A method for high-speed and precise control of reciprocating motion of a stacker and a stacker

Abstract

The present invention relates to the technical field of stackers, specifically to a method and a stacker for high-speed and precise control of the reciprocating motion of a stacker; comprising the following steps: establishing a servo system position coordinate system based on servo system encoder feedback; establishing a barcode position coordinate system based on barcode feedback; fusing the servo system position coordinate system and the barcode position coordinate system for consistent processing, setting the servo electronic gear ratio and correct configuration; updating the servo system position coordinates to the real position coordinates of the current barcode feedback, fusing the servo system position coordinate system and the barcode position coordinate system for consistent processing again, and triggering motion positioning. The traveling speed and positioning accuracy of the stacker can be significantly improved. First, the accuracy of the position information is ensured by the dual coordinate system fusion of the servo system encoder and the barcode feedback.

Description

Technical Field

[0001] The present invention relates to the technical field of stackers, and in particular to a method for controlling the reciprocating motion of a stacker with high speed and precision, and a stacker. Background Art

[0002] As an important part of the modern supply chain system, the logistics and warehousing industry has increasingly higher requirements for efficiency and precision. As a key device for automatically storing and retrieving goods between the warehouse docking port and the shelf storage space, the performance of the stacker directly affects the efficiency and accuracy of warehousing operations. In the intelligent warehousing system, the stacker not only needs to have high-speed movement capabilities to improve the efficiency of warehousing and warehousing, but also needs to ensure accurate positioning to meet the requirements for storage accuracy.

[0003] Although various stacker manufacturers are constantly improving the performance of their equipment, for example, Publication No. CN117622750B discloses an automatic stacking device for three-dimensional warehousing, the existing stackers still have significant deficiencies in high-speed and precise reciprocating motion, which are mainly manifested in the following aspects:

[0004] Speed ​​limitation: Some stackers operate at low speeds and cannot meet the needs of efficient warehousing operations, limiting overall operating efficiency.

[0005] Problems in the acceleration and deceleration process: The stacker crane may take too long or be unstable during acceleration or deceleration, resulting in time waste or equipment failure.

[0006] Large positioning error: After reaching the target position, some stackers have large positioning errors and require extra time for secondary positioning, which reduces operating efficiency.

[0007] Unstable operation: During high-speed operation, the stacker is prone to unstable phenomena, such as cargo movement, travel inverter alarm, etc., which affects operational safety and equipment life. Summary of the invention

[0008] The present invention aims at the technical problems existing in the prior art and provides a method for high-speed and precise control of the reciprocating motion of a stacker and a stacker to solve the problems of low efficiency and poor precision of the existing stackers in high-speed and precise reciprocating motion.

[0009] The technical solution of the present invention to solve the above technical problems is as follows: A method for high-speed and accurate control of the reciprocating motion of a stacker, comprising the following steps:

[0010] Establish a servo system position coordinate system based on the servo system encoder feedback; establish a barcode position coordinate system based on the barcode feedback;

[0011] The servo system position coordinate system and the barcode position coordinate system are integrated and processed in a consistent manner, and the servo electronic gear ratio and correct configuration are set;

[0012] Update the servo system position coordinates to the real position coordinates fed back by the current barcode, merge the servo system position coordinate system and the barcode position coordinate system into a consistent system, and trigger motion positioning;

[0013] Among them, when triggering motion positioning, for the same motion process, first triggering positioning; if the required barcode positioning position is not reached after positioning is completed, then triggering secondary positioning again until the target position is reached;

[0014] The positioning is completed based on the positioning tolerance of the maximum error range of the stacker's travel target position.

[0015] On the basis of the above technical solution, the present invention can also be improved as follows:

[0016] Further, the setting of the servo electronic gear ratio and correct configuration includes the following steps:

[0017] Determine the pulse equivalent of the servo system based on the barcode feedback accuracy;

[0018] According to the circumference of the roller and the matching of the servo motor and the reduction ratio of the reducer, the travel distance corresponding to each rotation of the servo motor is calculated to determine the electronic gear ratio of the servo.

[0019] Further, the one-time positioning steps are as follows:

[0020] Connect the absolute positioning completion signal of the starting column and compare it with the real position coordinates fed back by the current barcode;

[0021] If the start column arrival signal is blocked, the flag signal indicating the end of the start column is triggered;

[0022] Turn off the flag signal of absolute positioning operation and the servo stops running;

[0023] The secondary positioning steps are as follows:

[0024] When the set time is exceeded, the flag signal indicating the end of the phase towards the start column is turned off, and the flag signal for absolute positioning operation is triggered, and the servo continues to run.

[0025] The beneficial effects of the method for high-speed and accurate control of the reciprocating motion of a stacker involved in the present invention are:

[0026] 1. The method for high-speed and precise control of the reciprocating motion of the stacker described in the present invention can significantly improve the travel speed and positioning accuracy of the stacker. First, the accuracy of the position information is ensured by the fusion of the dual coordinate system of the servo system encoder and the barcode feedback. Combined with the precisely calculated servo electronic gear ratio, the stacker can travel stably at a speed of more than 2m / s, which significantly improves efficiency compared to the traditional speed control of about 1m / s. At the same time, during the positioning process, the present invention implements a composite strategy of primary positioning and secondary positioning, ensuring that fine-tuning can be automatically performed when the target position is not reached, thereby greatly reducing the positioning error and improving the accuracy and efficiency of warehousing operations.

[0027] 2. Another significant advantage of the present invention is that it enhances the operational stability of the stacker and effectively reduces maintenance costs. By precisely controlling the acceleration and deceleration process of the servo motor, the step-by-step speed changes that may occur in the traditional control mode are avoided, the movement of goods on the stacker is reduced, the safety of the goods is protected and the quality of operation is improved. In addition, the present invention eliminates the alarm problem of the travel inverter caused by improper speed regulation by optimizing the control algorithm, thereby ensuring the long-term stable operation of the equipment. This high-stability design not only improves work efficiency, but also reduces losses caused by downtime due to faults. At the same time, due to the simplification of the control logic, the programming and maintenance of the present invention also become simpler and faster, reducing the requirements for technical personnel and further reducing the operating costs of the enterprise.

[0028] The present invention also provides a stacker based on the method of high-speed and precise control of the reciprocating motion of the stacker, comprising a stacker body mounted between a ground rail and a ceiling rail; a servo system adapted to the ground rail and the ceiling rail is integrated on the stacker body; and a bar code for detecting the position of the stacker body is arranged along one side of the ground rail or the ceiling rail.

