Vertical and horizontal positioning method of high-temperature warehouse stacker
By replacing traditional sensors with slotted photoelectric switches and switch addressing boards in high-temperature environments, the problem of inaccurate positioning of stacker cranes in high-temperature environments has been solved, enabling accurate positioning and normal operation of stacker cranes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANXI ORIENTAL MATERIAL HANDLING
- Filing Date
- 2024-12-02
- Publication Date
- 2026-06-02
AI Technical Summary
In high-temperature environments, conventional sensors may malfunction, causing stacker cranes to be unable to accurately position themselves in the vertical and horizontal directions. This could lead to the stacker crane stopping operation, goods being placed in the wrong location, or even damage caused by goods being pushed and falling.
The use of slotted photoelectric switches and switch address boards to replace barcode scanners and laser rangefinders enables the stacker crane to achieve horizontal and vertical positioning in high-temperature environments by transmitting signals through light blocking or emission of the slotted switches.
Accurate horizontal and vertical positioning of the stacker crane was achieved in high-temperature environments, avoiding positioning errors and cargo loss, and ensuring the normal operation of the stacker crane.
Smart Images
Figure CN122126567A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a stacker crane, and more particularly to a vertical and horizontal positioning method for a high-temperature warehouse stacker crane. Background Technology
[0002] In automated storage and retrieval systems (AS / RS), stacker cranes are considered the most important core equipment. In ambient temperature AS / RS, there are two methods for vertical and horizontal positioning of the stacker crane: one is barcode-based positioning, where barcode strips are affixed to the stacker crane's uprights, and barcode readers are installed on the vertically moving loading platforms. The barcode readers on the loading platforms identify the barcode strips on the stacker crane's uprights to achieve vertical positioning of the loading platforms. The other is laser ranging positioning, where a laser rangefinder is installed on the lower crossbeam of the stacker crane, and a matching laser reflector is installed on the vertically moving loading platforms. The laser rangefinder identifies the distance to achieve vertical positioning of the loading platforms. The data obtained from these two methods is transmitted to a PLC outside the warehouse area via communication devices installed on the stacker crane and the ground, enabling the PLC to achieve vertical and horizontal positioning of the stacker crane. In ambient temperature AS / RS... In the system, the temperature in the automated storage and retrieval system (AS / RS) is generally between -10℃ and 45℃. Within this temperature range, the sensors on the stacker crane can operate normally without any problems. However, in some AS / RS industries with high-temperature requirements, such as the steel or new materials industries, the operating temperature of the stacker crane exceeds 55℃, and in some cases even reaches 75℃. At such high temperatures, many conventional sensors cannot function properly. The high temperature in the warehouse area can also damage some components in the sensors, causing the stacker crane to be unable to accurately identify and position itself in the vertical and horizontal directions. When this happens, at best the stacker crane stops working, and at worst, the stacker crane may go to the wrong storage location in the horizontal and vertical directions, or repeatedly place goods, causing goods to be pushed and fall, resulting in losses. How to develop a horizontal and vertical positioning mechanism for the stacker crane that can adapt to the high-temperature AS / RS has become a problem that needs to be solved on-site. Summary of the Invention
[0003] This invention provides a vertical and horizontal positioning method for a stacker crane in a high-temperature warehouse, solving the technical problem of how to develop a positioning mechanism for a stacker crane that can adapt to the horizontal and vertical directions in a high-temperature automated warehouse.
