Stacking machine

Abstract

The stacking machine comprises a bottom frame, a rack, an objective table, a lifting mechanism and a detection mechanism, the lifting mechanism comprises a winding and unwinding device and a steel wire rope, one end of the steel wire rope is connected with the winding and unwinding device, and the other end of the steel wire rope is connected with the objective table after passing through the top end of the rack; the detection mechanism comprises at least two detection pieces, and the multiple detection pieces are matched with the steel wire rope and located on the movement path of the steel wire rope; in the process that the objective table moves to the lower limit position from the upper limit position of the rack, the detection range of the multiple detection pieces can cover the part, extending out of the winding and unwinding device, of the same steel wire rope; at least two detection points are arranged on the same steel wire rope, the steel wire rope located between the objective table and the winding and unwinding device can be comprehensively detected, full-length dead-corner-free coverage of the steel wire rope is achieved, and the situation that the use reliability of the steel wire rope is affected due to the problems of detection blind areas, missed judgment and the like is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, and particularly relates to a stacker. BACKGROUND

[0002] The stacker is a key equipment in a modern logistics and warehousing system. In an automated intelligent stereoscopic warehouse, the stacker can perform a storage and retrieval operation of goods, and places or takes out the goods from a specified position through a lifting and traveling mechanism. After the stacker is used for a period of time, the lifting wire rope of the loading platform will be damaged, such as wear, wire breakage, rust and deformation, in repeated movements. If the damage is not timely checked, the damage will affect the use reliability of the wire rope. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the present application aims to provide a stacker capable of efficiently and comprehensively detecting a wire rope.

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides the following technical solutions:

[0005] The embodiment of the present application provides a stacker, which comprises a chassis, a rack arranged on the chassis and extending in a vertical direction, a loading platform arranged on the rack and capable of moving relative to the rack in the vertical direction, a lifting mechanism arranged on the rack, the lifting mechanism comprising a winding and unwinding device and a wire rope, one end of the wire rope being connected to the winding and unwinding device, the other end of the wire rope being connected to the loading platform after passing through the top end of the rack, and a detection mechanism comprising at least two detection pieces, the plurality of detection pieces being matched with the wire rope and located on the movement path of the wire rope, wherein in the process that the loading platform moves from the upper limit position of the rack to the lower limit position, the detection range of the plurality of detection pieces can cover the part of the wire rope extending out of the winding and unwinding device.

[0006] The stacker provided by the present application can comprehensively detect the wire rope between the loading platform and the winding and unwinding device through the plurality of detection pieces, realize full-length dead-angle-free coverage of the wire rope, and avoid the problems of detection blind area and missed judgment affecting the use reliability of the wire rope.

[0007] In some embodiments, one detection piece is arranged at the outlet of the winding and unwinding device, and the other detection pieces are arranged on the rack; in the process that the loading platform moves from the upper limit position of the rack to the lower limit position, the detection range of the other detection pieces covers at least the part of the wire rope between the upper limit position and the lower limit position.

[0008] In the technical solution, one detection member can detect the steel wire rope entering and leaving the winding device, and the other detection member can detect at least the part of the steel wire rope between the upper limit position and the lower limit position. Through the arrangement of the multiple detection members, the steel wire rope between the object table and the winding device can be comprehensively detected, the full-length dead angle coverage of the steel wire rope is realized, and the use reliability of the steel wire rope is not affected by the problems such as detection blind area and missed judgment.

[0009] In some embodiments, the detection mechanism includes two detection members, the first detection member is arranged at the outlet of the winding device, and the second detection member is arranged at the top end of the rack.

[0010] In the technical solution, two detection points are arranged on the same steel wire rope, the first detection member can detect the steel wire rope entering and leaving the winding device, and the second detection member can detect the steel wire rope passing through the top end of the rack. The steel wire rope between the object table and the winding device can be comprehensively detected, the full-length dead angle coverage of the steel wire rope is realized, and the use reliability of the steel wire rope is not affected by the problems such as detection blind area and missed judgment. In addition, through the scientific division and coverage of the two detection members, the dead angle detection is realized, and there is no functional overlap, so that the steel wire rope is efficiently and comprehensively detected at the lowest cost.

[0011] In some embodiments, the rack includes a first column and a second column, the first column and the second column are arranged on the base frame; the object table is arranged between the first column and the second column and is movably connected with the first column and the second column respectively; the winding device is arranged on the first column, the number of the steel wire ropes is two, one end of the first steel wire rope is connected with the object table through the top end of the first column, and one end of the second steel wire rope is connected with the object table through the top end of the first column and the top end of the second column in sequence; the number of the detection mechanisms is two, the first detection member of the first detection mechanism cooperates with the first steel wire rope, the second detection member of the first detection mechanism is arranged at the top end of the first column and cooperates with the first steel wire rope, the first detection member of the second detection mechanism cooperates with the second steel wire rope, and the second detection member of the second detection mechanism is arranged at the top end of the second column and cooperates with the second steel wire rope.

[0012] In the technical solution, the two columns jointly bear the weight of the object table, can evenly disperse the horizontal force and the vertical force, ensure the stability of the object table during lifting and translation, and avoid deviation, and meanwhile, the two detection mechanisms detect the two steel wire ropes respectively, so that the full-length dead angle coverage of the two steel wire ropes is realized.

[0013] In some embodiments, the second detection mechanism further includes a third detection member, the third detection member is arranged at the top end of the first column and cooperates with the second steel wire rope.

