CN105752888B - Robot fork truck with easy positioning function - Google Patents
Robot fork truck with easy positioning function Download PDFInfo
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- CN105752888B CN105752888B CN201610308704.4A CN201610308704A CN105752888B CN 105752888 B CN105752888 B CN 105752888B CN 201610308704 A CN201610308704 A CN 201610308704A CN 105752888 B CN105752888 B CN 105752888B
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- slide plate
- leading screw
- fork truck
- chassis
- quick response
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- 241001310793 Podium Species 0.000 claims description 23
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- 239000000203 mixture Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 239000011229 interlayer Substances 0.000 claims description 2
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- 238000000034 method Methods 0.000 description 16
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- 238000007599 discharging Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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- 230000008859 change Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of robot fork truck with easy positioning function, its technical characterstic is：Driving wheel and supporting roller including chassis of vehicle body, on chassis of vehicle body, the body post installed in chassis of vehicle body side and perpendicular to chassis of vehicle body, the car body control cabinet on car body, position control device, platform lifting device and horizontal access goods device, described position control device include the positioner for cargo pallet on shelf and the positioner for ground arbitrary target points.Present invention installation one in lifting chute laterally accesses goods device, its keep robot fork truck make fore-and-aft direction linear movement direction it is constant while, also moved laterally by the transverse shifting of slide plate instead of wheel, carry out the longitudinal register towards shelf, not only solves laterally correction problem, also solve the problems, such as longitudinal direction correction, effectively increase the extraction rate of goods.
Description
Technical field
The present invention relates to warehousing system technical field, and in particular to a kind of robot fork truck with easy positioning function.
Background technology
The shelf of general depot generally have two to three meters of height, discharging of goods on robot fork truck to two to three meters high of goods yard
The bottleneck problem faced is exactly：The transverse direction of larger car body left and right directions will occur when extracting goods in high-building for car body
Error, its reason are：Because vehicle body is higher, the error of vertical angle occurs unavoidably in machine-building.If the root of car body
Inclination somewhat occurs with vertical line direction for portion, then the lateral attitude deviation times over root will occur for its car body top, at this
In the case of kind, if cargo storage place left and right directions deviate from by center due to the inclination of car body during storage goods, when
When extracting the goods next time, if the inclination or the reverse run-off the straight of car body of left and right directions do not occur for an other trolley body
Robot perform picking task, it is according to predetermined target point discharging of goods, because now the goods has been shifted and caused
The jacking groove that the jacking apparatus of robot fork truck can not enter precisely into cargo pallet lower surface causes goods accurate
Extraction.
Prior art takes two methods, first method, the piler based on rail mounted, track to solve problem above
Formula piler lays track along roadway direction, due to being deposited which employs horizontal access device to the goods of shelf both sides
Take, when car body occurs towards the position deviation of the left and right directions of shelf, piler can make the straight of fore-and-aft direction along track
Line move and correct car body towards the position deviation of the left and right directions of shelf, therefore solve because wheel can not move laterally from
And the position correction problem towards the left and right directions of shelf can not be carried out, still, rail mounted piler warehousing system is great in constructing amount,
Cost is high, and dismounting is difficult, and this guidance mode underaction based on track；The second method that prior art is taken：
Fork legged mobile robot based on Quick Response Code：Quick Response Code is laid on storage ground, robot can be any on laying Quick Response Code ground
Walking, solves the problems, such as that track guidance mode underaction and construction cost are high, still, fork legged mobile robot access goods
Mode is the access mode that vehicle body and fork put in shelf simultaneously, also, pitches legged mobile robot fork truck and be generally two driving rolling hitches
Structure, can only make linear motion or the curvilinear motion of fore-and-aft direction, and can not move laterally, once car body occurs towards shelf
It during the position deviation of left and right directions, then must exit beyond shelf, shelf are again introduced into a manner of curved path, so repeatedly,
Until completing the correction of target point, this process may be up to several seconds, it is clear that have impact on the speed of access goods.For solution
Certainly problem above, the method that prior art carries out initializing demarcation to the fork legged mobile robot warehousing system based on Quick Response Code, bag
Include the demarcation on shelf ground：The gradient on each shelf ground is demarcated with calibration vehicle；The demarcation of robot fork truck：Use level ground
Demarcate the gradient of each car；The demarcation of shelf：By each levelling position of shelf level meter, it is 0 degree or 180 to make its guarantee
Degree.Robot fork truck bottom floor units are arrived into the storage of above calibration result, when performing picking task, by extracting phase from demarcation unit
Information is closed, calculates the compensation position of target point, robot jacking apparatus contraposition is inaccurate during so as to solve the problems, such as discharging of goods.
