Bidirectional movement and rotation method for clamping jaw of stacking machine

Abstract

The invention discloses a bidirectional movement and rotation method for a clamping jaw of a stacking machine, and relates to the field of stacking machines, and the bidirectional movement and rotation method comprises the steps of target positioning, path planning and parameter judgment, clamping posture adjustment, operation balance self-adaptive maintenance and operation data recording and analysis. According to the bidirectional movement and rotation method for the stacking machine clamping jaw, through posture adjustment and operation balance self-adaptive maintenance, distance and position sensors are arranged through a driving unit, the operation distance and posture changes are monitored in real time, and by means of the magnetic adsorption effect of a proportion electromagnet and a permanent magnet, the clamping jaw can move in real time. The overturning force of the clamping end is actively relieved, the axial drawing force on the rotating motor is offset, the load and internal abrasion of the driving unit are greatly reduced, the phenomena of motor overload, rod piece deformation and clamping stagnation caused by long-term heavy-load operation are effectively avoided, meanwhile, the overrun early warning prompt function is achieved, and the operation safety and reliability of equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, specifically to a method for bidirectional rotation of the gripper of a stacker crane. Background Technology

[0002] Stacker cranes are core equipment in the field of automated warehousing and material handling. They are mainly used for the three-dimensional stacking, storage, retrieval, and transfer of goods in warehouses, workshops, and other settings. Through lifting and extending grippers or forks, combined with a precise positioning and drive system, they enable efficient movement and orderly stacking of goods in three-dimensional space. Their advantages are outstanding: high space utilization, which can make full use of the vertical space of the warehouse to build three-dimensional warehousing, significantly saving floor space; and high degree of automation, which can be linked with PLCs, vision inspection, and data management systems to achieve unmanned continuous operation and reduce human intervention and operational errors.

[0003] The existing stacker crane operation and cargo clamping operations still have the following shortcomings:

[0004] First, traditional stacker cranes mostly use fixed or single-degree-of-freedom clamping structures, which make it difficult to achieve bidirectional sliding and coordinated adjustment. When facing stacking targets at different positions and angles, they cannot accurately match the optimal clamping distance, which can easily lead to clamping deviation and material tipping.

[0005] Secondly, when traditional stacker cranes are in long-stroke telescopic operation, the sliding rods are prone to generating large overturning moments and axial pulling forces. They lack adaptive force buffering and auxiliary force relief mechanisms, which will increase the load on the drive motor and reduce the service life and operational stability of the equipment in the long run.

[0006] Third, traditional stacker cranes rely on simple position control and lack 3D vision positioning, multi-point posture detection and real-time load monitoring functions. They cannot automatically adjust the clamping posture according to the weight distribution of materials and the placement angle, which can easily lead to uneven force and unstable clamping.

[0007] Fourth, traditional stacker cranes lack the ability to record and analyze operating data, and cannot store and optimize key parameters such as overturning force, travel distance, and material posture, thereby avoiding the recurrence of the same adverse operating conditions through data analysis.

[0008] To address the shortcomings of existing technologies, this invention provides a method for bidirectional rotation of stacker crane grippers to solve the aforementioned problems. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a bidirectional rotating gripper method for stacker cranes, solving problems such as inaccurate gripping and positioning, inability to adaptively adjust posture, tipping of the sliding arm, and excessive pulling force on the motor. It achieves precise target gripping through a combination of visual positioning and bidirectional sliding rotation; utilizes weight and distance sensors to detect posture in real time, ensuring stable gripping; employs magnetic adsorption to reduce motor load and tipping risk; and continuously optimizes operating posture through data storage and analysis, improving the stability, accuracy, and intelligence level of the stacker crane.