[0014] In the technical solution, when the second steel wire is in the longest state, the length of the second steel wire between the second stand and the winding and unwinding device is greater than the length of the second steel wire between the second stand and the object table, the two detection members cannot completely detect the second steel wire between the second stand and the winding and unwinding device, therefore, the third detection member is arranged at the top end of the first stand to detect the second steel wire, so that the steel wire between the object table and the winding and unwinding device can be comprehensively detected, the full-length dead angle coverage of the steel wire is realized, and problems such as detection blind area and missed judgment affecting the use reliability of the steel wire are avoided.

[0015] In some embodiments, the first detection member is detachably arranged on the winding and unwinding device, and the second detection member is detachably arranged on the rack.

[0016] In the technical solution, on the one hand, the positions of the first detection member and the second detection member can be adjusted according to different detection requirements, so that no matter how the equipment parameters and use conditions change, comprehensive detection without dead angle can be realized without replacing the entire detection system; on the other hand, the first detection member and the second detection member can be flexibly migrated and used between the same type of stackers, and the existing detection members can be directly reused, so that one set of detection mechanism can detect multiple stackers.

[0017] In some embodiments, the second detection member is provided with a hoop or a suction cup, and the hoop or the suction cup is connected with the rack.

[0018] In the technical solution, the structure of the hoop or the suction cup is simple, and installation, disassembly or position adjustment can be quickly completed without professional tools and complex processes, thereby greatly reducing the downtime of the stacker caused by disassembly and assembly of the detection member and ensuring the continuity of the operation.

[0019] In some embodiments, the detection member comprises: a mounting frame fixed to the rack or the winding and unwinding device; and a detection part arranged on the mounting frame and matched with the steel wire.

[0020] In the technical solution, the main function of the mounting frame is fixation, which ensures stable connection of the detection part with the winding and unwinding device and the rack; the main function of the detection part is to detect the steel wire, and the detection part needs to have optimized detection precision and sensing sensitivity. The functions of the mounting frame and the detection part are separated to avoid mutual interference, and the fixation reliability and detection accuracy of the detection member can be ensured at the same time.

[0021] In some embodiments, the detection member further comprises an angle adjusting member arranged on the mounting frame, and the detection part is arranged on the angle adjusting member.

[0022] In the technical solution, the pitch and yaw angles of the detection part can be adjusted by the angle adjusting member, so that the detection part can be accurately aligned with the surface of the steel wire rope, and problems such as signal attenuation and missed detection caused by angle deviation can be avoided, thereby accurately aligning the detection area and ensuring the detection accuracy.

[0023] In some embodiments, the detection member further comprises a shock absorber, which is arranged on the mounting frame, and the detection part is arranged on the shock absorber.

[0024] In the technical solution, the shock absorber can effectively absorb vibration energy and reduce the shaking amplitude of the detection part when the stacking machine is running, so that the detection part can always be stably aligned with the steel wire rope, the signal acquisition is accurate, and false positives and missed reports caused by vibration can be avoided.

[0025] In some embodiments, the mounting frame of the detection member comprises a base and a height adjusting member, the base is arranged at the outlet of the winding and unwinding device, the height adjusting member is arranged on the base and can rotate relative to the base, and the detection part is arranged on the height adjusting member.

[0026] In the technical solution, the position of the steel wire rope at the outlet of the winding and unwinding device will fluctuate slightly with the winding and unwinding of the winding drum and changes in load, and the position deviation of the steel wire rope at the outlet and the detection part will directly cause signal attenuation or missed detection. The height adjusting member can adjust the position of the detection part relative to the steel wire rope, so that the detection part can always maintain the best detection position relative to the steel wire rope, the signal acquisition is accurate, and false positives and missed reports caused by vibration can be avoided.

[0027] In some embodiments, the height adjusting member comprises a support frame, a sliding member, and an adjusting frame. The support frame is arranged on the base and can rotate relative to the base, the first guide structure is arranged on the support frame, and the detection part is arranged on the support frame. The sliding member is connected with the first guide structure and can move along the length direction of the first guide structure. The adjusting frame is arranged on the base and can rotate relative to the base, the second guide structure is arranged on the support frame, and the sliding member is connected with the second guide structure and can move along the length direction of the second guide structure.

[0028] In the technical solution, the relative position relationship between the support frame and the adjusting frame is adjusted by adjusting the position of the sliding member, so that the position of the detection part relative to the steel wire rope is adjusted. The support frame and the adjusting frame are connected by the sliding member, so that the position of the detection part relative to the steel wire rope is continuously adjusted, and the position of the detection part can be adjusted to the millimeter level, so that the position of the detection part can be adjusted according to the actual position of the steel wire rope at the outlet of the winding and unwinding device, and the detection part can maintain the best detection distance from the steel wire rope. BRIEF DESCRIPTION OF DRAWINGS

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a first embodiment of a stacker crane provided in some embodiments of this application;

[0031] Figure 2 This is a schematic diagram of the structure of a second embodiment of the stacker crane provided in some embodiments of this application;

[0032] Figure 3 This is a schematic diagram of the structure of a third embodiment of a stacker crane provided in some embodiments of this application;

[0033] Figure 4 for Figure 3 Enlarged structural diagram of section A in the middle;

[0034] Figure 5 for Figure 3 Enlarged structural diagram of section B in the middle;

[0035] Figure 6 A schematic diagram of the structure of a first embodiment of the detection device provided in some embodiments of this application;

[0036] Figure 7 for Figure 6 A schematic diagram of the exploded structure of the test piece from another perspective.

[0037] Figure 8 A schematic diagram of the structure of a second embodiment of the detection device provided in some embodiments of this application;

[0038] Figure 9 This is a schematic diagram of the structure of a third embodiment of the detection device provided in some embodiments of this application.

