the second photosensor group 5 may further include more than two opposite emission photosensors, and the plurality of opposite emission photosensors may be arranged at a distance of 10-30 cm.
The photosensor assembly system of the present application further includes: and a third photoelectric sensor group 6 arranged on the frame 302 adjacent to the clamping arm and used for detecting the state of the clamping assembly. The third photoelectric sensor group 6 includes four groove plug-in type photoelectric sensors, each of the four groove plug-in type photoelectric sensors is arranged in pairs on the frame 302 adjacent to the two holding arms, a sensing piece is arranged on each holding arm, and one of the four groove plug-in type photoelectric sensors is used for detecting the open state of the holding arm, and the other is used for detecting the close state of the holding arm.
Assuming that a first photoelectric sensor in the third photoelectric sensor group 6 is used for detecting the open state of the clamping arm, a second photoelectric sensor is used for detecting the close state of the clamping arm, and if the clamping arm is open in the working process of the third photoelectric sensor group 6, an induction sheet arranged on the clamping arm is positioned in a groove of the first photoelectric sensor, the first photoelectric sensor cannot generate an electric signal, and the controller judges that the clamping arm is in the open state currently according to the fact that the electric signal is not received, compares the electric signal with a control program, and determines that the state and the action result of the clamping arm are uniform. When the clamping arm is switched to be in a state, the induction sheet moves out of the groove of the first photoelectric sensor and moves into the groove of the second photoelectric sensor, at the moment, the second photoelectric sensor cannot generate an electric signal, the controller judges that the clamping arm is in a closed state currently according to the fact that the electric signal is not received, the electric signal is compared with a control program, and the state and action results of the clamping arm are determined to be uniform. The detection by the third photoelectric sensor group 6 can provide basis for the controller to determine the action change of the clamping arm.
The photosensor assembly system of the present application further includes: a fourth photoelectric sensor group 7 and a fifth photoelectric sensor group 8 which are arranged on the rotating plate 303 and used for detecting the position state of the fork arm 304. The fourth photoelectric sensor group 7 comprises a fork retraction state detection photoelectric sensor, a fork negative limit detection photoelectric sensor and a fork origin detection photoelectric sensor, and the fifth photoelectric sensor group comprises a fork extension state detection photoelectric sensor and a fork positive limit detection photoelectric sensor; the fourth photoelectric sensor group 7 is arranged at a first position, the fifth photoelectric sensor group 8 is arranged at a second position, a connecting line from the first position to the central point of the rotating plate 303 and a connecting line from the second position to the central point of the rotating plate 303 form an included angle of 90 degrees, and the fourth photoelectric sensor group 7 and the fifth photoelectric sensor group 8 are both groove plug-in type photoelectric sensors and share a sensing sheet arranged on the large arm of the fork arm 304.
In this embodiment, when the fork arm 304 is in the retracted state, the fork arm 304 is in the standby position, and when the fork arm 304 is in the extended state, the fork arm 304 is in the working position. In the working process, when the fork arm 304 is in the standby position, at this time, the sensing piece mounted on the large arm of the fork arm 304 is located in the groove of the fourth photoelectric sensor group 7, the fork retraction state detection photoelectric sensor, the fork negative limit detection photoelectric sensor and the fork origin detection photoelectric sensor cannot generate electric signals, and the controller determines that the fork arm 304 is in the retraction state currently according to that the electric signals are not received; when the fork arm 304 starts to work, the sensing piece moves and leaves the groove of the photoelectric sensor set, and finally when the fork arm 304 is completely extended, the sensing piece is located in the groove of the fifth photoelectric sensor set 8, the fork extension state detecting photoelectric sensor and the fork positive limit detecting photoelectric sensor cannot generate an electric signal, and the controller determines that the fork arm 304 is in the extension state currently according to that the electric signal is not received. When the fork arm 304 can not find the origin, the origin can also be found back through the signal change of the detection photoelectric sensor for the fork origin, the safety guarantee and the position accuracy can be realized through the setting of the fourth photoelectric sensor group 7 and the fifth photoelectric sensor group 8, and the original origin can also be found back again through the sensor under the condition of ensuring the subsequent data loss.
