Control method for discharging of stacking machine

Abstract

The invention provides a stacking machine discharging control method which comprises the following steps: selecting a height control model corresponding to a material according to the specification of the material; the cargo carrying table alignment platform is used for carrying materials; the initial height h0 and the relational expression Ex of the material pushing distance and the deformation quantity of the cargo carrying table are obtained by the cargo carrying table according to the height control model, and the cargo carrying table ascends to the position h0 away from the plane where the platform is located; the material pushing arm is used for pushing materials on the cargo carrying table to the direction of the platform; the cargo carrying table judges whether to execute height adjustment or not according to the specifications of the materials, and if yes, the height of the cargo carrying table and the platform is adjusted according to the relational expression Ex and the progress of the material pushing operation executed by the material pushing arm till the cargo carrying table is flush with the platform; after the cargo carrying table is flush with the platform, the cargo carrying table stops moving, and the material pushing arm keeps pushing materials; and the material pushing arm completely pushes the materials away from the cargo carrying table. According to the control method for discharging of the stacking machine, the situation that in the existing material discharging process, the vertex angle of the material is abraded due to the fact that stress is too large is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of electrical automation control, in particular to a control method for stacker material discharge. Background Art

[0002] The stacker type intelligent vertical warehouse is a commonly used equipment in the industry. Since the stacker directly pushes the material to the warehouse (the loading platform is level with the warehouse), on the one hand, it is easy for the front end of the material to be not accurately aligned with the warehouse, resulting in damage to the front end of the material during the pushing process. On the other hand, pushing the entire bottom of the material for a long distance will cause wear. Therefore, the existing stacker unloading working process is as follows (see the attached figure of the specification) Figure 1 ), the stacker carries the material to the position of the corresponding warehouse, and then the stacker rises to a position where its loading platform is 10-150mm away from the warehouse plane (if the loading platform and the warehouse are level, the bottom of the material will directly hit the feeding end of the warehouse when pushing the material), and the pusher on the stacker pushes the material on the loading platform to the warehouse. Due to the heavy material, the position of the center of gravity of the material relative to the loading platform changes during the material pushing process, and there is no support point at the outer end of the loading platform, resulting in the material moving toward the outer end of the loading platform. The material and the outer end of the loading platform tilt downward at the same time, and after the material contacts the platform of the warehouse, the position where the material contacts the warehouse (the front corner of the material) is used as the fulcrum. During the process of pushing the material, the front corner of the material will be tilted and pushed forward, resulting in obvious wear on the top corner of the material, affecting the aesthetics of the material. In addition, after the center of gravity of the material is transferred to the warehouse, the loading platform recovers upward, with the position where the material contacts the warehouse as the fulcrum, and the rear end of the material flips upward, causing the top corner of the material to be further compressed. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a control method for stacker material discharge, so that the stacker can automatically descend as the material is pushed into the bin during material discharge, thereby avoiding the situation in which excessive force is applied to the top corners of the material during the existing material unloading process, resulting in obvious wear on the material surface.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A control method for stacker material discharge, wherein the material placement system comprises a stacker and a storage bin, the stacker is provided with a lifting mechanism, a cargo platform and a material pushing mechanism, the lifting mechanism is used to drive the cargo platform to rise and fall, the material pushing mechanism is located above the cargo platform and rises and falls with the cargo platform, the material pushing mechanism is provided with a material pushing arm that can move back and forth along the front and rear ends of the cargo platform; the storage bin is provided with a platform for placing materials;

[0006] Suppose the material is labeled An, and materials of different specifications are labeled A1, A2, A3...An, where n is an integer greater than 0;

[0007] Collect the pushing distance of the pushing mechanism and the change of the deformation of the cargo platform when materials An of different specifications are pushed out of the cargo platform, and establish a height control model of the material pushing distance-cargo platform descending height corresponding to the material An;

[0008] Based on the height control model, determine the maximum value B(max) of the cargo platform deformation of the corresponding material;

[0009] The control method comprises:

[0010] According to the material specifications, select the height control model corresponding to the material;

[0011] A cargo platform alignment platform for carrying materials;

[0012] The loading platform obtains the initial height h0 and the relationship between the material pushing distance and the loading platform deformation Ex according to the height control model, and the loading platform rises to a position h0 away from the plane where the platform is located;

[0013] The push arm pushes the materials on the loading platform toward the platform;

[0014] The loading platform determines whether to perform height adjustment according to the material specifications. If it is performed, the height between the loading platform and the platform is adjusted according to the progress of the pushing operation of the pushing arm according to the relationship Ex until the loading platform is level with the platform;

[0015] After the loading platform is level with the platform, the loading platform stops moving and the pushing arm keeps pushing the material;

[0016] The pusher arm pushes the material completely off the loading platform.