[0039] The attached figures are labeled as follows:

[0040] 10, base frame; 11, horizontal moving mechanism; 20, frame; 21, first vertical column; 22, second vertical column; 23, cross beam; 30, object table; 40, lifting mechanism; 41, winding and unwinding device; 411, driving motor; 412, winding drum; 42, steel wire rope; 421, first rope section; 422, second rope section; 423, third rope section; 50, detection member; 51, mounting frame; 511, base; 512, height adjusting member; 5121, support frame; 5122, first guide structure; 5123, sliding member; 5124, adjusting frame; 5125, second guide structure; 513, annular hoop body; 514, adjusting fastener; 515, disc body; 516, frame body; 52, detection part; 521, length detection unit; 522, flaw detection unit; 53, angle adjusting member; 531, first plate; 532, second plate; 533, mounting plate; 534, rotating shaft; 54, shock absorber; 60, fixed pulley. DETAILED DESCRIPTION

[0041] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application. Through these descriptions, the features and advantages of the present application will become more apparent.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the terms "comprising" and "having," and any variations thereof, as used in the specification and throughout the claims are intended to cover not exclusively inclusive.

[0043] The "embodiment" mentioned in the present application means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it a separate or alternative embodiment independent of or alternative to other embodiments. The skilled person in the art explicitly and implicitly understands that the embodiments described in the present application can be combined with other embodiments.

[0044] The specific word "exemplary" mentioned in the present application means "as an example, embodiment or illustration". Any embodiment described as "exemplary" is not necessarily interpreted as superior or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0045] In the description of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0046] In the description of the present application, the technical term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing together, and B existing alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0047] In the description of the embodiments of the present application, the directions or positional relationships indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0048] In the description of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the description of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0050] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two), unless otherwise explicitly specified and limited. Similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0051] In the description of the present application, the same reference signs represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, and other dimensions of the integrated device, are only exemplary and should not constitute any limitation on the present application.

[0052] With the development of modern intelligent logistics, the requirements for intelligent warehousing are also increasing, and the reliability of the stacker, as the carrier host of the stereoscopic warehousing equipment, is particularly important.

[0053] Taking the battery industry as an example, battery packs are increasingly widely used. Battery packs are not only used in energy storage power systems such as hydroelectric, thermal, wind, and solar power stations, but also widely used in electric bicycles, electric motorcycles, electric vehicles, and other electric vehicles, as well as military equipment and aerospace, and many other fields. With the continuous expansion of the application field of battery packs, the market demand is also increasing. In order to realize the storage of related products such as battery packs, a vertical warehouse is usually used to save space. In order to realize the transfer of the battery, a stacker is usually used.

[0054] The stacker includes a load table, a column, a motor, and a steel wire rope. The motor drives the load table to move up and down along the vertical direction of the column through the steel wire rope. The steel wire rope will be damaged in repeated motion, such as wear, broken wire, broken strand, rust, and deformation. If not checked in time, the damage will affect the use reliability of the steel wire rope. In the related art, the detection of the steel wire rope includes visual inspection and flaw detection instrument detection. In the flaw detection instrument detection process, how to efficiently and comprehensively cover the detection of the steel wire rope becomes a problem of steel wire rope detection.

[0055] To solve the above problems, the present application provides a stacker, which includes a detection mechanism. The detection mechanism includes two detection pieces. The detection pieces cooperate with the steel wire rope. The first detection piece is arranged at the outlet of the winding and unwinding device. The second detection piece is arranged at the top end of the rack. The first detection piece can detect the steel wire rope wound into and unwound from the winding and unwinding device. The second detection piece can detect the steel wire rope passing through the top end of the rack. Thus, the steel wire rope between the load table and the winding and unwinding device can be comprehensively detected, the full-length dead angle coverage of the steel wire rope is realized, and the use reliability of the steel wire rope is affected by problems such as detection blind area and missed judgment. In addition, through the scientific partitioning coverage of the two detection pieces, no dead angle detection and no functional overlap are realized, and efficient and comprehensive detection of the steel wire rope is realized at the lowest cost.

[0056] The stacker disclosed in this application can be used for battery stacking to improve battery production efficiency and reduce production costs. The battery serves as a power source for electrical devices or as an energy storage system for various applications. Electrical devices can be, but are not limited to, mobile phones, tablets, laptops, electric toys, power tools, electric vehicles, electric cars, ships, spacecraft, etc. Electric toys can include stationary or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, etc. Spacecraft can include airplanes, rockets, space shuttles, and spacecraft, etc.

[0057] The stacker crane disclosed in this application can also be used for stacking and handling other materials.

[0058] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings. The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0059] like Figures 1 to 3 As shown, the stacker provided in this embodiment includes: a base frame 10, a frame 20, a platform 30, a lifting mechanism 40, and a detection mechanism.

[0060] The base frame 10 refers to the seat structure that provides load-bearing support for the frame 20. A horizontal moving mechanism 11 can also be installed on the base frame 10. The horizontal moving mechanism 11 drives the frame 20 to move horizontally, thereby realizing the horizontal movement of the platform 30. In conjunction with the lifting mechanism 40, the platform 30 moves vertically, thereby realizing the three-dimensional movement of the platform 30, so as to realize the flexible handling of materials and improve stacking efficiency.

[0061] The frame 20 is mounted on the base frame 10 and extends vertically.

[0062] In some specific embodiments of this application, the frame 20 includes a column, which is a column structure mounted on the base frame 10 and extending vertically. The column provides support for the lifting mechanism 40, which drives the platform 30 to move vertically, that is, along the height of the column. The column can be a steel frame structure, a steel column, or a column structure made of other materials. A ladder may also be provided on the column, allowing workers to climb and facilitate maintenance of equipment such as the drive mechanism on the column.