The photosensor assembly system of the present application further includes: and a sixth photoelectric sensor group 9 and a seventh photoelectric sensor group 10 which are arranged on the robot platform 301, are positioned at two sides of one end of the robot platform 301 connected with the lifting shaft 201, are adjacent to the rotating plate 303, and are used for detecting the position state of the rotating plate 303. The sixth photoelectric sensor group 9 comprises a rotary plate 3030 degree detection photoelectric sensor, a rotary plate 303 negative limit detection photoelectric sensor and a rotary plate 303 origin detection photoelectric sensor; the seventh photosensor group 10 includes a rotating plate 303180 ° detection photosensor and a rotating plate 303 positive limit detection photosensor; the sixth photoelectric sensor group 9 is arranged at a third position, the seventh photoelectric sensor group 10 is arranged at a fourth position, and the third position and the fourth position are respectively positioned at two sides of a vehicle body plate; the sixth photoelectric sensor group 9 and the seventh photoelectric sensor group 10 are groove plug-in type photoelectric sensors, and share sensing pieces mounted on the top ends of the two sides of the rotating plate 303.
In the above embodiment, with reference to the rotation direction, the fourth position is located in front of the third position and forms an included angle of 90 degrees with the rotation center as a vertex, and the sensing pieces installed on the top ends of the two sides of the rotation plate 303 are defined as a first sensing piece and a second sensing piece, the first sensing piece is located in front, the second sensing piece is located in back, and the included angle of 90 degrees with the rotation center as a vertex. In the working process, when the rotating plate 303 is at the 0 ° position, the first sensing piece is located in the groove of the sixth photoelectric sensor group 9, at this time, the rotating plate 3030 ° detects that the photoelectric sensor, the rotating plate 303 negative limit detection photoelectric sensor and the rotating plate 303 origin detection photoelectric sensor cannot generate electric signals, and the controller determines that the rotating plate 303 is at the 0 ° position currently according to the fact that the electric signals are not received; and the position is also determined as the origin and the negative limit position. When the rotating plate 303 starts to work and rotates 180 °, the second sensing piece is located in the groove of the seventh photo-sensor group 10, the rotating plate 303180 ° detects that the photo-sensor and the positive limit of the rotating plate 303 detect that the photo-sensor cannot generate an electrical signal, and the controller determines that the rotating plate 303 is located at the 180 ° position currently according to the fact that the electrical signal is not received.
The photosensor assembly system of the present application further includes: and the eighth photoelectric sensor group 11 is arranged on two sides of the robot platform 301 and is positioned on the central line of the rotating plate 303 and used for detecting whether a product exists in the storage position. The eighth photosensor group 11 includes two acoustic wave sensors or distance detecting sensors.
In the running process of the crank trolley, storage positions are arranged on two sides of the travelling direction of the trolley. In one embodiment, a distance detection sensor is adopted, in the working process, the sensor sends out an optical signal to the storage position direction, the distance is collected and transmitted to a controller, the controller compares the collected distance value with the preset distance when the storage position is idle, if the collected distance value is smaller than the preset distance when the storage position is idle, a product exists in the storage position, and otherwise, the storage position is idle. The existence of a product in the reservoir is a precondition for the reservoir to execute a load/unload action, and the eighth photoelectric sensor group 11 is one of important safety interlock sensors.
The photosensor assembly system of the present application further includes: and the ninth photoelectric sensor group 12 is arranged on the robot platform 301, is positioned at two sides of one end of the robot platform 301, which is far away from the lifting shaft 201, and is used for carrying out storage positioning. The ninth photosensor group 12 includes two retro-reflective sensors. Supporting, be provided with reflector panel and support in each storage position, the reflector panel can select 6mm, and the size of reflector panel can suitably be enlargied. In the working process, the sensors send optical signals to the bit storage direction, under the condition that the positioning is accurate, the reflector plate can accurately reflect the optical signals, the reflected optical signals are received by the ninth photoelectric sensor group 12, the generated electric signals are transmitted to the controller, the controller judges whether the position is accurate according to whether the electric signals are received, the electric signals are the precondition of fork action, the ninth photoelectric sensor group 12 is one of the important sensors for safety interlocking, and the situation that the fork arm 304 collides with the outer frame of the bit storage during the action process to cause breakdown or product damage can be effectively avoided.