[0010] To achieve the above objectives, the present invention provides a method for bidirectional rotation of a stacker crane gripper, comprising the following steps:

[0011] Step S1, Target Localization: The orientation and angle of the target to be grasped are located by the positioning detection system, which narrows down the search range for subsequent precise positioning;

[0012] Step S2, Path Planning and Parameter Judgment: Based on the positioning data, perform data analysis and processing to determine the rotation angle and running stroke parameters of the drive equipment;

[0013] Step S3, Gripping posture adjustment: The detection component at the end of the gripper collects the posture data of the item and feeds it back to the control unit. The posture of the item is analyzed based on the multi-point data, and then the placement position of the item is adjusted.

[0014] Step S4, Operation Balance Adaptive Maintenance: The distance detection element configured in the drive unit and the adsorption mechanism at the bottom of the platform are measured in real time. The magnetic adsorption effect is used to alleviate the overturning force of the gripping end, and at the same time, an early warning prompt is triggered.

[0015] Step S5: Record and analyze running data: Record operating condition data through the data storage unit, including at least the gripper load, the angle of the object distribution, and the running stroke data of each gripping end when the overturning force is generated, for later use in judging and optimizing the running posture.

[0016] Preferably, the positioning detection system in step S1 includes a 3D scanning sensor and an industrial camera, which quickly acquires the stacking position of the material through at least one acquisition unit and transmits the acquired data to the data analysis unit.

[0017] Preferably, in step S2, the data collected by the acquisition unit is analyzed by the data analysis unit to determine the operating angle and stroke of the driving device. The data analysis unit includes at least a graphics processing unit, a data analysis module, and a data processor. The driving device is adjusted to the optimal clamping angle based on the analysis results.

[0018] Preferably, in step S2, the optimal displacement stroke of the drive unit is determined by the data analysis module and the data processor. At the same time, based on the amount of data collected by the positioning detection system, the running stroke distance of each drive unit is determined. The analyzed data results are transmitted to the control unit. The control unit is linked with at least one positioning detection system. The control unit includes at least an industrial-grade PLC controller, an edge controller, and an IoT gateway controller.

[0019] Preferably, in step S3, the material stacking posture is collected by pressure detection sensors evenly distributed on the inner end face of the gripper. The data processor analyzes the pressure data detected on both sides of the gripper and transmits it to the drive unit. The drive unit adjusts the gripper position accordingly to optimize the gripping posture. When the pressure detection sensors distributed on the inner end face of the gripper detect the same data, the drive unit is started to perform the gripping operation.

[0020] Preferably, in step S4, the driving unit includes a rotary motor and a linear driving unit. The linear driving unit includes at least a first linear motor, a second linear motor, and a third linear motor. The second and third linear motors are horizontally distributed. The outer wall of the output shaft of the rotary motor is provided with a detection element and a magnetic component. The magnetic component is ring-shaped and electrically connected to the control unit. The detection element includes at least a distance sensor and a position sensor. The adsorption mechanism is a proportional electromagnet.

[0021] Preferably, in step S4, the attitude of the rotary motor output shaft is monitored in real time during the operation of the clamping device by using a distance sensor and a position sensor on the outer wall of the rotary motor output shaft to determine whether the output shaft has axial displacement or attitude deviation due to the adjustment of the clamping lever arm.

[0022] Preferably, in step S4, when the distance sensor on the outer wall of the rotary motor detects a change in the distance between itself and the magnetic component, it transmits the change signal to the positioning detection system for analysis. The analysis result is transmitted to the edge controller. At the same time, the edge controller sends a signal to the early warning device and sends a magnetic adjustment signal to the proportional electromagnet. By increasing the current of the proportional electromagnet, it enhances the magnetic attraction force between the proportional electromagnet and the magnetic component at the output end of the rotary motor, thereby counteracting the axial pull-out force generated on the rotary motor due to the increased torque.

[0023] Preferably, in step S5, when the proportional electromagnet current is increased to provide an adsorption force to the output shaft of the rotary motor, the data storage unit is activated to record the working condition, and at the same time, the distance sensor data of the gripping end is read to record the running stroke of each of the two gripping units.

[0024] Preferably, in step S5, the industrial camera in the positioning detection system is simultaneously activated to acquire images of the placement posture of the clamped object, and the acquired image data is transmitted to the data storage unit for storage and analysis.

