CN114572843A - Empty box stacking machine intelligent control system with accurate positioning function - Google Patents

Abstract

The invention discloses an intelligent control system with an accurate positioning function for an empty container stacking machine, which relates to the technical field of container control and is characterized in that: the lifting appliance comprises a lifting appliance of a stacking machine, wherein stand columns are arranged on two sides of the lifting appliance, a first sensor and a second sensor which are used for detecting the levelness of the side surface of a container below the two stand columns are respectively fixed below the two stand columns, a third sensor which is used for detecting the levelness of the front and the back of an upper container and a lower container is arranged below one stand column, a fourth sensor which is used for detecting the height of the lifting appliance from the ground is arranged below the other stand column, the first sensor, the second sensor, the third sensor and the fourth sensor are connected with a five-claw relay through a control unit, the five-claw relay is provided with an input end, a first output end and a second output end, the input end is connected with an unlocking button of an operating handle, and the second output end is connected with an electromagnetic valve control circuit; the invention can assist operators in stacking at accurate positions, improve the efficiency of stacking boxes and reduce the possibility of danger.

Description

Empty box stacking machine intelligent control system with accurate positioning function

Technical Field

The invention relates to the technical field of container control, in particular to an intelligent control system of an empty container stacking machine with an accurate positioning function.

Background

In the case piling operation process of the empty case stacking machine, a driver can only judge whether upper and lower containers are piled up by visual inspection, and the judgment mode is difficult to accurately control the alignment degree, so that the gravity center is unstable, and potential safety hazards exist. Based on the above reasons, hope to have the intelligent control system of an accurate positioning function to assist operating personnel to carry out accurate position and stack, can improve the case efficiency of piling, can avoid dangerous emergence again.

Disclosure of Invention

The invention aims to provide an intelligent control system of an empty box stacking machine with an accurate positioning function, which assists an operator in stacking at an accurate position, improves the box stacking efficiency and reduces the possibility of danger.

In order to achieve the purpose, the invention provides the following technical scheme:

an empty box stacking machine intelligent control system with an accurate positioning function comprises a lifting appliance of a stacking machine, wherein stand columns are arranged on two sides of the lifting appliance, a first sensor and a second sensor for detecting the side surface levelness of a container below are respectively fixed below the two stand columns, the orientation of the first sensor and the orientation of the second sensor are 45 degrees below the horizontal direction, a third sensor for detecting the front and back levelness of the upper container and the lower container is arranged below the stand columns, the orientation of the third sensor is 60 degrees below the horizontal direction, a fourth sensor for detecting the height of the lifting appliance from the ground is arranged below the other stand column, the orientation of the fourth sensor is vertically downward, the first sensor, the second sensor, the third sensor and the fourth sensor are connected with a five-claw relay through a control unit, and the five-claw relay is provided with an input end, a first output end and a second output end, the input end is connected with an unlocking button of an operating handle, the second output end is connected with an electromagnetic valve control circuit, and the electromagnetic valve control circuit is in control connection with the lifting appliance.

By adopting the scheme, the device is provided with a first sensor, a second sensor, a third sensor and a fourth sensor, the device respectively detects the levelness of the side surface of a lower container (the difference between the distances between the first sensor and the side surface of the container and the distances between the second sensor and the side surface of the container are set to be d1, when d1 is greater than a preset value, the first sensor and the second sensor send signals), the levelness of the front and the back of an upper container and a lower container (the difference between the distances between the side surfaces of the upper container and the lower container, which are detected by the third sensor, is set to be d2, when d2 is greater than the preset value, the third sensor sends signals) and the height of a lifting appliance from the ground (the distance between the fourth sensor and the ground is set to be d3, when d3 is greater than the preset value, the fourth sensor sends signals), only when the first sensor, the second sensor and the third sensor send signals, the control unit enables the five-claw relay to switch from supplying power to the first output end to supplying power to the second output end, the second output end can supply power for the control circuit of the electromagnetic valve by operating the unlocking button of the handle and the five-claw relay, so that the container can be put down by the lifting appliance, and under the normal condition, the first output end is closed and electrified, the second output end is disconnected, and the container cannot be put down; the stacking machine can assist operators to stack in accurate positions, improve the stacking efficiency and reduce the possibility of danger.

