A follow-up anti-sway system based on a high-rise stacker crane cable chain and its working method.

Abstract

This invention relates to a following anti-sway system and its working method based on a cable chain of an ultra-high stacker crane, belonging to the technical field of automated intelligent warehousing equipment. One end of the cable chain is connected to a fixed end bracket fixed to a column, and the other end of the cable chain passes through a following anti-sway unit and connects to a moving end bracket, which is fixed to a loading platform moving vertically. The following anti-sway unit is suspended on a support member, which bears its weight. The following anti-sway unit is also matched with a continuously adjustable track in the vertical direction, and follows the cable chain along the length of the continuously adjustable track. One end of the support member is connected to the fixed end bracket fixed to the column, and the other end, after suspending the following anti-sway unit, connects to the moving end bracket. A force sensor is installed at the contact end between the support member and the moving end bracket. This invention solves the problem of swaying and torsion of the cable chain during operation of an ultra-high stacker crane.

Description

Technical Field

[0001] This invention relates to the field of automated intelligent warehousing equipment technology, and in particular to a following anti-sway system based on a high-profile stacker crane cable chain and its working method. Background Technology

[0002] In the operation of automated intelligent warehouses, stacker cranes play a crucial role, responsible for efficiently and accurately completing the storage and retrieval of goods. To ensure the continuous and stable operation of stacker cranes, the stability and security of their power supply system are paramount.

[0003] Currently, stacker cranes still require cables for power supply during cargo storage and retrieval operations. To prevent cables from being dragged or tangled, and to ensure smooth equipment operation, vertical cable chains are typically used for centralized cable securing. There are generally two methods for securing cable chains on existing stacker cranes: the first is a unidirectional cable chain securing groove, suitable for stacker cranes with lower heights and shorter cable chain strokes; the second is a bidirectional cable chain securing groove, suitable for stacker cranes with higher heights and longer cable chain strokes. However, the straightness of bidirectional cable chain securing grooves is difficult to guarantee during processing and installation. The connection points between guide grooves are prone to scratching the cable chain, and the entire long-stroke cable chain guide groove can easily cause interference with the cable chain during actual stacker crane operation due to processing and installation errors, leading to cable chain damage.

[0004] Furthermore, the impact between the cable chain and the guide groove during the swinging process can also cause damage and deformation to the cable chain. For ultra-high stacker cranes that are tens of meters tall, the swinging amplitude of the cable chain is even more violent, and the impact force is also greater. Prolonged impacts will not only reduce the service life of the cable chain, but may also affect the overall stability of the stacker crane.

[0005] Therefore, it is urgent to develop a follow-up anti-sway system based on ultra-high stacker crane cable chain and its working method. Summary of the Invention

[0006] In response to the shortcomings of the existing production technology, the applicant provides a following anti-sway system based on the cable chain of an ultra-high stacker crane and its working method, thereby solving the swaying problem of the lifting cable chain during operation of the ultra-high stacker crane. At the same time, it can also solve the problem of mechanical damage to the cable chain guide groove caused by the swaying cable chain affecting its normal service life and the problem of not being able to detect the jamming of the cable chain during operation in a timely manner.

[0007] The technical solution adopted in this invention is as follows: A following anti-sway system based on a high-profile stacker crane cable chain includes a cable chain, one end of which is connected to a fixed end bracket fixed on a column, and the other end of which passes through a following anti-sway unit and is connected to a movable end bracket, which is fixed on a loading platform that moves vertically; the following anti-sway unit is suspended on a support member and its weight is supported by the support member; the following anti-sway unit is also matched with a stepless adjustable track in the vertical direction, and the following anti-sway unit and the stepless adjustable track are engaged and cooperated, and the following anti-sway unit follows the cable chain along the length of the stepless adjustable track; one end of the support member is connected to the fixed end bracket fixed on a column, and the other end of the support member is connected to the movable end bracket after suspending the following anti-sway unit around it; a force sensor is also provided on the contact end between the support member and the movable end bracket.

