Flexible stacker and control method

Abstract

The application provides a flexible stacker and a control method. The flexible stacker comprises a control unit, a power supply unit comprising an online power supply module and a battery module, and being electrically connected with the control unit to supply power in a track / trackless mode; a motor drive unit electrically connected with the control unit, comprising a first drive module and a second drive module, the first drive module being electrically connected with the online power supply module, and the second drive module being electrically connected with the battery module to drive the stacker to run in the track / trackless mode; a track running unit electrically connected with the first drive module; and a trackless running unit electrically connected with the second drive module. According to the technical scheme, the control unit selects a power supply mode according to a path, selects the track running unit or the trackless running unit according to the running path, independently matches the corresponding power supply mode with the track running unit or the trackless running unit, and ensures the normal work of the flexible stacker in the track / trackless area.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, and more particularly to a flexible stacker crane and its control method. Background Technology

[0002] A stacker crane, also known as a stacking hoist, is a specialized crane used in warehouses, workshops, and other locations to pick up, move, and stack unitized goods, or to retrieve and place them from high-level racks. Currently, stacker cranes can be categorized by whether they have rails (rail-based or trackless) and by their drive system (top-drive, bottom-drive, and a combination of both). Rail-based stacker cranes can utilize a conductor rail for charging, thus reducing energy consumption.

[0003] In practical applications, such as warehouses, not all areas between rack pallets are suitable for track installation. Therefore, selective track installation can be adopted, utilizing the electrical energy obtained during the charging process for propulsion. Selective track installation requires a drive structure and corresponding control methods for movement between track and non-track areas to ensure the normal operation of the flexible stacker crane. Summary of the Invention

[0004] This invention provides a flexible stacker machine, the purpose of which is to ensure normal operation in track / non-track areas.

[0005] In a first aspect, embodiments of the present invention provide a flexible stacker crane, comprising:

[0006] Control unit;

[0007] The power supply unit, electrically connected to the control unit, includes an online power module and a battery module, wherein the online power module is used to provide power in tracked mode and the battery module is used to provide power in trackless mode.

[0008] The motor drive unit is electrically connected to the control unit and includes a first drive module and a second drive module. The first drive module is electrically connected to the online power module and receives tracked mode commands from the control unit. The second drive module is electrically connected to the battery module and receives trackless mode commands from the control unit.

[0009] The track running unit is electrically connected to the first drive module and moves according to the track mode command;

[0010] The trackless operation unit is electrically connected to the second drive module and moves according to the trackless mode command.

[0011] Optionally, the battery module includes a positive collector and a negative collector. The positive collector contacts the positive terminal of the sliding contact line disposed on the track, and the negative collector contacts the negative terminal of the sliding contact line, thereby enabling the battery module to be charged in tracked mode.

[0012] Optionally, the motor drive unit also includes a third drive module electrically connected to the online power module and the battery module respectively, for driving the rack pallet of the flexible stacker crane to travel vertically.

[0013] Optionally, the track running unit includes a first moving wheel set, which includes wheels disposed at both ends of the flexible stacker base, and the first drive module is electrically connected to at least one wheel at both ends of the flexible stacker body.

[0014] Optionally, the track running unit also includes positioning elements fixed to both ends of the side of the flexible stacker base to correct the relative position of the flexible stacker and the track.

[0015] Optionally, the trackless running unit includes at least two pairs of second moving wheel sets, which are respectively fixed to the side of the flexible stacker base. The second moving wheel set includes a moving wheel and a telescopic arm, wherein one end of the telescopic arm is fixedly connected to the flexible stacker base, and the other end of the telescopic arm is fixedly connected to the moving wheel.

[0016] In a second aspect, the present invention provides a control method for a flexible stacker crane, which utilizes the control unit of the flexible stacker crane provided in the first aspect, comprising:

[0017] Obtain the location information of the goods to be moved and plan the movement route;

[0018] Monitor the movement path in real time and determine whether to switch the travel mode;

[0019] If so, the power supply unit adjusts the power supply to the motor drive unit and adjusts the operating mode of the motor drive unit.

