CN213595796U - Anticollision stacker - Google Patents
Anticollision stacker Download PDFInfo
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- CN213595796U CN213595796U CN202021990244.6U CN202021990244U CN213595796U CN 213595796 U CN213595796 U CN 213595796U CN 202021990244 U CN202021990244 U CN 202021990244U CN 213595796 U CN213595796 U CN 213595796U
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- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 239000000872 buffer Substances 0.000 claims description 7
- 239000000779 smoke Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims 1
- 101100408457 Arabidopsis thaliana PLC9 gene Proteins 0.000 description 20
- 230000003139 buffering effect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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Abstract
The utility model provides a logistics equipment technical field's an anticollision stacker, include: a ground rail; a sky rail; the rail guided vehicle runs on a ground rail; the bottom end of the upright post component is arranged on the rail guided vehicle, and the top end of the upright post component is in rolling connection with the sky rail; the lifting assembly is arranged on the upright post assembly; the telescopic fork is arranged on the lifting assembly; the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork; the overload protector is connected with the driving module; the PLC is connected with the overload protector; the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC; the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC; the plurality of encoders are arranged on the driving module and are connected with the PLC; and the emergency stop switch group is connected with the PLC. The utility model has the advantages that: the safety of the stacker is greatly improved.
Description
Technical Field
The utility model relates to a logistics equipment technical field indicates an anticollision stacker very much.
Background
A stacker, namely a stacking crane, is a special crane which takes a fork or a string rod as a fetching device and grabs, carries and stacks the goods in a warehouse, a workshop and the like or takes and places unit goods from a high-rise goods shelf. The stacker is suitable for conveying heavy workpieces due to high acceleration and moving speed; the guide rail is fixed, so that the walking is stable, and the parking position is accurate; the control system has the advantages of simplicity, good reliability, low cost, convenience for popularization and application and the like, and gradually becomes the most important hoisting and transporting equipment in the stereoscopic warehouse.
The mainstream stacker adopts the fork of MIAS company, and realizes the anti-collision function of the stacker only by a mechanical torsion limiter, and when the fork receives a certain reaction force, the torsion limiter acts to enable the fork to slip and stop advancing. However, there are disadvantages as follows: the tuning precision of the torque limiter is not high, frequent false alarm can occur if the tuning is too sensitive, and the situation that the goods are overturned before the fork stops can occur if the tuning is not sensitive enough.
Therefore, how to provide an anti-collision stacker to realize the safety of lifting the stacker becomes a problem to be solved urgently.
Disclosure of Invention
The to-be-solved technical problem of the utility model lies in providing an anticollision stacker, realizes promoting the security of stacker.
The utility model provides an anticollision stacker, include:
a ground rail;
a sky rail;
the rail guided vehicle runs on the ground rail;
the bottom end of the upright post assembly is arranged on the rail guided vehicle, and the top end of the upright post assembly is in rolling connection with the sky rail;
the lifting assembly is arranged on the upright post assembly;
the telescopic fork is arranged on the lifting assembly;
the power output end of the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork;
the overload protector is connected with the driving module;
the PLC is connected with the overload protector;
the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC;
the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC;
the plurality of encoders are arranged on the driving module and are connected with the PLC;
and the emergency stop switch group is connected with the PLC.
Further, still include:
a trolley line;
and the power supply module is connected with the driving module through the sliding contact line.
Furthermore, the power module adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
Further, still include:
the first wireless communication module is connected with the driving module;
and one end of the second wireless communication module is connected with the first wireless communication module, and the other end of the second wireless communication module is connected with the PLC.
Further, the first wireless communication module and the second wireless communication module are both infrared communication modules.
Further, the pillar assembly includes:
the two upright columns are symmetrically arranged at two ends of the rail guided vehicle;
the cross rod is arranged at the upper ends of the two upright posts;
the rail wheels are arranged on the cross rod and roll on the sky rail.