[0029] Furthermore, the stacker body also includes a lifting module and a base frame arranged on the stacker body; an electric control module is arranged on the base frame, and a lifting block is arranged on the lifting module, characterized in that the side wall of the lifting block is connected to the U-shaped frame through a first rotating mechanism, and the side wall of the U-shaped frame is connected to the moving plate through a first moving mechanism, the side wall of the moving plate is fixedly connected to two symmetrically arranged forks, and the other end of each fork is connected to the rotating plate through a second rotating mechanism, the side wall of the moving plate is connected to two symmetrically arranged baffles through a reset mechanism, and the side wall of each baffle is connected to a pushing block through the second moving mechanism, the pushing block includes an inclined surface, and the goods can slide on the inclined surface, the bottom of each baffle is fixedly connected to a bracket, and the side wall of each bracket is fixedly inserted with a distance sensor.

[0030] Furthermore, the first rotating mechanism includes two symmetrically arranged first support plates fixedly connected to the side walls of the lifting block, and the U-shaped frame is rotatably connected to the side walls of the first support plates through a first rotating shaft, a first motor is fixedly connected to the top of the first support plate, and the output end of the first motor is fixed to the upper end of the first rotating shaft.

[0031] The beneficial effect of adopting the above further scheme is that the first motor is started, and the rotation of the first motor drives the rotation of the U-shaped frame, and the moving plate and the fork are driven to rotate through the moving mechanism, thereby adjusting the direction of the fork to store and stack goods on the shelves on both sides.

[0032] Further, the first moving mechanism includes a first set of rods fixedly connected to the side wall of the U-shaped frame, and the side wall of the first set of rods is sleeved with a first sleeve, the other end of the first sleeve is fixed to the side wall of the moving plate, and the side wall of the U-shaped frame is rotatably connected to a first threaded rod, the side wall of the first threaded rod is threadedly connected to a first threaded tube, and the other end of the first threaded tube is fixed to the side wall of the moving plate, the side wall of the U-shaped frame is fixedly connected to a second motor, and the output end of the second motor is fixed to one end of the first threaded rod.

[0033] The beneficial effect of adopting the above further solution is that when the second motor is started, the rotation of the second motor drives the first threaded rod to rotate, thereby driving the moving plate to move, and then driving the fork and the rotating plate to move.

[0034] Furthermore, the second rotating mechanism includes two symmetrically arranged fixed blocks fixed on the side walls of each fork, and the rotating plate is rotatably connected to the side wall of the fixed block through a second rotating shaft, the side wall fixed sleeve of the second rotating shaft is provided with a first gear, and the side wall of the fixed block is connected to a first rack through a reset assembly, the first rack is meshed with the first gear, and the movement of the first rack is pulled by a pulling mechanism.

[0035] The beneficial effect of adopting the above further scheme is that after the rotating plate moves to the other side of the cargo, the first rack is pulled to move by the pulling mechanism. When the first rack moves, the first gear and the second rotating shaft rotate clockwise, and drive the rotating plate to rotate upward and against the side wall of the cargo, which can limit the cargo and prevent it from tilting or even falling, making it more stable and reliable, and ensuring the storage effect of the cargo.

[0036] Furthermore, the reset assembly includes two symmetrically arranged support blocks fixedly connected to the side walls of the fixed block, and the opposite side walls of the two support blocks are fixedly connected to two symmetrically arranged guide rods, the side wall of each guide rod is sleeved with a slider, the slider is fixed to the side wall of the first rack, and the side wall of each guide rod is sleeved with a first spring.

[0037] The beneficial effect of adopting the above further solution is that it plays a guiding and resetting role in the movement of the first rack.

[0038] Furthermore, the reset mechanism includes two symmetrically arranged first T-shaped guide rods fixedly connected to the side walls of each baffle, and the movable plate is sleeved on the side walls of the first T-shaped guide rods, the side walls of each of the first T-shaped guide rods are sleeved with a second spring, and a limiting mechanism for limiting the first T-shaped guide rods is provided on one side of the movable plate.

[0039] The beneficial effect of adopting the above further scheme is that it guides and resets the movement of the movable plate. At the same time, when the goods are against the side wall of the baffle, the second spring is gradually compressed, and when the rotating plate rotates upward, the first T-shaped guide rod can be limited by the limiting mechanism, so that it can be suitable for goods of different sizes and has stronger applicability.

[0040] Furthermore, the second moving mechanism includes two symmetrically arranged second T-shaped guide rods fixedly connected to the side walls of each baffle, and the side walls of the second T-shaped guide rods are sleeved with moving blocks, the pushing blocks are fixed to the side walls of the moving blocks, and the side walls of each second T-shaped guide rod are sleeved with a third spring, the side walls of the baffles are fixedly connected with electromagnets, and the side walls of the moving blocks are fixedly connected with iron blocks.

[0041] The beneficial effect of adopting the above further scheme is that after the goods are limited, the electromagnet is energized, and the electromagnet is energized to attract the iron block, so that the moving block and the pushing block move toward the baffle. At the same time, the third spring is compressed, and the goods slide on the inclined plane, thereby adjusting the goods to the center. At the same time, the limiting effect of the goods is better, more stable and reliable.

[0042] Furthermore, the pulling mechanism includes two symmetrically arranged connecting plates fixedly connected to the side walls of the movable plate, and the opposite side walls of the two connecting plates are rotatably connected to two symmetrically arranged winding rollers through a rotating rod, a pull rope is wound around the side wall of each winding roller, and the other end of the pull rope passes through the side wall of the movable plate and is fixed to the side wall of the first rack, the side wall of the movable plate is connected to a U-shaped plate through a lifting mechanism, and the bottom of the U-shaped plate is fixedly connected to two symmetrically arranged connecting rods, the lower end of the connecting rod is fixedly connected to the second rack, and the end of the rotating rod is fixedly connected to two symmetrically arranged second gears, and the second gears are meshed with the second rack.

[0043] The beneficial effect of adopting the above further scheme is that the U-shaped plate is driven downward by the lifting mechanism, and the second rack is driven upward by the connecting rod, so that the second gear and the rotating rod are rotated, and the rotation of the rotating rod drives the rotation of the winding roller, so that the winding roller reels the pull rope, and then the first rack is pulled to move by the pull rope.

[0044] Further, the lifting mechanism includes a second support plate fixedly connected to the side wall of the movable plate, and the bottom of the second support plate is fixedly connected to a second rod, the side wall of the second rod is sleeved with a second sleeve, and the lower end of the second sleeve is fixed to the top of the U-shaped plate, the bottom of the second support plate is rotatably connected to a second threaded rod, and the side wall of the second threaded rod is threadedly connected to a second threaded tube, the lower end of the second threaded tube is fixed to the top of the U-shaped plate, the top of the second support plate is fixedly connected to a third motor, and the output end of the third motor is fixed to the upper end of the second threaded rod.

