CN108946585A - Unmanned fork truck and automated warehouse storage system and fork truck operation method - Google Patents
Unmanned fork truck and automated warehouse storage system and fork truck operation method Download PDFInfo
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- CN108946585A CN108946585A CN201810932917.3A CN201810932917A CN108946585A CN 108946585 A CN108946585 A CN 108946585A CN 201810932917 A CN201810932917 A CN 201810932917A CN 108946585 A CN108946585 A CN 108946585A
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- 238000003860 storage Methods 0.000 title claims abstract description 11
- 238000000465 moulding Methods 0.000 claims description 18
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- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
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Classifications
-
- 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
-
- 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
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Geology (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses unmanned fork trucks and automated warehouse storage system and fork truck operation method, automated warehouse storage system, including warehouse and unmanned fork truck, parallel arrangement has multiple tracks shelf in warehouse, shelf passage is formed between shelf, unmanned fork truck linear fashion can be run in shelf passage, unmanned fork truck, including along the chassis of warehouse shelf channel-length direction linear running, and it can lifting pallet fork on chassis on a secondary door frame component and door frame component for shelf passage width direction linear running on chassis, go up and down the either side shelf in the direction alignment shelf passage two sides of pallet fork；Fork truck operation method executes stacking instruction or pick-up instruction by operation warehousing system, and only the shelf passage length direction along library is made straight line and run back and forth on the chassis of unmanned fork truck, omits navigation system, reduces production cost；Unmanned fork truck is run along pallet fork passages simultaneously, therefore the width of layout of shelf passage can reduce, and effectively improve utilization rate of warehouse.
Description
Technical field
The present invention relates to a kind of electri forklift and warehousing system field more particularly to a kind of unmanned fork truck and automations
Warehousing system and fork truck operation method.
Background technique
Fork truck is industrial transportation vehicle, refer to pallet cargo is loaded and unloaded, stacking and short distance transportation operation
Various wheeled transport vehicles.Fork truck is widely used in harbour, goods yard, factory floor, warehouse and logistics center etc..Traditional fork truck
Require configuration driver, and large labor intensity very high to the skill requirement of driver.Since human cost rises and calculates
The development of the machine communication technology uses unmanned fork truck standardizing more and more in warehouse.
Chinese Authorization Notice No. is the unmanned transportation fork-truck of laser navigation of CN205709704U, is swept in fact by setting first
Imaging apparatus and the second scanning means scan fork truck or so two sides and subsequent barrier, prevent fork truck from colliding.
Chinese Authorization Notice No. is the laser navigation of CN207158711U from electrical forklift, pass through simultaneously safety sensor,
Warning lamp, scram button guarantee the personal safety of field personnel；And optional laser radar is to meet different costs, function
Energy demand realizes high performance-price ratio, and laser navigation is more reliable and more stable from electrical forklift.
Chinese Authorization Notice No. is the unmanned electric railless three-dimensional stacking fork truck of CN104442452B, passes through vehicle control
Device PLC processed controls the automation for completing logistics, and guiding control is accurate, and data information is perfect, is suitable for pallet carrying and pallet certainly
Dynamic storage and outbound operation.
Chinese application publication number is CN107038546A based on RFID fork truck intelligent warehouse management system and method, packet
The RFID antenna and card reader that cargo is read on fork truck are included, the first RFID electronic label being attached on goods carrier is attached to cargo
On the second RFID electronic label and control host.Card reader is connected with control host to arrive the data information transfer of reading
Control host, the present invention can easy warehousing management, make that cargo is put and quantity is very clear, specification warehousing management makes cargo
More appropriate keeping specifies cargo trend, makes cargo process definitely.
Traditional fork truck configured with driver, due to driver's seat and the layout of operating system, so that traditional fork
The length of vehicle at least needs 2.4 meters, it is contemplated that the turning radius of fork truck, shelf passage at least need 3 meters or more.Traditional fork truck
Pallet fork direction it is identical as vehicle course.
