CN102252620A - Vertical height detection device of lift truck - Google Patents
Vertical height detection device of lift truck Download PDFInfo
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- CN102252620A CN102252620A CN2011101077990A CN201110107799A CN102252620A CN 102252620 A CN102252620 A CN 102252620A CN 2011101077990 A CN2011101077990 A CN 2011101077990A CN 201110107799 A CN201110107799 A CN 201110107799A CN 102252620 A CN102252620 A CN 102252620A
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- lift truck
- teeth groove
- sampled point
- linear grating
- vertical height
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Abstract
The invention discloses a vertical height detection device of a lift truck. The device comprises a photoelectric sensor and a linear grating ruler; the photoelectric sensor is provided with a first sampling point, a second sampling point and a third sampling point; the linear grating ruler is provided with a plurality of long tooth grooves and short tooth grooves; each long tooth groove is provided with a narrow groove part and a wide groove part; in detection, the photoelectric sensor slides by the long tooth grooves and short tooth grooves of the linear grating ruler in a non-contact way, and sampling pulse signals are generated when the first sampling point and the second sampling point of the photoelectric sensor slide by the narrow groove parts of the long tooth grooves and the short tooth grooves of the linear grating ruler; positioning signals are generated when the third sampling point of the photoelectric sensor slides by the wide groove parts of the long tooth grooves of the linear grating ruler; and then according to different positioning signals, the lift truck performs ascending and descending compensation movements, thus the lift truck can stop at a preset right position accurately.
Description
Technical field
The present invention relates to the storage facilities field, relate in particular to a kind of vertical height pick-up unit that detects the interior lift truck of VTOL (vertical take off and landing) counter in the storage industry.
Background technology
VTOL (vertical take off and landing) counter in the existing storage industry is the automatic warehouse equipment that deposit in a kind of goods yard of automatically goods being delivered to specified altitude assignment.Waiting to deposit goods is positioned on the lift truck by pallet, pass through gear trains such as gear driven chain by motor, and then the driving lift truck is done vertical movement up and down, and under the control of sensor equal altitudes pick-up unit, lift truck will rest on the counter passage of specified altitude assignment, and then by the mechanical grapple on the lift truck with goods together with the pallet horizontal feed to the guide rail of goods yard, thereby realize depositing automatically of goods.
Yet, at motor lift truck is done in the process of vertical movement up and down, because between gear and the chain, and there is certain clearance between angle sheave and the guide rail, when lift truck during in startup, commutation and speed change because the vibrations of lift truck can produce the shake pulse, make in fact to exist certain error between the true altitude of the pulse signal of the expression lift truck height that collects by sampled signal by sensor and lift truck.At this moment,, then cause the location mistake of upright position easily, thereby cause toward the horizontal direction delivery tray time, the collision accident of pallet and goods yard guide rail taking place if directly determine the vertical height of lift truck according to sampling pulse.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, propose the vertical height pick-up unit of lift truck in a kind of novel VTOL (vertical take off and landing) counter, eliminating the shake detection error that pulse was brought, thereby determine the vertical height of lift truck accurately.
For achieving the above object, the present invention proposes following technical scheme: a kind of vertical height pick-up unit of lift truck, it comprises electro-optical pickoff and linear grating chi, described electro-optical pickoff has first sampled point, second sampled point and the 3rd sampled point, described linear grating chi is provided with long teeth groove of plural number and short teeth groove, and described long teeth groove has narrow slot part and sipes part; During detection, described electro-optical pickoff contactlessly slips over the long teeth groove and the short teeth groove of linear grating chi, and produce sampling pulse signal when the narrow slot part of the long teeth groove that slips over the linear grating chi at first sampled point and second sampled point of electro-optical pickoff and short teeth groove, generation positioning signal when the 3rd sampled point of electro-optical pickoff slips over the sipes part of long teeth groove of linear grating chi.
Described first sampled point and second sampled point are respectively up-sampling point and down-sampling point, and the 3rd sampled point is the intermediate samples point.
Described first sampled point and second sampling optimization are on same perpendicular line, and the 3rd sampling optimization is in being separated by on the perpendicular line of certain vertical range with first, second sampled point.
The narrow slot part of described long teeth groove is arranged side by side with short teeth groove, and has identical groove width.
Described lift truck is located in the hoist trunk of VTOL (vertical take off and landing) counter, and lift truck is along vertical guide rail vertical movement about hoist trunk.
The hoist trunk both sides of described VTOL (vertical take off and landing) counter are provided with the freight house district, and this freight house district is provided with plural goods yard guide rail from bottom to top.
Be provided with the short teeth groove of plural number between adjacent two long teeth groove of linear grating chi, and the distance between adjacent two long teeth groove equals two vertical ranges between the guide rail of adjacent goods yard.
