Lifting appliance, stacking and warehousing system and stack taking method and stacking method of stacking and warehousing system

Abstract

The invention relates to the technical field of warehouse production equipment, and discloses a lifting appliance, a stacking warehousing system and a stack taking method and stacking method.The lifting appliance comprises a frame body and a first positioning module, the frame body is provided with a containing cavity with an opening in the bottom, and the two opposite sides of the containing cavity are each provided with a pallet fork; a first driving mechanism which is connected with the pallet fork and is used for driving the pallet fork to extend out of or retreat from the bottom of the accommodating cavity is arranged on the frame body; a first X-axis position sensor and a second X-axis position sensor of the first positioning module are arranged on the two opposite sides of the containing cavity respectively, the detection directions are parallel to the X axis, and the first X-axis position sensor and the second X-axis position sensor are used for detecting the distances between the first X-axis position sensor and the bearing piece and / or the two surfaces, perpendicular to the X axis, of the stack body respectively. A first Y-axis position sensor and a second Y-axis position sensor of the first positioning module are arranged on the two opposite sides of the containing cavity respectively, the detection directions of the first Y-axis position sensor and the second Y-axis position sensor are parallel to the Y axis, and the first Y-axis position sensor and the second Y-axis position sensor are used for detecting the distances between the two surfaces, perpendicular to the Y axis, of the bearing piece and / or the stack body respectively. According to the invention, high-density storage of the warehouse can be realized.

Description

Technical Field

[0001] This invention relates to the field of warehousing and production equipment technology, and in particular to a lifting device, a stacking storage system, and a method for picking up and stacking the same. Background Technology

[0002] In a ceramics factory's packaging line, stacking machines neatly and systematically place multiple bags of tiles onto support frames and bundle them together with straps. The stacked tiles are then collectively called a brick stack. The brick stack and support frames are typically moved manually to a finished goods warehouse using forklifts. During storage, the brick stacks are stacked, usually up to five layers high. Traditionally, finished goods warehouses rely heavily on manual forklift handling for inbound and outbound operations, resulting in high labor costs, low efficiency, low safety, and low precision.

[0003] Currently, upgrading traditional finished goods warehouses into high-density intelligent warehouses with higher operational efficiency has become a trend. High-density intelligent warehouses use intelligent overhead cranes as core equipment, which move brick stacks using lifting devices.

[0004] However, due to the small spacing between brick stacks in automated stacking, the positioning accuracy requirements during stacking and unstacking are very high, and the positioning accuracy of the intelligent overhead crane itself is difficult to meet the requirements during operation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a lifting device to achieve high-density storage in warehouses.

[0006] The technical problem to be solved by this invention is to provide a stacking storage system to achieve high-density storage in warehouses.

[0007] The technical problem to be solved by the present invention is to provide a stacking method based on a lifting device, which can accurately position the stack when it is lifted.

[0008] The technical problem to be solved by the present invention is to provide a palletizing method based on a lifting device, which can accurately position the pallet during the palletizing process.

[0009] To solve the above-mentioned technical problems, the present invention provides a lifting device, including a frame and a first positioning module. The frame has a receiving cavity with a bottom opening. Forks are provided on opposite sides of the receiving cavity. The frame is provided with a first driving mechanism connected to the forks and used to drive the forks to extend or retract to the bottom of the receiving cavity.

[0010] The first positioning module includes a first X-axis position sensor, a second X-axis position sensor, a first Y-axis position sensor, and a second Y-axis position sensor. The first X-axis position sensor and the second X-axis position sensor are respectively disposed on opposite sides of the receiving cavity, and their detection directions are both parallel to the X-axis. The first X-axis position sensor is used to detect the distance from one surface of the support member and / or the stack perpendicular to the X-axis, and the second X-axis position sensor is used to detect the distance from the other surface of the support member and / or the stack perpendicular to the X-axis. Similarly, the first Y-axis position sensor and the second Y-axis position sensor are respectively disposed on opposite sides of the receiving cavity, and their detection directions are both parallel to the Y-axis. The first Y-axis position sensor is used to detect the distance from one surface of the support member and / or the stack perpendicular to the Y-axis, and the second Y-axis position sensor is used to detect the distance from the other surface of the support member and / or the stack perpendicular to the Y-axis.

[0011] As an improvement to the above solution, the first positioning module is distributed on the telescopic module, the telescopic module is connected to the bottom of the frame, and the first positioning module moves upward from the bottom of the fork as the telescopic module is pressed.

[0012] As an improvement to the above solution, the telescopic module includes a first telescopic component and a second telescopic component. The first X-axis position sensor and the first Y-axis position sensor are both disposed on the first telescopic component, and the second X-axis position sensor and the second Y-axis position sensor are both disposed on the second telescopic component. The first telescopic component and the second telescopic component are arranged diagonally outside the receiving cavity.

[0013] As an improvement to the above solution, a second positioning module is also included. The second positioning module includes a Z-axis position sensor connected to the frame. The Z-axis position sensor is located below the receiving cavity, and the photoelectric signal emitted horizontally by the Z-axis position sensor is at a preset distance from the upper surface of the horizontal section of the fork.

[0014] As an improvement to the above solution, the frame includes an installation platform, a first upright, and a second upright. The first upright and the second upright are respectively located on opposite sides of the installation platform. The first telescopic component is connected to the first upright, and the second telescopic component is connected to the second upright. The installation platform is provided with a telescopic drive mechanism that drives at least one of the first upright and the second upright to move closer to or away from the installation platform.

[0015] As an improvement to the above solution, a first clamping plate is provided on the side of the first upright and the second upright opposite to each other, and a second clamping plate is provided on the side of the second upright and the first upright opposite to each other. The first clamping plate is provided with a first limit switch, which is electrically connected to the first telescopic drive mechanism. The second clamping plate is provided with a second limit switch, which is electrically connected to the second telescopic drive mechanism.

