Stacker positioning, detecting and calibrating device, stacker and stereoscopic warehouse

Abstract

The utility model relates to the technical field of stackers, and provides a stacker positioning, detecting and calibrating device, a stacker and a stereoscopic warehouse, the positioning, detecting and calibrating device comprises a reflection module arranged on a goods shelf; the multiple detection modules are arranged on the sides, facing the goods shelf, of the pallet forks; when the pallet forks are aligned with the pallet grids, the multiple detection modules all irradiate the reflection modules; and when the pallet fork is not aligned with the pallet lattice, the at least one detection module does not irradiate the reflection module. The reflection module is arranged on the goods shelf, the multiple detection modules are arranged on the side, facing the goods shelf, of the pallet fork, when the pallet fork is aligned with the goods lattice, the multiple detection modules all irradiate the reflection module, when the pallet fork is not aligned with the goods lattice, at least one detection module does not irradiate the reflection module, and the actual positioning position is the absolute position; deviation is avoided, the positioning accuracy is improved, and collision between the pallet fork, the goods and the goods shelf is prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of stackers, in particular to a stacker positioning detection and calibration device, a stacker and a stereoscopic warehouse. Background Art

[0002] A stacker is a special crane that uses a fork or a skewer as a picking device to grab, transport and stack goods in warehouses, workshops, etc., or to pick up and place unit goods from high-rise shelves. The stacker runs along the track in the lane of the three-dimensional warehouse, deposits and retrieves goods in the cargo compartment, and completes the storage and retrieval.

[0003] In the prior art, most stackers achieve accurate placement of goods in the cargo compartment only by self-positioning. Usually, the stacker uses a laser position sensor or encoder in the X and Y directions and a rotary encoder in the Z direction to determine the fork extension distance.

[0004] However, after long-term use, the shelves and stackers are easily deformed due to external forces, and positioning errors occur, causing collisions between the forks and the shelves. Utility Model Content

[0005] The utility model provides a stacker positioning detection and calibration device, a stacker and a stereoscopic warehouse, which are used to solve the defect in the prior art that the goods in the cargo grid are accurately grasped and placed only by relying on the stacker's own positioning, which is prone to misalignment and causes collision between the cargo fork and the shelf, and realizes automatic detection and calibration of the stacker positioning coordinates, and the actual positioning position is an absolute position without deviation.

[0006] The utility model provides a stacker positioning detection and calibration device, which is used to detect whether the fork of the stacker is aligned with the cargo grid, wherein the cargo grid is the space formed between the crossbeam and the column of the shelf, and comprises:

[0007] A reflection module is arranged on the shelf;

[0008] A plurality of detection modules are arranged on a side of the fork facing the shelf; when the fork is aligned with the cargo grid, the plurality of detection modules all illuminate the reflection module; when the fork is not aligned with the cargo grid, at least one of the detection modules fails to illuminate the reflection module.

[0009] According to a stacker positioning detection and calibration device provided by the utility model, the reflection module is set to a rectangular shape, and the plurality of detection modules include:

[0010] A pair of first photoelectric detection switches, arranged on a side of the fork facing the shelf in the X direction;

[0011] A pair of second photoelectric detection switches, arranged on the side of the fork facing the shelf in the Y direction;

[0012] The first photoelectric detection switch and the second photoelectric detection switch are both aligned with the edge of the reflection module;

[0013] When the fork is aligned with the cargo box, a pair of the first photoelectric detection switches and a pair of the second photoelectric detection switches simultaneously illuminate the light reflection module; when the fork fails to illuminate the reflection module in the X direction, at least one of the first photoelectric detection switches is not aligned with the cargo box; when the fork is not aligned with the cargo box in the Y direction, at least one of the second photoelectric detection switches fails to illuminate the reflection module.

[0014] According to a stacker positioning detection and calibration device provided by the utility model, the reflection module is glued, riveted or fixed to the shelf with bolts.

[0015] A stacker positioning detection and calibration device provided by the utility model also includes:

[0016] Current position sensor, used to obtain actual position coordinates;

[0017] A preset coordinate module, used to store the set position coordinates;

[0018] The verification module is used to compare the set position coordinates with the actual position coordinates, and when the difference between the set position coordinates and the actual position coordinates is greater than a certain value, manually confirm and update the set position coordinates.

