TWM634787U - Positioning auxiliary system for storage crane - Google Patents

Abstract

A positioning auxiliary system for a storage crane is suitable for operation with a reflective sheet at a storage position, and includes a sensing unit, an adjustment unit for fixing the sensing unit, and a control unit for information connection with the sensing unit. The sensing unit includes two optical sensors capable of detecting the reflective sheets and providing a position information. The adjustment unit includes a bracket, two pipe clamps which can be movably arranged on the bracket in the longitudinal direction, two pipe fittings which are respectively positioned on the pipe grips and can rotate, and two pipe fittings respectively fixed on the pipe fittings and provided for the optical sensors. The support platform for measuring instrument installation. The control unit includes a programmable logic controller that sends a warning signal when the carrier platform moves to any storage position but does not receive the position information, and a man-machine interface server for providing warning images.

Description

Positioning assistance system for storage cranes

The present invention relates to a position detecting device, in particular to a positioning auxiliary system of a storage crane.

Referring to Figures 1 and 2, when picking and placing a steel coil R in the three-dimensional storage area, a storage crane 11 cooperates with two laser ranging sensors 12 to measure Measure the relative distance between the storage crane 11 and a carrying platform 13 in the horizontal and vertical directions, thereby making the carrying platform 13 move to a fixed point. Then, the carrying platform 13 will be aligned with a target storage position (not shown in the figure) of the three-dimensional storage area through a positioning unit 2, so that the carrying platform 13 stretches out a fork mechanism 131 to pick and place the Steel Coil R.

The positioning unit 2 includes two positioning instruments 21 spaced apart from each other in the vertical direction, and a plurality of target storage positions arranged in the three-dimensional storage area, and is used to reflect the infrared rays emitted by the positioning instruments 21 to achieve the reflective effect of positioning slice 22. Regardless of whether the operation of placing the steel coil R or taking out the steel coil R is performed, the position detectors 21 mainly confirm whether the emitted infrared rays are reflected by the reflective sheets 22 arranged in specific target storage positions. The relative position between the delivery platform 13 and the specific target storage position, according to this, the delivery platform 13 is fine-tuned to the center position of the target storage position through the storage crane 11, so that the tooth fork of the delivery platform 13 Mechanism 131 starts the related operation of pick-and-place.

However, these positioning instruments 21 are high-priced specifications, and it is difficult to obtain them except for failures. Even if misjudgments or positioning failures occasionally occur in positioning, not only personnel cannot find it immediately, but also design an automatic safety management mechanism for the original specifications. The difficulty is also higher. Therefore, if an alternative plan can be proposed under the consideration of achieving the same function, whether it is based on subsequent maintenance or the design of related safety management mechanisms, it should be of great help to the operational efficiency of the factory area.

Therefore, the purpose of the present invention is to provide a storage crane positioning assistance system that is easier to maintain.

Therefore, the positioning auxiliary system of the storage crane of the present invention is suitable for being connected to a carrying platform, and cooperates with a plurality of reflective sheets arranged in a plurality of storage positions for storing a plurality of steel coils respectively. The positioning auxiliary system of the storage crane includes a sensing unit, an adjustment unit adapted to be installed on the carrying platform and used to fix the sensing unit, and a control unit whose information is connected to the sensing unit.

The sensing unit includes two optical sensors, which are suitable for detecting the reflective sheets and providing position information.

The adjustment unit includes a support with a track extending along a longitudinal direction, two pipe clamps spaced apart from each other and movable on the support along the longitudinal direction on the track, and two pipe clamps respectively positioned on the pipe clamps and capable of A tube that rotates with a rotating shaft extending in the axial direction, and two supporting tables that are respectively fixed on the tube and used for installing the optical sensors.

The control unit includes a programmable logic controller for sending an alarm signal when the carrier platform moves to any of the storage positions but does not receive the position information, and a information connection to the programmable logic controller device and is used to provide a human-machine interface server with a warning screen when receiving the warning signal.

