High-reliability stacking machine synchronously driven by double servo motors

Abstract

The utility model provides a high-reliability stacking machine synchronously driven by double servo motors, which comprises two vertical columns, two servo motors, a plurality of servo motors, a plurality of servo motors and a plurality of servo motors, the rack is arranged on the opposite side of the stand column; the pallet fork is mounted on the lifting frame; the servo motors are symmetrically arranged on the two sides of the lifting frame, and the driving ends of the servo motors are connected with speed reducers; the gear is fixed at the driving end of the speed reducer and is meshed with the rack; and the sensor is arranged at the groove of the rack, and when the gear teeth of the gear are clamped in the groove, the sensor is triggered. The servo motor is not only high in operation precision, but also high in synchronism; moreover, due to the arrangement of the sensors, when the gear teeth trigger the sensors, the two sensors with the same height can send out signals, the time difference of the time of the two signals is calculated, the rotating speed of the servo motor is adjusted according to the time difference, and therefore the lifting speed of the two sides of the lifting frame is adjusted, the lifting speed of the two sides of the lifting frame is kept consistent, and lifting is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of stackers, in particular to a high-reliability stacker with double servo motor synchronous drive. Background Art

[0002] A stacker is a key device used for storing and retrieving goods in a modern logistics system, and the stability of its lifting mechanism directly affects the operation efficiency and safety.

[0003] Generally, two independent AC asynchronous motors are set to drive a stacker. Although the cost of this kind of motor is relatively low, its control accuracy is limited, and it is difficult to achieve precise speed and position control. During the lifting process, due to the possible differences in the response speed and load characteristics of the two motors, the lifting platform may tilt or shake, affecting the stability and safety of the operation.

[0004] Therefore, how to improve the stability of the lifting of the lifting platform has become an urgent problem to be solved by those skilled in the art. Summary of the Utility Model

[0005] To solve the technical problems in the background art, the utility model discloses a high-reliability stacker with double servo motor synchronous drive.

[0006] The utility model provides a high-reliability stacker with double servo motor synchronous drive, including:

[0007] Columns, arranged vertically and set as two symmetrically arranged columns;

[0008] Racks, arranged on the opposite sides of the columns;

[0009] Forks, installed on the lifting frame;

[0010] Servo motors, symmetrically arranged on both sides of the lifting frame, and a speed reducer is connected to the driving end thereof;

[0011] Gears, fixed to the driving end of the speed reducer and meshed with the racks;

[0012] Sensors, arranged at the grooves of the racks, and when the teeth of the gears are clamped in the grooves, the sensors are triggered.

[0013] The servo motors not only have high operation accuracy but also high synchronism; furthermore, the setting of the sensors enables two sensors at the same height to send signals when the teeth trigger the sensors, thereby calculating the time difference between the two signals and adjusting the rotational speed of the servo motors according to the time difference, so as to adjust the lifting speeds on both sides of the lifting frame, making the lifting speeds on both sides of the lifting frame consistent and the lifting more stable.

[0014] The specific installation structure of the driving rod is as follows: a plug hole perpendicular to the rack is provided at the bottom of the groove; the driving rod is inserted into the plug hole and elastically connected through a spring; one end of the driving rod contacts the gear, and the other end is used to trigger the sensor.

[0015] To achieve the telescopic stability of the driving rod, a further design is as follows: an installation hole is connected to the end of the plug hole facing away from the groove; the diameter of the installation hole is larger than that of the plug hole, so that a shoulder is formed at the connection of the plug hole and the installation hole; a protruding snap ring is provided in the middle of the driving rod, which is snap-connected to the shoulder; the spring is arranged in the installation hole.

[0016] To improve the telescopic stability of the spring, a further design is as follows: the spring is in clearance fit with the hole wall of the installation hole.