[0016] As an improvement to the above solution, the first telescopic component includes a first guide post, a first compression spring, a first mounting bracket, and a second mounting bracket. The bottom of the first telescopic component is provided with a first universal wheel, which is connected to the bottom of the first guide post. The first mounting bracket and the second mounting bracket are arranged perpendicularly and are both connected to the first guide post. The first X-axis position sensor is connected to the first mounting bracket, and the first Y-axis position sensor is connected to the second mounting bracket. The first guide post is movably connected to the first upright. The first compression spring is sleeved on the first guide post, and the bottom of the first compression spring abuts against the first guide post, while the top of the first compression spring abuts against the first upright.

[0017] The second telescopic assembly includes a second guide post, a second compression spring, a third mounting bracket, and a fourth mounting bracket. A second universal wheel is provided at the bottom of the second telescopic assembly and is connected to the bottom of the second guide post. The third and fourth mounting brackets are perpendicularly arranged and both are connected to the second guide post. A second X-axis position sensor is connected to the second mounting bracket, and a second Y-axis position sensor is connected to the second mounting bracket. The second guide post is movably connected to the second upright. The second compression spring is sleeved on the second guide post, with its bottom abutting against the second guide post and its top abutting against the second upright.

[0018] As an improvement to the above solution, the first upright is provided with a first guide seat, the first guide seat is provided with a guide hole adapted to the first guide post, and the outer wall surface of the first guide post is provided with a first anti-rotation plane for preventing the first guide post from rotating relative to the first guide seat.

[0019] The second upright is provided with a second guide seat, the second guide seat is provided with a guide hole adapted to the second guide post, and the outer wall surface of the second guide post is provided with a second anti-rotation plane for preventing the second guide post from rotating relative to the second guide seat.

[0020] As an improvement to the above solution, the frame is equipped with a support component detection position sensor. The support component is equipped with a support plate for supporting the stack, as well as a main beam and a fork opening located below the support plate. The fork opening is located between two adjacent main beams. The support component detection position sensor is used to emit photoelectric signals to the end of the main beam.

[0021] In addition, the present invention also provides a stacking storage system, including an overhead crane and the aforementioned lifting device, wherein the lifting device is connected to the overhead crane.

[0022] Furthermore, the present invention also provides a stacking method based on a lifting device, comprising the following steps:

[0023] The unloaded lifting device is lowered to allow the stack to enter the receiving cavity;

[0024] The lifting device is driven to move horizontally according to the detection of the support or the stack below by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor and the distance value measured by the second X-axis position sensor is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor and the distance value measured by the second Y-axis position sensor is reduced to the second preset range.

[0025] Once the spreader is lowered into position, the drive forks extend horizontally to the bottom of the receiving cavity.

[0026] Furthermore, the present invention also provides a palletizing method based on a lifting device, comprising the following steps:

[0027] The lifting device carrying the stack is lowered;

[0028] The lifting device is driven to move horizontally according to the detection of the lower stack by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor and the distance value measured by the second X-axis position sensor is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor and the distance value measured by the second Y-axis position sensor is reduced to the second preset range.

[0029] Once the spreader is lowered into position, the drive forks retract from the bottom of the receiving cavity.

[0030] Implementing this invention has the following beneficial effects:

[0031] This invention discloses a lifting device. By setting a receiving cavity with a bottom opening in the frame, when the frame moves to the point where the stack enters the receiving cavity, a first X-axis position sensor and a second X-axis position sensor, respectively located on opposite sides of the receiving cavity, measure the distance between the stack and / or the support component to be lifted into the receiving cavity. That is, the distance between the two surfaces of the stack or support component perpendicular to the X-axis and the opposite first X-axis position sensor and the second X-axis position sensor, respectively. Similarly, a first Y-axis position sensor and a second Y-axis position sensor, respectively located on opposite sides of the receiving cavity, measure the distance between the stack and / or the support component to be lifted into the receiving cavity. That is, the distance between the two surfaces of the stack or support component perpendicular to the Y-axis and the opposite first Y-axis position sensor and the second Y-axis position sensor, respectively. In this way, the lifting device can accurately position the stack, reducing error accumulation. By driving the forks on opposite sides of the receiving cavity to extend and the lifting device to move, multi-layer high-density support component stacking can be achieved, making it safer and more reliable.

[0032] When unloading, the lifting device descends, and the stack enters from the bottom of the receiving cavity. The Z-axis position sensor detects the stack first, and then detects the support and its fork opening. The lifting device can then stop at the position where the Z-axis position sensor detects the fork opening, achieving precise positioning in the Z-axis direction.

[0033] When there are no other stacks at the bottom of the stacking position (or palletizing position), the first telescopic component and the second telescopic component will retract due to the pressure of the platform or ground where the stack to be stacked is located. The first X-axis position sensor, the first Y-axis position sensor, the second X-axis position sensor, and the second Y-axis position sensor move. The first X-axis position sensor and the second X-axis position sensor detect the distance to the support in the X-axis direction, and the first Y-axis position sensor and the second Y-axis position sensor detect the distance to the support in the Y-axis direction. The position adjustment of the lifting device in the X-axis direction reduces the difference in the detection values ​​of the first X-axis position sensor and the second X-axis position sensor, and the position adjustment in the Y-axis direction reduces the difference in the detection values ​​of the first Y-axis position sensor and the second Y-axis position sensor, thus achieving precise horizontal positioning.

