Stacking machine

Abstract

The invention belongs to the technical field of storage equipment, and discloses a stacking machine which comprises a ground rail device, a ground vehicle device, a stand column device, a basket device and a control device. The ground vehicle device is movably arranged on the ground rail device; the stand column device is arranged on the ground vehicle device, and the lifting basket device is connected to the stand column device in a height-adjustable mode and can be in butt joint with a goods shelf and take and place goods. The control device can control the moving speed and the parking height of the lifting basket device, and can control the lifting basket device to slow down when the lifting basket device is close to the top end of the stand column device or close to the ground vehicle device. The control device can also control the moving speed and the parking position of the ground vehicle device along the ground rail device, and can also control the ground vehicle device to slow down when the ground vehicle device is close to the end of the ground rail device. According to the stacking machine, the accuracy and flexibility of the connection process of the lifting basket device and the goods shelf can be improved, collision of components in the stacking machine is avoided, structural damage is prevented, and reliability is improved.

Description

Technical Field

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

[0002] A stacker is a special lifting device that uses a fork or a string as a picking device to grab, transport and stack or pick up and place unit goods from high-rise shelves in warehouses or workshops. A stacker generally includes a ground track, a ground car, a column and a basket. The ground car is adjustable on the ground track, the column is set on the ground car, and the basket is adjustable on the column, and can pick up or place goods on the shelf. Through the above settings, the transfer and stacking of goods are realized.

[0003] However, in the related art, the stacker cannot guarantee the connection accuracy between the basket and the shelf, and the basket is prone to impact or collision with the column.

[0004] Therefore, a stacker is urgently needed to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a stacker, which can improve the accuracy and flexibility of the docking process between a basket carrying device and a shelf, avoid collision of components in the stacker, prevent structural damage, and improve reliability.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Stacker, including:

[0008] A ground rail device and a ground vehicle device, wherein the ground vehicle device is movably arranged on the ground rail device;

[0009] A column device and a basket device, wherein the column device is arranged on the ground vehicle device, and the basket device is height-adjustably connected to the column device, and can be docked with the shelf to pick up and place goods;

[0010] A control device, wherein the control device is configured to control the moving speed and the docking height of the basket lifting device, and can also control the basket lifting device to decelerate when the basket lifting device is close to the top of the column device or close to the ground vehicle device; the control device can also control the moving speed and the docking position of the ground vehicle device along the ground rail device, and can also control the ground vehicle device to decelerate when the ground vehicle device is close to the end of the ground rail device.

[0011] As a preferred solution of the stacker provided by the present invention, the ground rail device includes a ground rail body and a first distance measuring member, the ground vehicle device is movably arranged on the ground rail body, and the first distance measuring member is arranged at one end of the ground rail body;

[0012] The ground vehicle device or the column device is provided with a second distance measuring component, and the second distance measuring component can form a corresponding reflection with the first distance measuring component. The first distance measuring component or the second distance measuring component is communicatively connected to the control device, and can transmit a first distance signal between the ground vehicle device and the end of the ground rail body to the control device. The control device can control the first positioning position of the ground vehicle device on the ground rail device according to the first distance signal.

[0013] As a preferred solution of the stacker provided by the present invention, the first ranging component is a reflective plate structure, the second ranging component can emit and receive laser, the second ranging component is communicatively connected to the control device, and can send a first distance signal to the control device, the first ranging component can reflect the laser emitted by the second ranging component, and the laser reflected by the first ranging component can then be received by the second ranging component.

[0014] As a preferred solution of the stacker provided by the present invention, the ground rail device includes a ground rail body and a first origin induction component, the ground vehicle device is movably arranged on the ground rail body, and the first origin induction component is arranged on the ground rail body;

[0015] The ground vehicle device is provided with a second origin induction member. When the ground vehicle device moves to the point where the first origin induction member senses the second origin induction member, the control device can control the ground vehicle device to stop and be positioned at the origin position of the ground rail body.

[0016] As a preferred solution of the stacker provided by the present invention, the ground rail device includes a ground rail body and a first deceleration sensor, and the first deceleration sensor is respectively arranged at positions close to two ends of the ground rail body;

[0017] The ground vehicle device is provided with a limit switch. When the ground vehicle device moves to the point where the limit switch senses the first deceleration sensor, the control device can control the ground vehicle device to reduce the moving speed.

[0018] As a preferred solution of the stacker provided by the present invention, a first limit displacement sensor is further provided on the ground rail body, and the first limit displacement sensor is respectively provided at positions close to two ends of the ground rail body, and in the moving direction of the ground vehicle device, the first limit displacement sensor is farther away from the ground vehicle device than the first deceleration sensor;

[0019] When the ground vehicle device moves to the point where the limit switch senses the first limit displacement sensor, the control device can control the ground vehicle device to stop moving.

[0020] As a preferred solution of the stacker provided by the present invention, the basket lifting device includes a basket lifting body and a first height sensing component, the basket lifting body is movably connected to the column device, and the first height sensing component is arranged on the basket lifting body;

[0021] The ground vehicle device is provided with a second height sensing member, and the second height sensing member is arranged opposite to the first height sensing member in the height direction. The second height sensing member can sense each other with the first height sensing member, and the first height sensing member and / or the second height sensing member can transmit a second distance signal between the basket carrying body and the ground vehicle device to the control device, and the control device can control the second positioning position of the basket carrying body on the column device according to the second distance signal.

