Stacking machine with collision self-sensing function

Abstract

The utility model provides a stacking machine with a collision self-sensing function, which comprises a pallet fork used for grabbing a material frame, a displacement sensor is arranged at the root position of the pallet fork, and the displacement sensor is electrically connected with the stacking machine and used for controlling the stacking machine to stop; the detection end of the displacement sensor is parallel to the pallet fork and points to the outer end of the pallet fork; when the pallet fork grabs the material frame, the displacement sensor obtains a displacement value. A displacement value is generated when the pallet fork grabs the material frame, when the displacement value is changed before the material frame on the pallet fork completes stacking, it can be judged that the material frame on the pallet fork collides, the stacking machine is immediately controlled to stop, and therefore the situation that a goods shelf overturns is avoided. According to the utility model, the displacement sensor is used for sensing the position change of the material frame to control the stocker to stop, the structure is simple, the precision is high, the response is quick, the stocker can be controlled to stop at the first time, and irreparable accidents are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of stackers, in particular to a stacker with a collision self-sensing function. Background Art

[0002] The high-bay warehouse has become the main form of modern warehousing due to its advantages such as high-rise rationalization, storage and retrieval automation, and simple operation. Among them, the stacker is the most important stacking tool in the high-bay warehouse, which can accurately stack and remove material frames.

[0003] The stacker crane palletizes the material frames by sequentially grabbing the material frames, lifting them, moving them horizontally, and lowering them. During operation, the stacker crane may inevitably experience control system failures, foreign objects on the floor, sensor failures, and other issues, resulting in the stacker crane being unable to accurately stack the material frames to the target location. This can cause the grabbed material frames to collide with the shelf or other material frames. Continuing the stacking operation can easily cause the shelf to overturn.

[0004] Therefore, how to overcome the above-mentioned defects has become a problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] In order to solve the technical problems in the background technology, the utility model discloses a stacker with a collision self-sensing function.

[0006] The utility model provides a stacker with a collision self-sensing function, comprising a fork for grabbing a material frame, a displacement sensor installed at the root of the fork, the displacement sensor being electrically connected to the stacker for controlling the stacker to stop;

[0007] The detection end of the displacement sensor is parallel to the fork and points to the outer end of the fork;

[0008] When the fork grabs the material frame, the displacement sensor obtains a displacement value.

[0009] When the fork grabs the material frame, a displacement value is generated. When the displacement value changes before the material frame on the fork completes stacking, it can be determined that the material frame on the fork has collided, and the stacker is immediately controlled to stop, thereby avoiding the overturning of the shelf. The utility model adopts a displacement sensor to sense the change of the material frame position to control the stacker to stop. It is not only simple in structure and high in precision, but also quick in response. It can control the stacker to stop at the first time to avoid irreversible accidents.

[0010] Since drilling holes in the fork to install the displacement sensor will reduce the strength of the fork, based on this, a further improvement is that the utility model also includes a rectangular sleeve, which is sleeved with the fork; the displacement sensor is installed on the upper end face of the sleeve; and the locking bolt is threadedly connected to the lower end face of the sleeve, and its threaded end presses against the fork to fix the sleeve.

[0011] Since the wall thickness of the sleeve is relatively thin and the depth of the threaded hole is relatively shallow, the locking strength of the tightening bolt is not high. Based on this, a further improvement is that: an extension column is provided on the lower end face of the sleeve; and the locking bolt is threadedly connected to the extension column.

[0012] Since the threaded end of the locking bolt directly abuts the fork, the contact area is small, which makes the position stability of the sleeve on the fork low, causing the displacement value of the displacement sensor to deviate and send out an erroneous signal. Based on this, a further improvement is to provide a lower connecting plate between the lower end face of the sleeve and the fork; the threaded end of the locking bolt abuts the lower end face of the lower connecting plate.

[0013] Since the lower connecting plate and the fork are in hard contact, the friction force is small and relative sliding is likely to occur. Based on this, a further improvement is that a soft rubber plate is connected between the lower connecting plate and the fork.