[0025] The technical effects and advantages of this invention are as follows:

[0026] 1. This stacker crane's bidirectional rotating gripper mechanism uses distance and position sensors in the drive unit to monitor the running distance and attitude changes in real time. Utilizing the magnetic attraction of proportional electromagnets and permanent magnets, it actively mitigates the overturning force at the gripping end and counteracts the axial pull-out force on the rotating motor, significantly reducing the load and internal wear of the drive unit. This effectively avoids motor overload, rod deformation, and jamming caused by long-term heavy-load operation. It also features an over-limit warning function, improving the safety and reliability of the equipment. Furthermore, the dual-stage displacement method avoids the high pull-out force on the downstream equipment caused by the traditional single, long gripping stroke. The dual-stage displacement also improves the flexibility and stability of the equipment's gripping performance.

[0027] 2. This stacker crane's bidirectional rotation method for grippers achieves rapid initial positioning of the stacking target through a multi-mode positioning and detection system including 3D scanning and industrial cameras. Combined with a data analysis unit, it accurately calculates the rotation angle and travel distance of the drive equipment. Furthermore, by utilizing weight sensors evenly distributed at the gripper ends to collect material posture information, it can automatically adjust the placement of items, ensuring uniform gripping force. This effectively improves gripping positioning accuracy and posture adaptability, preventing problems such as gripping offset and material tilting / falling during stacking. It can adapt to material stacking operations at different angles and in different placement states, resulting in stronger overall operational stability and versatility.

[0028] 3. The stacker crane's bidirectional motion rotation method for the grippers fully records key operating condition data such as overturning force, gripper load, material posture, and stroke of each drive unit through a data storage unit. This enables traceability of the operating status and continuous analysis and optimization. In conjunction with PLC controllers, edge controllers, and other types of control units, it achieves precise coordination of bidirectional sliding and rotational movements, making the equipment operation more stable and coordinated, and providing data support for equipment operation and maintenance and operating condition iteration. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0031] Figure 2 This is a flowchart of the path planning and parameter determination process of this invention;

[0032] Figure 3 This is a logic diagram of the clamping posture adjustment of the present invention;

[0033] Figure 4 This is a schematic diagram of the process for adaptive balance maintenance in this invention.

[0034] Figure 5 This is a schematic diagram of the data recording and analysis process of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] This embodiment discloses a method for bidirectional rotation of a stacker crane gripper, according to the attached... Figure 1 To be continued Figure 5 As shown, it includes the following steps:

[0037] Step S1, Target Positioning: The positioning detection system locates the orientation and angle of the target to be gripped, narrowing the search range for subsequent precise positioning. This step is the initial positioning stage of the stacker crane's bidirectional rotation method. The positioning detection system initially identifies the orientation and angle of the target to be gripped, narrowing the search range for subsequent precise positioning. This positioning detection system can integrate multimodal acquisition units such as industrial cameras and 3D scanning sensors, and quickly acquires two-dimensional images and three-dimensional shape data of the stacked target through non-contact scanning, including the stacking position of the material, the size of the pallet, the tilt angle, and the overall distribution status.

[0038] Step S2, Path Planning and Parameter Judgment: Based on the positioning data, data analysis and processing are performed to determine the rotation angle and running stroke parameters of the drive equipment. In this step, the collected raw data is synchronously transmitted to the data analysis unit. Through image processing and feature recognition algorithms, the spatial coordinates of the target are extracted, and the center position and posture shape of the material are preliminarily analyzed. This step can effectively filter out invalid areas, greatly reduce the calculation workload of subsequent path planning and posture adjustment, improve the overall operation efficiency, and at the same time provide basic data support for complex working conditions such as different sized material trays (such as 7-inch, 13-inch, and 15-inch) and remote double extension positions, ensuring the accuracy and adaptability of subsequent clamping actions.