[0045] The beneficial effect of adopting the above further solution is that when the third motor is started, the rotation of the third motor drives the rotation of the second threaded rod, thereby driving the U-shaped plate to move up and down.

[0046] Furthermore, the limiting mechanism includes a plurality of limiting holes arranged in an array on the side wall of the first T-shaped guide rod, and two symmetrically arranged third T-shaped guide rods are passed through the top of the U-shaped plate, and the side wall fixing sleeve of each third T-shaped guide rod is provided with a fixing ring, and the side wall sleeve of each third T-shaped guide rod is provided with a fourth spring.

[0047] The beneficial effect of adopting the above further scheme is that when the rotating plate rotates upward and abuts against the side wall of the cargo, when the U-shaped plate moves downward, it drives the third T-shaped guide rod to move downward synchronously, and inserts the third T-shaped guide rod into the limiting hole. At the same time, the fourth spring is compressed, thereby limiting the first T-shaped guide rod and thus limiting the cargo.

[0048] The beneficial effects of the present invention are:

[0049] 1. Through the perfect combination of integrated design and efficient positioning system, a great leap forward has been achieved in the field of logistics and warehousing. The stacker body is cleverly set up between the ground rail and the ceiling rail, which is not only compact in structure but also stable in operation. The servo system integrated on it is perfectly adapted to the ground rail and the ceiling rail, ensuring high-speed and smooth reciprocating motion. More importantly, the barcode system carefully arranged along one side of the ground rail or the ceiling rail provides accurate position feedback for the stacker. Combined with the encoder feedback of the servo system, a dual coordinate system is constructed to achieve real-time and accurate monitoring of the stacker's position. It not only improves the walking speed and positioning accuracy of the stacker, but also significantly enhances its operating stability. During high-speed movement, the stacker can quickly and accurately reach the designated position, effectively reducing the repeated adjustment time caused by positioning errors, thereby greatly improving the efficiency of warehousing operations.

[0050] 2. By setting a limit mechanism and a pulling mechanism, when storing goods, the first motor is started, and the rotation of the first motor drives the rotation of the U-shaped frame, and the first moving mechanism drives the moving plate and the fork to rotate, so as to adjust the direction of the fork, so as to store goods on the shelves on both sides. After the direction is adjusted, the moving plate is driven to move by the first moving mechanism, and the rotating plate and the fork are moved to the bottom of the goods. When the goods are against the side wall of the baffle, the second spring is gradually compressed, and the rotating plate moves to the other side of the goods. Then, the U-shaped plate is driven downward by the lifting mechanism, and the second rack is driven upward by the connecting rod, so that the second gear and the rotating fork are moved upward. The movable rod rotates, and the rotation of the rotating rod drives the rotation of the winding roller, so that the winding roller reels in the draw rope, and then pulls the first rack to move through the draw rope, and the first spring is compressed. When the first rack moves, the first gear and the second rotating shaft rotate clockwise, and drive the rotating plate to rotate upward and resist the side wall of the cargo. At the same time, when the U-shaped plate moves downward, it drives the third T-shaped guide rod to move downward synchronously, and insert the third T-shaped guide rod into the limiting hole. At the same time, the fourth spring is compressed, so that the first T-shaped guide rod can be limited, and then the cargo can be limited to prevent it from tilting or even falling, which is more stable and reliable, and ensures the storage effect of cargo.

[0051] 3. By setting a second moving mechanism, etc., after the goods are limited, the electromagnet is energized, and the electromagnet can attract the iron block after being energized, so that the moving block and the pushing block move toward the direction close to the baffle, and at the same time, the third spring is compressed, and the goods slide on the inclined plane, so as to adjust the goods in the center, and at the same time, the limiting effect of the goods is better, more stable and reliable. At the same time, when the goods are stored on the shelves for stacking, the deviation of the goods can be avoided, and the distance between the upper and lower goods is detected by the distance sensor. When the upper and lower goods are aligned, the goods are put down, thereby ensuring the effect of storing the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a flow chart of the method for high-speed and accurate control of the reciprocating motion of a stacker according to the present invention;

[0053] Figure 2 It is a configuration diagram of the Botu software in an embodiment of the present invention;

[0054] Figure 3 It is a program diagram of the MC-Home instruction of the present invention;

[0055] Figure 4 A schematic diagram of a processing procedure for barcode feedback of the present invention;

[0056] Figure 5 It is a schematic diagram of the action command of the present invention;

[0057] Figure 6 This is a schematic diagram of the static command of the present invention;

[0058] Figure 7-12 Schematic diagram of the positioning process of the starting column of the present invention

[0059] Figure 13-14 A schematic diagram of the program for completing the in-place judgment of the present invention

[0060] Fig.15 It is a reference schematic diagram of the block listed in the present invention;

[0061] Fig.16 It is a three-dimensional structural schematic diagram of the stacker of the present invention;

[0062] Fig.17 It is a structural schematic diagram of the first rotating mechanism in the stacker of the present invention;

[0063] Fig.18 It is a schematic diagram of the position of the second rotating mechanism in the stacker of the present invention;

[0064] Fig.19 It is a schematic diagram of the position of the reset mechanism in the stacker of the present invention;

[0065] Fig. 20 for Fig.16 A schematic diagram of the enlarged structure at A in the middle;

[0066] Fig.21 for Fig.17 A schematic diagram of the enlarged structure at B in the middle;

[0067] Fig. 22 for Fig.18 Schematic diagram of the enlarged structure at C in the middle;

[0068] Fig.23 for Fig.19 Schematic diagram of the enlarged structure at D in the middle;

[0069] Fig.24 for Fig. 22 Schematic diagram of the enlarged structure at E in the middle;

[0070] Fig.25 for Fig.23 Schematic diagram of the enlarged structure at F in the middle.