The effect of the new model is that as long as the optical sensors that are easy to obtain on the market are selected, the purpose of aligning the carrying platform and the storage positions can be achieved, and the optical sensors are installed on the When it is on the support platform, through the characteristics that the pipe clamps can move on the track and the pipes can rotate relative to each other, multi-directional adjustability can be achieved, and combined with the logical control of the control unit, Operators can immediately intervene manually when receiving the warning screen, so it is more ideal for maintenance, adjustment and use.

21:Positioner

3: Sensing unit

31: Optical sensor

4: Adjustment unit

41: Bracket

410: track

42: pipe clamp

43: pipe fittings

44: support platform

441: Body Department

442: Platform Department

443: Pivot

5: Control unit

51: Programmable logic controller

52: Man-machine interface server

8: Three-dimensional storage area

80: storage location

81: reflective film

9: Carrying platform

91: tooth fork mechanism

V: vertical direction

Other features and functions of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a schematic diagram, illustrating the situation that a carrying platform is moved by a storage crane; Fig. 2 is a schematic diagram, cooperating with Fig. 1 to illustrate the situation that the carrying platform picks and places a steel coil according to the positioning function of a positioning unit; Fig. 3 is a system configuration diagram illustrating an embodiment of the positioning auxiliary system of the new storage crane; and FIG. 4 is a schematic diagram illustrating the embodiment in a storage position in conjunction with a carrying platform.

Referring to Fig. 3, it is one embodiment of the positioning auxiliary system of the novel storage crane. This embodiment is suitable for being connected to a carrying platform 9, and as shown in Fig. The reflective sheet 81 operation of the storage position 80 of steel coil. Wherein, the carrying platform 9 includes a fork mechanism 91 for carrying steel coils. This embodiment includes a sensing unit 3 , an adjustment unit 4 adapted to be installed on the carrying platform 9 and used to fix the sensing unit 3 , and a control unit 5 connected to the sensing unit 3 .

What should be explained first is that in this embodiment, as in the prior art, the situation of taking and placing steel coils in a three-dimensional storage area 8 in this embodiment is used for illustration. The three-dimensional storage area 8 includes a plurality of storage positions 80 arranged in an array, but only one of them is shown in FIG. 4 One storage position 80 is shown, and two reflective sheets 81 are arranged in the storage position 80 .

The sensing unit 3 includes two optical sensors 31 suitable for detecting the reflective sheets 81 to provide position information. Each of the optical sensors 31 is specifically a reflective photoelectric sensor switch that is quite easy to obtain on the market, so no matter for the cost of setting the sensing unit 3 or the convenience of subsequent replacement of consumables, it has a positive effect. s help. Each of the optical sensors 31 can detect whether the light signal sent by itself is indeed reflected and received, thereby judging whether it has corresponded to a specific reflective sheet 81, that is, corresponding to a specific storage position 80 s position.

It should be noted that the position finder 21 used in Figure 2, after detecting the distance to the target position, needs to feed back the distance information through an analog signal, so that the distance information can be converted into a displacement amount, and then Execute the control of movement to perform secondary positioning. In contrast to the present embodiment, the optical sensors 31 can be used to directly detect "whether the alignment has been confirmed", which is relatively more effective in determining positioning compared to the need to feedback distance information for secondary positioning. It also helps to improve the efficiency of the operation of picking and placing steel coils.

The adjusting unit 4 includes a bracket 41 having a track 410 extending along a longitudinal direction V, two pipe clamps 42 spaced apart from each other and movable on the track 410 along the longitudinal direction V, and two pipe clamps 42 respectively. A pipe fitting 43 that is positioned on the pipe clamps 42 and can rotate with a rotating shaft extending axially, and two pipe fittings 43 that are respectively fixed and divided A supporting platform 44 for installing the optical sensors 31 is also used. Wherein, each of the supporting platforms 44 has a main body portion 441, a platform portion 442 extending from the main body portion 441 radially away from the individual pipe member 43, and a platform portion 442 pierced through the platform portion 442 for the individual optical The sensors 31 are arranged such that individual optical sensors 31 can rotate with the pivot portion 443 perpendicular to the rotation axis of the platform portion 442 . The pipe clamps 42 of the adjustment unit 4 can move on the track 410 along the longitudinal direction V, thereby adjusting the longitudinal positions of the pipes 43 and the support platforms 44; and the pipes 43 can be rotated to adjust According to the angle of the supporting platforms 44 , the optical sensors 31 can also rotate relative to the platform parts 442 through the pivot parts 443 . Therefore, if each of the optical sensors 31 has a positional deviation, there are quite a lot of freedom to be adjusted, thereby ensuring that the optical sensors 31 can cooperate with the reflectors 81 as expected and perform stably. The related judgments that make the carrier platform 9 really align.

