Stacker positioning control system

Abstract

The utility model provides a stacker positioning control system, which relates to the technical field of stacker positioning control, and comprises a warehouse frame, a stacker, a control module and a visual camera, the stacker is provided with a longitudinal lifting mechanism and a transverse displacement mechanism, the visual camera is fixedly connected to the longitudinal lifting mechanism and faces the warehouse frame, and the warehouse frame is provided with a plurality of rows of storage bins. Each row of storage bins is provided with a first positioning label, the longitudinal lifting mechanism is provided with a plurality of second positioning labels, the second positioning labels are sequentially and longitudinally arranged, the first positioning labels in the vertical direction are in one-to-one correspondence with the second positioning labels and are aligned with the second positioning labels, and the stacking machine conducts variable-speed movement according to position feedback of the visual camera to the first positioning labels. The goods are lifted to the corresponding second positioning labels at a variable speed, so that the goods are stacked into the corresponding storage bins; according to the utility model, cargos can be effectively and accurately positioned and moved at a variable speed, so that the cargos can be stacked at accurate positions.

Description

Technical Field

[0001] The utility model relates to the technical field of stacker positioning control, in particular to a stacker positioning control system. Background Technique

[0002] The rail-guided stacker is a special crane developed with the emergence of the stereoscopic warehouse. Briefly called the stacker, it is an important part that has developed rapidly in the modern warehousing and logistics system and is also the main equipment of the automated stereoscopic warehouse. Its main purpose is to run along the track in the aisle of the high-rise shelf warehouse, put the goods at the floor platform at the aisle entrance into the storage location, or take out the goods from the storage location and transport them to the outbound platform to complete the inbound and outbound operations. The stacker has the advantages of saving floor area and manpower, fast and accurate operation, high receiving and sending efficiency, low storage and transportation costs, etc. Usually, it is connected with the upper computer to form an automated warehousing and logistics system after configuration, which is an important link connecting production, sales and management.

[0003] The problems currently existing in the stacker are as follows:

[0004] 1. The traditional counting positioning system is prone to interference, resulting in inaccurate counting and unreliable positioning;

[0005] 2. Using the similar EPOS double-closed-loop positioning control such as Siemens and ABB, and the control method of encoder + laser ranging SSI, the long-term high-speed operation of the stacker causes the equipment itself to vibrate, and various electromagnetic interferences in the external environment are likely to cause faults such as inaccurate positioning and abnormal alarm of the driver, as well as adverse factors such as long procurement cycle and high cost of components.

[0006] Therefore, it is necessary to propose a stacker positioning control system to accurately position and move the goods at variable speeds in order to stack the goods at the accurate position. Content of the Utility Model

[0007] In order to solve the above problems, the utility model proposes a stacker positioning control system to accurately position and move the goods at variable speeds in order to stack the goods at the accurate position.

[0008] The utility model is realized through the following technical solutions:

[0009] The utility model provides a positioning control system for a stacker, which includes a storage rack, a stacker, a control module, and a vision camera. The stacker is located on one side of the storage rack and is electrically connected to the control module. The vision camera is electrically connected to the control module. The stacker is provided with a longitudinal lifting mechanism and a transverse displacement mechanism. The transverse displacement mechanism is used to drive the longitudinal lifting mechanism to perform transverse displacement. The vision camera is fixedly connected to the longitudinal lifting mechanism and faces the storage rack. The storage rack is provided with multiple columns of storage bins, and each column of storage bins is provided with a first positioning label. The longitudinal lifting mechanism is provided with multiple second positioning labels, and the multiple second positioning labels are longitudinally arranged in sequence. The first positioning labels in the vertical direction are all in one-to-one correspondence and alignment with the multiple second positioning labels. The stacker moves at a variable speed according to the position feedback of the vision camera on the first positioning label, and lifts and lowers at a variable speed to the corresponding second positioning label to stack goods into the corresponding storage bin.

[0010] Further, the multiple first positioning labels are all different.

[0011] Further, the multiple second positioning labels are all different.