[0014] Since the rubber plate is flexible and easily deformed, in the case of vibration, the deformation of the rubber plate can easily cause deviations in the displacement value, thereby sending out erroneous signals. Based on this, a further improvement is made: the upper end surface of the lower connecting plate is provided with lower convex teeth, which replace the rubber plate and abut against the lower end surface of the fork.

[0015] Because the sleeve is located at the base of the fork, the mis-thrust forces it experiences are directed toward the base of the fork. Therefore, a further design is to direct the lower ridges toward the base of the fork. This arrangement increases the resistance of the sleeve toward the base of the fork, making it less likely to move under mis-thrust forces.

[0016] To further improve the positional stability of the sleeve and fork, a further design is as follows: an upper connecting plate is provided between the upper end surface of the sleeve and the fork; upper convex teeth are provided on both the upper and lower end surfaces of the upper connecting plate. The upper convex teeth point to the base of the fork.

[0017] Since the material frame will deflect when it collides with the fork, only the position of one fork changes. If the displacement sensor is installed on the other fork, the displacement sensor cannot send the correct signal to drive the stacker to stop. Based on this, a further improvement is to install displacement sensors at the same position of both forks.

[0018] The beneficial effects of the utility model are as follows: the utility model uses a displacement sensor to sense changes in the position of the material frame to control the stacker to stop, which not only has a simple structure and high precision, but also has a rapid response, and can control the stacker to stop in the first time to avoid irreversible accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0022] Figure 3 It is a top view of the utility model;

[0023] Figure 4 yes Figure 3 A cross-sectional view of the middle BB, where convex teeth are used instead of rubber plates;

[0024] Figure 5 yes Figure 3 A cross-sectional view of the middle BB, wherein a rubber sheet is connected between the connecting plates or sleeves;

[0025] In the figure: 1. Fork; 2. Displacement sensor; 3. Sleeve; 4. Locking bolt; 5. Extension column; 6. Lower connecting plate; 7. Rubber plate; 8. Lower convex teeth; 9. Upper connecting plate; 10. Upper convex teeth. DETAILED DESCRIPTION

[0026] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0027] Example 1:

[0028] The utility model discloses a stacker with collision self-sensing function, comprising a fork 1 for grabbing a material frame. A displacement sensor 2 is installed at the root of the fork 1. The displacement sensor 2 is electrically connected to the stacker and is used to control the stacker to stop.

[0029] The specific installation structure of the displacement sensor 2 is as follows: it includes a rectangular sleeve 3, which is sleeved with the fork 1 and sleeved to the root position of the fork 1. The displacement sensor 2 is installed on the upper end face of the sleeve 3, and its detection end is parallel to the fork 1 and points to the outer end of the fork 1. Four symmetrically arranged extension columns 5 are welded to the lower end face of the sleeve 3. The extension columns 5 are provided with threaded holes. The locking bolts 4 are threaded parts of the extension columns 5, and the threaded end of the locking bolts 4 passes through the sleeve 3 and is tightened against the lower end face of the fork 1, thereby achieving the installation and fixation of the sleeve 3. The provision of the extension columns 5 is used to extend the length of the threaded holes, thereby improving the connection strength of the locking bolts 4 tightening the fork 1.

[0030] A lower plate 6 is provided between the lower end of the fork 1 and the lower end of the sleeve 3. The threaded end of the locking bolt 4 abuts the lower end of the plate 6, increasing the load-bearing area of ​​the fork 1 and preventing scratches. This also improves the positional stability of the sleeve 3 on the fork 1, preventing deviations in the displacement value of the displacement sensor 2 and the resulting erroneous signal.

[0031] A flexible rubber plate 7 is connected between the lower connecting plate 6 and the fork 1. A flexible rubber plate 7 is also connected between the upper connecting plate 9, the fork 1 and the sleeve 3. When the locking bolt 4 is tightened, the rubber plate 7 can deform, thereby generating elastic force between the sleeve 3 and the fork 1, thereby increasing the static friction between the sleeve 3 and the fork 1 and increasing the relative displacement resistance of the sleeve 3 and the fork 1.