[0008] As a further improvement to the above technical solution:

[0009] Preferably, the structure of the stepless adjustment track is as follows: it includes guide rails symmetrically arranged on both sides, which are fixedly connected to each other by connectors; the guide rail on one side includes a track plane in the middle and side track surfaces on both sides, and the stepless adjustment track is assembled with the column through connectors; both side track surfaces are provided with an inwardly inclined progressive deflection angle.

[0010] Preferably, the structure of the cable chain following anti-sway unit is as follows: it includes a first end plate and a second end plate, which are symmetrically arranged and connected by a cable chain limiting rod; a first guide wheel assembly and a second guide wheel assembly are arranged sequentially at intervals along the vertical direction on the outer side of the first end plate; a cable chain guide pulley is provided between the inner side of the first end plate and the inner side of the second end plate; a support member limiting pulley is also provided on the inner side of the first end plate and the second end plate, and the support member limiting pulley is located above the cable chain guide pulley; a counterweight is hung at the bottom position between the first end plate and the second end plate.

[0011] Preferably, the drag chain guide pulley has an "I" shaped structure, and the outer side wall of the drag chain guide pulley and the contact ends of the first end plate and the second end plate are provided with support member bypass guide grooves.

[0012] Preferably, the structure of the first guide wheel assembly is as follows: it includes a first mounting base that is assembled with the surface of the first end plate, and a first guide wheel body is mounted on the first mounting base; the first guide wheel body is vertically arranged, and the arc surface of the first guide wheel body abuts against the side rail surfaces on both sides of the stepless adjustment rail.

[0013] Preferably, the structure of the second guide wheel assembly is as follows: it includes a second mounting base that is assembled with the surface of the first end plate, and a second guide wheel body is mounted on the second mounting base; the second guide wheel body is arranged laterally, and the arc surface of the second guide wheel body abuts against the track plane in the middle of the continuously adjustable track.

[0014] Preferably, the structure of the support component surrounding the cable chain anti-sway unit is as follows: one end of the support component is fixed on the fixed end bracket, and the other end of the support component passes through the support component limiting pulley and the support component bypass guide groove on one side in sequence, and then passes through the support component limiting pulley on the other side and finally passes through the force sensor and is fixedly connected to the moving end bracket.

[0015] Preferably, the structure of the support member limiting pulley is as follows: it includes an assembly shaft for bolt assembly, and the support member limiting wheel body is fixed at the end of the assembly shaft.

[0016] Preferably, the support member has a steel wire rope structure, a timing belt structure, or a chain structure.

[0017] A method for operating a following anti-sway system based on a high-profile stacker crane cable chain includes the following steps:

[0018] Step 1: Adjust the inward progressive deflection angle of the continuously variable track on both sides of the track surface according to the running points of the first guide wheel assembly and the second guide wheel assembly.

[0019] Step 2: Match and abut against the first guide wheel assembly and the second guide wheel assembly of the cable chain following anti-sway unit with the track surface of the continuously adjustable track, respectively;

[0020] Step 3: One end of the support is fixed to the fixed end bracket. The other end of the support passes through the support limiting pulley on one side and the support passing through the guide groove, and then passes through the support limiting pulley on the other side. Finally, it is fixedly connected to the moving end bracket through the force sensor. At this time, the weight of the entire cable chain following anti-sway unit is borne by the support.

[0021] Step 4: One end of the cable chain is connected to the fixed end bracket fixed on the column. After the cable chain passes through the cable chain limit rod and the cable chain guide pulley in sequence, the other end of the cable chain is fixedly connected to the moving end bracket.

[0022] Step 5: When the cable chain moves vertically with the loading platform, the cable chain anti-sway unit moves along with it. The cable chain is limited by the cable chain limit rod, the cable chain guide pulley, and the first and second end plates to achieve anti-sway and anti-torsion effects.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention features a compact structure and convenient operation. The cable chain following anti-sway unit limits and follows the cable chain, with the entire device moving along with the chain throughout its movement via the limiting rod and guide pulley. Guided by the track, the swaying of the cable chain is controlled, preventing twisting and providing excellent anti-sway performance, significantly extending the cable chain's lifespan and operational stability. Furthermore, the cable chain following anti-sway unit and the continuously adjustable track utilize rolling guide wheels, ensuring smooth operation and minimizing on-site installation requirements.

