A stacking machine

Abstract

The present invention belongs to the technical field of warehousing and logistics, and discloses a stacker which solves the problems that existing market solutions cannot debug two different communication bus protocols on one stacker at the same time, and when a certain system fails and shuts down, it needs to be inspected and repaired, which takes a long time and affects the production progress. The stacker comprises a guide rail, a main frame is provided on the guide rail, a lifting motor is provided on one side of the main frame, a traveling motor is provided under the lifting motor, an on-board control cabinet is provided on the other side of the main frame, two control systems are provided in the on-board control cabinet, and the two control systems can be switched freely. A cargo platform is provided in the middle of the main frame, and the cargo platform is connected to the fork servo motor. When one system fails, it can be switched with one key, and the second system can be used to continue to perform the task, which will not affect the production progress and improve the fault tolerance.

Description

Technical Field

[0001] The invention relates to the technical field of warehousing logistics, and in particular to a stacker. Background Art

[0002] In the existing stacker market, mass-produced stackers have only one control system for cost considerations. Most servo motors require a specified inverter brand for binding use. Therefore, if the servo motor needs to be replaced, the on-board control cabinet needs to be disassembled at the same time, which is more troublesome. Similarly, since the communication bus protocols of the first and second control systems are also different, the existing market solution cannot be used on a single stacker, so it is impossible to debug two different communication bus protocols at the same time. In the existing market, they are all single-system stackers, so when a system fails and shuts down, it needs to be inspected and repaired, which takes a long time and affects production progress.

[0003] For example, CN 217625526 U discloses a stacker, comprising an upper management system, a stacker control system and a horizontal operation mechanism; the upper management system is connected to the stacker control system via Ethernet, and sends an action command to the stacker control system according to the current state of the stacker sent by the stacker control system, so as to realize the interlocking action of the stacker; the horizontal operation mechanism comprises two drive motors, a main drive motor and a slave drive motor, and the stacker is a lower double-driven rail-mounted lane stacker; the stacker control system comprises a PLC programmable logic controller and a first frequency converter and a second frequency converter connected to the PLC programmable logic controller via an industrial Ethernet bus, the first frequency converter regulates the speed of the main drive motor, and the second frequency converter regulates the speed of the slave drive motor, so as to realize the double-drive double-closed-loop control of the horizontal operation mechanism, and ensure the high-speed operation of the stacker while ensuring the accuracy within ± Within 2mm, prevent the stacker from hitting the shelf or even causing the goods to fall when picking up and placing goods. Although it can be remotely controlled, there is essentially only one control system. When a system fails and crashes, it needs to be inspected and repaired, which takes a long time and affects the production progress. The existing stacker can only be equipped with one control system, most of which are Siemens control systems. This application provides a stacker that can be equipped with two control systems, the first control system is a Siemens control system, and the second control system is a Mitsubishi control system. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that the existing market solutions cannot debug two different communication bus protocols on a stacker at the same time, and when a system fails and shuts down, it needs to be inspected and repaired, which takes a long time and affects the production progress, and the problem that it cannot adapt to dual communication protocols and there is no backup system after the shutdown. In order to solve the above problems, the present invention provides the following technical solutions: a stacker, including a guide rail, a main frame is provided on the guide rail, a lifting motor is provided on one side of the main frame, a travel motor is provided under the lifting motor, an on-board control cabinet is provided on the other side of the main frame, two control systems are provided in the on-board control cabinet, and the two control systems can be switched freely, and a cargo platform is provided in the middle of the main frame, and the cargo platform is connected to the fork servo motor.

[0005] The physical composition of the technical solution of the present invention is: a stacker, an on-board control cabinet, the cabinet has two sides, a front and a back, each side is equipped with a control system, the two control systems respectively include controllers, frequency converters and other electrical components of a first brand and a second brand, the on-board control cabinet has two front and back mounting plates, each mounting plate is equipped with a set of control systems, an isolation frequency converter is arranged between the two control systems to connect the two control systems, and a dual-system switching circuit is also designed. When switching to a certain system, the system is alternately powered on through two contactors KM00 and KM01, and triggers two groups of motor contactors "KM01 KM10KM11", and "KM12 KM13 KM00", so that the motor of the corresponding control system is powered on, so as to control the corresponding motor to operate, and when a system fails, it can be immediately switched to another control system to continue to complete the stacking work, which effectively improves the fault tolerance of the stacking work and also improves the work efficiency of the stacking.

[0006] Preferably, the onboard control cabinet is arranged on a control cabinet placement table, and the onboard control cabinet has a front and a back side, and a control system is installed on each side, and the two control systems include a first control system and a second control system.