The photosensor assembly system of the present application further includes: and the tenth group of photoelectric sensor groups are arranged at the two ends of the vehicle chassis 1 along the walking direction and used for detecting the abnormal condition of the running track of the trolley. The tenth photo-detection sensor group includes two infrared light detection sensors. In the running process of the trolley, the abnormity that products fall off a track possibly exists, the running of the trolley can be influenced if the products falling off the track cannot be cleaned in time, photoelectric sensors are arranged at two ends of the trolley, when the products falling off or other foreign matters are detected, signals are generated and sent to a controller, the controller gives an alarm, the trolley is controlled to search and run, and the running is stopped after the dangerous distance.
The photosensor assembly system of the present application further includes: and the eleventh photoelectric sensor group is arranged at the bottom of the vehicle chassis 1 and is used for detecting the position state of the travelling shaft. The eleventh photodetection sensor group comprises three groove plug-in type sensors. The eleventh photoelectric sensor group and the sensing strips arranged on the detection track act together, the sensing strips are always positioned in the grooves of the eleventh photoelectric sensor group in the normal running process, the eleventh photoelectric sensor group does not generate signals, and after the eleventh photoelectric sensor group is separated from the track, the eleventh photoelectric sensor group generates signals, and the controller receives the signals to determine the deviation direction of the traveling shaft and give an alarm.
The photosensor assembly system of the present application further includes: and a twelfth photoelectric sensor group 15 provided on the elevating shaft 201 for detecting the position state of the elevating shaft 201. The twelfth photoelectric detection sensor group comprises a positive limit detection sensor arranged at the uppermost end of the lifting shaft 201, an origin detection sensor arranged in the middle of the lifting shaft 201 and a negative limit detection sensor arranged at the lowermost end of the lifting shaft 201. The robot platform 301 is further fixed with a sensing piece. The response piece moves along with robot platform 301's lift, is detected by the photoelectric sensor of different positions, and when robot platform 301 was located the initial point, the response piece inserted in the recess of initial point detection sensor, and initial point detection sensor's the signal of telecommunication that can not produce, and the controller is based on for receiving the signal of telecommunication and judging robot platform 301 and be located former. The operating principle of the positive limit detection sensor and the negative limit detection sensor is similar.
The photosensor assembly system of the present application further includes:
a fork arm bumper sensor 17 arranged at the front edge of the fork arm 304 and used for immediately giving a fault alarm when being impacted; the anti-collision strip belongs to safety protection measures.
And the trolley running track collision detection sensors 16 arranged at the two ends of the vehicle chassis 1 in the walking direction are used for immediately giving a fault alarm when being impacted. When the trolley running track collision detection sensor 16 detects a collision, an alarm is given and the trolley runs down immediately, and the safety interlocking method belongs to one of important safety interlocking sensors.
The running state of the crank trolley carrying mechanism can be collected through the sensor set system, the running state of the crank trolley carrying mechanism can be collected, the corresponding state of the storage position can be collected, all-directional information acquisition in the product carrying process can be realized, the stable and reliable running of the crank trolley is assisted by the information, and the downtime frequency and the product damage rate are reduced.
The invention provides a cane trolley which comprises the photoelectric sensor group system running based on cane.
Those skilled in the art will appreciate that all or part of the functions of the foregoing embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A Crane-based functioning photosensor bank system, comprising:
the first photoelectric sensor group (4) is arranged on a diagonal line from the center to four corners of the fork board (306) and is used for detecting whether a product exists on the fork board (306) or not and detecting the position of the product;
the second photoelectric sensor group (5) is arranged on the front eave and the rear eave of the fork plate (306) and is used for detecting whether an object exists on the fork plate (306);
a third photo-sensor group (6) arranged on the frame (302) adjacent to the clamping arm and used for detecting the state of the clamping assembly;
a fourth photoelectric sensor group (7) and a fifth photoelectric sensor group (8) which are arranged on the rotating plate (303) and used for detecting the position state of the fork arm (304);
the sixth photoelectric sensor group (9) and the seventh photoelectric sensor group (10) are arranged on the robot platform (301), are positioned on two sides of one end of the robot platform (301) connected with the lifting shaft (201), are adjacent to the rotating plate (303), and are used for detecting the position state of the rotating plate (303);
the eighth photoelectric sensor group (11) is arranged on two sides of the robot platform (301), is positioned on the center line of the rotating plate (303) and is used for detecting whether a product exists in the storage position or not;
the ninth photoelectric sensor group (12) is arranged on the robot platform (301), is positioned at two sides of one end of the robot platform (301) far away from the lifting shaft (201), and is used for carrying out storage positioning;
the tenth group of photoelectric sensor groups are arranged at the two ends of the vehicle underframe (1) along the walking direction and used for detecting the abnormal condition of the running track of the trolley;
the eleventh photoelectric sensor group is arranged at the bottom of the vehicle chassis (1) and is used for detecting the position state of the walking shaft; and
and a twelfth photoelectric sensor group (15) which is arranged on the lifting shaft (201) and is used for detecting the position state of the lifting shaft (201).
