A kind of overhang compensation system of stacker and using method thereof

Abstract

The present invention discloses a sag compensation system of a stacker and a method for using the same, including the fork bracket, fork support frame, telescopic fork, laser rangefinder, laser rangefinder bracket, adjustment cylinder, adjustment cylinder oil pipe, piston position grating ruler, first adjustment cylinder support joint, second adjustment cylinder support joint, servo electric push cylinder, servo hydraulic balancer, light-sensitive reading ruler, and electronic level. The present invention collects and analyzes data on the deformation amount of the final output end of the automatic material handling through an execution unit and a measurement unit, and compensates and adjusts the deformation amount of the final output end of the automatic material handling through a servo system, so that the material is finally accurately positioned in a horizontal posture, and the high-precision flow of the material is completed.

Description

Technical Field

[0001] The invention relates to the field of machine tool logistics systems, in particular to an overhang compensation system of a stacker and a use method thereof. Background Art

[0002] The stacker is the main lifting and transportation equipment in the stereoscopic warehouse. It is a special lifting machinery equipment developed with the stereoscopic warehouse. The main purpose of the stacker is to shuttle back and forth between the lanes of the stereoscopic warehouse, store the goods at the loading and unloading ports into the cargo compartment; take out the goods in the cargo compartment and transport them to the loading and unloading ports, which reduces the labor intensity of workers and improves the utilization rate and turnover rate of the warehouse. At present, the stacker adopts a servo control system and an addressing system for full closed-loop control, and cooperates with high-precision addressing methods such as barcodes or laser ranging to achieve high-precision operation of the stacker and automatic flow of materials. The positioning accuracy and repeat positioning accuracy of the linear axis of the stacker can realize the precise transportation of materials, but in the process of placing materials, the fork or manipulator will be overhanging and deformed due to the gravity of the materials, causing local contact and local slippage of the materials during the placement process, affecting the service life of the material pallet, and in severe cases, there will be local collisions, causing safety hazards. The overhang deformation is affected by the rigidity, extension length, and material weight of the stacker fork or manipulator.

[0003] When the stacker fork or manipulator has weak rigidity, the overall structure is insufficient to maintain the initial position of the transported material, which will cause the material to be lower than the initial position of the inlet and outlet or the cargo box during the transportation process, and the material will tilt; the longer the stacker fork or manipulator is extended, the heavier the transported material, the greater the overhang deformation, and the greater the material tilt angle. When the stacker fork or manipulator has weak rigidity, the overall structure is insufficient to maintain the initial position of the transported material, which will cause the material to be lower than the initial position of the inlet and outlet or the cargo box during the transportation process, and the material will tilt; the longer the stacker fork or manipulator is extended, the heavier the transported material, the greater the overhang deformation, and the greater the material tilt angle. Under the use conditions that require precise loading and unloading, the tilt of the material during the placement process will cause the material pallet to collide with and damage the precise positioning mechanism, causing great economic losses and affecting the normal operation of the entire automated logistics system. In view of this situation, a stacker overhang compensation system and its use method are proposed. Summary of the invention

[0004] The object of the present invention is to provide a sag compensation system for a stacker and a method for using the same. The system collects and analyzes data on the deformation of the final output end of the automatic material handling process through an execution unit and a measurement unit, and compensates and adjusts the deformation of the final output end of the automatic material handling process through a servo system, so that the material is accurately positioned in a horizontal position and the material is circulated with high precision.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A sag compensation system for a stacker includes a fork bracket, a fork support frame, a telescopic fork, a laser rangefinder, a laser rangefinder bracket, an adjustment cylinder, an adjustment cylinder oil pipe, a piston position grating ruler, a first adjustment cylinder support joint, a second adjustment cylinder support joint, a servo electric push cylinder, a servo hydraulic balancer, a light-sensitive reading ruler, and an electronic level.

[0007] Furthermore, the fork bracket moves vertically on the column of the stacker, the fork support frame is installed on the fork bracket, the fork support frame is provided with a rotating shaft, and the horizontal center axis position of the telescopic fork is provided with an axial hole, which cooperates with the rotating shaft to make the telescopic fork rotate on the fork bracket along the horizontal center axis of the telescopic fork.