The scaling method is although possible in theory, but excessively cumbersome, is difficult to carry out in real work, moreover, its various initialization demarcation
Value also will be constantly updated and corrected with the increase of car body service life, the change of environment, and in a word, prior art fails to find out
One simple and efficient warehoused cargo localization method.
In summary, the position when piler based on rail mounted solves work high above the ground towards the left and right directions of shelf is inclined
Poor problem, still, construction cost is high, difficulty of construction is big, guidance mode underaction；Fork legged mobile robot fork based on Quick Response Code
Car solves the problems, such as that construction is simple, cost are low, can arbitrarily walk on the ground, and still, it is not simple enough that it initializes staking-out work
Just it is quick.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of robot fork with easy positioning function
Car, that is, because the inclination of inclination or ground generation somewhat that car body occurs somewhat causes when solving robot fork truck aerial operation
Access the low precision and the slow problem of access speed of goods, also solve rail mounted piler construction cost is high, difficulty of construction is big,
The problem of guidance mode underaction, the efficiency of storage robot fork truck access goods is effectively increased,
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of robot fork truck with easy positioning function, including chassis of vehicle body, the driving on chassis of vehicle body
Wheel and supporting roller, the body post installed in chassis of vehicle body side and perpendicular to chassis of vehicle body, the car body control on car body
Case, position control device, platform lifting device and horizontal access goods device processed, described position control device is including for goods
The positioner of cargo pallet and the positioner for ground arbitrary target points on frame.
Described position control device includes two-dimension code navigation position control device, laser hybrid navigation position control device
Or Quick Response Code hybrid navigation position control device.
The described positioner for cargo pallet on shelf includes taking Quick Response Code positioner or laser positioning to fill
Put；The described positioner for ground arbitrary target points includes taking Quick Response Code positioner or laser mixed positioning device
Or Quick Response Code mixed positioning device.
Described Quick Response Code position control device includes being arranged on being used to read on storage ground on car body and storage goods
The Quick Response Code code reader of 2 D code information, communication interface, microprocessor, encoder interfaces on frame；
The described code reader for being used to read storage ground two-dimensional code is arranged on the lower section of chassis of vehicle body；
The described code reader for being used to read Quick Response Code on storage rack is arranged on the laterally access goods device.
The platform lifting device is：Lifting platform leading screw, platform liter are installed in the intermediate vertical of two body posts
The top for dropping leading screw connects bearing by lifting platform leading screw and is connected with car body, and the bottom of lifting platform leading screw passes through platform
Elevating screw motor is connected with car body；Lifting chute is provided with two body posts, the laterally access goods device is embedding
In lifting chute.
