SU1312019A2 - Device for controlling telescopic gripping device of piler crane - Google Patents

Abstract

The invention relates to the construction of devices for controlling the telescopic gripping of a rack stacker crane. The aim of the invention is to increase the reliability of the device. It contains a drive connection unit with a probe 4 with the possibility of combining the axis of the power spring 7 with the axis of rotation of the probe 4 in its lower position by supplying the probe 4 with a trunnion 10 and placing its ends in the bearing bushes 18 and 19 of the bracket 5. The shaft 22 of the gearbox of the electric motor with the probe connected by a key 23 for reliability. The end of the probe 4 is equipped with a flexible elastic rod 13. At both ends of the probe 4 fixed flags 14 and 15, interacting with the sensors 8 and 9, 1 Cp. f-ly, 4 nl. 6-6 (L t o o about with NJ 27 L

Description

The invention relates to the design of devices for controlling the telescopic gripping of a rack stacker crane, can be used in automated warehouses and is an improvement of the device according to the author. St. № -1000353.

The purpose of the invention is to increase reliability.

FIG. 1 shows a device for controlling a telescopic gripper, its general view, and the position of the gripper relative to the rack cell when the latter is unloaded; in fig. 2 - the same when loading; in fig. 3 shows section A-A in FIG. one; in fig. 4 shows a section BB in FIG. 3

ten

II, coincides with the axis of elevation of the shaft, thereby eliminating the spring force arm and, accordingly, the counter-torque to the rotation of the electric motor when starting to lift, when the torque from the probe mass reaches its maximum value.

Since the torque from the force of the spring and from the weight of the probe when turning it is directed in different directions, when the probe rotates, they compensate each other, which significantly reduces the load on the electric motor.

With two-rack racks, on a fixed grip platform, two devices are mounted on Counter Device 1 to control the telescopic sides of the platform,

Pickup 2 mounted on a non-device works as follows,

movable platform 3 capture and content-while loading the rack 12 stacker with

life probe 4, bracket 5, small-sized load 11 on the telescopic grip 2 and

an electric motor b with an integrated gearbox with a probe in the initial vertical position, the power spring 7 and the sensors 8 and 9 are set opposite the predetermined

to control the extreme positions of the probe 4.20 rack cells. At the same time, the cargo over the first end of the probe 4 is provided with a two-end pin 10, placed on the axis of rotation of the probe and having a central hole with a keyway. The pin is rigid, for example by welding, connected to the probe. On the second end of the probe for contact with the load 11, located in the rack 12 or on the movable platform 2, a flexible elastic rod 13 is fixed, made in the form of a plate with an edge facing the rack 12. Flags 14 and 15 are fixed at both ends of the probe 4, interacting with sensors 8 and 9, respectively.

The bracket 5 comprises a rack 16 fixed on its base and associated with

25

thirty

Capability is slightly higher than the cell bearing surface. On command from the control circuit, the electric motor 6 is turned on, and the probe 4, which is securely connected to its shaft 22 by the tongue 23, rotates on the axle 10 in the sleeves 18 and 19, moves from the initial to the lower position I. , including the electric motor 6 and issuing a signal to the control circuit to load the cell. The telescopic gripper 2 extends, the platform 3 descends slightly below the bearing surface of the cell and the load remains in the cell. Then, on command from control circuit, gripper 2 returns to its original position, after which

there is a removable wall 17. The rack 16 and the wall-drive include the electric motor 6 and the probe 17 are provided with coaxial bearing bushings 18 and 19, respectively, in which the ends of the trunnion 10 are placed. On the rack 16 are made the stops 20 and 21 of the probe 4 turning.

rotates to its original position, where sensor 9 turns off engine 6.

When the probe moves from its initial position, the first end of the hinge 25 acts on the rod 24, forcing its compact electric motor 6 slides on the rod 28 with 40 points 27, is bolted to the strut 16 with a vertical gearbox 16, and the shaft 22 of the gearbox is fitted with a tongue 23 and placed in the central hole pins 10.

The force spring 7 is mounted on the rod 24, at one end of which a hinge 25 is made, which connects the brush to the first end of the probe 4, and a shoulder 26 in which the spring 7 rests, and on the other there is a longitudinal groove 27 in which the rod 28 is placed. the ends are inserted into coaxial holes in the rack 16 and wall 17, and a ring 29 is installed supported on the rod 28 and supporting the second end of the spring. The entire mechanism of the device is protected from external influences by the skin45.