[0007] The present invention provides two control systems to independently control the operation of the stacker, and integrates the two control systems in an on-board control cabinet. The two control systems are installed by allocating the internal space of the on-board control cabinet. When the stacker is running, if a sudden fault occurs, the other control system can be switched in time. The staff can repair the other faulty control system when the stacker is working normally, thereby avoiding the project stagnation caused by the control system failure to the greatest extent without affecting the operation of the stacker.

[0008] Preferably, the first control system includes a first main controller, which is connected to an isolation switch, which isolates the first control system from the second control system. The isolation switch is connected to the switch and the first traveling and lifting inverter control unit. The first traveling and lifting inverter control unit is connected to the traveling motor, the lifting motor and the first fork motor servo driver, and the first fork motor servo driver is connected to the fork servo motor.

[0009] The model of the first main controller used in the present invention is 1512SP-1PN, the model of the isolation switch used is TL-SG2008 industrial grade, the model of the switch used is EDS-208A, the model of the first travel and lifting inverter control unit used is CU320-2PN, and the model of the first fork motor servo driver used is SINAMICSV90. When the stacker uses the first control system to work, the first main controller sends a control command to control the first travel and lifting inverter through the isolation switch. The first travel and lifting inverter first controls the travel motor to move the main frame to the side of the goods to be stacked. When the goods are placed on the cargo platform, the first travel and lifting inverter controls the lifting motor to transport the cargo platform upward and transport the goods to a high place. If the first control system fails, the isolation switch will stop receiving the signal of the first main controller and instead receive the signal of the second main controller, so that the second control system controls the work of the stacker, and at the same time sends the fault signal to the maintenance personnel, so that the maintenance personnel can repair the first control system.

[0010] Preferably, the first control system is connected to the cargo platform via a drag chain cable, an industrial switch is provided in the cargo platform, the industrial switch is connected to the first remote IO module, the switch is also connected to an onboard optical communication module outside the onboard control cabinet, and the onboard optical communication module is connected to the remote control device.

[0011] The present invention can remotely control the stacker through a remote control device, send a command signal through the remote control device, and communicate between the stacker and the remote control device through the on-board optical communication module. The first remote IO module can also add additional functions in the control system. The first control system can be improved according to actual needs, modules can be added through the first remote IO module, and data and signal exchange can be achieved through the industrial switch, so that the overall system can be more flexibly adapted to work in different environments.

[0012] Preferably, the second control system includes a second main controller, the second main controller is connected to the isolation switch, the isolation switch is connected to the second fork motor driver, the isolation switch is also connected to two second motor frequency converters, the two second motor frequency converters are respectively connected to the walking motor and the lifting motor, and the second fork motor driver is connected to the fork servo motor.

[0013] The model of the second main controller of the present invention is FX5U-64MT-DS, the model of the isolation switch used is TL-SG2008 industrial grade, the model of the switch used is EDS-208A, the model of the second motor inverter used is FR-A840-00170-E2-AWH, which are used as the walking inverter and the lifting inverter to control the walking motor and the lifting motor respectively, and the model of the second fork motor servo driver used is MRR-JET-20G, which is used to drive the fork motor. When the stacker uses the second control system to work, the second main controller The controller sends a control command to control the second motor inverter through the isolation switch. The second motor inverter first controls the walking motor to move the main frame to the side of the goods to be stacked. When the goods are placed on the cargo platform, the second motor inverter controls the lifting motor to transport the cargo platform upward and transport the goods to a high place. If the second control system fails, the isolation switch will stop receiving signals from the second main controller and instead receive signals from the first main controller, and control the stacker with the first control system. At the same time, the fault signal will be sent to the maintenance personnel to inspect the second control system.

[0014] Preferably, the second control system is connected to the cargo platform via a drag chain cable, and a second remote IO module is also provided in the cargo platform, and the second remote IO module is connected to the industrial switch.

[0015] The present invention can remotely control the stacker through a remote control device, send a command signal through the remote control device, and communicate between the stacker and the remote control device through the on-board optical communication module. The second remote IO module can also add additional functions in the control system. The second control system can be improved according to actual needs, modules can be added through the second remote IO module, and data and signal exchange can be achieved through the industrial switch, so that the overall system can be more flexibly adapted to work in different environments.

[0016] Preferably, a dual-system switching circuit is also provided in the onboard control cabinet, and the dual-system switching circuit includes a dual-system switching knob SSW1. The dual-system switching knob SSW1 has two switching gears, including a second control system switching gear and a first control system switching gear. The dual-system switching knob SSW1 is respectively connected to the second control system contactor and the first control system contactor.

