Vertical and horizontal positioning mechanism of high-temperature warehouse stacking machine

Abstract

The invention discloses a vertical and horizontal positioning mechanism for a stacking machine in a high-temperature warehouse. The problem of how to develop a positioning mechanism which can adapt to the stacking machine in the high-temperature stereoscopic warehouse in the horizontal and vertical directions is solved. A horizontal sensing plate (24) of a groove-shaped photoelectric switch is arranged on a horizontal cross beam, close to a stacker walking channel (27), of a goods allocation frame (18), and a horizontal positioning switch mounting plate (21) of the goods allocation frame is arranged on a goods carrying table cross beam, close to the goods allocation frame (18), of a stacker lifting goods carrying table (9). A first horizontal positioning groove type photoelectric switch (22) and a second horizontal positioning groove type photoelectric switch (23) are respectively arranged on the horizontal positioning switch mounting plate (21); the first horizontal positioning groove type photoelectric switch (22) and the second horizontal positioning groove type photoelectric switch (23) are movably matched with the horizontal sensing plate (24); the device is especially suitable for being used in high-temperature warehouses.

Description

Technical Field

[0001] The invention relates to a stacker, in particular to a vertical and horizontal positioning mechanism for a high-temperature warehouse stacker. Background Art

[0002] In the automated three-dimensional warehouse system, the stacker is regarded as the most important core equipment; in the normal temperature warehouse, there are two ways to achieve the vertical and horizontal positioning of the stacker: one is bar code addressing and positioning, that is, a bar code tape is attached to the column of the stacker, and a bar code reader is installed on the cargo platform that moves up and down. The bar code tape on the column of the stacker is recognized by the bar code reader on the cargo platform to achieve the vertical addressing and positioning of the cargo platform; the other is laser distance measurement and positioning, a laser distance meter is installed on the lower crossbeam of the stacker, and a matching laser reflector is installed on the cargo platform that moves in the vertical direction. The laser distance meter recognizes the distance to achieve the vertical addressing and positioning of the cargo platform; the data obtained by these two methods are transmitted to the PLC outside the warehouse area through the communication devices installed on the stacker and the ground, so as to achieve the vertical and horizontal addressing and positioning of the stacker by the PLC; in the automated three-dimensional warehouse at normal temperature, In the system, the temperature in the vertical warehouse is generally between -10℃ and 45℃. Within this temperature range, the sensors on the stacker can work normally without any problems. However, in some vertical warehouses with high temperature requirements, such as the steel industry or the new material industry, the operating environment temperature of the stacker exceeds 55℃, and some are even as high as 75℃. For such a high ambient temperature, many conventional sensors can no longer be used normally. The high temperature in the warehouse area will also cause damage to some components in the sensor, resulting in the stacker being unable to accurately address and position in the vertical and horizontal directions. When this happens, the stacker will stop working at the least, or the stacker will go to the wrong location in the horizontal and vertical directions, or repeatedly put goods, causing the goods to be pushed and dropped, resulting in losses. How to develop a horizontal and vertical positioning mechanism for the stacker that can adapt to high-temperature three-dimensional warehouses has become a problem that needs to be solved on site. Summary of the invention

[0003] The invention provides a vertical and horizontal positioning mechanism for a high-temperature warehouse stacker, solving the technical problem of how to develop a horizontal and vertical positioning mechanism for a stacker that can adapt to a high-temperature stereoscopic warehouse.