Unmanned fork truck and the technology in automated warehousing management tend to be mature at present, but unmanned fork truck
Laser navigation instrument, be related to optics, computer communication etc. subjects, technical requirements are very high, thus its prices are rather stiff, this is making
It causes to be difficult to bear on this.By unmanned fork lift truck applications when carrying out handling, the stacking of cargo in regular warehouse, fork truck needs
Certain turning radius, the channel between adjacent two rows of shelf in warehouse are generally required at 3 meters or more, this influences whether warehouse
Utilization efficiency.
In view of this, those skilled in the art attempt to develop a kind of novel unmanned fork truck and automated warehousing system
System, to overcome above-mentioned technological deficiency.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of unmanned fork truck along shelf passage linear running and
Fork truck operation method, this can simplify the structure and control system of unmanned fork truck；Further provide based on it is above-mentioned nobody
The automated warehouse storage system for driving fork truck, because of linear running of the unmanned fork truck in warehouse, the shelf passage in warehouse is just
Without considering the turning radius of fork truck, this can reduce the width of shelf passage, increase substantially the utilization efficiency in warehouse.
The technical scheme of the invention to solve the technical problem is: unmanned fork truck, it is characterised in that including
Along warehouse shelf channel-length direction linear running chassis, be set to chassis on and can be on chassis along shelf passage width direction
Lifting pallet fork on the secondary door frame component of the one of linear running and door frame component, the direction alignment shelf passage of the lifting pallet fork
Either side shelf in two sides.
The further preferred embodiment of the present invention are as follows: including the first driving machine that driving chassis is for linear motion along shelf passage
Structure.
The further preferred embodiment of the present invention are as follows: first driving mechanism is first servo motor, the chassis
Multiple movable pulleys controlled by first servo motor are equipped with, the movable pulley under Serve Motor Control drives chassis along shelf passage
It is for linear motion.
The further preferred embodiment of the present invention are as follows: track, the lower part of the door frame component are distributed on the chassis
Equipped with idler wheel, the idler wheel on door frame component is rolled in the track to realize linear motion of the door frame component on chassis.
The further preferred embodiment of the present invention are as follows: including the second driving mechanism that driving door frame component is for linear motion.
The further preferred embodiment of the present invention are as follows: second driving mechanism includes be fixed on door frame component bottom
Two servo motors, gear and the rack gear being laid with along chassis width direction, the second servo motor driving gear with it is described
Rack gear engagement, movement of the gear on the rack gear of the second servo motor driving is to come the straight line that drives door frame component
Movement.
The further preferred embodiment of the present invention are as follows: the synchronous third turned to of a control movable pulley is connected on each movable pulley
Servo motor.
The further preferred embodiment of the present invention are as follows: on the output gear and movable pulley wheel carrier of the third servo motor
Arc-shaped rack matches, to realize the course changing control of movable pulley.
The further preferred embodiment of the present invention are as follows: the door frame component is made of multistage door frame, above and below door frame component
The flexible control by lifting cylinder.
The further preferred embodiment of the present invention are as follows: the chassis includes two and is parallel to each other and frame spaced apart
Item, the track are located at the inside of every moulding.
The further preferred embodiment of the present invention are as follows: the door frame component under initial position is located at the central region on chassis, and rises
The front end for dropping pallet fork is no more than the front end of moulding；Door frame component can move linearly to extreme direction before moulding and forward extend out moulding.
The further preferred embodiment of the present invention are as follows: be equipped in chassis to battery needed for fork truck operation power supply.
The further preferred embodiment of the present invention are as follows: chassis underside face is equipped with magnetic navigation sensor, the magnetic navigation sensing
Device is used cooperatively with the magnetic stripe, magnetic markers or cable being laid on shelf passage.
