A stacker crane composite positioning control device

Abstract

This utility model discloses a composite positioning control device for a stacker crane, including a stacking mechanism and a positioning mechanism. The stacking mechanism includes a robot, a mounting frame connected to the robot's movable end, two guide rods fixed inside the mounting frame, two forks slidably connected between the two guide rods, a threaded rod rotatably passing through one end of the mounting frame, and a motor connected between the mounting frame and the threaded rod. In this utility model, when the robot drives the mounting frame close to the shelf or pallet and the forks are parallel to it, the PLC activates a micro motor to raise the industrial camera on the support plate to take a picture. After analyzing the picture, the PLC controls the motor to drive the threaded rod to move the forks closer or further apart. After the forks are aligned with the bottom space, the PLC reverses the micro motor to retract the industrial camera and align the forks parallel to the bottom space, taking another picture to obtain position information. Based on this, the PLC adjusts the forks to the center of the space to avoid collision.

Description

Technical Field

[0001] This utility model relates to the field of stacker crane composite positioning technology, specifically a stacker crane composite positioning control device. Background Technology

[0002] Stacker cranes are the core handling equipment in automated storage and retrieval systems (AS / RS). They can use forks to precisely reach into high-level racks to store and retrieve pallets or bins of goods, enabling automatic, efficient, and accurate inbound, outbound, and intra-warehouse movement of goods. They are key equipment for improving warehouse space utilization and the level of automation in logistics operations.

[0003] In stacking operations, traditional forks, lacking a visual guidance system, are prone to collisions when inserted into the bottom space of pallets or racks, posing a risk of damaging goods and equipment. Utility Model Content

[0004] This utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] Therefore, the technical solution adopted by this utility model is as follows:

[0006] A stacker crane composite positioning control device includes a stacking mechanism and a positioning mechanism. The stacking mechanism includes a robot, a mounting frame connected to the movable end of the robot, two guide rods fixed inside the mounting frame, two forks slidably connected between the two guide rods, a threaded rod rotatably passing through one end of the mounting frame, and a motor connected between the mounting frame and the threaded rod. Both forks are connected to the threaded rod. The positioning mechanism includes a support plate rotatably embedded at the bottom end of the forks via a rotating shaft, a micro motor connected between the forks and the rotating shaft, an industrial camera rotatably embedded at the outer end of the support plate, and two torsion springs connected between the support plate and the industrial camera.

[0007] By adopting the above technical solution, when the robot-driven mounting frame approaches the shelf or pallet and the forks are parallel to it, the PLC starts the micro motor to raise the industrial camera on the support plate to take pictures. After analyzing the pictures, the PLC controls the motor to drive the threaded rod to move the forks closer or apart. After the forks are aligned with the bottom space, the PLC reverses the micro motor to make the industrial camera retract the forks and align them parallel to the bottom space, and takes pictures again to obtain position information. Based on this, the PLC adjusts the forks to the center of the space to avoid collisions.

[0008] In a preferred embodiment, the present invention can be further configured such that the threaded rod is disposed between two guide rods, and the external thread of the threaded rod is configured as two segments with opposite directions of rotation.

[0009] In a preferred embodiment, the present invention can be further configured such that two torsion springs are vertically symmetrical about the industrial camera, and the diameter of the torsion springs is smaller than the thickness of the industrial camera.

[0010] In a preferred embodiment, the present invention can be further configured such that: a protective component is provided at the bottom end of the fork, the protective component including a cover plate rotatably embedded on one side of the fork, a magnetic plate one embedded inside the cover plate, and a magnetic plate two embedded outside the support plate.

[0011] In a preferred embodiment, the present invention can be further configured such that the length of the second magnetic plate is less than the length of the first magnetic plate, and the second magnetic plate and the first magnetic plate are magnetically attracted to each other.

[0012] In a preferred embodiment, the present invention can be further configured such that: the bottom end of the fork is integrally formed with two thin edges, the two thin edges are vertically symmetrical about the support plate, and the cover plate is movably fitted with the thin edges.

[0013] In a preferred embodiment, this utility model can be further configured such that the motor, the micro motor, and the industrial camera are all electrically connected to an external PLC.