[0017] The dual-system switching circuit of the present invention is used for seamlessly switching between a first control system and a second control system. After pressing the second control system switching knob SSW1, the second control system power switch KM01 is closed to supply power to the second control system. The second control system power switch KM01 is connected to the terminal block divider. One end of the second control system power switch KM01 is connected to the second control system switching knob SSW1 and the second control system contactor, and the other end is connected to the external power supply cabinet. A molded case main circuit breaker ELCB1 is provided between the external power supply cabinet and the second control system power switch KM01, which is used to control the startup of the entire device; after pressing the first control system switching knob SSW2, the first control system power switch KM00 is closed to supply power to the first control system. The first control system power switch KM00 is connected to the terminal block divider. One end of the first control system power switch KM00 is connected to the first control system switching knob SSW2 and the first control system contactor, and the other end is connected to the external power supply cabinet. A molded case main circuit breaker ELCB1 is provided between the external power supply cabinet and the first control system power switch KM00, which is used to control the startup of the entire device.

[0018] Preferably, the dual system switching circuit also includes a molded case main circuit breaker ELCB1, which is connected to an external power supply cabinet; the second control system contactor includes a second control system power-on contactor KM01, next to which a second travel motor contactor KM10 and a second lifting motor contactor KM11 are arranged in parallel; the first control system contactor includes a first control system power-on contactor KM00, next to which a travel motor contactor KM12 and a first lifting motor contactor KM13 are arranged in parallel; and each contactor is respectively connected to a corresponding motor.

[0019] When the present invention switches to the second control system, the system is powered on through the second control system power switch KM01 contactor, and the second control system power-on contactor KM01 is triggered, the second travel motor contactor KM10 and the second lifting motor contactor KM11 are powered on, the second control system power-on contactor KM01 is used to control the power-on of the second main controller, the second travel motor contactor KM10 is used to control the power-on of a second motor frequency converter, and this second motor frequency converter controls the travel motor to power on, so that it works, and the second lifting motor contactor KM11 is used to control the power-on of another second motor frequency converter, and this second motor frequency converter The device controls the lifting motor to power on so that it can work; when the present invention switches to the first control system, the system is powered on through the first control system power switch KM00 contactor, and triggers the first travel motor contactor KM12, the first lifting motor contactor KM13, and the first control system power-on contactor KM00 to power on. The first travel motor contactor KM12 and the first lifting motor contactor KM13 are used to control the first travel and lifting frequency converter to power on. The first travel and lifting frequency converter is used to control the travel motor and the lifting motor to power on so that they can work. The first control system power-on contactor KM00 is used to control the first main controller to power on.

[0020] Preferably, a pulley is provided above the main frame, a safety rope is wound around the pulley, the safety rope is connected to the speed limiter, a telescopic mechanism is provided next to the speed limiter, and the telescopic mechanism is connected to the limiting mechanism.

[0021] The safety rope of the present invention is connected with the speed limiter, and when the speed is exceeded, a brake will be triggered to prevent the unstable falling of the goods due to excessive speed during transportation.

[0022] Preferably, a sliding mechanism is provided under the cargo platform, and the sliding mechanism is arranged on a guide rail.

[0023] The present invention uses a walking motor to make the main body frame arranged on the guide rail slide freely on the guide rail. When the goods need to be transported, the staff puts the goods on the loading platform. The loading platform is provided with a fork servo motor. A limiting mechanism and a telescopic mechanism are provided next to the loading platform. A sliding mechanism is provided under the loading platform to cooperate with the guide rail and to slide on the guide rail. After the limiting mechanism is placed on the loading platform, the telescopic mechanism will be telescoped to extend the limiting mechanism to the side of the goods, so that the goods can be stably placed on the loading platform to prevent the goods from falling during transportation. When the goods are stably placed on the loading platform, the lifting motor works. The safety rope arranged next to the limiting mechanism and the lifting roller arranged on the inner side of the main frame work. The lifting roller is installed in the slide rails inside the left and right sides of the main frame and transports the cargo platform upward by rolling. At the same time, the safety rope is connected to the pulley on the top of the main frame, and the pulley is connected to the rotating motor. The rotating motor drives the pulley to rotate, and then drives the safety rope to transport the cargo platform upward. At the same time, the cargo platform is also provided with a speed limiter to prevent the lifting speed from being too fast, resulting in unstable transportation and falling of the cargo. After the cargo is transported to a high place, the fork servo motor adds the cargo and takes it out from the cargo platform and stacks the cargo together.

[0024] The beneficial effects of the present invention are as follows: 1. Because the stacker servo motor and the control system are bound together, replacing the servo motor requires replacing the control system, so a stacker with a dual control system is proposed, which allows testing and comparison of two servo motors on the same stacker to obtain the optimal solution.