[0063] In some other specific embodiments of this application, the frame includes multiple steel columns and steel beams, which are welded together to form a steel frame structure. The lower ends of the columns are connected to the base frame, and the columns extend vertically.

[0064] The loading table 30 is arranged on the rack 20 and can move relative to the rack 20 in the vertical direction. The loading table 30 refers to a bearing mechanism that provides a bearing function for an article. Specifically, the loading table 30 is provided with a carrying component, and taking a battery as an example of an article that needs to be carried, the carrying component is a battery clamp, which can carry a battery monomer or a battery stock work, and realize the carrying of the battery monomer or the battery.

[0065] The lifting mechanism 40 is arranged on the rack 20, and the lifting mechanism 40 includes a winding and unwinding device 41 and a steel wire rope 42. One end of the steel wire rope 42 is connected with the winding and unwinding device 41, and the other end of the steel wire rope 42 is connected with the loading table 30 after passing through the top end of the rack 20. Specifically, the top end of the rack 20 is provided with a fixed pulley 60, and the steel wire rope 42 is connected with the loading table 30 after being turned by the fixed pulley 60.

[0066] In some embodiments of the present application, the winding and unwinding device 41 includes a driving motor 411 and a winding drum 412. The driving motor 411 provides the rotating power of the winding drum 412, and the winding drum 412 rotates to wind or unwind the steel wire rope 42. The number of winding drums 412 is the same as the number of steel wire ropes 42. The winding drums 412 can be driven by the same driving motor 411 or by different driving motors 411. The winding and unwinding device 41 that realizes the lifting of the loading table 30 is a common component on a stacker, and will not be described in detail here.

[0067] The detection mechanism includes at least two detection pieces 50. The plurality of detection pieces 50 cooperate with the steel wire rope 42 and are located on the movement path of the steel wire rope 42. During the movement of the loading table 30 from the upper limit position of the rack 20 to the lower limit position, the detection range of the plurality of detection pieces 50 can cover the part of the same steel wire rope 42 that extends out of the winding and unwinding device 41. The upper limit position refers to the highest position to which the loading table 30 can move on the rack 20, preventing the loading table 30 from rising excessively and ensuring the safety of the equipment structure. The lower limit position refers to the lowest position to which the loading table 30 can move on the rack 20, preventing the loading table from descending excessively.

[0068] The stacker provided in the present application can comprehensively detect the steel wire rope located between the loading table and the winding and unwinding device through the plurality of detection pieces, realize full-length dead-angle-free coverage of the steel wire rope, and avoid problems such as detection blind area and missed judgment affecting the use reliability of the steel wire rope.

[0069] In some embodiments of the present application, the detection mechanism further comprises a display device, which transmits data with the detection member through a data line or a wireless module. The display device displays the state of the steel wire rope by running relevant software, so that the damage condition of the steel wire rope can be intuitively understood. Specifically, the display device can be an existing computer display screen or a special display screen matched with the detection member. The special display screen is internally provided with a processor for processing data, and the computer display screen can process data through the processor of the computer.

[0070] According to some embodiments of the present application, one detection member is arranged at the outlet of the winding and unwinding device, and the other detection member is arranged on the rack. During the movement of the object table from the upper limit position to the lower limit position of the rack, the detection range of the other detection member covers at least the part of the steel wire rope between the upper limit position and the lower limit position.

[0071] When the object table 30 is at the lower limit position, the steel wire rope 42 is divided into a first rope segment 421 between the winding and unwinding device 41 and the top end of the rack 20 and a second rope segment 422 between the upper limit position and the lower limit position. During the winding and unwinding of the steel wire rope 42 by the winding and unwinding device 41, the first rope segment 421 passes through the first detection member 50 completely, and the second rope segment 422 passes through the other detection member 50 completely. After each lifting cycle of the object table is completed, the entire steel wire rope 42 is detected twice (once during winding and once during unwinding). This “dynamic full coverage” design ensures that no part of the steel wire rope can escape detection from the perspective of motion logic. As long as damage occurs on the steel wire rope 42, it will be captured when passing through the detection member 50, thereby achieving full-length coverage of the steel wire rope 42 without dead angles, avoiding detection blind spots, missed judgments, and other problems affecting the use reliability of the steel wire rope 42.

[0072] According to some embodiments of the present application, the detection mechanism comprises two detection members 50, which cooperate with the steel wire rope 42. The first detection member 50 is arranged at the outlet of the winding and unwinding device 41, and the second detection member 50 is arranged at the top end of the rack 20.

[0073] When the platform is at its lower limit position, the wire rope 42 is divided into a first rope segment 421 located between the winding / unwinding device 41 and the top of the frame 20, and a second rope segment 422 located between the top of the frame 20 and the platform 30. During the winding and unwinding process of the winding / unwinding device 41, the first rope segment 421 will pass entirely through the first detection element 50, and the second rope segment 422 will pass entirely through the second detection element 50. Every time the stacker crane completes one lifting and lowering cycle of the platform, the entire length of the wire rope 42 is completely detected twice (once during winding and once during unwinding). This "dynamic full coverage" design ensures, from a motion logic perspective, that no part of the rope can escape detection. As long as damage occurs on the wire rope 42, it will definitely be detected when passing through the detection element 50, thereby achieving full-length, blind-spot-free coverage of the wire rope 42 and avoiding problems such as blind spots and missed detections that affect the reliability of the wire rope 42. In addition, through the scientific zoning coverage of the two inspection components 50, it is possible to achieve inspection without blind spots and without functional overlap, thus achieving efficient and comprehensive inspection of the wire rope 42 at the lowest cost.