50

30. The hinge 25, the rod 28 and the axis of the turn-55 is impossible.

sha plane-parallel motion, and shoulder 26 to act on the spring 7, compressing it. At the end of rotation, the spring axis is aligned with the axis of rotation of the stylus, which leads to the elimination of the spring force arm and its torque, and the stylus is pressed to the limiter 20 when the engine 6 is turned off. In other words, it rests on it with a rod and stops, stopping the rotation of the engine, and the latter turns off after a short time. An emergency situation occurs when the sensors 8 and 9 are unlocked and the further operation of the piler

The probe 4 probes are located so that when the probe rotates to the lowest position I, the spring axis changes to position. When the probe returns to its original vertical position, the spring axis deviates from the position AND, the spring force arm

II, coincides with the axis of elevation of the shaft, thereby eliminating the spring force arm and, accordingly, the counter-torque to the rotation of the electric motor when starting to lift, when the torque from the probe mass reaches its maximum value.

Since the torque from the force of the spring and from the weight of the probe when turning it is directed in different directions, when the probe rotates, they compensate each other, which significantly reduces the load on the electric motor.

With two-bottom racks, on a fixed grip platform, two devices are mounted on the counter

Capability is slightly higher than the cell bearing surface. On command from the control circuit, the electric motor 6 is turned on, and the probe 4, which is securely connected to its shaft 22 by the tongue 23, rotates on the axle 10 in the sleeves 18 and 19, moves from the initial to the lower position I. , including the electric motor 6 and issuing a signal to the control circuit to load the cell. The telescopic gripper 2 extends, the platform 3 descends slightly below the bearing surface of the cell and the load remains in the cell. Then, on command from control circuit, gripper 2 returns to its original position, after which

electric motor 6 and probe

 electric motor 6 and probe

rotates to its original position, where sensor 9 turns off engine 6.

When the probe moves from its initial position, the first end of it with the hinge 25 acts on the rod 24, forcing it, with a slit 27, slides along the rod 28, by 27 sliding slides along the rod 28,

is impossible.

sha plane-parallel motion, and shoulder 26 to act on the spring 7, compressing it. At the end of rotation, the spring axis is aligned with the axis of rotation of the stylus, which leads to the elimination of the spring force arm and its torque, and the stylus is pressed to the limiter 20 when the engine 6 is turned off. In other words, it rests on it with a rod and stops, stopping the rotation of the engine, and the latter turns off after a short time. An emergency situation occurs when the sensors 8 and 9 are unlocked and the further operation of the piler

 is impossible.

When the probe returns to its original vertical position, the spring axis deviates from the position AND, the spring force arm increases, the torque from the spring force increases and at the end of the stroke the spring reliably presses the probe to the stop 21 with the engine 6 turned off.

If the load 11 is loaded incorrectly during loading, then the probe rests on it when returning to its original position, stopping the rotation of the engine, which also switches off after a short specified time. Comes similar to the described emergency situation.

When the rack is unloaded, the stacker with an unused telescopic grip and with a probe in the initial position is installed opposite a given cell, and the cargo gripping surface is slightly lower than the supporting surface of the cell. Further, the command from the control circuit performs the work, similar to the boot operation.

When moving the stacker along the rack with a load, the latter may for some reason move towards device 1 (towards the rack) and affect probe 4, which in this case deviates from the vertical position, and flag 15 opens sensor 9. The latter breaks the control circuit by a stacker whose further movement is stopped.

In several cases of failures in the electric stacker control circuit

can move along the rack with the probe in the down position. The probe 4 with its rod 13 in this case runs over the side stand of the cell or on the load. The stubble is elastically bent, and, falling into the empty space, under the action of elastic forces, is straightened again.

Claims (2)

Invention Formula 0 1. A device for controlling the telescopic grip of a rack-mounted crane on author. St. No. 1000353, characterized in that, in order to increase reliability, it is provided with a rod located inside the spring pivotally connected at one end to the first end of the probe and provided with a longitudinal groove and a shoulder, a movable ring surrounding the rod with the possibility of resting on the fixed one and placed 0 in the aforementioned groove of the rod, and a hollow pin connected to the first end of the probe And, by means of a key, to the drive shaft and installed in the bearing assemblies, the spring being located between the shoulder and the ring. five 2. A device according to claim 1, characterized in that an elastic rod is fixed at the second end of the probe to interact with the load. 1 five Compiled by G. Sarychev Editor O. GolovachTechred I. VeresKorrektor L. Patay Order 1929/20 Circulation 778 Subscription VNIIPI USSR State Committee for Inventions and Discoveries 113035, Moscow, Zh-35, Raushsk nab. 4/5 Production and printing company, Uzhgorod, ul. Project, 4