Preferably, the first sensor, the second sensor and the third sensor are connected in parallel and are connected in series with a fourth sensor, the other end of the fourth sensor is connected in series with a five-claw relay, and the control unit is in signal connection with the five-claw relay.

Preferably, an indicator light for prompting an operator is fixed below the upright post, and the first output end is connected with the indicator light.

Preferably, a normally closed relay is arranged between the unlocking button and the five-claw relay.

Preferably, transparent protective covers are sleeved outside the first sensor, the second sensor, the third sensor and the fourth sensor.

Preferably, the protective cover is provided with a cleaning mechanism corresponding to the orientations of the first sensor, the second sensor, the third sensor and the fourth sensor.

Preferably, clearance mechanism is including locating the electronic slip table of safety cover one side, the sliding part of electronic slip table is equipped with the clearance motor through the mounting bracket, the output shaft of clearance motor has the clearance wheel that has the clearance brush, the clearance brush and the safety cover surface of clearance wheel bottom are inconsistent.

Preferably, a light transmittance sensor facing the protective cover is arranged on the mounting frame.

Preferably, the theoretical top is provided with a long-handle brush, and a brush head of the long-handle brush is in contact with a lens of the transmittance sensor.

Preferably, the lifting appliance comprises lifting chains arranged on two sides of the top, at least one lifting chain is provided with a gravity sensor, the gravity sensor is in signal connection with an oil way electromagnetic valve used for controlling an oil return way of the foot brake pedal, and the gravity sensor is electrically connected with the first output end.

The invention has the following beneficial effects:

the first sensor, the second sensor, the third sensor and the fourth sensor are arranged, the first sensor, the second sensor, the third sensor and the fourth sensor are respectively used for detecting the side surface levelness of a lower container (the difference between the distances between the first sensor and the side surface of the container and the distances between the second sensor and the side surface of the container is set to be d1, when d1 is larger than a preset value, the first sensor and the second sensor send signals), the front and back levelness of an upper container and a lower container (the difference between the distances between the side surfaces of the upper container and the lower container, which is detected by the third sensor, is set to be d2, when d2 is larger than the preset value, the third sensor sends signals) and the height of a lifting appliance from the ground (the distance between the fourth sensor and the ground is set to be d3, when d3 is larger than the preset value, the fourth sensor sends signals), only when the first sensor, the second sensor and the third sensor do not send signals, the control unit enables the five-claw relay to switch from supplying power to the second output end to supply power, the second output end can supply power for the control circuit of the electromagnetic valve by operating the unlocking button of the handle and the five-claw relay, so that the container can be put down by the lifting appliance, and under the normal condition, the first output end is closed and electrified, the second output end is disconnected, and the container cannot be put down; the stacking machine can assist operators to stack at accurate positions, improve the stacking efficiency and reduce the possibility of danger;

secondly, a cleaning mechanism is arranged on a protective cover of the sensor, dust on the protective cover is cleaned, the accuracy of the sensor is guaranteed, a transmittance sensor is arranged to facilitate detection of transmittance of the protective cover, so that the cleaning mechanism is controlled to clean the protective cover in time, a cleaning wheel rotates and drives a long-handle brush to clean a lens of the transmittance sensor, the sensitivity of the transmittance sensor is guaranteed, bidirectional cleaning is achieved, and the reliability of the whole cleaning mechanism is guaranteed;

and thirdly, in order to prevent the situation that the driver is not completely lifted away from the container and backs up and drags the container below to cause the displacement of the container below, a gravity sensor is arranged, so that an oil return circuit of a foot brake pedal is limited, and the movement of the crane is limited.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of the connection of components of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a cleaning mechanism according to an embodiment of the invention.