[0034] When there are other stacks below the stacking position (or palletizing position), the first and second telescopic components are no longer under pressure. The first X-axis position sensor, the first Y-axis position sensor, the second X-axis position sensor, and the second Y-axis position sensor move. The first and second X-axis position sensors detect the distance to the lower stack in the X-axis direction, and the first and second Y-axis position sensors detect the distance to the lower stack in the Y-axis direction. The position adjustment of the lifting device in the X-axis direction reduces the difference in the detection values ​​of the first and second X-axis position sensors, and the position adjustment in the Y-axis direction reduces the difference in the detection values ​​of the first and second Y-axis position sensors, thus achieving precise horizontal positioning. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a first embodiment of a lifting device according to the present invention;

[0036] Figure 2 yes Figure 1 A schematic diagram of the structure of the lifting equipment used to lift stacks on the ground or platform;

[0037] Figure 3 yes Figure 1 A schematic diagram of the structure by which the lifting equipment stacks the transported goods;

[0038] Figure 4 yes Figure 1 A diagram illustrating the stacking of lifting equipment;

[0039] Figure 5 This is a schematic diagram of the installation structure of the first positioning module;

[0040] Figure 6 This is a schematic diagram of the cross-sectional structure of the first guide seat and the first guide post. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] During stacking, stack A is typically supported by support component B. Due to the small spacing between stacks in automated stacking, the positioning accuracy of the intelligent overhead crane on the X and Y axes is difficult to meet requirements. Even with the use of costly 3D camera vision inspection technology on the crane or lifting device, the advantages of 3D cameras cannot be effectively utilized due to the large height difference of the stacks, the small spacing between stacks, and environmental influences, making it impossible to achieve precise positioning for stacking and unstacking.

[0043] like Figure 1As shown, to achieve precise positioning during stacking, this invention discloses a first embodiment of a lifting device. The lifting device is used to transport the support component B and the stack A it supports, as well as to stack multiple layers of high-density support components. The stack A can be a brick stack, a glass plate stack, or a stack of other materials. The support component B supporting the stack A can be a common pallet, such as a flat pallet. The device has a support plate B1 supporting the stack A, a main beam B2 located below the support plate B1, and a fork opening B3, with the fork opening B3 positioned between two adjacent main beams B2. The lifting device in this embodiment includes a frame 1 and a first positioning module. The frame 1 has a receiving cavity with a bottom opening. Forks 4 are provided on opposite sides of the receiving cavity. The frame 1 is provided with a first driving mechanism 5 connected to the forks 4 and used to drive the forks 4 to extend or retract horizontally to the bottom of the receiving cavity. The first positioning module includes a first X-axis position sensor a, a first Y-axis position sensor b, a second X-axis position sensor c, and a second Y-axis position sensor d. The first X-axis position sensor a and the second X-axis position sensor c are respectively located on opposite sides of the receiving cavity, and their detection directions are both parallel to the X-axis. The first X-axis position sensor a is used to detect the position of the device to be lifted. The first Y-axis position sensor c is used to detect the distance between the support to be lifted and / or one surface of the stack within the receiving cavity perpendicular to the X-axis. The second Y-axis position sensor d is used to detect the distance between the support and / or one surface of the stack within the receiving cavity perpendicular to the X-axis. The first Y-axis position sensor b and the second Y-axis position sensor d are respectively located on opposite sides of the receiving cavity, and their detection directions are both parallel to the Y-axis. The first Y-axis position sensor b is used to detect the distance between the support to be lifted and / or one surface of the stack within the receiving cavity perpendicular to the Y-axis, and the second Y-axis position sensor d is used to detect the distance between the support to be lifted and / or one surface of the stack within the receiving cavity perpendicular to the Y-axis. The X-axis and Y-axis are not parallel; they may intersect or be skew lines. In some specific embodiments, the X-axis is perpendicular to the Y-axis. In this embodiment, a receiving cavity with a bottom opening is provided in the frame 1. When the frame moves to the point where the stack enters the receiving cavity, the first X-axis position sensor a and the second X-axis position sensor c, which are respectively located on opposite sides of the receiving cavity, measure the distance between the stack and / or the support component to be lifted into the receiving cavity. That is, the distance between the two surfaces of the stack or support component perpendicular to the X-axis and the opposite first X-axis position sensor a and the second X-axis position sensor c. Similarly, the first Y-axis position sensor b and the second Y-axis position sensor d, which are respectively located on opposite sides of the receiving cavity, measure the distance between the stack and / or the support component to be lifted into the receiving cavity. That is, the distance between the two surfaces of the stack or support component perpendicular to the Y-axis and the opposite first Y-axis position sensor b and the second Y-axis position sensor d. In this way, the lifting device can accurately position the stack, which can reduce the accumulation of errors. By driving the forks 4 on opposite sides of the receiving cavity to extend and the lifting device to move, multi-layer high-density support component stacking can be achieved, which is safer and more reliable.

[0044] The first positioning module in this embodiment is used to achieve horizontal positioning of the stack entering the receiving cavity. The first X-axis position sensor a and the second X-axis position sensor c can realize the X-axis positioning detection function of the stack within the receiving cavity, and the first Y-axis position sensor b and the second Y-axis position sensor d can realize the Y-axis positioning detection function of the stack within the receiving cavity. The first X-axis position sensor a, the second X-axis position sensor c, the first Y-axis position sensor b, and the second Y-axis position sensor d can all be laser rangefinders, infrared rangefinders, ultrasonic rangefinders, etc., but are not limited to these. When the first X-axis position sensor a, the second X-axis position sensor c, the first Y-axis position sensor b, and the second Y-axis position sensor d are selected from photoelectric rangefinders such as laser rangefinders or infrared rangefinders, the detection directions of the first X-axis position sensor, the second X-axis position sensor, the first Y-axis position sensor, and the second Y-axis position sensor correspond to the optical axis emission directions of the first X-axis position sensor, the second X-axis position sensor, the first Y-axis position sensor, and the second Y-axis position sensor.

[0045] Preferably, the first positioning module is distributed on the telescopic module, which is connected to the bottom of the frame 1. The first positioning module moves upward from below the fork 4 when the telescopic module is pressed. When the telescopic module is not pressed, the first positioning module is located below the fork 4, achieving precise positioning of the lower stack A. When the telescopic module is pressed, the movable part of the telescopic module retracts upward, driving the first positioning module to move upward relative to the fork, achieving precise positioning of the support B where the stack is located. By driving the fork 4 to extend or retract horizontally to the bottom of the receiving cavity, the pallet B can be picked up, realizing the lifting of the pallet B and the stack A, or the pallet B can be lowered to realize the stacking of the pallet B and the stack A, and the positioning is accurate when stacking and picking up the stack A. The bottom of the telescopic module is equipped with casters to facilitate the movement and adjustment of the lifting device when stacking or picking up the first layer.