[0025] The present invention also has the following advantages:

[0026] (1) In this invention, the support member passes through the guide groove of the support member limiting pulley and the guide pulley in sequence, so that the weight of the entire device is supported by the support member and the cable chain does not bear the weight, and there will be no damage to the cable chain due to the pressure of the device's own weight.

[0027] (2) The present invention also provides a force sensor on the contact end between the support and the mobile end bracket. The change of the force sensor value can provide real-time feedback on the smoothness of the drag chain during operation. Abnormal data changes indicate that the drag chain is jammed, which can be fed back in time and the machine can be stopped for inspection. This solves the problem that the existing stacker crane drag chain jamming cannot be detected in time, which leads to drag chain damage.

[0028] (3) The stepless adjustable track of the present invention is assembled between the connector and the column, and the whole assembly and disassembly are convenient. The track can be adjusted or directly disassembled and replaced according to the working conditions and data of different stacker cranes, which is convenient and quick. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall system structure of the present invention.

[0030] Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle.

[0031] Figure 3 This is a schematic diagram of the structure of the cable chain following anti-sway unit of the present invention.

[0032] Figure 4 for Figure 3 Side view.

[0033] Figure 5 This is a front view of the stepless adjustment track of the present invention.

[0034] Figure 6 for Figure 5 Top view.

[0035] Figure 7This is a schematic diagram showing the cooperation between the cable chain following anti-sway unit and the continuously adjustable track in this invention.

[0036] Figure 8 This is a schematic diagram showing the cooperation between the cable chain following anti-sway unit and the support component in this invention.

[0037] Figure 9 This is a schematic diagram of the drag chain guide pulley assembly in this invention.

[0038] Figure 10 for Figure 9 Enlarged structural diagram at point B.

[0039] Figure 11 This is a schematic diagram of the structure of the first guide wheel assembly in this invention.

[0040] Figure 12 This is a schematic diagram of the structure of the second guide wheel assembly in this invention.

[0041] Figure 13 This is a schematic diagram of the steel wire rope limiting pulley in this invention.

[0042] The components include: 1. Column; 2. Fixed end bracket; 3. Steplessly adjustable track; 4. Cable chain following anti-sway unit; 5. Cable chain; 6. Cargo platform; 7. Support component; 8. Force sensor; 9. Moving end bracket.

[0043] 31. Guide rail; 32. Connecting parts;

[0044] 41. First end plate; 42. Second end plate; 43. Cable chain limiting rod; 44. First guide wheel assembly; 45. Second guide wheel assembly; 46. Support member limiting pulley; 47. Cable chain guide pulley; 48. Counterweight; 49. Support member bypass guide groove;

[0045] 441. First mounting base; 442. First guide wheel body;

[0046] 451. Second mounting base; 452. Second guide wheel body;

[0047] 461. Assembly shaft; 462. Support component limiting wheel body. Detailed Implementation

[0048] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0049] like Figures 1 to 13As shown, the anti-sway system based on the cable chain of an ultra-high stacker crane in this embodiment includes a cable chain 5. One end of the cable chain 5 is connected to a fixed end bracket 2 fixed on a column 1, and the other end of the cable chain 5 passes through a cable chain anti-sway unit 4 and is connected to a movable end bracket 9. The movable end bracket 9 is fixed on a loading platform 6 that moves vertically. The cable chain anti-sway unit 4 is suspended on a support member 7, and the weight of the cable chain anti-sway unit 4 is supported by the support member 7. 4. A continuously adjustable track 3 is matched in the vertical direction. The drag chain following anti-sway unit 4 is engaged with the continuously adjustable track 3. The drag chain following anti-sway unit 4 follows the drag chain 5 along the length direction of the continuously adjustable track 3. One end of the support 7 is connected to the fixed end bracket 2 fixed on the column 1. The other end of the support 7 is connected to the moving end bracket 9 after the drag chain following anti-sway unit 4 is suspended around it. A force sensor 8 is also provided on the contact end of the support 7 and the moving end bracket 9.

