A method for positioning a stacker when accessing coil cargo
By using a positioning method that combines a laser diffuse reflection photoelectric switch with a spindle on the stacker crane, the problem of inaccurate positioning of the stacker crane in high-temperature environments has been solved, enabling accurate positioning and goods storage and retrieval in high-temperature automated warehouses.
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 cannot function properly, causing stacker cranes to be unable to accurately position themselves vertically and horizontally in high-temperature automated warehouses, resulting in problems such as goods being pushed and falling.
The positioning method employs left and right laser diffuse reflection photoelectric switches in conjunction with the spindle. The position of the stacker crane is determined by the reflection of the laser beam, and accurate positioning is achieved in high-temperature environments.
It enables accurate positioning of the stacker crane in high-temperature environments, preventing goods from falling and improving the reliability and accuracy of the equipment.
Smart Images
Figure CN122126568A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an automated warehouse and a stacker crane, and particularly to a positioning method for a stacker crane when storing and retrieving rolled goods. 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 stacker cranes: 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 automated storage and retrieval systems (AS / RS), the temperature is generally between -10°C and 45°C. Within this temperature range, the sensors on the stacker crane can operate normally without problems. However, in AS / RS with high-temperature requirements, such as in the steel or new materials industries, the operating environment temperature of the stacker crane exceeds 55°C, and in some cases even reaches 75°C. 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 move 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 stacker cranes that can adapt to high-temperature AS / RS has become a problem that needs to be solved on-site. Summary of the Invention
[0003] This invention provides a positioning method for stacker cranes when storing and retrieving rolled goods, solving the technical problem of how to develop a positioning mechanism for stacker cranes in both horizontal and vertical directions that can adapt to high-temperature automated warehouses.
[0004] The present invention solves the above technical problems through the following technical solutions: A positioning mechanism for a stacker crane to store and retrieve rolled goods includes a warehouse rack, a stacker crane travel aisle at the front of the warehouse rack, a stacker crane positioned within the travel aisle, a loading platform on the stacker crane, and left and right forks extending forward or backward on the loading platform. A front conveyor is located at the left end of the stacker crane travel aisle, conveying a rolled fabric item. A left mandrel is located at the left end of the rolled fabric item, and a right mandrel is located at the right end of the rolled fabric item. A positioning mechanism for a stacker crane to store and retrieve rolled goods includes a warehouse rack, a stacker crane travel aisle at the front of the warehouse rack, a stacker crane positioned within the travel aisle, a loading platform on the stacker crane ... The platform has a left-inverted L-shaped laser diffuse reflection photoelectric switch frame at the left end of the loading platform. A left-side laser diffuse reflection photoelectric switch is installed on the left-inverted L-shaped laser diffuse reflection photoelectric switch frame, and the left-side laser diffuse reflection photoelectric switch emits a left-side diffuse reflection laser beam towards the left-end spindle. At the right end of the loading platform, a right-inverted L-shaped laser diffuse reflection photoelectric switch frame is installed. A right-side laser diffuse reflection photoelectric switch is installed on the right-inverted L-shaped laser diffuse reflection photoelectric switch frame, and the right-side laser diffuse reflection photoelectric switch emits a right-side diffuse reflection laser beam towards the right-end spindle.
[0005] The pallet rack is equipped with side beams and columns for pallet location; a pallet location detection laser diffuse reflection photoelectric switch frame is installed on the loading platform, and a pallet location detection laser diffuse reflection photoelectric switch is installed on the pallet location detection laser diffuse reflection photoelectric switch frame, and the pallet location detection laser diffuse reflection photoelectric switch emits a pallet location detection diffuse reflection laser beam towards the side beams and columns for pallet location.