[0039] Step S3, Gripping Posture Adjustment: The detection components at the end of the grippers collect the object's posture data and feed it back to the control unit. Based on multi-point data analysis, the object's posture is adjusted accordingly. Multiple pressure sensors evenly distributed on the inner end face of the grippers collect real-time force distribution data on the material's position, quickly identifying the object's stacking posture and center of gravity shift. The collected multi-point data is synchronously transmitted to the industrial-grade PLC controller in the control unit. The data analysis module compares and analyzes the force values ​​at each point to determine if there are any posture abnormalities such as material skewing or excessive force on one side. If uneven force is detected... The industrial-grade PLC controller in the control unit will drive the first, second, and third linear motors to perform coordinated displacement adjustment. By adjusting the stroke of each gripping unit, the placement position of the material is slowly corrected until the data detected by multiple pressure sensors on the inner end face of the gripper tends to be consistent, thereby completing the posture adjustment. This process can effectively avoid risks such as material clamping deviation and tipping, and can ensure that the gripping posture is stable and regular. At the same time, it is compatible with different sized pallets (such as 7-inch, 13-inch, and 15-inch) and complex stacking scenarios such as remote double extension positions, which can improve the gripping stability and operational versatility, and lay the foundation for the accuracy and safety of subsequent stacking operations.

[0040] Step S4, Adaptive Balance Maintenance: Real-time distance measurement is performed between the distance detection element configured in the drive unit and the adsorption mechanism at the bottom of the platform. The magnetic adsorption effect is used to alleviate the overturning force of the gripping end, and an early warning is triggered at the same time. This step is a force balance protection link in the stacker crane operation process. Through the distance detection element and position sensor configured in the drive unit, the distance change between the output shaft of the rotary motor and the adsorption mechanism of the platform is monitored in real time. It effectively identifies the axial pull-out trend and overturning risk caused by the increase of torque at the gripping end. When an abnormal distance is detected, the signal is processed by the data analysis unit and transmitted to the edge controller. The audible and visual early warning device is activated to indicate the abnormal working condition. At the same time, the proportional electromagnet is driven to increase the current. Through the magnetic adsorption effect with the permanent magnet of the output shaft of the rotary motor, the axial pull-out force and overturning torque are actively counteracted, the load on the drive unit is relieved, and the deformation or jamming of the mechanism is avoided.

[0041] Step S5, Operational Data Recording and Analysis: Record operational data through the data storage unit, including at least the gripper load, the angle of the object distribution, and the travel distance of each gripping end when the overturning force is generated, for later use in judging and optimizing the operational posture. This step records and analyzes the operating status of the stacker crane. The data storage unit records full operational data, mainly retaining the real-time gripper load, the angle of the object distribution, the travel distance of each gripping end, and the magnetic adsorption adjustment parameters when the overturning force is generated. At the same time, material posture images captured by industrial cameras are collected simultaneously. After all data is classified, stored, and correlated, it provides accurate data support for later operational posture optimization.

[0042] The positioning and detection system in step S1 includes a 3D scanning sensor and an industrial camera. It quickly acquires the stacking position of the material through at least one acquisition unit and transmits the acquired data to the data analysis unit.

[0043] In the initial stage of the operation, non-contact rapid acquisition of materials and stacking positions is achieved through at least one acquisition unit, which avoids physical contact that could cause equipment damage. 3D scanning sensors can accurately identify the height, thickness, and position of materials, while industrial cameras can quickly acquire two-dimensional images through their performance. Visual recognition improves the comprehensiveness of data acquisition, and the acquired image data is transmitted to the data analysis unit in real time. After processing and analysis, the target is initially located, effectively narrowing the search range for subsequent fine positioning, improving overall positioning efficiency and control accuracy, and providing a reliable data foundation for subsequent path planning and attitude adjustment.

[0044] In step S2, the data collected by the acquisition unit is analyzed by the data analysis unit to determine the operating angle and stroke of the drive device. The data analysis unit includes at least a graphics processing unit, a data analysis module, and a data processor. The drive device is adjusted to the optimal clamping angle based on the analysis results. In step S2, the optimal displacement stroke of the drive unit is determined by the data analysis module and the data processor. At the same time, based on the amount of data collected by the positioning detection system, the operating stroke distance of each drive unit is determined. The analyzed data results are transmitted to the control unit. The control unit is linked with at least one positioning detection system. The control unit includes at least an industrial-grade PLC controller, an edge controller, and an IoT gateway controller.