[0012] Further, the longitudinal lifting mechanism includes a lifting support frame and a material handling mechanism. The bottom of the lifting support frame is fixedly connected to the moving end of the transverse displacement mechanism. The material handling mechanism is liftably connected to the lifting support frame. The vision camera is fixedly connected to the material handling mechanism and faces the storage rack. The multiple second positioning labels are longitudinally arranged at equal intervals on the lifting support frame.

[0013] Further, the lifting support frame is vertically arranged.

[0014] Further, the control module includes a controller and an inverter. The controller is electrically connected to the inverter and the vision camera respectively. The inverter is electrically connected to the transverse displacement mechanism and the longitudinal lifting mechanism. The inverter is used to control the transverse displacement mechanism and the longitudinal lifting mechanism to perform variable-speed movement.

[0015] Further, the controller is a programmable controller.

[0016] Further, the controller and the vision camera are connected by 485 communication.

[0017] Further, the frequency converter includes a control chip, a motor drive module, and a motor brake module. The input end of the control chip is electrically connected to the controller, and the output ends of the control chip are respectively electrically connected to the motor drive module and the motor brake module. Both the motor drive module and the motor brake module are electrically connected to the lateral displacement mechanism, and both the motor drive module and the motor brake module are electrically connected to the longitudinal lifting mechanism.

[0018] Further, the stacker positioning control system further includes a safety protection module. The safety protection module is respectively electrically connected to the control module and the stacker, and the safety protection module is used to detect the operating condition of the stacker.

[0019] Advantages of the present utility model:

[0020] The present utility model uses a control module to control the displacement of the stacker. First positioning tags are respectively arranged on all storage bins of the storage rack, and a second positioning tag is arranged in the longitudinal lifting mechanism. A vision camera is used to visually locate the position of the first positioning tag and provide feedback, so that the control module controls the lateral displacement mechanism to drive the longitudinal lifting mechanism to perform variable-speed lateral displacement, and the control module also controls the longitudinal lifting mechanism to perform variable-speed lifting to the corresponding second positioning tag, so as to transport the goods to the storage bin at the corresponding first positioning tag for stacking storage, which is convenient for accurately positioning and storing the goods. In summary, the stacker positioning control system of the present utility model can effectively and accurately position the goods and perform variable-speed movement to stack the goods at the accurate position. Description of the drawings

[0021] Figure 1 It is the overall top view of the stacker positioning control system of the present utility model;

[0022] Figure 2 It is the overall side view of the stacker positioning control system of the present utility model;

[0023] Figure 3 It is the schematic diagram of the internal circuit of the frequency converter of the stacker positioning control system of the present utility model.

[0024] The reference numerals are as follows:

[0025] Storage rack 1, storage bin 11, first positioning tag 111;

[0026] Stacker 2, longitudinal lifting mechanism 21, second positioning tag 211, lifting support frame 212, material handling mechanism 213, lateral displacement mechanism 22;

[0027] Control module 3, controller 31, frequency converter 32, control chip 321, motor drive module 322, motor brake module 323;

[0028] Vision camera 4;

[0029] Safety protection module 5. Detailed implementation mode

[0030] In order to more clearly and completely illustrate the technical solution of the present utility model, the present utility model will be further described below with reference to the accompanying drawings.

[0031] Please refer to Figures 1-3 , the present utility model provides a stacker positioning control system, including a storage rack 1, a stacker 2, a control module 3, and a vision camera 4. The stacker 2 is located on one side of the storage rack 1 and is electrically connected to the control module 3. The vision camera 4 is electrically connected to the control module 3. The stacker 2 is provided with a longitudinal lifting mechanism 21 and a lateral displacement mechanism 22. The lateral displacement mechanism 22 is used to drive the longitudinal lifting mechanism 21 to perform lateral displacement. The vision camera 3 is fixedly connected to the longitudinal lifting mechanism 22 and faces the storage rack 1. The storage rack 1 is provided with multiple rows of storage bins 11. Each row of storage bins 11 is provided with a first positioning label 111. The first positioning label 111 can be an FRID label, or other radio frequency labels, or vision labels. The longitudinal lifting mechanism 21 is provided with multiple second positioning labels 211. The second positioning labels 211 can be FRID labels, or other radio frequency labels, or vision labels. The multiple second positioning labels 211 are arranged longitudinally in sequence. The first positioning labels 21 in the vertical direction are all in one-to-one correspondence and alignment with the multiple second positioning labels 211. The stacker 2 moves at a variable speed according to the position feedback of the vision camera 4 on the first positioning label 111 and lifts and lowers at a variable speed to the corresponding second positioning label 211 to stack the goods into the corresponding storage bin 11. The vision camera 4 is used to quickly and continuously feedback the position values of the current first positioning label 111 and second positioning label 211, and the offset distance values of the current first positioning label 111 and second positioning label 211 in real time.

