Double-station stacking machine and control method thereof

Abstract

The invention relates to the technical field of material transfer equipment, in particular to a double-station stacking machine and a control method thereof. The double-station stacking machine comprises a track module and a stacking module. The rail module comprises a sky rail and a ground rail, the stacking module comprises two stacking units, and the stacking units are located between the sky rail and the ground rail; the stacking unit comprises a material carrying frame and two stand columns, the material carrying frame is arranged between the two stand columns, the upper ends of the stand columns are slidably connected with the sky rail, the lower ends of the stand columns are slidably connected with the ground rail, and the two sides of the material carrying frame are slidably connected with the corresponding stand columns correspondingly so that the material carrying frame can move in the extending direction of the stand columns. Telescopic forks are arranged on the two sides of the material carrying frame correspondingly and can stretch out and draw back in the direction perpendicular to the sky rail or the ground rail. According to the double-station stacking machine and the control method thereof, the defects that an existing stacking machine is low in operation efficiency, the goods warehouse-in and warehouse-out speed is low, and the ever-increasing logistics requirement is difficult to meet are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling equipment, and particularly to a double-station stacker and its control method. Background Art

[0002] With the development of society, high-rise three-dimensional storage racks have been gradually widely used. The racks are numbered according to columns, rows, and layers, and are controlled and managed by a computer, which is an automated stereoscopic warehouse. In this process, a lifting stacker specifically used to place goods at designated shelf positions has emerged, which is the stacker. The existing stacker system consists of a shelf, a control system, a transverse movement mechanism, a lifting mechanism, and a telescopic fork.

[0003] In modern logistics warehousing systems, as one of the core equipment, the stacker undertakes the important tasks of goods handling and storage. However, the traditional stacker has some deficiencies, mainly manifested as low operating efficiency, slow inbound and outbound speeds of goods, and it is difficult to meet the growing logistics demands. Summary of the Invention

[0004] The present invention provides a double-station stacker and its control method to solve the deficiencies of the existing stacker with low operating efficiency, slow inbound and outbound speeds of goods, and difficulty in meeting the growing logistics demands.

[0005] On one hand, the present invention provides a double-station stacker, including: a track module and a stacking module.

[0006] The track module includes a sky track and a ground track that are parallel and spaced apart. The stacking module includes two stacking units, and the stacking units are located between the sky track and the ground track so that the stacking units can move along the extension direction of the track module.

[0007] Each stacking unit includes a loading frame and two parallel and spaced-apart columns. The loading frame is disposed between the two columns. The upper ends of the columns are slidably connected to the sky track, the lower ends of the columns are slidably connected to the ground track, and both sides of the loading frame are slidably connected to the corresponding columns so that the loading frame can move along the extension direction of the columns. Telescopic forks are respectively provided on both sides of the loading frame, and the telescopic forks can extend and retract in a direction perpendicular to the sky track or the ground track.

[0008] According to the double-station stacker provided by the present invention, a lateral position detection sensor for detecting the position of the stacking unit is provided on the sky track and / or the ground track.

[0009] According to the double-station stacker provided by the present invention, a height position detection sensor for detecting the height of the loading frame is provided on at least one of the columns in the stacking unit.

[0010] According to the double-station stacker provided by the present invention, a receiving slot for receiving the hopper is formed on the loading frame, and hopper position detection sensors for detecting the position of the hopper are provided on both sides of the receiving slot.

[0011] According to the double-station stacker provided by the present invention, a telescopic detection sensor for detecting the telescopic length of the telescopic fork is provided on the loading frame.

[0012] According to the double-station stacker provided by the present invention, the stacking unit also includes an upper walking frame and a lower walking frame, the upper end of the column is connected to the upper walking frame, the upper walking frame is slidably connected to the overhead rail, the lower end of the column is connected to the lower walking frame, and the lower walking frame is slidably connected to the ground rail.

[0013] According to the double-station stacker provided by the present invention, at least one end of the upper walking frame is provided with a first walking position limiting buffer, and at least one end of the lower walking frame is provided with a second walking position limiting buffer.