[0020] Optionally, the movement path can be monitored in real time to determine whether to switch the travel mode, specifically including:

[0021] If the flexible stacker crane is detected to have entered the track area, the mode will switch from trackless mode to tracked mode.

[0022] If the flexible stacker crane is detected to have left the track area, the system will switch from trackless mode to tracked mode.

[0023] Optionally, in rail-guided mode, the control unit controls the first drive module to drive the first moving wheel set to rotate;

[0024] In trackless mode, the control unit controls the second drive module to drive the second set of moving wheels to rotate.

[0025] Optionally, in rail-based mode, the battery module in the power unit is charged using a sliding contact line.

[0026] This invention provides a flexible stacker crane and its control method. The flexible stacker crane selects different power supply methods based on whether the travel path of the flexible stacker crane belongs to the track area through a control unit. It also selects a track running unit or a trackless running unit based on whether the travel path belongs to the track area, and independently matches the corresponding power supply method with the track running unit or the trackless running unit, thereby ensuring the normal operation of the flexible stacker crane in track / non-track areas. Attached Figure Description

[0027] Figure 1 A structural schematic diagram of a flexible stacker crane provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a flexible stacker crane provided in an embodiment of the present invention;

[0029] Figure 3 A flowchart of a flexible stacker crane control method provided in an embodiment of the present invention;

[0030] Figure 4 This is a flowchart illustrating the switching of travel modes in a flexible stacker crane control method provided in an embodiment of the present invention.

[0031] In the diagram: 01, shelf pallet; 02, first set of casters; 03, caster wheel; 04, positioning component; 05, fixed frame; 06, guide wheel; 07, second set of casters; 08, caster wheel; 09, telescopic arm; 091, horizontal telescopic arm; 092, vertical telescopic arm; 10, oil pump. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] In practical applications, such as in warehouses, not all areas between pallet racks are suitable for track laying. Therefore, selective track laying can be employed, utilizing the electrical energy obtained during the contact line charging process for propulsion. This selective track laying requires a drive structure and corresponding control methods for movement between track and non-track areas to ensure the normal operation of the flexible stacker crane.

[0034] Example 1

[0035] To address the above shortcomings, this invention provides a flexible stacker crane, such as... Figure 1 and Figure 2 As shown, it includes:

[0036] Control unit; The control unit is fixed to the body of the flexible stacker crane and includes, but is not limited to, control devices such as PLC and microcontroller.

[0037] The power supply unit, electrically connected to the control unit, includes an online power module and a battery module. The online power module provides power in tracked mode, while the battery module provides power in trackless mode. The online power module can be considered as using a wired power supply. The charging process of the battery module includes, but is not limited to, a sliding contact line power supply method. Specifically, the battery module includes a positive collector and a negative collector. The positive collector contacts the positive terminal of the sliding contact line located on the track, and the negative collector contacts the negative terminal of the sliding contact line, thereby enabling charging of the battery module in tracked mode. This sliding contact line is located at the track. When the flexible stacker crane travels to the track, it contacts the sliding contact line to charge the battery module through its positive and negative collectors.

[0038] The motor drive unit, electrically connected to the control unit, includes a first drive module and a second drive module. The first drive module is electrically connected to the online power supply module and receives tracked mode commands from the control unit. The second drive module is electrically connected to the battery module and receives trackless mode commands from the control unit. The first and second drive modules can employ devices such as permanent magnet DC motors. The control unit outputs tracked mode or trackless mode commands, selecting the corresponding drive module to operate and drive the flexible stacker crane forward.