The further preferred embodiment of the present invention are as follows: automated warehouse storage system, including warehouse and as claim 1-13 it is any
The unmanned fork truck, parallel arrangement has multiple tracks shelf in warehouse, forms shelf passage between shelf, and described nobody drives
Sailing fork truck can linear fashion operation in the shelf passage described at least one.
The further preferred embodiment of the present invention are as follows: the width of the shelf passage is between 140~300 centimetres.
The further preferred embodiment of the present invention are as follows: clamp method of the unmanned fork truck in warehouse, it is characterised in that packet
Include following specific steps: 1) unmanned fork truck is connected to the instruction of cargo stacking, the described stacking instruction include goods information and with
The corresponding shelf information of goods information；Shelf information includes X axis coordinate, Y axis coordinate and Z axis coordinate；
2) after a lifting pallet fork on unmanned fork truck is connected to cargo from the entrance of shelf passage, unmanned fork
Vehicle linear running along the shelf passage under locating X axis coordinate, when the lifting pallet fork for being loaded with cargo is moved to Y axis coordinate
Place, unmanned fork truck stop, and then go up and down pallet fork and send cargo to the Z axis coordinate position of shelf.
The further preferred embodiment of the present invention are as follows: unmanned fork truck realizes any direction in the entrance of shelf passage
Turn to or realize the steering of 180 degree.
The further preferred embodiment of the present invention are as follows: picking method of the unmanned fork truck in warehouse, it is characterised in that packet
Include following specific steps: 1) unmanned fork truck is connected to cargo unloading instruction, the described unloading instruction include goods information and with
The corresponding shelf information of goods information, shelf information include X axis coordinate, Y axis coordinate and Z axis coordinate；
2) unmanned fork truck linear running along the shelf passage under locating X axis coordinate, when lifting pallet fork is moved to Y
At axial coordinate, unmanned fork truck stops；Then lifting pallet fork rises to Z axis coordinate position load target goods, is loaded with mesh
The lifting pallet fork for marking cargo resets, and subsequent unmanned fork truck is moved to the entrance of the shelf passage under X axis coordinate.
The further preferred embodiment of the present invention are as follows: unmanned fork truck realizes any direction in the entrance of shelf passage
Turn to or realize the steering of 180 degree.
Compared with prior art, it is an advantage of the invention that unmanned fork truck has a chassis, has a subband on chassis
The door frame component of pallet fork goes up and down the either side shelf in the direction alignment shelf passage two sides of pallet fork；Due to unmanned fork truck
Only the shelf passage length direction along library is made straight line and is run back and forth on chassis, navigation system needed for omitting unmanned fork truck, drop
Low production cost.Simultaneously because unmanned fork truck is run along pallet fork passages, the shelf passage in warehouse is without considering fork
The turning radius of vehicle, therefore the width of layout of shelf passage can reduce, and be reduced by traditional 3 meters of shelf passage or more to 1.4
Between -3 meters of rice, the utilization rate in warehouse can be effectively improved.
Detailed description of the invention
Fig. 1 is the schematic layout pattern of multiple tracks shelf in warehouse；
Fig. 2 is that unmanned fork truck operates in the schematic diagram in shelf passage；
Fig. 3 is the structural schematic diagram one of unmanned fork truck；
Fig. 4 is the structural schematic diagram two of unmanned fork truck；
Fig. 5 is the structural schematic diagram three of unmanned fork truck；
Fig. 6 is the structural schematic diagram four of unmanned fork truck；
Fig. 7 is enlarged drawing at A in Fig. 5；
Fig. 8 is enlarged drawing at B in Fig. 6.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
Automated warehouse storage system, including standardized warehouse, parallel arrangement has a multiple tracks shelf 6 in warehouse, between shelf 6 with
Shelf passage 5 is formed, usually the left and right sides of shelf passage 5 is respectively disposed with the shelf 6 of stack goods all the way.Unmanned fork
Vehicle 1 linear fashion can be run in one or more shelf passage 5.The width of shelf passage 5 of the invention declines
To between 1.4 meters -3 meters, it is contemplated that the stability of cargo height and fork truck, the width of shelf passage 5 are arranged in 1.6 meters -2 meters
Between it is proper.Unmanned fork truck 1 of the invention, in this way can be with suitable for 2 meters or more of high shelf and the warehouse of narrow passage
Effectively improve the utilization rate in warehouse.