[0025] 2. The present invention proposes a stacker with a dual control system to realize the test because Japanese and German sensor devices are adapted to different communication buses and cannot be tested simultaneously on one stacker.

[0026] 3. Because the stacker may fail during operation, the present invention proposes a dual control system for certain storage systems with high stability requirements. When one system fails, it can be switched with one button and the second control system can be used to continue the task. It can not only adapt to servo motors of various brands, but also various sensor devices with multiple communication protocols. When one system fails, it can be switched with one button and the second control system can be used to continue the task, which will not affect the production progress and improve fault tolerance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the overall structure diagram of the present invention;

[0028] Figure 2 It is a top partial enlarged view of the present invention;

[0029] Figure 3 This is a partial enlarged view of the fork servo motor of the present invention;

[0030] Figure 4 This is a partial enlarged view of the vicinity of the travel motor of the present invention;

[0031] Figure 5 This is a schematic diagram of the internal integrated structure of the onboard control cabinet of the present invention;

[0032] Figure 6 This is a schematic diagram of a first control system of the present invention;

[0033] Figure 7 is a schematic diagram of a second control system of the present invention;

[0034] Figure 8 It is a partial circuit diagram of the dual system switching circuit of the present invention;

[0035] Fig. 9 It is another circuit diagram of the dual system switching circuit of the present invention;

[0036] In the figure: 1-guide rail; 1-1-first control system; 1-2-second control system; 1-3-first control system operation panel; 1-4-second control system operation panel; 2-travel motor; 3-lifting motor; 4-main frame; 5-onboard control cabinet; 501-first main controller; 502-isolation switch; 503-first fork motor servo driver; 504-first lifting frequency conversion control unit; 505-switch; 506-industrial switch; 507-first remote IO module; 5 08-on-board optical communication module; 509-remote control device; 510-second main controller; 511-second remote IO module; 512-second fork motor driver; 513-second motor inverter; 6-cargo; 7-fork servo motor; 8-cargo platform; 9-sliding mechanism; 10-telescopic mechanism; 11-limiting mechanism; 12-roller; 13-lifting roller; 14-safety rope; 15-speed limiter; 16-pulley; 17-slide rail; 18-rotating motor; 19-control cabinet placement table. DETAILED DESCRIPTION

[0037] The specific implementation of the technical solution of the present invention is further described below through examples and in conjunction with the accompanying drawings.

[0038] Embodiment 1:

[0039] See also Figure 1 An embodiment of the present invention provides a stacker, including a guide rail 1, a main frame 4 is provided on the guide rail 1, a lifting motor 3 is provided on one side of the main frame 4, a walking motor 2 is provided under the lifting motor 3, an on-board control cabinet 5 is provided on the other side of the main frame 4, two control systems are provided in the on-board control cabinet 5, and the two control systems can be switched freely, a cargo platform 8 is provided in the middle of the main frame 4, and the cargo platform 8 is connected to the fork servo motor 7.

[0040] See also Figure 2 A pulley 16 is provided above the main frame 4, a safety rope 14 is wound around the pulley 16, the safety rope 14 is connected to a speed limiter 15, a telescopic mechanism 10 is provided next to the speed limiter 15, and the telescopic mechanism 10 is connected to a limit mechanism 11. The safety rope 14 of the present invention is linked to the speed limiter 15, and a brake is triggered when the speed is exceeded to prevent the unstable falling of the goods due to excessive speed, thereby improving the safety and stability of the stacker when transporting goods.

[0041] See also Figure 3 A sliding mechanism 9 is provided under the cargo platform 8 , and the sliding mechanism 9 is arranged on the guide rail 1 .

[0042] See also Figure 1 and Figure 4 The present invention uses a walking motor 2 to make a main frame 4 arranged on a guide rail 1 slide freely on the guide rail 1. When goods need to be transported, the staff places the goods on the cargo platform 8. The cargo platform 8 is provided with a fork servo motor 7. A limiting mechanism 11 and a telescopic mechanism 10 are provided next to the cargo platform 8. A sliding mechanism 9 is provided below the cargo platform 8 to cooperate with the guide rail 1 and to slide on the guide rail 1. After the goods are placed on the cargo platform 8, the telescopic mechanism 10 will be telescoped to extend the limiting mechanism 11 to the side of the goods, so that the goods can be stably placed on the cargo platform 8 to prevent the goods from falling during transportation. When the goods are stably placed on the cargo platform 8, the lifting motor 3 works and is arranged at The safety rope 14 next to the limiting mechanism 11 and the lifting roller 13 arranged on the inner side of the main frame 4 are working. The lifting roller 13 is installed in the slide rail 17 inside the left and right sides of the main frame 4 and transports the cargo platform 8 upward by rolling. At the same time, the safety rope 14 is connected to the pulley 16 at the top of the main frame 4, and the pulley 16 is connected to the rotating motor 18. The rotating motor 18 drives the pulley 16 to rotate, and then drives the safety rope 14 to transport the cargo platform 8 to the top. At the same time, the cargo platform 8 is also provided with a speed limiter 15 to prevent the lifting speed from being too fast, resulting in unstable transportation of goods and falling. After the goods are transported to a high place, the fork servo motor 7 adds the goods and takes them out from the cargo platform 8 to stack the goods together.