In the figure: 1. a spreader; 2. a column; 31. a first sensor; 32. a second sensor; 33. a third sensor; 34. a fourth sensor; 4. a control unit; 5. a five-claw relay; 51. a first output terminal; 52. a second output terminal; 53. an input end; 6. an indicator light; 7. a normally closed relay; 8. a protective cover; 91. an electric sliding table; 92. a mounting frame; 93. cleaning the motor; 94. cleaning the wheel; 10. a transmittance sensor; 11. a long-handle brush; 12. lifting chains; 13. a gravity sensor; 14. oil circuit solenoid valve.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

An intelligent control system of an empty box stacking machine with an accurate positioning function is disclosed, as shown in fig. 1-2, the intelligent control system comprises a lifting appliance 1 of the stacking machine, two sides of the lifting appliance 1 are provided with upright posts 2, a first sensor 31 and a second sensor 32 for detecting the side levelness of a lower container are respectively fixed below the two upright posts 2, the orientations of the first sensor 31 and the second sensor 32 are 45 degrees below the horizontal direction, a third sensor 33 for detecting the front and rear levelness of an upper container and a lower container is arranged below one upright post 2, the orientation of the third sensor 33 is 60 degrees below the horizontal direction, a fourth sensor 34 for detecting the height of the lifting appliance 1 from the ground is arranged below the other upright post 2, the orientation of the fourth sensor 34 is vertically downward, the first sensor 31, the second sensor 32, the third sensor 33 and the fourth sensor 34 are connected with a five-claw relay 5 through a control unit 4, and the five-claw relay 5 is provided with an input end 53, The lifting appliance control system comprises a first output end 51 and a second output end 52, wherein the input end 53 is connected with an unlocking button of an operating handle, and the second output end 52 is connected with a solenoid valve control circuit which is connected with a lifting appliance control;

as shown in fig. 1-2, there are provided a first sensor 31, a second sensor 32, a third sensor 33 and a fourth sensor 34, which respectively detect the side levelness of the lower container (the difference between the distances between the first sensor 31, the second sensor 32 and the side of the container is set as d1, when d1 is greater than a predetermined value, the first sensor 31 and the second sensor 32 send signals), the front and rear levelness of the upper and lower containers (the difference between the distances between the sides of the upper and lower containers detected by the third sensor 33 is set as d2, when d2 is greater than a predetermined value, the third sensor 33 sends signals) and the height of the spreader 1 from the ground (the distance between the fourth sensor 34 and the ground is set as d3, and d3 is greater than a predetermined value, the fourth sensor 34 sends signals), only when the first sensor 31, the second sensor 32 and the third sensor 33 do not send signals, but the fourth sensor 34 sends signals, the control unit 4 enables the five-claw relay 5 to be switched from power supply for the first output end 51 to power supply for the second output end 52, and then the second output end 52 can supply power for the control circuit of the electromagnetic valve by operating the unlocking button of the handle and the five-claw relay 5, so that the container can be put down by the lifting appliance 1, and under the normal condition, the first output end 51 is closed and electrified, and the second output end 52 is disconnected, so that the container cannot be put down; the stacking machine can assist operators to stack in accurate positions, improve the stacking efficiency and reduce the possibility of danger.

As shown in fig. 1-2, the first sensor 31, the second sensor 32 and the third sensor 33 are connected in parallel and in series with the fourth sensor 34, the other end of the fourth sensor 34 is connected in series with the five-claw relay 5, and the control unit 4 is in signal connection with the five-claw relay 5, and the specific connection mode is used for realizing the control mode.

As shown in fig. 1-2, an indicator light 6 for prompting an operator is fixed below one upright post 2, a first output end 51 is connected with the indicator light 6 for prompting the operator whether the container reaches a proper position, and when the indicator light 6 is on, the spreader 1 and the container cannot be separated and cannot be unlocked.

As shown in fig. 1-2, the normally closed relay 7 is arranged between the unlocking button and the five-claw relay 5, so that the working states of the first sensor 31, the second sensor 32, the third sensor 33 and the fourth sensor 34 can be cancelled uniformly, and the control is convenient.

As shown in fig. 1 and 3, the transparent protective covers 8 are respectively sleeved outside the first sensor 31, the second sensor 32, the third sensor 33 and the fourth sensor 34, so that the influence of external dust on the sensors is reduced, and a certain protective effect is provided.

As shown in fig. 1 and 3, the protective cover 8 is provided with a cleaning mechanism corresponding to the orientations of the first sensor 31, the second sensor 32, the third sensor 33 and the fourth sensor 34, the cleaning mechanism is provided for the protective cover 8 of the sensors, dust on the protective cover 8 is cleaned, and accuracy of the sensors is guaranteed.