As shown in Figure 1, one shelf passage is corresponding with two shelf in left and right for the shelf schematic layout pattern in a warehouse
6, cargo is seated on shelf by pallet, and position of the shelf passage 5 in warehouse is expressed as X, and a shelf passage 5 is corresponding
Two column shelf are expressed as X1 and X2, and the length direction of shelf passage 5 is expressed as Y, and the height of shelf is expressed as Z.Cargo exists
Coordinate representation on shelf is (X1, Y, Z) or (X2, Y, Z).
As shown in Fig. 2, when a unmanned fork truck 1 can be responsible for the two column shelf 6 an of shelf passage 5, switching simultaneously
To same shelf passage 5 different shelf 6 when, unmanned fork truck 1 needs (the entrance C of side-aisle region 10 in warehouse
Place) turn through 180 degree.If a unmanned fork truck 1 is responsible for the same direction shelf 6 on different shelf passages 5, nobody
Driving fork truck 1 need to be after 90 degree twice turning, and the pallet fork direction of fork truck remains unchanged.
As shown in Figures 3 to 6, unmanned fork truck 1, including along the bottom of 5 length direction linear running of warehouse shelf channel
Disk 2, on chassis 2 and can be on chassis 2 along the secondary door frame component 3 and door frame of 5 width direction linear running of shelf passage
Lifting pallet fork 4 on component 3, the direction of lifting pallet fork 4 are directed at the either side shelf 6 in 5 two sides of shelf passage, i.e. lifting pallet fork
Length direction of 4 direction perpendicular to shelf passage 5.Unmanned fork truck 1 can utilize door frame component 3 and lifting pallet fork 4 by goods
On object 7 stacking to shelf 6 or from unloading on shelf 6.When shelf passage 5 is rectilinear direction, the direction of lifting pallet fork 4 is hung down always
Directly in the length direction of shelf passage 5, door frame component 3 is located on chassis 2 and on chassis 2 along the width direction of shelf passage 5
It is elastic, unmanned fork truck 1 when driving, door frame component 3 need to be inwardly indented to the inside of chassis 2, in unmanned fork truck 1
Stacking or when taking oblique cargo, door frame component 3 is protruding on chassis 2 to be used for operation.
Only make straight line along 5 length direction of library shelf passage due to the chassis 2 of unmanned fork truck 1 to run back and forth, therefore can be with
Navigation system needed for omitting unmanned fork truck 1, to reduce production cost.Simultaneously because unmanned fork truck 1 is logical along pallet fork
5 linear running of road, without considering the turning radius of fork truck, therefore the width of layout of shelf passage 5 can reduce, by traditional goods
3 meters of frame channel or more is reduced between 1.4 meters -3 meters, this can effectively improve the utilization rate in warehouse.
Lifting pallet fork 4 is of an L-shaped structure comprising two yokes 41 are connected on door frame component 3 by mechanical structure, tool
Body structure can be realized using routine techniques.
Shelf 6 have certain height, this can by go up and down pallet fork 4 automatic lifting come realize cargo 7 stacking and
Unloading.Specifically, the control of the linear movement of unmanned fork truck 1, elastic and lifting of the door frame component 3 on chassis 2
The unmanned control systems such as the height of the raising and lowering of pallet fork 4 are realized using computer；The unmanned control system can be by existing
There are control system and software in technology to realize, is no longer developed in details herein.