[0050] In this embodiment, as Figures 5-6 As shown, the structure of the stepless adjustment track 3 is as follows: it includes guide rails 31 symmetrically arranged on both sides, and the guide rails 31 on both sides are fixedly connected by connectors 32; each guide rail 31 includes a track plane in the middle and side track surfaces on both sides, and the side track surfaces on both sides are provided with an inwardly inclined progressive deflection angle; the stepless adjustment track 3 is assembled with the column 1 through the connectors 31; for example, as Figure 6 As shown, the continuously adjustable track 3 can modify the progressive deflection angle N° of the track. Based on the stacker crane's lifting stroke data, horizontal speed data, acceleration data, vertical lifting speed data, and acceleration data provided by the manufacturer, the manufacturer can analyze the cable chain oscillation and obtain the theoretical clearance using the above data; Figure 6 In the diagram, L represents the guide wheel running point corresponding to the theoretical clearance, L1 represents the guide wheel running point corresponding to the maximum design clearance, and L2 represents the guide wheel running point corresponding to the minimum clearance.

[0051] In this embodiment, the structure of the cable chain following anti-sway unit 4 is as follows: it includes a first end plate 41 and a second end plate 42, which are symmetrically arranged and connected by a cable chain limiting rod 43; a first guide wheel assembly 44 and a second guide wheel assembly 45 are arranged sequentially at intervals along the vertical direction on the outer side of the first end plate 41; a cable chain guide pulley 47 is provided between the inner side of the first end plate 41 and the inner side of the second end plate 42; a support member limiting pulley 46 is also provided on the inner side of the first end plate 41 and the second end plate 42, which is located above the cable chain guide pulley 47; and a counterweight 48 is hung at the bottom position between the first end plate 41 and the second end plate 42.

[0052] In this embodiment, the drag chain guide pulley 47 has an "I" shaped structure, and the outer side wall of the drag chain guide pulley 47 is provided with a support member bypass guide groove 49 at the contact end with the first end plate 41 and the second end plate 42.

[0053] In this embodiment, the structure of the first guide wheel assembly 44 is as follows: it includes a first mounting base 441 that is assembled with the surface of the first end plate 41, and a first guide wheel body 442 is mounted on the first mounting base 441; the first guide wheel body 442 is arranged vertically, and the arc surface of the first guide wheel body 442 abuts against the side rail surfaces on both sides of the stepless adjustment rail 3.

[0054] In this embodiment, the structure of the second guide wheel assembly 45 is as follows: it includes a second mounting base 451 that is assembled with the surface of the first end plate 41, and a second guide wheel body 452 is mounted on the second mounting base 451; the second guide wheel body 452 is arranged laterally, and the arc surface of the second guide wheel body 452 abuts against the track plane in the middle of the stepless adjustment track 3.

[0055] like Figure 8 As shown, in this embodiment, the structure of the support member 7 surrounding the cable chain anti-sway unit 4 is as follows: one end of the support member 7 is fixed on the fixed end bracket 2, and the other end of the support member 7 passes through the support member limiting pulley 46 and the support member bypass guide groove 49 on one side in sequence, and then passes through the support member limiting pulley 46 on the other side and finally passes through the force sensor 8 and is fixedly connected to the moving end bracket 9.

[0056] In this embodiment, the structure of the support member limiting pulley 46 is as follows: it includes an assembly shaft 461 for bolt assembly, and a support member limiting wheel body 462 is fixed at the end of the assembly shaft 461.

[0057] In this embodiment, the support member 7 has a structure of wire rope, synchronous belt, or chain.

