Stacking machine with multi-brake resistor management function

Abstract

The utility model provides a stacking machine with a multi-brake resistor management function, and relates to the technical field of stacking machines. Through the arrangement of the brake management switch, the first coil and the second coil, the brake management switch changes the electrical connection mode of the first coil and the second coil, and different brake response time is achieved; in other words, through simple circuit topology changes (such as parallel connection or series connection of the first coil and the second coil), two operation modes can be provided for the stacking machine body under the condition of low cost, and the controller selects different operation modes according to detection of actual conditions so as to control the braking time, so that the braking efficiency is improved. And the shaking and other negative conditions of the stacking machine caused by higher instantaneous torque generated by a stacking machine main body due to too fast speed reduction or too short speed reduction time of a large inertia load are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technology field of stacking machine, specifically, relate to a kind of stacking machine with multiple braking resistance management. BACKGROUND

[0002] In the process of debugging and production of stacking machine, the situation of lifting motor, quick stop motor and the like often encounters that frequency converter reports that direct-current voltage is too high or braking chopper fault, the reason causing this kind of fault is that motor is in power generation state, charges the capacitor of direct-current part of frequency converter, makes bus voltage continuously rise, when voltage is higher than the maximum allowable value of direct-current voltage, it will prompt fault information, there are two kinds of conditions that cause motor to be in power generation state when stacking machine automatically transports goods, first, when load drops, such as the process of ascending and descending of loading platform;Second, large inertia load decelerates too fast or deceleration time is too short, such as high-speed stacking machine needing to quickly complete in-out warehouse task, the control system of stacking machine controls servo motor to make stacking machine move on track, energy will not disappear in vain, braking resistance is used to overcome regenerative electric energy due to the decrease of potential energy or kinetic energy of stacking machine;

[0003] Motor with mechanical brake can be used as braking resistance in four-quadrant operating state, in the existing market of stacking machine, generally only one braking coil is configured to be used as braking resistance, braking coil is electrified when needing to decelerate or stop, to control stacking machine to decelerate or stop, the braking mode of stacking machine is only one, cannot control braking response time according to needs, especially in high-speed stacking machine needing to quickly complete in-out warehouse task, large inertia load decelerates too fast or deceleration time is too short can lead to higher instantaneous braking torque, in turn causes large amplitude of stacking machine to shake or goods on loading platform to abnormally shift, affects the stability and operating efficiency of stacking machine.Therefore we make improvement, propose a kind of stacking machine with multiple braking resistance management. SUMMARY

[0004] The utility model aims at: the braking mode of the stacking machine of the present existence is only one, cannot control the braking response time according to needs problem.

[0005] In order to realize the above-mentioned invention purpose, the utility model provides a kind of stacking machine with multiple braking resistance management to improve the above-mentioned problem.

[0006] The application is as follows:

[0007] A kind of stacking machine with multiple braking resistance management, comprising:

[0008] Stacking machine main body, for executing the storage and handling task of goods;

[0009] The controller, connected to the main body of the stacker crane, is used to process control commands and monitor the operating mode of the main body of the stacker crane;

[0010] The braking management module includes a first coil, a second coil, and a braking management switch. The first coil and the second coil are used as braking resistors. The braking management switch is connected to a controller and is used to change the electrical connection mode of the first and second braking coils according to the controller's instructions to achieve different braking response times.

[0011] As a preferred technical solution of this application, it also includes an on-board control cabinet, which is installed on the main body of the stacker crane and moves synchronously therewith.

[0012] As a preferred technical solution of this application, both the controller and the braking management module are installed in the machine control cabinet.

[0013] As a preferred technical solution of this application, the on-board control cabinet also includes: a travel and lifting frequency converter, used to control the operation of the travel motor and lifting motor of the stacker crane body, and the travel and lifting frequency converter is connected to the controller and the stacker crane body.

[0014] As a preferred technical solution of this application, the traveling lifting frequency converter is connected to a circuit breaker, and the circuit breaker is connected to the power supply of the stacker crane.

[0015] As a preferred technical solution of this application, the operation modes of the stacker crane body include a drive mode and a regeneration mode.

[0016] As a preferred technical solution of this application, the first coil and the second coil are connected in parallel to achieve the driving mode.