[0071] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0072] Stacker body; 101, ground rail; 102, ceiling rail; 103, lifting module; 104, lifting block; 105, electric control module; 106, chassis; 201, first support plate; 202, first motor; 301, first sleeve; 302, first sleeve rod; 303, first threaded pipe; 304, first threaded rod; 305, second motor; 401, fixed block; 402, second rotating shaft; 403, first gear; 404, first rack; 501, connecting plate; 503, rotating rod; 504, second gear; 505, U-shaped plate; 506, connecting rod; 507, second rack; 508, winding roller; 509, pull rope; 601, support block; 602, guide rod; 603, slider; 604, The first spring; 701, the first T-shaped guide rod; 702, the second spring; 801, the second T-shaped guide rod; 802, the moving block; 803, the third spring; 804, the electromagnet; 805, the iron block; 901, the second support plate; 902, the second sleeve rod; 903, the second sleeve; 904, the second threaded tube; 905, the second threaded rod; 906, the third motor; 1001, the limiting hole; 1002, the third T-shaped guide rod; 1003, the fixing ring; 1004, the fourth spring; 11, the shelf; 12, the goods; 13, the U-shaped frame; 14, the moving plate; 15, the fork; 16, the rotating plate; 17, the baffle; 18, the pushing block; 1801, the inclined plane; 19, the bracket; 20, the distance sensor; 21, the conveyor. DETAILED DESCRIPTION

[0073] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0074] A guide rail (ground rail) is laid on the floor of the warehouse passage, and a ceiling rail (usually one) is set up in the space above the passage. The stacker is installed between the ground rail and the ceiling rail and moves back and forth along the ground rail. The rollers at the bottom of the stacker are pressed and embedded in the ground rail, and the friction between the two drives the stacker to move. A barcode scanning head is installed at the bottom of the stacker near the shelf on one side, and a barcode is attached to the shelf installation plate at the same height as the barcode scanning head. The barcode is used to detect the position of the stacker along the ground rail.

[0075] The stacker's electronic control system starts and stops the stacker and increases or decreases its running speed by changing the frequency of the travel inverter, and realizes closed-loop motion control through the position feedback from the barcode. This closed-loop control is designed to control the current running speed based on the deviation between the current position feedback from the barcode and the target position. This design algorithm is very complex, and everyone's experience and ideas are different. It is difficult to meet the requirements of high speed and precision of the stacker, and many problems arise. After in-depth research by the inventor, several common problems are as follows:

[0076] 1. The stacker moves when it should not move, such as moving forward and backward when the fork is not in the middle position. This may be caused by the accumulation of PID calculations. This blind movement is more dangerous and must be eliminated.

[0077] 2. The stacker produces slow creeping when it is stationary, which is caused by improper algorithm.

[0078] 3. The stacker crane accelerates and decelerates violently, causing the goods on the stacker crane's loading platform to move.

[0079] 4. After the stacker stops at the target position, the error is large and it needs to be repositioned, which is time-consuming.

[0080] 5. The stacker frequently issues "travel inverter alarm" during its travel, which is also caused by improper algorithm.

[0081] In addition, some stacker manufacturers use servo motors instead of variable frequency motors, but they use speed mode to control the servo motors. This control method is actually the same as using a frequency converter. Of course, similar problems will arise, which will not be elaborated here.

[0082] In order to improve the high-speed and precise motion performance of the stacker, we have developed a new control method using the servo motor position control mode. This control method gives full play to the servo motor's precise positioning performance of one step at a time, and in terms of program writing, only position motion instructions and a few motion configurations are needed to easily achieve stacker positioning, thus avoiding the complex motion algorithm design and debugging of the speed mode, which is incomparably superior.

[0083] The present invention provides the following preferred embodiments

[0084] like Figure 1 As shown, the method for high-speed and accurate control of the reciprocating motion of a stacker designed by the present invention comprises the following steps:

[0085] Establish a servo system position coordinate system based on the servo system encoder feedback; establish a barcode position coordinate system based on the barcode feedback;

[0086] The servo system position coordinate system and the barcode position coordinate system are integrated and processed in a consistent manner, and the servo electronic gear ratio and correct configuration are set;

[0087] Update the servo system position coordinates to the real position coordinates fed back by the current barcode, merge the servo system position coordinate system and the barcode position coordinate system into a consistent system, and trigger motion positioning;

[0088] Among them, when triggering motion positioning, for the same motion process, first triggering positioning; if the required barcode positioning position is not reached after positioning is completed, then triggering secondary positioning again until the target position is reached;

[0089] The positioning is completed based on the positioning tolerance of the maximum error range of the stacker's travel target position.

[0090] In this embodiment, the fusion and consistency processing of the servo system position coordinate system and the barcode position coordinate system adopts a relative consistency standard, and it is impossible to achieve absolute consistency; for example, if the position data of the two coordinate systems differ by less than 3 mm after moving forward 5 meters, it is considered qualified.

[0091] This is determined by the transmission system characteristics of the stacker's guide rails and rollers. Unlike gear racks or lead screw structures that can achieve a transmission efficiency of more than 98%, the transmission efficiency of guide rails and rollers is generally below 90%. Sometimes the rollers may even slip, further affecting the transmission effect.

[0092] As an embodiment, the setting of the servo electronic gear ratio and the correct configuration includes the following steps:

[0093] Determine the pulse equivalent of the servo system based on the barcode feedback accuracy;

[0094] According to the circumference of the roller and the matching of the servo motor and the reduction ratio of the reducer, the travel distance corresponding to each rotation of the servo motor is calculated to determine the electronic gear ratio of the servo.

[0095] The steps of one-time positioning are as follows:

[0096] Connect the absolute positioning completion signal of the starting column and compare it with the real position coordinates fed back by the current barcode;

[0097] If the start column arrival signal is blocked, the flag signal indicating the end of the start column is triggered;

[0098] Turn off the flag signal of absolute positioning operation and the servo stops running;

[0099] The secondary positioning steps are as follows:

[0100] When the set time is exceeded, the flag signal indicating the end of the phase towards the start column is turned off, and the flag signal for absolute positioning operation is triggered, and the servo continues to run.

[0101] For example, the barcode feedback accuracy of the stacker is 0.1mm, and the pulse equivalent of the servo is 0.1mm;

[0102] Taking Delta servo ECM-B3M-K21320SS1 as an example, the settings are as follows:

[0103]

[0104] Configure in Botu software, such as Figure 2 As shown, configure the process axis parameters, which are consistent with the above parameters. According to this parameter setting, manually practice verification.

[0105] In this embodiment, through a series of servo parameter settings and hardware configurations, the servo feedback coordinate system and the barcode feedback coordinate system can be made as consistent as possible. However, once the servo is running, the two coordinate systems will deviate. Here, the two coordinate systems need to be merged again to achieve precise positioning.

[0106] We know that servo operation can only be positioned based on the feedback from the encoder, so the position of the barcode feedback must be assigned to the current position of the servo system in order to achieve the reintegration of the two coordinate systems.

[0107] Taking Siemens S7-1200PLC as an example, it is implemented through MC-Home instructions, such as Figure 3 The following is a screenshot of the MC-Home instruction program. The pin functions of the instruction are as follows:

[0108] MC_Home Function Description:

[0109] Function: Home the axis and set the reference point (applicable to software version V6 and above).

[0110] Purpose of use: To match the axis coordinates with the actual physical drive position through the MC_Home motion control finger to achieve absolute positioning of the axis, a homing operation is required.