[0058] The working method of the following anti-sway system based on the ultra-high stacker crane cable chain in this embodiment includes the following steps:

[0059] Step 1: Adjust the inward progressive deflection angle of the track surfaces on both sides of the continuously variable track 3 according to the running points of the first guide wheel assembly 44 and the second guide wheel assembly 45.

[0060] Step 2: Match and abut against the first guide wheel assembly 44 and the second guide wheel assembly 45 of the cable chain following anti-sway unit 4 with the track surface of the continuously adjustable track 3, respectively;

[0061] Step 3: One end of the support component 7 is fixed on the fixed end bracket 2. The other end of the support component 7 passes through the support component limiting pulley 46 on one side and the support component passing through the guide groove 49 in sequence, and then passes through the support component limiting pulley 46 on the other side and finally passes through the force sensor 8 and is fixedly connected to the moving end bracket 9. At this time, the weight of the entire cable chain following anti-sway unit 4 is borne by the support component 7.

[0062] Step 4: One end of the cable chain 5 is connected to the fixed end bracket 2 fixed on the column 1. After the cable chain 5 passes through the cable chain limiting rod 43 and the cable chain guide pulley 47 in sequence, the other end of the cable chain 5 is fixedly connected to the moving end bracket 9.

[0063] Step 5: When the cable chain 5 moves vertically with the loading platform 6, the cable chain following anti-sway unit 4 moves along with it. The cable chain 5 is limited by the cable chain limiting rod 43, the cable chain guide pulley 47, the first end plate 41, and the second end plate 42 to achieve anti-sway and anti-torsion effects.

[0064] The present invention has a reasonable structure. The cable chain following anti-sway unit 4 limits the movement of the cable chain 5 and moves along with it. The cable chain limiting rod 43 and the cable chain guide pulley 47, together with the first end plate 41 and the second end plate 42, limit the movement of the cable chain following anti-sway unit 4 throughout the entire movement of the cable chain 5. With the guidance and limitation of the stepless adjustment track 3, the swaying of the cable chain 5 can be controlled, and twisting will not occur. The anti-sway effect is good, which greatly extends the service life and operational stability of the cable chain 5. Moreover, the cable chain following anti-sway unit 4 and the stepless adjustment track 3 are connected by the rolling cooperation of the guide wheel, which makes it less prone to jamming and ensures smooth operation. The track is fixed on the column 1, which also greatly reduces the requirements for on-site installation and operation personnel.

[0065] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A following anti-sway system based on a high-profile stacker crane cable chain, characterized in that: Includes a drag chain (5), one end of which is connected to a fixed end bracket (2) fixed on a column (1), and the other end of which passes through a drag chain follower anti-sway unit (4) and is connected to a movable end bracket (9), which is fixed on a cargo platform (6) that moves in the vertical direction. The cable chain following anti-sway unit (4) is suspended on the support (7) and the support (7) bears the weight of the cable chain following anti-sway unit (4); the cable chain following anti-sway unit (4) is also matched with the stepless adjustment track (3) in the vertical direction, the cable chain following anti-sway unit (4) and the stepless adjustment track (3) are engaged and cooperated, and the cable chain following anti-sway unit (4) follows the cable chain (5) to follow along the length direction of the stepless adjustment track (3); One end of the support member (7) is connected to the fixed end bracket (2) fixed on the column (1), and the other end of the support member (7) is connected to the mobile end bracket (9) after the drag chain is suspended around the anti-sway unit (4). A force sensor (8) is also provided on the contact end of the support member (7) and the mobile end bracket (9). The structure of the stepless adjustment track (3) is as follows: it includes guide rails (31) arranged symmetrically on both sides, and the guide rails (31) on both sides are fixedly connected by connectors (32); The stepless adjustable track (3) is assembled with the column (1) through the connector (32); The single-sided guide rail (31) includes a track plane in the middle and side track surfaces on both sides, and both side track surfaces are provided with an inwardly inclined progressive deflection angle. The structure of the drag chain following anti-sway unit (4) is as follows: it includes a first end plate (41) and a second end plate (42), the first end plate (41) and the second end plate (42) are symmetrically arranged and the first end plate (41) and the second end plate (42) are connected by a drag chain limiting rod (43); On the outer side of the first end plate (41), the first guide wheel assembly (44) and the second guide wheel assembly (45) are arranged in a vertically spaced manner. A drag chain guide pulley (47) is provided between the inner side surface of the first end plate (41) and the inner side surface of the second end plate (42). On the inner side plates of the first end plate (41) and the second end plate (42), there are also support member limiting pulleys (46), which are located above the drag chain guide pulleys (47); A counterweight (48) is hung at the bottom position between the first end plate (41) and the second end plate (42).

2. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 1, characterized in that: The structure of the drag chain guide pulley (47) is an "I" shaped structure, and the outer side wall of the drag chain guide pulley (47) and the contact end of the first end plate (41) and the second end plate (42) are provided with support member bypass guide grooves (49).

3. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 1, characterized in that: The structure of the first guide wheel assembly (44) is as follows: it includes a first mounting base (441) that is assembled with the surface of the first end plate (41), and a first guide wheel body (442) is mounted on the first mounting base (441). The first guide wheel (442) is vertically arranged, and the arc surface of the first guide wheel (442) abuts against the side rail surfaces on both sides of the stepless adjustment rail (3).

4. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 1, characterized in that: The structure of the second guide wheel assembly (45) is as follows: it includes a second mounting base (451) that is assembled with the surface of the first end plate (41), and a second guide wheel body (452) is mounted on the second mounting base (451). The second guide wheel (452) is arranged laterally, and the arc surface of the second guide wheel (452) abuts against the track plane in the middle of the stepless adjustment track (3).

5. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 2, characterized in that: The structure of the support member (7) around the cable carrier anti-sway unit (4) is as follows: one end of the support member (7) is fixed on the fixed end bracket (2), and the other end of the support member (7) passes through the support member limiting pulley (46) and the support member bypass guide groove (49) on one side in sequence, and then passes through the support member limiting pulley (46) on the other side and finally passes through the force sensor (8) and is fixedly connected to the moving end bracket (9).

6. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 5, characterized in that: The structure of the support member limiting pulley (46) is as follows: it includes an assembly shaft (461) for bolt assembly, and a support member limiting wheel body (462) is fixed at the end of the assembly shaft (461).

7. The anti-sway system based on ultra-high stacker crane cable chain as described in claim 5, characterized in that: The structure of the support component (7) is a wire rope structure, a synchronous belt structure, or a chain structure.

8. A method for operating the following anti-sway system based on an ultra-high stacker crane cable chain as described in claim 2, characterized in that: Includes the following steps: Step 1: Adjust the inward gradually inclination angle of the continuously variable track (3) based on the wheel running points of the first guide wheel assembly (44) and the second guide wheel assembly (45); Step 2: Match and abut the first guide wheel assembly (44) and the second guide wheel assembly (45) of the cable chain following anti-sway unit (4) with the track surface of the continuously adjustable track (3); Step 3: One end of the support (7) is fixed on the fixed end bracket (2), and the other end of the support (7) passes through the support limit pulley (46) on one side and the support guide groove (49) in sequence, and then passes through the support limit pulley (46) on the other side and finally connects with the moving end bracket (9) through the force sensor (8). At this time, the weight of the entire drag chain following anti-sway unit (4) is borne by the support (7). Step 4: One end of the drag chain (5) is connected to the fixed end bracket (2) fixed on the column (1). After the drag chain (5) passes through the drag chain limit rod (43) and the drag chain guide pulley (47) in sequence, the other end of the drag chain (5) is fixedly connected to the moving end bracket (9). Step 5: When the cable chain (5) moves vertically with the loading platform (6), the cable chain anti-sway unit (4) moves along with it. The cable chain (5) is limited by the cable chain limiting rod (43), the cable chain guide pulley (47), the first end plate (41), and the second end plate (42) to achieve anti-sway and anti-torsion effects.

Images