[0074] like Figure 2 and Figure 3 As shown, according to some embodiments of this application, the frame 20 includes a first column 21 and a second column 22, which are mounted on the base frame 10. The frame 20 has a double-column structure, with two columns (the first column 21 and the second column 22) arranged parallel to each other. In some embodiments, the frame 20 further includes a crossbeam 23, which is located at the top of the two columns. The crossbeam 23 and the two columns form a "gate"-shaped frame structure (gantry structure), giving the frame 20 excellent anti-tilting and anti-shaking capabilities. During stacker crane operation (especially when the platform is raised to a high position and carrying heavy goods), the double columns can evenly distribute horizontal and vertical forces, preventing gantry deformation or platform swaying, ensuring that goods move smoothly without deviation during lifting and lateral movement, and significantly reducing the risk of goods falling or tipping over.

[0075] The platform 30 is positioned between the first column 21 and the second column 22, and is movably connected to both columns. The symmetrical structure of the two columns reduces the force deviation of the platform 30 during operation. Combined with the double-sided guide of the two columns, the verticality and parallelism errors of the platform are smaller, which can avoid running deviation caused by wear on one side.

[0076] The winding and unwinding device 41 is installed on the first column 21. There are two steel wire ropes 42. The other end of the first steel wire rope 42 is connected to the platform 30 through the top of the first column 21. The other end of the second steel wire rope 42 is connected to the platform 30 through the top of the first column 21 and the top of the second column 22 in sequence.

[0077] There are two testing mechanisms. The first testing component 50 of the first testing mechanism is matched with the first wire rope 42. The second testing component 50 of the first testing mechanism is set at the top of the first column 21 and matches with the first wire rope 42. The first testing component 50 of the second testing mechanism matches with the second wire rope 42. The second testing component 50 of the second testing mechanism is set at the top of the second column 22 and matches with the second wire rope 42.

[0078] The first wire rope 42 is divided into a first rope segment 421 located between the winding and unwinding device 41 and the top of the first column 21, and a second rope segment 422 located between the top of the first column 21 and the platform 30. During the winding and unwinding process of the winding and unwinding device 41, the first rope segment 421 will pass through the first detection element 50 of the first detection mechanism, and the second rope segment 422 will pass through the second detection element 50 of the first detection mechanism. This allows for comprehensive detection of the first wire rope 42 located between the platform 30 and the winding and unwinding device 41, achieving full coverage of the entire length of the wire rope 42 without any blind spots.

[0079] The second wire rope 42 is divided into a first rope segment located between the winding / unwinding device 41 and the top of the first column 21, a second rope segment 422 located between the top of the second column 22 and the platform 30, and a third rope segment 423 located between the top of the first column 21 and the top of the second column 22; provided that the sum of the lengths of the first rope segment 421 and the third rope segment 423 is not greater than the length of the second rope segment 422 (the lengths of the first rope segment 421, the second rope segment 422, and the third rope segment 423 refer to: when the platform is at the lowest position of the column (the second...) (Measured when the wire rope 42 is at its maximum length and the second wire rope 42 is taut). During the winding and unwinding process of the winding and unwinding device 41, the first rope segment 421 and the third rope segment 423 will all pass through the first detection element 50 of the second detection mechanism, and the second rope segment 422 will all pass through the second detection element 50 of the second detection mechanism. This allows for comprehensive detection of the second wire rope 42 located between the platform 30 and the winding and unwinding device 41, achieving full coverage of the entire length of the wire rope 42 without any blind spots.

[0080] like Figure 3 As shown, according to some embodiments of this application, the second detection mechanism further includes a third detection element 50, which is disposed at the top of the first column 21 and cooperates with the second wire rope 42.

[0081] When the sum of the lengths of the first rope segment 421 and the third rope segment 423 is greater than the length of the second rope segment 422, and the length of the first rope segment 421 and the length of the third rope segment 423 are both not greater than the length of the second rope segment 422, at least part of the third rope segment 423 cannot be detected by the first detection member 50 or the second detection member 50. Therefore, the third detection member 50 is arranged at the top end of the first upright column 21 to detect the third rope segment 423, so that the second steel wire rope 42 between the object table 30 and the winding and unwinding device 41 can be comprehensively detected, the full-length dead angle coverage of the second steel wire rope 42 is realized, and problems such as detection blind area and missed judgment are avoided to affect the use reliability of the steel wire rope 42. In some embodiments of the present application, the third detection member 50 cannot completely detect the third rope segment 423, but the part not detected by the third detection member 50 can be detected by the first detection member 50 and / or the second detection member 50. Therefore, the second steel wire rope 42 between the object table 30 and the winding and unwinding device 41 can be comprehensively detected by the cooperation of the third detection member 50, the first detection member 50 and / or the second detection member 50, and the full-length dead angle coverage of the steel wire rope 42 is realized.

[0082] As shown in Figures 3 to 9 According to some embodiments of the present application, the first detection member 50 is detachably arranged on the winding and unwinding device 41.

[0083] The second detection member 50 is detachably arranged on the rack 20.

[0084] In the same stacker, the monitoring demand may change due to load adjustment and change of shelf height, so that the positions of the existing two detection members 50 cannot meet the detection demand. For example, it is necessary to focus on detecting a certain position of the steel wire rope 42, the positions of the two detection members 50 can be adjusted to make the two detection members 50 repeatedly detect the position. Therefore, the positions of the first detection member 50 and the second detection member 50 can be adjusted according to different detection requirements, so that no matter how the device parameters and use conditions change, comprehensive detection without dead angle can be realized, and the whole detection system does not need to be replaced.