2. The Crane-based operating photosensor group system of claim 1, wherein the first photosensor group (4) comprises four diffuse reflection sensors;
the second photoelectric sensor group (5) comprises at least two opposite-type photoelectric sensors, and the transmitting end and the receiving end of each opposite-type photoelectric sensor are respectively arranged on the front eave and the rear eave of the fork plate (306).
3. The system of claim 1, wherein the third set of photosensors (6) comprises four groove-in-cell photosensors, and the four groove-in-cell photosensors are grouped in pairs and disposed on the racks (302) adjacent to the two clamp arms, and each clamp arm is provided with a sensor strip, and one of the groove-in-cell photosensors in each group is used for detecting the open state of the clamp arm, and the other is used for detecting the closed state of the clamp arm.
4. The Crane-based running photosensor set system of claim 1, wherein the fourth photosensor set (7) includes a fork retract state detection photosensor, a fork negative limit detection photosensor, and a fork origin detection photosensor;
the fifth photoelectric sensing group comprises a fork extension state detection photoelectric sensor and a fork positive limit detection photoelectric sensor;
the fourth photoelectric sensor group (7) is arranged at a first position, the fifth photoelectric sensor group (8) is arranged at a second position, and a connecting line from the first position to the central point of the rotating plate and a connecting line from the second position to the central point of the rotating plate form an included angle of 90 degrees;
the fourth photoelectric sensor group (7) and the fifth photoelectric sensor group (8) are groove plug-in type photoelectric sensors and share a sensing sheet arranged on the large arm of the fork arm (304).
5. The Crane-based operating photosensor group system of claim 1, wherein the sixth photosensor group (9) comprises a rotating plate (303)0 ° detection photosensor, a rotating plate (303) negative limit detection photosensor, and a rotating plate (303) origin detection photosensor;
the seventh photoelectric sensor group (10) comprises a rotating plate (303)180 DEG detection photoelectric sensor and a rotating plate (303) positive limit detection photoelectric sensor;
the sixth photoelectric sensor group (9) is arranged at a third position, the seventh photoelectric sensor group (10) is arranged at a fourth position, and the third position and the fourth position are respectively positioned at two sides of a vehicle body plate;
the sixth photoelectric sensor group (9) and the seventh photoelectric sensor group (10) are groove plug-in type photoelectric sensors and share sensing pieces mounted on the top ends of the two sides of the rotating plate (303).
6. The Crane-based operating photosensor group system of claim 1, wherein the eighth photosensor group (11) comprises two acoustic wave sensors or distance detecting sensors; the ninth photosensor group (12) includes two retro-reflective sensors.
7. The Crane-based running photosensor group system of claim 1, wherein the tenth photosensor group includes two infrared light detection sensors; the eleventh photodetection sensor group comprises three groove plug-in type sensors.
8. The Crane-based running photosensor group system according to claim 1, wherein the twelfth photodetection sensor group includes a positive limit detecting sensor disposed at the uppermost end of the elevating shaft (201), an origin detecting sensor disposed at the middle portion of the elevating shaft (201), and a negative limit detecting sensor disposed at the lowermost end of the elevating shaft (201).
9. The Crane-based photosensor bank system of claim 1, further comprising:
a fork arm bumper sensor (17) disposed at a front edge of the fork arm (304); and
and the trolley running track collision detection sensors (16) are arranged at the two ends of the trolley chassis (1) along the walking direction.
10. A cane cart comprising the cane-based run photosensor bank system of any one of claims 1-9.
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| CN202111367779.7A CN114229296A (en) | 2021-11-18 | 2021-11-18 | Sensor group system based on Crane operation and Crane trolley |
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| CN202111367779.7A CN114229296A (en) | 2021-11-18 | 2021-11-18 | Sensor group system based on Crane operation and Crane trolley |
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