[0004] The present invention solves the above technical problems through the following technical solutions: A vertical and horizontal positioning mechanism for a high-temperature warehouse stacker crane includes a left-side rack and a right-side rack. A stacker crane travel aisle is provided between the left-side and right-side racks. A stacker crane ground rail is provided in the stacker crane travel aisle. A stacker crane overhead rail is provided on the overhead beam of the rack directly above the stacker crane ground rail. A double-column stacker crane is provided between the stacker crane ground rail and the stacker crane overhead rail. A left column and a right column are respectively provided on the lower crossbeam of the double-column stacker crane. A stacker crane lifting platform is provided between the left and right columns. A platform fork is provided on the stacker crane lifting platform. A storage rack is provided on the left-side rack, and a storage rack is installed on the ground adjacent to the stacker crane travel aisle. A horizontal sensing plate with slotted photoelectric switches is provided. When the stacker crane moves horizontally to the accurate picking position of the designated storage compartment, the central axis of the horizontal sensing plate coincides with the horizontal central axis of the storage rack. A horizontal positioning switch mounting bracket for the storage rack is installed on the lower crossbeam of the stacker crane. A first horizontal positioning slotted photoelectric switch and a second horizontal positioning slotted photoelectric switch are respectively installed on the horizontal positioning switch mounting bracket. The central axes of the first and second horizontal positioning slotted photoelectric switches coincide with the horizontal central axis of the storage rack. The first and second horizontal positioning slotted photoelectric switches are movably coordinated with the horizontal sensing plate.
[0005] A vertical positioning sensor plate is installed on the left column, corresponding to the vertical storage rack. A left lifting platform and a right lifting platform are installed on the stacker crane lifting platform. A vertical positioning switch mounting cantilever bracket is installed on the left lifting platform. A high-position slot-type photoelectric switch and a low-position slot-type photoelectric switch are installed on the vertical mounting cantilever bracket, respectively, and they are movable and cooperate with the vertical positioning sensor plate.
[0006] The stacker crane's lifting platform is equipped with forks that support pallets. The lower crossbeam is equipped with wheels that allow it to move along the stacker crane's ground rails. An upper crossbeam is located between the tops of the left and right columns, and clamping wheels are mounted on the upper crossbeam. These clamping wheels are movably clamped onto the stacker crane's overhead rails.
[0007] A method for vertical and horizontal positioning of a high-temperature warehouse stacker crane is achieved through a vertical and horizontal positioning mechanism of the high-temperature warehouse stacker crane. The vertical and horizontal positioning mechanism of the high-temperature warehouse stacker crane includes a left-side shelf and a right-side shelf. A stacker crane travel channel is set between the left-side shelf and the right-side shelf. A stacker crane ground rail is set in the stacker crane travel channel. A stacker crane overhead rail is set on the warehouse hanging beam directly above the stacker crane ground rail. A double-column stacker crane is set between the stacker crane ground rail and the stacker crane overhead rail. A left column and a right column are respectively set on the lower crossbeam (2) of the double-column stacker crane. A stacker crane lifting platform is set between the left column and the right column. A platform fork is set on the stacker crane lifting platform. A storage rack is set on the left-side shelf. A slotted photoelectric switch horizontal sensing bracket is set on the lower crossbeam of the stacker crane adjacent to the stacker crane travel channel. When the stacker crane is running horizontally... When the horizontal sensing bracket reaches the accurate picking position of the designated storage compartment, the central axis of the horizontal sensing bracket coincides with the horizontal central axis of the storage compartment. On the left hanger of the storage compartment adjacent to the stacker crane's lifting platform, a horizontal positioning switch mounting bracket for the storage compartment is installed. A first vertical positioning slot type photoelectric switch and a second vertical positioning slot type photoelectric switch are respectively installed on the horizontal positioning switch mounting bracket. When the stacker crane's loading platform moves vertically to the designated storage compartment, the central axes of the first and second vertical positioning slot type photoelectric switches coincide with the horizontal central axis of the storage compartment. The process includes the following steps: when the horizontal sensing bracket enters the slots of the first and second horizontal positioning slot type photoelectric switches, that is, when both slot type photoelectric switches issue a power-off signal, the double-column stacker crane stops moving horizontally, and at this time, the stacker crane's lifting platform is aligned with the storage compartment.