[0004] The present invention solves the above technical problems through the following technical solutions: A vertical and horizontal positioning mechanism for a high-temperature warehouse stacker, comprising a left shelf and a right shelf, a stacker walking channel is arranged between the left shelf and the right shelf, a stacker ground rail is arranged in the stacker walking channel, a stacker ceiling rail is arranged on the shelf hanging beam just above the stacker ground rail, a double-column stacker is arranged between the stacker ground rail and the stacker ceiling rail, a left column and a right column are respectively arranged on the lower crossbeam of the double-column stacker, a stacker lifting loading platform is arranged between the left column and the right column, and a loading platform cargo fork is arranged on the stacker lifting loading platform; a cargo rack is arranged on the left shelf, and a cargo rack is installed on the ground adjacent to the stacker walking channel A horizontal sensing plate with a slot-type photoelectric switch, when the stacker runs horizontally to the accurate picking position of the designated cargo grid, the central axis of the horizontal sensing plate coincides with the horizontal central axis of the cargo rack; a horizontal positioning switch mounting bracket of the cargo rack is arranged on the lower crossbeam of the stacker, and a first horizontal positioning slot-type photoelectric switch and a second horizontal positioning slot-type photoelectric switch are respectively arranged on the horizontal positioning switch mounting bracket, and the central axes of the first horizontal positioning slot-type photoelectric switch and the second horizontal positioning slot-type photoelectric switch coincide with the horizontal central axis of the cargo rack; the first horizontal positioning slot-type photoelectric switch and the second horizontal positioning slot-type photoelectric switch are movably coordinated with the horizontal sensing plate.

[0005] A vertical cargo rack positioning sensing vertical plate is arranged on the left column, and the vertical cargo rack positioning sensing vertical plate is arranged corresponding to the vertical cargo rack; a lifting platform left hanger and a lifting platform right hanger are respectively arranged on the stacker lifting loading platform, and a vertical positioning switch mounting cantilever bracket is arranged on the left hanger of the lifting platform, and a high-position slot-type photoelectric switch and a low-position slot-type photoelectric switch are respectively arranged on the vertical positioning switch mounting cantilever bracket along the upper and lower vertical directions, and the high-position slot-type photoelectric switch and the low-position slot-type photoelectric switch are movably coordinated with the vertical cargo rack positioning sensing vertical plate.

[0006] A cargo fork is arranged on the stacker's lifting loading platform, and a cargo pallet is lifted on the cargo fork; a traveling wheel is arranged on the lower bottom surface of the lower crossbeam, and the lower crossbeam is movably arranged on the stacker's ground rail through the traveling wheel; an upper crossbeam is arranged between the top of the left column and the top of the right column, and a clamping wheel pair is arranged on the upper crossbeam, and the clamping wheel pair is movably clamped on the stacker's ceiling rail.

[0007] A method for vertically and horizontally positioning a high-temperature warehouse stacker is realized by a vertically and horizontally positioning mechanism of the high-temperature warehouse stacker. The vertically and horizontally positioning mechanism of the high-temperature warehouse stacker comprises a left shelf and a right shelf. A stacker walking channel is arranged between the left shelf and the right shelf. A stacker ground rail is arranged in the stacker walking channel. A stacker ceiling rail is arranged on a warehouse hanging beam just above the stacker ground rail. A double-column stacker is arranged between the stacker ground rail and the stacker ceiling rail. A left column and a right column are respectively arranged on a lower crossbeam (2) of the double-column stacker. A stacker lifting platform is arranged between the left column and the right column. A loading platform cargo fork is arranged on the stacker lifting platform. A cargo rack is arranged on the left shelf. A horizontal sensing bracket with a slot-type photoelectric switch is arranged on the lower crossbeam of the stacker adjacent to the stacker walking channel. When the stacker is running horizontally, the stacker lifts the cargo platform. When the stacker reaches the exact picking position of the designated cargo grid, the central axis of the horizontal sensing bracket coincides with the horizontal central axis of the cargo rack; a horizontal positioning switch mounting bracket of the cargo rack is provided on the left hanger of the cargo platform adjacent to the cargo rack of the stacker lifting cargo platform, and a first vertical positioning slot-type photoelectric switch and a second vertical positioning slot-type photoelectric switch are respectively provided on the horizontal positioning switch mounting bracket. When the stacker cargo platform moves vertically to the designated cargo location, the central axes of the first vertical slot-type photoelectric switch and the second vertical positioning slot-type photoelectric switch coincide with the horizontal central axis of the cargo rack of the cargo rack; the following steps are included: when the horizontal sensing bracket enters the first horizontal positioning slot-type photoelectric switch slot and the second horizontal positioning slot-type photoelectric switch slot, that is, when both slot-type photoelectric switches send out power-off signals, the double-column stacker stops horizontal movement, and at this time, the stacker lifting cargo platform is aligned with the cargo rack.