Further, the driving module includes:
the first motor is used for driving the rail guided vehicle to translate and is connected with the overload protector;
the second motor is used for driving the lifting assembly to lift and is connected with the overload protector;
and the third motor is used for driving the telescopic fork to stretch and is connected with the overload protector.
Further, the scram switch group includes:
the first emergency stop switch is used for emergency stop of the first motor and is connected with the PLC;
the second emergency stop switch is used for emergency stop of the second motor and is connected with the PLC;
and the third emergency stop switch is used for emergency stop of the third motor and is connected with the PLC.
Further, still include:
the smoke alarm is connected with the PLC;
the audible and visual alarm is connected with the PLC;
the velocimeter is arranged on the ground rail and is connected with the PLC;
the photoelectric sensors are arranged on the telescopic goods fork and connected with the PLC;
and the two hydraulic buffers are respectively arranged at two ends of the ground rail.
The utility model has the advantages that:
1. the first laser range finder and the second laser range finder are arranged to measure the distance of the goods in real time, and when the distance reaches a preset threshold value, the PLC immediately stops the operation of the driving module, so that the situation that the goods are turned over is avoided; recording the movement positions of the first motor, the second motor and the third motor by setting the encoder, further calculating the movement speed of each motor, and immediately sending an alarm by the PLC through an audible and visual alarm if the movement speed of each motor is not matched with the movement speed of the goods; through the arrangement of the overload protector, if the current or the torque of the driving module exceeds a preset threshold value, the PLC immediately stops the operation of the driving module, and the safety of the stacker is greatly improved.
2. By arranging the emergency stop switch group, the operation of the anti-collision stacker can be stopped emergently when an accident happens; by arranging the smoke alarm, the fire can be found in time; the speed measuring instrument is arranged to monitor the movement speed of the rail guided vehicle, and emergency braking is carried out on the rail guided vehicle when the speed is still fast when the rail guided vehicle is positioned at the edge of a ground rail; through the hydraulic buffer, when the rail guided vehicle rushes out of the ground rail, effective buffering can be carried out, and the safety of the stacker is further improved.
3. Through set up photoelectric sensor on the flexible fork, realize detecting the virtual reality of goods position, avoid fork again and get the goods under the condition of having had the goods on the flexible fork.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is the utility model discloses a structural schematic diagram of anticollision stacker.
Fig. 2 is a front view of the utility model discloses an anticollision stacker.
Fig. 3 is a side view of the utility model discloses an anticollision stacker.
Fig. 4 is a top view of the utility model discloses an anticollision stacker.
Fig. 5 is a schematic circuit block diagram of the collision avoidance stacker of the present invention.
Description of the labeling:
100-an anti-collision stacker, 1-a velometer, 2-a photoelectric sensor, 3-a rail guided vehicle, 4-a stand column assembly, 5-a lifting assembly, 6-a telescopic fork, 7-a driving module, 8-an overload protector, 9-a PLC, 10-a first laser range finder, 11-a second laser range finder, 12-an encoder, 13-an acousto-optic alarm, 14-an emergency stop switch group, 15-a sliding contact wire, 16-a power supply module, 17-a first wireless communication module, 18-a second wireless communication module, 19-a smoke alarm, 41-a stand column, 42-a cross rod, 43-a rail wheel, 71-a first motor, 72-a second motor, 73-a third motor, 141-a first emergency stop switch, 142-a second scram switch, 143-a third scram switch.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: through setting up first laser range finder 10, second laser range finder 11, overload protection ware 8, encoder 12, torque sensor 13, emergency stop switch group 14 and PLC9, PLC9 can be in real time surveyed the goods, right drive module 7's electric current, functioning speed, moment of torsion carry out real-time supervision, when monitoring there is the dangerous condition, PLC9 is automatic to drive module 7 braking, also can manually pass through emergency stop switch group 14 stops crashproof stacker 100's operation, and then promotes the security of stacker operation.