[0006] A positioning method for stacker cranes when storing and retrieving coiled goods: when the stacker cranes travel to the front of the warehouse conveyor, the left-side laser diffuse reflection photoelectric switch emits a left diffuse reflection laser beam toward the left end spindle, and the right-side laser diffuse reflection photoelectric switch emits a right diffuse reflection laser beam toward the right end spindle. If the diffuse laser beam on the left side illuminates the left end spindle, and at the same time, the diffuse laser beam on the right side illuminates the right end spindle, then the left and right forks on the loading platform extend towards the fabric roll and extend directly below the fabric roll. After the two forks rise, the left fork lifts onto the left end spindle and the right fork lifts onto the right end spindle, lifting the fabric roll and then retracting it towards the loading platform, transferring the fabric roll from the warehouse front conveyor to the stacker crane. If the diffuse laser beam on the left does not illuminate the left end mandrel, or the diffuse laser beam on the right does not illuminate the right end mandrel, then move the stacker crane left and right until the diffuse laser beam on the left illuminates the left end mandrel. At the same time, the diffuse laser beam on the right illuminates the right end mandrel, and then proceed with the other steps of the first step.
[0007] A storage rack is equipped with a side beam column; a storage location detection laser diffuse reflection photoelectric switch frame is installed on the loading platform, and a storage location detection laser diffuse reflection photoelectric switch is installed on the frame. After the stacker crane completes the transfer of the fabric roll from the front conveyor to the stacker crane, the stacker crane travels along the stacker crane's travel aisle to the storage rack where the goods are to be placed. The storage location detection laser diffuse reflection photoelectric switch emits a storage location detection diffuse reflection laser beam towards the side beam column. If the storage location detection diffuse reflection laser beam illuminates the side beam column, the forks extend towards the storage rack, and the fabric roll is transferred from the forks to the storage rack. If the storage location detection diffuse reflection laser beam does not illuminate the side beam column, the stacker crane's position is adjusted until the storage location detection diffuse reflection laser beam illuminates the side beam column, the forks extend towards the storage rack, and the fabric roll is transferred from the forks to the storage rack.
[0008] This invention has a simple structure, enables accurate storage and retrieval of fabric rolls, prevents fabric rolls from falling off shelves or conveyor trays in front of the warehouse, and ensures the reliability of the equipment. Attached Figure Description
[0009] Figure 1 This is a schematic diagram of the structure of the present invention when transferring fabric rolls from the fabric roll warehouse front conveyor 3 to the stacker crane; Figure 2 This is a schematic diagram of the positioning mechanism on the loading platform 8 of the present invention; Figure 3 This is a schematic diagram of the structure when the loading platform 8 and the storage rack 7 of the present invention are aligned. Detailed Implementation
[0010] The present invention will now be described in detail with reference to the accompanying drawings: A positioning mechanism for storing and retrieving rolled goods by a stacker crane includes a warehouse rack 1, a stacker crane travel aisle 2 provided at the front of the warehouse rack 1, a stacker crane provided in the stacker crane travel aisle 2, a loading platform 8 provided on the stacker crane, a left fork 9 and a right fork 10 that can extend forward or backward provided on the loading platform 8, a warehouse front conveyor 3 provided at the left end of the stacker crane travel aisle 2, a fabric roll 4 conveyed on the warehouse front conveyor 3, a left end spindle 5 provided at the left end of the fabric roll 4, a right end spindle 6 provided at the right end of the fabric roll 4, and a storage rack 7 provided on the warehouse rack 1. A left-inverted L-shaped laser diffuse reflection photoelectric switch frame 13 is provided at the left end of the loading platform 8. A left-side laser diffuse reflection photoelectric switch 15 is provided on the left-inverted L-shaped laser diffuse reflection photoelectric switch frame 13. The left-side laser diffuse reflection photoelectric switch 15 emits a left-side diffuse reflection laser beam 11 towards the left-end spindle 5. A right-inverted L-shaped laser diffuse reflection photoelectric switch frame 14 is provided at the right end of the loading platform 8. A right-side laser diffuse reflection photoelectric switch 16 is provided on the right-side inverted L-shaped laser diffuse reflection photoelectric switch frame 14. The right-side laser diffuse reflection photoelectric switch 16 emits a right-side diffuse reflection laser beam 12 towards the right-end spindle 6.