[0022] As a preferred embodiment of the stacker provided by the present invention, the stacker also includes a lifting device, which is arranged on the column device and is communicatively connected to the control device. The lifting device is provided with a pull rope, which passes around the top of the column device and is connected to the basket lifting device. The lifting device drives the basket lifting device to rise and fall along the column device through the pull rope.

[0023] As a preferred solution of the stacker provided by the present invention, the lifting device also includes an anti-loosening mechanism, which is arranged on the basket lifting device, connected to the pull rope, and communicatively connected to the control device. The anti-loosening mechanism is used to detect the state of the pull rope. When the anti-loosening mechanism detects that the pull rope is loose, the control device can issue a lifting rope abnormality reminder.

[0024] As a preferred solution of the stacker provided by the present invention, the anti-loosening mechanism includes a pull rod, an elastic element and a detection switch, the pull rod is connected to the pull rope and movably connected to the basket lifting device;

[0025] The elastic element is coaxially sleeved outside the pull rod and has a compressed state and a resilient state. When the pull rope is in a tightened state, the elastic element is in a compressed state, and when the pull rope is in a relaxed state, the elastic element is in a resilient state.

[0026] The detection switch is installed on the basket lifting device and is located below the pull rod. The detection switch is communicatively connected to the control device. When the pull rope is in a relaxed state, the pull rod can press and trigger the detection switch under the action of the elastic element in a popped-open state.

[0027] As a preferred solution of the stacker provided by the present invention, the ground rail device includes a ground rail body and a ground rail buffer, and the ground rail buffers are respectively provided at both ends of the ground rail body, and the ground rail buffers are elastic.

[0028] Beneficial effects of the present invention:

[0029] The stacker provided by the present invention includes a ground rail device, a ground vehicle device, a column device, a basket device and a control device. The ground vehicle device is movably arranged on the ground rail device; the column device is arranged on the ground vehicle device, and the basket device is height-adjustably connected to the column device, and can be docked with a shelf and take and place goods. Through the ground vehicle device, the column device and the basket device can be driven to achieve the change of the position of the basket device along the extension direction of the ground rail device. Through the column device, a path can be provided for the lifting and lowering of the basket device. Through the control device, the moving speed and the parking height of the basket device can be controlled, and the basket device can be controlled to slow down when the basket device is close to the top of the column device or close to the ground vehicle device; and through the control device, the moving speed and the parking position of the ground vehicle device along the ground rail device can be controlled, and the ground vehicle device can be controlled to slow down when the ground vehicle device is close to the end of the ground rail device. That is to say, the control device can accurately control the relative position of the basket lifting device and the target position on the shelf, and then accurately control the docking process of the basket lifting device and the shelf. And by controlling the basket lifting device to decelerate when the basket lifting device is close to the top of the column device or close to the ground vehicle device, and controlling the ground vehicle device to decelerate when the ground vehicle device is close to the end of the ground rail device, the stability and flexibility of the ground vehicle device and the basket lifting device can be improved, the collision of the components in the stacker can be avoided, the structural damage can be prevented, and the reliability of the stacker can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0031] Figure 1 The structure of the stacker provided by the embodiment of the present invention is schematically shown in FIG. Figure 1 ;

[0032] Figure 2 The structure of the stacker provided by the embodiment of the present invention is schematically shown in FIG. Figure 2 ;

[0033] Figure 3 yes Figure 2 A partial enlarged view of the structure marked as A;

[0034] Figure 4 is a schematic diagram of the structural decomposition of the ground vehicle device provided by an embodiment of the present invention;

[0035] Figure 5 is a schematic structural diagram of a ground rail device provided by an embodiment of the present invention;

[0036] Figure 6 yes Figure 5 A partial enlarged view of the structure marked as B;

[0037] Figure 7 yes Figure 5 A partial enlarged view of the structure marked as C;

[0038] Figure 8 is a structural schematic diagram of a basket carrying device provided by an embodiment of the present invention;

[0039] Fig. 9 yes Figure 8 A partial enlarged view of the structure marked as D;

[0040] Fig.10 is an exploded schematic diagram of a basket carrying device provided by an embodiment of the present invention;

[0041] Fig.11 is a schematic structural diagram of an overhead travelling crane device provided by an embodiment of the present invention;

[0042] Fig.12 It is a schematic diagram of the structure of a ladder climbing device provided in an embodiment of the present invention.