[0008] A vertical cargo rack positioning sensing vertical plate is arranged on the left column, and the vertical cargo rack positioning sensing vertical plate is arranged corresponding to the vertical cargo rack; a lifting platform left hanger and a lifting platform right hanger are respectively arranged on the stacker lifting platform, a vertical positioning switch mounting cantilever plate is arranged on the left hanger of the lifting platform, and a high-position slot-type photoelectric switch and a low-position slot-type photoelectric switch are respectively arranged in the upper and lower vertical directions on the vertical positioning switch mounting cantilever plate, including the following steps: when the stacker lifting platform rises, if the high-position slot-type photoelectric switch meets the vertical positioning switch mounting cantilever plate, the high-position slot-type photoelectric switch takes effect and sends out an activation signal. The stacker crane lifting platform sends a signal to stop rising, and the stacker crane lifting platform stops rising. At this time, the stacker crane lifting platform and the corresponding cargo rack are in the picking state; the cargo platform fork extends toward the cargo rack and extends to the bottom of the cargo pallet on the cargo rack; then, the stacker crane lifting platform is started to rise again, and when the low-level slot-type photoelectric switch meets the cantilever plate installed with the vertical positioning switch, the low-level slot-type photoelectric starts to work and sends a signal to stop rising the stacker crane lifting platform. The stacker crane lifting platform stops rising, the cargo platform fork retracts, and the cargo pallet is transferred to the stacker crane lifting platform, thereby completing the picking work.

[0009] The present invention utilizes a slot switch and a switch addressing plate to replace a traditional barcode scanner and a barcode, or to replace a laser rangefinder and a laser reflector plate; utilizes the principle of the slot switch blocking light or transmitting light to replace the complex internal structure of the barcode scanner and the laser rangefinder; and is particularly suitable for use in high-temperature warehouses. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the structure of the present invention when it is horizontally positioned; Figure 2 It is a schematic diagram of the structure of the present invention when it is vertically positioned; Figure 3 yes Figure 2 Side view of . DETAILED DESCRIPTION

[0011] The present invention is described in detail below in conjunction with the accompanying drawings: A vertical and horizontal positioning mechanism for a high-temperature warehouse stacker, comprising a left shelf 25 and a right shelf 26, a stacker walking channel 27 is arranged between the left shelf 25 and the right shelf 26, a stacker ground rail 1 is arranged in the stacker walking channel 27, a stacker ceiling rail 8 is arranged on the warehouse roof plate just above the stacker ground rail 1, a double-column stacker is arranged between the stacker ground rail 1 and the stacker ceiling rail 8, a left column 4 and a right column 5 are respectively arranged on the lower crossbeam 2 of the double-column stacker, a stacker lifting cargo platform 9 is arranged between the left column 4 and the right column 5, and a cargo platform fork 10 is arranged on the stacker lifting cargo platform 9; a cargo rack 18 is arranged on the left shelf 25, and a groove-type light is arranged on the ground of the cargo rack 18 adjacent to the stacker walking channel 27 The horizontal sensing bracket 24 of the electric switch, the central axis of the horizontal sensing bracket 24 coincides with the horizontal central axis 19 of the cargo rack 18; a horizontal positioning switch mounting bracket 21 of the cargo rack is provided on the lower crossbeam 2 of the stacker, and a first horizontal positioning slot type photoelectric switch 22 and a second horizontal positioning slot type photoelectric switch 23 are respectively provided on the horizontal positioning switch mounting bracket 21. When the stacker runs horizontally to the specified position, the central axes 20 of the first horizontal positioning slot type photoelectric switch 22 and the second horizontal positioning slot type photoelectric switch 23 coincide with the horizontal central axis 19 of the cargo rack 18; the first horizontal positioning slot type photoelectric switch 22 and the second horizontal positioning slot type photoelectric switch 23 are both inductively coupled to the horizontal sensing plate 24, and the stacker is in a horizontal picking state at this time.

