CN201512365U - Intelligent stacking equipment - Google Patents

Abstract

The utility model discloses intelligent stacking equipment, which relates to the technical field of stacking, solves the technical problems of the current stacking equipment that the working intensity is high and the operating efficiency is low, comprises a cart, a handcart and a lifting appliance mounted with a laser sensor, and is characterized in that the equipment comprises a 3D laser scanner, a scanner support, a rotating control motor, an oscillating control motor and an encoder as well, wherein the scanner support is mounted on the cart in a rotating manner, the rotating control motor is connected with and controls the scanner support to rotate, the 3D laser scanner is arranged on the scanner support in a pivoting manner, the oscillating control motor is connected with and controls the mounting plate of the 3D laser scanner to pivot, the 3D laser scanner is electrically connected with and controls a cart driving device and a handcart controlling device, and laser sensor is electrically connected with and controls a lifting appliance controlling device. The equipment provided by the utility model can reduce working intensity and improve the operating efficiency.

Description

The intelligence stacking device

Technical field

The utility model relates to the technology of pile, particularly relates to a kind of technology of intelligent stacking device.

Background technology

Stacking device all is used for place lifting goods such as harbour, warehouse logistics.

Existing stacking device is treated the Position Approximate of pile thing all by manual operation and control by the eyes range estimation of operating personal during use, move cart to grasping the position for the treatment of the pile thing according to its visual fix again; And then lift in conjunction with the sensor on the suspender and to treat the pile thing.

Because manual operation and control changeability are bigger, the visual fix of operating personal produces deviation through regular meeting, make that whole pile efficiency of operation is lower, and labor intensity of operating staff is also higher.

The utility model content

At the defective that exists in the above-mentioned prior art, technical problem to be solved in the utility model provides the intelligent stacking device that a kind of labour intensity is low, operating efficiency is high.

In order to solve the problems of the technologies described above, a kind of intelligent stacking device provided by the utility model comprises cart, dolly and suspender; Be equipped with on the described cart and be used to control the cart actuating device that cart moves, described dolly is slidingly mounted on the cart, described suspender is lifted on the dolly, and described cart is provided with the little truck control device that the control dolly slides, and described dolly is provided with the suspender control setup of control suspender lifting; On the described suspender laser sensor is housed; It is characterized in that: also comprise 3D laser scanner, scanner support, rotation control motor, swing control motor and coder;

Described scanner support rotates and is installed on the cart, and described rotation control motor is fixedly installed on the cart, and its dynamical axis connects and gated sweep instrument support rotates;

Described 3D laser scanner is hubbed on the scanner support, described swing control motor and coder all are fixedly installed on the scanner support, the dynamical axis of described swing control motor connects and controls the adapter plate pivot of described 3D laser scanner, described coder is provided with the detection rotating shaft that is used to detect 3D laser scanner pivoting angle, described detection rotating shaft connects the adapter plate of described 3D laser scanner, and its axis is coaxial with the pivotal axis of adapter plate;

Described 3D laser scanner is electrically connected and controls described cart actuating device and little truck control device;

Described laser sensor is electrically connected and controls described suspender control setup.

A kind of intelligent stacking device that the utility model provides, come automatic scan to treat the pile object location by control 3D laser scanner rotation and swing, and move to the crawl position according to the scanning data drive cart, automatically grasp by dolly, suspender again and treat the pile thing, and then the driving cart will treat that the pile thing moves to the pile position and stacks; Whole pile operation process is all finished automatically, need not artificial interference, has the advantages that labour intensity is low, operating efficiency is high.

Description of drawings

Fig. 1 is the main TV structure scheme drawing of the intelligent stacking device of the utility model embodiment;

Fig. 2 is the plan structure scheme drawing of the intelligent stacking device of the utility model embodiment;

Fig. 3 is the side-looking structural representation of the intelligent stacking device of the utility model embodiment;

Fig. 4 is that the master of the 3D control assembly in the intelligent stacking device of the utility model embodiment looks cut away view;

Fig. 5 is the upward view of the 3D control assembly in the intelligent stacking device of the utility model embodiment;

Fig. 6 is the left view after the 3D control assembly in the intelligent stacking device of the utility model embodiment is cut open along the group of the A-A among Fig. 4;

Fig. 7 is the enlarged drawing of the B part among Fig. 4;

Fig. 8 is the enlarged drawing of the C part among Fig. 4.