[0017] Compared with the prior art, the control method for stacker material discharge of the present invention has the following beneficial effects:

[0018] (1) In the present invention, the loading platform determines whether to perform height adjustment according to the specifications of the materials. If it is performed, the height between the loading platform and the platform is adjusted according to the progress of the pushing operation of the pushing arm according to the relationship Ex, so that the stacker can automatically descend as the materials are pushed into the bin during unloading, avoiding the situation in which the top corners of the materials are subjected to excessive force during the existing material unloading process, resulting in obvious wear on the surface of the materials. This can effectively avoid the occurrence of this situation, prevent the outer corners of the materials from being knocked and worn, and optimize the action of the stacker when unloading materials in the bin of the vertical warehouse.

[0019] (2) If the loading platform does not cooperate with the push arm and is lowered in height, the weight allocated to the loading platform will decrease as the center of gravity of the material box slowly shifts to the storage space during the material pushing process. The end of the loading platform will slowly rebound upward, lifting the tail of the material, increasing the inclination angle of the front end of the material, increasing the force, and increasing the friction during movement. In order to solve the problem of wear on the outer corners of the material, when the stacker docks the storage space to push the material, the stacker moves the loading platform to the initial height h0, and the loading platform is higher than the storage space surface. In the process of pushing the material, the center of gravity of the material is judged according to the pushing distance of the push arm, and the height of the loading platform is slowly lowered until the storage space plane supports most of the weight of the material and the loading platform is level with the storage space surface, and then the push arm pushes the material out completely.

[0020] (3) The pushing distance, pushing distance and loading platform height control relationship EX of different materials are different. Therefore, it is necessary to mark the materials of different specifications in sequence and establish the corresponding height control model.

[0021] Preferably, when collecting data to establish a height control model, data is collected based on the height Dn of the cargo platform from the plane where the platform is located, where the unit of height Dn is mm, and the height Dn is taken at intervals in the interval [1,500]. After several materials are placed on cargo platforms with several heights Dn, the pushing distance of the pushing mechanism and the change in deformation of the cargo platform when the materials are pushed out of the cargo platform are obtained.

[0022] By performing multiple pushing tests at different heights on the corresponding materials and taking values ​​at intervals of the test height Dn, it is convenient to accurately obtain the relationship Ex later. In addition, in order to avoid the situation where the material is thrown into the air, the height Dn is taken in the interval [1,500].

[0023] Preferably, if the deformation of the cargo platform of the height control model corresponding to the material An is not greater than 50 mm, it is determined that the material An can be directly pushed to the platform at a height D1 between the cargo platform and the plane where the platform is located;

[0024] Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D1.

[0025] Preferably, the unit of height D1 is mm, and D1∈[0,100].

[0026] Preferably, the specifications of the material include the size, weight and hardness of the packaging.

[0027] Preferably, after obtaining the specification parameters of the material, if it is determined that the hardness of the outer packaging of the material An is greater than the strength value P, it is determined that the material An can be directly pushed to the platform at a height D2 between the loading platform and the plane where the platform is located;

[0028] Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D2.

[0029] Preferably, the height D2 is in mm, and D2∈[5,100].

[0030] When the material is relatively light, the deformation of the loading platform is relatively small, and the material of the material outer packaging is strong and not easy to deform, the loading platform can be directly at a specific height relative to the platform, and the relationship Ex is not executed, and the material can be pushed directly to improve the handling efficiency.

[0031] Preferably, the stacker controls the height of the cargo platform by reading the pushing distance data of the pushing arm.

[0032] When the center of gravity of the material changes during the pushing process, the height of the loading platform is controlled by reading the pushing distance, thereby realizing effective feedback of pushing distance change-material center of gravity change-loading platform height change.

[0033] Preferably, the initial height h0=M+B(max)-k*G, wherein M is the base height, M∈[5,100], G is the modified height, G∈[0,200], and k is the modification coefficient and is greater than 0.