[0012] A vertical cargo rack positioning sensing vertical plate 16 is arranged on the left column 4, and the vertical cargo rack positioning sensing vertical plate 16 is arranged corresponding to the vertical cargo rack; a lifting platform left hanger 12 and a lifting platform right hanger are respectively arranged on the stacker lifting loading platform 9, and a vertical positioning switch mounting cantilever plate 13 is arranged on the lifting platform left hanger 12, and a high-position slot-type photoelectric switch 14 and a low-position slot-type photoelectric switch 15 are respectively arranged on the vertical positioning switch mounting cantilever plate 13 along the upper and lower vertical directions, and the high-position slot-type photoelectric switch 14 and the low-position slot-type photoelectric switch 15 are movably coordinated with the vertical cargo rack positioning sensing vertical plate 16.

[0013] A fork 10 is provided on the stacker's lifting loading platform 9, and a cargo pallet 11 is lifted on the fork 10; a traveling wheel 3 is provided on the lower bottom surface of the lower beam 2, and the lower beam 2 is movably arranged on the stacker's ground rail 1 through the traveling wheel 3; an upper beam 6 is provided between the top end of the left column 4 and the top end of the right column 5, and a clamping wheel pair 7 is provided on the upper beam 6, and the clamping wheel pair 7 is movably clamped on the stacker's ceiling rail 8.

[0014] A method for vertical and horizontal positioning of a high-temperature warehouse stacker is achieved by a vertical and horizontal positioning mechanism of the high-temperature warehouse stacker, the vertical and horizontal positioning mechanism of the high-temperature warehouse stacker includes a left shelf 25 and a right shelf 26, a stacker walking channel 27 is arranged between the left shelf 25 and the right shelf 26, a stacker ground rail 1 is arranged in the stacker walking channel 27, a stacker ceiling rail 8 is arranged on the warehouse roof plate just above the stacker ground rail 1, a double-column stacker is arranged between the stacker ground rail 1 and the stacker ceiling rail 8, a left column 4 and a right column 5 are respectively arranged on the lower crossbeam 2 of the double-column stacker, a stacker lifting loading platform 9 is arranged between the left column 4 and the right column 5, and a loading platform fork 10 is arranged on the stacker lifting loading platform 9; a cargo rack 18 is arranged on the left shelf 25, and a slot-type photoelectric switch is arranged on the horizontal crossbeam of the cargo rack 18 adjacent to the stacker walking channel 27 A horizontal sensing plate 24, the central axis of the horizontal sensing plate 24 coincides with the horizontal central axis 19 of the cargo rack 18; a horizontal positioning switch mounting bracket 21 of the cargo rack is provided on the lower crossbeam of the stacker, and a first horizontal positioning slot-type photoelectric switch 22 and a second horizontal positioning slot-type photoelectric switch 23 are respectively provided on the horizontal positioning switch mounting bracket 21. When the stacker runs horizontally to a certain designated first horizontal positioning slot-type photoelectric switch 22 and the central axis 20 of the second horizontal positioning slot-type photoelectric switch 23 coincide with the horizontal central axis 19 of the cargo rack 18, the stacker is in the picking position at this position; when the horizontal sensing plate 24 enters the slot of the first horizontal positioning slot-type photoelectric switch 22 and the slot of the second horizontal positioning slot-type photoelectric switch 23, that is, when both slot-type photoelectric switches send out power-off signals, the double-column stacker stops moving, and at this time, the stacker lifting loading platform 9 is aligned with the cargo rack 18.

[0015] A vertical cargo rack positioning induction plate 16 is arranged on the left column 4, and the vertical cargo rack positioning induction plate 16 is arranged corresponding to the vertical cargo rack; a left hanger 12 and a right hanger of the lifting platform are respectively arranged on the stacker lifting platform 9, and a vertical positioning switch mounting cantilever plate 13 is arranged on the left hanger 12 of the lifting platform, and a high-position slot-type photoelectric switch 14 and a low-position slot-type photoelectric switch 15 are respectively arranged along the upper and lower vertical directions on the vertical positioning switch mounting cantilever plate 13. When the stacker lifting platform 9 rises, if the high-position slot-type photoelectric switch 14 meets the vertical positioning switch mounting cantilever plate 13, the high-position slot-type photoelectric switch 14 will work and send out a signal to make the stacker The stacker lift platform 9 stops rising when the lifting signal is given, and the stacker lift platform 9 stops rising. At this time, the stacker lift platform 9 and the corresponding cargo rack are just in the picking position; the cargo platform fork 10 extends toward the cargo rack and extends to the bottom of the cargo pallet 11 on the cargo rack; then, the stacker lift platform 9 is started to rise again, and when the low-level slot-type photoelectric switch 15 meets the vertical positioning switch mounting cantilever plate 13, the low-level slot-type photoelectric switch 15 works and sends a signal to stop the stacker lift platform 9 from rising. The stacker lift platform 9 stops rising, the cargo platform fork 10 retracts, and the cargo pallet 11 is transferred to the stacker lift platform 9, thereby completing the picking work.