Chassis 2 is a general frame in rectangular configuration, and the width on chassis 2 is equal to or slightly less than shelf passage 5
Width moves linearly in shelf passage 5 as long as not influencing chassis 2.
Unmanned fork truck 1 includes driving chassis 2 first driving mechanism for linear motion along shelf passage 5, and first drives
Motivation structure is first servo motor 21, and chassis 2 is equipped with 4 movable pulleys 22, and the setting of movable pulley makes chassis 2 more easily control along goods
The length direction in frame channel 5 is for linear motion.Specifically, movable pulley 22 includes that there are two driving wheel 221 and two driven wheels
222.A first servo motor 21 is respectively filled on driving wheel 221 on 2 diagonal line of chassis, two first servo motors 21 are driven respectively
A driving wheel 221 is moved, to drive chassis 2 mobile to two different directions, so that unmanned fork truck 1 is executed straight at one
Front and back operation back and forth on line shelf passage 5.There are four movable pulleys 22 for installation on the chassis 2 of unmanned fork truck 1, in diagonal line
On two be driving wheel 221.When fork-truck steering, four movable pulleys 22 first turn to an angle, make in axis alignment fork truck
Point, one of driving wheel 221 rotate forward, and another driving wheel 221 is to rotate backward, and unmanned fork can be realized
The commutation of vehicle 1.When two driving wheels 221 rotate in same direction, it can be achieved that four direction is freely converted, fork truck is with rectilinear direction row
It sails.
The synchronous third servo motor 25 turned to of a control movable pulley 22 is connected on each movable pulley 22.As shown in fig. 7,
The output gear 251 of third servo motor 25 is matched with the arc-shaped rack 2231 on movable pulley wheel carrier 223, to realize movable pulley
22 course changing control.For unmanned fork truck 1 when needing to rotate, four third servo motors 25 distinguish synchronously control movable pulley wheel
The rotation of frame 223, to meet the turning consistency of four movable pulleys 22.Unmanned fork truck 1 is in 6 side-aisle region 10 of shelf
Realize the steering of any direction, but the direction of travel of unmanned fork truck 1 is still advanced with rectilinear direction.22 top of movable pulley
Position is equipped with the housing 224 of protection third servo motor 25 and first servo motor 21.Third servo motor 25 is built-in with detection
The feedback coder of steering angle.
When unmanned fork truck 1 passes through magnetic navigation sensor along with 11 linear running of magnetic stripe in shelf passage 5, when
When unmanned fork truck deviates linear position, the synchronization steering structure of movable pulley 22 can be to the traveling road of unmanned fork truck 1
Line is rectified a deviation.
Track 23 is distributed on chassis 2, the lower part of door frame component 3 is equipped with idler wheel 31, and the idler wheel 31 of door frame component 3 is in correspondence
Track 23 in roll to realize linear motion of the door frame component 3 on chassis 2, to reduce in 3 moving process of door frame component
Frictional force.Unmanned fork truck 1 further includes the second driving mechanism for driving door frame component 3 for linear motion.
As shown in Figure 6 and Figure 8, the second driving mechanism includes the second servo motor 32, the tooth for being fixed on 3 bottom of door frame component
34, tooth for taking turns 33 and being laid in 2 width direction of chassis, the second servo motor 32 driving gear 33 are engaged with rack gear 34, and second
Servo motor 32 drives movement of the gear 33 on rack gear 34 to come the linear motion that drives door frame component 3, and gear 33 can be with
Two and rotation of intermeshing are installed.The speed changer 37 of worm and gear composition is equipped between second servo motor 32 and gear 33,
It can increase the output torque of the second servo motor 32 simultaneously.Feedback coder is installed on speed changer 37, by detecting gear
33 revolving speed exactly detects stroke signal and feeds back to controller, meets the needs of 3 forwardly moved position of door frame component detection.