[0032] In this embodiment, a control module 3 is used to control the displacement of the stacker 2. First positioning tags 111 are respectively arranged on all storage bins 11 of the storage rack 1, and a second positioning tag 211 is arranged in the vertical lifting mechanism 21. When both the first positioning tag 111 and the second positioning tag 211 are visual tags, a vision camera 4 is used to perform visual positioning on the position of the first positioning tag 111 and give feedback. When the target value is greater than or equal to 3, that is, when the distance from the target first positioning tag 111 is greater than or equal to 3 positions of the tag, the control module 3 outputs an ultra-high speed frequency of 87 Hz to the vertical lifting mechanism 21 or the lateral displacement mechanism 22, so that the vertical lifting mechanism 21 or the lateral displacement mechanism 22 moves at a high speed. When the target value is greater than or equal to 2 and less than 3, that is, when the distance from the target first positioning tag 111 is greater than or equal to 2 and less than 3 positions of the tag, the control module 3 outputs a high speed frequency of 50 Hz to the vertical lifting mechanism 21 or the lateral displacement mechanism 22, so that the vertical lifting mechanism 21 or the lateral displacement mechanism 22 moves at a speed slightly lower than the high speed. When the target value is greater than or equal to 1 and less than 2, that is, when the distance from the target first positioning tag 111 is greater than or equal to 1 and less than 2, the control module 3 outputs a medium speed frequency of 20 Hz to the vertical lifting mechanism 21 or the lateral displacement mechanism 22, so that the vertical lifting mechanism 21 or the lateral displacement mechanism 22 moves at a medium speed. In this way, the control module 3 controls the lateral displacement mechanism 22 to drive the vertical lifting mechanism 21 to perform variable-speed lateral displacement, and the control module 3 also controls the vertical lifting mechanism 21 to perform variable-speed lifting to the corresponding second positioning tag 211, so as to transport the goods to the storage bin 11 at the corresponding first positioning tag 111 for stacking storage, which is convenient for accurately positioning and storing the goods;

[0033] When both the first positioning tag 111 and the second positioning tag 211 are FRID tags or other radio frequency tags, corresponding readers need to be used to align and read the positions. When the vertical lifting mechanism 21 or the lateral displacement mechanism 22 moves, the vision camera 4 is also required to obtain the positions of the first positioning tag 111 and the second positioning tag 211;

[0034] In summary, the positioning control system of this stacker can effectively and accurately position the goods and perform variable-speed movement to stack the goods at the accurate position.

[0035] In this embodiment, multiple first positioning tags 111 are all different, that is, each first positioning tag 111 can correspond to the number of a storage bin 11.

[0036] In this embodiment, multiple second positioning tags 211 are all different, that is, each first positioning tag 111 can correspond to different heights of the vertical lifting mechanism 21, and the height difference between adjacent second positioning tags 211 is consistent.