[0046] More preferably, the telescopic module in this embodiment includes a first telescopic component 21 and a second telescopic component 22. Specifically, the frame 1 has the first telescopic component 21 and the second telescopic component 22 arranged diagonally outside the receiving cavity. The first telescopic component 21 is equipped with a first X-axis position sensor a and a first Y-axis position sensor b, and the second telescopic component 22 is equipped with a second X-axis position sensor c and a second Y-axis position sensor d, making the installation structure of the first positioning module on the frame 1 simpler. The support member B can be fitted into the receiving cavity. The first telescopic component 21 and the second telescopic component 22 are diagonally distributed outside the receiving cavity, that is, the first telescopic component 21 and the second telescopic component 22 are diagonally distributed on both sides of the support member B in the receiving cavity. The shape formed by the projection of the optical axes emitted by the first X-axis position sensor a and the first Y-axis position sensor b on the first telescopic component 21, and the second X-axis position sensor c and the second Y-axis position sensor d on the second telescopic component 22 below the receiving cavity is preferably rectangular, making the distance measurement of the first positioning module more sensitive after the stack enters the receiving cavity.

[0047] Preferably, to ensure positioning accuracy, the projections of the stack A to be lifted by the lifting device in this embodiment are symmetrical about the X-axis and simultaneously about the Y-axis in the horizontal plane, and the projections of the support B in the horizontal plane are also symmetrical about the X-axis and simultaneously about the Y-axis. The projections of both the stack A and the support B in the horizontal plane are preferably rectangular. The shape enclosed by the projections of the optical axes emitted by the first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d below the receiving cavity is rectangular and located within the horizontal projection of the receiving cavity. The detection results of the first X-axis position sensor a and the second X-axis position sensor c do not change with the movement of the stack A and the support B along the Y-axis, and the detection results of the first Y-axis position sensor b and the second Y-axis position sensor d do not change with the movement of the stack A and the support B along the X-axis. In this embodiment, the lasers emitted by the first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d are preferably located on the same plane, and the laser emission directions of the first X-axis position sensor a and the second X-axis position sensor c are opposite, as are the laser emission directions of the first Y-axis position sensor b and the second Y-axis position sensor d.

[0048] In addition to small spacing, automated stacking and palletizing also features a high number of layers (automated stacking typically involves 5 or more layers, usually 8 or more), which further increases the difficulty for the intelligent overhead crane to meet the positioning accuracy requirements of the X, Y, and Z axes during operation.

[0049] This embodiment also includes a second positioning module for vertically positioning the stack entering the receiving cavity. The second positioning module includes a Z-axis position sensor connected to the frame. The Z-axis position sensor is located below the receiving cavity, and the photoelectric signal emitted horizontally by the Z-axis position sensor is at a preset distance from the upper surface of the horizontal section of the fork. The Z-axis position sensor can detect the descent of the lifting device and its forks into position. The Z-axis position sensor can be a laser rangefinder, infrared rangefinder, ultrasonic rangefinder, etc., but is not limited to these.

[0050] During pallet retrieval, the lifting device descends, and pallet A enters from the bottom of the receiving cavity. The Z-axis position sensor detects pallet A first, followed by the support component B and its fork opening B3. The lifting device then stops at the position where the Z-axis position sensor detects the fork opening B3, achieving precise positioning in the Z-axis direction. At this time, when there are no other pallet A at the bottom of the retrieval position (or stacking position), the first telescopic component 21 and the second telescopic component 22 will retract under the pressure of the platform or ground where the pallet A to be retrieved is located. The first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d move. The first X-axis position sensor a and the second X-axis position sensor c respectively detect the distance to the support component in the X-axis direction, and the first Y-axis position sensor b and the second Y-axis position sensor d respectively detect the distance to the support component in the Y-axis direction. The adjustment of the lifting device's position in the X-axis direction reduces the difference in the detection values ​​of the first X-axis position sensor a and the second X-axis position sensor c, and the adjustment of its position in the Y-axis direction reduces the difference in the detection values ​​of the first Y-axis position sensor b and the second Y-axis position sensor c. The difference in the detected value of d enables precise horizontal positioning. When there is another stack A below the stacking position (or palletizing position), the first telescopic component 21 and the second telescopic component 22 are no longer compressed, and the first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d move. The first X-axis position sensor a and the second X-axis position sensor c respectively detect the distance to the lower stack A in the X-axis direction, and the first Y-axis position sensor b and the second Y-axis position sensor d respectively detect the distance in the Y-axis direction. The distance between the upper and lower stack A is adjusted by changing the position of the lifting device in the X-axis direction to reduce the difference in detection values ​​between the first X-axis position sensor a and the second X-axis position sensor c, and by changing the position in the Y-axis direction to reduce the difference in detection values ​​between the first Y-axis position sensor b and the second Y-axis position sensor d, thus achieving precise horizontal positioning. At this time, by driving the forks 4 to extend or retract horizontally to the bottom of the receiving cavity, the supporting component can be picked up to lift the supporting component and stack A, or the supporting component can be lowered to stack the supporting component and stack A.

[0051] The frame 1 described in this embodiment specifically includes an installation platform 11, a first upright 12, and a second upright 13. The first upright 12 and the second upright 13 are respectively located on opposite sides of the installation platform 11. The first telescopic component 21 is connected to the first upright 12, and the second telescopic component 22 is connected to the second upright 13.

[0052] The lifting device in this embodiment can be applied to an intelligent overhead crane. The lifting device is connected to the lifting mechanism of the intelligent overhead crane, and the intelligent overhead crane drives the lifting device to lift, move, and stack the loads.