[0014] The double-station stacker provided according to the present invention also includes a driving module, which includes a first driving motor and a second driving motor. The output end of the first driving motor is drivingly connected to the stacking unit to drive the stacking unit to move along the extension direction of the track module, and the output end of the second driving motor is drivingly connected to the loading frame to drive the loading frame to move along the extension direction of the column.

[0015] Another aspect of the present invention provides a control method for a double-station stacker as described in any one of the above items, comprising the following steps.

[0016] Obtain task information, wherein the task information includes a storage location of a material and a target transfer location of the material, wherein the target transfer location of the material includes a stacking unit target location and a loading frame target location.

[0017] Based on the task information, a moving path of the stacking unit, a moving path of a material carrier frame on the stacking unit, and a telescopic path of a telescopic fork on the material carrier frame are determined.

[0018] The control method provided by the present invention also includes the following steps.

[0019] The current position of the stacking unit is acquired, the distance between the current position of the stacking unit and the target position of the stacking unit is determined based on the current position of the stacking unit, and the travel speed of the stacking unit is determined based on the distance between the current position of the stacking unit and the target position of the stacking unit.

[0020] Obtain the current position of the material-carrying frame. Based on the current position of the material-carrying frame, determine the distance between the current position of the material-carrying frame and the target position of the material-carrying frame. Based on the distance between the current position of the material-carrying frame and the target position of the material-carrying frame, determine the traveling speed of the material-carrying frame.

[0021] The double-station stacker provided by the present invention is provided with a stacking module including two stacking units on the rail module. During operation, the two stacking units can flexibly flow at different positions on the rail module according to the operation requirements, realizing efficient material handling. Inside each stacking unit, the material-carrying frame is located between two columns and can move freely along the extending direction of the columns, enabling the material to be accurately stacked and taken out at different positions. At the same time, the telescopic forklifts equipped on both sides of the material-carrying frame can flexibly extend and retract in the vertical direction to accurately grasp and stack the materials located in two different directions, significantly improving the flexibility and accuracy of the operation. The coordinated work of the two stacking units can effectively reduce the waiting and idle time during the material transfer process, ensure that the operations of the two workstations do not interfere with each other, and thus greatly improve the operation efficiency and the overall throughput of the system. The double-station design enables the stacker to process multiple material operation tasks simultaneously, optimizes the operation process, and improves the overall utilization rate of the equipment. It not only improves the automation level of logistics and warehousing, but also effectively reduces manual intervention, improves the continuity and stability of the operation, and is suitable for application scenarios such as high-efficiency automated warehousing systems and rapid transfer of bulk goods.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic diagram of the double-station stacker provided by the embodiment of the present invention.

[0025] Figure 2 is a schematic diagram of the material-carrying frame in the double-station stacker provided by the embodiment of the present invention.

[0026] Figure 3 is a schematic diagram of the upper traveling frame in the double-station stacker provided by the embodiment of the present invention.

[0027] Figure 4It is a schematic diagram of the lower traveling frame in the double-station stacker provided by an embodiment of the present invention.

[0028] Figure 5 It is a schematic flow diagram of the control method of the double-station stacker provided by an embodiment of the present invention.

[0029] Figure 6 It is a schematic diagram of the action principle of the control method of the double-station stacker provided by an embodiment of the present invention.

[0030] Reference numerals: 100, track module; 110, overhead rail; 120, ground rail; 200, stacking module; 210, stacking unit; 211, loading frame; 212, column; 213, telescopic fork; 214, hopper position detection sensor; 215, upper traveling frame; 216, lower traveling frame; 217, clamping wheel; 218, first traveling limit buffer; 219, second traveling limit buffer. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0034] In the embodiments of the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0035] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0036] The following will be combined with Figures 1 to 6 Describe the double-station stacker and its control method provided by the present invention.

[0037] See Figure 1 As shown, the double-station stacker provided by the embodiments of the present invention includes: a track module 100 and a stacking module 200.

[0038] The track module 100 includes a sky track 110 and a ground track 120 that are parallel and spaced apart. The stacking module 200 includes two stacking units 210. The stacking units 210 are located between the sky track 110 and the ground track 120 so that the stacking units 210 can move along the extension direction of the track module 100.