Claims

1. A vertical and horizontal positioning mechanism for a high-temperature warehouse stacker, comprising a left shelf (25) and a right shelf (26), a stacker walking channel (27) is arranged between the left shelf (25) and the right shelf (26), a stacker ground rail (1) is arranged in the stacker walking channel (27), a stacker ceiling rail (8) is arranged on the shelf hanging beam just above the stacker ground rail (1), a double-column stacker is arranged between the stacker ground rail (1) and the stacker ceiling rail (8), a left column (4) and a right column (5) are respectively arranged on the lower crossbeam (2) of the double-column stacker, a stacker lifting loading platform (9) is arranged between the left column (4) and the right column (5), and a loading platform fork (10) is arranged on the stacker lifting loading platform (9); characterized in that: A cargo rack (18) is arranged on the left shelf (25), and a horizontal sensing plate (24) of a slot-type photoelectric switch is installed on the ground of the cargo rack (18) adjacent to the stacker walking passage (27), and the central axis of the horizontal sensing plate (24) coincides with the horizontal central axis (19) of the cargo rack of the cargo rack (18); a horizontal positioning switch mounting bracket (21) of the cargo rack is arranged on the lower crossbeam (2) of the stacker, and a first horizontal positioning slot-type photoelectric switch (22) and a second horizontal positioning slot-type photoelectric switch (23) are respectively arranged on the horizontal positioning switch mounting bracket (21), and the central axes (20) of the first horizontal positioning slot-type photoelectric switch (22) and the second horizontal positioning slot-type photoelectric switch (23) coincide with the horizontal central axis (19) of the cargo rack of the cargo rack (18); the first horizontal positioning slot-type photoelectric switch (22) and the second horizontal positioning slot-type photoelectric switch (23) are movably matched with the horizontal sensing plate (24).

2. The vertical and horizontal positioning mechanism of a high temperature warehouse stacker according to claim 1, characterized in that: A vertical cargo rack positioning induction plate (16) is arranged on the left column (4), and the vertical cargo rack positioning induction plate (16) is arranged corresponding to the vertical cargo rack; a lifting platform left hanger (12) and a lifting platform right hanger are respectively arranged on the stacker lifting platform (9), and a vertical positioning switch mounting cantilever bracket (13) is arranged on the lifting platform left hanger (12); a high-position slot-type photoelectric switch (14) and a low-position slot-type photoelectric switch (15) are respectively arranged on the vertical positioning switch mounting cantilever bracket (13) along the upper and lower vertical directions, and the high-position slot-type photoelectric switch (14) and the low-position slot-type photoelectric switch (15) are movably matched with the vertical cargo rack positioning induction plate (16).

3. A vertical and horizontal positioning mechanism for a high temperature warehouse stacker according to claim 1 or 2, characterized in that: A cargo fork (10) is arranged on a stacker lifting platform (9), and a cargo pallet (11) is lifted on the cargo fork (10); a travel wheel (3) is arranged on the lower bottom surface of a lower crossbeam (2), and the lower crossbeam (2) is movably arranged on a stacker floor rail (1) through the travel wheel (3); an upper crossbeam (6) is arranged between the top end of a left column (4) and the top end of a right column (5), and a clamping wheel pair (7) is arranged on the upper crossbeam (6), and the clamping wheel pair (7) is movably clamped on a stacker ceiling rail (8).

Images