[0019] According to a stacker positioning detection and calibration device provided by the utility model, the reflection module includes a reflection plate or reflection paper.

[0020] According to a stacker positioning detection and calibration device provided by the utility model, the reflection module is arranged on the column or the beam.

[0021] According to a stacker positioning detection and calibration device provided by the utility model, the current position sensor includes a laser position sensor or an encoder.

[0022] The utility model also provides a stacker, comprising:

[0023] A stacker body, on which a fork is arranged;

[0024] As described above, in the stacker positioning detection and calibration device, the detection module of the stacker positioning detection and calibration device is arranged beside the fork.

[0025] According to a stacker provided by the utility model, a plurality of detection modules are arranged on both sides of the fork facing the shelf.

[0026] The utility model also provides a stereoscopic warehouse, comprising the stacker positioning detection and calibration device as described above, or the stacker as described above.

[0027] The stacker positioning detection and calibration device provided by the utility model is arranged on the shelf through a reflection module, and multiple detection modules are arranged on the side of the fork facing the shelf. When the fork is aligned with the cargo grid, multiple detection modules all illuminate the reflection module. When the fork is not aligned with the cargo grid, at least one detection module fails to illuminate the reflection module. The actual positioning position is taken as the absolute position without deviation, thereby improving the accuracy of positioning and preventing the fork from colliding with the shelf.

[0028] The stacker and the stereoscopic warehouse provided by the utility model have the various advantages as mentioned above because they include the stacker positioning detection and calibration device as mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the installation structure of a stacker positioning detection and calibration device according to an embodiment of the utility model;

[0031] Figure 2 The utility model provides Figure 1 A schematic diagram of the structure enlargement in the middle;

[0032] Figure 3 It is a schematic diagram of the corresponding position structure of the detection module and the reflection module provided by the utility model;

[0033] Figure 4 It is a structural block diagram of an embodiment provided by the utility model;

[0034] Reference numerals:

[0035] 10. Cargo grid; 20. Shelf; 21. Beam; 22. Column;

[0036] 1. Reflection module; 2. First photoelectric detection switch; 3. Second photoelectric detection switch; 4. Current position sensor; 5. Preset coordinate module; 6. Verification module. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0039] Combine the following Figures 1 to 4 A stacker positioning detection and calibration device provided by an embodiment of the utility model is described.

[0040] like Figure 1 As shown, an embodiment of the utility model provides a stacker positioning detection and calibration device for detecting whether the fork of the stacker is aligned with the cargo grid 10, wherein the cargo grid 10 is the space formed between the cross beam 21 and the column 22 of the shelf 20.

[0041] The first aspect of the utility model is to provide a stacker positioning detection calibration device, including: a reflection module 1 and a plurality of detection modules, wherein the reflection module 1 is arranged on the shelf 20, and the reflection module 1 may be a certain reflection surface or device for reflecting light or other signals. The fork is a mechanical component used to pick up or put goods from the shelf, and a plurality of detection modules are arranged on the side of the fork facing the shelf 20, and these detection modules may be photoelectric switches, infrared sensors, etc., for emitting and receiving light or signals. When the fork is aligned with the cargo box 10, that is, the fork accurately points to and approaches a certain cargo box, the plurality of detection modules are all irradiated to the reflection module 1, and the light or signal emitted by these detection modules can be irradiated to the reflection module 1 and reflected back by it, which means that the positional relationship between the fork and the cargo box is accurate. When the fork is not aligned with the cargo box 10, at least one detection module fails to irradiate the reflection module 1. If the position of the fork and the cargo box is not aligned, then the light or signal emitted by at least one detection module will not irradiate the reflection module 1, which means that the fork may deviate from the correct position or angle and needs further adjustment or correction.

[0042] The stacker positioning detection and calibration device provided by the utility model can detect the positional relationship between the fork and the cargo grid in real time through the coordinated use of the reflection module 1 and multiple detection modules, and make adjustments when necessary to ensure the accuracy of the picking or placing operation, perform precise positioning, and prevent scratches on the goods and equipment.