[0037] In this embodiment, the vertical lifting mechanism 21 includes a lifting support frame 212 and a material handling mechanism 213. The bottom of the lifting support frame 212 is fixedly connected to the moving end of the lateral displacement mechanism 22. The material handling mechanism 213 is connected to the lifting support frame 212 in a liftable manner. The vision camera 4 is fixedly connected to the material handling mechanism 213 and faces the storage rack 1. A plurality of second positioning tags 211 are longitudinally arranged on the lifting support frame 212 at equal intervals; the lifting support frame 212 is used to provide a support structure for the material handling mechanism 213 during lifting. The material handling mechanism 213 is provided with a motor and guide wheels for lifting, and can perform corresponding lifting movements in the lifting support frame 212 by itself. If the second positioning tag 211 is an FRID tag or other radio frequency tag, a reader for reading the second positioning tag 211 is also provided inside the material handling mechanism 213. When the material handling mechanism 213 moves, the vision camera 4 is also required to obtain the position, and then the reader performs position alignment and reading; if the second positioning tag 211 is a vision tag, when the material handling mechanism 213 performs a lifting movement, the vision camera 4 directly captures the second positioning tag 211 to position the lifting position.

[0038] In this embodiment, the lifting support frame 212 is vertically arranged, and the vertical arrangement facilitates the vertical lifting of the material handling mechanism 213 and improves the position accuracy of lifting.

[0039] In this embodiment, the control module 3 includes a controller 31 and a frequency converter 32. The controller 31 is a programmable controller. The controller 31 is electrically connected to the frequency converter 32 and the vision camera 4 respectively. Specifically, the controller 31 is communicatively connected to the vision camera 4 via 485. The frequency converter 32 is electrically connected to the lateral displacement mechanism 22 and the vertical lifting mechanism 21. The frequency converter 32 is used to control the lateral displacement mechanism 22 and the vertical lifting mechanism 21 to move at variable speeds; during movement, when the vertical lifting mechanism 21 or the lateral displacement mechanism 22 reaches the preset distance value of the first positioning tag 111 or the second positioning tag 211, the controller 31 issues an instruction to the frequency converter 32. The frequency converter 32 issues an instruction to the vertical lifting mechanism 21 or the lateral displacement mechanism 22 to make it run at a low speed. The vision camera 4 then judges the offset distance value. After the offset distance value reaches the position of the first positioning tag 111 or the second positioning tag 211, the frequency converter 32 outputs a deceleration stop instruction to the vertical lifting mechanism 21 or the lateral displacement mechanism 22, so that the operating frequency of the vertical lifting mechanism 21 or the lateral displacement mechanism 22 reaches the lowest output frequency. Finally, the frequency converter 32 stops outputting, and the vertical lifting mechanism 21 or the lateral displacement mechanism 22 stays on the corresponding first positioning tag 111 or second positioning tag 211. Then the material handling mechanism 213 can pick up and place goods, and the process of picking up and placing goods can be to move from the storage bin 11 of one storage rack 1 to the storage bin 11 of another storage rack 1.

[0040] In this embodiment, the frequency converter 32 includes a control chip 321, a motor drive module 322, and a motor brake module 323. The input end of the control chip 321 is electrically connected to the controller 31, and the output end of the control chip 321 is electrically connected to the motor drive module 322 and the motor brake module 323 respectively. Both the motor drive module 322 and the motor brake module 323 are electrically connected to the lateral displacement mechanism 22, and both the motor drive module 322 and the motor brake module 323 are electrically connected to the longitudinal lifting mechanism 21. The motor drive module 322 is used to issue operation instructions to the longitudinal lifting mechanism 21 and the lateral displacement mechanism 22. The operation instructions include acceleration instructions and deceleration instructions. The motor brake module 323 is used to issue brake instructions to the longitudinal lifting mechanism 21 and the lateral displacement mechanism 22 to stop.