[0085] The detachable detection member 50 can be flexibly migrated and used between the same type of stackers. That is, when a stacker is under repair or idle, the detection member 50 can be detached and installed on a newly added stacker, without the need for additional purchase, and the existing detection member 50 can be directly reused. This is especially suitable for warehouse scenarios with multiple same type of stackers, so that one detection mechanism can detect multiple stackers. In addition, when the equipment is upgraded, the detection member 50 can be migrated to a new device or other in-use device, without the need to scrap the detection member 50 due to equipment changes, thereby greatly prolonging the service life of the detection member 50.

[0086] As shown in Figures 4 to 9As shown, according to some embodiments of the present application, the detection member 50 comprises a mounting frame 51 and a detection part 52.

[0087] The mounting frame 51 is fixed on the rack 20 or the winding and unwinding device 41.

[0088] The detection part 52 is arranged on the mounting frame 51 and cooperates with the steel wire rope 42.

[0089] The main function of the mounting frame 51 is fixing, which ensures that the detection part 52 is stably connected with the winding and unwinding device 41 and the rack 20; the main function of the detection part 52 is detecting the steel wire rope 42, and the detection part 52 needs to be optimized in detection precision and sensing sensitivity. The mounting frame 51 and the detection part 52 are separated in function, which avoids mutual interference and can simultaneously ensure the fixing reliability and detection precision of the detection member 50.

[0090] As shown in the drawings, Figures 6 to 9 In some specific embodiments of the present application, the detection part 52 comprises a length detection unit 521 and a flaw detection unit 522. The length detection unit 521 comprises a roller and a detection switch (such as an optical encoder / Hall sensor), the roller is tangent to the surface of the steel wire rope 42, and the detection switch is integrated on the roller, which can convert the number of revolutions of the roller into an electrical signal in real time and transmit it to a data processing module. The flaw detection unit 522 comprises a magnetic mechanism and a voltage comparison module. The magnetic mechanism generates a constant magnetic field, so that the steel wire rope 42 passing through the magnetic field is magnetized (forming a closed magnetic circuit), and when the steel wire rope 42 is damaged, a voltage signal will be generated in the steel wire rope 42; the voltage comparison module has a settable upper voltage threshold value, and the voltage comparison module compares the voltage signal with the threshold value in real time and outputs the corresponding structure. The above description of the detection part 52 is only for explaining the working principle of the detection part 52, and the detection part 52 is a common component, which will not be described in detail here.

[0091] As shown in the drawings, Figures 6 to 9 According to some embodiments of the present application, the detection member 50 further comprises an angle adjusting member 53, which is arranged on the mounting frame 51, and the detection part 52 is arranged on the angle adjusting member 53.

[0092] After the mounting frame 51 is fixed, the detection piece 50 can have a slight angular deviation. The angle adjusting piece 53 can offset this error through fine adjustment, without the need to disassemble and move the mounting frame 51, and only the angle adjusting piece 53 needs to be adjusted to make the detection part 52 reach the optimal angle, shorten the installation and debugging time, and reduce the difficulty of on-site operation. In addition, when the stacker is running, the steel wire rope 42 will have slight swinging or angular deviation due to lifting start and stop and load change. The angle adjusting piece 53 can pre-adjust the effective monitoring angle range of the detection part 52, or optimize the angle according to the dynamic working condition during equipment debugging, to ensure that the detection part can still stably cover the monitoring area when the steel wire rope 42 swings slightly, avoid signal interruption or distortion caused by working condition change, and ensure the detection continuity in all working conditions.

[0093] When the detection piece 50 is reused across the equipment, the installation surface angles of different models and the running direction of the steel wire rope 42 will also be different. Specifically, the running direction of the steel wire rope 42 will present different angles with the installation position (the winding and unwinding device 41 side, the rack 20 side) and the stress state (static bearing, dynamic running). The angle adjusting piece 53 can fine-tune the pitch and deflection angle of the detection part 52, so that the detection part 52 can accurately align with the surface of the steel wire rope 42, avoid signal attenuation and missed detection caused by angular deviation, and thus accurately align the detection area and ensure the detection accuracy.

[0094] As shown in Figures 6 to 9 , according to some embodiments of the present application, the detection piece 50 further comprises a shock absorber 54, which is arranged on the mounting frame 51, and the detection part 52 is arranged on the shock absorber 54. Optionally, the shock absorber 54 and the angle adjusting piece 53 can be arranged between the mounting frame 51 and the detection part 52, or the angle adjusting piece 53 or the shock absorber 54 can be arranged alone. When the shock absorber 54 and the angle adjusting piece 53 exist at the same time, the angle adjusting piece 53 is arranged on the mounting frame 51, the shock absorber 54 is arranged on the angle adjusting piece 53, and the detection part 52 is arranged on the shock absorber 54.

[0095] When the stacker is running (especially when the object table starts and stops and the winding and unwinding device 41 winds and unwinds the rope), continuous vibration will be generated, and the vibration will be transmitted to the detection part 52 through the mounting frame 51. Without a shock absorbing piece, the vibration can cause the detection part 52 to vibrate slightly, resulting in problems such as signal drift, fuzzy fault feature recognition, etc. For example, the vibration is misjudged as a wear signal, or a small broken wire is missed. The shock absorber 54 (such as a rubber pad or a spring shock absorber) can effectively absorb vibration energy, reduce the vibration amplitude of the detection part 52, and make the detection part always stably align with the steel wire rope 42, so as to ensure accurate signal acquisition and avoid false alarms and missed reports caused by vibration.

