CN103466249B - A kind of Three-dimensional warehouse system - Google Patents
A kind of Three-dimensional warehouse system Download PDFInfo
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- CN103466249B CN103466249B CN201310434533.6A CN201310434533A CN103466249B CN 103466249 B CN103466249 B CN 103466249B CN 201310434533 A CN201310434533 A CN 201310434533A CN 103466249 B CN103466249 B CN 103466249B
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- row
- location sheet
- piler
- recognizes
- signal feedback
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Abstract
The invention provides a kind of Three-dimensional warehouse system, comprise position in storehouse, track and piler; Position in storehouse comprises the goods lattice of array distribution; Piler comprises column; The geometric centre of goods lattice corresponds to the row locating point on column, the row locating point in track; Three-dimensional warehouse system also comprises row and recognizes location sheet and row recognize location sheet; Row is recognized location sheet and is arranged at row locating point, and row are recognized location sheet and are arranged at row locating point.A walking positioning method for piler, is applied to above-mentioned Three-dimensional warehouse system, is positioned at the piler of initial point, and coordinate data resets; PLC, through the operation of Frequency Converter Control movable motor, makes drive wheel smoothness run; The coordinate data of PLC capturing and coding device, until receiving target recognizes the signal of location sheet, stops; Two optical axis flute profile photoelectric switch receiving target recognizes a signal feedback or two signal feedback of location sheet, to carry out verification mistake proofing.Beneficial effect is: adopt row to recognize intersection point that location sheet and row recognize location sheet is the geometric centre of goods lattice, and this absolute addressing mode guarantees the accuracy rate that piler runs.
Description
Technical field
The present invention relates to technical field of electric control, particularly a kind of Three-dimensional warehouse system.
Background technology
Existing automatic stereowarehouse, by stereo storage rack, piler, container, track, go out to put platform in storage, conveyer forms, several rows of stereo garage shelf are provided with in automatic stereowarehouse, the stereo storage rack of first row is provided with container one by one, track is provided with between every two row's stereo storage racks, be provided with out warehouse-in platform and conveyer at the discrepancy end of track, track is provided with the piler that can travel back and forth, its workflow is:
Input work flow process:---> goes out to put in storage platform, and------------> input work completes standby > stock case---> returns out warehouse-in platform---> stereo storage rack > piler > picking case to receive input work order;
---> removes destination address, and------------> goes out to put in storage platform, and------> conveyer---> goes out to put platform in storage---> completes outbound, and to reach warehouse-in platform standby for > stock case for > piler for > picking case for > stereo storage rack for Delivery flow process: receive Delivery order.
Piler is Core equipment in automatic stereowarehouse and main haulage equipment, its main application is operation of shuttling in the tunnel of storied 3-D shelf, the goods automatic access of access adit will be positioned at, and put into the goods yard and input work of specifying, or the goods handling in taking-up goods yard is to access adit and Delivery, or goods is put into another goods yard namely to make an inventory of goods in a warehouse from a goods yard displacement and moves storehouse operation, be widely used in supply chain logistics, accurately storage, Quick delivery.
At present, in piler positioning control, adopt the mode reading goods yard detection lug to carry out recognizing location and counting, there is many problems and shortcoming in this mode, this mode of one belongs to discrete and relatively recognizes location, positioning precision is lower, namely positioning precision is less than or equal to 1 centimetre, very easily occurs leaking the situation such as meter, error count in high-speed cruising, cause counting with locate inaccurate, run unreliable; Its two restriction being subject to count detection components accuracy and sensitivity, limits the raising of the running velocity of piler, and for running velocity is less than or equal to 100-120 rice per minute, running velocity one height will cause miscount; Its three this locate mode can only carry out throw-over control when locating throw-over in units of goods compartment distance, due to the discreteness that goods compartment controls apart from throw-over, cause piler to run there is larger impact, operation stability be poor, positioning precision is low, run noise greatly, exchange the shortcomings such as device damage is large, these disadvantages affect the counting reliability of piler, positioning precision, running velocity and efficiency, the key parameter such as stationarity, motion noise starting and brake.
Summary of the invention
In order to solve above-mentioned existing technical matters, the invention provides a kind of Three-dimensional warehouse system, adopt and track arranges row and recognize and location sheet, column arrange row recognize location sheet, and row recognize the geometric centre that intersection point that location sheet and row recognize location sheet is goods lattice, this absolute addressing mode guarantees the accuracy rate that piler runs.