[0053] In this embodiment, the frame 1 of the lifting device is evenly provided with multiple wire rope connecting components 111 on the top of the installation platform 11. Each wire rope connecting component 111 includes a pin, a wire rope lug, a spring sleeve, and a proximity switch mounting bracket. The pin is flexibly connected to the lifting mechanism of the intelligent crane via a wire rope. The spring sleeve is fixedly connected to the installation platform 11. The optical shaft portion of the wire rope lug is slidably connected to the spring sleeve, and a compression spring is installed inside the spring sleeve. When the wire rope lug is extended, the compression spring is compressed, indicating that the wire rope lug is under upward tension, i.e., the wire rope is under tension. The proximity switch mounting bracket is fixedly connected to the side of the spring sleeve, and the tension of the wire rope can be detected by the proximity switch. Alternatively, another connection method can be used, where the lifting mechanism of the intelligent crane is set to a rigid telescopic form, and the lifting device is rigidly fixedly connected to the lifting mechanism of the intelligent crane.

[0054] The installation platform 11 is equipped with a telescopic drive mechanism that drives at least one of the first upright 12 and the second upright 13 to move closer to or away from the installation platform 11, so as to clamp the stack A being forked, making the support component B and the stack A more stable and reliable during the hoisting process.

[0055] Specifically, the top of the first upright 12 is provided with a first load-bearing column 121, and the top of the second upright 13 is provided with a second load-bearing column 131. The mounting platform 11 is provided with a first load-bearing column guide seat 112 corresponding to and slidably engaged with the first load-bearing column 121, a second load-bearing column guide seat 113 corresponding to and slidably engaged with the second load-bearing column 131, a first telescopic drive mechanism 114 connected to the first upright 12, and a second telescopic drive mechanism 115 connected to the second upright 13. The first telescopic drive mechanism 114 and the second telescopic drive mechanism 115 can be drive cylinders. The first telescopic drive mechanism 114 is floatingly connected to the first upright 12, and the second telescopic drive mechanism 115 is floatingly connected to the second upright 13 to avoid the drive cylinder being stuck. The first load-bearing column guide seat 112 is arranged in pairs on opposite sides of the first telescopic drive mechanism 114, and the second load-bearing column guide seat 113 is arranged in pairs on opposite sides of the second telescopic drive mechanism 115. The first upright 12 and the second upright 13 are driven by the first telescopic drive mechanism 114 and the second telescopic drive mechanism 115 respectively to move closer or further away from each other, realize the side clamping function, reduce the shaking of the stack A during transportation, and make the transportation process more reliable.

[0056] To ensure reliable clamping of stack A, a first clamping plate 122 is provided on the side of the first upright 12 opposite to the second upright 13, and a second clamping plate 132 is provided on the side of the second upright 13 opposite to the first upright 12. A first limit switch 123 is provided on the outer side of the first clamping plate 122, and the first limit switch 123 is electrically connected to the first telescopic drive mechanism 114. When the first limit switch 123 is triggered, the first telescopic drive mechanism 114 stops operating. A second limit switch is provided on the outer side of the second clamping plate 132, and the second limit switch is electrically connected to the second telescopic drive mechanism 115. When the second limit switch is triggered, the second telescopic drive mechanism 115 stops operating. This achieves the side clamping positioning detection function, so as to accurately control the distance between the first clamping plate 122, the second clamping plate 132 and the stack A, improve the safety of the hoisting process, and avoid causing excessive compression to the stack A.

[0057] Since this embodiment uses four forks to pick up the support component B of the stack body A, it is particularly suitable for some sizes of tiles that are stacked in a U-shape with an empty center in the stack body A.

[0058] In this embodiment, both the first upright 12 and the second upright 13 are equipped with at least two forks 4. A first drive mechanism 5, corresponding to each fork 4, is provided on the frame 1. Therefore, the entire lifting device has at least four forks 4, which can be rotary forks. The first drive mechanism 5 is connected to the corresponding fork 4 to drive the fork 4 to rotate. The fork 4, driven by the rotary drive mechanism, swings horizontally to extend or retract towards the bottom of the receiving cavity. Specifically, the first drive mechanism 5 is a speed reducer. Furthermore, the fork 4 can also be a telescopic fork, and the first drive mechanism 5 can be configured as a drive device capable of driving the horizontal extension and retraction of the fork 4.

[0059] Specifically, both the first upright 12 and the second upright 13 are formed by longitudinal and transverse profiles. The fork 4 is L-shaped, including a horizontal section 41 for placing the stack A and a vertical section for support. The horizontal section 41 is horizontally positioned, and the vertical section 42 is vertically positioned. The horizontal section 41 and the vertical section 42 of the fork 4 are connected. The first drive mechanism 5 is used to drive the fork 4 to rotate. The first drive mechanism 5 is provided with a power output shaft, which is connected to the vertical section of the fork 4. The vertical section is cylindrical, and the transverse profile is provided with a bearing adapted to the vertical section. The first drive mechanism 5 is provided at the top of either the first upright 12 or the second upright 13. The vertical section passes through at least two transverse profiles of the first upright 12 or the second upright 13 in sequence and is connected to the first drive mechanism 5. The transverse profile at the top is Z-axis limited at the bearing, which mainly plays a supporting role, while the bearing on the transverse profile at the bottom plays an auxiliary stabilizing role. The reducer drives the rotating fork 4 so that the horizontal section 41 of the fork 4 retracts towards the bottom of the receiving cavity, allowing the receiving cavity of the frame 1 to contain the stack A, or to allow the horizontal section 41 of the fork 4 to extend horizontally towards the bottom of the receiving cavity to pick up the contained stack A. In this embodiment, the reducer drives the fork 4 to rotate so that the horizontal section 41 at the bottom of the fork 4 is parallel to the X-axis or parallel to the Y-axis, thus enabling the horizontal section 41 of the fork 4 to extend or retract horizontally towards the bottom of the receiving cavity.