[0043] In the figure:

[0044] 1. Extreme height detection ray; 2. Extreme width detection ray; 3. Deflection state detection ray;

[0045] 100, ground rail device; 110, ground rail body; 120, first distance measuring component; 130, first origin sensing component; 140, first deceleration sensing component; 150, first limit displacement sensing component; 160, ground rail buffer component; 171, busbar; 172, collector arm fixing frame; 173, collector arm;

[0046] 200, ground vehicle device; 210, second origin induction element; 220, limit switch; 230, second height induction element; 240, ground vehicle buffer; 250, obstacle radar; 261, driving wheel box; 262, driving wheel; 263, driving wheel box cover; 264, driven wheel box; 265, driven wheel; 266, driven wheel box cover; 267, travel motor; 268, torque arm; 269, transmission main shaft; 270, ground vehicle frame; 271, protective plate; 280, travel guide wheel; 290, third origin induction element;

[0047] 300, column device; 310, column mechanism; 320, second deceleration sensor; 330, second limit displacement sensor;

[0048] 400, basket lifting device; 410, basket lifting body; 420, first height sensor; 430, fork; 431, shelf detection member; 432, first end; 433, second end; 440, basket lifting position sensor; 450, size detection component; 451, first beam sensor; 460, state detection component; 461, second beam sensor; 471, first detection member; 472, second detection member;

[0049] 500. Control device;

[0050] 600, overhead crane device; 610, overhead crane frame; 620, pulley; 630, buffer block;

[0051] 700, lifting device; 710, pull rope; 720, anti-loosening mechanism; 721, pull rod; 722, elastic element; 723, detection switch;

[0052] 800. Ladder device; 810. Ladder body; 820. Protective structure; 830. Maintenance platform. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0057] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", and "fix" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0060] In this embodiment, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0061] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0062] Figure 1 The structure of the stacker provided by the embodiment of the present invention is shown as follows Figure 1 ; Figure 2 The structure of the stacker provided by the embodiment of the present invention is shown as follows Figure 2 ; Figure 3 Show Figure 2 A partial enlarged view of the structure marked as A. Figure 1-Figure 3 The present embodiment provides a stacker, which includes a ground rail device 100, a ground vehicle device 200, a column device 300, a basket device 400 and a control device 500. The ground vehicle device 200 is movably arranged on the ground rail device 100; the column device 300 is arranged on the ground vehicle device 200, and the basket device 400 is height-adjustably connected to the column device 300, and can be docked with a shelf to pick up and place goods. Through the ground vehicle device 200, the column device 300 and the basket device 400 can be driven to achieve the change of the position of the basket device 400 along the extension direction of the ground rail device 100. Through the column device 300, a path can be provided for the lifting and lowering of the basket device 400.

[0063] Specifically, the control device 500 can control the moving speed and the docking height of the basket device 400, and can control the moving speed and the docking position of the ground vehicle device 200 along the ground rail device 100. In other words, through the control device 500, the relative position of the basket device 400 and the target position on the shelf can be accurately controlled, and then the docking process of the basket device 400 and the shelf can be accurately controlled.

[0064] Figure 4 A schematic diagram showing the structure of a ground vehicle device provided by an embodiment of the present invention is shown; Figure 5 The structure diagram of the ground rail device provided by the embodiment of the present invention is shown. Figure 3-Figure 5 The ground rail device 100 provided in this embodiment includes a ground rail body 110, a busbar 171, a collector arm fixing frame 172 and a collector arm 173. The ground vehicle device 200 is slidably arranged on the ground rail body 110. The busbar 171 is arranged in parallel with the ground rail body 110, the collector arm fixing frame 172 is connected to the ground vehicle device 200, and the collector arm 173 is fixed to the collector arm fixing frame 172 and contacts the busbar 171, that is, the busbar 171 can conduct electric energy for the ground vehicle device 200.

[0065] Figure 6 Show Figure 5 A partial enlarged view of the structure marked as B; Figure 7 Show Figure 5 The enlarged view of the structure marked as C. Figure 6 and Figure 7The ground rail device 100 further includes a ground rail buffer 160. The ground rail buffers 160 are respectively provided at both ends of the ground rail body 110, and the ground rail buffers 160 are elastic. In this embodiment, the ground rail buffer 160 is specifically a cylindrical rubber structure, which can provide buffering for the ground vehicle device 200 when the ground vehicle device 200 approaches the end of the ground rail body 110, thereby avoiding the problem of collision damage between the ground vehicle device 200 and the end of the ground rail body 110.

[0066] For more details, please refer to Figure 3 and Figure 4 The ground vehicle device 200 specifically includes a ground vehicle frame 270, an active drive assembly and a driven moving assembly. The active drive assembly and the driven moving assembly are respectively arranged on both sides of the ground vehicle frame 270 along the extension direction of the ground rail body 110. The active drive assembly includes a travel motor 267, a torque arm 268, a transmission main shaft 269, a driving wheel box 261, a driving wheel 262 and a driving wheel box cover 263. Among them, the driving wheel box 261 is fixedly connected to one end of the ground vehicle frame 270, the driving wheel 262 is arranged in the driving wheel box 261, and the driving wheel box cover 263 can cover the opening of the driving wheel box 261 to protect the driving wheel 262. The torque arm 268 is connected to the travel motor 267, and the transmission main shaft 269 is coaxially connected to the driving wheel 262 and connected to the torque arm 268. The travel motor 267 can drive the driving wheel 262 to rotate through the torque arm 268 and the transmission main shaft 269, so that the driving wheel 262 moves along the ground rail body 110.

[0067] More specifically, the driven moving assembly includes a driven wheel box 264, a driven wheel 265 and a driven wheel box cover 266. The driven wheel box cover 266 is fixedly connected to the other end of the ground frame 270, and the driven wheel 265 is disposed in the driven wheel box cover 266. The driven wheel box cover 266 can cover the opening of the driven wheel box cover 266 to protect the driven wheel 265. The driven wheel 265 can follow the driving wheel 262 and move along the ground rail body 110.