[0017] As a preferred technical solution of this application, the first coil and the second coil are connected in series to achieve the regeneration mode.

[0018] As a preferred technical solution of this application, the controller is connected to multiple sensors, which are installed on the main body of the stacker crane to detect the operating mode of the main body of the stacker crane.

[0019] As a preferred technical solution of this application, the brake management switch is a relay with multiple poles or multiple electronically controlled switches.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] In the scheme of this application:

[0022] To address the issue that existing stacker cranes only have one braking mode, making it impossible to control the braking response time as needed, this application addresses this problem by incorporating a braking management switch, a first coil, and a second coil. The braking management switch alters the electrical connection of the first and second coils, enabling different braking response times. In other words, this application, through simple circuit topology changes (such as parallel or series connection of the first and second coils), provides two operating modes for the stacker crane body at a low cost. The controller selects the appropriate operating mode based on actual detection to control the braking time, reducing the stacker crane's swaying and other negative effects caused by high instantaneous torque resulting from excessively rapid deceleration or short deceleration time due to large inertia loads. Attached Figure Description

[0023] Figure 1 A schematic diagram of a stacker crane with multi-braking resistor management provided in this application;

[0024] Figure 2 A schematic diagram illustrating the operating mode of the stacker crane body provided in this application;

[0025] Figure 3 A circuit diagram provided for the parallel connection of the first and second coils in this application;

[0026] Figure 4 A circuit diagram provided for the connection of the first coil and the second coil in this application;

[0027] Figure 5 A comparison curve of braking response time when the first and second coils are connected in parallel and in series, provided for this application.

[0028] The image shows:

[0029] 100. Brake management switch; 200. First coil; 300. Second coil; 400. Stacker crane body; 500. Controller; 600. Traveling and lifting frequency converter. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0031] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] Example 1, please refer to Figure 1 , Figure 3 and Figure 4 A stacker crane with multi-braking resistor management, comprising:

[0034] The stacker crane body is 400mm, used to perform the tasks of storing, retrieving, and handling goods;

[0035] The controller 500, which is connected to the stacker crane body 400, is used to process control commands and monitor the operating mode of the stacker crane body 400.

[0036] The braking management module includes a first coil 200, a second coil 300, and a braking management switch 100. The first coil 200 and the second coil 300 serve as braking resistors. The braking management switch 100 is connected to a controller 500 and is used to change the electrical connection of the first braking coil 200 and the second braking coil 300 according to the instructions of the controller 500, thereby achieving different braking response times. The setting of the braking management module is a major highlight of this application. It can change the electrical connection of the first braking coil 200 and the second braking coil 300 under the precise control of the controller 500 according to the real-time operating status of the stacker crane body 400, thereby achieving flexible adjustment of the braking response time.

[0037] Furthermore, it also includes an onboard control cabinet, which is installed on the stacker crane body 400 and moves synchronously with it, thus optimizing the wiring layout.

[0038] Furthermore, both the controller 500 and the braking management module are housed within the on-board control cabinet. Since the on-board control cabinet is mounted on the stacker crane body 400, the wiring connections between the controller 500 and various components of the stacker crane body 400 are more convenient and efficient, significantly shortening the wiring length. Shorter wiring not only reduces energy loss during signal transmission, ensuring control signals are transmitted with greater strength and faster speed, and improving the response sensitivity of the control system, allowing the stacker crane body 400 to execute control commands more quickly, but also effectively reduces interference from external environmental factors, such as electromagnetic interference, thereby ensuring the stability and accuracy of signal transmission. This makes the operation control of the stacker crane body 400 more precise and smooth, reducing operational failures caused by signal problems, improving the overall reliability and stability of the equipment, and ultimately increasing operational efficiency.

[0039] Furthermore, such asFigure 1 As shown, the onboard control cabinet also includes a travel and lifting frequency converter 600, used to control the operation of the travel motor and lifting motor of the stacker crane body 400. The travel and lifting frequency converter 600 is connected to the controller 500 and the stacker crane body 400. The travel and lifting frequency converter 600 can adjust the running speed of the stacker crane's travel motor and lifting motor according to different work tasks and operating conditions. During the start-up phase, the travel and lifting frequency converter 600 can slowly increase the motor speed to reduce the excessive starting current generated when the motor starts instantly, thereby reducing the impact on the power grid, protecting the stable operation of the power grid, and also reducing the risk of damage to the motor windings due to high current impact, extending the service life of the motor. During operation, the motor speed can be adjusted according to factors such as the weight of the goods, the handling distance, and the urgency of the operation to achieve efficient and precise goods handling.