[0008] Furthermore, four groups of adjustment cylinders are arranged on the fork bracket, which support the telescopic fork together with the fork support frame. The adjustment cylinders form a flexible hinge frame with the fork support frame and the telescopic fork by adjusting the first adjustment cylinder support joint, the second adjustment cylinder support joint.

[0009] Furthermore, the adjusting cylinder is connected to the two balancing oil chambers of the servo hydraulic balancer through the adjusting cylinder oil pipe. The servo electric push cylinder pushes the cylinder piston rod to move, thereby changing the volume of the left and right oil chambers of the cylinder. The servo hydraulic balancer oil chamber and the adjusting cylinder form a communicating vessel. The hydraulic oil drives the adjusting cylinder to rise and fall as the piston rod moves. The front and rear oil chambers are inversely proportional, with the front rising and the rear falling, and the front falling and the rear rising. Two sets of servo hydraulic balancers are provided on the fork bracket, and the two sets of servo hydraulic balancers are controlled synchronously.

[0010] Furthermore, a laser rangefinder bracket is provided on one side of the fork bracket, on which a laser rangefinder is installed, and a light-sensitive reading scale is installed at the output end of the telescopic fork. The laser rangefinder measures the extension distance of the telescopic fork, and the light-sensitive reading scale records the real-time position of the laser rangefinder cursor. An electronic level is also installed at the output end of the telescopic fork to measure the horizontal deformation of the output end when the fork output end stops, and feed back the data to the servo hydraulic balancer driver.

[0011] A method for using a sag compensation system of a stacker, comprising the following steps:

[0012] S1: The execution unit is composed of a fork bracket, a fork support frame, a telescopic fork, an adjustment cylinder, an adjustment cylinder oil pipe, a first adjustment cylinder support joint, a second adjustment cylinder support joint, a servo electric push cylinder, and a servo hydraulic balancer;

[0013] S2: The measuring unit consists of a laser rangefinder, a laser rangefinder bracket, a piston position grating ruler, a light-sensitive reading ruler, and an electronic level;

[0014] S3: The overhang deformation of the stacker is divided into horizontal and vertical deformation. The laser rangefinder measures the extension distance of the telescopic fork, the optical reading ruler measures the vertical deformation of the fork output end, and the electronic level measures the horizontal deformation of the telescopic fork output end;

[0015] S4: When the telescopic fork is extended, the servo hydraulic balancer adjusts the level of the telescopic fork according to the data of the electronic level meter, so that the output end of the telescopic fork reaches a horizontal state;

[0016] S5: The telescopic fork motor compensates the extension distance of the telescopic fork after leveling according to the feedback data of the laser rangefinder to achieve an accurate horizontal position;

[0017] S6: The optical reading scale records the relative position change in the vertical direction of the output end of the telescopic fork after the horizontal adjustment, and the relative position change is compensated by the telescopic fork bracket driving motor to achieve overhang compensation of the telescopic fork.

[0018] Beneficial effects of the present invention:

[0019] The present invention collects and analyzes data on the deformation of the final output end of the automatic material handling through an execution unit and a measurement unit, and compensates and adjusts the deformation of the final output end of the automatic material handling through a servo system, so that the material is finally accurately positioned in a horizontal posture, completing the high-precision flow of the material.

[0020] The measuring unit of the present invention utilizes a variety of measuring forms such as laser, light sensing, and weighing instruments to complete data collection in complex environments.

[0021] The present invention adopts a servo electric cylinder to drive a rigid fluid and a grating ruler for closed-loop control to complete the horizontal adjustment of the actuator. The horizontal adjustment of the actuator is completed through a hinged frame, the horizontal variable of the actuator is measured by an electronic level meter, and the vertical variable of the actuator is recorded by a light-sensitive reading ruler with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 It is a schematic diagram of the overhang compensation system of the stacker of the present invention.

[0024] Fork bracket 1, fork support frame 2, telescopic fork 3, laser rangefinder 4, laser rangefinder bracket 5, adjustment cylinder 6, adjustment cylinder oil pipe 7, piston position grating scale 8, first adjustment cylinder support joint 9, second adjustment cylinder support joint 10, servo electric push cylinder 11, servo hydraulic balancer 12, light sensitive reading scale 13, electronic level 14. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] A sag compensation system for a stacker, such as Figure 1 As shown, it includes a fork bracket 1, a fork support frame 2, a telescopic fork 3, a laser rangefinder 4, a laser rangefinder bracket 5, an adjustment cylinder 6, an adjustment cylinder oil pipe 7, a piston position grating scale 8, a first adjustment cylinder support joint 9, a second adjustment cylinder support joint 10, a servo electric push cylinder 11, a servo hydraulic balancer 12, a light-sensitive reading scale 13, and an electronic level 14.