When lift truck up and down during vertical movement, electro-optical pickoff is along with the motion of lift truck contactlessly slips over the teeth groove that is installed in the linear grating chi on the VTOL (vertical take off and landing) counter cabinet, the burst signal that first, second sampled point forms when the narrow slot part by short teeth groove and long teeth groove passes to the thief hatch of computing machine, and computing machine sends stop sign after reading corresponding pulse number.The 3rd sampled point of electro-optical pickoff should drop in theory according to designing requirement in the sipes part of the long teeth groove of linear grating chi after lift truck comes to a complete stop, and sends the actual positive signal that puts in place to computing machine; If because the shake pulse that the lift truck vibrations cause in the motion does not drop in the wide teeth groove of the long teeth groove of linear grating chi the 3rd sampled point of electro-optical pickoff, illustrate that in fact lift truck does not arrive the vertical height of appointment, computing machine just receives the negative signal that expression does not put in place, send instruction then and make lift truck among a small circle, make at a slow speed compensating motion, till the 3rd sampled point of electro-optical pickoff drops in the wide teeth groove of the long teeth groove of linear grating chi.
Electro-optical pickoff of the present invention adopts first, second two sampled points to proofread each other, as the usefulness that strengthens reliability.Why long teeth groove will have the sipes part, is for the ease of allowing the 3rd sampled point of electro-optical pickoff drop in the teeth groove of linear grating chi.
Compared with prior art, the vertical height pick-up unit of disclosed lift truck can rest in lift truck default position, required goods yard accurately, avoided the deviation of the stop position that causes because of reasons such as vibrations in the lift truck motion, and then the fault that collides of generation pallet and goods yard guide rail.
The invention has the beneficial effects as follows, can carry out the accurate location of vertical height, do not make testing circuit too complicated again, and neither be very high for the manufacturing accuracy requirement of linear grating chi, whole detection device is simple in structure, and the location is accurately, and is practical reliable.
Description of drawings
Fig. 1 is the front view that the VTOL (vertical take off and landing) counter of lift truck vertical height pick-up unit of the present invention is installed;
Fig. 2 is the partial enlarged drawing among Fig. 1;
Fig. 3 is the three-dimensional view of the vertical height pick-up unit of lift truck of the present invention;
Fig. 4 is the three-dimensional view of photoelectric sensor of the present invention;
Fig. 5 (a) is the front view of linear grating chi of the present invention;
Fig. 5 (b) is the three-dimensional view of linear grating chi of the present invention.
Embodiment
Below in conjunction with accompanying drawing of the present invention, technical scheme in the embodiment of the invention is carried out clear, complete description.
The vertical height pick-up unit of disclosed lift truck is used for the detection of the vertical height of lift truck in the VTOL (vertical take off and landing) counter.As shown in Figure 1, 2, this VTOL (vertical take off and landing) counter 1 comprises left and right sides two end portions and center section, left and right sides two end portions is the first freight house district 11 and the second freight house district 12 of depositing goods, center section is to make the hoist trunk 14 of vertical movement up and down for lift truck 13, and hoist trunk 14 is provided with the vertical movement of vertical guide rail 15 with guiding lift truck 13 with the junction in first, second freight house district 11,12.
The first freight house district 11 and the second freight house district 12 are provided with plural goods yard 111 respectively from bottom to top separately, each 111 both sides, goods yard is provided with goods yard guide rail 112, pallet 16 horizontal feed that are placed with goods can be removed to predetermined goods yard or from the goods yard by the guiding of goods yard guide rail 112.And the vertical movement up and down of lift truck 13 is to drive chain 22 by motor 2 by gear 21, and then orders about lift truck 13 and pass through the guiding of angle sheave 17 along vertical guide rail vertical movement about in the of 15 in the hoist trunk 14 of counter.
In conjunction with Fig. 3, shown in 4, the vertical height pick-up unit 3 of described lift truck comprises electro-optical pickoff 4 and linear grating chi 5, in the present embodiment, described electro-optical pickoff 4 is fixedly installed on the lift truck 13 by erection bolt 45, it has three pairs of signal transmit-receive tubes, form signal first sampled point 41 respectively, second sampled point 42 and the 3rd sampled point 43, first sampled point 41 wherein, second sampled point 42 is respectively up-sampling point and down-sampling point, the 3rd sampled point 43 is the intermediate samples point, and first, second sampled point 41,42 are located on the same perpendicular line, and the 3rd sampled point 43 is located at and first, the vertical range setting that second sampled point is separated by certain.