[0045] When the equipment is running, the acquired data is first analyzed. This unit includes a graphics processing unit, a data analysis module, and a data processor. The three work together to form a collaborative processing architecture. The graphics processing unit first preprocesses the raw data, filters out environmental interference noise, and extracts key features such as material outline, spatial coordinates, and dimensional parameters.

[0046] Subsequently, the data analysis module calls a preset algorithm and combines preset parameters such as material type and stacking scenario to perform in-depth analysis of feature data, accurately determine the required operating angle of the drive equipment, and at the same time complete the comprehensive calculation of multi-dimensional data through the data processor. Based on the relative position of the material and the gripper, the size of the material tray (such as 7-inch, 13-inch, 15-inch) and the stacking position (such as the far-end double extension position), the optimal displacement stroke of each drive unit is calculated. During this process, the data analysis unit will continuously rely on the real-time data collected by the positioning detection system to dynamically correct the stroke distance calculation results to ensure the accuracy of drive adjustment.

[0047] After the data processing is completed, the analysis results such as running angle and displacement stroke are transmitted to the control unit in real time. The control unit includes at least an industrial-grade PLC controller, an edge controller and an IoT gateway controller, and is linked with at least one positioning detection system. After receiving the data, it responds quickly and generates control commands to drive the relevant actuators to adjust to the optimal gripping angle and stroke, providing a foundation for subsequent gripping posture adjustment and stable operation.

[0048] In step S3, the material stacking posture is collected by pressure detection sensors evenly distributed on the inner end face of the gripper. The data processor analyzes the pressure data on both sides of the gripper and transmits it to the drive unit. The drive unit adjusts the gripper position accordingly to optimize the gripping posture. When the pressure detection sensors distributed on the inner end face of the gripper detect the same data, the drive unit is started to perform the gripping operation.

[0049] In this step, after the grippers approach the material, multiple pressure sensors evenly distributed on the inner end face of the grippers collect pressure signals in real time in the area in contact with the material. Through the multiple pressure sensors evenly distributed on the inner end face of the grippers, the force distribution data of the left and right sides and different points can be quickly obtained, thereby determining the current stacking posture of the material, the position of the center of gravity, and whether there is any tilting or misalignment.

[0050] Then, the pressure sensor converts the collected signal into a digital signal and transmits it to the data processor. The data processor compares, calculates and analyzes the pressure values ​​on both sides to determine whether the material is centered inside the gripper and whether the force is uniform. If a significant difference is detected between the pressure values ​​on both sides, it indicates that the material posture is deviated and the force on one side is too large. The data processor will calculate the required compensation displacement and adjustment direction, form a posture adjustment command and send it to the drive unit.

[0051] After receiving the adjustment signal, the drive unit controls the corresponding linear drive mechanism to make a slight displacement adjustment according to the offset, gradually correcting the position of the gripper relative to the material, so that the material gradually tends to be centered. During the adjustment process, the pressure detection sensor continuously feeds back pressure data in real time, forming a closed-loop control of "detection-analysis-adjustment-re-detection".

[0052] When the detection data of all pressure sensors on the inner end face of the gripper become consistent and the pressure distribution is uniform and stable, it indicates that the material is in the optimal gripping posture. The data processor sends a confirmation signal to the industrial-grade PLC controller in the control unit, and the drive unit then executes a stable gripping action to ensure that the force is balanced during the gripping process, the material does not tilt or fall off, and maintains the stability and reliability of the overall stacking operation.