[0111] Return to origin mode:

[0112] Active return to origin (Mode=3): Automatically execute the return to origin steps.

[0113] Passive return to origin (Mode=2):

[0114] In this mode, the MC_Home motion control finger will not perform any homing motion.

[0115] The user needs to perform the required travel movement through other motion control fingers to complete the return to origin.

[0116] When the homing switch is detected, the axis is considered to have returned to the origin.

[0117] Direct absolute homing (Mode=0): Set the current axis position to the value of the parameter "Position".

[0118] Direct relative homing (Mode=1): Set the offset value of the current axis position to the value of the parameter "Position".

[0119] Absolute encoder relative adjustment (Mode=6):

[0120] Sets the offset value of the current axis position to the value of parameter "Position".

[0121] Note: This mode is only available for drives with analog drive interface and PROFldrive drives.

[0122] Absolute encoder absolute adjustment (Mode=7):

[0123] Sets the current axis position to the value of the parameter "Position".

[0124] Note: This mode is also only available for drives with analog drive interface and PROFldrive drives.

[0125] According to the pin definition, when Mode=0, it is the direct absolute return to origin mode, and the current axis position is set to the value of the parameter "Position".

[0126] The parameter "Position" is the coordinate system position of the servo system, so you only need to set the current axis position to the walking barcode feedback value. The barcode feedback processing procedure, such as Figure 4 As shown:

[0127] Returning to the MC-Home instruction, its execution condition "Execute" is the rising edge of each positioning, that is, each time the instruction is executed, the current barcode feedback value is assigned to the current position of the servo system, that is, the two coordinate systems are merged once before each positioning is executed.

[0128] Through the use of the instruction, we know that the return to origin instruction does not actually move back to the origin, but simply changes the coordinate position.

[0129] In this embodiment, the secondary positioning is for the same motion process, that is, the primary positioning is triggered first, and if the required barcode positioning position is not reached after the positioning is completed, the secondary positioning will be triggered again. According to the working conditions of the stacker, at most the target position can be reached by the secondary positioning, and sometimes the first positioning can be completed.

[0130] Specifically, it can be divided into two parts: dynamic commands and static commands.

[0131] See also Figure 5 The move command refers to the usage part of the instruction. Use the absolute positioning instruction "MC-MoveAbsolute" and refer to the function definition of each pin to use the instruction correctly.

[0132] See also Figure 6 ,The static command is the conditional judgment and assignment process of the three parameters "Execute", "Position" and "Velocity".

[0133] Among them, take the "go to the starting column" positioning process as an example, Figure 7-12 shown.

[0134] When the first positioning is completed, that is, the "absolute positioning to the starting column completed" signal is turned on, after comparison with the barcode feedback, when the "starting column in place" signal is not connected, the "stage end of the moving to the starting column" flag is triggered. At this time, the "absolute positioning operation" signal is OFF and the servo stops running.

[0135] After the set time, usually about 500ms, the "end of the phase of moving to the start column" flag turns OFF, and the "absolute positioning operation" signal turns ON again, and the servo will continue to run. This is the secondary positioning.

[0136] As an implementation method, the positioning tolerance refers to the maximum error range of the stacker moving to the target position. For example, if the positioning error is 3 mm and the target position is 10000 mm, then the positioning is considered qualified within the position range of 9997 mm to 10003 mm.

[0137] The positioning tolerance is mainly used to determine whether the column is in place (the direction of movement of the stacker is called the column, the lifting direction is called the layer, and the fork extension direction is called the row). Due to the special process of the stacker, a parameter "large tolerance" needs to be introduced here. After the stacker completes the positioning in the column direction, it needs to lift the goods. At this time, the center of gravity of the stacker system may change, causing the stacker to have a slight displacement in the direction of movement of the column. Of course, the better the mechanical assembly performance, the smaller the slight displacement.

[0138] Because of the existence of micro displacement, it is possible to exceed the positioning error and generate a false alarm. The introduction of "large tolerance" not only avoids false alarms, but also generates alarm prompts when the mechanical assembly performance is poor.

[0139] When programming, you can create a corresponding block to complete the function of row position judgment. See the following program. Figure 13-14 shown.

[0140] In this embodiment, the reference to the column in place block (instantiation, including the determination of each column in place) is as follows Fig.15 shown.

[0141] like Fig.16 As shown, the present invention also designs a stacker based on the method of high-speed and precise control of the reciprocating motion of the stacker, including a stacker body 1 erected between a ground rail 101 and a ceiling rail 102; a servo system adapted to the ground rail 101 and the ceiling rail 102 is integrated on the stacker body 1; and a barcode for detecting the position of the stacker body 1 is arranged along one side of the ground rail 101 or the ceiling rail 102.

[0142] The stacker crane is initialized and calibrated before starting. Through the encoder feedback of the servo system and the position detection of the barcode system, an accurate coordinate system is established, laying a solid foundation for subsequent operations. Afterwards, the stacker crane receives instructions from the warehouse management system to clarify the location information of the target cargo location.

[0143] Entering the motion control stage, the stacker uses the servo system to achieve precise horizontal and vertical movement. In the horizontal direction, the servo motor drives the wheels to travel on the ground rails, and the barcode system and other travel address recognition devices are used to measure and adjust the position in real time to ensure that the stacker accurately reaches the aisle of the target shelf.

[0144] In modern intelligent warehousing, stackers are key equipment that reciprocates between the warehouse docking port and the warehouse shelf storage locations to pick up and put away goods. Because there are many storage locations in the warehouse, the stacker needs to be accurately positioned to ensure accurate access to the storage locations; because the warehouse area is large and the distance between the first and last rows is far, the stacker needs to move at high speed to improve the efficiency of warehouse entry and exit. Therefore, high-speed and precise control of the stacker is a must for on-site processes. When the existing cargo stackers used in automatic warehousing systems are in use, the goods are placed on the forks for picking and placing, which is prone to tilting or even falling, and is not stable and reliable enough. In addition, when stacking, it is easy to cause the upper and lower layers of goods to be misaligned, affecting the quality of the stacking, and is not stable and reliable enough.

