The invention relates to a stacker walking positioning structure and a positioning method thereof.The positioning structure comprises walking wheels, an encoder, a controller and a magnetic reed switch, the walking wheels are arranged at the lower end of a stacker and comprise a driving wheel and a driven wheel, and a driving motor is connected to a rotating shaft of the driving wheel; the encoder is arranged on a rotating shaft of the driven wheel and is used for detecting action information of the driven wheel; the input end of the controller is connected with the output end of the encoder, the output end of the controller is connected with the input end of the driving motor, magnetic bodies with magnetic fields are arranged at the two ends of a walking track of the stacking machine, the encoder is adopted for positioning during walking, and according to the characteristics of the track stacking machine, the encoder is installed on the side of a driven wheel. The magnetic reed switch can be used for original point detection and can also be used for walking wheel abrasion error detection, guarantee is provided for accurate and stable operation of the stacking machine, and the working efficiency of the stacking machine is improved. The controller achieves calculation of the walking position of the stacking machine, original point deviation rectification, walking wheel abrasion detection and storage location data adjustment through a logical algorithm.
本发明涉及堆垛机行走定位结构及其定位方法,定位结构包括行走轮,编码器,控制器和磁簧开关,行走轮设置在堆垛机下端,行走轮包括主动轮和从动轮,主动轮的旋转轴上连接有驱动电机;编码器设置在从动轮的旋转轴上并用于检测其动作信息;控制器的输入端与编码器的输出端连接,所述控制器的输出端与驱动电机的输入端相连接,堆垛机的行走轨道的两端装设有具有磁场的磁性体,行走采用编码器定位,且根据轨道堆垛机的特性,编码器安装于从动轮侧,避免因为行走轮打滑出现行走位置计算错误,磁簧开关,既能作为原点检测,也能作为行走轮磨损误差检测,为堆垛机的准确、稳定运行提供保障,控制器通过逻辑算法实现对堆垛机行走位置的计算以及原点纠偏、行走轮磨损检测和库位数据调整。
Stacker walking positioning structure and positioning method thereof
一种堆垛机行走定位结构及其定位方法
03.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen |
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