Door frame component 3 is made of multistage door frame, the upper and lower flexible control by lifting cylinder 38 of door frame component 3.Door frame group
The connection of lifting pallet fork 4 and driving structure, operational mode on part 3 and door frame component 3 can be identical as conventional fork truck, herein
No details will be provided.Altimeter coder is installed on door frame component 3, to detect the telescopic height of door frame component 3.
Chassis 2 is parallel to each other including two and moulding 24 spaced apart, every group of track are located at every moulding 24
Inside, based on the considerations of intensity and reliability, moulding 24 is made of steel.Track 23 is made of other C-type steel material, and fixed
It is connected to the inside of moulding 24.
Coupled between two mouldings 24 by gusset piece component 242, gusset piece component 242 be divided to for two mouldings 24 it
Between downside gusset piece 2422 and upside gusset piece 2421, gusset piece component 242 is located at the rear side of place door frame component 3, couples
A receiving channel 243 is formed between board group part 242.The rear side of door frame component 3 is connected with balance plate 35, there is one or two rolling
Wheel 31 is separately mounted to the two sides of the bottom position of door frame component 3, and another there are two the two sides that idler wheel 31 is mounted on balance plate 35, door frames
Stability when component 3 moves in track 23 is just very good.When door frame component 3 moves backward, the balance of 3 rear side of door frame component
Plate 35 can be put in the receiving channel 243 of gusset piece component 242.
Another second servo motor 32, speed changer 351 and encoder 352 etc. are fixedly mounted on the top of balance plate 35, in door
When frame component 3 moves backward, the second servo motor 32, speed changer 351 and encoder 352 etc. can protrude into receiving channel 243
It is interior.
One mask 36 is arranged at the lower part of door frame component 3, and the bottom cover of door frame component 3 is got up, mask 36 and balance plate
35 are interconnected and fixed.
Door frame component 3 under initial position is located at the central region on chassis 2, and the front end for going up and down pallet fork 4 is no more than moulding
24 front end；When the chassis 2 of unmanned fork truck 1 is moved in shelf passage 5, lifting pallet fork 4 will not encounter shelf 6.Door frame
Component 3 can move linearly to extreme direction before moulding 341 and forward extend out moulding 241.Door frame component 3 chassis 2 central region,
For unmanned fork truck 1 in unloaded or heavy duty, the center of gravity and balance of unmanned fork truck 1 are relatively good, and fork truck is not
Unstable situation can occur because of load weight.
It is equipped on upside gusset piece 2421 on chassis 2 to battery 12 needed for fork truck operation power supply and gives lifting oil
The hydraulic pump 13 of 38 fuel feeding of cylinder.The counterweight as unmanned fork truck 1 simultaneously of battery 12, since chassis 2 is needed for door frame group
The movement of part 3, therefore the width on chassis 2 is relatively large, the frame on chassis 2 is made of steel, relatively large floor space and
Weight is also used as the counterweight of unmanned fork truck 1；To bear the equilibrant force of lifting pallet fork 4 in a high position and when overloaded.Battery
12 are seated in upside 2421 position of gusset piece, belong to the rearward position on chassis 2, and door frame component 3 is located at the forward position on chassis 2,
Battery 12 plays the role of 2 counterweight of chassis.
2 downside of chassis be equipped with magnetic navigation sensor, magnetic navigation sensor be laid on shelf passage 5 magnetic stripe 11,
Magnetic markers or cable are used cooperatively.Magnetic stripe 11, magnetic markers or cable are laid in a linear fashion on shelf passage 5, unmanned
Fork truck 1 is by magnetic navigation sensor along 5 linear running of shelf passage.