[0060] The first telescopic component 21 in this embodiment includes a first guide post 211, a first compression spring 212, a first mounting bracket 213, and a second mounting bracket 214. A first universal wheel 215 is provided at the bottom of the second telescopic component 21. A first guide seat 124 is provided at the bottom of the first upright 12. The first guide seat 124 has a guide hole adapted to the first guide post 211. The outer wall surface of the first guide post 211 has a first anti-rotation plane f to prevent the first guide post 211 from rotating relative to the first guide seat 124. The top of the first guide post 211 extends into the first guide seat 124, and the bottom of the first guide post 211 is connected to the first universal wheel 215. The first mounting bracket 213 and the second mounting bracket 214 are perpendicularly arranged and both are fixed to the first guide post 211. The first X-axis position sensor a is connected to the first mounting bracket 213, the first Y-axis position sensor b is connected to the second mounting bracket 214, the first guide post 211 is movably connected to the first upright frame 12, the first compression spring 212 is sleeved on the first guide post 211, and the bottom of the first compression spring 212 abuts against the first guide post 211, and the top of the first compression spring 212 abuts against the first guide seat 124 of the first upright frame 12. In this embodiment, the cross-section of the first guide post 211 is racetrack-shaped. The setting of the first anti-rotation plane f can prevent the first mounting bracket 213 and the second mounting bracket 214 from rotating with the first guide post 211, thus affecting the stability of horizontal positioning. The first omnidirectional wheel is used to contact the ground or platform, so that the lifting device can move flexibly horizontally when there are no other stacks A at the bottom of the target stack A for horizontal positioning.

[0061] The second telescopic component 22 in this embodiment has the same structure as the first telescopic component 21, specifically including a second guide post, a second compression spring, a third mounting bracket, and a fourth mounting bracket. The bottom of the second telescopic component is provided with a second universal wheel. The bottom of the second upright 13 is provided with a second guide seat, which has a guide hole adapted to the second guide post. The outer wall surface of the second guide post has a second anti-rotation plane to prevent the second guide post from rotating relative to the second guide seat. The top of the second guide post extends into the second guide seat, and the bottom of the second guide post is connected to the second universal wheel. The third and fourth mounting brackets are perpendicularly arranged and both are fixed to the second guide post. The second X-axis position sensor c is connected to the second mounting bracket 214, and the second Y-axis position sensor d is connected to the second mounting bracket 214. The second guide post is movably connected to the second upright 13. The second compression spring is sleeved on the second guide post, with its bottom abutting against the second guide post and its top abutting against the second guide seat of the second upright 13. In this embodiment, the cross-section of the second guide post is racetrack-shaped. The second anti-rotation plane prevents the second mounting bracket 214 from rotating with the second guide post, thus affecting the stability of the horizontal positioning. The second omnidirectional wheel is used to contact the ground or platform, allowing the lifting device to move flexibly horizontally when there are no other stacks A at the bottom of the target stack A.

[0062] When the lifting device of this embodiment is applied to a stacking storage system with an overhead crane, when the lifting device is moving stack A on the second floor or above (when there are other stacks A below the target stack A), the first guide post 211 and the second guide post are in an extended state; when the lifting device is moving stack A on the first floor (when there are no other stacks A below the target stack A), the first caster wheel and the second caster wheel contact the ground or platform, the first compression spring 212 and the second compression spring are compressed, and the first guide post 211 and the second guide post are in a retracted state. The first mounting bracket 213 of the first X-axis position sensor a and the second mounting bracket 214 of the first Y-axis position sensor b are fixedly connected to the side of the first guide post 211, and the detection directions of the first X-axis position sensor a and the first Y-axis position sensor b are parallel to the X-axis and Y-axis, respectively; the third mounting bracket of the second X-axis position sensor c and the fourth mounting bracket of the second Y-axis position sensor d are fixedly connected to the side of the second guide post, and the detection directions of the second X-axis position sensor c and the second Y-axis position sensor d are parallel to the X-axis and Y-axis, respectively. When the lifting device is moving stack A on the second floor or above, the first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d detect the lower stack A. When the lifting device is moving stack A on the first floor, the first X-axis position sensor a, the first Y-axis position sensor b, the second X-axis position sensor c, and the second Y-axis position sensor d detect the support component B. Since the projection of stack A and support component B on the horizontal plane is rectangular, an X-axis position sensor is set at each diagonal. When the diagonal detection distances deviate by 'a' and exceed the set allowable deviation, the stacking storage system will control the intelligent overhead crane and its lifting device to move 'a / 2' in the X-axis direction, so that the diagonal detection distances deviate by less than a first preset range, achieving precise positioning of the lifting device in the X-axis direction when moving stack A. Similarly, precise positioning in the Y-axis direction can be achieved when the lifting device moves stack A. The first positioning module is designed flexibly and ingeniously.

[0063] In this embodiment, the Z-axis photoelectric mounting bracket is fixedly connected to the outside of the clamp plate, with one bracket on each side of the lifting device. The Z-axis position sensor is positioned at a certain distance higher than the upper surface of the horizontal section 41 of the fork 4. During the lifting and lowering process of the lifting device, when the Z-axis position sensor is triggered, it indicates that the lower stack A has been detected. When the lifting device continues to descend until the Z-axis position sensor is just off, it indicates that the support component B fork opening B3 has been detected, indicating that the Z-axis height has been reached during the lifting and lowering process, thus realizing the Z-axis positioning detection function when the lifting device is handling the stack A. During the stacking and lowering process of the lifting device, when the Z-axis position sensor is triggered, it indicates that the upper stack A has been detected. When the lifting device is just off, it indicates that the support component B fork opening B3 has been detected (the support component B and the stack A on the lifting device have been placed on the lower stack A or on the ground), indicating that the Z-axis height has been reached during the stacking and lowering process, thus realizing the Z-axis positioning detection function when the lifting device is handling the stack A.

[0064] In addition, the frame 1 is equipped with a support component detection position sensor 6 for detecting whether the support component B is placed accurately. The support component B detection sensor detects the end of the main beam B2 located on the side of the fork opening B3 on the support component B. When the spreader moves horizontally, in this embodiment, the support component detection position sensor 6 is positioned so that the height of its emitted photoelectric signal is between the upper and lower surfaces of the horizontal section 41, to ensure that the forks 4 can properly lift the support component B. One support component detection position sensor 6 is installed diagonally on each side of the spreader. The support component detection position sensor 6 detects the main beams B2 on both the left and right sides of the support component B, and can detect whether the position of the support component B is accurate.