[0039] Furthermore, the motor drive unit also includes a third drive module electrically connected to both the online power module and the battery module, used to drive the rack pallet 01 of the flexible stacker crane to move vertically. For example, the third drive module uses a motor, and the motor's output shaft is connected to a slider connected to the rack pallet 01 via a toothed belt; this slider is fixedly connected to the conveyor belt of the flexible stacker crane's rod, causing it to reciprocate along the flexible stacker crane's rod with the rack pallet 01, thereby realizing the handling of goods. The aforementioned rack pallet 01 can carry multiple forks, allowing it to simultaneously pick up a corresponding number of boxes of goods, thus improving the efficiency of goods handling.

[0040] The track-running unit is electrically connected to the first drive module and moves according to the trackless mode command. In one optional embodiment, the track-running unit includes a first moving wheel set 02, which includes wheels 03 disposed at both ends of the flexible stacker base. The first drive module is electrically connected to at least one of the wheels 03 at both ends of the flexible stacker body. When the flexible stacker moves in the track area, it uses the first moving wheel set 02 included in the track-running unit to move on the upper surface of the track. To ensure the stability of the movement process, the track-running unit also includes positioning components 04, fixed to both ends of the side of the flexible stacker base, to correct the relative position of the flexible stacker and the track. When the first moving wheel set 02 deviates from the track, the positioning components 04 can be used to correct the deviation.

[0041] Specifically, the aforementioned positioning component 04 can be a structure consisting of a fixed frame 05 and a guide wheel 06 fixed on both sides of the base of the flexible stacker. One end of the fixed frame 05 is fixedly connected to both ends of the base, and the other end of the fixed frame 05 is fixedly connected to the axis of the guide wheel 06. When the first moving wheel set 02 deviates from the track path, the guide wheel 06 on the deviated side will contact the track, thereby achieving a corrective effect.

[0042] The trackless operation unit is electrically connected to the second drive module. The trackless operation unit includes at least two pairs of second moving wheel sets 07, which are fixed to the side of the base of the flexible stacker crane. Each set includes moving wheels 08 and telescopic arms 09. One end of the telescopic arm 09 is fixedly connected to the base of the flexible stacker crane, and the other end of the telescopic arm 09 is fixedly connected to the moving wheels 08.

[0043] Specifically, the telescopic arm 09 includes a horizontal telescopic arm 091 and a vertical telescopic arm 092. One end of the horizontal telescopic arm 091 is fixedly connected to the base, and the other end is fixedly connected to one end of the vertical telescopic arm 092. The other end of the vertical telescopic arm 092 is fixedly connected to the moving wheel 08. The second drive module can be an oil pump 10. The control unit sends commands to the oil pump 10 to adjust the tightening and unfolding of the horizontal telescopic arm 091 and the vertical telescopic arm 092 respectively. Tightening is to avoid affecting the first moving wheel set 02 when running in the track area.

[0044] Furthermore, the second drive module also includes a permanent magnet DC motor, which, upon receiving instructions from the control unit, controls at least one set of moving wheels 08 to rotate, thereby enabling the trackless operation unit to move in non-track areas. Moreover, when the flexible stacker crane needs to perform angular displacements such as turning, the control unit adjusts the rotational speed of the inner and outer wheels of this set of moving wheels 08 to achieve the corresponding operation.

[0045] The present invention provides a flexible stacker crane, which selects different power supply methods according to whether the travel path of the flexible stacker crane belongs to the track area, and selects either a track running unit or a trackless running unit according to whether the travel path belongs to the track area, and independently matches the corresponding power supply method with the track running unit or the trackless running unit, thereby ensuring the normal operation of the flexible stacker crane in track / non-track areas.

[0046] Example 2

[0047] This invention provides a control method for a flexible stacker crane, applied to the control unit of the flexible stacker crane, such as... Figure 3 As shown, it includes:

[0048] S10: Obtain the location information of the goods to be moved and plan the movement path; the flexible stacker crane obtains the corresponding positions of different goods in the working environment (warehouse, workshop) by performing 3D SLAM scene modeling on the working environment (warehouse, workshop), and realizes autonomous learning based on deep learning algorithm to realize the handling of goods; and during non-working hours, it can realize the handling of goods from the current position to the optimal outbound position to meet the requirements of FIFO mode and K mode of inventory management; and before the above handling process, the movement path of handling is planned.