[0039] The stacking unit 210 includes a loading frame 211 and two columns 212 that are parallel and spaced apart from each other. The loading frame 211 is disposed between the two columns 212. The upper ends of the columns 212 are slidably connected to the sky track 110, the lower ends of the columns 212 are slidably connected to the ground track 120, and both sides of the loading frame 211 are slidably connected to the corresponding columns 212 so that the loading frame 211 can move along the extension direction of the columns 212. Telescopic forks 213 are respectively provided on both sides of the loading frame 211, and the telescopic forks 213 can telescope in a direction perpendicular to the sky track 110 or the ground track 120.

[0040] The double-station stacker provided by the present invention realizes efficient material handling by arranging a stacking module 200 including two stacking units 210 on the track module 100. During operation, the two stacking units 210 can flexibly circulate at different positions on the track module 100 according to the operation requirements. Inside each stacking unit 210, the loading frame 211 is located between two columns 212 and can move freely along the extending direction of the columns 212, enabling the materials to be accurately stacked and taken out at different positions. At the same time, the telescopic forks 213 equipped on both sides of the loading frame 211 can flexibly extend and retract in the vertical direction to accurately grab and stack the materials located in two different directions, significantly improving the flexibility and precision of the operation. The coordinated work of the two stacking units 210 can effectively reduce the waiting and idle time during the material transfer process, ensure that the operations of the two workstations do not interfere with each other, and thus greatly improve the operation efficiency and the overall throughput of the system. The double-station design enables the double-station stacker to handle multiple material operation tasks simultaneously, optimizes the operation process, and improves the overall utilization rate of the equipment. It not only improves the automation level of logistics and warehousing, but also effectively reduces manual intervention, improves the continuity and stability of the operation, and is suitable for application scenarios such as efficient automated warehousing systems and rapid transfer of bulk goods.

[0041] Specifically, the track module 100 includes a sky track 110 and a ground track 120 that are parallel and spaced apart. The sky track 110 and the ground track 120 can be arranged in a straight line direction or can be arranged along a set curve direction according to actual needs. For example, the track module 100 between the two stacking units 210 can be flexibly adjusted according to the layout of the warehouse space and the material circulation requirements. Among them, the curve arrangement of the sky track 110 and the ground track 120 can adapt to a more complex operation environment, optimize the material flow path, and avoid space waste. When arranged in a straight line direction, the track module 100 has high linearity and stability, which is suitable for most standardized material transfer requirements.

[0042] The distance between the sky track 110 and the ground track 120 can be set according to actual needs to adapt to different material transfer requirements. By adjusting the distance between the sky track 110 and the ground track 120, the operation space of the double-station stacker can be optimized to make it more adaptable to different working environments for material stacking and taking out. For example, when stacking higher materials, the track distance can be increased to provide sufficient space and stability; while in an environment with limited space, the track distance can be reduced to save space and improve operation efficiency.

[0043] The stacking unit 210 includes a loading frame 211 and two columns 212 that are parallel to each other and spaced apart. The loading frame 211 is disposed between the two columns 212. The upper ends of the columns 212 are slidably connected to the overhead rail 110, and the lower ends of the columns 212 are slidably connected to the ground rail 120. The distance between the two columns 212 can be set according to the specifications of the loading frame 211, and the loading frame 211 is used to load the hopper. Therefore, the specifications of the loading frame 211 are set according to the actual material transfer requirements to ensure the stability of the frame and the correct loading of the material. In actual production, by adjusting the distance between the columns 212, hoppers of different sizes can be accommodated, ensuring that the loading frame 211 can safely and effectively carry and transfer the material. The upper end of the column 212 can be directly slidably connected to the overhead rail 110, or indirectly slidably connected to the overhead rail 110 through an intermediate connecting member (such as the upper traveling frame 215 described below). Similarly, the lower end of the column 212 can be directly slidably connected to the ground rail 120, or indirectly slidably connected to the ground rail 120 through an intermediate connecting member (such as the lower traveling frame 216 described below).

[0044] Both sides of the loading frame 211 are slidably connected to the corresponding columns 212, enabling the loading frame 211 to move along the extending direction of the columns 212, thereby adjusting the height of the hopper on the loading frame 211 so that it can accurately reach the target transfer position. During specific implementation, a lifting mechanism needs to be set up to drive the loading frame 211 to rise or fall. Common forms include winch type, hydraulic, pneumatic, chain type, screw, and rack and pinion lifting mechanisms.