[0043] like Figure 2 and Figure 3 As shown, in a feasible embodiment of the present invention, the reflection module 1 is set to be rectangular, and the rectangular reflection module 1 may be easier to align with the detection module on the fork, and can provide a more stable reflection surface so that the detection module can accurately receive the reflection signal. The multiple detection modules include a pair of first photoelectric detection switches 2 and a pair of second photoelectric detection switches 3.

[0044] A pair of first photoelectric detection switches 2 is arranged on the side of the fork facing the shelf 20 in the X direction, that is, the length direction of the fork, and is used to ensure that the fork is aligned with the cargo grid on the shelf on the X axis.

[0045] A pair of second photoelectric detection switches 3 are arranged on the side of the fork facing the shelf 20 in the Y direction; the Y direction of the fork is also the width direction of the fork, and the pair of second photoelectric detection switches 3 are used to ensure that the fork is aligned with the cargo grid on the shelf in the Y direction.

[0046] The first photoelectric detection switch 2 and the second photoelectric detection switch 3 are both aligned with the edge of the reflection module 1; this means that the two pairs of photoelectric detection switches (the first photoelectric detection switch 2 and the second photoelectric detection switch 3) are placed or positioned on the same horizontal or vertical line with the edge of the reflection module 1.

[0047] In an optical or photoelectric system, this alignment may be to ensure that the light or beam is accurately received by the two pairs of photoelectric detection switches after being reflected from the reflective module 1. This alignment helps improve the accuracy and reliability of the system because it reduces the possibility of light scattering or deviating from the intended path.

[0048] Specifically, if the reflective module 1 is a reflector or a reflective surface, the light reflected from the reflective surface will be directed toward the two pairs of photoelectric detection switches. If the two pairs of photoelectric detection switches are aligned with the edge of the reflective module, they will be able to accurately receive the reflected light and convert it into an electrical signal for further processing or analysis. This alignment helps ensure the accuracy and reliability of the photoelectric detection system, thereby improving the performance of the entire system.

[0049] When the fork is aligned with the cargo box 10, a pair of first photoelectric detection switches 2 and a pair of second photoelectric detection switches 3 simultaneously illuminate the reflective module 1; this indicates that the system detects that the fork is aligned with the cargo box in both the horizontal and vertical directions (assuming that the X direction is the horizontal direction and the Y direction is the vertical direction). When the fork is not aligned with the cargo box 10 in the X direction, at least one of the first photoelectric detection switches 2 fails to illuminate the reflective module 1 because the position of the fork deviates from the predetermined alignment line. In this case, the system can identify that the fork is misaligned in the horizontal direction and may trigger an alarm or an adjustment mechanism to correct the position. When the fork is not aligned with the cargo box 10 in the Y direction, at least one of the second photoelectric detection switches 3 fails to illuminate the reflective module 1, and the position of the fork in the vertical direction is incorrect.

[0050] In a feasible embodiment of the utility model, the reflective module 1 is pasted, riveted or fixed with bolts to the shelf 20. The connection method between the reflective module 1 and the shelf 20 can also be determined according to the actual application scenario and needs. Specifically, bonding is suitable for shelves 20 with smooth surfaces, dust-free and oil-free, riveting is suitable for metal shelves 20, especially shelves with thicker thickness, and bolting is suitable for shelves of various materials, especially occasions that need to be frequently disassembled or adjusted. When selecting a fixing method, it is necessary to consider factors such as the material, structure, use environment of the shelf 20 and the weight and size of the reflective module 1 to ensure that the fixing method complies with safety regulations and can ensure the stability and reliability of the reflective module 1. In actual applications, it may also be necessary to consider the convenience of maintenance and replacement, as well as the durability of long-term use.

