The invention relates to the technical field of stacking machines, in particular to a stacking goods taking and placing control method, system and equipment and a storage medium, in the goods taking or placing process, before a goods fork stretches out in place, a lifting motor band-type brake is opened, zero-speed hovering is conducted, and the excitation state is kept; in the process that the lifting motor lifts or lowers the cargo carrying table, the fork motor keeps braking, is not closed and is in an excitation state; when the position of the cargo carrying table deviates, the lifting motor pulls the cargo carrying table to adjust in real time, and the cargo carrying table is kept at the set position. Through a zero-speed hovering mode, sequential execution of operation of the lifting shaft and the fork shaft is changed into parallel operation, time wasted in goods taking and placing is shortened, the goods taking and placing efficiency is improved, under the condition that the hardware cost is not changed, the single-machine efficiency of the stacking machine is improved, and the labor intensity of workers is reduced. Or under the condition that the efficiency is not changed, the power of a lifting motor and a horizontal motor is reduced due to the reduction of the circulation time of the pallet fork, so that the selection of a frequency converter, a motor protector, a cable and the like is reduced, and the cost is reduced.
本发明涉及堆垛机技术领域,具体涉及一种堆垛取放货控制方法、系统、设备及存储介质,在取货或放货过程中,货叉伸出到位前,起升电机抱闸打开,进行零速悬停,保持励磁状态;在起升电机抬升或降低载货台的过程中,货叉电机保持抱闸,不关闭,处于励磁状态;其中,载货台位置偏移时,起升电机拉动载货台实时调整,保持载货台在设定位置。本发明通过零速悬停的方式,将起升与货叉两个轴的运行由顺序执行改为并行运行,降低取放货中浪费的时间,提高取放货效率,在硬件成本不变的情况下,提高堆垛机单机效率,或者在效率不变的情况下因为货叉循环时间的降低从而降低起升、水平电机的功率,进而降低变频器、马达保护器、电缆等的选型,实现降本。
Stacking goods picking and placing control method, system and equipment and storage medium
一种堆垛取放货控制方法、系统、设备及存储介质
2025-04-15
Patent
Electronic Resource
Chinese
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 |
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