[0145] As an embodiment, the stacker body 1 further includes a lifting module 103 and a base frame 106 arranged on the stacker body 1, the base frame 106 is provided with an electric control module 105, and the lifting module 103 is provided with a lifting block 104, the side wall of the lifting block 104 is connected to a U-shaped frame 13 through a first rotating mechanism, and the side wall of the U-shaped frame 13 is connected to a moving plate 14 through a first moving mechanism, the side wall of the moving plate 14 is fixedly connected to two symmetrically arranged forks 15, and the other end of each fork 15 is connected to a rotating plate 16 through a second rotating mechanism, and the side wall of the moving plate 14 is connected to a resetting mechanism. The structure is connected with two symmetrically arranged baffles 17, and the side wall of each baffle 17 is connected with a pushing block 18 through a second moving mechanism. The pushing block 18 includes an inclined surface 1801, and the goods 12 can slide on the inclined surface 1801. The bottom of each baffle 17 is fixedly connected with a bracket 19, and the side wall of each bracket 19 is fixedly inserted with a distance sensor 20, which can limit the position of the goods 12 to prevent it from tilting or even falling, making it more stable and reliable, ensuring the effect of storing goods, and when stacking, it can ensure that the upper layer of goods 12 is aligned with the lower layer of goods 12, ensuring the quality of stacking, and making it more stable and reliable.

[0146] In this embodiment, Fig.17 and Fig. 20As shown, the first rotating mechanism includes two symmetrically arranged first support plates 201 fixedly connected to the side walls of the lifting block 104, and the U-shaped frame 13 is rotatably connected to the side walls of the first support plate 201 through a first rotating shaft, and a first motor 202 is fixedly connected to the top of the first support plate 201, and the output end of the first motor 202 is fixed to the upper end of the first rotating shaft. The first motor 202 is started, and the rotation of the first motor 202 drives the rotation of the U-shaped frame 13, and the moving plate 14 and the fork 15 are driven to rotate through the first moving mechanism, thereby adjusting the direction of the fork 15 so as to store and stack goods on the shelves 11 on both sides.

[0147] In this embodiment, Fig.17 and Fig.18 As shown, the first moving mechanism includes a first set of rods 302 fixedly connected to the side wall of the U-shaped frame 13, and the side wall of the first set of rods 302 is sleeved with a first sleeve 301, the other end of the first sleeve 301 is fixed to the side wall of the moving plate 14, and the side wall of the U-shaped frame 13 is rotatably connected with a first threaded rod 304, the side wall of the first threaded rod 304 is threadedly connected with a first threaded tube 303, and the other end of the first threaded tube 303 is fixed to the side wall of the moving plate 14, the side wall of the U-shaped frame 13 is fixedly connected with a second motor 305, and the output end of the second motor 305 is fixed to one end of the first threaded rod 304, the second motor 305 is started, and the rotation of the second motor 305 drives the first threaded rod 304 to rotate, thereby driving the moving plate 14 to move, and then driving the fork 15 and the rotating plate 16 to move.

[0148] In this embodiment, Fig. 22 and 24 As shown, the second rotating mechanism includes two symmetrically arranged fixed blocks 401 fixed on the side walls of each fork 15, and the rotating plate 16 is rotatably connected to the side wall of the fixed block 401 through the second rotating shaft 402, the side wall fixed sleeve of the second rotating shaft 402 is provided with a first gear 403, and the side wall of the fixed block 401 is connected with a first rack 404 through a reset assembly, the first rack 404 is meshed with the first gear 403, and the movement of the first rack 404 is pulled by the pulling mechanism, after the rotating plate 16 moves to the other side of the cargo 12, the first rack 404 is pulled by the pulling mechanism to move, when the first rack 404 moves, the first gear 403 and the second rotating shaft 402 rotate clockwise, and drive the rotating plate 16 to rotate upward and abut against the side wall of the cargo 12, which can limit the cargo 12 to prevent it from tilting or even falling, and is more stable and reliable, ensuring the effect of storing cargo.

[0149] In this embodiment, Fig.24As shown, the reset assembly includes two symmetrically arranged support blocks 601 fixedly connected to the side walls of the fixed block 401, and the opposite side walls of the two support blocks 601 are fixedly connected to two symmetrically arranged guide rods 602, and the side wall of each guide rod 602 is sleeved with a slider 603, and the slider 603 is fixed to the side wall of the first rack 404, and the side wall of each guide rod 602 is sleeved with a first spring 604, which guides and resets the movement of the first rack 404.

[0150] In this embodiment, Fig.21 , Fig.23 and Fig.25 As shown, the reset mechanism includes two symmetrically arranged first T-shaped guide rods 701 fixedly connected to the side walls of each baffle 17, and the movable plate 14 is sleeved on the side walls of the first T-shaped guide rods 701, and the side walls of each first T-shaped guide rod 701 are sleeved with a second spring 702, and a limiting mechanism for limiting the first T-shaped guide rod 701 is provided on one side of the movable plate 14, which guides and resets the movement of the movable plate 14. At the same time, when the cargo 12 is against the side wall of the baffle 17, the second spring 702 is gradually compressed, and when the rotating plate 16 rotates upward, the first T-shaped guide rod 701 can be limited by the limiting mechanism, so that it can be suitable for cargo 12 of different sizes, and has stronger applicability.

[0151] In this embodiment, Fig.23 As shown, the second moving mechanism includes two symmetrically arranged second T-shaped guide rods 801 fixedly connected to the side walls of each baffle 17, and the side walls of the second T-shaped guide rods 801 are sleeved with moving blocks 802, the pushing blocks 18 are fixed to the side walls of the moving blocks 802, and the side walls of each second T-shaped guide rod 801 are sleeved with third springs 803, the side walls of the baffle 17 are fixedly connected with electromagnets 804, and the side walls of the moving blocks 802 are fixedly connected with iron blocks 805. After the goods 12 are limited, the electromagnets 804 are energized. After being energized, the electromagnets 804 can attract the iron blocks 805, so that the moving blocks 802 and the pushing blocks 18 move toward the direction close to the baffle 17. At the same time, the third springs 803 are compressed, and the goods 12 slide on the inclined surface 1801, so that the goods 12 are centered and the limiting effect of the goods 12 is better, more stable and reliable.

[0152] In this embodiment, Fig.24 and Fig.25As shown, the pulling mechanism includes two symmetrically arranged connecting plates 501 fixedly connected to the side walls of the moving plate 14, and the opposite side walls of the two connecting plates 501 are rotatably connected to two symmetrically arranged winding rollers 508 through a rotating rod 503, and a pull rope 509 is wound around the side wall of each winding roller 508, and the other end of the pull rope 509 passes through the side wall of the moving plate 14 and is fixed to the side wall of the first rack 404, the side wall of the moving plate 14 is connected to a U-shaped plate 505 through a lifting mechanism, and the bottom of the U-shaped plate 505 is fixedly connected to two symmetrically arranged connecting rods 506, and the connecting rods 506 are The lower end is fixedly connected to a second rack 507, and the end of the rotating rod 503 is fixedly connected to two symmetrically arranged second gears 504, and the second gears 504 are meshingly arranged with the second rack 507. The U-shaped plate 505 is driven downward by the lifting mechanism, and the second rack 507 is driven upward by the connecting rod 506, so that the second gear 504 and the rotating rod 503 rotate, and the rotation of the rotating rod 503 drives the rotation of the winding roller 508, so that the winding roller 508 reels the pull rope 509, and then the first rack 404 is pulled to move by the pull rope 509.