In conjunction with Fig. 3, shown in Figure 5, described linear grating chi 5 is fixedly installed on the cabinet of VTOL (vertical take off and landing) counter 1, its flank of tooth is provided with long teeth groove 51 of plural number and short teeth groove 52, long teeth groove 51 has narrow slot part 511 and sipes part 512, narrow slot part 511 can have identical groove width or different groove widths with sipes part 512, narrow slot part 511 is different with the groove width of sipes part 512 in the present embodiment, sipes part 512 is used to produce the positioning signal after the parking, narrow slot part 511 and short teeth groove 52 are arranged side by side, it has identical length and width, is used to produce sampling pulse; Be provided with the short teeth groove 52 of plural number between every adjacent two long teeth groove 51, and the distance between every adjacent two long teeth groove 51 equals the vertical range between every adjacent two goods yard guide rails 112 in the freight house.
At lift truck about in the of 13 in the vertical movement process, be installed on electro-optical pickoff 4 on the lift truck 13 when moving up and down along with lift truck 13, the long teeth groove 51 of itself and linear grating chi 5 and short teeth groove 52 contactless slipping over, and first on the electro-optical pickoff 4, second sampled point 41,42 just produce sampling pulse when slipping over the narrow slot part 511 of long teeth groove 51 of linear grating chi 5 and short teeth groove 52, as the preliminary foundation that puts in place of vertical height, and the 3rd sampled point 43 on the electro-optical pickoff 4 produces positioning signal when slipping over the sipes part 512 of long teeth groove 51 of linear grating chi 5, the diverse location after this positioning signal is stopped according to lift truck and difference.
Positioning signal is specially: if lift truck 13 in the process of moving up and down because of starting, vibrations have taken place when commutation and speed change, cause the shake pulse that in sampling pulse, superposeed, make the actual parking spot of lift truck 13 depart from required position, then the 3rd sampled point 43 of electro-optical pickoff 4 can not drop in the sipes part 512 of long teeth groove 51 of linear grating chi 5, at this moment the 3rd sampled point 43 of electro-optical pickoff 4 will produce the negative signal that an expression do not put in place and send computing machine to, computing machine sends instruction according to this signal makes lift truck 13 make compensating motion at a slow speed among a small circle, in the 3rd sampled point 43 that detects electro-optical pickoff 4 drops on the sipes part 512 of long teeth groove 51 of linear grating chi 5, then send till the positive signal that expression put in place, thereby reach the accurate location of lift truck vertical height.
Certainly, under the situation that the shake pulse do not occur, the 3rd sampled point 43 of electro-optical pickoff 4 directly drops in the sipes part 512 of long teeth groove 51 of linear grating chi 5, does not at this moment just need to do compensating motion, and lift truck stops just to the required position of being scheduled to.Which kind of guaranteed so no matter under situation, lift truck 13 can both stop accurately to default required position, when having avoided the mechanical grapple on the lift truck (figure is mark) pallet 16 levels to be transferred on the goods yard 111 in the first freight house district 11 or the second freight house district 12 with the accident of goods yard guide rail 112 collisions.
Technology contents of the present invention and technical characterictic have disclosed as above; yet those of ordinary skill in the art still may be based on teaching of the present invention and announcements and are done all replacement and modifications that does not deviate from spirit of the present invention; therefore; protection domain of the present invention should be not limited to the content that embodiment discloses; and should comprise various do not deviate from replacement of the present invention and modifications, and contained by the present patent application claim.
Claims (7)
1. the vertical height pick-up unit of a lift truck, it is characterized in that: this lift truck vertical height pick-up unit comprises electro-optical pickoff and linear grating chi, described electro-optical pickoff has first sampled point, second sampled point and the 3rd sampled point, described linear grating chi is provided with long teeth groove of plural number and short teeth groove, and described long teeth groove has narrow slot part and sipes part; During detection, described electro-optical pickoff contactlessly slips over the long teeth groove and the short teeth groove of linear grating chi, and produce sampling pulse signal when the narrow slot part of the long teeth groove that slips over the linear grating chi at first sampled point and second sampled point of electro-optical pickoff and short teeth groove, generation positioning signal when the 3rd sampled point of electro-optical pickoff slips over the sipes part of long teeth groove of linear grating chi.
2. the vertical height pick-up unit of lift truck according to claim 1, it is characterized in that: described first sampled point and second sampled point are respectively up-sampling point and down-sampling point, and the 3rd sampled point is the intermediate samples point.
3. the vertical height pick-up unit of lift truck according to claim 1 and 2, it is characterized in that: first sampled point of described electro-optical pickoff and second sampling optimization are on same perpendicular line, and the 3rd sampling optimization is in being separated by on the perpendicular line of certain vertical range with first, second sampled point.
4. the vertical height pick-up unit of lift truck according to claim 1 is characterized in that: the narrow slot part of the long teeth groove of described linear grating chi is arranged side by side with short teeth groove, and has identical groove width.