[0034] It is known that the maximum deformation variable B(max) is the critical deformation variable when the center of gravity of the material is transferred to the outside of the loading platform. Therefore, the maximum value of the initial height h0 is M+B(max)(G=0). When the loading platform is deformed to the maximum, it means that the material is at the maximum inclination. In order to avoid the material from contacting the platform with the maximum inclination, the height of the loading platform needs to be corrected. Therefore, the initial height h0=M+B(max)-k*G; the initial height h0 is the height distance between the loading platform and the platform plane when it is docking with the bin. For materials with heavier weight, if the initial height h0 is greater than B(max), the inclination angle of the front end is likely to increase and the force is aggravated in the later stage of the change of the center of gravity of the material. Therefore, the initial height h0 needs to be limited to ensure that when the center of gravity of the material changes, the deformation of the loading platform drops to the specified height before approaching the maximum value B(max) to avoid excessive inclination angles at the front and rear ends of the material.

[0035] Preferably, the formula of the descending height h of the cargo platform output by the height control model is h=h0.e -KX , where X is the pushing distance of the pusher arm, K is the decay rate constant, and K is a positive number, and e represents the exponential function expression. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the execution of a stacker pushing materials to a storage location in the prior art;

[0037] Figure 2 It is a schematic diagram of the first execution situation of the stacker of the present invention pushing materials to the storage location;

[0038] Figure 3 It is a schematic diagram of a second execution situation of the stacker of the present invention pushing materials to a storage location;

[0039] Figure 4 It is a schematic diagram of a second execution situation of the stacker of the present invention pushing materials to a storage location;

[0040] Figure 5 It is a graph of the relationship Ex. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0042] See also Figures 2 to 4 A control method for stacker material discharge in this embodiment is applied to a material placement system. The material placement system includes a stacker and a storage bin. The stacker is provided with a lifting mechanism, a cargo platform and a material pushing mechanism. The lifting mechanism is used to drive the cargo platform to move up and down. The material pushing mechanism is located above the cargo platform and moves up and down with the cargo platform. The material pushing mechanism is provided with a material pushing arm that can move back and forth along the front and rear ends of the cargo platform. The storage bin is provided with a platform for placing materials.

[0043] Suppose the material is labeled An, and materials of different specifications are labeled A1, A2, A3...An, where n is an integer greater than 0;

[0044] Collect the pushing distance of the pushing mechanism and the change of the deformation of the cargo platform when materials An of different specifications are pushed out of the cargo platform, and establish a height control model of the material pushing distance-cargo platform descending height corresponding to the material An;

[0045] Based on the height control model, determine the maximum value B(max) of the cargo platform deformation of the corresponding material;

[0046] The control method comprises:

[0047] According to the material specifications, select the height control model corresponding to the material;

[0048] A cargo platform alignment platform for carrying materials;

[0049] The loading platform obtains the initial height h0 and the relationship between the material pushing distance and the loading platform deformation Ex according to the height control model, and the loading platform rises to a position h0 away from the plane where the platform is located;

[0050] The push arm pushes the materials on the loading platform toward the platform;

[0051] The loading platform determines whether to perform height adjustment according to the material specifications. If it is performed, the height between the loading platform and the platform is adjusted according to the progress of the pushing operation of the pushing arm according to the relationship Ex until the loading platform is level with the platform;

[0052] After the loading platform is level with the platform, the loading platform stops moving and the pushing arm keeps pushing the material;

[0053] The pusher arm pushes the material completely off the loading platform.

[0054] Preferably, when collecting data to establish a height control model, data is collected based on the height Dn of the cargo platform from the plane where the platform is located, where the unit of height Dn is mm, and the height Dn is taken at intervals in the interval [1,500]. After several materials are placed on cargo platforms with several heights Dn, the pushing distance of the pushing mechanism and the change in deformation of the cargo platform when the materials are pushed out of the cargo platform are obtained.

[0055] By performing multiple pushing tests at different heights on the corresponding materials and taking values ​​at intervals of the test height Dn, it is convenient to accurately obtain the relationship Ex later. In addition, in order to avoid the situation where the material is thrown into the air, the height Dn is taken in the interval [1,500].

[0056] The above steps obtain the mathematical relationship between different cargo platform heights and different pushing distances and the cargo platform deformation.

[0057] The data processing and intelligent simulation of the height control model (mathematical model) belong to the application of the prior art and are not the main inventive point of the present invention.

[0058] Preferably, see Figure 4 , if the deformation variable of the cargo platform of the height control model corresponding to the material An is not greater than 50 mm, it is judged that the material An can be directly pushed to the platform at the height D1 of the cargo platform from the plane where the platform is located;

[0059] Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D1.

[0060] Preferably, the unit of height D1 is mm, and D1∈[0,100].

[0061] Preferably, the specifications of the material include the size, weight and hardness of the packaging.