As shown in fig. 1 and 3, the cleaning mechanism includes an electric sliding table 91 disposed on one side of the protective cover 8, a cleaning motor 93 is disposed on a sliding portion of the electric sliding table 91 through a mounting bracket 92, an output shaft of the cleaning motor 93 is connected with a cleaning wheel 94 with a cleaning brush, and the cleaning brush at the bottom of the cleaning wheel 94 is in contact with the outer surface of the protective cover 8; the electric sliding table 91 drives the mounting frame 92 to move, so as to drive the cleaning wheel 94 to wipe the protection cover 8.

As shown in fig. 1 and 3, the mounting frame 92 is provided with a transmittance sensor 10 facing the protection cover 8, and the transmittance sensor 10 is arranged to detect the transmittance of the protection cover 8 conveniently, so as to control the cleaning mechanism to clean the protection cover 8 in time.

As shown in fig. 1 and 3, please refer to the theory that the top is provided with the long-handle brush 11, the brush head of the long-handle brush 11 contacts with the lens of the transmittance sensor 10, and the cleaning wheel 94 rotates and drives the long-handle brush 11 to clean the lens of the transmittance sensor 10, so as to ensure the sensitivity of the transmittance sensor 10, realize the bidirectional cleaning and ensure the overall reliability of the cleaning mechanism. The working module and the process are as follows:

first, a first sensor 31 and a second sensor 32 for detecting an angle of 45 degrees downwards with the horizontal direction are respectively fixed below the upright posts 2 at two sides of the hanger 1 of the empty box forklift, and are used for detecting the levelness of the side surface of a container below (the distance d1 between the first sensor 31 and the side surface of the container and the distance d1 between the second sensor 32 and the side surface of the container are respectively set, and the preset value is assumed to be 1 cm).

And secondly, a third sensor 33 for detecting the horizontal downward 60-degree angle detection distance is fixed below the left side upright post 2 of the hanger 1 of the empty box forklift and is used for detecting the front and back levelness of the upper container and the lower container (the detection value of the third sensor 33 is set as d2, and the preset value is set as 2 cm).

And thirdly, a fourth sensor 34 for detecting the vertical downward distance is fixed below the upright post 2 on the right side of the hanger 1 of the empty box forklift and is used for detecting the height of the hanger 1 from the ground (the detection value of the fourth sensor 34 is set as d3, and the preset value is set as 2.3 meters).

Fourthly, an indicator light 6 is fixed under the upright post 2 on the left side of the lifting appliance 1 of the empty box stacking machine, and when the indicator light 6 is on, the operator is prompted to be incapable of unlocking.

And fifthly, the first sensor 31, the second sensor 32 and the third sensor 33 are respectively connected in parallel, connected in series with the fourth sensor 34 and then connected in series with two control ends additionally provided with a five-claw relay 5, the input end 53 of the five-claw relay 5 is connected in series with an operating handle unlocking button, the second output end 52 of the five-claw relay 5 is connected with a solenoid valve unlocking control circuit, and the first output end 51 of the five-claw relay 5 is connected with the indicator lamp 6. Only when the fourth sensor 34 receives a signal, no matter any one of the first sensor 31, the second sensor 32 and the third sensor 33 receives the signal, the control end of the five-claw relay 5 is electrified, the second output end 52 of the five-claw relay 5 is disconnected, the first output end 51 is closed, the indicator light 6 is on, and at this time, the driver cannot unlock by pressing the unlocking button on the operating handle.

And a resetting device, wherein a normally closed relay 7 is additionally arranged between the operating handle unlocking button and a circuit of the five-claw relay 5, and is used for releasing all work of the first sensor 31, the second sensor 32, the third sensor 33 and the fourth sensor 34.

As shown in fig. 1-2, the lifting appliance 1 comprises lifting chains 12 arranged on both sides of the top, at least one lifting chain 12 is provided with a gravity sensor 13, the gravity sensor 13 is in signal connection with an oil path electromagnetic valve 14 for controlling an oil return path of a foot brake pedal, and the gravity sensor 13 is electrically connected with a first output end 51; the weight sensor 13 detects 1/2 × spreader 1 and container (20 ft and 40 ft in size) weight; the rated values are 1/2 sling 1 and container gravity 0.9, when the gravity sensor 13 detects that the value is less than the rated value, the gravity sensor 13 sends a signal, the signal is used for controlling the oil path electromagnetic valve 14 to disconnect the oil return path of the foot brake pedal, and the reverse power output is forbidden to prevent the equipment from reversing; when the value is larger than the rated value, the gravity sensor 13 outputs no signal, and the oil-way electromagnetic valve 14 is restored to the conducting state, so that the foot brake pedal works normally.