The present invention solves above-mentioned existing technical matters, provides a kind of Three-dimensional warehouse system, comprises position in storehouse, track and piler; Described position in storehouse comprises the goods lattice of array distribution; Described piler comprises column; The geometric centre of described goods lattice corresponds to the row locating point on column, the row locating point in described track; Described Three-dimensional warehouse system also comprises row and recognizes location sheet and row recognize location sheet; Described row is recognized location sheet and is arranged at described row locating point, and described row are recognized location sheet and are arranged at described row locating point.
Further improvement of the present invention is as described below.
Described piler comprises two optical axis groove type photoelectric switch; The row of odd bits recognizes location sheet and row, and to recognize location sheet be that single signal feedback recognizes location sheet; The row of even bit recognizes location sheet and row, and to recognize location sheet be that dual signal feedback recognizes location sheet; Described pair of optical axis groove type photoelectric switch detects the signal feedback that single signal feedback recognizes location sheet, and described pair of optical axis groove type photoelectric switch detects two signal feedback that dual signal feedback recognizes location sheet.
Described piler comprises PLC, coder, frequency converter, movable motor and drive wheel; Described coder, described frequency converter are all connected with described PLC; Described frequency converter is connected with described movable motor, rotates with described drive wheel.
Described track arranges initial point, and when described piler is positioned at described initial point, the coordinate of described piler resets.
The present invention solves above-mentioned existing technical matters, provides a kind of walking positioning method of piler, is applied to described Three-dimensional warehouse system, is positioned at the described piler of initial point, and coordinate data resets; PLC, through the operation of Frequency Converter Control movable motor, makes drive wheel smoothness run; The coordinate data of PLC capturing and coding device, until receiving target recognizes the signal of location sheet, stops; Two optical axis flute profile photoelectric switch receiving target recognizes a signal feedback or two signal feedback of location sheet, to carry out verification mistake proofing.
Further improvement of the present invention is as described below.
When the row that piler runs to target goods lattice recognize location sheet, row recognize location sheet time, PLC corrects the current coordinate data of piler.
Compared to prior art, the invention has the beneficial effects as follows: a kind of Three-dimensional warehouse system, adopt and track arranges row and recognize and location sheet, column arrange row recognize location sheet, and row recognize the geometric centre that intersection point that location sheet and row recognize location sheet is goods lattice, this absolute addressing mode guarantees the accuracy rate that piler runs.
A walking positioning method for piler, adopts coder to control the output of frequency converter, drive wheel is smoothly walked; Adopt row to recognize location sheet and row to recognize location sheet and carry out absolute fix, and carry out parity check; Coordinate origin to reset, row recognizes location sheet and row and recognize location sheet and carry out coordinates correction; Guarantee that piler is precisely walked.
Accompanying drawing explanation
Fig. 1 is the structural representation of this Three-dimensional warehouse system.
Fig. 2 is the control chart of the piler speed of travel.
Fig. 3 is the principle schematic of described piler.
Fig. 4 is the walking positioning method block diagram of described piler.
| Position in storehouse 11 | Goods lattice 111 |
| Track 12 | Initial point 121 |
| Row locating point 122 | Column 131 |
| Row locating point 1311 | PLC132 |
| Coder 133 | Frequency converter 134 |
| Movable motor 135 | Drive wheel 136 |
| Two optical axis groove type photoelectric switch 137 |
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
As shown in Figure 1 to Figure 3, a kind of Three-dimensional warehouse system, comprises position in storehouse 11, track 12 and piler; Position in storehouse 11 comprises the goods lattice 111 of array distribution; Track 12 is parallel to position in storehouse 11 and arranges, and piler comprises column 131, and column 131 is also parallel to position in storehouse 11 and arranges, and column 131 is perpendicular to track 12.The geometric centre of goods lattice 111 corresponds to the row locating point 1311 on column 131, the row locating point 122 in track 12, namely this each row locating point 1311 can be uniformly distributed, also can non-uniform Distribution, in like manner, this each row locating point 122 can also be uniformly distributed, also can non-uniform Distribution; Three-dimensional warehouse system also comprises row and recognizes location sheet and row recognize location sheet; Row is recognized location sheet and is arranged at row locating point 1311, and row are recognized location sheet and are arranged at row locating point 122.A kind of Three-dimensional warehouse system of the present invention, adopts and track 12 arranges row and recognize and location sheet, column 131 arrange row recognize location sheet, and row recognize the geometric centre that intersection point that location sheet and row recognize location sheet is goods lattice 111, and this absolute addressing mode guarantees the accuracy rate that piler runs.