[0045] As a preferred example, the lifting mechanism in this embodiment adopts the winch type. A drum is provided on one of the columns 212 in the stacking unit 210, and a sling (such as a lifting steel wire rope) is wound around the drum. One end of the sling is connected to the lifting frame, and the drum is rotated by an electric winch, thereby pulling the loading frame 211 up and down through the sling. This lifting method has the advantages of a compact structure, stable operation, and strong load-bearing capacity. It is suitable for application scenarios that require high stability and load, and is also convenient for maintenance and adjustment. At the same time, pulleys can be set at the set positions of the device to limit or tension the sling, and a safety anti-fall clamp can be used to clamp the sling in case of an emergency to prevent the loading frame 211 from falling.

[0046] Retractable forklifts 213 are respectively provided on both sides of the loading frame 211. The retractable forklifts 213 can extend and retract in a direction perpendicular to the overhead rail 110 or the ground rail 120, thereby transferring the materials on both sides of the track module 100. The retractable forklifts 213 can adopt mechanical driving methods such as electric driving, hydraulic driving, and pneumatic driving.

[0047] The power supply between the stacking unit 210 and the rail module 100 can be realized by a sliding contact wire power taking component, and the power supply required by the double-station stacker is supplied and taken through the sliding contact wire method, which is suitable for material transfer in the case of a long stroke.

[0048] In addition, in this embodiment, the rail module 100 and the stacking module 200 share a control system. Through this control system, the two stacking units 210 in the stacking system can be independently controlled to achieve flexible operation and scheduling. In this way, when transferring materials, the actions of each stacking unit 210 can be independently adjusted according to requirements, improving work efficiency and accuracy, and at the same time simplifying system management and maintenance.

[0049] According to some embodiments of the present invention, a lateral position detection sensor (not shown in the figure) for detecting the position of the stacking unit 210 is provided on the overhead rail 110 and / or the ground rail 120.

[0050] By providing a lateral position detection sensor for detecting the position of the stacking unit 210 on the overhead rail 110 and / or the ground rail 120, the lateral position of the stacking unit 210 can be monitored in real time to ensure that the stacking unit 210 can be accurately positioned and operated. At the same time, the distance between the two stacking units 210 can be monitored in real time to ensure that an appropriate distance is maintained between the stacking units 210, thereby avoiding collisions or interferences and improving the stability and safety of the system.

[0051] Specifically, the lateral position detection sensor detects the horizontal movement distance of the column 212 through a reflector to achieve the positioning effect, and at the same time, the distance between the two stacking units 210 is detected to avoid collisions.

[0052] In some embodiments, proximity switches can also be provided at the extreme positions at both ends of the overhead rail 110 and / or the ground rail 120 to realize the detection of the terminal position of the stacking unit 210. The proximity switch can sense in real time whether the stacking unit 210 reaches the extreme position of the rail, thereby providing accurate feedback information to prevent the stacking unit 210 from exceeding the working range and avoiding damage to the equipment or causing safety hazards. Through this setting, the automation level and safety of the system can be effectively improved, and the normal operation of the stacking unit 210 can be ensured.

[0053] According to some embodiments of the present invention, a height position detection sensor (not shown in the figure) for detecting the height of the loading frame 211 is provided on at least one column 212 of the stacking unit 210.

[0054] By providing a height position detection sensor for detecting the height of the loading frame 211 on at least one column 212 of the stacking unit 210, the height position of the loading frame 211 can be monitored in real time, so as to ensure that the frame can operate normally within a predetermined height range and determine whether it reaches the target height.

[0055] In some embodiments, proximity switches may also be provided at the upper and lower limit positions of at least one upright column 212 to limit and monitor the movement range of the loading frame 211. Specifically, when the loading frame 211 reaches the upper or lower limit, the proximity switch will sense the target position and send a signal to prompt the system that the loading frame 211 has reached this position.

[0056] See Figure 2 As shown, according to some embodiments of the present invention, a receiving groove for receiving the hopper is formed on the loading frame 211, and hopper position detection sensors 214 for detecting the position of the hopper are provided on both sides of the receiving groove.