[0008] A vertical positioning sensor plate is installed on the left column, corresponding to the vertical storage rack. A left and right lifting platform are installed on the stacker crane's lifting platform. A vertical positioning switch mounting cantilever plate is installed on the left lifting platform. A high-position slot-type photoelectric switch and a low-position slot-type photoelectric switch are installed on the vertically aligned cantilever plate. The process includes the following steps: When the stacker crane's lifting platform rises, if the high-position slot-type photoelectric switch encounters the vertical positioning switch mounting cantilever plate, the high-position slot-type photoelectric switch activates and sends a signal. When the stacker crane's lifting platform stops rising, it ceases its ascent. At this point, the stacker crane's lifting platform and the corresponding pallet rack are in the retrieval state. The platform's forks extend towards the pallet rack, reaching below the pallet on the rack. Then, the stacker crane's lifting platform resumes its ascent. When the low-position slotted photoelectric switch meets the cantilever plate of the vertical positioning switch, the low-position slotted photoelectric switch activates, sending a signal to stop the stacker crane's lifting platform. The platform stops rising, the forks retract, and the pallet is transferred to the stacker crane's lifting platform, thus completing the retrieval operation.
[0009] This invention replaces traditional barcode scanners and barcodes with slotted switches and switch addressing boards, or replaces laser rangefinders and laser reflectors; it replaces the complex internal structure of barcode scanners and laser rangefinders by utilizing the principle of slotted switches to block light or emit light to transmit signals; it is particularly suitable for use in high-temperature warehouses. Attached Figure Description
[0010] Figure 1 This is a schematic diagram of the structure during horizontal positioning of the present invention; Figure 2 This is a schematic diagram of the structure during vertical positioning of the present invention; Figure 3 yes Figure 2 Side view. Detailed Implementation
[0011] The present invention will now be described in detail with reference to the accompanying drawings: A vertical and horizontal positioning mechanism for a high-temperature warehouse stacker crane includes a left-side shelf 25 and a right-side shelf 26. A stacker crane travel aisle 27 is provided between the left-side shelf 25 and the right-side shelf 26. A stacker crane ground rail 1 is provided in the stacker crane travel aisle 27. A stacker crane overhead rail 8 is provided on the warehouse roof directly above the stacker crane ground rail 1. A double-column stacker crane is provided between the stacker crane ground rail 1 and the stacker crane overhead rail 8. A left column 4 and a right column 5 are respectively provided on the lower crossbeam 2 of the double-column stacker crane. A stacker crane lifting platform 9 is provided between the left column 4 and the right column 5. A platform fork 10 is provided on the stacker crane lifting platform 9. A storage rack 18 is provided on the left-side shelf 25. A grooved light is provided on the ground adjacent to the stacker crane travel aisle 27 of the storage rack 18. The horizontal sensing bracket 24 of the electric switch has its central axis coincident with the horizontal central axis 19 of the storage rack 18. On the lower crossbeam 2 of the stacker crane, a horizontal positioning switch mounting bracket 21 of the storage rack is provided. A first horizontal positioning slot type photoelectric switch 22 and a second horizontal positioning slot type photoelectric switch 23 are respectively installed on the horizontal positioning switch mounting bracket 21. When the stacker crane moves horizontally to the designated position, the central axis 20 of the first horizontal positioning slot type photoelectric switch 22 and the second horizontal positioning slot type photoelectric switch 23 coincides with the horizontal central axis 19 of the storage rack 18. Both the first horizontal positioning slot type photoelectric switch 22 and the second horizontal positioning slot type photoelectric switch 23 are sensed by the horizontal sensing plate 24. At this time, the stacker crane is in the horizontal picking state.
[0012] A vertical positioning sensor plate 16 is installed on the left column 4, and the vertical positioning sensor plate 16 is installed corresponding to the vertical storage rack; a left lifting platform 12 and a right lifting platform 12 are installed on the stacker crane lifting platform 9, and a vertical positioning switch mounting cantilever plate 13 is installed on the left lifting platform 12. A high-position slot type photoelectric switch 14 and a low-position slot type photoelectric switch 15 are installed on the vertical positioning switch mounting cantilever plate 13 along the vertical direction, and the high-position slot type photoelectric switch 14 and the low-position slot type photoelectric switch 15 are movable and cooperate with the vertical positioning sensor plate 16.