[0068] More specifically, the ground vehicle frame 270 is also provided with a travel guide wheel 280. The travel guide wheel 280 is specifically multiple, and in the present embodiment, the travel guide wheel 280 is specifically four. Two travel guide wheels 280 are provided on the side of the driving wheel box 261, and the two travel guide wheels 280 are respectively against the opposite sides of the ground rail body 110; two travel guide wheels 280 are provided on the side of the driven wheel box 264, and the two travel guide wheels 280 are respectively against the opposite sides of the ground rail body 110. Through the travel guide wheels 280, when the ground vehicle device 200 moves along the ground rail body 110, the connection reliability and the smoothness of movement between the ground vehicle device 200 and the ground rail body 110 can be further improved, and the ground vehicle device 200 can be prevented from shaking.

[0069] More specifically, a protective plate 271 is further provided on the ground frame 270. The protective plate 271 covers the through position of the ground frame 270 and can shield the wires and the like passing through the ground frame 270 to play a protective role.

[0070] Preferably, the ground vehicle device 200 further includes an obstacle radar 250. The obstacle radar 250 is communicatively connected to the control device 500. Specifically, there are two obstacle radars 250, and one obstacle radar 250 is respectively provided on the opposite sides of the driving wheel box 261 and the driven wheel box 264. The obstacle radar 250 can be used to detect obstacles on the travel route, so that the control device 500 controls the ground vehicle device 200 to stop in time to prevent collision accidents.

[0071] Preferably, the vehicle device 200 further includes a vehicle buffer 240. In this embodiment, the vehicle buffer 240 is a rectangular rubber structure, which is specifically arranged on the side of the vehicle frame 270 facing the basket device 400, and can provide a buffer for the basket device 400 when the basket device 400 descends out of control, thereby reducing structural damage caused by collision.

[0072] Continue to refer to Figure 5 and Figure 6The ground rail device 100 further includes a first distance measuring member 120, which is disposed at one end of the ground rail body 110. A second distance measuring member (not shown) is disposed on the ground vehicle device 200 or the column device 300, and the second distance measuring member can form a cross-reflection with the first distance measuring member 120. The first distance measuring member 120 or the second distance measuring member is communicatively connected to the control device 500, and can transmit a first distance signal between the ground vehicle device 200 and the end of the ground rail body 110 to the control device 500. The control device 500 can control the first positioning position of the ground vehicle device 200 on the ground rail device 100 according to the pre-set target position on the shelf and the first distance signal, so as to realize flexible and precise control of the parking position of the ground vehicle device 200 on the ground rail device 100 as needed. In this embodiment, the first ranging component 120 is a reflector structure, and the second ranging component is a laser emitting and receiving device. The second ranging component is communicatively connected to the control device 500 and can send a first distance signal to the control device 500. The first ranging component 120 can reflect the laser emitted by the second ranging component, and the laser reflected by the first ranging component 120 can be received by the second ranging component, thereby realizing ranging.

[0073] Specifically, refer to Figure 7 The ground rail device 100 further includes a first origin induction member 130. The first origin induction member 130 is disposed on the ground rail body 110. Figure 4 As shown, the ground vehicle device 200 is provided with a second origin induction member 210. When the ground vehicle device 200 moves to the point where the first origin induction member 130 senses the second origin induction member 210, the control device 500 can control the ground vehicle device 200 to stop and be positioned at the origin position of the ground rail body 110. Through the cooperation of the first origin induction member 130 and the second origin induction member 210, the control device 500 can accurately control the ground vehicle device 200 to return to the origin position.

[0074] More specifically, the ground rail device 100 further includes a first deceleration sensor 140, and the first deceleration sensor 140 is respectively provided at positions near the two ends of the ground rail body 110. It can be understood that in the direction in which the ground vehicle device 200 moves, the first deceleration sensor 140 is closer to the ground vehicle device 200 than the ground rail buffer 160. The ground vehicle device 200 is provided with a limit switch 220, and when the ground vehicle device 200 moves to the limit switch 220 and the first deceleration sensor 140 are sensed, the control device 500 can control the ground vehicle device 200 to reduce the moving speed. In this embodiment, the first deceleration sensor 140 is in the form of a linear guide rail and extends along the length direction of the ground rail body 110. When the limit switch 220 senses the first deceleration sensor 140, the control device 500 can control the ground vehicle device 200 to reduce the moving speed. Through the above configuration, the control device 500 can also control the vehicle device 200 to decelerate when the vehicle device 200 approaches the end of the rail device 100 , thereby avoiding the problem of loss of control and collision of the vehicle device 200 when the vehicle device 200 approaches the end of the rail body 110 .

[0075] More specifically, a first limit displacement sensor 150 is also provided on the ground rail body 110. The first limit displacement sensor 150 is respectively provided near the two ends of the ground rail body 110. In the present embodiment, the first limit displacement sensor 150 is specifically provided at the middle position of the side of the first deceleration sensor 140. In the moving direction of the ground vehicle device 200, the first limit displacement sensor 150 is located between the first deceleration sensor 140 and the ground rail buffer 160. When the ground vehicle device 200 moves to the point where the limit switch 220 senses the first limit displacement sensor 150, the control device 500 can control the ground vehicle device 200 to stop moving.