[0057] By providing a receiving groove on the loading frame 211 and hopper position detection sensors 214 for detecting the position of the hopper on both sides of the receiving groove, accurate monitoring of the hopper position can be achieved. The hopper position detection sensor 214 can real-time sense whether the hopper is correctly placed in the receiving groove and determine its specific position, ensuring that the hopper will not shift or fall off during transportation and stacking, avoiding potential safety hazards or equipment damage caused by improper hopper position.

[0058] Specifically, the hopper position detection sensor 214 can detect the position of the hopper in various ways. It includes a photoelectric sensor that uses infrared light or a laser beam to sense whether the hopper blocks the beam, a proximity switch that determines the position by detecting the approach of a metal object, a magnetic sensor that senses the magnet or magnetic material on the hopper, an ultrasonic sensor that measures the distance by emitting ultrasonic waves and receiving the reflected waves, and a laser displacement sensor that precisely determines the position using the laser beam reflection signal.

[0059] According to some embodiments of the present invention, a telescopic detection sensor (not shown in the figure) for detecting the telescopic length of the telescopic fork 213 is provided on the loading frame 211.

[0060] By providing a telescopic detection sensor on the loading frame 211 for detecting the telescopic length of the telescopic fork 213, real-time monitoring and precise control of the telescopic process of the fork can be achieved. The sensor can detect the telescopic position and length change of the fork, thus ensuring that the fork is always in the correct position during operation, avoiding over-extension or insufficient extension. This setting helps to improve the accuracy and safety of fork operation, preventing mechanical damage or cargo dropping.

[0061] Specifically, the telescopic detection sensor can detect the telescopic length of the forklift forks in various ways, including photoelectric sensors, displacement sensors, encoders, or laser sensors, etc. The photoelectric sensor determines the telescopic length by detecting the occlusion or reflection change between the forklift forks and the sensor. The displacement sensor directly measures the displacement of the forklift forks. The encoder records the rotation or position change of the forklift forks. The laser sensor accurately measures the distance between the forklift forks and the sensor by reflecting laser beams.

[0062] See Figures 2 to 4 As shown, according to some embodiments of the present invention, the stacking unit 210 further includes an upper traveling frame 215 and a lower traveling frame 216. The upper end of the column 212 is connected to the upper traveling frame 215. The upper traveling frame 215 is slidably connected to the overhead rail 110. The lower end of the column 212 is connected to the lower traveling frame 216. The lower traveling frame 216 is slidably connected to the ground rail 120.

[0063] By providing the upper traveling frame 215 and the lower traveling frame 216, the upper end of the column 212 can be configured to be slidably connected to the overhead rail 110 by using the upper traveling frame 215, and the lower end of the column 212 can be configured to be slidably connected to the ground rail 120 by using the lower traveling frame 216 to ensure the stability and flexibility of the stacking unit 210. The upper traveling frame 215 and the lower traveling frame 216 are respectively slidably connected to the overhead rail 110 and the ground rail 120, making the movement of the stacking unit 210 in the up and down direction more stable and efficient, contributing to improving the operation accuracy and reliability of the stacking system, and at the same time enhancing the overall performance and adaptability of the system.

[0064] Specifically, clamping wheels 217 are provided on both the upper traveling frame 215 and the lower traveling frame 216 in this embodiment. Through the contact with the overhead rail 110 and the ground rail 120, the clamping wheels 217 can realize the guiding and supporting functions for the upper traveling frame 215 and the lower traveling frame 216. At the same time, the clamping wheels 217 can effectively prevent the frame from shifting or derailing, ensuring that the stacking unit 210 always remains on the track during operation and providing a stable sliding connection.

[0065] See Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, at least one end of the upper traveling frame 215 is provided with a first traveling limit buffer 218, and at least one end of the lower traveling frame 216 is provided with a second traveling limit buffer 219.

[0066] By providing the first traveling limit buffer 218 at at least one end of the upper traveling frame 215 and the second traveling limit buffer 219 at at least one end of the lower traveling frame 216, the impact force when the frame reaches the limit during walking can be effectively reduced, preventing mechanical damage or excessive wear.