[0013] A fork 10 is provided on the lifting platform 9 of the stacker crane, and a pallet 11 is supported on the fork 10; a traveling wheel 3 is provided on the bottom surface of the lower crossbeam 2, and the lower crossbeam 2 is movably mounted on the stacker crane ground rail 1 through the traveling wheel 3; an upper crossbeam 6 is provided between the top of the left column 4 and the top of the right column 5, and a clamping wheel pair 7 is provided on the upper crossbeam 6, which is movably clamped on the stacker crane overhead rail 8.
[0014] A method for vertical and horizontal positioning of a high-temperature warehouse stacker crane is achieved through a vertical and horizontal positioning mechanism of the high-temperature warehouse stacker crane. This mechanism includes a left-side shelf 25 and a right-side shelf 26. A stacker crane travel aisle 27 is provided between the left-side shelf 25 and the right-side shelf 26. A stacker crane ground rail 1 is installed in the stacker crane travel aisle 27. A stacker crane overhead rail 8 is installed on the warehouse roof directly above the stacker crane ground rail 1. A double-column stacker crane is installed between the stacker crane ground rail 1 and the stacker crane overhead rail 8. A left column 4 and a right column 5 are respectively installed on the lower crossbeam 2 of the double-column stacker crane. A stacker crane lifting platform 9 is installed between the left column 4 and the right column 5. A platform fork 10 is installed on the stacker crane lifting platform 9. A storage rack 18 is installed on the left-side shelf 25. A slotted photoelectric switch is installed on the horizontal crossbeam of the storage rack 18 adjacent to the stacker crane travel aisle 27. A horizontal sensing plate 24 is provided, with its central axis coinciding with the horizontal central axis 19 of the storage rack 18. A horizontal positioning switch mounting bracket 21 is installed on the lower crossbeam of the stacker crane. A first horizontal positioning slot-type photoelectric switch 22 and a second horizontal positioning slot-type photoelectric switch 23 are respectively installed on the bracket 21. When the stacker crane moves horizontally to a position where the central axis 20 of the first and second horizontal positioning slot-type photoelectric switches 22 and 23 coincides with the horizontal central axis 19 of the storage rack 18, the stacker crane is in the picking position at that location. When the horizontal sensing plate 24 enters the slots of the first and second horizontal positioning slot-type photoelectric switches 22 and 23, respectively, both slot-type photoelectric switches issue a power-off signal, the double-column stacker crane stops moving, and at this time, the stacker crane's lifting platform 9 aligns with the storage rack 18.
[0015] A vertical positioning sensor plate 16 is installed on the left column 4, corresponding to the vertical storage rack. A left lifting platform 12 and a right lifting platform 16 are installed on the stacker crane's lifting platform 9. A vertical positioning switch mounting cantilever plate 13 is installed on the left lifting platform 12. A high-position slot-type photoelectric switch 14 and a low-position slot-type photoelectric switch 15 are installed on the vertically aligned vertically on the vertical positioning switch mounting cantilever plate 13. When the stacker crane's lifting platform 9 rises, if the high-position slot-type photoelectric switch 14 encounters the vertical positioning switch mounting cantilever plate 13, the high-position slot-type photoelectric switch 14 activates and sends a signal to the stacker crane... When the lifting platform 9 stops rising, the stacker crane's lifting platform 9 stops rising. At this time, the stacker crane's lifting platform 9 and the corresponding pallet rack are in the picking position. The forks 10 of the lifting platform extend towards the pallet rack and extend below the pallet 11 on the pallet rack. Then, the stacker crane's lifting platform 9 starts rising again. When the low-position slot-type photoelectric switch 15 meets the vertical positioning switch mounting cantilever plate 13, the low-position slot-type photoelectric switch 15 is activated, sending a signal to stop the stacker crane's lifting platform 9 from rising. The stacker crane's lifting platform 9 stops rising, the forks 10 of the lifting platform retract, and the pallet 11 is transferred to the stacker crane's lifting platform 9, thus completing the picking operation.