[0049] S20: Monitor the movement path in real time and determine whether to switch the travel mode; the aforementioned travel modes include tracked mode in the track area and trackless mode in the off-track area; and further as... Figure 4 As shown, step S20 includes:

[0050] S21: If the flexible stacker crane is detected to have entered the track area, switch from trackless mode to tracked mode. The detection methods include, but are not limited to, vision and sensor methods. A wedge-shaped inlet / outlet track can be used to reduce the possibility of the flexible stacker crane deviating from the track. During the switching process, power supply and travel mode need to be switched, specifically including:

[0051] In track-guided mode, the control unit controls the first drive module to drive the first moving wheel set to rotate. In track-guided mode, the flexible stacker is powered by an online power module, and the battery module is charged through contact with the sliding contact line. The electrical energy obtained from charging is used to power the flexible stacker when it is in non-track areas. The first moving wheel set includes wheels disposed at both ends of the flexible stacker base, and the first drive module is electrically connected to at least one of the wheels at both ends of the flexible stacker body. In a preferred embodiment, the first drive module can be a permanent magnet DC motor, which drives the wheels to rotate when powered by the online power module, enabling the flexible stacker to travel along the track direction.

[0052] S22: If the flexible stacker crane is detected to have left the track area, switch from trackless mode to tracked mode. The detection method includes, but is not limited to, using vision, sensors, etc. The trackless running unit includes at least two pairs of second moving wheel sets, which are fixed to the side of the flexible stacker crane base, including moving wheels and telescopic arms, wherein one end of the telescopic arm is fixedly connected to the flexible stacker crane base, and the other end of the telescopic arm is fixedly connected to the moving wheels.

[0053] Specifically, the telescopic arm includes a horizontal telescopic arm and a vertical telescopic arm. One end of the horizontal telescopic arm is fixedly connected to the base, and the other end is fixedly connected to one end of the vertical telescopic arm. The other end of the vertical telescopic arm is fixedly connected to the moving wheels. The second drive module can be an oil pump. The control unit sends commands to the oil pump to adjust the tightening and unfolding of the horizontal and vertical telescopic arms respectively. Tightening is to avoid affecting the first moving wheel set when running in the track area.

[0054] Furthermore, the second drive module also includes a permanent magnet DC motor, which, upon receiving instructions from the control unit, controls the rotation of at least one set of moving wheels, thereby enabling the trackless operation unit to move in non-track areas. Moreover, when the flexible stacker crane needs to perform angular displacements such as turning, the control unit adjusts the rotational speed of the inner and outer wheels of this set of moving wheels to achieve the corresponding operation.

[0055] When the control unit receives the instruction to enter the non-track area, it sends an instruction to the second drive module. The second drive module controls the deployment of the horizontal and vertical telescopic arms to make the moving wheels touch the ground, thereby expanding the area formed between the moving wheels and increasing the load-bearing capacity of the flexible stacker. At the same time, the control unit outputs an instruction to the permanent magnet DC motor to make the moving wheels rotate so that the flexible stacker can move.

[0056] S30: If so, the drive power unit adjusts the power supply to the motor drive unit and adjusts the operating mode of the motor drive unit. The above two drive modules are selectively applicable. In tracked mode, the flexible stacker crane uses an online power module to power the first drive module to drive the track running unit; in trackless mode, the flexible stacker crane uses a battery module to power the second drive module to drive the trackless running unit.

[0057] The control method for a flexible stacker crane provided in this embodiment of the invention is applied to the control unit of the flexible stacker crane. It adopts the same technical means and achieves the same technical effect, which will not be described in detail here.