[0014] By adopting the above technical solution, the beneficial effects achieved by this utility model are as follows:

[0015] 1. In this utility model, when the robot-driven mounting frame approaches the shelf or pallet and the forks are parallel to it, the PLC starts the micro motor to raise the industrial camera on the support plate to take pictures. After analyzing the pictures, the PLC controls the motor to drive the threaded rod to move the forks closer or apart. After the forks are aligned with the bottom space, the PLC reverses the micro motor to make the industrial camera retract the forks and align them parallel to the bottom space, and takes pictures again to obtain position information. Based on this, the PLC adjusts the forks to the center of the space to avoid collision.

[0016] 2. In this utility model, when the support plate retracts into the fork with the industrial camera, the second magnetic plate will attract the first magnetic plate, causing the cover plate to return to the inside of the fork, thereby covering the support plate and the industrial camera, preventing the cover plate and the industrial camera from being damaged by the pallet or shelf, and ensuring the service life of the industrial camera. Attached Figure Description

[0017] Figure 1 This is a perspective view of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the palletizing mechanism of this utility model;

[0019] Figure 3 This utility model Figure 2 Enlarged view of the A-section structure;

[0020] Figure 4 This is a schematic diagram showing the cooperation relationship between the positioning mechanism and the protective components of this utility model;

[0021] Figure 5 This is a schematic diagram of the protective component of this utility model.

[0022] Figure label:

[0023] 100. Stacking mechanism; 110. Robot; 120. Mounting frame; 130. Guide rod; 140. Forklift; 150. Threaded rod; 160. Motor;

[0024] 200. Positioning mechanism; 210. Miniature motor; 220. Support plate; 230. Industrial camera; 240. Torsion spring;

[0025] 300. Protective components; 310. Cover plate; 320. Magnetic plate one; 330. Magnetic plate two;

[0026] 400, thin edge. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features of the present utility model can be combined with each other.

[0028] It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this invention.

[0029] The following describes, with reference to the accompanying drawings, some embodiments of a stacker crane composite positioning control device provided by this utility model.

[0030] Example 1:

[0031] Combination Figure 1-5 As shown, the present invention provides a stacker crane composite positioning control device, including a stacking mechanism 100 and a positioning mechanism 200. The stacking mechanism 100 includes a robot 110, a mounting frame 120 connected to the movable end of the robot 110, two guide rods 130 fixed inside the mounting frame 120, two forks 140 slidably connected between the two guide rods 130, a threaded rod 150 rotatably passing through one end of the mounting frame 120, and a motor 160 connected between the mounting frame 120 and the threaded rod 150. Both forks 140 are connected to the threaded rod 150.

[0032] The positioning mechanism 200 includes a support plate 220 rotatably embedded at the bottom end of the fork 140 via a rotating shaft, a micro motor 210 connected between the fork 140 and the rotating shaft, an industrial camera 230 rotatably embedded at the outer end of the support plate 220, and two torsion springs 240 connected between the support plate 220 and the industrial camera 230.

[0033] Furthermore, the threaded rod 150 is located between the two guide rods 130. The external thread of the threaded rod 150 is set in two segments with opposite directions of rotation. The structural design of the threaded rod 150 ensures that it can affect the two forks 140 to move closer or further apart, providing conditions for flexibly adjusting the position of the forks 140 relative to the pallet / rack.

[0034] Furthermore, the two torsion springs 240 are vertically symmetrical about the industrial camera 230. The diameter of the torsion springs 240 is smaller than the thickness of the industrial camera 230. When the support plate 220 flips the industrial camera 230 to deliver the fork 140, the torsion springs 240 can affect the secondary rotation of the industrial camera 230, so that the industrial camera 230 can be aligned with the pallet / shelf.

[0035] Furthermore, the motor 160, the micro motor 210, and the industrial camera 230 are all electrically connected to an external PLC. Using an external PLC can achieve automated control and improve the user experience of this device.

[0036] Example 2:

[0037] Combination Figure 1 , 4 and Figure 5 As shown, based on Embodiment 1, the bottom end of the fork 140 is provided with a protective component 300. The protective component 300 includes a cover plate 310 rotatably embedded on one side of the fork 140, a magnetic plate 320 embedded inside the cover plate 310, and a magnetic plate 330 embedded outside the support plate 220. When the fork 140 is inserted into the bottom of the pallet / shelf, the cover plate 310, with the cooperation of the magnetic plate 320 and the magnetic plate 330, can cover the top of the support plate 220 to prevent the support plate 220 and the industrial camera 230 from being crushed.