[0067] SeeFigures 1 to 4 As shown in Figures 1 to 4 , according to some embodiments of the present invention, the double-station stacker further includes a driving module. The driving module includes a first driving motor and a second driving motor. The output end of the first driving motor is in transmission connection with the stacking unit 210 to drive the stacking unit 210 to move along the extension direction of the track module 100. The output end of the second driving motor is in transmission connection with the loading frame 211 to drive the loading frame 211 to move along the extension direction of the column 212.

[0068] By setting the driving module, independent control and precise movement of the stacking unit 210 and the loading frame 211 can be achieved. The first driving motor drives the stacking unit 210 to move along the extension direction of the track module 100 to ensure the smooth operation of the stacking unit 210 on the track. The second driving motor drives the loading frame 211 to move along the extension direction of the column 212, enabling the loading frame 211 to freely adjust its position in the vertical direction as needed, making the operation of the double-station stacker more flexible, improving the efficiency and adaptability of the overall system, meeting different operation requirements, and enhancing the stability and accuracy of the double-station stacker.

[0069] The control method of the double-station stacker provided by the present invention will be described below. The control method of the double-station stacker described below can be mutually corresponding and referred to with the double-station stacker described above.

[0070] See Figure 5 and Figure 6 As shown in Figure 6 , the control method of the double-station stacker provided by the embodiments of the present invention is implemented based on the double-station stacker described in any of the above embodiments, and includes the following steps.

[0071] S510. Obtain task information. The task information includes the storage location of the material and the target transfer location of the material. The target transfer location of the material includes the target location of the stacking unit 210 and the target location of the loading frame 211.

[0072] S520. Based on the task information, determine the movement path of the stacking unit 210, the movement path of the loading frame 211 on the stacking unit 210, and the telescopic path of the telescopic forklift 213 on the loading frame 211.

[0073] The control method of the double-station stacker provided by the present invention can intelligently plan and adjust the movement paths of the stacking unit 210 and the loading frame 211 according to the obtained task information, thereby optimizing the efficiency of the entire stacking process.

[0074] Specifically, in step S510, the system obtains task information, including the storage location of the material and the target transfer location, which provides key data for subsequent path planning. In step S520, based on the task information, the system automatically calculates the movement paths of the stacking unit 210, the loading frame 211, and the telescopic forklift 213, making the whole process more accurate and efficient.

[0075] According to some embodiments of the present invention, the control method of the double-station stacker further includes the following steps.

[0076] Obtain the current position of the stacking unit 210. Based on the current position of the stacking unit 210, determine the distance between the current position of the stacking unit 210 and the target position of the stacking unit 210. Based on the distance between the current position of the stacking unit 210 and the target position of the stacking unit 210, determine the traveling speed of the stacking unit 210.

[0077] Obtain the current position of the loading frame 211. Based on the current position of the loading frame 211, determine the distance between the current position of the loading frame 211 and the target position of the loading frame 211. Based on the distance between the current position of the loading frame 211 and the target position of the loading frame 211, determine the traveling speed of the loading frame 211.

[0078] By obtaining the current positions of the stacking unit 210 and the loading frame 211 in real time and dynamically adjusting the traveling speed based on the distance between the current position and the target position. For example, when the stacking unit 210 is close to the target position, the control system will reduce the rotation speed of the first drive motor to achieve precise positioning and ensure the efficient and stable movement of the stacking unit 210 and the loading frame 211.

[0079] The control logic of the control method of the double-station stacker provided by the embodiments of the present invention will be described below. See Figure 6 as shown.

[0080] Task reception and queuing: When the double-station stacker needs to process multiple material transfer tasks (such as inbound tasks, outbound tasks, inventory tasks, etc.), it can also queue according to the priorities and time sequences of each material transfer task. For example, the priority of the outbound task may be higher than that of the inventory task. For simultaneously arriving outbound tasks and inventory tasks, the system will queue according to the first-in, first-out principle.

[0081] Path Planning: When performing tasks, the double-station stacker needs to plan the optimal operation path. For a three-dimensional warehouse with multiple aisles and multiple levels of shelves, path planning should consider the shortest moving distance in both horizontal and vertical directions. For example, if the double-station stacker is currently at the bottom layer of Aisle 1 and needs to pick up goods from the upper layer of Aisle 3 and then unload the goods at the middle layer of Aisle 2, the control system will calculate a path that saves the most time, which may be to move horizontally to Aisle 3 first, vertically ascend to pick up the goods, then move horizontally to Aisle 2, and vertically descend to unload the goods. The path planning algorithm will comprehensively consider factors such as the shelf layout, the current position, the target position, and the occupancy of other equipment.