[0017] To simplify the structure of the rack and facilitate the installation of the spring, a further improvement lies in: the installation hole penetrates through the bottom of the rack; the sensor is installed at the bottom of the rack and covers the installation hole, and the triggering end of the sensor extends into the installation hole; one end of the spring abuts against the snap ring, and the other end abuts against the housing of the sensor.

[0018] When foreign objects appear in the tooth groove, it is easy to have an incomplete meshing of the gear and the rack, resulting in bumps when the lifting frame is lifted or lowered, and even safety accidents may occur, and it is difficult to detect the foreign object at the first time. Based on this, a further improvement lies in: the sensor is a pressure sensor. With this setting, when foreign objects appear in the tooth groove, the teeth will be blocked by the foreign objects, and the reading of the pressure sensor will be lower than the normal reading. At this time, the pressure sensor controls the servo motor to stop, so as to facilitate finding and removing the foreign object at the gear and avoid safety accidents.

[0019] To further improve the lifting accuracy of the lifting frame, specifically: the rack is an inclined rack, and the gear is a matching inclined gear.

[0020] The beneficial effects of the present utility model are as follows: the servo motor not only has high operating accuracy but also high synchronism; furthermore, with the setting of the sensor, when the teeth trigger the sensor, two sensors at the same height will send signals, and the time difference between the two signals is calculated based on this, and the rotation speed of the servo motor is adjusted according to the time difference, so as to adjust the lifting speeds on both sides of the lifting frame, making the lifting speeds on both sides of the lifting frame consistent and the lifting more stable. Description of the Drawings

[0021] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0022] Figure 1 is the structural schematic diagram of the present utility model;

[0023] Figure 2 is the partial cross-sectional view of the rack;

[0024] In the figure: 1, vertical column; 2, rack; 3, forklift; 4, lifting frame; 5, gear; 6, sensor; 7, drive rod; 8, spring; 9, servo motor; 21, groove; 22, insertion hole; 23, mounting hole; 24, shoulder; 71, snap ring. Detailed implementation mode

[0025] Now, the present utility model will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0026] As Figure 1 shown, the present utility model discloses a high-reliability stacker with synchronous drive of two servo motors, including a vertical column 1 and a forklift 3. The vertical column 1 is composed of two vertically and symmetrically arranged columns, and an inclined rack 2 arranged vertically is installed on the opposite side thereof.

[0027] The forklift 3 is installed on the lifting frame 4. Symmetrically arranged servo motors 9 are installed on both sides of the lifting frame 4. The driving end of the servo motor 9 is connected with a speed reducer, and the driving end of the speed reducer is fixedly connected with a gear 5, which is an inclined gear and meshes with the rack 2. The meshing of the inclined gear 5 and the inclined rack 2 and the setting of the servo motor 9 are both used to improve the lifting accuracy and synchronism of the lifting frame 4.

[0028] As Figure 2 shown, a vertical insertion hole 22 perpendicular to the rack 2 is drilled at the groove 21 of the rack 2, and one end of the insertion hole 22 facing away from the groove 21 is connected with a coaxially arranged mounting hole 23; the diameter of the mounting hole 23 is larger than that of the insertion hole 22, so that the connection part of the insertion hole 22 and the mounting hole 23 forms a shoulder 24.

[0029] A protruding snap ring 71 is arranged in the middle of the drive rod 7, which is clamped with the shoulder 24, so that one end of the drive rod 7 is inserted into the insertion hole 22, and the other end is arranged in the mounting hole 23.