The laterally access goods device is five-layer structure, respectively supporting course, podium level, the first slide plate from bottom to up
Layer, the second slide plate layer and pickup gear layer, sled drive mechanism is additionally provided with the centre of podium level, wherein：
The rectangle that the supporting course is spaced a distance composition for a plurality of bearing bar along length over ends of body direction is put down
Face, the plane is parallel with chassis of vehicle body, and one end of supporting course both sides bearing bar is each embedded in body post chute and driven
Whole supporting course lifts along body post chute；
Described podium level is installed on supporting course and parallel to chassis of vehicle body, and podium level is two along width of the carbody
The rectangular planes of platform distance between girders a certain distance composition in direction, the length direction and supporting course of the rectangular planes
The length direction of rectangular planes is vertical each other, and the length of the rectangular platform layer is more than the width of car body, and its length side
To both ends be each isometric beyond the part of body width, be separately installed with pallet reading code at the both ends of platform beam
Device；
The first slide plate layer is packed on podium level, and the first slide plate layer is erected at two platform branch including two levels
Support the first track to align respectively on beam and with platform beam vertical direction, be enclosed in respective first track upper end respectively
Two the first sliding blocks, it is solidly installed respectively with two the first sliding blocks and is erected at the first slide plate on two the first sliding blocks
And installed in the first slide plate lower surface and the first screw slider for being solidly installed with the first slide plate；
The second described slide plate layer is vacantly arranged at a certain distance by the second slide plate sliding block and the first slide plate interlayer
On one slide plate layer, the second slide plate layer is erected on the first slide plate and respectively with the first sliding block including two levels and erected
The second track for directly aliging, two the second sliding blocks for being enclosed in respective second track upper end respectively, respectively with two the second sliding blocks
It is solidly installed and is erected at the second slide plate on two the second sliding blocks and installed in the second slide plate lower surface and with
The second screw slider that two slide plates are solidly installed；
Described pickup gear layer fixes stick by the hook along the second slide plate length direction both ends and is packed in the second cunning
On flaggy, the pickup gear layer includes two hooks and fixes stick, two pairs of hooks, clamping devices；Two pairs of hooks point
Do not fix stick by respective hook to be packed on the second slide plate layer, described clamping device includes being arranged on its both ends
Clamp arm, expansion link, the clamping motor for stretching expansion link for connecting both ends clamp arm；The pickup gear layer is grown along car body
Degree leans out the second slide plate layer on the outside of direction, and the clamping motor is arranged on it and leans out the lower section of part；
Described sled drive mechanism is arranged between two platform beams of podium level, along podium level length direction
It is horizontally installed with the first leading screw, the motor for driving the first leading screw and second conveyer, the second leading screw, drives the second leading screw
Motor and second conveyer；First leading screw is connected with the first screw slider using spiral, and the second leading screw and the second leading screw are slided
Block is connected using spiral, is driven the motor of the first leading screw and is driven the motor enemy of the second leading screw to be arranged on land lengths direction
Both ends.
Described second conveyer and second conveyer are synchronous belt conveying device or gear transmission device.
The advantages and positive effects of the present invention are：
1st, the present invention in robot fork truck by installing for the positioner of cargo pallet on shelf and for ground
The positioner of face arbitrary target points and laterally access goods device, that is, taken into account rail mounted piler and passed through horizontal access
Goods device and then solves the problems, such as the advantage towards the left and right directions position deviation of shelf, also solving rail mounted piler can not
Arbitrarily walked on ground and the problem of construction cost is high, difficulty of construction is big.
2nd, robot fork truck of the present invention keep make fore-and-aft direction linear movement direction it is constant while, also pass through slide plate
Transverse shifting moves laterally instead of wheel, carries out the longitudinal register towards shelf, not only solves laterally correction problem, also solves
The problem of longitudinal direction correction, effectively increase the extraction rate of goods.
Brief description of the drawings
Fig. 1 is the robot fork truck side view of the horizontal access goods of the present invention；
Fig. 2 is the pickup gear upward view of the present invention；
Fig. 3 is that the slide plate of the laterally robot fork truck of access goods moves to right discharging of goods schematic diagram；
Fig. 4 is that the slide plate of the laterally robot fork truck of access goods moves to left shifting discharging of goods schematic diagram；
Fig. 5 is that the Quick Response Code of the present invention is laid in the schematic diagram laid on every layer of shelf；
Fig. 6 is the cargo pallet upward view of the present invention；
Fig. 7 is that Quick Response Code lays position view
Fig. 8 is the positioning principle schematic diagram of the present invention；
Wherein, 1-0：Code reader；1-1：Supporting roller；1-2：Chassis；1-3：Driving wheel；1-4：Body post；1-5：Lifting
Chute；1-6：Car body control cabinet；1-7-0：Bearing bar；1-7-1：Platform beam；1-7-2：First track；1-7-3：First rail
Road sliding block；1-7-4：First slide plate；1-7-5：Step up motor；1-7-6：Pallet code reader；1-7-7：Hook；1-7-8：Second rail
Road；1-7-9：Expansion link；1-7-10：Clamp arm；1-7-11：Second rail slider；1-7-12：Second screw slider；1-7-13：
Second slide plate；1-7-14：Second leading screw；1-7-15：The motor for driving the second leading screw to rotate；1-7-16：First leading screw；1-7-
17：First screw slider；1-8-1：Lifting platform spindle motor；1-8-2：Lifting platform leading screw；1-8-3：Lifting platform leading screw
Connect bearing；2-1：Shelf；2-2：Goods；2-3：Quick Response Code on goods layer；3-1：Pallet lower surface；3-2：Pallet leg；3-3：
Pallet ear；3-4：Pallet registration holes；4-1：Along tunnel length direction center line with being handed over perpendicular to each goods yard center line in tunnel
The Quick Response Code laid at point.
Embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing：
A kind of robot fork truck with easy positioning function, including chassis of vehicle body 1-2, the drive on chassis of vehicle body
Driving wheel 1-3 and supporting roller 1-1, the body post 1-4 installed in chassis of vehicle body side and perpendicular to chassis of vehicle body, installed in car body
On car body control cabinet 1-6, position control device, platform lifting device and laterally access goods device, described location control
Device includes the positioner for cargo pallet on shelf and the positioner for ground arbitrary target points.Described pair
Include taking Quick Response Code positioner or laser locating apparatus in the positioner of cargo pallet on shelf；It is described for ground
The positioner of arbitrary target points includes taking Quick Response Code positioner or laser mixed positioning device or Quick Response Code mixed positioning
Device.
The described positioner for cargo pallet on shelf takes laser locating apparatus, and its principle is：Utilize laser
The function of ranging, the horizontal access goods device of robot measurement fork truck is apart from cargo pallet target point (two on the outside of pallet
Registration holes) right position deviation, upper-lower position deviation, front and back position deviation.Specific method is：On the shelf of storage trays
The laser pick-off dress of distance above and below one group of laser receiver, including the laser receiver of measurement lateral separation, measurement is set
Put, measure the laser receiver of longitudinal separation；Laser is set to send out on the horizontal access goods device of robot fork truck simultaneously
Injection device, three groups of data on distance, and then realization pair are obtained by organic cooperation of laser beam emitting device and reception device
In the laser positioning of cargo pallet on shelf.
Described position control device includes two-dimension code navigation position control device, laser hybrid navigation location control fills
Put, Quick Response Code hybrid navigation position control device.
Described laser hybrid navigation position control device and system are shown in the following patent No., patent name：
The patent No.：CN201520676341.0, patent name：A kind of laser tape mixing self-navigation formula fork truck；Patent
Number：CN201510522655.X, patent name：A kind of AGV laser tape hybrid navigation system, is summarized as follows herein：One kind swashs
Optomagnetic band mixing self-navigation formula fork truck, including truck main body, control module, navigation module, safety protection module, control module
Connect the control interface of the controller of truck main body, navigation module and safety protection module to connect with control module communication, it is special
Sign is that the navigation module includes RFID reader, first laser probe, magneto-dependent sensor, the safety protection module
Including second laser probe, infrared sensor, front end anticollision strip, sidepiece anticollision strip, rear end anti-collision sensor；A kind of AGV
Laser tape hybrid navigation system, including AGV upper-level control systems and AGV dollies, the AGV upper-level control systems use tape
The navigation of system is realized in navigation with the mode that laser navigation is combined, and system concrete structure includes laser navigation module, laser magnetic
Band mixing is accurately positioned material module and automatic charging module.