[0011] A side beam column 19 for the storage location is provided on the storage location rack 7; a storage location detection laser diffuse reflection photoelectric switch frame 17 is provided on the loading platform 8, a storage location detection laser diffuse reflection photoelectric switch 18 is provided on the storage location detection laser diffuse reflection photoelectric switch frame 17, and a storage location detection laser diffuse reflection photoelectric switch 18 emits a storage location detection diffuse reflection laser beam 20 towards the side beam column 19.
[0012] A positioning method for a stacker crane when storing and retrieving rolled goods is performed using a positioning mechanism. This positioning mechanism includes a warehouse rack 1, a stacker crane travel aisle 2 at the front of the warehouse rack 1, a stacker crane positioned within the travel aisle 2, a loading platform 8 on the stacker crane, and left and right forks 9 and 10 extending forward or backward on the loading platform 8. A front conveyor 3 is located at the left end of the stacker crane travel aisle 2, conveying a fabric roll 4. A left mandrel 5 is located at the left end of the fabric roll 4, and a right mandrel 6 is located at the right end of the fabric roll 4. A pallet rack 7 is installed on the rack 1; a left-inverted L-shaped laser diffuse reflection photoelectric switch rack 13 is installed at the left end of the loading platform 8, and a left-side laser diffuse reflection photoelectric switch 15 is installed on the left-inverted L-shaped laser diffuse reflection photoelectric switch rack 13; a right-inverted L-shaped laser diffuse reflection photoelectric switch rack 14 is installed at the right end of the loading platform 8, and a right-side laser diffuse reflection photoelectric switch 16 is installed on the right-inverted L-shaped laser diffuse reflection photoelectric switch rack 14; when the stacker crane moves to the front of the warehouse conveyor 3, the left-side laser diffuse reflection photoelectric switch 15 emits a left-side diffuse reflection laser beam 11 towards the left-side spindle 5, and the right-side laser diffuse reflection photoelectric switch 16 emits a right-side diffuse reflection laser beam 12 towards the right-side spindle 6; If the diffuse laser beam 11 on the left side illuminates the left end spindle 5, and at the same time, the diffuse laser beam 12 on the right side illuminates the right end spindle 6, then the left fork 9 and the right fork 10 on the loading platform 8 extend towards the fabric roll 4 and extend directly below the fabric roll 4. After the two forks rise, the left fork 9 lifts onto the left end spindle 5 and the right fork 10 lifts onto the right end spindle 6, lifting the fabric roll 4 and then retracting it towards the loading platform 8, transferring the fabric roll 4 from the warehouse front conveyor 3 to the stacker crane. If the diffuse laser beam 11 on the left does not illuminate the left mandrel 5, or the diffuse laser beam 12 on the right does not illuminate the right mandrel 6, then move the stacker crane left and right until the diffuse laser beam 11 on the left illuminates the left mandrel 5 and at the same time the diffuse laser beam 12 on the right illuminates the right mandrel 6, then proceed with the other steps of the first step.
[0013] A side beam column 19 is installed on the storage rack 7; a storage location detection laser diffuse reflection photoelectric switch frame 17 is installed on the loading platform 8, and a storage location detection laser diffuse reflection photoelectric switch 18 is installed on the storage location detection laser diffuse reflection photoelectric switch frame 17; after the stacker crane completes the transfer of the fabric roll 4 from the warehouse front conveyor 3 to the stacker crane, the stacker crane travels along the stacker crane travel channel 2 to the storage rack 7 where the goods are to be placed, and the storage location detection laser diffuse reflection photoelectric switch 18 emits a storage location detection signal towards the side beam column 19. If the diffuse reflection laser beam 20 illuminates the side beam column 19 of the storage location, the forks extend towards the storage rack 7, and then the fabric roll 4 is transferred from the forks to the storage rack 7. If the diffuse reflection laser beam 20 does not illuminate the side beam column 19 of the storage location, the position of the stacker crane is adjusted until the diffuse reflection laser beam 20 illuminates the side beam column 19 of the storage location, the forks extend towards the storage rack 7, and then the fabric roll 4 is transferred from the forks to the storage rack 7.