[0032] Since the material frame will deflect when it collides with the fork 1, only the position of one fork 1 changes. If the displacement sensor 2 is installed on the other fork 1, the displacement sensor 2 cannot send a correct signal to drive the stacker to stop. Therefore, the displacement sensor 2 is installed at the same position of the two forks 1.

[0033] When fork 1 grabs a material frame, it generates a displacement value. If the displacement value changes before the material frame on fork 1 completes stacking, it can be determined that the material frame on fork 1 has collided, and the stacker is immediately controlled to stop, thus preventing the shelf from overturning. Compared with the existing technology, the utility model uses displacement sensor 2 to sense the change in the material frame position and control the stacker to stop. It is not only simple in structure and high in precision, but also has a quick response, which can immediately control the stacker to stop, avoiding irreversible accidents.

[0034] Example 2:

[0035] Compared with the first embodiment, the difference is that the upper end surface of the lower connecting plate 6 is provided with lower protruding teeth 8, and the upper and lower end surfaces of the lower connecting plate 6 are both provided with upper protruding teeth 10. The upper protruding teeth 10 and the lower protruding teeth 8 replace the rubber plate 7. This increases the relative displacement resistance between the sleeve 3 and the fork 1 when the locking bolt 4 is tightened against the fork 1.

[0036] Because the sleeve 3 is located at the base of the fork 1, the erroneous thrust it experiences is directed toward the base of the fork 1. Therefore, both the lower protruding teeth 8 and the upper protruding teeth 10 are directed toward the base of the fork 1. This arrangement increases the resistance of the sleeve 3 to movement toward the base of the fork 1, making it less likely to move under the action of erroneous thrust.

[0037] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A stacker with a collision self-sensing function, comprising a fork (1) for grabbing a material frame, characterized in that: A displacement sensor (2) is installed at the root of the fork (1), and the displacement sensor (2) is electrically connected to the stacker and is used to control the stacker to stop. The detection end of the displacement sensor (2) is parallel to the fork (1) and points to the outer end of the fork (1); When the fork (1) grabs the material frame, the displacement sensor (2) obtains a displacement value.

2. The stacker with collision self-sensing function according to claim 1, characterized in that: It also includes a rectangular sleeve (3), wherein the sleeve (3) is sleeved with the cargo fork (1); The displacement sensor (2) is mounted on the upper end surface of the sleeve (3); The locking bolt (4) is threadedly connected to the lower end surface of the sleeve (3), and the threaded end thereof presses against the fork (1) to fix the sleeve (3).

3. The stacker with collision self-sensing function according to claim 2, characterized in that: The lower end surface of the sleeve (3) is provided with an extension column (5); The locking bolt (4) is threadedly connected to the extension column (5).

4. The stacker with collision self-sensing function according to claim 3, characterized in that: A lower connecting plate (6) is provided between the lower end surface of the sleeve (3) and the cargo fork (1); The threaded end of the locking bolt (4) abuts against the lower end surface of the lower connecting plate (6).

5. The stacker with collision self-sensing function according to claim 4, characterized in that: A soft rubber plate (7) is also connected between the lower connecting plate (6) and the cargo fork (1).

6. The stacker with collision self-sensing function according to claim 5, characterized in that: The upper end surface of the lower connecting plate (6) is provided with a lower convex tooth (8), and the lower convex tooth (8) replaces the rubber plate (7) and abuts against the lower end surface of the fork (1).

7. The stacker with collision self-sensing function according to claim 6, characterized in that: The lower protruding teeth (8) point toward the root of the fork (1).

8. The stacker with collision self-sensing function according to claim 7, characterized in that: An upper connecting plate (9) is provided between the upper end surface of the sleeve (3) and the cargo fork (1); Upper convex teeth (10) are provided on the upper and lower end surfaces of the upper connecting plate (9).

9. The stacker with collision self-sensing function according to claim 8, characterized in that: The upper protruding teeth (10) point toward the root of the fork (1).

10. The stacker with collision self-sensing function according to claim 1, characterized in that: A displacement sensor (2) is installed at the same position of the two forks (1).

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