[0076] Figure 8 The structure diagram of the basket carrying device provided by the embodiment of the present invention is shown. Figure 3 and Figure 8 The basket device 400 provided in this embodiment includes a basket body 410 and a fork 430. The basket body 410 is movably connected to the column device 300 through a pulley or the like. A through hole is provided on the side of the basket body 410, and the fork 430 is arranged in the basket body 410, and can extend through the through hole to take and place goods. Through the fork 430, the goods in the basket body 410 can be placed on the shelf, or the goods on the shelf can be taken into the basket body 410.

[0077] As an alternative, in this embodiment, the openings are respectively provided on opposite sides of the basket body 410, and the fork 430 can extend from the basket body 410 from any of the openings. The fork 430 can include a fixed section and a movable section. The movable section is movably connected to the fixed section and can slide along the length direction of the fixed section to extend from any of the openings. It can be understood that a shelf is placed on one side of each opening, so that when the fork extends from a opening, the end facing the shelf is different, and the goods on the shelf corresponding to the opening can be forked.

[0078] Through the above arrangement, the goods can be taken in and put out in two directions of the basket body 410, thereby improving the flexibility of taking in and putting out the goods.

[0079] Specifically, the fork 430 is provided with a shelf detection member 431, which is used to detect the relative position of the fork 430 and the shelf. The shelf detection member 431 can detect the shelf when the fork 430 is extended, avoid collision between the two, and improve the docking accuracy of the fork 430 and the shelf.

[0080] More specifically, both ends of the movable section are provided with shelf detection parts 431, so that when the movable section extends out of the basket space from the direction of the two openings and approaches the shelves on both sides, the relative position of the end of the movable section and the shelf can be detected. The movable section includes a first end 432 and a second end 433. Among them, the first end 432 and the second end 433 are both provided with shelf detection parts 431. When the movable section extends from one of the openings, the first end 432 faces the shelf, and the shelf detection part 431 on the first end 432 can detect the relative position of the shelf on that side; when the movable section extends from the other opening, the second end 433 is switched to face the shelf on the other side, and the shelf detection part 431 on the second end 433 can detect the relative position of the shelf on that side.

[0081] Continue to refer to Figure 8, a size detection component 450 is also provided on the basket body 410. The size detection component 450 is provided at the opening, and is used to sense the goods, so as to define the maximum height and maximum width of the goods that can enter the basket body 410 through the opening. The size detection component 450 is communicatively connected to the control device 500, and the size detection component 450 can send a goods over-height signal and a goods over-width signal to the control device 500. When the control device 500 receives the goods over-height signal and the goods over-width signal, the extension action of the fork 430 will be stopped to avoid collision caused by over-height and over-width goods when entering the basket body 410 through the opening. Through the above-mentioned size detection component 450, the height and width of the goods that are about to enter the basket body 410 from the opening can be detected to avoid the problem that any of the height and width of the goods exceeds the limit of the opening, causing collision and damage to the basket body 410.

[0082] Specifically, the size detection component 450 specifically includes a plurality of first matching sensors 451. A portion of the plurality of first matching sensors 451 is used to form a limit height detection ray 1, and another portion of the plurality of first matching sensors 451 is used to form a limit width detection ray 2. In this embodiment, a first matching sensor 451 is respectively provided at the top of both sides in the width direction of the passage, and the above-mentioned limit height detection ray 1 is formed between the two first matching sensors 451. A first matching sensor 451 is respectively provided at the four top corners of the passage, and a matching limit width detection ray 2 can be formed between two first matching sensors 451 corresponding to each other in the height direction of the passage.

[0083] When the cargo is too high, it will block the limit height detection ray 1. At this time, the control device 500 can receive the cargo overheight signal. When the cargo is too wide or the placement state is skewed relative to the opening, it will block two or one limit width detection rays 2. At this time, the control device 500 can receive the cargo overwidth signal.

[0084] Continue to refer to Fig.10 , a state detection component 460 is also provided on the basket body 410. The state detection component 460 is provided in the basket body 410 and is used to detect the placement state of the goods in the basket body 410. Through the above-mentioned state detection component 460, the placement state of the goods in the basket body 410 can be monitored in real time, and the placement state signal of the goods can be transmitted to the control device 500, so that the control device 500 can prompt the state of the goods and prevent the goods from tilting in the basket body 410 and causing damage to the basket body 410. In this embodiment, the control device 500 is provided with a display screen, which can display the placement state of the goods in the basket space, so that the operator can know it in time.

[0085] Specifically, the state detection component 460 includes a plurality of second beam sensors 461, and the plurality of second beam sensors 461 can form a deflected state detection ray 3 in the basket space, and the deflected state detection ray 3 is spaced apart from the side of the basket body 410. When the placement state of the goods is offset, the deflected state detection ray 3 will be blocked by the goods. In this embodiment, four second beam sensors 461 are specifically arranged on one side of the basket space, and the four second beam sensors 461 are respectively arranged at the four vertex corners of the side of the basket space, two by two in a group, to form an X-shaped cross-arranged deflected state detection ray 3.