Described Quick Response Code hybrid navigation position control device and system are shown in the following patent No., patent name：
The patent No.：201310191529.1, patent name：Mobile robot positioning system based on hybrid navigation band and its
Method；The patent No.：201310017927.1, patent name：The localization for Mobile Robot system of rule-based graphic code composite label
System and method.It is summarized as follows herein：The described localization for Mobile Robot control device based on hybrid navigation band includes：It is arranged on
It is used on reading storage ground guide with the Quick Response Code code reader of 2 D code information on storage rack and for obtaining on car body
Camera, communication interface, microprocessor, the encoder interfaces of area navigation information；Rule-based graphic code composite label
Localization for Mobile Robot control device includes：The rule for being used to read on storage ground and on storage rack on car body
The rule schema shape code code reader and RF tag code reader, communication interface, microprocessor, encoder interfaces of graphic code information；
A kind of robot fork truck with easy positioning function of the present invention is using two-dimension code navigation position control device as in fact
Example is applied, is described in detail below：(principle on two-dimension code navigation positioning is shown in the patent No.：201210472984.4, patent name：
Based on the mobile robot positioning system and method for multiple Quick Response Code code readers, it will not be repeated here)
Described Quick Response Code position control device includes being arranged on being used to read on storage ground on car body and storage goods
The Quick Response Code code reader of 2 D code information, communication interface, microprocessor, encoder interfaces on frame；
The described code reader 1-0 for being used to read storage ground two-dimensional code is arranged on the lower section of chassis of vehicle body；
The described code reader 1-7-6 for being used to read Quick Response Code on storage rack is arranged on the laterally access goods device
On；
The platform lifting device is：Lifting platform leading screw 1-8-2 is installed in the intermediate vertical of two body posts, put down
The top of platform elevating screw connects bearing 1-8-3 by lifting platform leading screw and is connected with car body, the bottom of lifting platform leading screw
End is connected by lifting platform spindle motor 1-8-1 with car body；It is described provided with lifting chute 1-5 on two body posts
Laterally access goods device is inlaid in lifting chute.
This laterally access goods device be five-layer structure from bottom to up, respectively supporting course, podium level, the first slide plate layer,
Second slide plate layer and pickup gear layer, sled drive mechanism is additionally provided with the centre of podium level.
Laterally the concrete structure of access goods device is：
Described supporting course is the length that a plurality of bearing bar 1-7-0 along length over ends of body direction is spaced a distance composition
Square planar, the plane is parallel with chassis of vehicle body 1-2, and supporting course both sides bearing bar 1-7-0 one end is each embedded in car body and stood
In the lifting chute 1-5 of post, so as to drive whole supporting course along body post chute automatic lifting.
Described podium level is installed on supporting course and parallel to chassis of vehicle body 1-2, and podium level is two along car body
The platform beam 1-7-1 of width is spaced a distance the rectangular planes of composition, the length side of the rectangular planes
Vertical each other to the length direction with supporting course rectangular planes, the length of the rectangular platform layer is more than the width of car body, and
And the both ends of its length direction are each isometric beyond the part of body width；Described pallet code reader 1-7-6 is arranged on
Platform beam 1-7-1 both ends.
Further illustrate：Because podium level relative to slide plate layer is fixed, protected when being shot for the ease of camera
Stable state is held, pallet code reader is set to the both ends of the platform beam in left side in Fig. 1, reading code, which rises, to be located under pickup gear
Side's centimeters more than 10, although failing at the top of the code reader and pickup gear in same horizontal plane, due to the code reader away from
From shelf about more than 20 centimetre, because apart from distant, its field range photographs image in 2 D code enough.
The first slide plate layer be erected at including two levels on two platform beams and respectively with platform beam
First track 1-7-2 of vertical direction alignment, two the first sliding block 1-7-3 for being enclosed in respective first track upper end respectively, divide
It is not solidly installed with two the first sliding blocks and is erected at the first slide plate 1-7-4 on two the first sliding blocks and is arranged on
First slide plate lower surface and the first screw slider 1-7-17 being solidly installed with the first slide plate.
The second described slide plate layer be erected at including two levels on the first slide plate 1-7-4 and respectively with the first sliding block
The second track 1-7-8 that 1-7-3 is vertically aligned, two the second sliding block 1-7-11 for being enclosed in respective second track upper end respectively,
It is solidly installed respectively with two the second sliding block 1-7-11 and is erected at the second slide plate on two the second sliding block 1-7-11
1-7-13 and installed in the second slide plate lower surface and the second screw slider 1-7-12 for being solidly installed with the second slide plate.