[0041] In this embodiment, the stacker positioning control system further includes a safety protection module 5. The safety protection module 5 is electrically connected to the control module 3 and the stacker 2 respectively. The safety protection module 5 is used to detect the operating condition of the stacker 2. The detection steps of the safety protection module 5 are as follows: Detect whether the emergency stop button is normal; Whether the electrical cabinet door and the safety door are opened; Detect whether the chain break protection is normal; Detect whether the upper and lower limit protections are normal; Detect whether the front and rear limit protections are normal; Detect whether the goods on the cargo platform are too long; Detect whether the goods on the cargo platform are too wide; Detect whether the goods on the cargo platform are too high; Detect whether the goods on the cargo platform collapse; Calculate whether the simulated lifting position is consistent with the position feedback by the vision camera 4; Calculate whether the simulated walking position is consistent with the position feedback by the vision camera 4; Detect whether the vision camera 4 alarms; Detect whether the position data feedback by the vision camera 4 is abnormal; Detect whether the frequency converter 32 alarms abnormally; Detect whether the motors in the longitudinal lifting mechanism 21 and the lateral displacement mechanism 22 alarm abnormally; Whether the above 15 items of safety protection are all normal. If the detection is normal, start walking and lifting positioning. If an abnormal situation occurs, start the emergency stop instruction; When the emergency stop instruction is started, the frequency converter 32 starts emergency deceleration; When the output frequency of the frequency converter 32 reaches the low-speed shutdown frequency, the frequency converter 32 stops running; The DC brake is started, and the motor brake coils in the longitudinal lifting mechanism 21 and the lateral displacement mechanism 22 are powered off and released; The emergency stop of the stacker 2 is completed, and the system outputs an alarm message.

[0042] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those of ordinary skill in the art without any creative work belong to the scope protected by the present invention.

Claims

1. A stacker positioning control system, characterized in that: It includes a warehouse rack, a stacker, a control module, and a visual camera. The stacker is located on one side of the warehouse rack and is electrically connected to the control module. The visual camera is electrically connected to the control module. The stacker is provided with a longitudinal lifting mechanism and a transverse displacement mechanism. The transverse displacement mechanism is used to drive the longitudinal lifting mechanism to perform transverse displacement. The visual camera is fixedly connected to the longitudinal lifting mechanism and faces the warehouse rack. The warehouse rack is provided with multiple columns of storage bins, each column of storage bins is provided with a first positioning label, the longitudinal lifting mechanism is provided with multiple second positioning labels, and the multiple second positioning labels are arranged longitudinally in sequence. The first positioning labels in the vertical direction are one-to-one corresponding to and aligned with the multiple second positioning labels. The stacker changes speed and moves according to the position feedback of the first positioning label by the visual camera, and changes speed and lifts to the corresponding second positioning label to stack the goods into the corresponding storage bin.

2. The stacker positioning control system according to claim 1, characterized in that: The plurality of first positioning tags are all different.

3. The stacker positioning control system according to claim 1, characterized in that: The plurality of second positioning tags are all different.

4. The stacker positioning control system according to claim 1, characterized in that: The longitudinal lifting mechanism includes a lifting support frame and a material moving mechanism. The bottom of the lifting support frame is fixedly connected to the moving end of the lateral displacement mechanism. The material moving mechanism forms a liftable connection with the lifting support frame. The visual camera is fixedly connected to the material moving mechanism and faces the storage rack. A plurality of the second positioning labels are arranged longitudinally on the lifting support frame at equal intervals.

5. The stacker positioning control system according to claim 4, characterized in that: The lifting support frame is arranged vertically.

6. The stacker positioning control system according to claim 1, characterized in that: The control module includes a controller and a frequency converter. The controller is electrically connected to the frequency converter and the visual camera respectively. The frequency converter is electrically connected to the lateral displacement mechanism and the longitudinal lifting mechanism. The frequency converter is used to control the lateral displacement mechanism and the longitudinal lifting mechanism to move at variable speeds.

7. The stacker positioning control system according to claim 6, characterized in that: The controller is a programmable controller.

8. The stacker positioning control system according to claim 6, characterized in that: The controller and the visual camera are connected by 485 communication.

9. The stacker positioning control system according to claim 6, characterized in that: The inverter includes a control chip, a motor drive module, and a motor brake module. The input end of the control chip is electrically connected to the controller, and the output end of the control chip is electrically connected to the motor drive module and the motor brake module respectively. The motor drive module and the motor brake module are both electrically connected to the lateral displacement mechanism, and the motor drive module and the motor brake module are both electrically connected to the longitudinal lifting mechanism.

10. The stacker positioning control system according to claim 1, characterized in that: The stacker positioning control system further comprises a safety protection module, which is electrically connected to the control module and the stacker respectively, and is used to detect the operating status of the stacker.

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