[0053] In step S4, the drive unit includes a rotary motor and a linear drive unit. The linear drive unit includes at least a first linear motor, a second linear motor and a third linear motor. The second linear motor and the third linear motor are horizontally distributed. The outer wall of the output shaft of the rotary motor is provided with a detection element and a magnetic component. The magnetic component is ring-shaped and electrically connected to the control unit. The detection element includes at least a distance sensor and a position sensor. The adsorption mechanism is a proportional electromagnet.

[0054] The first, second, and third linear motors provide a multi-dimensional drive architecture for stacking. The first and second linear motors provide lateral and longitudinal displacement for clamping. The second and third linear motors, located on the same horizontal line, can reduce the axial pull-out force on the rotary motor by coordinating their movements in a single direction. When the second linear motor reaches the set point, the third linear motor extends synchronously. The sum of the two strokes is the required movement distance. The rotary motor can provide multi-angle rotational clamping. With the ring-shaped magnetic component and detection element fixed on the outer wall of its output shaft, it can cooperate with the adsorption mechanism to achieve real-time signal interaction.

[0055] First, the industrial-grade PLC controller in the control unit receives the optimal gripping angle and stroke data transmitted by the data analysis unit and sends a drive command to the drive unit. The rotary motor responds to the command and starts, driving the gripper assembly to rotate to the preset angle. During the process, the position sensor on the outer wall of the output shaft collects the rotation angle signal in real time and feeds it back to the control unit for precise closed-loop adjustment to ensure the angle positioning accuracy.

[0056] Meanwhile, the linear drive unit operates according to the stroke command: for different material tray sizes and stacking positions, the control unit selectively drives the first linear motor to run alone, or the second and third linear motors to move horizontally synchronously, so as to realize the adjustment of the extension and retraction stroke of the gripper. During the entire driving process, the distance sensor continuously monitors the change in the distance between the output shaft of the rotary motor and the proportional electromagnet at the bottom of the platform, and transmits the distance data to the control unit in real time.

[0057] In step S4, the distance sensor and position sensor on the outer wall of the rotary motor output shaft monitor the attitude of the rotary motor output shaft in real time during the operation of the clamping device to determine whether the output shaft has axial displacement or attitude deviation due to the adjustment of the clamping lever arm. In step S4, when the distance sensor on the outer wall of the rotary motor detects a change in the distance between it and the magnetic component, it transmits the change signal to the positioning detection system for analysis. The analysis result is transmitted to the edge controller. The edge controller sends a signal to the early warning device and sends a magnetic adjustment signal to the proportional electromagnet. By increasing the current of the proportional electromagnet, it increases the magnetic attraction force between the proportional electromagnet and the magnetic component at the output end of the rotary motor, thus counteracting the axial pull-out force generated on the rotary motor due to the increase in torque.

[0058] During the stacker crane's gripping operation, the distance sensor and position sensor on the outer wall of the rotary motor output shaft are constantly working, collecting the distance data between the rotary motor output shaft and the proportional electromagnet in real time, and transmitting the dynamic monitoring results synchronously to the edge controller in the form of electrical signals. When the gripping end has an overturning tendency or axial pull-out risk due to increased material weight, torque imbalance, or stacking position shift, the distance value detected by the sensor will exceed the preset safety threshold, and the system will determine that the distance is abnormal.

[0059] At this moment, the edge controller quickly receives the abnormal signal. The data analysis module quickly analyzes the spacing offset, overturning moment and axial force value, and then sends a precise control signal to the proportional electromagnet. As the core adsorption mechanism, the proportional electromagnet immediately starts the current adjustment mechanism after receiving the signal. It strengthens its magnetic adsorption force by gradually increasing the input current. Its magnetic field strength increases linearly with the increase of current, ensuring that the adsorption force is precisely matched with the load requirements.

[0060] Meanwhile, the annular magnetic component on the outer wall of the rotary motor output shaft (which is electrically connected to the control unit and provides real-time feedback on the magnetic field status) forms an efficient adsorption combination with the proportional electromagnet. It generates a stable adsorption force by utilizing the principle of magnetic pole attraction. This adsorption force acts directly on the output shaft, fundamentally offsetting the overturning torque caused by torque imbalance, while firmly locking the position of the output shaft to resist axial pull-out force and prevent the output shaft from shifting or shaking.