Described pickup gear layer is as shown in Fig. 2 including accessing the hook 1-7-7 of goods for left and right ends and being used for
Clamp clamping device, the clamping motor 1-7-5 and pallet code reader 1-7-6 for stretching clamping device of hook.Described hook
Sub- 1-7-7 is separately mounted to the left and right ends above the second slide plate, and the hook often held is two, is fixed by respective hook
Batten 1-7-18 is solidly installed with the second slide plate；Described clamping device includes clamp arm 1-7-10 and expansion link 1-7-9；Institute
The pallet code reader 1-7-6 stated is embedded in pickup gear both ends and fixed in the groove of batten 1-7-18 ends, and the code reader
Towards shelf.
Described sled drive mechanism is as shown in figure 1, between two platform beam 1-7-1 of podium level, edge
Podium level length direction be horizontally installed with the first leading screw 1-7-16, drive the first leading screw motor and second conveyer,
Second leading screw 1-7-14, the motor 1-7-15 and second conveyer for driving the second leading screw；First leading screw 1-7-16 and first
Screw slider 1-7-17 is connected using inside spin, and the second leading screw 1-7-14 and the second screw slider 1-7-12 are connected using inside spin
Connect, drive the motor of the first leading screw and drive the motor 1-7-15 enemies of the second leading screw to be arranged on the both ends in land lengths direction
(drive the second leading screw motor fail to show in figure, its position motor 1-7-15 positive direction to cross).Described first
Conveyer and second conveyer are synchronous belt conveying device or gear transmission device.
The present invention applies to be used to access goods in warehousing system, and a specific application example is given below with to this hair
It is bright to be described further：
Quick Response Code is laid on the storage rack of warehousing system, as shown in figure 5, each layer there are three goods yards, in every layer of goods
The setting regions laying Quick Response Code 2-3 of frame bulkhead sides, when robot fork truck storage goods, the pallet on its pickup gear is read
Code device 1-7-6 reads the information of Quick Response Code beside each goods yard, carries out the lateral attitude correction towards shelf, described Quick Response Code
Can be a Quick Response Code or the Quick Response Code code battle array being made up of multiple Quick Response Codes.Every layer of described Goods shelf partition plate side
Setting regions be region that pallet code reader can photograph image in 2 D code, from fig. 5, it can be seen that each Quick Response Code
Laying position is the region of off-center point on the right side, and this is due to that the installation site of pallet code reader has also offset from central point
Reason.
Cargo pallet of the installation with monaural piece on storage rack.The structure of the cargo pallet is as shown in fig. 6, pallet sheet
Body 3-1 lower surfaces are provided with pallet calf circumference 3-2, are provided with the center point area of tray body single side face and are packed in body pallet
Location-plate 3-3 together, the positioning hole 3-4 of two strips spaced apart is formed with location-plate, wherein, two strips
The spacing of positioning hole is the spacing between two hooks, and the length of two strip positioning holes is the clamping device on robot fork truck
Tensile elongation.Cargo pallet of the present invention is the iron pallet of the underloading goods of electric business, and its design principle is：Pallet ear portion
The mechanical weight capacity of position is sufficiently more than iron pallet self gravitation+goods gravity, as long as surplus is enough, you can realizes goods
Level lifts and put down.
Quick Response Code is laid on the ground of warehousing system：Quick Response Code is laid in storage ground along tunnel length direction center
Each point of intersection of the line with tunnel both sides perpendicular to each goods yard center line in tunnel.
The operation principle of robot fork truck is as shown in figure 8, robot marked as the 1 body post 1- in work high above the ground
4 there occurs the inclination to car body direction of advance.Because body post is tilted, it is embedded in body post lifting chute
Podium level that bearing bar 1-7-0 is extremely carried, the first slide plate layer, the second slide plate layer, pickup gear layer and then can also occur together
Tilt, inclined result is as illustrated, pickup gear has been deviated to the left registration holes, and now, pallet code reader is corresponding by obtaining
The image in 2 D code in the goods yard, calculates the deviation position towards the left and right directions of shelf, and robot passes through according to deviation position
After move for linear motion, correct the position of deviation.