Clamp method of the unmanned fork truck 1 in warehouse, comprises the following specific steps that: 1) unmanned fork truck 1 is connected to
The instruction of cargo stacking, stacking instruction include goods information and shelf information corresponding with goods information；Shelf information includes that X-axis is sat
Mark, Y axis coordinate and Z axis coordinate；
2) after a lifting pallet fork 4 on unmanned fork truck 1 is connected to cargo from the entrance C of shelf passage 5, nobody
It drives fork truck 1 to run along the shelf passage 5 under locating X axis coordinate, when the lifting pallet fork 4 for being loaded with cargo is moved to Y-axis
At coordinate, unmanned fork truck 1 stops, and then goes up and down pallet fork 4 and send cargo to the Z axis coordinate position of shelf.
Picking method of the unmanned fork truck 1 in warehouse, it is characterised in that comprise the following specific steps that: 1) unmanned
Fork truck 1 is connected to cargo unloading instruction, and unloading instruction includes goods information and shelf information corresponding with goods information, shelf information
Including X axis coordinate, Y axis coordinate and Z axis coordinate；
2) unmanned fork truck is run along the shelf passage 5 under locating X axis coordinate, when lifting pallet fork 4 is moved to Y-axis
At coordinate, unmanned fork truck 1 stops；Then lifting pallet fork 4 rises to Z axis coordinate position load target goods, is loaded with mesh
The lifting pallet fork 4 for marking cargo resets, and subsequent unmanned fork truck 1 is moved at the entrance C of the shelf passage 5 under X axis coordinate.
Unmanned fork truck realizes the steering of any direction at the entrance C of shelf passage 5 or realizes the steering of 180 degree.
Unmanned fork truck provided by the present invention and automated warehouse storage system and fork truck operation method are carried out above
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Illustrate to be merely used to help understand the present invention and core concept.It should be pointed out that coming for those skilled in the art
It says, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It also falls within the protection scope of the claims of the present invention.
Claims (19)
1. unmanned fork truck, it is characterised in that including along the chassis of warehouse shelf channel-length direction linear running, be set to bottom
And it can lifting goods on chassis on a secondary door frame component and door frame component for shelf passage width direction linear running on disk
The direction of fork, the lifting pallet fork is directed at the either side shelf in shelf passage two sides.
2. unmanned fork truck according to claim 1, it is characterised in that make straight line along shelf passage including driving chassis
First driving mechanism of movement.
3. unmanned fork truck according to claim 2, it is characterised in that first driving mechanism is the first servo
Motor, the chassis are equipped with multiple movable pulleys controlled by first servo motor, the movable pulley band under Serve Motor Control
Dynamic chassis is for linear motion along shelf passage.
4. unmanned fork truck according to claim 1, it is characterised in that track is distributed on the chassis, it is described
The lower part of door frame component is equipped with idler wheel, and the idler wheel on door frame component is rolled in the track to realize door frame component on chassis
On linear motion.
5. unmanned fork truck according to claim 4, it is characterised in that for linear motion including driving door frame component
Second driving mechanism.
6. unmanned fork truck according to claim 5, it is characterised in that second driving mechanism includes being fixed on
The second servo motor, gear and the rack gear being laid with along chassis width direction of door frame component bottom, the driving of the second servo motor
The gear is engaged with the rack gear, and movement of the gear of the second servo motor driving on the rack gear is thus to drive
The linear motion of dynamic door frame component.
7. unmanned fork truck according to claim 3, it is characterised in that connect a control movement on each movable pulley
The synchronous third servo motor turned to of wheel.
8. unmanned fork truck according to claim 7, it is characterised in that the output gear of the third servo motor
It is matched with the arc-shaped rack on movable pulley wheel carrier, to realize the course changing control of movable pulley.
9. unmanned fork truck according to claim 1, it is characterised in that the door frame component is made of multistage door frame,
The upper and lower flexible control by lifting cylinder of door frame component.
10. unmanned fork truck according to claim 4, it is characterised in that the chassis include two be parallel to each other and
Moulding spaced apart, the track are located at the inside of every moulding.