[0082] Task Execution and Status Feedback: The double-station stacker executes tasks according to the planned path and action sequence. During the execution process, it continuously feeds back its own status (such as position, speed, task progress, etc.) to the control system, and the control system can adjust the control strategy in a timely manner based on this feedback information. For example, if an obstacle or equipment failure is encountered during operation, the double-station stacker can feed back the abnormal status to the control system. The control system will take corresponding measures according to the specific situation, such as emergency stop, re-planning the path, or sending an alarm to notify the maintenance personnel.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A double-station stacker, characterized in that: include: Track modules and stacking modules; The track module includes a ceiling rail and a ground rail that are arranged in parallel and at intervals, and the stacking module includes two stacking units, and the stacking units are located between the ceiling rail and the ground rail so that the stacking units can move along the extension direction of the track module; The stacking unit includes a loading frame and two columns that are parallel to each other and spaced apart. The loading frame is arranged between the two columns. The upper ends of the columns are slidably connected to the ceiling rails, and the lower ends of the columns are slidably connected to the ground rails. Both sides of the loading frame are slidably connected to the corresponding columns so that the loading frame can move along the extension direction of the columns. Telescopic forks are respectively provided on both sides of the loading frame, and the telescopic forks can be extended and retracted in a direction perpendicular to the ceiling rails or the ground rails.

2. The double-station stacker according to claim 1, characterized in that: The ceiling rail and / or the floor rail is provided with a transverse position detection sensor for detecting the position of the stacking unit.

3. The double-station stacker according to claim 1, characterized in that: At least one of the columns in the stacking unit is provided with a height position detection sensor for detecting the height of the loading frame.

4. The double-station stacker according to claim 1, characterized in that: A receiving groove for receiving the hopper is formed on the loading frame, and hopper position detection sensors for detecting the position of the hopper are arranged on both sides of the receiving groove.

5. The double-station stacker according to claim 1, characterized in that: The loading frame is provided with a telescopic detection sensor for detecting the telescopic length of the telescopic fork.

6. The double-station stacker according to claim 1, characterized in that: The stacking unit also includes an upper walking frame and a lower walking frame, the upper end of the column is connected to the upper walking frame, the upper walking frame is slidably connected to the ceiling rail, the lower end of the column is connected to the lower walking frame, and the lower walking frame is slidably connected to the ground rail.

7. The double-station stacker according to claim 6, characterized in that: A first travel position limiting buffer is disposed at at least one end of the upper travel frame, and a second travel position limiting buffer is disposed at at least one end of the lower travel frame.

8. The double-station stacker according to claim 1, characterized in that: It also includes a driving module, which includes a first driving motor and a second driving motor. The output end of the first driving motor is drivingly connected to the stacking unit to drive the stacking unit to move along the extension direction of the track module, and the output end of the second driving motor is drivingly connected to the loading frame to drive the loading frame to move along the extension direction of the column.

9. A control method based on the double-station stacker according to any one of claims 1 to 8, characterized in that: include: Acquire task information, wherein the task information includes a storage location of a material and a target transfer location of the material, wherein the target transfer location of the material includes a stacking unit target location and a loading frame target location; Based on the task information, a moving path of the stacking unit, a moving path of a material carrier frame on the stacking unit, and a telescopic path of a telescopic fork on the material carrier frame are determined.

10. The control method according to claim 9, characterized in that: Also includes: Acquiring the current position of the stacking unit, determining the distance between the current position of the stacking unit and the target position of the stacking unit based on the current position of the stacking unit, and determining the travel speed of the stacking unit based on the distance between the current position of the stacking unit and the target position of the stacking unit; Obtain the current position of the loading frame, determine the distance between the current position of the loading frame and the target position of the loading frame based on the current position of the loading frame, and determine the travel speed of the loading frame based on the distance between the current position of the loading frame and the target position of the loading frame.

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