Referring to fig. 1 to 5, a preferred embodiment of an anti-collision stacker 100 of the present invention includes:
a ground rail (not shown) for running the track guided vehicle 3;
a sky rail (not shown) for improving the stability of the operation of the track guided vehicle 3;
the rail guided vehicle 3 runs on the ground rail and is used for moving cargos;
the bottom end of the upright post component 4 is arranged on the rail guided vehicle 3, and the top end of the upright post component is in rolling connection with the sky rail and is used for providing support for lifting cargoes;
the lifting assembly 5 is arranged on the upright post assembly 4 and used for lifting goods, and the concrete implementation is not limited to any structure, such as lifting through belt transmission;
the telescopic fork 6 is arranged on the lifting component 5 and used for forking cargoes;
the power output end of the driving module 7 is connected with the rail guided vehicle 3, the lifting assembly 5 and the telescopic fork 6 and is used for providing power for the rail guided vehicle 3, the lifting assembly 5 and the telescopic fork 6;
the overload protector 8 is connected with the driving module 7 and is used for carrying out overload protection on the current of the driving module 7;
the PLC9 is connected with the overload protector 8 and is used for controlling the operation of the anti-collision stacker 100;
the first laser range finder 10 is arranged at the top end of the upright post component 4, is vertically downward in direction, is connected with the PLC9, and is used for measuring the distance of goods in real time and avoiding overturning the goods;
the second laser range finder 11 is arranged at the rear end of the telescopic fork 6, is horizontally forward in direction, is connected with the PLC9, and is used for measuring the distance of the goods in real time to avoid overturning the goods;
the encoders 12 are arranged on the driving module 7, connected with the PLC9, and used for recording the movement positions of the first motor 71, the second motor 72 and the third motor 73, and further calculating the movement speed of each motor;
and the emergency stop switch group 14 is connected with the PLC9 and is used for emergency stop of the driving module 7.
Further comprising:
a trolley line 15;
and the power supply module 16 is connected with the driving module 7 through the sliding contact line 15.
The power module 16 adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
Further comprising:
a first wireless communication module 17 connected to the driving module 7;
and a second wireless communication module 18 having one end connected to the first wireless communication module 17 and the other end connected to the PLC 9.
The first wireless communication module 17 and the second wireless communication module 18 are both infrared communication modules.
The pillar assembly 4 includes:
two upright columns 41 symmetrically arranged at two ends of the rail guided vehicle 3;
a cross bar 42 provided at the upper ends of the two columns 41;
and the rail wheels 43 are arranged on the cross rod 42 and roll on the sky rail.
The drive module 7 includes:
a first motor 71 for driving the rail guided vehicle 3 in translation, connected to the overload protection device 8;
a second motor 72 for driving the lifting assembly 5 to ascend and descend is connected with the overload protector 8;
and the third motor 73 is used for driving the telescopic fork 6 to stretch and contract and is connected with the overload protector 8.
The sudden stop switch group 14 includes:
a first emergency stop switch 141 for emergency stop of the first motor 71, connected to the PLC 9;
a second emergency stop switch 142 for emergency stopping the second motor 72, connected to the PLC 9;
a third emergency stop switch 143 for emergency stopping the third motor 73 is connected to the PLC 9.
Further comprising:
the smoke alarm 19 is connected with the PLC9 and is used for detecting smoke;
the audible and visual alarm 13 is connected with the PLC9 and is used for warning workers;
the speed measuring instrument 1 is arranged on the ground rail, is connected with the PLC9 and is used for monitoring the movement speed of the rail guided vehicle 3, and when the rail guided vehicle 3 is positioned at the edge of the ground rail, the speed is still fast, so that the rail guided vehicle can be emergently braked;
the photoelectric sensors 2 are arranged on the telescopic fork 6 and connected with the PLC9 and used for detecting the true and false of the cargo space and avoiding forking the cargo under the condition that the cargo is already on the telescopic fork 6.