[0062] Preferably, see Figure 5 After obtaining the material specification parameters, if it is determined that the hardness of the outer packaging of the material An is greater than the strength value P, it is determined that the material An can be directly pushed to the platform at a height D2 between the loading platform and the plane where the platform is located;

[0063] Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D2.

[0064] Preferably, the height D2 is in mm, and D2∈[5,100].

[0065] When the material is relatively light, the deformation of the loading platform is relatively small, and the material of the material outer packaging is strong and not easy to deform, the loading platform can be directly at a specific height relative to the platform, and the relationship Ex is not executed, and the material can be pushed directly to improve the handling efficiency.

[0066] Preferably, the stacker controls the height of the cargo platform by reading the pushing distance data of the pushing arm.

[0067] When the center of gravity of the material changes during the pushing process, the height of the loading platform is controlled by reading the pushing distance, thereby realizing effective feedback of pushing distance change-material center of gravity change-loading platform height change.

[0068] Preferably, the initial height h0=M+B(max)-k*G, wherein M is the base height, M∈[5,100], G is the modified height, G∈[0,200], and k is the modification coefficient and is greater than 0.

[0069] It is known that the maximum deformation variable B(max) is the critical deformation variable when the center of gravity of the material is transferred to the outside of the loading platform. Therefore, the maximum value of the initial height h0 is M+B(max)(G=0). When the loading platform is deformed to the maximum, it means that the material is at the maximum inclination. In order to avoid the material from contacting the platform with the maximum inclination, the height of the loading platform needs to be corrected. Therefore, the initial height h0=M+B(max)-k*G; the initial height h0 is the height distance between the loading platform and the platform plane when it is docking with the bin. For materials with heavier weight, if the initial height h0 is greater than B(max), the inclination angle of the front end is likely to increase and the force is aggravated in the later stage of the change of the center of gravity of the material. Therefore, the initial height h0 needs to be limited to ensure that when the center of gravity of the material changes, the deformation of the loading platform drops to the specified height before approaching the maximum value B(max) to avoid excessive inclination angles at the front and rear ends of the material.

[0070] Preferably, the formula of the descending height h of the cargo platform output by the height control model is h=h0.e -KX , where X is the pushing distance of the pusher arm, K is the decay rate constant, and K is a positive number, and e represents the exponential function expression.

[0071] Description of the drawings in the specification:

[0072] Figures 1 to 4 In the figure, the left side is a diagram of the storage location, the right side is a diagram of the stacker, and the rectangular pattern (with a cross mark) placed on the stacker is the material.

[0073] Figure 1 In the figure, the height of the stacker from the bottom of the bin is N;

[0074] Figures 2 to 4 In the example, set the base height M as the reference line.

[0075] Figure 2 In FIG. 5 , the case where the initial height h0 is greater than the base height M is shown. In actual applications, there is a case where the initial height h0 is equal to or less than the base height M.

[0076] Figure 2 In the figure, h0, h1, h2 and h3 are used to represent the height change of the stacker from the bottom of the storage space at different times, and h0, h1, h2 and h3 decrease in sequence.

[0077] Figure 3 , Figure 4 In the figure, the case where D1 and D2 are less than the base height M is shown. In actual production, there is a case where D2 is equal to or greater than the base height M.

[0078] Figure 5 In the figure, point h0 represents the initial height of the stacker and the schematic point where the material starts to enter the warehouse, and point hn represents the warehouse height, the final pushing distance of the pusher arm, and the schematic point where the material leaves the stacker.

[0079] Figure 5 In the figure, the curvature of the curve from h0 to hm is greater than the curvature of the curve from hm to hn, that is, the descent speed of the stacker in the height interval from h0 to hm is faster than the descent speed of the stacker in the height interval from hm to hn.

[0080] Compared with the prior art, the control method for stacker material discharge of the present invention has the following beneficial effects:

[0081] (1) In the present invention, the loading platform determines whether to perform height adjustment according to the specifications of the materials. If it is performed, the height between the loading platform and the platform is adjusted according to the progress of the pushing operation of the pushing arm according to the relationship Ex, so that the stacker can automatically descend as the materials are pushed into the bin during unloading, avoiding the situation in which the top corners of the materials are subjected to excessive force during the existing material unloading process, resulting in obvious wear on the surface of the materials. This can effectively avoid the occurrence of this situation, prevent the outer corners of the materials from being knocked and worn, and optimize the action of the stacker when unloading materials in the bin of the vertical warehouse.