In work high above the ground, there occurs the inclination to car body left direction by body post 1-4 for robot marked as 2.Due to
Body post is tilted, be embedded in body post lifting chute in bearing bar 1-7-0 extremely carry podium level, first
Slide plate layer, the second slide plate layer, pickup gear layer can also follow the left side run-off the straight to car body together, and inclined result is as schemed
Show, pickup gear becomes remote apart from the position relative distance of registration holes.The method of solution has two, and one is that pallet registration holes are
Elongate in shape, there is enough surplus compensation distance caused by car body is left tiltedly to become remote error along strip direction；Second solution
Certainly method is the method for pixel analysis, and under normal circumstances, captured picture pixels number is certain, Quick Response Code figure in image
The number of pixels of picture is also certain, when tilting of car body so that pickup gear to the distance of pallet registration holes become near or become remote when,
The number of pixels of image in 2 D code can also increase because change is big, be reduced because diminishing, and therefore, can be compared according to image in 2 D code
The quantity and the quantity of reduction that normal condition increases substantially error in judgement value, then move to left or move to right correction error by slide plate
Value.Car body in Fig. 8, which is tilted to the left, causes distance to become remote, can now be calculated according to the change of the image in 2 D code pixel of amplification
Go out error amount, then moved right corrected error value by slide plate.
The process of discharging of goods of the present invention is as follows：
The robot fork truck of step 1, laterally access goods drives into target shelf along roadway direction and lifted to target goods
Position；
Step 2, pallet code reader read on target goods yard to should goods yard shelf 2 D code information；
Step 3, pallet code reader camera is calculated to the offset of shelf Quick Response Code, if offset is along tunnel side
To lateral deviation, then laterally access goods robot fork truck make fore-and-aft direction linear motion compensation deviation；If skew
Measure as the longitudinal bias with tunnel vertical direction, then laterally the first slide plate of the robot fork truck of access goods, the second slide plate are made
Transverse movement compensates deviation；
Step 4, laterally the robot fork truck of access goods start pickup gear and are inserted upwardly into cargo pallet registration holes；
Step 5, laterally the robot fork truck of access goods starts clamping motor and is pressed from both sides hook by expansion link and clamp arm
Tightly；
Step 6, laterally the robot fork truck of access goods lifts goods and goods is transplanted on to the center of the second slide plate
Domain；
Step 7, laterally goods is down to the position for being capable of stable operation by the robot fork truck of access goods, and is transported to mesh
Punctuate.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
Include and be not limited to embodiment described in embodiment, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Claims (7)
- A kind of 1. robot fork truck with easy positioning function, it is characterised in that：Including chassis of vehicle body, installed in chassis of vehicle body On driving wheel and supporting roller, the body post installed in chassis of vehicle body side and perpendicular to chassis of vehicle body, on car body Car body control cabinet, position control device, platform lifting device and laterally access goods device, described position control device bag Include the positioner for cargo pallet on shelf and the positioner for ground arbitrary target points；Include taking Quick Response Code positioner or laser locating apparatus for the positioner of cargo pallet on shelf；Position shelf The Quick Response Code positioner or laser locating apparatus of upper cargo pallet are arranged on the laterally access goods device.
- A kind of 2. robot fork truck with easy positioning function according to claim 1, it is characterised in that：Described determines Level control device includes two-dimension code navigation position control device, laser hybrid navigation position control device or Quick Response Code hybrid navigation Position control device.
- A kind of 3. robot fork truck with easy positioning function according to claim 1, it is characterised in that：Described pair Include taking Quick Response Code positioner or laser mixed positioning device or Quick Response Code to mix in the positioner of ground arbitrary target points Close positioner.
- A kind of 4. robot fork truck with easy positioning function according to claim 2, it is characterised in that；Described two Tieing up code navigator fix control device includes being arranged on being used to read on storage ground on car body and Quick Response Code letter on storage rack Quick Response Code code reader, communication interface, microprocessor, the encoder interfaces of breath；The described code reader for being used to read the Quick Response Code of 2 D code information on storage ground is arranged on the lower section of chassis of vehicle body.