[0051] like Figure 4 As shown, in a feasible embodiment of the utility model, it also includes a current position sensor 4, a preset coordinate module 5 and a verification module 6. The current position sensor 4 is used to obtain the actual position coordinates. The current position sensor 4 can be implemented in a variety of ways, such as using GPS, laser ranging, visual recognition and other technologies; the preset coordinate module 5 is used to store the set position coordinates, that is, the ideal position where the goods should be placed. These coordinates can be obtained by manual input, system calculation or other methods. The preset coordinate module 5 can be a database or memory area for long-term storage and management of these coordinate information; the verification module 6 is used to compare the set position coordinates and the actual position coordinates, which usually involves the reading, comparison and calculation of coordinate data. When the difference between the set position coordinates and the actual position coordinates is greater than a certain value, it means that the goods are not accurately placed at the specified position, and the system will trigger an alarm or prompt. The set position coordinates can be manually confirmed and updated. During the use of the equipment, when there is uneven settlement of the foundation, it will seriously affect the safety of the equipment. Through this embodiment, the data change value can be recorded to warn of the deviation caused by uneven settlement.

[0052] In a feasible embodiment of the utility model, the reflection module 1 includes a reflection plate or a reflection paper. Among them, the reflection plate is usually made of a material with high reflectivity, such as mirror aluminum, silver-coated glass, etc. These materials can effectively reflect light so that the light can be accurately returned to the photoelectric detection switch. The reflection plate generally has high durability and stability, and is suitable for scenes that require long-term and high-frequency use. In addition, the reflection plate can also be customized in different shapes and sizes as needed to adapt to different application scenarios. Reflective paper is a kind of paper with a reflective layer coated on the surface, which is usually used in temporary or low-cost reflection occasions. Its reflection effect may not be as ideal as that of a reflection plate, but it can also meet the needs in some applications where the reflection effect is not high. The advantages of reflective paper are low cost, easy acquisition and replacement, and suitable for some temporary or one-time application scenarios.

[0053] Therefore, when selecting the reflective module 1, it is necessary to decide whether to use a reflective plate or reflective paper according to the specific application scenario and requirements. If the system needs to be used for a long time and frequently, and has high requirements for the reflection effect, then the reflective plate may be a better choice. If the system is only used temporarily or the reflection effect is not high, then reflective paper may be a more economical and practical choice, with lower cost, and the corresponding device price accounts for a very low proportion in the stereoscopic warehouse, and the positioning is accurate.

[0054] In a feasible embodiment of the utility model, the reflection module 1 is arranged on the column 22 or the beam 21. The column 22 or the beam 21 is a fixed structure in the system and has high stability. The reflection module 1 is installed thereon to ensure that the reflection module 1 will not move or be damaged due to external factors, thereby ensuring the stable operation of the system and providing stable support and positioning functions. The position of the column 22 in the system is usually fixed. The reflection module 1 is installed thereon to ensure that the relative position between it and the photoelectric detection switch is accurate, thereby improving the detection accuracy of the system.

[0055] In a feasible embodiment of the utility model, the current position sensor 4 includes a laser position sensor or an encoder. The laser position sensor uses a laser beam to detect the position of an object. It emits a laser beam and measures the distance between the laser beam and the target object to determine the position of the object. The laser position sensor has the characteristics of high precision and high speed, and is suitable for scenarios where object position information needs to be obtained quickly and accurately. In an automated warehouse or material handling system, the laser position sensor can be installed on a fork or shelf to determine its position by measuring the distance between the laser beam and the goods or forks. An encoder is a device that converts rotational or linear displacement into an electrical signal. It is usually used with a motor or a transmission mechanism to determine the position of an object by measuring the angle or displacement of the motor. The encoder has the characteristics of high resolution and high precision, and is suitable for applications that require precise control of the position of an object.

[0056] In automated warehouses or material handling systems, encoders can be installed on motors or transmission mechanisms to determine the position of forks or goods by measuring the angle or displacement of the motor. The encoder can provide continuous position information, allowing the system to more accurately control the handling and placement of goods.

[0057] A second aspect of the present invention provides a stacker, comprising a stacker body and a stacker positioning, detection and calibration device as described in any one of the above embodiments, wherein a fork is arranged on the stacker body; and a detection module of the stacker positioning, detection and calibration device is arranged on the fork.