[0082] (2) If the loading platform does not cooperate with the push arm and is lowered in height, the weight allocated to the loading platform will decrease as the center of gravity of the material box slowly shifts to the storage space during the material pushing process. The end of the loading platform will slowly rebound upward, lifting the tail of the material, increasing the inclination angle of the front end of the material, increasing the force, and increasing the friction during movement. In order to solve the problem of wear on the outer corners of the material, when the stacker docks the storage space to push the material, the stacker moves the loading platform to the initial height h0, and the loading platform is higher than the storage space surface. In the process of pushing the material, the center of gravity of the material is judged according to the pushing distance of the push arm, and the height of the loading platform is slowly lowered until the storage space plane supports most of the weight of the material and the loading platform is level with the storage space surface, and then the push arm pushes the material out completely.

[0083] (3) The pushing distance, pushing distance and loading platform height control relationship EX of different materials are different. Therefore, it is necessary to mark the materials of different specifications in sequence and establish the corresponding height control model.

[0084] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A control method for stacker unloading, characterized in that: The material placement system includes a stacker and a storage bin. The stacker is equipped with a lifting mechanism, a cargo platform and a material pushing mechanism. The lifting mechanism is used to drive the cargo platform up and down. The material pushing mechanism is located above the cargo platform and moves up and down with the cargo platform. The material pushing mechanism is equipped with a material pushing arm that can move back and forth along the front and rear ends of the cargo platform. The storage bin is equipped with a platform for placing materials. Suppose the material is labeled An, and materials of different specifications are labeled A1, A2, A3...An, where n is an integer greater than 0; Collect the pushing distance of the pushing mechanism and the change of the deformation of the cargo platform when materials An of different specifications are pushed out of the cargo platform, and establish a height control model of the material pushing distance-cargo platform descending height corresponding to the material An; Based on the height control model, determine the maximum value B(max) of the cargo platform deformation of the corresponding material; The control method comprises: According to the material specifications, select the height control model corresponding to the material; A cargo platform alignment platform for carrying materials; The loading platform obtains the initial height h0 and the relationship between the material pushing distance and the loading platform deformation Ex according to the height control model, and the loading platform rises to a position h0 away from the plane where the platform is located; The push arm pushes the materials on the loading platform toward the platform; The loading platform determines whether to perform height adjustment according to the material specifications. If it is performed, the height between the loading platform and the platform is adjusted according to the progress of the pushing operation of the pushing arm according to the relationship Ex until the loading platform is level with the platform; After the loading platform is level with the platform, the loading platform stops moving and the pushing arm keeps pushing the material; The pusher arm pushes the material completely off the loading platform.

2. The control method according to claim 1, characterized in that: When collecting data to establish a height control model, data is collected based on the height Dn of the cargo platform from the platform plane, where the unit of height Dn is mm and the height Dn is taken at intervals in the interval [1,500]. After several materials are placed on cargo platforms with several heights Dn, the pushing distance of the pushing mechanism and the change in the deformation of the cargo platform when the materials are pushed out of the cargo platform are obtained.

3. The control method according to claim 1, characterized in that: If the deformation of the cargo platform of the height control model corresponding to the material An is not greater than 50 mm, it is determined that the material An can be directly pushed to the platform at the height D1 of the cargo platform from the plane where the platform is located; Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D1.

4. The control method according to claim 3, characterized in that: The unit of height D1 is mm, and D1∈[0,100].

5. The control method according to claim 1, characterized in that: The material specifications include the size, weight and hardness of the packaging.

6. The control method according to claim 5, characterized in that: After obtaining the material specification parameters, if it is determined that the hardness of the outer packaging of the material An is greater than the strength value P, it is determined that the material An can be directly pushed to the platform at a height D2 between the loading platform and the plane where the platform is located; Assume that the relationship between the material pushing distance and the deformation of the loading platform Ex is not executed at this time, and the initial height h0 is equal to the height D2.

7. The control method according to claim 6, characterized in that: The unit of height D2 is mm, and D2∈[5,100].

8. The control method according to claim 1, characterized in that: The stacker controls the height of the loading platform by reading the pushing distance data of the pushing arm.

9. The control method according to claim 1, characterized in that: The initial height h0=M+B(max)-k*G, where M is the basic height, M∈[5,100], G is the corrected height, G∈[0,200], and k is the correction coefficient and is greater than 0.

10. The control method according to claim 8, characterized in that: The formula of the cargo platform's descending height h output by the height control model is h=h0.e -KX , where X is the pushing distance of the pusher arm, K is the decay rate constant, and K is a positive number, and e represents the exponential function expression.

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