[0028] The fork bracket 1 is the basis of the fork and moves vertically on the column of the stacker. The fork support frame 2 is installed on the fork bracket 1. The fork support frame 2 is provided with a rotating shaft. The telescopic fork 3 is provided with an axis hole at the horizontal center axis position, which cooperates with the rotating shaft to make the telescopic fork 3 rotate on the fork bracket 1 along the horizontal center axis of the telescopic fork 3.

[0029] Four groups of adjustment cylinders 6 are arranged on the fork bracket 1, which support the telescopic fork 3 together with the fork support frame 2 and adjust the horizontal posture of the fork according to data feedback. The adjustment cylinder 6 forms a flexible hinge frame with the fork support frame 2 and the telescopic fork 3 by adjusting the first adjustment cylinder support joint 9 and the second adjustment cylinder support joint 10, so as to realize the rotation of the telescopic fork 3 on the fork bracket 1 along the horizontal center axis of the telescopic fork 3.

[0030] The adjusting cylinder 6 is connected to the two balancing oil chambers of the servo hydraulic balancer 12 through the adjusting cylinder oil pipe 7. The servo electric push cylinder 11 pushes the cylinder piston rod to move, changes the volume of the left and right oil chambers of the cylinder, and realizes the telescopic movement of the adjusting cylinder 6. The piston rod is controlled by the servo electric push cylinder 11, and the piston position grating ruler 8 at the end feeds back the piston rod position in real time to realize closed-loop control. The servo hydraulic balancer 12 oil chamber and the adjusting cylinder 6 form a communicating vessel. The hydraulic oil drives the adjusting cylinder 6 to rise and fall with the movement of the piston rod. The front and rear oil chambers are in inverse proportion, the front rises and the rear falls, and the front falls and the rear rises. Two groups of servo hydraulic balancers 12 are provided on the fork bracket 1, and the two groups of servo hydraulic balancers 12 are synchronously controlled.

[0031] A laser rangefinder bracket 5 is provided on one side of the fork bracket 1, on which a laser rangefinder 4 is installed. A light-sensitive reading scale 13 is installed at the output end of the telescopic fork 3. The laser rangefinder 4 measures the extension distance of the telescopic fork 3. At the same time, the light-sensitive reading scale 13 records the real-time position of the cursor of the laser rangefinder 4, thereby calculating the deformation in the vertical direction of the output end of the telescopic fork 3. An electronic level 14 is also installed at the output end of the telescopic fork 3. When the output end of the fork stops, the horizontal deformation of the output end is measured, and the data is fed back to the servo hydraulic balancer 12 driver.

[0032] A method for using a sag compensation system of a stacker, comprising the following steps:

[0033] S1: The execution unit is composed of a fork bracket 1, a fork support frame 2, a telescopic fork 3, an adjustment cylinder 6, an adjustment cylinder oil pipe 7, a first adjustment cylinder support joint 9, a second adjustment cylinder support joint 10, a servo electric push cylinder 11, and a servo hydraulic balancer 12;

[0034] S2: The measuring unit is composed of a laser rangefinder 4, a laser rangefinder bracket 5, a piston position grating ruler 8, a light-sensitive reading ruler 13, and an electronic level 14;

[0035] S3: The overhang deformation of the stacker is divided into horizontal and vertical deformations. The laser rangefinder 4 measures the extension distance of the telescopic fork 3, the optical reading ruler 13 measures the vertical deformation of the output end of the fork, and the electronic level 14 measures the horizontal deformation of the output end of the telescopic fork 3;

[0036] S4: When the telescopic fork 3 is extended, the servo hydraulic balancer 12 adjusts the level of the telescopic fork 3 according to the data of the electronic level meter 14, so that the output end of the telescopic fork 3 reaches a horizontal state;

[0037] S5: The motor of the telescopic fork 3 compensates the extension distance of the telescopic fork 3 after the level adjustment according to the feedback data of the laser rangefinder 4 to achieve an accurate horizontal position;