11. unmanned fork truck according to claim 10, it is characterised in that the door frame component under initial position is located at bottom
The central region of disk, and the front end for going up and down pallet fork is no more than the front end of moulding；Door frame component can be moved to extreme direction straight line before moulding
It moves and forward extends out moulding.
12. unmanned fork truck according to claim 1, it is characterised in that be equipped on chassis and run power supply station to fork truck
The battery needed.
13. unmanned fork truck according to claim 1, it is characterised in that chassis underside face is equipped with magnetic navigation sensor,
The magnetic navigation sensor is used cooperatively with the magnetic stripe, magnetic markers or cable being laid on shelf passage.
14. automated warehouse storage system, the unmanned fork truck including warehouse and as described in claim 1-13 is any is put down in warehouse
Row layout has multiple tracks shelf, forms shelf passage between shelf, and the unmanned fork truck can goods described at least one
Linear fashion is run in frame channel.
15. automated warehouse storage system according to claim 12, it is characterised in that the width of the shelf passage is 140
Between~300 centimetres.
16. clamp method of the unmanned fork truck in warehouse as described in claim 1-13, it is characterised in that including as follows
Specific steps: 1) unmanned fork truck is connected to the instruction of cargo stacking, and the stacking instruction includes goods information and believes with cargo
Cease corresponding shelf information；Shelf information includes X axis coordinate, Y axis coordinate and Z axis coordinate；
2) after a lifting pallet fork on unmanned fork truck is connected to cargo from the entrance of shelf passage, unmanned fork truck edge
Linear running in shelf passage under locating X axis coordinate, when the lifting pallet fork for being loaded with cargo is moved at Y axis coordinate, nothing
People drives fork truck and stops, and then goes up and down pallet fork and send cargo to the Z axis coordinate position of shelf.
17. clamp method of the unmanned fork truck according to claim 16 in warehouse, it is characterised in that unmanned
Fork truck realizes the steering of any direction in the entrance of shelf passage or realizes the steering of 180 degree.
18. picking method of the unmanned fork truck as described in claim 1-13 in warehouse, it is characterised in that including as follows
Specific steps: 1) unmanned fork truck is connected to cargo unloading instruction, and the unloading instruction includes goods information and believes with cargo
Corresponding shelf information is ceased, shelf information includes X axis coordinate, Y axis coordinate and Z axis coordinate；
2) unmanned fork truck linear running along the shelf passage under locating X axis coordinate is sat when lifting pallet fork is moved to Y-axis
At mark, unmanned fork truck stops；Then lifting pallet fork rises to Z axis coordinate position load target goods, is loaded with target goods
The lifting pallet fork of object resets, and subsequent unmanned fork truck is moved to the entrance of the shelf passage under X axis coordinate.
19. picking method of the unmanned fork truck according to claim 18 in warehouse, it is characterised in that unmanned
Fork truck realizes the steering of any direction in the entrance of shelf passage or realizes the steering of 180 degree.
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| CN201810932917.3A CN108946585A (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system and fork truck operation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810932917.3A CN108946585A (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system and fork truck operation method |
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| CN108946585A true CN108946585A (en) | 2018-12-07 |
Family
ID=64470434
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810932917.3A Withdrawn CN108946585A (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system and fork truck operation method |
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| CN112394736A (en) * | 2020-12-10 | 2021-02-23 | 中建材创新科技研究院有限公司 | Automatic navigation system and method of laser navigation forklift |
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| CN112938833A (en) * | 2021-01-28 | 2021-06-11 | 贵州凯瑞新材料科技有限公司 | Stabilizing device for aluminum ingot stacking and unloading |
| CN112938829A (en) * | 2021-01-28 | 2021-06-11 | 贵州凯瑞新材料科技有限公司 | Device convenient to aluminium ingot stack uninstallation |
| WO2022236652A1 (en) * | 2021-05-11 | 2022-11-17 | 黄国城 | Automated warehousing system for random centralized storage, and carrying and transferring method for storing and picking up goods |
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