[0043] The physical composition of the technical solution of the present invention is: a stacker, an on-board control cabinet 5, the cabinet has a front and a back side, each side is equipped with a control system, the two control systems respectively include a controller of a first brand and a second brand, a frequency converter and other electrical components, the on-board control cabinet 5 has a front and a back mounting plate, each mounting plate is equipped with a set of control systems, an isolation frequency converter is arranged between the two control systems to connect the two control systems, and a dual-system switching circuit is also designed. When switching to a certain system, the system is alternately powered on through the two contactors KM00 and KM01, and triggers the two groups of motor contactors "KM01KM10 KM11", and "KM12 KM13 KM00", so that the motor of the corresponding control system is powered on, so as to control the corresponding motor to operate. When a system fails, it can be immediately switched to another control system to continue to complete the stacking work, which effectively improves the fault tolerance of the stacking work and also improves the work efficiency of the stacking.

[0044] See also Figure 5 The on-board control cabinet 5 is arranged on a control cabinet placement platform 19. The on-board control cabinet 5 has two sides, front and back, with a control system installed on each side. The two control systems include a first control system and a second control system.

[0045] The present invention provides two control systems to independently control the operation of the stacker, and integrates the two control systems in the on-board control cabinet 5. The on-board control cabinet 5 is installed by allocating the internal space of the on-board control cabinet 5. When the stacker is running, if a sudden fault occurs, the other control system can be switched in time. The staff can repair the other faulty control system when the stacker is working normally, and the project stagnation caused by the control system failure is avoided to the greatest extent without affecting the operation of the stacker.

[0046] See also Figure 6 The first control system includes a first main controller 501, which is connected to an isolation switch 502. The isolation switch 502 isolates the first control system from the second control system. The isolation switch 502 is connected to a switch 505 and a first walking and lifting inverter control unit. The first walking and lifting inverter control unit is connected to a walking motor 2, a lifting motor 3 and a first fork motor servo driver 503. The first fork motor servo driver 503 is connected to a fork servo motor 7.

[0047] The model of the first main controller 501 of the present invention is 1512SP-1PN, the model of the isolation switch 502 used is TL-SG2008 industrial grade, the model of the switch 505 used is EDS-208A, the model of the first walking and lifting inverter control unit used is CU320-2PN, and the model of the first fork motor servo driver 503 used is SINAMICSV90. When the stacker uses the first control system to work, the first main controller 501 sends a control command to control the first walking and lifting inverter through the isolation switch 502. The first travel and lifting inverter first controls the travel motor 2 to move the main frame 4 to the side of the goods to be stacked. When the goods are placed on the cargo platform 8, the first travel and lifting inverter controls the lifting motor 3 to transport the cargo platform 8 upwards, and transports the goods to a high place. If the first control system fails, the isolation switch 502 will stop receiving the signal from the first main controller 501, and instead receive the signal from the second main controller 510, and control the operation of the stacker with the second control system, and at the same time send a fault signal to the maintenance personnel, so that the maintenance personnel can inspect the first control system.

[0048] The first control system is connected to the cargo platform 8 via a drag chain cable. An industrial switch 506 is provided inside the cargo platform 8. The industrial switch 506 is connected to the first remote IO module 507. The switch 505 is also connected to an onboard optical communication module 508 outside the onboard control cabinet 5. The onboard optical communication module 508 is connected to a remote control device 509.

[0049] The present invention can remotely control the stacker through the remote control device 509, send command signals through the remote control device 509, and communicate between the stacker and the remote control device through the on-board optical communication module 508. The first remote IO module 507 can also add additional functions in the control system. The first control system can be improved according to actual needs. Modules can be added through the first remote IO module 507, and data and signal exchange can be achieved through the industrial switch 506, so that the overall system can be more flexibly adapted to work in different environments.

[0050] See also Figure 7 The second control system includes a second main controller 510, which is connected to the isolation switch 502, which is connected to the second fork motor driver 512. The isolation switch 502 is also connected to two second motor inverters 513, which are respectively connected to the walking motor 2 and the lifting motor 3, and the second fork motor driver 512 is connected to the fork servo motor 7.