[0065] Preferably, the longitudinal profile in this embodiment has a circumferentially enclosed channel. The first guide post 211 and the second guide post extend into the channel of the longitudinal profile, which prevents dust, debris and other objects from falling into the first guide seat 124 and the second guide seat, causing jamming of the extension and retraction movement of the first guide post 211 and the second guide post, and affecting the accuracy of horizontal positioning.

[0066] Furthermore, the present invention also provides a stacking method based on a lifting device, comprising the following steps:

[0067] S1. The intelligent overhead crane drives the unloaded lifting device to descend along the preset path, so that the stack A enters the receiving cavity;

[0068] S2. The intelligent crane drives the lifting device to move horizontally according to the detection of the support component B of this layer or the stack body A of the lower layer by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor a and the distance value measured by the second X-axis position sensor c is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor b and the distance value measured by the second Y-axis position sensor d is reduced to the second preset range.

[0069] S3. When the Z-axis position sensor detects that the spreader has descended into place, the first drive mechanism drives the forks 4 to extend horizontally to the bottom of the receiving cavity.

[0070] Specifically, the intelligent overhead crane hoisting mechanism controls the unloaded lifting device (without stack A) to rise to the set height; the intelligent overhead crane moves to directly above the set stacking position, at which point the lifting device has achieved initial positioning on the X and Y axes, i.e., coarse positioning; the intelligent overhead crane hoisting mechanism controls the lifting device to descend, and when the Z-axis position sensor is triggered (indicating that stack A has been detected), the descent decelerates; the lifting device continues to decelerate and descend, and when the Z-axis position sensor just goes off (indicating that the support component B fork B3 has been detected), the descent stops in place (Z-axis precise positioning); when the diagonal detection distances of the first X-axis position sensor a and the second X-axis position sensor c deviate by 'a' and exceed the set allowable deviation, the system controls the intelligent crane and its lifting device to move a / 2 in the X-axis direction, so that the diagonal... The mutual deviation of the detection distance is less than a first preset range, specifically, the first preset range can be 0 to 2 mm, to achieve precise positioning in the X-axis direction when the lifting device moves the stack A; similarly, precise positioning in the Y-axis direction can be achieved when the lifting device moves the stack A; after precise positioning in the Y-axis direction, the support component detection position sensor 6 is triggered (indicating that the support component B is detected); the reducer of the rotating fork 4 component on the lifting device drives the rotating fork 4 to rotate until the bottom of the fork 4 is parallel to the X-axis, that is, the fork 4 is inserted under the support component B; the electric cylinder of the lifting device installation platform 11 drives the side clamp component to retract, that is, the side clamp, and when the limit switch is triggered, the side clamp stops; the intelligent crane lifting mechanism controls the lifting device to rise, and the rotating fork 4 can insert and lift the bottom of the support component B, that is, to achieve stack removal.

[0071] Furthermore, the present invention also provides a palletizing method based on a lifting device, comprising the following steps:

[0072] S1. The intelligent overhead crane drives the lifting device carrying the stack A to descend along the preset path;

[0073] S2. The intelligent crane drives the lifting device to move horizontally according to the detection of the lower stack A by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor a and the distance value measured by the second X-axis position sensor c is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor b and the distance value measured by the second Y-axis position sensor d is reduced to the second preset range.

[0074] S3. When the Z-axis position sensor detects that the spreader has descended into place, the first drive mechanism drives the forks 4 to exit from the bottom of the receiving cavity.

[0075] Specifically, the intelligent overhead crane's hoisting mechanism controls the spreader to lift stack A to a set height; the intelligent overhead crane moves directly above the set palletizing location, at which point the spreader has achieved its first positioning on the X and Y axes, i.e., coarse positioning; the intelligent overhead crane's hoisting mechanism controls the spreader to descend, during which the Z-axis position sensor is continuously triggered (indicating that stack A on the spreader has been detected); when the spreader descends to the set height, it decelerates, and when the Z-axis position sensor just goes off (indicating that the support component B fork B3 has been detected, and the support component B and stack A on the spreader have been placed on the lower stack A or on the ground), the descent stops in place (Z-axis precise positioning); when the X-axis position sensor's diagonal detection distances are mutually offset... When the difference is 'a' and exceeds the set allowable mutual deviation, the system controls the intelligent crane and its lifting device to move 'a / 2' in the X-axis direction, so that the mutual deviation of the diagonal detection distance is less than the first preset range, which can be 0-2mm, to achieve precise positioning in the X-axis direction when the lifting device moves the stack A; similarly, precise positioning in the Y-axis direction can be achieved when the lifting device moves the stack A; the electric cylinder drives the side clamping plate component of the lifting device installation platform 11 to extend, and the electric cylinder controls the side clamping plate component to extend a set distance and then stop; the reducer of the rotating fork 4 component on the lifting device drives the rotating fork 4 to rotate until the bottom of the fork 4 is parallel to the Y-axis; the intelligent crane lifting mechanism controls the lifting device to rise, thus realizing the stacking.

[0076] The lifting device of this invention is connected to the intelligent overhead crane lifting mechanism. When picking up and stacking stack A, it can safely and reliably handle stack A, realize unmanned and intelligent operation, and improve work efficiency. Its structure is compact and its positioning is accurate and reliable, realizing small stacking spacing and high stacking layer, i.e., high-density warehousing, which improves overall economic benefits. The precise positioning structure of the lifting device is simple to set and has low cost.

[0077] The lifting device of the present invention is not only applicable to the automatic picking and stacking of stack A, but also applicable to the automatic picking and stacking of other goods.