Piler comprises two optical axis groove type photoelectric switch 137; The row of odd bits recognizes location sheet and row, and to recognize location sheet be that single signal feedback recognizes location sheet; The row of even bit recognizes location sheet and row, and to recognize location sheet be that dual signal feedback recognizes location sheet; Two optical axis groove type photoelectric switch 137 detects the signal feedback that single signal feedback recognizes location sheet, and two optical axis groove type photoelectric switch 137 detects two signal feedback that dual signal feedback recognizes location sheet.
Piler comprises PLC132, coder 133, frequency converter 134, movable motor 135 and drive wheel 136; Coder 133, frequency converter 134 are all connected with PLC132, PLC132 is according to the position of target goods lattice 111, control its principle according to Fig. 2 by coder 133 and carry out speed governing, generally, smooth starting to first paragraph at a high speed, in time arriving target goods lattice 111, be automatically reduced to middling speed, low speed, locating speed.Frequency converter 134 of the present invention is connected with movable motor 135, rotates with drive wheel 136.
Track 12 of the present invention arranges initial point 121, and when piler is positioned at initial point 121, the coordinate of piler resets.
As shown in Figure 4, a kind of walking positioning method of piler, is applied to above-mentioned Three-dimensional warehouse system, is positioned at the piler of initial point 121, and coordinate data resets; PLC132 controls the operation of movable motor 135 through frequency converter 134, makes drive wheel 136 smoothness run; The coordinate data of PLC132 capturing and coding device 133, until receiving target recognizes the signal of location sheet, stops; Two optical axis flute profile photoelectric switch receiving target recognizes a signal feedback or two signal feedback of location sheet, to carry out verification mistake proofing.
When the row that piler runs to target goods lattice 111 recognize location sheet, row recognize location sheet time, PLC132 corrects the current coordinate data of piler.
A walking positioning method for piler, adopts coder 133 to control the output of frequency converter 134, drive wheel 136 is smoothly walked; Adopt row to recognize location sheet and row to recognize location sheet and carry out absolute fix, and carry out parity check; Coordinate initial point 121 coordinate to reset, row recognizes location sheet and row are recognized location sheet and carried out coordinates correction; Guarantee that piler is precisely walked.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (5)
1. a Three-dimensional warehouse system, comprises position in storehouse, track and piler; Described position in storehouse comprises the goods lattice of array distribution; Described piler comprises column; It is characterized in that: the geometric centre of described goods lattice corresponds to the row locating point on column, the row locating point in described track; Described Three-dimensional warehouse system also comprises row and recognizes location sheet and row recognize location sheet; Described row is recognized location sheet and is arranged at described row locating point, and described row are recognized location sheet and are arranged at described row locating point; Described piler comprises two optical axis groove type photoelectric switch; The row of odd bits recognizes location sheet and row, and to recognize location sheet be that single signal feedback recognizes location sheet; The row of even bit recognizes location sheet and row, and to recognize location sheet be that dual signal feedback recognizes location sheet; Described pair of optical axis groove type photoelectric switch detects the signal feedback that single signal feedback recognizes location sheet, and described pair of optical axis groove type photoelectric switch detects two signal feedback that dual signal feedback recognizes location sheet.
2. Three-dimensional warehouse system according to claim 1, is characterized in that: described piler comprises PLC, coder, frequency converter, movable motor and drive wheel; Described coder, described frequency converter are all connected with described PLC; Described frequency converter is connected with described movable motor, rotates with described drive wheel.
3. Three-dimensional warehouse system according to claim 2, is characterized in that: described track arranges initial point, and when described piler is positioned at described initial point, the coordinate of described piler resets.
4. a walking positioning method for piler, is applied to Three-dimensional warehouse system according to claim 3, it is characterized in that:
Be positioned at the described piler of initial point, coordinate data resets;
PLC, through the operation of Frequency Converter Control movable motor, makes drive wheel smoothness run;
The coordinate data of PLC capturing and coding device, until receiving target recognizes the signal of location sheet, stops;
Two optical axis flute profile photoelectric switch receiving target recognizes a signal feedback or two signal feedback of location sheet, to carry out verification mistake proofing.