[0061] During the adsorption adjustment process, the distance sensor and the position sensor continuously provide real-time feedback of the spacing data to form a closed-loop monitoring. When the trend of the distance sensor and the position sensor being pulled out disappears, the monitoring is completed.

[0062] At this point, the drive unit (rotary motor and linear drive unit) receives the control command again and continues to complete subsequent operations such as clamping and stacking according to the preset trajectory, ensuring stable equipment operation and safe and reliable material clamping throughout the process, effectively avoiding risks such as mechanism deformation, jamming or material falling off.

[0063] In step S5, when the proportional electromagnet current is increased to provide an adsorption force to the output shaft of the rotary motor, the data storage unit is activated to record the working condition. At the same time, the distance sensor data of the gripping end is read and the running stroke of each of the two gripping units is recorded. In step S5, the industrial camera in the positioning detection system is activated synchronously to acquire images of the placement posture of the gripped item and transmit the acquired image data to the data storage unit for storage and analysis.

[0064] First, the data storage unit establishes a real-time data interaction connection with the positioning and detection system, drive unit, control unit, and adsorption mechanism, and starts the full-process data acquisition mode. During the entire operation of the stacker crane, it continuously records various working condition data of the equipment, covering the basic parameters under normal operating conditions and the key data under abnormal operating conditions. Among them, the core data when the overturning force is generated is particularly important, including the real-time load of the gripper (synchronously transmitted by the pressure detection sensor), the angle of the item distribution (calculated by the fusion of data from the 3D scanning sensor and the industrial camera), the running stroke data of the first, second, and third linear motors and rotary motors, and the magnetic adsorption adjustment parameters of the proportional electromagnet (such as the current change curve and the adsorption force value).

[0065] Simultaneously, the system triggers industrial cameras to capture material posture images at a preset frequency, capturing visual information such as the tilt state of the material and the deviation of the gripping position under abnormal working conditions. The image data and sensor values ​​are precisely aligned with the timestamp to ensure data time sequence consistency. After preprocessing, all collected data are classified and stored according to four categories: "basic parameters - abnormal parameters - image data - adjustment parameters". The data storage unit binds load data, angle data, stroke data and image information at the same time point by establishing an associated index to form a complete working condition data archive.

[0066] Subsequently, the data analysis module performs in-depth correlation analysis on the stored data. By exploring the intrinsic relationship between the overturning force and the gripper load, the object distribution angle, and the drive stroke, the key influencing factors that cause abnormal posture are identified. Combined with historical data, the optimal drive parameters and adsorption adjustment strategies under different working conditions are calculated, providing a quantitative basis for the later operation posture optimization.

[0067] Finally, the optimized parameters obtained from the analysis are fed back to the control unit to update the equipment operating parameter library, enabling precise iteration of parameters such as drive angle, stroke adjustment, and magnetic adsorption force. This continuously improves the stacker crane's adaptability, operational stability, and accuracy under complex working conditions, while also providing data support for equipment maintenance and fault prediction, and extending the overall service life of the machine.

[0068] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for bidirectional rotation of a stacker crane gripper, characterized in that: Includes the following steps: Step S1, Target Localization: The orientation and angle of the target to be grasped are located by the positioning detection system, which narrows down the search range for subsequent precise positioning; Step S2, Path Planning and Parameter Judgment: Based on the positioning data, perform data analysis and processing to determine the rotation angle and running stroke parameters of the drive equipment; Step S3, Gripping posture adjustment: The detection component at the end of the gripper collects the posture data of the item and feeds it back to the control unit. The posture of the item is analyzed based on the multi-point data, and then the placement position of the item is adjusted. Step S4, Operation Balance Adaptive Maintenance: The distance detection element configured in the drive unit and the adsorption mechanism at the bottom of the platform are measured in real time. The magnetic adsorption effect is used to alleviate the overturning force of the gripping end, and at the same time, an early warning prompt is triggered. Step S5: Record and analyze running data: Record operating condition data through the data storage unit, including at least the gripper load, the angle of the object distribution, and the running stroke data of each gripping end when the overturning force is generated, for later use in judging and optimizing the running posture.