[0038] Furthermore, the length of the second magnetic plate 330 is less than the length of the first magnetic plate 320. The second magnetic plate 330 and the first magnetic plate 320 are magnetically attracted to each other. This size design ensures that when the support plate 220 flips out to extend the fork 140, the cover plate 310 can be opened. At the same time, when the support plate 220 retracts into the fork 140, the cover plate 310 can be attracted back into the fork 140.

[0039] Example 3:

[0040] Combination Figure 2 and Figure 4As shown in the above embodiment, the bottom end of the fork 140 is integrally formed with two thin edges 400. The two thin edges 400 are vertically symmetrical about the support plate 220. The cover plate 310 is movably fitted with the thin edges 400. The thin edges 400 can support the cover plate 310 that is stored in the fork 140, and prevent the cover plate 310 from damaging the support plate 220 and the industrial camera 230.

[0041] The working principle and usage process of this utility model are as follows: The robot 110 drives the mounting frame 120 to approach the shelf or pallet; when the moving end of the robot 110 controls the forks 140 to be parallel to the shelf or pallet, the PLC controls the output shaft of the micro motor 210 to rotate, so that the support plate 220 raises the industrial camera 230 and aims it at the shelf or pallet to take pictures; then, the PLC receives the pictures and analyzes them according to the preset algorithm; next, the PLC controls the motor 160 to drive the threaded rod 150 to rotate, which drives the two forks 140 to move closer to each other or separate through mechanical transmission. When both forks 140 are aligned with the space under the shelf or pallet, the PLC controls the output shaft of the micro motor 210 to rotate in the opposite direction, causing the support plate 220 to drive the industrial camera 230 to retract into the forks 140. At this time, the industrial camera 230 is parallel to the space under the shelf or pallet. The industrial camera 230 then takes another picture to obtain the position information of the forks 140 relative to the space under the shelf or pallet. Finally, the PLC adjusts the position of the forks 140 according to the same principle so that they are precisely in the center of the space under the shelf or pallet, thereby preventing the forks 140 from colliding with the shelf or pallet.

[0042] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A stacker compound positioning control apparatus, characterized by, include: The stacking mechanism (100) includes a robot (110), a mounting frame (120) connected to the movable end of the robot (110), two guide rods (130) fixed inside the mounting frame (120), two forks (140) slidably connected between the two guide rods (130), a threaded rod (150) rotatably passing through one end of the mounting frame (120), and a motor (160) connected between the mounting frame (120) and the threaded rod (150). Both forks (140) are connected to the threaded rod (150). The positioning mechanism (200) includes a support plate (220) rotatably mounted on the bottom end of the fork (140) via a rotating shaft, a micro motor (210) connected between the fork (140) and the rotating shaft, an industrial camera (230) rotatably mounted on the outer end of the support plate (220), and two torsion springs (240) connected between the support plate (220) and the industrial camera (230).

2. A compound positioning control device for a stacker according to claim 1, characterized in that, The threaded rod (150) is located between the two guide rods (130), and the external thread of the threaded rod (150) is configured as two segments with opposite directions of rotation.

3. A compound positioning control device for a stacker according to claim 1, characterized in that, Two torsion springs (240) are vertically symmetrical about the industrial camera (230), and the diameter of the torsion springs (240) is smaller than the thickness of the industrial camera (230).

4. A compound positioning control device for a stacker according to claim 1, characterized in that, The bottom end of the fork (140) is provided with a protective component (300), which includes a cover plate (310) rotatably embedded on one side of the fork (140), a magnetic plate one (320) embedded inside the cover plate (310), and a magnetic plate two (330) embedded outside the support plate (220).

5. A compound positioning control device for a stacker according to claim 4, characterized in that, The length of the second magnetic plate (330) is less than the length of the first magnetic plate (320), and the second magnetic plate (330) and the first magnetic plate (320) are magnetically attracted to each other.

6. A compound positioning control device for a stacker according to claim 4, characterized in that, The bottom end of the fork (140) is integrally formed with two thin edges (400), which are vertically symmetrical about the support plate (220). The cover plate (310) is in contact with the thin edges (400).

7. A compound positioning control apparatus for a stacker according to claim 1, wherein The motor (160), micro motor (210), and industrial camera (230) are all electrically connected to an external PLC.

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