Further comprising:
two hydraulic buffers (not shown) are respectively arranged at two ends of the ground rail and are used for providing buffer when the guided vehicle 3 rushes out of the ground rail.
The utility model discloses one of the theory of operation, including following step:
step S1, setting a plurality of operation scenes of the stacker 100 on the PLC9, and respectively setting a torque threshold of the driving module 7 for each operation scene; the operation scene at least comprises getting close goods, getting far goods, putting goods and being still; namely, under each operation scene, torque thresholds corresponding to different loads, actions and pallet fork positions of the first motor 71, the second motor 72 and the third motor 73 are respectively set, and the torque thresholds can be set in a sectional and regional manner according to actual application scenes;
step S2, the PLC9 starts the driving module 7 based on the operation scenes, further links the rail guided vehicle 3 to move on the ground rail, links the lifting of the lifting component 5, and links the stretching of the stretching fork 6, and further forks and operates the goods in each operation scene;
step S3, the PLC9 monitors the current value of the driving module 7 in real time through the overload protector 8, converts the current value into the torque value of the driving module 7, and when the torque value exceeds the torque threshold value in the set operation scene, the PLC9 immediately and automatically stops the operation of the driving module 7. By setting the torque threshold of the driving module 7 in each operation scene and monitoring in real time, and immediately stopping the operation of the driving module 7 when the torque threshold is exceeded, the stacker 100 is controlled finely and precisely, the stacker 100 is prevented from overturning cargoes, and the safety of valuable cargoes is greatly improved.
The utility model discloses theory of operation two:
the PLC9 starts a driving module 7, so that the rail guided vehicle 3 is linked to move on a ground rail, the lifting assembly 5 is linked to lift, the telescopic fork 6 is linked to stretch, and then goods are forked and operated; the PLC9 measures the distance of the goods in real time through the first laser distance meter 10 and the second laser distance meter 11, monitors the current of the driving module 7 through the overload protector 8, records the moving positions of the first motor 71, the second motor 72 and the third motor 73 through the encoder 12, further calculates the moving speed of each motor, monitors the torque of the driving module 7 through the torque sensor 13, monitors the running speed of the rail guided vehicle 3 through the speed meter 1, detects the false and true of the goods position through the photoelectric sensor 2, when the running state of the anti-collision stacker 100 is detected to exceed a preset value, the PLC9 immediately and automatically stops the running of the driving module 7, and if the PLC9 cannot stop the running of the driving module 7, the emergency stop switch group 14 can also manually stop the running of the driving module 7, if the rail guided vehicle 3 rushes out of the ground rail under the action of inertia, the hydraulic buffer is contacted for buffering.
To sum up, the utility model has the advantages that:
1. the first laser range finder and the second laser range finder are arranged to measure the distance of the goods in real time, and when the distance reaches a preset threshold value, the PLC immediately stops the operation of the driving module, so that the situation that the goods are turned over is avoided; recording the movement positions of the first motor, the second motor and the third motor by setting the encoder, further calculating the movement speed of each motor, and immediately sending an alarm by the PLC through an audible and visual alarm if the movement speed of each motor is not matched with the movement speed of the goods; through the arrangement of the overload protector, if the current or the torque of the driving module exceeds a preset threshold value, the PLC immediately stops the operation of the driving module, and the safety of the stacker is greatly improved.
2. By arranging the emergency stop switch group, the operation of the anti-collision stacker can be stopped emergently when an accident happens; by arranging the smoke alarm, the fire can be found in time; the speed measuring instrument is arranged to monitor the movement speed of the rail guided vehicle, and emergency braking is carried out on the rail guided vehicle when the speed is still fast when the rail guided vehicle is positioned at the edge of a ground rail; through the hydraulic buffer, when the rail guided vehicle rushes out of the ground rail, effective buffering can be carried out, and the safety of the stacker is further improved.