[0051] The model of the second main controller 510 of the present invention is FX5U-64MT-DS, the model of the isolation switch 502 used is TL-SG2008 industrial grade, the model of the switch 505 used is EDS-208A, the model of the second motor inverter 513 used is FR-A840-00170-E2-AWH, which are used as the travel inverter and the lifting inverter to control the travel motor 2 and the lifting motor 3 respectively, and the model of the second fork motor servo driver used is MRR-JET-20G, which is used to drive the fork motor. When the stacker uses the second control system to work, the second main controller 510 sends a control signal. The control command controls the second motor inverter 513 through the isolation switch 502. The second motor inverter 513 first controls the walking motor 2 to move the main frame 4 to the side of the goods to be stacked. When the goods are placed on the cargo platform 8, the second motor inverter 513 controls the lifting motor 3 to transport the cargo platform 8 upwards, and transports the goods to a high place. If the second control system fails, the isolation switch 502 will stop receiving the signal from the second main controller 510, and instead receive the signal from the first main controller 501, so as to control the operation of the stacker with the first control system, and at the same time send the fault signal to the maintenance personnel, so that the maintenance personnel can inspect and repair the second control system.

[0052] The second control system is connected to the cargo platform 8 via a drag chain cable. The cargo platform 8 is also provided with a second remote IO module 511 , and the second remote IO module 511 is connected to the industrial switch 506 .

[0053] The present invention can remotely control the stacker through the remote control device 509, send command signals through the remote control device 509, and communicate between the stacker and the remote control device through the on-board optical communication module 508. The second remote IO module 511 can also add additional functions in the control system. The second control system can be improved according to actual needs. Modules can be added through the second remote IO module 511, and data and signal exchange can be achieved through the industrial switch 506, so that the overall system can be more flexibly adapted to work in different environments.

[0054] See also Figure 8 and Fig. 9 A dual-system switching circuit is also provided in the onboard control cabinet 5, and the dual-system switching circuit includes a dual-system switching knob SSW1. The dual-system switching knob SSW1 has two switching gears, including a second control system switching gear and a first control system switching gear. The dual-system switching knob SSW1 is respectively connected to the second control system contactor and the first control system contactor.

[0055] The dual-system switching circuit of the present invention is used for seamlessly switching between a first control system and a second control system. After the dual-system switching knob SSW1 is adjusted to the switching gear of the second control system, the power switch KM01 of the second control system is closed to supply power to the second control system. The power switch KM01 of the second control system is connected to the terminal block divider. One end of the power switch KM01 of the second control system is connected to the switching gear of the second control system and the contactor of the second control system, and the other end is connected to the external power supply cabinet. A molded case main circuit breaker ELCB1 is provided between the external power supply cabinet and the power switch KM01 of the second control system for controlling the startup of the entire device. After the dual-system switching knob SSW1 is adjusted to the switching gear of the first control system, the power switch KM00 of the first control system is closed to supply power to the first control system. The power switch KM00 of the first control system is connected to the terminal block divider. One end of the power switch KM00 of the first control system is connected to the switching gear of the first control system and the contactor of the first control system, and the other end is connected to the external power supply cabinet. A molded case main circuit breaker ELCB1 is provided between the external power supply cabinet and the power switch KM00 of the first control system for controlling the startup of the entire device.

[0056] The dual system switching circuit also includes a molded case main circuit breaker ELCB1, which is connected to an external power supply cabinet. The second control system contactor includes a second control system power-on contactor KM01, a second travel motor contactor KM10 and a second lifting motor contactor KM11. The first control system contactor includes a first travel motor contactor KM12, a first lifting motor contactor KM13, and a first control system power-on contactor KM00. Each contactor is connected to a corresponding motor respectively.

[0057] When the present invention switches to the second control system, the system is powered on through the second control system power switch KM01 contactor, and the second control system power-on contactor KM01 is triggered, the second travel motor contactor KM10 and the second lifting motor contactor KM11 are powered on, the second control system power-on contactor KM01 is used to control the power-on of the second main controller 510, the second travel motor contactor KM10 is used to control the power-on of a second motor inverter 513, this second motor inverter 513 controls the travel motor 2 to power on, so that it works, the second lifting motor contactor KM11 is used to control the power-on of another second motor inverter 513, this second motor The frequency converter 513 controls the power-on of the lifting motor 3 to make it work; when the present invention switches to the first control system, the system is powered on through the first control system power switch KM00 contactor, and triggers the first travel motor contactor KM12, the first lifting motor contactor KM13, and the first control system power-on contactor KM00 to power on. The first travel motor contactor KM12 and the first lifting motor contactor KM13 are used to control the power-on of the first travel and lifting frequency converter. The first travel and lifting frequency converter is used to control the power-on of the travel motor 2 and the lifting motor 3 to make them work. The first control system power-on contactor KM00 is used to control the power-on of the first main controller 501.