5. the vertical height pick-up unit of lift truck according to claim 1, it is characterized in that: described lift truck is located in the hoist trunk of VTOL (vertical take off and landing) counter, and lift truck is along vertical guide rail vertical movement up and down in hoist trunk.
6. the vertical height pick-up unit of lift truck according to claim 5, it is characterized in that: the both sides of the hoist trunk of described VTOL (vertical take off and landing) counter are provided with the freight house district, and this freight house district is provided with plural goods yard guide rail from bottom to top.
7. the vertical height pick-up unit of lift truck according to claim 6, it is characterized in that: be provided with the short teeth groove of plural number between adjacent two long teeth groove of linear grating chi, and the distance between adjacent two long teeth groove equals two vertical ranges between the guide rail of adjacent goods yard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110107799 CN102252620B (en) | 2011-04-28 | 2011-04-28 | Vertical height detection device of lift truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110107799 CN102252620B (en) | 2011-04-28 | 2011-04-28 | Vertical height detection device of lift truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102252620A true CN102252620A (en) | 2011-11-23 |
| CN102252620B CN102252620B (en) | 2013-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110107799 Expired - Fee Related CN102252620B (en) | 2011-04-28 | 2011-04-28 | Vertical height detection device of lift truck |
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| Country | Link |
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| CN (1) | CN102252620B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104266590A (en) * | 2014-09-12 | 2015-01-07 | 江苏仅一包装技术有限公司 | Simple straight line positioning device |
| CN104634583A (en) * | 2013-11-11 | 2015-05-20 | 宁波如意股份有限公司 | High-lift vehicle testing platform |
| CN111336934A (en) * | 2020-03-30 | 2020-06-26 | 上海剑曼自动化科技有限公司 | General type high accuracy grating height gauge |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002081937A (en) * | 2000-09-08 | 2002-03-22 | Toshiba Elevator Co Ltd | Apparatus for measuring dimension of elevator |
| JP2002081936A (en) * | 2000-09-08 | 2002-03-22 | Toshiba Elevator Co Ltd | Apparatus for measuring dimensions of elevator |
| CN201062178Y (en) * | 2007-05-21 | 2008-05-21 | 广州日立电梯有限公司 | Elevator car position confirming device |
| CN101704474A (en) * | 2009-11-11 | 2010-05-12 | 甘肃省电力公司刘家峡水电厂 | 400-ton bridge crane end beam movement difference correcting system |
| CN101839680A (en) * | 2009-03-20 | 2010-09-22 | 抚顺市锅炉压力容器检验研究所 | Multifunctional lift inspection ruler |
| CN202048891U (en) * | 2011-04-28 | 2011-11-23 | 苏州工业园区东胜机械有限公司 | Vertical height detecting device of lift truck |
-
2011
- 2011-04-28 CN CN 201110107799 patent/CN102252620B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002081937A (en) * | 2000-09-08 | 2002-03-22 | Toshiba Elevator Co Ltd | Apparatus for measuring dimension of elevator |
| JP2002081936A (en) * | 2000-09-08 | 2002-03-22 | Toshiba Elevator Co Ltd | Apparatus for measuring dimensions of elevator |
| CN201062178Y (en) * | 2007-05-21 | 2008-05-21 | 广州日立电梯有限公司 | Elevator car position confirming device |
| CN101839680A (en) * | 2009-03-20 | 2010-09-22 | 抚顺市锅炉压力容器检验研究所 | Multifunctional lift inspection ruler |
| CN101704474A (en) * | 2009-11-11 | 2010-05-12 | 甘肃省电力公司刘家峡水电厂 | 400-ton bridge crane end beam movement difference correcting system |
| CN202048891U (en) * | 2011-04-28 | 2011-11-23 | 苏州工业园区东胜机械有限公司 | Vertical height detecting device of lift truck |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104634583A (en) * | 2013-11-11 | 2015-05-20 | 宁波如意股份有限公司 | High-lift vehicle testing platform |
| CN104634583B (en) * | 2013-11-11 | 2017-06-30 | 宁波如意股份有限公司 | Raising vehicle test platform high |
| CN104266590A (en) * | 2014-09-12 | 2015-01-07 | 江苏仅一包装技术有限公司 | Simple straight line positioning device |
| CN104266590B (en) * | 2014-09-12 | 2017-06-13 | 江苏仅一包装技术有限公司 | Simple linear positioning system |
| CN111336934A (en) * | 2020-03-30 | 2020-06-26 | 上海剑曼自动化科技有限公司 | General type high accuracy grating height gauge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102252620B (en) | 2013-03-27 |
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Granted publication date: 20130327 Termination date: 20140428 |