Claims
1. A positioning method for a stacker crane to store and retrieve rolled goods, which is carried out by a positioning mechanism used by the stacker crane to store and retrieve rolled goods. The positioning mechanism used by the stacker crane to store and retrieve rolled goods includes a warehouse rack (1), a stacker crane travel channel (2) is provided on the front side of the warehouse rack (1), a stacker crane is provided in the stacker crane travel channel (2), a loading platform (8) is provided on the stacker crane, a left fork (9) and a right fork (10) that can extend forward or backward are provided on the loading platform (8), a warehouse front conveyor (3) is provided at the left end of the stacker crane travel channel (2), and a fabric roll (4) is conveyed on the warehouse front conveyor (3). A left-end mandrel (5) is provided at the left end of the fabric roll (4), and a right-end mandrel (6) is provided at the right end of the fabric roll (4). A storage rack (7) is provided on the warehouse shelf (1). A left-inverted L-shaped laser diffuse reflection photoelectric switch frame (13) is provided at the left end of the loading platform (8), and a left-side laser diffuse reflection photoelectric switch (15) is provided on the left-inverted L-shaped laser diffuse reflection photoelectric switch frame (13). A right-inverted L-shaped laser diffuse reflection photoelectric switch frame (14) is provided at the right end of the loading platform (8), and a right-side laser diffuse reflection photoelectric switch (16) is provided on the right-inverted L-shaped laser diffuse reflection photoelectric switch frame (14). The feature is that: When the stacker crane moves to the front of the warehouse conveyor (3), the left laser diffuse reflection photoelectric switch (15) emits a left diffuse reflection laser beam (11) in the direction of the left end spindle (5), and the right laser diffuse reflection photoelectric switch (16) emits a right diffuse reflection laser beam (12) in the direction of the right end spindle (6). If the diffuse laser beam (11) on the left side irradiates the left end spindle (5), and at the same time, the diffuse laser beam (12) on the right side irradiates the right end spindle (6), then the left fork (9) and the right fork (10) set on the loading platform (8) extend towards the fabric roll (4) and extend into the fabric roll (4) directly below it. Then, the two forks rise up, so that the left fork (9) lifts up onto the left end spindle (5) and the right fork (10) lifts up onto the right end spindle (6). After lifting the fabric roll (4), it retracts towards the loading platform (8) and transfers the fabric roll (4) from the warehouse front conveyor (3) to the stacker crane. If the diffuse laser beam (11) on the left side does not illuminate the left end spindle (5), or the diffuse laser beam (12) on the right side does not illuminate the right end spindle (6), then move the stacker left and right until the diffuse laser beam (11) on the left side illuminates the left end spindle (5) and at the same time, the diffuse laser beam (12) on the right side illuminates the right end spindle (6), and then proceed with the other steps of the first step.
2. The positioning method for storing and retrieving coiled goods by a stacker crane according to claim 1, characterized in that, A storage rack (7) is provided with a storage rack side beam column (19); a storage location detection laser diffuse reflection photoelectric switch frame (17) is provided on the loading platform (8), and a storage location detection laser diffuse reflection photoelectric switch (18) is provided on the storage location detection laser diffuse reflection photoelectric switch frame (17); when the stacker crane completes the transfer of the fabric roll (4) from the warehouse front conveyor (3) to the stacker crane, the stacker crane travels along the stacker crane travel channel (2) to the storage rack (7) where the goods are to be placed, and the storage location detection laser diffuse reflection photoelectric switch (18) emits storage location detection diffuse reflection light towards the storage rack side beam column (19). If the diffuse reflection laser beam (20) of the storage location detection illuminates the side beam column (19) of the storage location, then the forks extend towards the storage rack (7), and then the fabric roll (4) is transferred from the forks to the storage rack (7); if the diffuse reflection laser beam (20) of the storage location detection does not illuminate the side beam column (19) of the storage location, then the position of the stacker crane is adjusted until the diffuse reflection laser beam (20) of the storage location detection illuminates the side beam column (19) of the storage location, the forks extend towards the storage rack (7), and then the fabric roll (4) is transferred from the forks to the storage rack (7).