[0153] In this embodiment, Fig.25 As shown, the lifting mechanism includes a second support plate 901 fixedly connected to the side wall of the moving plate 14, and the bottom of the second support plate 901 is fixedly connected to a second sleeve rod 902, the side wall of the second sleeve rod 902 is sleeved with a second sleeve tube 903, and the lower end of the second sleeve tube 903 is fixed to the top of the U-shaped plate 505, the bottom of the second support plate 901 is rotatably connected to a second threaded rod 905, and the side wall of the second threaded rod 905 is threadedly connected to a second threaded tube 904, the lower end of the second threaded tube 904 is fixed to the top of the U-shaped plate 505, the top of the second support plate 901 is fixedly connected to a third motor 906, and the output end of the third motor 906 is fixed to the upper end of the second threaded rod 905, the third motor 906 is started, and the rotation of the third motor 906 drives the rotation of the second threaded rod 905, thereby driving the U-shaped plate 505 to rise and fall.

[0154] In this embodiment, Fig.25As shown, the limiting mechanism includes a plurality of limiting holes 1001 arranged in an array on the side wall of the first T-shaped guide rod 701, and two symmetrically arranged third T-shaped guide rods 1002 are penetrated through the top of the U-shaped plate 505, and the side wall fixing sleeve of each third T-shaped guide rod 1002 is provided with a fixing ring 1003, and the side wall sleeve of each third T-shaped guide rod 1002 is provided with a fourth spring 1004. When the rotating plate 16 rotates upward and abuts against the side wall of the cargo 12, when the U-shaped plate 505 moves downward, the third T-shaped guide rod 1002 is driven to move downward synchronously, and the third T-shaped guide rod 1002 is inserted into the limiting hole 1001. At the same time, the fourth spring 1004 is compressed, so that the first T-shaped guide rod 701 can be limited, and then the cargo 12 can be limited.

[0155] The specific method of use of the present invention is as follows:

[0156] When in use, first, when storing goods, start the first motor 202, the rotation of the first motor 202 drives the rotation of the U-shaped frame 13, and the first moving mechanism drives the moving plate 14 and the fork 15 to rotate, thereby adjusting the direction of the fork 15, so as to store goods on the shelves 11 on both sides;

[0157] After the orientation is adjusted, the moving plate 14 is moved by the first moving mechanism, and the rotating plate 16 and the fork 15 are moved to the bottom of the cargo 12. When the cargo 12 abuts against the side wall of the baffle 17, the second spring 702 is gradually compressed, and the rotating plate 16 is moved to the other side of the cargo 12. Then, the U-shaped plate 505 is driven downward by the lifting mechanism, and the second rack 507 is driven upward by the connecting rod 506, so that the second gear 504 and the rotating rod 503 are rotated. The rotation of the rotating rod 503 drives the rotation of the winding roller 508, so that the winding roller 508 reels the pull rope 509, and then the first rack 404 is pulled to move by the pull rope 509. The first spring 604 is compressed. When the first rack 404 moves, the first gear 403 and the second rotating shaft 402 rotate clockwise, and the rotating plate 16 is driven to rotate upward and abut against the side wall of the cargo 12.

[0158] At the same time, when the U-shaped plate 505 moves downward, the third T-shaped guide rod 1002 is driven to move downward synchronously, and the third T-shaped guide rod 1002 is inserted into the limiting hole 1001. At the same time, the fourth spring 1004 is compressed, so that the first T-shaped guide rod 701 can be limited, and then the cargo 12 can be limited to prevent it from tilting or even falling, which is more stable and reliable, and the storage effect of the cargo is ensured;

[0159] After the goods 12 are limited, the electromagnet 804 is energized. After being energized, the electromagnet 804 can attract the iron block 805, so that the moving block 802 and the pushing block 18 move toward the direction close to the baffle 17. At the same time, the third spring 803 is compressed, and the goods 12 slide on the inclined surface 1801, so as to adjust the goods 12 to the center. At the same time, the limiting effect of the goods 12 is better, more stable and reliable. At the same time, when the goods 12 are stored on the shelf 11 for stacking, the deviation of the goods 12 can be avoided, and the distance sensor 20 is used to detect the distance between the upper goods 12 and the lower goods 12. When the upper goods 12 are aligned with the lower goods 12, the goods 12 are put down, thereby ensuring the effect of storing goods.

[0160] To sum up: the beneficial effects of the present invention are specifically reflected in the ability to limit the goods 12 to prevent them from tilting or even falling, making them more stable and reliable, ensuring the effect of storing goods, and, when stacking, being able to ensure that the upper layer of goods 12 is aligned with the lower layer of goods 12, ensuring the quality of the stacking, and being more stable and reliable.

[0161] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the utility model can be understood according to the specific circumstances.

[0162] Although the preferred embodiments of the utility model have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the utility model.