3. Through set up photoelectric sensor on the flexible fork, realize detecting the virtual reality of goods position, avoid fork again and get the goods under the condition of having had the goods on the flexible fork.
Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.
Claims (9)
1. The utility model provides an anticollision stacker which characterized in that: the method comprises the following steps:
a ground rail;
a sky rail;
the rail guided vehicle runs on the ground rail;
the bottom end of the upright post assembly is arranged on the rail guided vehicle, and the top end of the upright post assembly is in rolling connection with the sky rail;
the lifting assembly is arranged on the upright post assembly;
the telescopic fork is arranged on the lifting assembly;
the power output end of the driving module is connected with the rail guided vehicle, the lifting assembly and the telescopic fork;
the overload protector is connected with the driving module;
the PLC is connected with the overload protector;
the first laser range finder is arranged at the top end of the upright post assembly, is vertically downward in direction and is connected with the PLC;
the second laser range finder is arranged at the rear end of the telescopic fork, is horizontally forwards and is connected with the PLC;
the plurality of encoders are arranged on the driving module and are connected with the PLC;
and the emergency stop switch group is connected with the PLC.
2. An anti-collision stacker according to claim 1, wherein: further comprising:
a trolley line;
and the power supply module is connected with the driving module through the sliding contact line.
3. An anti-collision stacker according to claim 2, wherein: the power module adopts a three-phase four-wire system, and the zero line is more than or equal to 6mm2。
4. An anti-collision stacker according to claim 1, wherein: further comprising:
the first wireless communication module is connected with the driving module;
and one end of the second wireless communication module is connected with the first wireless communication module, and the other end of the second wireless communication module is connected with the PLC.
5. An anti-collision stacker according to claim 4, wherein: the first wireless communication module and the second wireless communication module are both infrared communication modules.
6. An anti-collision stacker according to claim 1, wherein: the pillar assembly includes:
the two upright columns are symmetrically arranged at two ends of the rail guided vehicle;
the cross rod is arranged at the upper ends of the two upright posts;
the rail wheels are arranged on the cross rod and roll on the sky rail.
7. An anti-collision stacker according to claim 1, wherein: the driving module includes:
the first motor is used for driving the rail guided vehicle to translate and is connected with the overload protector;
the second motor is used for driving the lifting assembly to lift and is connected with the overload protector;
and the third motor is used for driving the telescopic fork to stretch and is connected with the overload protector.
8. An anti-collision stacker according to claim 7, wherein: the scram switch group includes:
the first emergency stop switch is used for emergency stop of the first motor and is connected with the PLC;
the second emergency stop switch is used for emergency stop of the second motor and is connected with the PLC;
and the third emergency stop switch is used for emergency stop of the third motor and is connected with the PLC.
9. An anti-collision stacker according to claim 1, wherein: further comprising:
the smoke alarm is connected with the PLC;
the audible and visual alarm is connected with the PLC;
the velocimeter is arranged on the ground rail and is connected with the PLC;
a plurality of photoelectric sensors arranged on the telescopic fork and connected with the PLC
And the two hydraulic buffers are respectively arranged at two ends of the ground rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021990244.6U CN213595796U (en) | 2020-09-11 | 2020-09-11 | Anticollision stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021990244.6U CN213595796U (en) | 2020-09-11 | 2020-09-11 | Anticollision stacker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213595796U true CN213595796U (en) | 2021-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021990244.6U Expired - Fee Related CN213595796U (en) | 2020-09-11 | 2020-09-11 | Anticollision stacker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213595796U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112225129A (en) * | 2020-09-11 | 2021-01-15 | 王琼 | Anti-collision stacker and control method |
-
2020
- 2020-09-11 CN CN202021990244.6U patent/CN213595796U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112225129A (en) * | 2020-09-11 | 2021-01-15 | 王琼 | Anti-collision stacker and control method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210702 |