[0058] This invention defines certain directional terms. Unless otherwise stated, the directional terms used, such as "up," "down," "left," "right," "inner," and "outer," are used for ease of understanding and therefore do not constitute a limitation on the scope of protection of this invention.

[0059] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0060] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A flexible stacker crane, characterized in that, include: Control unit; The power supply unit, electrically connected to the control unit, includes an online power module and a battery module, wherein the online power module is used to provide power in tracked mode and the battery module is used to provide power in trackless mode. The motor drive unit, electrically connected to the control unit, includes a first drive module and a second drive module, wherein the first drive module is electrically connected to the online power module and receives the tracked mode command from the control unit, and the second drive module is electrically connected to the battery module and receives the trackless mode command from the control unit. The track operation unit is electrically connected to the first drive module and moves according to the track mode command; The trackless operation unit is electrically connected to the second drive module and moves according to the trackless mode command; The trackless operation unit includes at least two pairs of second moving wheel sets, which are respectively fixed to the side of the flexible stacker base. The second moving wheel set includes a moving wheel and a telescopic arm, wherein one end of the telescopic arm is fixedly connected to the flexible stacker base, and the other end of the telescopic arm is fixedly connected to the moving wheel; the telescopic arm includes a horizontal telescopic arm and a vertical telescopic arm, wherein one end of the horizontal telescopic arm is fixedly connected to the base, and the other end is fixedly connected to one end of the vertical telescopic arm, and the other end of the vertical telescopic arm is fixedly connected to the moving wheel; the control unit sends commands to the oil pump to adjust the tightening and unfolding of the horizontal telescopic arm and the vertical telescopic arm respectively.

2. The flexible stacker crane according to claim 1, characterized in that, The battery module includes a positive current collector and a negative current collector. The positive current collector is in contact with the positive terminal of the sliding contact line disposed on the track, and the negative current collector is in contact with the negative terminal of the sliding contact line, thereby enabling the battery module to be charged in the tracked mode.

3. The flexible stacker crane according to claim 1, characterized in that, The motor drive unit also includes a third drive module electrically connected to the online power module and the battery module, respectively, for driving the rack pallet of the flexible stacker crane to move vertically.

4. The flexible stacker crane according to claim 1, characterized in that, The track running unit includes a first moving wheel set, which includes wheels disposed at both ends of the flexible stacker base. The first drive module is electrically connected to at least one of the wheels at both ends of the flexible stacker body.

5. The flexible stacker crane according to claim 1 or 4, characterized in that, The track running unit also includes positioning components, which are fixed to both ends of the side of the flexible stacker base to correct the relative position of the flexible stacker and the track.

6. A control method for a flexible stacker crane, applied to the control unit of the flexible stacker crane according to any one of claims 1-5, characterized in that, include: Obtain the location information of the goods to be moved and plan the movement route; The movement path is monitored in real time to determine whether to switch the travel mode; If so, the drive power supply unit adjusts the power supply to the motor drive unit and adjusts the operating mode of the motor drive unit; Specifically, the real-time monitoring of the movement path and the determination of whether to switch the travel mode include: If the flexible stacker is detected to have entered the track area, the mode will switch from trackless mode to tracked mode. If the flexible stacker is detected to have left the track area, the system switches from the tracked mode to the trackless mode. The horizontal and vertical telescopic arms extend and control at least one set of moving wheels to rotate, thereby enabling the trackless operation unit to move in the non-track area. When the flexible stacker needs to perform a displacement with an angular offset, the speed of the inner and outer wheels of the moving wheels is adjusted by the control unit to achieve the corresponding operation.

7. The control method for a flexible stacker crane according to claim 6, characterized in that, In the tracked mode, the control unit controls the first drive module to drive the first moving wheel set to rotate; In the trackless mode, the control unit controls the second drive module to drive the second moving wheel set to rotate.

8. The control method for a flexible stacker crane according to claim 6 or 7, characterized in that, In the track-based mode, the battery module in the power unit is charged using a sliding contact line.

Images