[0058] In a feasible embodiment of the utility model, detection modules are provided on both sides of the fork facing the shelf. Generally speaking, there are shelves on both sides of the stacker, and the system can select different detection modules to work according to actual needs. For example, when the fork needs to be inserted into the shelf from one side, only the detection module on that side can be enabled; when the operation needs to be performed from the other side, the detection module on the other side can be enabled.

[0059] The stacker provided by the embodiment of the utility model has an absolute address positioning method, which makes the positioning more accurate, and the stacker automatically records warnings and automatically corrects coordinates.

[0060] The stereoscopic warehouse provided by the present invention is described below. The stereoscopic warehouse described below and the stacker positioning detection and calibration device described above can be referred to each other.

[0061] A third aspect of the present invention provides a three-dimensional warehouse, comprising: a stacker positioning detection and calibration device as in any one of the above embodiments, or a stacker as in any one of the above embodiments.

[0062] The three-dimensional warehouse provided by the embodiment of the utility model has the various advantages as described above because it includes the stacker positioning detection and calibration device as described above, or the stacker as described in any of the above embodiments.

[0063] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A stacker positioning detection and calibration device, used to detect whether the fork of the stacker is aligned with the cargo grid (10), wherein the cargo grid (10) is the space formed between the crossbeam (21) and the column (22) of the shelf (20), characterized in that: include: A reflection module (1) is arranged on the shelf (20); A plurality of detection modules are arranged on a side of the fork facing the shelf (20); when the fork is aligned with the cargo box (10), the plurality of detection modules all illuminate the reflection module (1); when the fork is not aligned with the cargo box (10), at least one of the detection modules fails to illuminate the reflection module (1).

2. The stacker positioning detection and calibration device according to claim 1, characterized in that: The reflection module (1) is configured in a rectangular shape, and the plurality of detection modules include: A pair of first photoelectric detection switches (2) are arranged on a side of the fork facing the shelf (20) in the X direction; A pair of second photoelectric detection switches (3) are arranged on the side of the fork facing the shelf (20) in the Y direction; The first photoelectric detection switch (2) and the second photoelectric detection switch (3) are both aligned with the edge of the reflection module (1); When the fork is aligned with the cargo box (10), a pair of the first photoelectric detection switches (2) and a pair of the second photoelectric detection switches (3) simultaneously illuminate the reflection module (1); when the fork is not aligned with the cargo box (10) in the X direction, at least one of the first photoelectric detection switches (2) fails to illuminate the reflection module (1); when the fork is not aligned with the cargo box (10) in the Y direction, at least one of the second photoelectric detection switches (3) fails to illuminate the reflection module (1).

3. The stacker positioning detection and calibration device according to claim 1, characterized in that: The reflective module (1) and the shelf (20) are glued, riveted or fixed with bolts.

4. The stacker positioning detection and calibration device according to claim 1, characterized in that: Also includes: A current position sensor (4), used to obtain actual position coordinates; A preset coordinate module (5), used for storing the set position coordinates; A verification module (6) is used to compare the set position coordinates with the actual position coordinates, and when the difference between the set position coordinates and the actual position coordinates is greater than a certain value, manually confirm and update the set position coordinates.

5. The stacker positioning detection and calibration device according to claim 1, characterized in that: The reflection module (1) comprises a reflection plate or reflection paper.

6. The stacker positioning detection and calibration device according to claim 1, characterized in that: The reflection module (1) is arranged on the column (22) or the crossbeam (21).

7. The stacker positioning detection and calibration device according to claim 4, characterized in that: The current position sensor (4) comprises a laser position sensor or an encoder.

8. A stacker, characterized in that: include: A stacker body, on which a fork is arranged; The stacker positioning, detection and calibration device according to any one of claims 1 to 7, wherein the detection module of the stacker positioning, detection and calibration device is arranged next to the fork.

9. The stacker according to claim 8, characterized in that: The detection modules are arranged on both sides of the fork facing the shelf.

10. A three-dimensional warehouse, characterized in that: include: A stacker positioning detection and calibration device as claimed in any one of claims 1 to 7, or a stacker as claimed in any one of claims 8 to 9.

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