[0058] Embodiment 2:

[0059] The present invention is explained by the specific working process of the stacker when working under the first control system. The stacker of the present invention is equipped with a dual control system, one is the first control system, and the other is the second control system. The specific components include a guide rail 1, a main frame 4 is provided on the guide rail 1, a lifting motor 3 is provided on one side of the main frame 4, a travel motor 2 is provided below the lifting motor 3, and an on-board control cabinet 5 is provided on the other side of the main frame 4. Two sets of control systems are provided in the on-board control cabinet 5, and the two sets of control systems can be switched freely. A cargo platform 8 is provided in the middle of the main frame 4, and the cargo platform 8 is connected to the fork servo motor 7. The first control system includes a first main controller 501, the first main controller 501 is connected to an isolation switch 502, and the isolation switch 502 isolates the first control system from the second control system. The isolation switch 502 is connected to the switch 505 and the first travel and lifting inverter control unit, and the first travel and lifting inverter control unit is connected to the travel motor 2, the lifting motor 3 and the first fork motor servo driver 503, and the first fork motor servo driver 503 is connected to the fork servo motor 7.

[0060] The model used by the first main controller 501 is 1512SP-1PN, the model used by the isolation switch 502 is TL-SG2008 industrial grade, the model used by the switch 505 is EDS-208A, the model used by the first travel and lifting inverter control unit is CU320-2PN, and the model used by the first fork motor servo driver 503 is SINAMICSV90. When the stacker uses the first control system to work, the first main controller 501 sends a control command to control the first travel and lifting inverter through the isolation switch 502. The first travel and lifting inverter first controls the travel motor 2 to move the main frame 4 to the side of the goods to be stacked. After the goods are placed on the cargo platform 8, the first travel and lifting inverter controls the lifting motor 3 to transport the cargo platform 8 upward, thereby transporting the goods to a higher place.

[0061] A pulley 16 is provided above the main frame 4, a safety rope 14 is wound around the pulley 16, the safety rope 14 is connected to a speed limiter 15, a telescopic mechanism 10 is provided next to the speed limiter 15, and the telescopic mechanism 10 is connected to a limiting mechanism 11. The safety rope 14 of the present invention is linked to the speed limiter 15, and a brake is triggered when the speed is exceeded to prevent the unstable falling of the goods due to excessive speed, thereby improving the safety and stability of the stacker when transporting goods.

[0062] A sliding mechanism 9 is provided below the cargo platform 8 , and the sliding mechanism 9 is arranged on the guide rail 1 .

[0063] The main frame 4 set on the guide rail 1 is freely slid on the guide rail 1 by the walking motor 2. When the goods need to be transported, the staff places the goods on the cargo platform 8. The cargo platform 8 is provided with a fork servo motor 7. A limit mechanism 11 and a telescopic mechanism 10 are provided next to the cargo platform 8. A sliding mechanism 9 is provided under the cargo platform 8 to cooperate with the guide rail 1 for sliding on the guide rail 1. After the goods are placed on the cargo platform 8, the telescopic mechanism 10 will be telescoped to extend the limit mechanism 11 to the side of the goods, so that the goods can be stably placed on the cargo platform 8 to prevent the goods from falling during transportation. When the goods are stably placed on the cargo platform 8, the lifting motor 3 works and the limit mechanism 11 is set to the limit mechanism 11. The safety rope 14 next to the mechanism 11 and the lifting roller 13 arranged on the inner side of the main frame 4 are working. The lifting roller 13 is installed in the slide rail 17 inside the left and right sides of the main frame 4 and transports the cargo platform 8 upward by rolling. At the same time, the safety rope 14 is connected to the pulley 16 at the top of the main frame 4, and the pulley 16 is connected to the rotating motor 18. The rotating motor 18 drives the pulley 16 to rotate, and then drives the safety rope 14 to transport the cargo platform 8 to the top. At the same time, the cargo platform 8 is also provided with a speed limiter 15 to prevent the lifting speed from being too fast, resulting in unstable transportation of goods and falling. After the goods are transported to a high place, the fork servo motor 7 adds the goods and takes them out from the cargo platform 8 to stack the goods together.

[0064] It can be concluded from the above embodiments that, because the stacker servo motor and the control system are bound together, the control system must be replaced when the servo motor is replaced. Therefore, a stacker with a dual control system is proposed, which allows testing and comparison of two servo motors on the same stacker to obtain the optimal solution.

[0065] Because the communication buses adapted by Japanese and German sensor devices are different and cannot be tested simultaneously on one stacker, the present invention proposes a stacker with a dual control system to achieve this.