[0040] Furthermore, such as Figure 1 As shown, the traveling lifting frequency converter 600 is connected to a circuit breaker, which is also connected to the stacker crane's power supply. The circuit breaker's connection creates a safety barrier for the stacker crane's electrical system. When the circuit system is operating normally, the circuit breaker is in a closed state, ensuring stable current transmission and enabling all components of the stacker crane to function normally. However, if an overload or short circuit occurs, the circuit breaker can quickly detect abnormal current changes and automatically cut off the power supply within a very short time, effectively preventing excessive current from further damaging the traveling lifting frequency converter 600 and the entire stacker crane's electrical system, thus reducing losses.

[0041] Example 2 further optimizes the stacker crane with multi-braking resistor management provided in Example 1, specifically, as follows: Figure 2 As shown, the stacker crane body 400 has two operating modes: a drive mode and a regeneration mode.

[0042] Furthermore, such as Figure 2 and Figure 3As shown, the first coil 200 and the second coil 300 are connected in parallel to achieve the driving mode. In the driving mode, the parallel connection of the first coil 200 and the second coil 300 gives the stacker crane excellent braking performance. When each coil receives the full voltage of the stacker crane power supply, it can store and release more energy during the braking process, thereby achieving a longer braking time. This has a significant advantage for stopping the stacker crane body 400 under normal operating conditions. The longer braking time allows the speed of the stacker crane body 400 to gradually and smoothly decrease, reducing the impact of the huge inertial force generated by sudden braking on the equipment structure, reducing wear and fatigue between equipment components, and extending the service life of the equipment. At the same time, the smooth braking process can also effectively reduce the abnormal displacement or even falling of goods on the loading platform due to sudden braking, ensuring the safe handling of goods, reducing the risk of goods damage, and improving the quality and success rate of goods handling.

[0043] Furthermore, such as Figure 2 and Figure 4 As shown, the first coil 200 and the second coil 300 are connected in series to achieve regeneration mode. In regeneration mode, the design of connecting the first coil 200 and the second coil 300 in series means that each coil only receives half the voltage of the palletizer power supply. The energy obtained during braking is relatively small, thus enabling a shorter braking application time. This rapid braking characteristic plays a crucial role when the stacker crane body 400 is in regeneration mode, such as when the loading platform is descending or when a large inertia load is decelerating. During the descent of the loading platform, rapid braking can control the descent speed in time, reducing safety accidents caused by excessive descent speed and ensuring operational safety. For deceleration of large inertia loads, rapid braking response can effectively overcome the problem of regeneration energy generated by the motor due to load inertia, reduce the impact and interference of regeneration energy on the electrical system, and ensure the stable operation of the electrical system. At the same time, rapid braking enables the stacker crane body 400 to quickly complete the current operation task and enter the next operation stage, reducing the operation cycle time.

[0044] Example 3 further optimizes the stacker crane with multi-braking resistor management provided in Example 1 or 2. Specifically, the controller 500 is connected to multiple sensors, which are installed on the stacker crane body 400 to detect the operating mode of the stacker crane body 400. The sensors include photoelectric sensors and other sensors (such as gyroscope sensors). The photoelectric sensors can accurately detect the position information of the stacker crane body 400 during operation, such as whether the stacker crane body 400 has accurately reached the designated goods storage location or the target handling location, providing key basis for the precise operation of the stacker crane body 400. The gyroscope sensors can monitor the attitude changes of the stacker crane body 400 in real time, such as whether tilting or shaking occurs. Through the rich information collected by these sensors, the real-time operating status of the stacker crane body 400 can be comprehensively and accurately understood.

[0045] Furthermore, the brake management switch 100 is a relay or multiple electronic switches with multiple poles; the relay or multiple electronic switches with multiple poles can realize the rapid switching of different electrical connection methods of the first coil 200 and the second coil 300. Whether it is from parallel to series or from series to parallel, it can quickly and accurately complete the action under the command of the controller 500. In actual operation, when the operation mode of the stacker crane body 400 changes, such as switching from drive mode to regenerative mode or vice versa, the brake management switch 100 can respond in time to ensure that the braking system is always in the best working state and adapts to the braking needs under different working conditions.