[0038] S6: The optical reading scale 13 records the relative position change in the vertical direction of the output end of the telescopic fork 3 after the horizontal adjustment, and the relative position change is compensated by the telescopic fork 3 bracket driving motor to achieve overhang compensation of the telescopic fork 3.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A stacker crane overhang compensation system, characterized in that: It comprises a fork bracket (1), a fork support frame (2), a telescopic fork (3), a laser rangefinder (4), a laser rangefinder bracket (5), an adjustment cylinder (6), an adjustment cylinder oil pipe (7), a piston position grating ruler (8), a first adjustment cylinder support joint (9), a second adjustment cylinder support joint (10), a servo electric push cylinder (11), a servo hydraulic balancer (12), a light-sensitive reading ruler (13), and an electronic level (14); The fork bracket (1) moves vertically on the column of the stacker, the fork support frame (2) is mounted on the fork bracket (1), the fork support frame (2) is provided with a rotating shaft, and the telescopic fork (3) is provided with an axis hole at the horizontal center axis position, which cooperates with the rotating shaft so that the telescopic fork (3) can rotate on the fork bracket (1) along the horizontal center axis of the telescopic fork (3); The fork bracket (1) is provided with four groups of adjustment cylinders (6), which together with the fork support frame (2) support the telescopic fork (3); the adjustment cylinders (6) form a flexible hinge frame with the fork support frame (2) and the telescopic fork (3) by adjusting the first adjustment cylinder support joint (9), the second adjustment cylinder support joint (10); The adjusting oil cylinder (6) is connected to the two balancing oil chambers of the servo hydraulic balancer (12) via the adjusting oil cylinder oil pipe (7). The servo electric push cylinder (11) pushes the oil cylinder piston rod to move, thereby changing the volume of the left and right oil chambers of the oil cylinder. The oil chamber of the servo hydraulic balancer (12) and the adjusting oil cylinder (6) form a communicating vessel. The hydraulic oil drives the adjusting oil cylinder (6) to rise and fall as the piston rod moves. The front and rear oil chambers are in an inversely proportional relationship. The front rises and the rear falls, and the front falls and the rear rises. Two sets of servo hydraulic balancers (12) are provided on the fork bracket (1). The two sets of servo hydraulic balancers (12) are synchronously controlled. A laser rangefinder bracket (5) is provided on one side of the fork bracket (1), on which a laser rangefinder (4) is installed. A light-sensitive reading scale (13) is installed at the output end of the telescopic fork (3). The laser rangefinder (4) measures the extension distance of the telescopic fork (3). At the same time, the light-sensitive reading scale (13) records the real-time position of the cursor of the laser rangefinder (4). An electronic level (14) is also installed at the output end of the telescopic fork (3). When the output end of the fork stops, the horizontal deformation of the output end is measured, and the data is fed back to the servo hydraulic balancer (12) driver.

2. The method for using the overhang compensation system of a stacker according to claim 1, characterized in that: The following steps are involved: S1: The execution unit is composed of a fork bracket (1), a fork support frame (2), a telescopic fork (3), an adjustment cylinder (6), an adjustment cylinder oil pipe (7), a first adjustment cylinder support joint (9), a second adjustment cylinder support joint (10), a servo electric push cylinder (11), and a servo hydraulic balancer (12); S2: The measuring unit is composed of a laser rangefinder (4), a laser rangefinder bracket (5), a piston position grating ruler (8), a light-sensitive reading ruler (13), and an electronic level (14); S3: The overhang deformation of the stacker is divided into horizontal and vertical deformations. The laser distance meter (4) measures the extension distance of the telescopic fork (3), the optical reading scale (13) measures the vertical deformation of the output end of the fork, and the electronic level (14) measures the horizontal deformation of the output end of the telescopic fork (3); S4: When the telescopic fork (3) is extended, the servo hydraulic balancer (12) adjusts the level of the telescopic fork (3) according to the data of the electronic level meter (14), so that the output end of the telescopic fork (3) reaches a horizontal state; S5: The telescopic fork (3) motor compensates the extension distance of the telescopic fork (3) after the level adjustment according to the feedback data of the laser rangefinder (4) to achieve an accurate horizontal position; S6: The optical reading scale (13) records the relative position change in the vertical direction of the output end of the telescopic fork (3) after the horizontal adjustment, and the relative position change is compensated by the telescopic fork (3) bracket driving motor to achieve overhang compensation of the telescopic fork (3).

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