The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are within the scope of the present invention.

Claims (10)

1. The utility model provides an empty case fork lift truck intelligence control system who possesses accurate locate function, includes hoist (1) of fork lift truck, hoist (1) both sides are equipped with stand (2), its characterized in that: two stand (2) below is fixed with first sensor (31) and second sensor (32) that are used for detecting below container side flushness respectively, the orientation of first sensor (31) and second sensor (32) is horizontal 45 down, one stand (2) below is equipped with third sensor (33) that are used for detecting the preceding back flushness of upper and lower container, the orientation of third sensor (33) is horizontal 60 down, another stand (2) below is equipped with and is used for detecting hoist (1) fourth sensor (34) apart from ground height, the orientation of fourth sensor (34) is perpendicular downwards, first sensor (31), second sensor (32), third sensor (33) and fourth sensor (34) are connected with five claw relay (5) through control unit (4), five claw relay (5) are equipped with input (53), the lifting appliance control system comprises a first output end (51) and a second output end (52), wherein the input end (53) is connected with an unlocking button of an operating handle, the second output end (52) is connected with an electromagnetic valve control circuit, and the electromagnetic valve control circuit is connected with a lifting appliance.

2. The intelligent control system with the precise positioning function for the empty box forklift according to claim 1, characterized in that: the first sensor (31), the second sensor (32) and the third sensor (33) are connected in parallel and are connected in series with a fourth sensor (34), the other end of the fourth sensor (34) is connected in series with a five-claw relay (5), and the control unit (4) is in signal connection with the five-claw relay (5).

3. The intelligent control system with the precise positioning function for the empty box forklift according to claim 1, characterized in that: one stand (2) below is fixed with pilot lamp (6) that are used for indicateing operating personnel, first output (51) are connected with pilot lamp (6).

4. The intelligent control system with the precise positioning function for the empty box forklift according to claim 1, characterized in that: and a normally closed relay (7) is arranged between the unlocking button and the five-claw relay (5).

5. The intelligent control system with the accurate positioning function for the empty box stacking machine as claimed in claim 1, wherein: first sensor (31), second sensor (32), third sensor (33) and fourth sensor (34) all overlap and be equipped with transparent safety cover (8) outward.

6. The intelligent control system with the precise positioning function for the empty box forklift according to claim 5, wherein the intelligent control system comprises: the protective cover (8) is provided with a cleaning mechanism corresponding to the orientation of the first sensor (31), the second sensor (32), the third sensor (33) and the fourth sensor (34).

7. The intelligent control system with the precise positioning function for the empty box forklift according to claim 6, wherein the intelligent control system comprises: clearance mechanism is including locating electronic slip table (91) of safety cover (8) one side, the sliding part of electronic slip table (91) is equipped with clearance motor (93) through mounting bracket (92), the output shaft of clearance motor (93) has clearance wheel (94) that have the clearance brush, the clearance brush and the surface counterbalance of safety cover (8) of clearance wheel (94) bottom.

8. The intelligent control system with the precise positioning function for the empty box forklift according to claim 7, characterized in that: and a transmittance sensor (10) facing the protective cover (8) is arranged on the mounting frame (92).

9. The intelligent control system with the precise positioning function for the empty box forklift according to claim 8, characterized in that: the top of the theory is provided with a long-handle brush (11), and a brush head of the long-handle brush (11) is in contact with a lens of the transmittance sensor (10).

10. The intelligent control system with the precise positioning function for the empty box forklift according to claim 1, characterized in that: hoist (1) include that the top both sides are equipped with play to rise chain (12), at least one play to rise and be equipped with gravity sensor (13) on chain (12), gravity sensor (13) signal connection has oil circuit solenoid valve (14) that are used for controlling foot brake pedal oil return oil circuit, gravity sensor (13) are connected with first output (51) electricity.

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