[0086] Specifically, the opening is further provided with a first detection member 471 and a second detection member 472. The first detection member 471 and the second detection member 472 are specifically provided at the inner bottom of the opening, and can detect the goods on the shelf, wherein the detection distance of the detection light of the first detection member 471 is different from the detection distance of the detection light of the second detection member 472. In this embodiment, the detection distance of the detection light of the first detection member 471 is smaller than the detection distance of the detection light of the second detection member 472, wherein the detection light of the first detection member 471 is used to detect the goods whose placement position is closer to the edge of the shelf, and the detection light of the second detection member 472 is used to detect the goods whose placement position is farther away from the edge of the shelf. Through the above-mentioned setting, it is convenient to accurately obtain the position information and placement status information of the goods on the shelf, avoid the problem of being unable to detect due to the placement position of the goods being far from the edge of the shelf, and facilitate the control device 500 to accurately control the lifting and lowering of the basket body 410 and the extension and retraction of the fork 430, thereby improving the accuracy of picking up the goods.

[0087] It should be noted that the above-mentioned shelf detection component 431, size detection component 450, state detection component 460, first detection component 471 and second detection component 472, etc., all use rays to realize their functions, and they are respectively communicatively connected to the control device 500, and can transmit signals to the control device 500, so that the control device 500 can control the lifting and lowering of the basket device 400 and the extension and retraction of the fork 430.

[0088] Continue to refer to Figure 4 and Figure 8The basket carrying device 400 further includes a first height sensor 420, which is disposed on the basket carrying body 410. The floor vehicle device 200 is provided with a second height sensor 230, which can sense each other with the first height sensor 420. The first height sensor 420 and / or the second height sensor can transmit a second distance signal between the basket carrying body 410 and the floor vehicle device 200 to the control device 500. In this embodiment, the first height sensor 420 can reflect the laser emitted by the second height sensor 230, and the laser reflected by the first height sensor 420 can be received by the second height sensor 230, thereby realizing distance measurement, and the second height sensor 230 sends a second distance signal. The control device 500 can control the second positioning position of the basket carrying body 410 on the column device 300 according to the pre-set target position on the shelf and the second distance signal. In this embodiment, the first height sensor 420 is specifically a reflector structure, the second height sensor 230 is a laser emitting device, and the second height sensor 230 is communicatively connected to the control device 500 .

[0089] Specifically, the basket lifting device 400 further includes a basket lifting position sensor 440. The basket lifting position sensor 440 is specifically disposed on the side of the basket lifting body 410, and the vehicle device 200 further includes a third origin sensor 290. When the basket lifting device 400 moves along the column device 300 until the basket lifting position sensor 440 and the third origin sensor 290 sense each other, the control device 500 can control the basket lifting device 400 to dock and position at the origin position of the column device 300. Through the cooperation between the basket lifting position sensor 440 and the third origin sensor 290, the control device 500 can accurately control the basket lifting device 400 to return to the origin position on the column device 300.

[0090] Continue to refer to Figure 2 The column device 300 includes two column mechanisms 310 spaced apart from each other, and the column mechanism 310 includes a plurality of splicing sections sequentially spliced ​​along its extension direction, and the plurality of splicing sections are connected by a splicing structure. The basket body 410 is height-adjustably connected between the two column mechanisms 310. By setting the body of the column mechanism 310 in a multi-section splicing form, the column mechanism 310 can be shortened during transportation, which is convenient for transportation of the column mechanism 310, and is convenient for splicing after the column mechanism 310 enters the factory, and the overall height of the column mechanism 310 can be flexibly selected, thereby improving the flexibility of assembly.

[0091] Specifically, the column device 300 also includes a second deceleration sensor 320. The second deceleration sensor 320 is respectively provided near the top and the bottom of the column mechanism 310. In the present embodiment, the second deceleration sensor 320 is specifically in the form of a slide rail, which extends along the length direction of the column mechanism 310. The communication is connected to the basket position sensor 440. When the basket position sensor 440 senses the second deceleration sensor 320, the control device 500 can reduce the speed at which the basket body 410 moves along the column mechanism 310 to avoid the basket body 410 from losing control, and avoid the problem of the basket body 410 colliding with the top of the column mechanism 310 or the ground vehicle device 200.

[0092] More specifically, the column device 300 further includes a second limit displacement sensor 330. The second limit displacement sensor 330 is a plate-like structure, and the second limit displacement sensor 330 is respectively arranged near the top and bottom of the column mechanism 310. The length of the second limit displacement sensor 330 is less than the length of the second deceleration sensor 320, and is arranged side by side with the second deceleration sensor 320. It can be understood that the second limit displacement sensor 330 at the top is arranged near the upper end of the second deceleration sensor 320 at the top; the second limit displacement sensor 330 at the bottom is arranged near the lower end of the second deceleration sensor 320 at the bottom. The second deceleration sensor 320 is communicatively connected to the basket position sensor 440. When the basket position sensor 440 senses the second deceleration sensor 320, the control device 500 can control the basket body 410 to stop moving.