[0046] The stacker crane with multi-braking resistor management provided by this utility model is used as follows:

[0047] During operation, the controller 500 detects the operating mode in real time through electrical sensors on the stacker crane body 400. When the stacker crane body 400 is in the normal driving mode, such as when the loading platform is rising or the stacker crane body 400 is moving smoothly on the track, the controller 500 detects the driving mode and controls the brake management switch 100 to set the first coil 200 and the second coil 300 to be electrically connected in parallel. At this time, each coil bears the full voltage of the stacker crane power supply. When the stacker crane body 400 needs to stop, the controller 500 interrupts the stacker crane power supply. Since the first coil 200 and the second coil 300 obtain relatively more energy when connected in parallel, the braking time is longer, thereby achieving a smoother braking process and reducing the large-amplitude shaking of the stacker crane body 400 or the abnormal displacement of goods on the loading platform caused by sudden braking.

[0048] When the stacker crane body 400 is in regenerative mode, such as when the loading platform descends or a large inertia load decelerates, upon detecting this mode, the controller 500 controls the brake management switch 100 to connect the first coil 200 and the second coil 300 in series. At this time, each coil receives half of the stacker crane's power supply voltage. When the stacker crane body 400 needs to stop, the controller 500 interrupts the stacker crane's power supply. Because the coils receive relatively less energy in series connection, the braking time is shorter. Figure 5 As shown, it can quickly achieve braking, effectively overcome the regenerative power generated by the motor, adapt to production task requirements, and improve production capacity. Through the above implementation method, the stacker crane with multi-braking resistor management provided by this utility model can flexibly control the braking response time according to different operating modes, improve the stability and efficiency of stacker crane operation, and effectively solve the problems existing in the prior art.

[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A stacker crane with multi-braking resistor management, characterized in that, include: The stacker crane body (400) is used to perform the tasks of storing, retrieving, and handling goods; A controller (500) connected to the stacker crane body (400) is used to process control commands and monitor the operating mode of the stacker crane body (400); The braking management module includes a first coil (200), a second coil (300), and a braking management switch (100). The first coil (200) and the second coil (300) are used as braking resistors. The braking management switch (100) is connected to a controller (500). The braking management switch (100) is used to change the electrical connection mode of the first braking coil (200) and the second coil (300) according to the instructions of the controller (500) to achieve different braking response times.

2. The stacker crane with multi-braking resistor management according to claim 1, characterized in that, It also includes an onboard control cabinet, which is installed on the stacker crane body (400) and moves synchronously with it.

3. The stacker crane with multi-braking resistor management according to claim 2, characterized in that, The controller (500) and the braking management module are both located in the machine control cabinet.

4. The stacker crane with multi-braking resistor management according to claim 2 or 3, characterized in that, The machine control cabinet also includes: a travel and lifting frequency converter (600), which is used to control the operation of the travel motor and lifting motor of the stacker crane body (400). The travel and lifting frequency converter (600) is connected to the controller (500) and the stacker crane body (400).

5. The stacker crane with multi-braking resistor management according to claim 4, characterized in that, The traveling lifting frequency converter (600) is connected to a circuit breaker, and the circuit breaker is connected to the stacker crane power supply.

6. The stacker crane with multi-braking resistor management according to claim 1, characterized in that, The stacker crane body (400) has two operating modes: drive mode and regeneration mode.

7. The stacker crane with multi-braking resistor management according to claim 6, characterized in that, The first coil (200) and the second coil (300) are connected in parallel to achieve the driving mode.

8. The stacker crane with multi-braking resistor management according to claim 6, characterized in that, The first coil (200) and the second coil (300) are connected in series to achieve regeneration mode.

9. The stacker crane with multi-braking resistor management according to claim 1, characterized in that, The controller (500) is connected to multiple sensors, which are installed on the stacker crane body (400) to detect the operating mode of the stacker crane body (400).

10. The stacker crane with multi-braking resistor management according to claim 1, characterized in that, The brake management switch (100) is a relay with multiple poles or multiple electronically controlled switches.

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