5. the walking positioning method of piler according to claim 4, is characterized in that: when the row that piler runs to target goods lattice recognize location sheet, row recognize location sheet time, PLC corrects the current coordinate data of piler.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310434533.6A CN103466249B (en) | 2013-09-23 | 2013-09-23 | A kind of Three-dimensional warehouse system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310434533.6A CN103466249B (en) | 2013-09-23 | 2013-09-23 | A kind of Three-dimensional warehouse system |
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| CN103466249A CN103466249A (en) | 2013-12-25 |
| CN103466249B true CN103466249B (en) | 2016-02-24 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210855A (en) * | 2014-09-28 | 2014-12-17 | 洛阳新思路电气股份有限公司 | Electrical control system for storeroom stacking |
| CN104570914A (en) * | 2015-01-29 | 2015-04-29 | 无锡中鼎物流设备有限公司 | Stacker servo positioning system |
| CN104773430B (en) * | 2015-04-02 | 2017-02-01 | 南京工程学院 | Automatic stereoscopic warehouse positioning control system and control method thereof |
| CN105253514A (en) * | 2015-11-10 | 2016-01-20 | 南通通州意达港口机械有限公司 | High-efficiency automatic logistics warehousing system |
| CN105551141A (en) * | 2015-12-04 | 2016-05-04 | 钟高锋 | Rapid positioning addressing method for access dolly of self-service intelligent access device |
| CN105573238B (en) * | 2016-01-11 | 2018-09-14 | 杭州电子科技大学 | More stack position multi items palletizing methods and control system based on PLC controls |
| CN106127417A (en) * | 2016-07-12 | 2016-11-16 | 国网甘肃省电力公司电力科学研究院 | A kind of tiered warehouse facility haulage equipment dispatching method and system |
| CN108750521A (en) * | 2017-07-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | Work platform and order completion system |
| CN107966991B (en) * | 2017-12-27 | 2024-02-27 | 广州番禺职业技术学院 | Addressable device and method for feeding and discharging robot |
| CN110161943A (en) * | 2018-02-11 | 2019-08-23 | 国网上海市电力公司 | A kind of intelligence trident stacking machine control system |
| CN110980071A (en) * | 2019-11-08 | 2020-04-10 | 江西唯美陶瓷有限公司 | Control method for warehousing and ex-warehouse of ceramic large-plate bare bricks from multilayer bare brick storage rack |
| CN112408261A (en) * | 2020-11-27 | 2021-02-26 | 苏州倍力杰自动化技术有限公司 | Stacking type RGV vehicle control system capable of achieving multi-level goods taking and storing |
| CN113651002B (en) * | 2021-07-14 | 2022-12-13 | 福建星云电子股份有限公司 | Stacker multi-bin scheduling method, device and medium |
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| US3516557A (en) * | 1968-10-23 | 1970-06-23 | Sperry Rand Corp | Positional control means for a material handling and storage system |
| GB2385156A (en) * | 2002-02-06 | 2003-08-13 | Inventec Corp | Automatic storage and retrieval system and method |
| CN201105903Y (en) * | 2007-09-12 | 2008-08-27 | 重庆电力科学试验研究院 | Novel automatic meter accessing storeroom |
| CN203158637U (en) * | 2013-03-25 | 2013-08-28 | 北京旭航电子新技术有限公司 | RFID intelligent stacking three-dimensional storeroom |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2002090216A2 (en) * | 2001-05-08 | 2002-11-14 | Handler A/S | A stock-and picking device |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3516557A (en) * | 1968-10-23 | 1970-06-23 | Sperry Rand Corp | Positional control means for a material handling and storage system |
| GB2385156A (en) * | 2002-02-06 | 2003-08-13 | Inventec Corp | Automatic storage and retrieval system and method |
| CN201105903Y (en) * | 2007-09-12 | 2008-08-27 | 重庆电力科学试验研究院 | Novel automatic meter accessing storeroom |
| CN203158637U (en) * | 2013-03-25 | 2013-08-28 | 北京旭航电子新技术有限公司 | RFID intelligent stacking three-dimensional storeroom |
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| CN103466249A (en) | 2013-12-25 |
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Effective date of registration: 20170922 Address after: 518000 Guangdong city of Shenzhen province Baoan District Songgang Street Tantou community Daejeon Yang Industrial Zone Industrial Park gorgeous Huamei heavy industry zone 101A Patentee after: Shenzhen Nari Technology Co., Ltd. Address before: Baoan District Songgang Tangxia street Shenzhen city Guangdong province 518000 Chung Industrial Zone Third COSCO Guomao Technology Park Patentee before: Shenzhen Nari Robot Co., Ltd. |
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Granted publication date: 20160224 Termination date: 20180923 |