The control and management unit 5 includes a programmable logic controller 51 for sending a warning signal when the carrying platform 9 moves to any of the storage positions 80 but does not receive the position information, and an information connection to the The programmable logic controller 51 is also used to provide a man-machine interface server 52 with a warning screen when receiving the warning signal. Accordingly, as long as logic instructions are written in the programmable logic controller 51 in advance, if the optical sensors 31 fail to complete the alignment with the reflective sheets 81 in the specific storage position 80 as expected If confirmed, a warning screen will be provided through the man-machine interface server 52, so that the operator can intervene immediately to adjust the position, replace consumables, or other related processing. In addition, if the alignment failure occurs, in order to prevent the tooth fork mechanism 91 from continuing to cause damage to other equipment, or even cause industrial safety accidents, the programmable logic controller 51 is also used to control the tooth fork when the carrying platform 9 moves to any storage position 80 but does not receive the position information Agency 91 ceased operations.

To sum up, in this embodiment of the positioning assistance system of the new storage crane, because the optical sensors 31 are relatively easy to obtain, in the case of multi-degree-of-freedom adjustments that can be achieved by the adjustment unit 4, maintenance is relatively easy. Convenience; and as long as the logical control of the control unit 5 is used, the operator can immediately manually intervene when receiving the warning screen, so it is more ideal for maintenance, adjustment and use. Therefore really can reach the purpose of this novelty.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of implementation of the present invention with this. All simple equivalent changes and modifications made according to the patent scope of the present application and the content of the patent specification are still within the scope of the present invention. Within the scope covered by this patent.

3: Sensing unit

31: Optical sensor

4: Adjustment unit

41: Bracket

410: track

42: pipe clamp

43: pipe fittings

44: support table

441: Body Department

442: Platform Department

443: Pivot

5: Control unit

51: Programmable logic controller

52: Man-machine interface server

V: vertical direction

Claims (3)

A positioning auxiliary system of a storage crane, which is suitable for being connected to a carrying platform, and cooperates with a plurality of reflective sheets arranged in a plurality of storage positions for storing a plurality of steel coils respectively. The positioning auxiliary system of the storage crane includes : A sensing unit, including two optical sensors, is suitable for detecting the reflective sheets and providing a position information; An adjustment unit, suitable for being installed on the carrying platform and for fixing the sensing unit, the adjustment unit includes a bracket with a track extending along a longitudinal direction, two spaced apart from each other and movable on the track along the longitudinal direction Pipe clips that are arranged on the bracket, two pipe parts that are respectively positioned on the pipe clips and can rotate with the shaft extending in the axial direction, and two pipe parts that are respectively fixed on the pipe parts and used for the optical sensing the support platform for the device installation; and a control unit, information is connected to the sensing unit, and includes a programmable logic controller for sending a warning signal when the carrying platform moves to any of the storage positions but does not receive the position information, and a man-machine interface server connected to the programmable logic controller and used for providing a warning screen when receiving the warning signal. The positioning assistance system for a storage crane as described in claim 1, wherein each of the support platforms of the adjustment unit has a body portion, a platform portion extending from the body portion in a radial direction away from the individual pipe fittings, and a through-hole The pivot part is arranged on the platform part and provided for the individual optical sensors, so that the individual optical sensors can rotate with the rotating shaft perpendicular to the platform part. As for the positioning assistance system for storage cranes described in claim 1, the carrying platform includes a fork mechanism, wherein the programmable logic controller of the control unit is also used to move the carrying platform to any storage position But when the location information is not received, the tooth fork mechanism controlling the carrying platform stops working.

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