[0078] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A lifting device, characterized in that, The device includes a frame and a first positioning module. The frame has a receiving cavity with a bottom opening. Forks are provided on both sides of the receiving cavity. The frame is provided with a first driving mechanism that is connected to the forks and is used to drive the forks to extend or retract to the bottom of the receiving cavity. The first positioning module includes a first X-axis position sensor, a second X-axis position sensor, a first Y-axis position sensor, and a second Y-axis position sensor. The first X-axis position sensor and the second X-axis position sensor are respectively disposed on opposite sides of the receiving cavity, and their detection directions are both parallel to the X-axis. The first X-axis position sensor is used to detect the distance from one surface of the support member and / or the stack perpendicular to the X-axis, and the second X-axis position sensor is used to detect the distance from the other surface of the support member and / or the stack perpendicular to the X-axis. Similarly, the first Y-axis position sensor and the second Y-axis position sensor are respectively disposed on opposite sides of the receiving cavity, and their detection directions are both parallel to the Y-axis. The first Y-axis position sensor is used to detect the distance from one surface of the support member and / or the stack perpendicular to the Y-axis, and the second Y-axis position sensor is used to detect the distance from the other surface of the support member and / or the stack perpendicular to the Y-axis.

2. The lifting device as described in claim 1, characterized in that, The first positioning module is distributed on the telescopic module, which is connected to the bottom of the frame. The first positioning module moves upward from the bottom of the fork as the telescopic module is pressed.

3. The lifting device as described in claim 2, characterized in that, The telescopic module includes a first telescopic component and a second telescopic component. The first X-axis position sensor and the first Y-axis position sensor are both disposed on the first telescopic component, and the second X-axis position sensor and the second Y-axis position sensor are both disposed on the second telescopic component. The first telescopic component and the second telescopic component are arranged diagonally outside the receiving cavity.

4. The lifting device as described in claim 1, characterized in that, It also includes a second positioning module, which includes a Z-axis position sensor connected to the frame. The Z-axis position sensor is located below the receiving cavity, and the photoelectric signal emitted horizontally by the Z-axis position sensor is at a preset distance from the upper surface of the horizontal section of the fork.

5. The lifting device as described in claim 3, characterized in that, The frame includes an installation platform, a first upright, and a second upright. The first upright and the second upright are respectively located on opposite sides of the installation platform. The first telescopic component is connected to the first upright, and the second telescopic component is connected to the second upright. The installation platform is provided with a telescopic drive mechanism that drives at least one of the first upright and the second upright to move closer to or away from the installation platform.

6. The lifting device as described in claim 5, characterized in that, The first upright has a first clamping plate on the side opposite to the second upright, and the second upright has a second clamping plate on the side opposite to the first upright. The first clamping plate has a first limit switch, which is electrically connected to the first telescopic drive mechanism. The second clamping plate has a second limit switch, which is electrically connected to the second telescopic drive mechanism.

7. The lifting device as described in claim 5, characterized in that, The first telescopic assembly includes a first guide post, a first compression spring, a first mounting bracket, and a second mounting bracket. The bottom of the first telescopic assembly is provided with a first universal wheel, which is connected to the bottom of the first guide post. The first mounting bracket and the second mounting bracket are arranged perpendicularly and are both connected to the first guide post. The first X-axis position sensor is connected to the first mounting bracket, and the first Y-axis position sensor is connected to the second mounting bracket. The first guide post is movably connected to the first upright. The first compression spring is sleeved on the first guide post, and the bottom of the first compression spring abuts against the first guide post, and the top of the first compression spring abuts against the first upright. The second telescopic assembly includes a second guide post, a second compression spring, a third mounting bracket, and a fourth mounting bracket. A second universal wheel is provided at the bottom of the second telescopic assembly and is connected to the bottom of the second guide post. The third and fourth mounting brackets are perpendicularly arranged and both are connected to the second guide post. A second X-axis position sensor is connected to the second mounting bracket, and a second Y-axis position sensor is connected to the second mounting bracket. The second guide post is movably connected to the second upright. The second compression spring is sleeved on the second guide post, with its bottom abutting against the second guide post and its top abutting against the second upright.

8. The lifting device as described in claim 7, characterized in that, The first upright is provided with a first guide seat, the first guide seat is provided with a guide hole adapted to the first guide post, and the outer wall surface of the first guide post is provided with a first anti-rotation plane for preventing the first guide post from rotating relative to the first guide seat; The second upright is provided with a second guide seat, the second guide seat is provided with a guide hole adapted to the second guide post, and the outer wall surface of the second guide post is provided with a second anti-rotation plane for preventing the second guide post from rotating relative to the second guide seat.

9. The lifting device as described in claim 1, characterized in that, The frame is equipped with a support component detection position sensor. The support component has a support plate for supporting the stack, as well as a main beam and a fork opening located below the support plate. The fork opening is located between two adjacent main beams. The support component detection position sensor is used to emit photoelectric signals to the end of the main beam.

10. A stacking storage system, characterized in that, It includes an overhead crane and a lifting device as described in any one of claims 1 to 9, wherein the lifting device is connected to the overhead crane.

11. A method for unloading stacks based on the lifting device according to any one of claims 1 to 9, characterized in that, Includes the following steps: The unloaded lifting device is lowered to allow the stack to enter the receiving cavity; The lifting device is driven to move horizontally according to the detection of the support or the stack below by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor and the distance value measured by the second X-axis position sensor is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor and the distance value measured by the second Y-axis position sensor is reduced to the second preset range. Once the spreader is lowered into position, the drive forks extend horizontally to the bottom of the receiving cavity.

12. A stacking method based on the lifting device according to any one of claims 1 to 9, characterized in that, Includes the following steps: The lifting device carrying the stack is lowered; The lifting device is driven to move horizontally according to the detection of the lower stack by the first positioning module until the deviation between the distance value measured by the first X-axis position sensor and the distance value measured by the second X-axis position sensor is reduced to the first preset range, and the deviation between the distance value measured by the first Y-axis position sensor and the distance value measured by the second Y-axis position sensor is reduced to the second preset range. Once the spreader is lowered into position, the drive forks retract from the bottom of the receiving cavity.

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