[0096] As shown in Figure 4 , Figures 6 to 8As shown, according to some embodiments of the present application, the second detection member 50 is provided with a hoop or a suction cup, and the hoop or the suction cup is connected with the rack 20. Specifically, the hoop or the suction cup is a mounting frame 51, and the angle adjusting member 53 is a connecting plate including a first plate 531 and a second plate 532 connected with each other and having an included angle therebetween so as to form an L-shaped connecting plate, the detection part 52 is mounted on the first plate 531, and the second plate 532 is detachably connected with the mounting frame 51, and the detection angle of the detection part 52 is changed by rotating the second plate 532.

[0097] As shown in Figure 4 , Figure 6 and Figure 7 , the hoop includes a ring-shaped hoop body 513 and an adjusting fastener 514, the ring-shaped hoop body 513 is wrapped around the column of the rack 20, the inner wall of the ring-shaped hoop body 513 is usually treated (such as embossed) to prevent slipping to avoid vibration causing the ring-shaped hoop body 513 to slip relative to the column, and the adjusting fastener 514 is connected to both ends of the ring-shaped hoop body 513 and can adjust the tightness of the ring-shaped hoop body 513 so as to fix the ring-shaped hoop body 513 on the column.

[0098] As shown in Figure 8 , the suction cup includes a disc body 515 and a frame body 516, the disc body 515 is used for adsorbing on the column, the disc body 515 can be a vacuum disc body (pneumatic adsorption) or a magnetic disc body (magnetic adsorption), the disc body 515 is arranged on the frame body 516, the frame body 516 provides a mounting position for the disc body 515, and the number of the disc body 515 can be multiple.

[0099] When the width of the column is greater than 200 mm or more, the suction cup can be selected, and when the suction cup is pneumatic adsorption, it is necessary to ensure that the surface of the column is smooth and has no cracks; when the width of the column is less than 200 mm or the surface of the column is unevenly painted or has cracks or the like, the hoop is selected.

[0100] The structure of the hoop or the suction cup is simple, and without professional tools and complex processes, installation, disassembly or position adjustment and the like can be quickly completed, thereby greatly reducing the stacking machine downtime caused by disassembly and assembly of the detection member 50 and ensuring the continuity of operation.

[0101] As shown in Figure 5 and Figure 9 , according to some embodiments of the present application, the mounting frame 51 of the detection member 50 includes a base 511 and a height adjusting member 512. According to some specific embodiments of the present application, the angle adjusting member 53 is arranged on the height adjusting member 512, the angle adjusting member 53 includes a mounting plate 533 and a rotating shaft 534, the mounting plate 533 is rotatably connected with the rotating shaft 534, the shock absorber 54 is arranged on the mounting plate 533, the detection part 52 is arranged on the shock absorber 54, the rotating shaft 534 is fixed on the height adjusting member 512, and the detection angle of the detection part 52 is changed by rotating the mounting plate 533.

[0102] The base 511 is arranged at the outlet of the winding and unwinding device 41, and the height adjusting member 512 is arranged on the base 511 and can rotate relative to the base 511. The base 511 is detachably connected with the winding and unwinding device 41, and the base 511 can be arranged at the anti-swing structure of the winding and unwinding device 41.

[0103] The detection part 52 is arranged on the height adjusting member 512.

[0104] The height of the steel wire rope 42 at the outlet of the winding and unwinding device 41 will fluctuate slightly with the winding and unwinding of the winding drum 412 and the change of the load, and the height deviation of the steel wire rope 42 at the outlet from the detection part 52 will directly cause signal attenuation or missed detection. The height adjusting member 512 can finely adjust the vertical height of the detection part 52, so that the detection part 52 always maintains the optimal detection distance from the steel wire rope 42, and accurately captures the slight broken wires and local wear at the outlet of the winding drum 412, thereby avoiding detection failure caused by height deviation. In addition, after the winding and unwinding device 41 is operated for a long time, the detection part 50 may have height deviation, which can be quickly offset by adjusting the height adjusting member 512, without the need to disassemble and move the base 511, thereby shortening the installation and debugging time and reducing the difficulty of on-site operation.

[0105] When the detection part 50 is reused across devices, the installation heights and outlet positions of the winding and unwinding devices 41 of different stackers may be different, and even for the same type of stacker, the installation and debugging may cause height deviation. The height adjusting member 512 does not need to change the base 511 or the detection part 52, and can adapt to the outlet heights of the winding and unwinding devices 41 of different devices by adjusting the height adjusting member 512, thereby perfectly supporting the reuse of the detection part 50 across devices, without the need to customize a special mounting rack 51 for different devices, thereby reducing the adaptation cost.

[0106] As shown in FIG. 5, according to some embodiments of the present application, the height adjusting member 512 comprises a support frame 5121, a sliding member 5123 and an adjusting frame 5124. Figure 9 The support frame 5121 is arranged on the base 511 and can rotate relative to the base 511, and the first guide structure 5122 is arranged on the support frame 5121. The detection part 52 is arranged on the support frame 5121.

[0107] The sliding member 5123 is connected with the first guide structure 5122 and can move along the length direction of the first guide structure 5122.

[0108]

[0109] ​The adjusting frame 5124 is arranged on the base 511 and can rotate relative to the base 511, and the second guide structure 5125 is arranged on the support frame 5121, and the sliding piece 5123 is connected with the second guide structure 5125 and can move along the length direction of the second guide structure 5125.

[0110] The first guide structure 5122 and the second guide structure 5125 are guide grooves or guide holes.

[0111] The support frame 5121 serves as a basic bearing structure and mainly functions to support the detection part 52, and the adjusting frame 5124 functions to adjust the height of the support frame 5121, and the relative position relationship between the sliding piece 5123 and the support frame 5121 and the adjusting frame 5124 is adjusted to adjust the position of the support frame 5121 relative to the steel wire rope 42, so that the position of the detection part 52 is adjusted; the support frame 5121 and the adjusting frame 5124 are connected through the sliding piece 5123 to realize sliding connection, so that the position of the detection part 52 relative to the steel wire rope 42 is continuously adjusted steplessly, that is, the position of the detection part 52 can be adjusted by millimeter.