[0093] Fig.11 FIG. 2 is a schematic diagram showing the structure of the overhead travelling crane device provided by an embodiment of the present invention. Figure 1 , Figure 2 and Fig.11 The stacker provided in this embodiment also includes a ceiling rail device (not shown) and an overhead crane device 600. The ceiling rail device is spaced apart from the floor rail device 100, and the overhead crane device 600 is arranged at the top of the column device 300 and is movably connected to the bottom of the ceiling rail device. The stacker also includes a lifting device 700, which is arranged on the column device 300 and is communicatively connected to the control device 500. The lifting device 700 is provided with a pull rope 710, which is connected to the basket body 410 after bypassing the overhead crane device 600. The lifting device 700 drives the basket body 410 to rise and fall along the column device 300 through the pull rope 710. In this embodiment, the lifting device 700 specifically adopts the winch principle to reel or release the pull rope 710, thereby realizing the lifting and lowering of the basket body 410 along the column device 300.

[0094] Reference Figure 8 and Fig. 9 The lifting device 700 further includes an anti-loosening mechanism 720, which is disposed in the basket carrying device 400, connected to the drawstring 710, and communicatively connected to the control device 500. The anti-loosening mechanism 720 is used to detect the state of the drawstring 710. When the anti-loosening mechanism 720 detects that the drawstring 710 is loose or broken, the control device 500 can issue a lifting rope abnormality reminder. The above abnormal reminder can be a prompt message displayed on the display screen of the control device 500, a buzzer alarm, or a warning light.

[0095] Specifically, the anti-loosening mechanism 720 includes a pull rod 721, an elastic element 722 and a detection switch 723. In this embodiment, a crossbeam is provided in the basket carrying device 400. The pull rod 721 passes through the crossbeam in the vertical direction. The upper end of the pull rod 721 is connected to the pull rope 710, and the lower end of the pull rod head is provided. The cross-sectional area of ​​the pull rod head is larger than the cross-sectional area of ​​the pull rod 721. The elastic element 722 is coaxially sleeved outside the pull rod 721, and the two ends are respectively against the upper end surface of the pull rod head and the lower end surface of the crossbeam. The elastic element 722 has a compressed state and a pop-up state. When the pull rope 710 is in a tightened state, the elastic element 722 is in a compressed state. When the pull rope 710 is in a relaxed state or broken, the elastic element 722 is in a pop-up state and pushes the pull rod 721 in a direction away from the crossbeam. The detection switch 723 is installed on the basket body 410 and is located below the pull rod 721. The detection switch 723 is communicatively connected to the control device 500. When the pull rope 710 is in a relaxed state, the pull rod 721 can press and trigger the detection switch 723 under the action of the elastic element 722 in a retracted state. When the detection switch 723 is triggered, the control device 500 can issue a reminder of abnormal lifting rope.

[0096] Specifically, the overhead crane device 600 includes an overhead crane frame 610 and a pulley 620. The overhead crane frame 610 is disposed at the top of the column device 300, and the pulley 620 is plural and can be rotatably disposed on the overhead crane frame 610 and connected to the overhead rail device. The pulley 620 can roll along the overhead rail device, thereby providing guidance for the movement of the column device 300.

[0097] More specifically, the overhead crane device 600 further includes a buffer block 630. The buffer block 630 is disposed on the overhead crane frame 610 and is located between the overhead crane frame 610 and the overhead rail device. The buffer block 630 can form a buffer between the overhead crane device 600 and the overhead rail device when the basket body 410 moves out of control and hits the top, thereby preventing the two from colliding and being damaged.

[0098] Fig.12 The structure diagram of the ladder climbing device provided by the embodiment of the present invention is shown. Fig.12The stacker provided in this embodiment also includes a ladder device 800. The ladder device 800 includes a ladder body 810, a protective structure 820 and a maintenance platform 830. The ladder body 810 is arranged on one side of the column device 300 in the vertical direction. The protective structure 820 is covered outside the ladder body 810 and extends in the same direction as the ladder body 810. The maintenance platform 830 is arranged at the top of the ladder body 810. Through the above-mentioned protective structure 820, protection can be formed outside the ladder body 810, thereby improving the safety of the operator when climbing with the ladder body 810. Through the maintenance platform 830, a safe platform can be provided for the operator to repair or inspect the various components on the top of the stacker.

[0099] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A stacker, characterized in that: include: A ground rail device (100) and a ground vehicle device (200), wherein the ground vehicle device (200) is movably arranged on the ground rail device (100); A column device (300) and a basket device (400), wherein the column device (300) is arranged on the floor vehicle device (200), and the basket device (400) is connected to the column device (300) in an adjustable manner in height, and can be docked with a shelf to pick up and place goods; A control device (500) is configured to be able to control the moving speed and the docking height of the basket lifting device (400), and to control the basket lifting device (400) to decelerate when the basket lifting device (400) is close to the top of the column device (300) or close to the ground vehicle device (200); the control device (500) is also able to control the moving speed and the docking position of the ground vehicle device (200) along the ground rail device (100), and to control the ground vehicle device (200) to decelerate when the ground vehicle device (200) is close to the end of the ground rail device (100).