- 5. a kind of robot fork truck with easy positioning function according to claim 1 or 2 or 3 or 4, its feature exist In：The platform lifting device is：Lifting platform leading screw, lifting platform leading screw are installed in the intermediate vertical of two body posts Top connected and bearing and be connected with car body by lifting platform leading screw, the bottom of lifting platform leading screw passes through lifting platform silk Thick stick motor is connected with car body；Lifting chute is provided with two body posts, the laterally access goods device is inlaid in liter Drop in chute.
- 6. a kind of robot fork truck with easy positioning function according to claim 1 or 2 or 3 or 4, its feature exist In：The laterally access goods device is five-layer structure from bottom to up, respectively supporting course, podium level, the first slide plate layer, second Slide plate layer and pickup gear layer, sled drive mechanism is additionally provided with the centre of podium level, wherein：The supporting course is the rectangular planes that a plurality of bearing bar along length over ends of body direction is spaced a distance composition, should Plane is parallel with chassis of vehicle body, and one end of supporting course both sides bearing bar, which is each embedded in body post chute and driven, entirely holds Double-layer lifts along body post chute；Described podium level is installed on supporting course and parallel to chassis of vehicle body, and podium level is two along width of the carbody direction Platform distance between girders a certain distance composition rectangular planes, the length direction and supporting course of the rectangular planes be rectangular The length direction of shape plane is vertical each other, and the length of the rectangular planes is more than the width of car body, and the two of its length direction End is each isometric beyond the part of body width, and pallet code reader is separately installed with the both ends of platform beam；The first slide plate layer is packed on podium level, and the first slide plate layer is erected at two platform beams including two levels On and alignd respectively with platform beam vertical direction the first track, be enclosed in two of respective first track upper end respectively First sliding block, be solidly installed respectively with two the first sliding blocks and be erected at the first slide plate on two the first sliding blocks and Installed in the first slide plate lower surface and the first screw slider for being solidly installed with the first slide plate；The second described slide plate layer is vacantly arranged on the first cunning at a certain distance by the second slide plate sliding block and the first slide plate interlayer On flaggy, the second slide plate layer is erected on the first slide plate and right vertically with the first sliding block respectively including two levels The second track together, two the second sliding blocks of respective second track upper end are enclosed in respectively, are fixedly mounted with respectively with two the second sliding blocks The second slide plate for being erected on two the second sliding blocks and slide together and installed in the second slide plate lower surface and with second The second screw slider that plate is solidly installed；Described pickup gear layer fixes stick by the hook along the second slide plate length direction both ends and is packed in the second slide plate layer On, the pickup gear layer includes two hooks and fixes stick, two pairs of hooks, clamping devices；Two pairs of hooks lead to respectively Cross respective hook fixation stick to be packed on the second slide plate layer, described clamping device includes being arranged on the clamping at its both ends Arm, expansion link, the clamping motor for stretching expansion link for connecting both ends clamp arm；The pickup gear layer is along length over ends of body side To outside lean out the second slide plate layer, the clamping motor is arranged on it and leans out the lower section of part；Described sled drive mechanism is arranged between two platform beams of podium level, horizontal along podium level length direction First leading screw, the motor for driving the first leading screw and second conveyer, the second leading screw, the motor for driving the second leading screw are installed And second conveyer；First leading screw is connected with the first screw slider using spiral, and the second leading screw is adopted with the second screw slider Connected with spiral, drive the motor of the first leading screw and drive the motor enemy of the second leading screw to be arranged on the two of land lengths direction End.
- A kind of 7. robot fork truck with easy positioning function according to claim 6, it is characterised in that：Described One conveyer and second conveyer are synchronous belt conveying device or gear transmission device.
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| CN201610308704.4A CN105752888B (en) | 2016-05-11 | 2016-05-11 | Robot fork truck with easy positioning function |
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| CN201610308704.4A CN105752888B (en) | 2016-05-11 | 2016-05-11 | Robot fork truck with easy positioning function |
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