[0112] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described.

[0113] Please refer to Figures 3 to 5 According to some embodiments of the present application, the present application provides a stacking machine comprising a base frame 10, a machine frame 20, a carrier platform 30, a lifting mechanism 40 and a detection mechanism.

[0114] The machine frame 20 comprises a first vertical column 21 and a second vertical column 22.

[0115] The carrier platform 30 is arranged between the first vertical column 21 and the second vertical column 22 and is movably connected with the first vertical column 21 and the second vertical column 22 respectively.

[0116] The lifting mechanism 40 comprises a winding and unwinding device 41 and two steel wire ropes 42, the winding and unwinding device 41 is arranged on the first vertical column 21, one end of the first steel wire rope 42 is connected with the winding and unwinding device 41, the other end of the first steel wire rope 42 passes through the top end of the first vertical column 21 and is connected with the carrier platform 30; one end of the second steel wire rope 42 is connected with the winding and unwinding device 41, the other end of the second steel wire rope 42 passes through the top end of the first vertical column 21, the top end of the second vertical column 22 and the carrier platform 30 in sequence.

[0117] The number of detection mechanisms is two, the first detection mechanism detects the first steel wire rope 42, and the second detection mechanism detects the second steel wire rope 42.

[0118] The first detection mechanism includes two detection members 50, the first detection member 50 is arranged at the outlet of the winding and unwinding device 41, and the second detection member 50 is arranged at the top end of the first vertical column 21.

[0119] The second detection mechanism includes three detection members 50, the first detection member 50 is arranged at the outlet of the winding and unwinding device 41, the second detection member 50 is arranged at the top end of the second vertical column 22, and the third detection member 50 is arranged at the top end of the first vertical column 21.

[0120] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application. Especially, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A stacker characterized in that, The stacker comprises: a chassis; a rack arranged on the chassis and extending in a vertical direction; a table arranged on the rack and movable relative to the rack in a vertical direction; a lifting mechanism arranged on the rack, the lifting mechanism comprising a winding and unwinding device and a wire rope, one end of the wire rope being connected to the winding and unwinding device, the other end of the wire rope being connected to the table after passing through a top end of the rack; and a detection mechanism comprising at least two detection members, the detection members being matched with the wire rope and located on a movement path of the wire rope; wherein, during movement of the table from an upper limit position of the rack to a lower limit position of the rack, detection ranges of the detection members can cover a portion of the wire rope extending out of the winding and unwinding device.

2. The stacker according to claim 1, wherein one of the detection members is arranged at an outlet of the winding and unwinding device, and the other detection members are arranged on the rack; during movement of the table from the upper limit position of the rack to the lower limit position of the rack, detection ranges of the other detection members cover at least a portion of the wire rope between the upper limit position and the lower limit position.

3. The stacker according to claim 2, wherein the detection mechanism comprises two detection members, a first detection member is arranged at the outlet of the winding and unwinding device, and a second detection member is arranged at a top end of the rack.

4. The stacker according to claim 3, wherein the rack comprises a first column and a second column, the first column and the second column are arranged on the chassis; the table is arranged between the first column and the second column and is movably connected to the first column and the second column, respectively; the winding and unwinding device is arranged on the first column, the number of the wire ropes is two, the other end of a first wire rope is connected to the table after passing through a top end of the first column, and the other end of a second wire rope is connected to the table after passing through the top end of the first column and a top end of the second column in sequence; the number of the detection mechanisms is two, a first detection member of a first detection mechanism is matched with the first wire rope, a second detection member of the first detection mechanism is arranged at the top end of the first column and matched with the first wire rope, a first detection member of a second detection mechanism is matched with the second wire rope, and a second detection member of the second detection mechanism is arranged at the top end of the second column and matched with the second wire rope.

5. The stacker according to claim 4, wherein the second detection mechanism further comprises a third detection member, and the third detection member is arranged at the top end of the first column and matched with the second wire rope.

6. The stacker according to claim 3, wherein the first detection member is detachably arranged on the winding and unwinding device; and the second detection member is detachably arranged on the rack.

7. The stacker according to claim 6, characterized in that, a second detection member is provided with a hoop or a suction cup, and the hoop or the suction cup is connected with the rack.

8. The stacker according to any one of claims 1 to 7, characterized in that, the detection member comprises a mounting frame fixed on the rack or the winding and unwinding device, and a detection part provided on the mounting frame and matched with the steel wire rope.

9. The stacker according to claim 8, characterized in that, the detection member further comprises an angle adjusting member provided on the mounting frame, and the detection part is provided on the angle adjusting member.

10. The stacker according to claim 8, characterized in that, the detection member further comprises a shock absorber provided on the mounting frame, and the detection part is provided on the shock absorber.

11. The stacker according to claim 8, characterized in that, the mounting frame of the detection member comprises a base provided at the outlet of the winding and unwinding device and a height adjusting member provided on the base and capable of rotating relative to the base; and the detection part is provided on the height adjusting member.

12. The stacker according to claim 11, characterized in that, the height adjusting member comprises a support frame provided on the base and capable of rotating relative to the base, a first guide structure provided on the support frame, and the detection part is provided on the support frame; a sliding member connected with the first guide structure and capable of moving along the length direction of the first guide structure; and an adjusting frame provided on the base and capable of rotating relative to the base, a second guide structure provided on the support frame, and the sliding member connected with the second guide structure and capable of moving along the length direction of the second guide structure.

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