2. The method for bidirectional rotation of a stacker crane gripper according to claim 1, characterized in that, The positioning and detection system in step S1 includes a 3D scanning sensor and an industrial camera. It quickly acquires the stacking position of the material through at least one acquisition unit and transmits the acquired data to the data analysis unit.

3. The method for bidirectional rotation of a stacker crane gripper according to claim 2, characterized in that, In step S2, the data collected by the acquisition unit is analyzed by the data analysis unit to determine the operating angle and stroke of the drive device. The data analysis unit includes at least a graphics processing unit, a data analysis module and a data processor. The drive device is adjusted to the optimal clamping angle according to the analysis results.

4. The method for bidirectional rotation of a stacker crane gripper according to claim 3, characterized in that, In step S2, the optimal displacement stroke of the drive unit is determined by the data analysis module and the data processor. At the same time, based on the amount of data collected by the positioning detection system, the running stroke distance of each drive unit is determined. The analyzed data results are transmitted to the control unit. The control unit is linked with at least one positioning detection system. The control unit includes at least an industrial-grade PLC controller, an edge controller, and an IoT gateway controller.

5. A method for bidirectional rotation of a stacker crane gripper according to claim 4, characterized in that, In step S3, the material stacking posture is collected by pressure detection sensors evenly distributed on the inner end face of the gripper. The data processor analyzes the pressure data on both sides of the gripper and transmits it to the drive unit. The drive unit adjusts the gripper position accordingly to optimize the gripping posture. When the pressure detection sensors distributed on the inner end face of the gripper detect the same data, the drive unit is started to perform the gripping operation.

6. The method for bidirectional rotation of a stacker crane gripper according to claim 4, characterized in that, In step S4, the driving unit includes a rotary motor and a linear driving unit. The linear driving unit includes at least a first linear motor, a second linear motor, and a third linear motor. The second and third linear motors are horizontally distributed. The outer wall of the output shaft of the rotary motor is provided with a detection element and a magnetic component. The magnetic component is ring-shaped and electrically connected to the control unit. The detection element includes at least a distance sensor and a position sensor. The adsorption mechanism is a proportional electromagnet.

7. A method for bidirectional rotation of a stacker crane gripper according to claim 6, characterized in that, In step S4, the attitude of the rotary motor output shaft is monitored in real time during the operation of the clamping device by the distance sensor and position sensor on the outer wall of the rotary motor output shaft, and it is determined whether the output shaft has axial displacement or attitude deviation due to the adjustment of the clamping lever arm.

8. A method for bidirectional rotation of a stacker crane gripper according to claim 7, characterized in that, In step S4, when the distance sensor on the outer wall of the rotary motor detects a change in the distance between itself and the magnetic component, it transmits the change signal to the positioning detection system for analysis. The analysis result is transmitted to the edge controller. The edge controller sends a signal to the early warning device and sends a magnetic adjustment signal to the proportional electromagnet. By increasing the current of the proportional electromagnet, it enhances the magnetic attraction force between the proportional electromagnet and the magnetic component at the output end of the rotary motor, thus counteracting the axial pull-out force generated on the rotary motor due to the increased torque.

9. A method for bidirectional rotation of a stacker crane gripper according to claim 1, characterized in that, In step S5, when the proportional electromagnet current is increased to provide an adsorption force to the output shaft of the rotary motor, the data storage unit is activated to record the working condition. At the same time, the distance sensor data of the gripping end is read and the running stroke of each of the two gripping units is recorded.

10. A method for bidirectional rotation of a stacker crane gripper according to claim 9, characterized in that, In step S5, the industrial camera in the positioning and detection system is activated simultaneously to acquire images of the placement posture of the clamped object, and the acquired image data is transmitted to the data storage unit for storage and analysis.

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