[0030] The mounting hole 23 penetrates through the bottom of the rack 2; the sensor 6 is mounted on the bottom of the rack 2 and covers the mounting hole 23, and the triggering end of the sensor 6 extends into the mounting hole 23. The spring 8 is sleeved on the other end of the driving rod 7, and one end of the spring 8 abuts against the snap ring 71, and the other end abuts against the housing of the sensor 6, so as to realize the elastic connection of the driving rod 7. This can simplify the structure of the rack 2 and facilitate the disassembly and assembly of the spring 8. The spring 8 is in clearance fit with the hole wall of the mounting hole 23, which can improve the telescopic stability of the spring 8. After the spring 8, the sensor 6 and the driving rod 7 are installed, one end of the driving rod 7 penetrates through the insertion hole 22 and protrudes from the groove 21. With such a setting, when the gear 5 is clamped in the groove 21, it will push the driving rod 7 to move towards the sensor 6 and trigger the sensor 6. At this time, two sensors 6 at the same height will send signals, and the time difference between the two signals will be calculated, and the rotation speed of the servo motor 9 will be adjusted according to the time difference, so as to adjust the lifting speeds on both sides of the lifting frame 4, so that the lifting speeds on both sides of the lifting frame 4 are kept consistent and the lifting is more stable.

[0031] When there is a foreign object in the tooth groove, it is easy to have an incomplete meshing of the gear 5 and the rack 2, resulting in bumps when the lifting frame 4 is lifted, and even safety accidents may occur, and it is difficult to detect the foreign object at the first time. Therefore, in this embodiment, the sensor 6 is a pressure sensor 6, which can also detect the pressure generated by the contraction of the driving rod 7. With such a setting, when there is a foreign object in the tooth groove, the tooth will be blocked by the foreign object, and the reading of the pressure sensor 6 will be lower than the normal reading. At this time, the pressure sensor 6 controls the servo motor 9 to stop, so as to facilitate finding and removing the foreign object at the gear 5 and avoid safety accidents.

[0032] Inspired by the above ideal embodiments according to the present invention, through the above description, relevant staff can completely make various changes and modifications within the scope not deviating from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A high reliability stacker driven synchronously by dual servo motors, characterized in that: include: The columns (1) are arranged vertically and are provided as two symmetrical columns; A rack (2) disposed on the opposite side of the column (1); A cargo fork (3) mounted on a lifting frame (4); A servo motor (9) is symmetrically arranged on both sides of the lifting frame (4), and a drive end thereof is connected to a reducer; A gear (5) is fixed to the driving end of the reducer and meshes with the rack (2); The sensor (6) is arranged at the groove (21) of the rack (2), and the sensor (6) is triggered when the gear teeth of the gear (5) engage the groove (21).

2. A high reliability stacker driven synchronously by dual servo motors according to claim 1, characterized in that: The groove (21) has a bottom provided with a plug-in hole (22) perpendicular to the rack (2); The driving rod (7) is inserted into the insertion hole (22) and elastically connected via a spring (8); One end of the driving rod (7) is in contact with the gear (5), and the other end is used to trigger the sensor (6).

3. A high reliability stacker driven synchronously by dual servo motors according to claim 2, characterized in that: One end of the plug hole (22) facing away from the groove (21) is connected to a mounting hole (23); The diameter of the mounting hole (23) is greater than the diameter of the plug hole (22), so that the connection between the plug hole (22) and the mounting hole (23) forms a shoulder (24); A raised snap ring (71) is provided in the middle of the driving rod (7) and is snap-engaged with the shoulder (24); The spring (8) is arranged in the mounting hole (23).

4. The high reliability stacker driven synchronously by dual servo motors according to claim 3, characterized in that: The spring (8) is clearance-matched with the wall of the mounting hole (23).

5. The high reliability stacker driven synchronously by dual servo motors according to claim 4, characterized in that: The mounting hole (23) passes through the bottom of the rack (2); The sensor (6) is mounted at the bottom of the rack (2) and covers the mounting hole (23), and the trigger end of the sensor (6) extends into the mounting hole (23); One end of the spring (8) abuts against the clamping ring (71), and the other end abuts against the housing of the sensor (6).

6. The high reliability stacker driven synchronously by dual servo motors according to claim 5, characterized in that: The sensor (6) is a pressure sensor.

7. The high reliability stacker driven synchronously by dual servo motors according to claim 1, characterized in that: The rack (2) is a helical rack, and the gear (5) is a matching helical gear.

Images