The specific embodiment

Below in conjunction with description of drawings embodiment of the present utility model is described in further detail, but present embodiment is not limited to the utility model, every employing analog structure of the present utility model and similar variation thereof all should be listed protection domain of the present utility model in.

As shown in Figure 1-Figure 3, a kind of intelligent stacking device that the utility model embodiment is provided comprisescart 1,dolly 2 andsuspender 3; Be equipped with on the describedcart 1 and be used to control the cart actuating device (not shown) thatcart 1 moves, describeddolly 2 is slidingly mounted on thecart 1, describedsuspender 3 is lifted on thedolly 2, describedcart 1 is provided with the dolly control setup (not shown) thatcontrol dolly 2 slides, and describeddolly 2 is provided with the suspender control setup (not shown) of control suspender 3 liftings; On the describedsuspender 3 laser sensor 4 is housed; It is characterized in that: also comprise by3D laser scanner 5,scanner support 6, rotate the 3D control assembly (referring to Fig. 4) that control motor (not shown), swing control motor 7 andcoder 8 are formed;

Describedscanner support 6 rotates and is installed on (referring to Fig. 1) on thecart 1, and described rotation control motor is fixedly installed on thecart 1, and its dynamical axis connects and gatedsweep instrument support 6 rotates;

As Fig. 4-shown in Figure 8, described3D laser scanner 5 is hubbed on thescanner support 6 throughadapter plate 51, described swing control motor 7 andcoder 8 all are fixedly installed on thescanner support 6, the dynamical axis of described swing control motor 7 connects and controlsadapter plate 51 pivots of described3D laser scanner 5 through drop-gear box 71, describedcoder 8 is provided with the detection rotating shaft that is used to detect3D laser scanner 5 pivoting angles, described detection rotating shaft is through theadapter plate 51 of the described3D laser scanner 5 ofdrive coupling 81 connections, and its axis is coaxial with the pivotal axis ofadapter plate 51;

Described3D laser scanner 5 is electrically connected and controls described cart actuating device and little truck control device;

Described laser sensor 4 is electrically connected and controls described suspender control setup.

Among the utility model embodiment, the periphery of described swing control motor and coder all is covered with protective case.

When the utility model embodiment uses, earlier treat the pile thing around it by rotating control motor and swing control electric machine control 3D laser scanner automatic scan; The 3D laser scanner scans grasps the position for the treatment of the pile thing to treating to move to by cart driving device controls cart earlier behind the pile thing, and then moves by dolly control setup control dolly, the suspender that is lifted on the dolly is moved to treat pile thing top; After suspender moves to and treats pile thing top, laser sensor on the suspender is treated the pile thing and is scanned, treat the exact location and the relative height of pile thing with identification, and scan-data passed to the suspender control setup, the suspender control setup descends according to the scan-data control suspender of receiving and grasps the pile thing, again the pile thing that grasps is promoted, and then move to the position of stacking the pile thing according to preset value control cart by the cart actuating device, move to top, accurate pile position by dolly control setup control dolly again, descend by suspender control setup control suspender again and stack the pile thing, promote by suspender control setup control suspender again after having stacked, and then moving to initial position by cart driving device controls cart, a stacking operation is promptly accused and is finished; So go round and begin again, stack until the pile thing of required stacking and finish.

Claims (1)

1. an intelligent stacking device comprises cart, dolly and suspender; Be equipped with on the described cart and be used to control the cart actuating device that cart moves, described dolly is slidingly mounted on the cart, described suspender is lifted on the dolly, and described cart is provided with the little truck control device that the control dolly slides, and described dolly is provided with the suspender control setup of control suspender lifting; On the described suspender laser sensor is housed; It is characterized in that: also comprise 3D laser scanner, scanner support, rotation control motor, swing control motor and coder;

Described scanner support rotates and is installed on the cart, and described rotation control motor is fixedly installed on the cart, and its dynamical axis connects and gated sweep instrument support rotates;

Described 3D laser scanner is hubbed on the scanner support, described swing control motor and coder all are fixedly installed on the scanner support, the dynamical axis of described swing control motor connects and controls the adapter plate pivot of described 3D laser scanner, described coder is provided with the detection rotating shaft that is used to detect 3D laser scanner pivoting angle, described detection rotating shaft connects the adapter plate of described 3D laser scanner, and its axis is coaxial with the pivotal axis of adapter plate;

Described 3D laser scanner is electrically connected and controls described cart actuating device and little truck control device;

Described laser sensor is electrically connected and controls described suspender control setup.

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