2. The stacker according to claim 1, characterized in that: The ground rail device (100) comprises a ground rail body (110) and a first distance measuring component (120), the ground vehicle device (200) is movably arranged on the ground rail body (110), and the first distance measuring component (120) is arranged at one end of the ground rail body (110); The ground vehicle device (200) or the column device (300) is provided with a second distance measuring component, the second distance measuring component can form a corresponding reflection with the first distance measuring component (120), the first distance measuring component (120) or the second distance measuring component is communicatively connected to the control device (500), and can transmit a first distance signal between the ground vehicle device (200) and the end of the ground rail body (110) to the control device (500), and the control device (500) can control the ground vehicle device (200) to a first positioning position on the ground rail device (100) according to the first distance signal.

3. The stacker according to claim 2, characterized in that: The first distance measuring component (120) is a reflector structure, the second distance measuring component is capable of emitting and receiving laser light, the second distance measuring component is communicatively connected to the control device (500) and is capable of sending the first distance signal to the control device (500), the first distance measuring component (120) is capable of reflecting the laser light emitted by the second distance measuring component, and the laser light reflected by the first distance measuring component (120) can be received by the second distance measuring component.

4. The stacker according to claim 1, characterized in that: The ground rail device (100) comprises a ground rail body (110) and a first origin induction component (130); the ground vehicle device (200) is movably arranged on the ground rail body (110); and the first origin induction component (130) is arranged on the ground rail body (110); The ground vehicle device (200) is provided with a second origin sensing component (210). When the ground vehicle device (200) moves to the point where the first origin sensing component (130) senses the second origin sensing component (210), the control device (500) can control the ground vehicle device (200) to stop and position at the origin position of the ground rail body (110).

5. The stacker according to claim 1, characterized in that: The ground rail device (100) comprises a ground rail body (110) and a first deceleration sensor (140), wherein the first deceleration sensor (140) is respectively arranged at positions close to two ends of the ground rail body (110); The ground vehicle device (200) is provided with a limit switch (220), and when the ground vehicle device (200) moves to the point where the limit switch (220) senses the first deceleration sensor (140), the control device (500) can control the ground vehicle device (200) to reduce the moving speed.

6. The stacker according to claim 5, characterized in that: The ground rail body (110) is also provided with a first limit displacement sensor (150), and the first limit displacement sensor (150) is respectively provided at positions close to two ends of the ground rail body (110), and in the moving direction of the ground vehicle device (200), the first limit displacement sensor (150) is farther away from the ground vehicle device (200) than the first deceleration sensor (140); When the ground vehicle device (200) moves to the point where the limit switch (220) senses the first limit displacement sensor (150), the control device (500) can control the ground vehicle device (200) to stop moving.

7. The stacker according to claim 1, characterized in that: The basket lifting device (400) comprises a basket lifting body (410) and a first height sensing component (420), wherein the basket lifting body (410) is movably connected to the column device (300), and the first height sensing component (420) is disposed on the basket lifting body (410); The ground vehicle device (200) is provided with a second height sensor (230), the second height sensor (230) being arranged opposite to the first height sensor (420) in the height direction, the second height sensor (230) being capable of sensing each other with the first height sensor (420), the first height sensor (420) and / or the second height sensor being capable of transmitting a second distance signal between the basket carrying body (410) and the ground vehicle device (200) to the control device (500), and the control device (500) being capable of controlling the second positioning position of the basket carrying body (410) on the column device (300) according to the second distance signal.

8. The stacker according to claim 1, characterized in that: The stacker further comprises a lifting device (700), wherein the lifting device (700) is arranged on the column device (300) and is communicatively connected to the control device (500), and the lifting device (700) is provided with a pull rope (710), and the pull rope (710) is connected to the basket lifting device (400) after passing around the top of the column device (300), and the lifting device (700) drives the basket lifting device (400) to rise and fall along the column device (300) via the pull rope (710).

9. The stacker according to claim 8, characterized in that: The lifting device (700) further includes an anti-loosening mechanism (720), which is arranged on the basket lifting device (400), connected to the pull rope (710), and communicatively connected to the control device (500). The anti-loosening mechanism (720) is used to detect the state of the pull rope (710). When the anti-loosening mechanism (720) detects that the pull rope (710) is loose, the control device (500) can issue a lifting rope abnormality reminder.

10. The stacker according to claim 9, characterized in that: The anti-loosening mechanism (720) comprises a pull rod (721), an elastic element (722) and a detection switch (723); the pull rod (721) is connected to the pull rope (710) and is movably connected to the basket carrying device (400); The elastic element (722) is coaxially sleeved outside the pull rod (721) and has a compressed state and a resilient state. When the pull rope (710) is in a tensioned state, the elastic element (722) is in a compressed state, and when the pull rope (710) is in a relaxed state, the elastic element (722) is in a resilient state. The detection switch (723) is installed on the basket lifting device (400) and is located below the pull rod (721). The detection switch (723) is communicatively connected to the control device (500). When the pull rope (710) is in a relaxed state, the pull rod (721) can press and trigger the detection switch (723) under the action of the elastic element (722) in a pop-up state.

11. The stacker according to any one of claims 1 to 10, characterized in that: The ground rail device (100) comprises a ground rail body (110) and a ground rail buffer (160), and the ground rail buffers (160) are respectively arranged at two ends of the ground rail body (110), and the ground rail buffers (160) are elastic.

Images