[0066] Because the stacker may fail during operation, the present invention proposes a dual control system for certain warehousing systems with high stability requirements. When one system fails, it can be switched with one button and the second control system can be used to continue the task. It can not only adapt to servo motors of various brands, but also various sensor devices with multiple communication protocols. When one system fails, it can be switched with one button and the second control system can be used to continue the task, which will not affect the production progress and improve fault tolerance.

[0067] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A stacker, characterized in that: The invention comprises a guide rail (1), wherein a main frame (4) is provided on the guide rail (1), a lifting motor (3) is provided on one side of the main frame (4), a travel motor (2) is provided below the lifting motor (3), and an onboard control cabinet (5) is provided on the other side of the main frame (4). The onboard control cabinet (5) has a front side and a back side, and is provided with two control systems, including a first control system (1-1) and a second control system (1-2), and the two control systems can be switched freely; an isolation switch (502) isolates the first control system and the second control system, the isolation switch is connected to a first travel and lifting frequency converter control unit, and the first travel and lifting frequency converter control unit is connected to a first fork motor servo driver; the isolation switch is also connected to a second fork motor driver and two second motor frequency converters; a cargo platform (8) is provided in the middle of the main frame (4), and the cargo platform (8) is connected to a fork servo motor (7); the first control system and the second control system are respectively connected to the cargo platform via a drag chain cable.

2. A stacker according to claim 1, characterized in that: The onboard control cabinet (5) is arranged on a control cabinet placement table (19), and the onboard control cabinet (5) has a front side and a back side, with a control system installed on each side, and the two control systems include a first control system (1-1) and a second control system (1-2).

3. A stacker according to claim 2, characterized in that: The first control system comprises a first main controller (501), the first main controller (501) is connected to an isolation switch (502), the isolation switch (502) isolates the first control system from the second control system, the isolation switch (502) is connected to a switch (505) and a first travel and hoisting frequency converter control unit (504), the first travel and hoisting frequency converter control unit (504) is connected to a travel motor (2), a hoisting motor (3) and a first fork motor servo driver (503), and the first fork motor servo driver (503) is connected to a fork servo motor (7).

4. A stacker according to claim 3, characterized in that: The first control system is connected to the cargo platform (8) via a drag chain cable, an industrial switch (506) is provided inside the cargo platform (8), the industrial switch (506) is connected to a first remote IO module (507), the switch (505) is also connected to an onboard optical communication module (508) outside the onboard control cabinet (5), and the onboard optical communication module (508) is connected to a remote control device (509).

5. A stacker according to claim 2, characterized in that: The second control system comprises a second main controller (510), the second main controller (510) being connected to an isolation switch (502), the isolation switch (502) being connected to a second fork motor driver (512), the isolation switch (502) being further connected to two second motor frequency converters (513), the two second motor frequency converters (513) being respectively connected to a travel motor (2) and a lifting motor (3), and the second fork motor driver (512) being connected to a fork servo motor (7).

6. A stacker according to claim 3, characterized in that: The second control system is connected to the cargo platform (8) via a drag chain cable. The cargo platform (8) is also provided with a second remote IO module (511), and the second remote IO module (511) is connected to the industrial switch (506).

7. A stacker according to claim 1 or 2, characterized in that: The onboard control cabinet (5) is also provided with a dual-system switching circuit, the dual-system switching circuit comprising a dual-system switching knob SSW1, the dual-system switching knob SSW1 being provided with two switching gears, comprising a second system switching gear and a first system switching gear, the dual-system switching knob SSW1 being connected to the second system contactor and the first system contactor respectively.

8. A stacker according to claim 7, characterized in that: The dual-system switching circuit also includes a molded case main circuit breaker ELCB1, which is connected to an external power supply cabinet. The second system contactor includes a second system power-on contactor KM01, and a second travel motor contactor KM10 and a second lifting motor contactor KM11 are arranged in parallel next to the second system power-on contactor KM01. The first system contactor includes a first system power-on contactor KM00, and a travel motor contactor KM12 and a first lifting motor contactor KM13 are arranged in parallel next to the first system power-on contactor KM00. Each contactor is connected to a corresponding motor respectively.

9. The stacker according to claim 1, characterized in that: A pulley (16) is provided above the main frame (4), a safety rope (14) is wound around the pulley (16), the safety rope (14) is connected to a speed limiter (15), a telescopic mechanism (10) is provided next to the speed limiter (15), and the telescopic mechanism (10) is connected to a limit mechanism (11).

10. A stacker according to claim 1, 4 or 6, characterized in that: A sliding mechanism (9) is provided below the cargo platform (8), and the sliding mechanism (9) is arranged on the guide rail (1).

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