[0163] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0164] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0165] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for high-speed and accurate control of the reciprocating motion of a stacker, characterized in that: The following steps are involved: Establish a servo system position coordinate system based on the servo system encoder feedback; establish a barcode position coordinate system based on the barcode feedback; The servo system position coordinate system and the barcode position coordinate system are integrated and processed in a consistent manner, and the servo electronic gear ratio and correct configuration are set; Update the servo system position coordinates to the real position coordinates fed back by the current barcode, merge the servo system position coordinate system and the barcode position coordinate system into a consistent system, and trigger motion positioning; Among them, when triggering motion positioning, for the same motion process, first triggering positioning; if the required barcode positioning position is not reached after positioning is completed, then triggering secondary positioning again until the target position is reached; The positioning is judged to be completed based on the positioning tolerance of the maximum error range of the target position of the stacker; The stacker comprises a stacker body (1) erected between a ground rail (101) and a ceiling rail (102); a servo system adapted to the ground rail (101) and the ceiling rail (102) is integrated on the stacker body (1); and a barcode for detecting the position of the stacker body (1) is arranged along one side of the ground rail (101) or the ceiling rail (102); The stacker body (1) further comprises a lifting module (103) and a base frame (106) arranged on the stacker body (1); an electric control module (105) is arranged on the base frame (106), and a lifting block (104) is arranged on the lifting module (103), characterized in that a side wall of the lifting block (104) is connected to a U-shaped frame (13) via a first rotating mechanism, and a side wall of the U-shaped frame (13) is connected to a moving plate (14) via a first moving mechanism, and the side wall of the moving plate (14) is fixedly connected to two symmetrically arranged forks (15), and The other end of each cargo fork (15) is connected to a rotating plate (16) via a second rotating mechanism, the side wall of the movable plate (14) is connected to two symmetrically arranged baffles (17) via a reset mechanism, and the side wall of each baffle (17) is connected to a push block (18) via a second moving mechanism, the push block (18) comprises an inclined surface (1801), and the cargo (12) can slide on the inclined surface (1801), the bottom of each baffle (17) is fixedly connected to a bracket (19), and a distance sensor (20) is fixedly inserted into the side wall of each bracket (19); The first rotating mechanism comprises two symmetrically arranged first supporting plates (201) fixedly connected to the side walls of the lifting block (104), and the U-shaped frame (13) is rotatably connected to the side walls of the first supporting plates (201) via a first rotating shaft, a first motor (202) is fixedly connected to the top of the first supporting plate (201), and an output end of the first motor (202) is fixed to the upper end of the first rotating shaft; The first moving mechanism comprises a first set of rods (302) fixedly connected to the side wall of the U-shaped frame (13), and the side wall of the first set of rods (302) is sleeved with a first sleeve (301), the other end of the first sleeve (301) is fixed to the side wall of the moving plate (14), and the side wall of the U-shaped frame (13) is rotatably connected to a first threaded rod (304), the side wall of the first threaded rod (304) is threadedly connected to a first threaded tube (303), and the other end of the first threaded tube (303) is fixed to the side wall of the moving plate (14), and the side wall of the U-shaped frame (13) is fixedly connected to a second motor (305), and the output end of the second motor (305) is fixed to one end of the first threaded rod (304); The second rotating mechanism comprises two symmetrically arranged fixed blocks (401) fixed on the side walls of each fork (15), and the rotating plate (16) is rotatably connected to the side wall of the fixed block (401) via a second rotating shaft (402), a first gear (403) is fixedly sleeved on the side wall of the second rotating shaft (402), and the side wall of the fixed block (401) is connected to a first rack (404) via a reset assembly, the first rack (404) is meshed with the first gear (403), and the movement of the first rack (404) is pulled by a pulling mechanism; The second moving mechanism comprises two symmetrically arranged second T-shaped guide rods (801) fixedly connected to the side walls of each baffle (17), the side walls of the second T-shaped guide rods (801) are sleeved with a moving block (802), the pushing block (18) is fixed to the side wall of the moving block (802), and the side wall of each second T-shaped guide rod (801) is sleeved with a third spring (803), the side wall of the baffle (17) is fixedly connected to an electromagnet (804), and the side wall of the moving block (802) is fixedly connected to an iron block (805); The pulling mechanism comprises two symmetrically arranged connecting plates (501) fixedly connected to the side walls of the movable plate (14), and the opposite side walls of the two connecting plates (501) are rotatably connected to two symmetrically arranged winding rollers (508) via a rotating rod (503), a pull rope (509) is wound around the side wall of each winding roller (508), and the other end of the pull rope (509) passes through the side wall of the movable plate (14) and is fixed to the side wall of the first rack (404), the side wall of the movable plate (14) is connected to a U-shaped plate (505) via a lifting mechanism, and the bottom of the U-shaped plate (505) is fixedly connected to two symmetrically arranged connecting rods (506), the lower end of the connecting rod (506) is fixedly connected to a second rack (507), and the end of the rotating rod (503) is fixedly connected to two symmetrically arranged second gears (504), and the second gear (504) is meshed with the second rack (507).

2. The method for high-speed and accurate control of the reciprocating motion of a stacker according to claim 1, characterized in that: The steps to set the servo electronic gear ratio and correct configuration include the following steps: Determine the pulse equivalent of the servo system based on the barcode feedback accuracy; According to the circumference of the roller and the matching of the servo motor and the reduction ratio of the reducer, the travel distance corresponding to each rotation of the servo motor is calculated to determine the electronic gear ratio of the servo.

3. The method for high-speed and accurate control of the reciprocating motion of a stacker according to claim 2, characterized in that: The steps of one-time positioning are as follows: Connect the absolute positioning completion signal of the starting column and compare it with the real position coordinates fed back by the current barcode; If the start column arrival signal is blocked, the flag signal indicating the end of the start column is triggered; Turn off the flag signal of absolute positioning operation and the servo stops running; The secondary positioning steps are as follows: When the set time is exceeded, the flag signal indicating the end of the phase towards the start column is turned off, and the flag signal for absolute positioning operation is triggered, and the servo continues to run.

4. The method for high-speed and accurate control of the reciprocating motion of a stacker according to claim 1, characterized in that: The reset assembly comprises two symmetrically arranged support blocks (601) fixedly connected to the side walls of the fixed block (401), and two symmetrically arranged guide rods (602) are fixedly connected to the opposite side walls of the two support blocks (601), and the side walls of each of the guide rods (602) are sleeved with a slider (603), and the slider (603) is fixed to the side wall of the first rack (404), and the side wall of each of the guide rods (602) is sleeved with a first spring (604); The reset mechanism comprises two symmetrically arranged first T-shaped guide rods (701) fixedly connected to the side walls of each baffle plate (17), and the movable plate (14) is sleeved on the side walls of the first T-shaped guide rods (701), the side walls of each of the first T-shaped guide rods (701) are sleeved with a second spring (702), and a limiting mechanism for limiting the position of the first T-shaped guide rods (701) is provided on one side of the movable plate (14).

5. The method for high-speed and accurate control of the reciprocating motion of a stacker according to claim 4, characterized in that: The lifting mechanism comprises a second support plate (901) fixedly connected to the side wall of the moving plate (14), and the bottom of the second support plate (901) is fixedly connected to a second sleeve rod (902), the side wall of the second sleeve rod (902) is sleeved with a second sleeve tube (903), and the lower end of the second sleeve tube (903) is fixed to the top of the U-shaped plate (505), the bottom of the second support plate (901) is rotatably connected to a second threaded rod (905), and the side wall of the second threaded rod (905) is threadedly connected to a second threaded tube (904), the lower end of the second threaded tube (904) is fixed to the top of the U-shaped plate (505), and the top of the second support plate (901) is fixedly connected to a third motor (906), and the output end of the third motor (906) is fixed to the upper end of the second threaded rod (905); The limiting mechanism comprises a plurality of limiting holes (1001) arranged in an array on the side wall of the first T-shaped guide rod (701), and two symmetrically arranged third T-shaped guide rods (1002) are passed through the top of the U-shaped plate (505), the side wall fixing sleeve of each of the third T-shaped guide rods (1002) is provided with a fixing ring (1003), and the side wall sleeve of each of the third T-shaped guide rods (1002) is provided with a fourth spring (1004).

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