Claims
1. A method for vertical and horizontal positioning of a high-temperature warehouse stacker crane is achieved through a vertical and horizontal positioning mechanism of the high-temperature warehouse stacker crane. The vertical and horizontal positioning mechanism of the high-temperature warehouse stacker crane includes a left-side shelf (25) and a right-side shelf (26). A stacker crane travel channel (27) is provided between the left-side shelf (25) and the right-side shelf (26). A stacker crane ground rail (1) is provided in the stacker crane travel channel (27). A stacker crane overhead rail (8) is provided on the warehouse roof panel directly above the stacker crane ground rail (1). A double-column stacker crane is provided between the stacker crane ground rail (1) and the stacker crane overhead rail (8). A left column (4) and a right column (5) are respectively provided on the lower crossbeam (2) of the double-column stacker crane. A stacker crane lifting platform (9) is provided between the left column (4) and the right column (5). A platform fork (10) is provided on the stacker crane lifting platform (9). (25) is equipped with a pallet rack (18). On the horizontal crossbeam of the pallet rack (18) adjacent to the stacker crane travel channel (27), a horizontal sensing plate (24) of a slotted photoelectric switch is provided. The central axis of the horizontal sensing plate (24) coincides with the horizontal central axis (19) of the pallet rack (18). On the lower crossbeam of the stacker crane, a horizontal positioning switch mounting bracket (21) of the pallet rack is provided. A first horizontal positioning slotted photoelectric switch (22) and a second horizontal positioning slotted photoelectric switch (23) are respectively provided on the horizontal positioning switch mounting bracket (21). When the stacker crane runs horizontally to a certain point where the central axis (20) of the first horizontal positioning slotted photoelectric switch (22) and the second horizontal positioning slotted photoelectric switch (23) coincides with the horizontal central axis (19) of the pallet rack (18), the stacker crane is in the picking position at this position. Its features include the following steps: When the horizontal sensing plate (24) enters the slot of the first horizontal positioning slot photoelectric switch (22) and the slot of the second horizontal positioning slot photoelectric switch (23), that is, when both slot photoelectric switches send a power-off signal, the double column stacker stops moving, and at this time the stacker lifting loading platform (9) is aligned with the loading rack (18).
2. A vertical and horizontal positioning method for a high-temperature warehouse stacker crane according to claim 1, wherein a vertical storage rack positioning sensing vertical plate (16) is provided on the left column (4), and the vertical storage rack positioning sensing vertical plate (16) is correspondingly provided with the vertical storage rack; a left lifting platform (12) and a right lifting platform are respectively provided on the stacker crane lifting platform (9), a vertical positioning switch mounting cantilever plate (13) is provided on the left lifting platform (12), and a high-position slot type photoelectric switch (14) and a low-position slot type photoelectric switch (15) are respectively provided on the vertical positioning switch mounting cantilever plate (13) along the vertical direction, characterized by the following steps: When the stacker crane lifting platform (9) rises, if the high-position slot type photoelectric switch (14) meets the vertical positioning switch mounting cantilever plate (13), the high-position slot type photoelectric switch (14) will activate and send a signal to stop the stacker crane lifting platform (9) from rising. The stacker crane lifting platform (9) will stop rising, and at this time, the stacker crane lifting platform (9) and the corresponding pallet rack will be in the picking position. The forks (10) of the platform will extend towards the pallet rack and reach the goods on the pallet rack. Below the pallet (11); then, start the stacker crane lifting platform (9) to rise again. When the low-position slot type photoelectric switch (15) meets the vertical positioning switch mounting cantilever plate (13), the low-position slot type photoelectric switch (15) will be activated and send a signal to stop the stacker crane lifting platform (9) from rising. The stacker crane lifting platform (9) will stop rising, the platform forks (10) will retract, and the pallet (11) will be transferred to the stacker crane lifting platform (9), thus completing the picking operation.