CN106185148A - It is applied to shuttle unit and the logistic storage system of orbital platform - Google Patents
It is applied to shuttle unit and the logistic storage system of orbital platform Download PDFInfo
- Publication number
- CN106185148A CN106185148A CN201610788535.9A CN201610788535A CN106185148A CN 106185148 A CN106185148 A CN 106185148A CN 201610788535 A CN201610788535 A CN 201610788535A CN 106185148 A CN106185148 A CN 106185148A
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- China
- Prior art keywords
- shuttle unit
- power set
- positioner
- wheel
- processor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of shuttle unit being applied to orbital platform and logistic storage system.Walking mechanism and track are provided with the first positioner and the second positioner, be equivalent on the premise of the location mode using motor itself, track and guide rail add a kind of location mode, is thus advantageous to realize the high-precision location positioning of shuttle unit；It addition, walking mechanism and Shen Cha mechanism the most each use processor, it is possible to ensure the response speed of system, improve system stability.
Description
Technical field
The present embodiments relate to Automatic Conveying technical field, be applied to wearing of orbital platform in particular to a kind of
Shuttle device and logistic storage system.
Background technology
Along with automatic Material Handling System and the development of automated warehouse storage system, all kinds of conveying arrangement such as RGV (Rail that shuttle back and forth
Guided Vehicle, rail guidance vehicle) etc. produce therewith, this shuttle unit can be used for the storehouse of all kinds of high density storage mode
Storehouse, the passage of shuttle unit can design arbitrarily long, can improve whole warehouse storage amount, and sail lane when operation into without fork truck
Road so that it is safety can be higher.Recycling fork truck, without entering the advantage in tunnel, fits through the shuttle device quick fortune in tunnel
OK, the operational efficiency in warehouse it is effectively improved.Shuttle unit can realize from being dynamically connected with other logistics systems very easily, as
In/out storehouse platform, various buffered station, conveyer, elevator and robot etc., carry out the conveying of material according to schedule.It addition, it
Without human users, the speed of service is fast, can significantly reduce the workload of stock clerk, raise labour productivity, the most also
Logistics system can be made to become the simplest and the most direct.For adapting to the high density storage mode in modernization warehouse, the industry essence to shuttle unit
Determine that the requirement of position is more and more higher.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of shuttle unit being applied to orbital platform and logistic storage system,
It is capable of the hi-Fix of shuttle unit.
A kind of shuttle unit being applied to orbital platform that the embodiment of the present invention provides, including:
Walking mechanism, the wheel including the first power set and being all connected with the first power set and the first location dress
Putting, the first power set are used for driving wheel to drive shuttle unit orbital motion, and the first positioner is used for control first
Power set are to drive shuttle unit orbital motion to precalculated position, and track installation has the second positioner, is used for knowing and wears
Whether shuttle device arrives precalculated position；
Shen Cha mechanism, the shift fork including guide rod and being all connected with guide rod and the second power set, the second power set are used
In drive leader to drive shift fork stretch out and regain.
Alternatively, Shen Cha mechanism also includes the second positioner being arranged on guide rod.
Alternatively, at least one during the second positioner includes photogate and photoelectric encoder.
Alternatively, Shen Cha mechanism also includes the first positioner being connected with the second power set, moves for controlling second
Power apparatus moves to predetermined goods yard with shift fork.
Alternatively, the first power set include motor, and the first positioner includes in motor encoder and Hall element
At least one.
Alternatively, walking mechanism also includes that decelerator and belt wheel, belt wheel are connected with wheel and the first power set, decelerator
Before arriving precalculated position at shuttle unit, control the first power set slow down, then by band wheel drive with preset deceleration ratio
Wheel is to precalculated position.
Alternatively, shuttle unit also includes that first processor and the second processor, first processor and the second processor divide
Kong Zhi element in walking mechanism and Shen Cha mechanism.
Alternatively, communicated by dma mode between first processor and the second processor.
Alternatively, shuttle unit also includes pallet body, is used for carrying material and loads for shift fork and unload and take material.
A kind of logistic storage system that the embodiment of the present invention provides, including above-mentioned shuttle unit.
Beneficial effect: the embodiment of the present invention is provided with the first positioner and the second location dress in walking mechanism and track
Put, be equivalent on the premise of the location mode using motor itself, add a kind of location mode in orbit, realize with this
The hi-Fix of described shuttle unit.
Accompanying drawing explanation
Fig. 1 is the theory diagram of shuttle unit one embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the skill to each exemplary embodiment provided by the present invention
Art scheme is clearly and completely described.In the case of not conflicting, the feature in each embodiment following and embodiment can
To be mutually combined.Further, the directional terminology that the present invention is used in full, such as " on ", the wording such as D score, be for more preferably
Each embodiment of description, be not intended to limit protection scope of the present invention.
Refer to Fig. 1, for the shuttle unit of one embodiment of the invention.This shuttle unit can track along orbital platform
Arrive each storage position and take material to load and to unload.Described shuttle unit includes walking mechanism 11 and Shen Cha mechanism 12.
Walking mechanism 11 includes the first power set 111 and the wheel 112 being all connected and with the first power set 111
One positioner 113.First power set 111 are used for driving wheel 112, thus drive shuttle unit orbital motion, and first
Positioner 113 is for controlling the first power set 111 to drive shuttle unit orbital motion to precalculated position.
Shen Cha mechanism 12 includes guide rod 121 and the shift fork 122 being all connected and the second power set 123 with guide rod 121.The
Two power set 123 are for drive leader 121, thus drive shift fork 122 stretch out and regain, and then loading and unload and take material.
Wherein, the first power set 111 can be motor, based on the first location dress being connected with the first power set 111
Putting 113 and drive shuttle unit to predetermined storage position for controlling motor, first positioner 113 of the present embodiment can be real
Now at least one in the motor encoder being installed in motor and Hall element.As a example by motor encoder, motor is compiled
The instruction including precalculated position that user can be assigned by code device encodes, and motor drives wheel 112 to drive according to this coding
Shuttle unit orbital motion stops to during precalculated position.
In like manner, the second power set 123 can also be motor, i.e. walking mechanism 11 and Shen Cha mechanism 12 uses respectively respectively
From motor be driven.It addition, Shen Cha mechanism 12 can also include the first positioner being connected with the second power set 123
113, it is different from the first positioner 113 being connected with the first power set 111, first be connected with the second power set 123
Positioner 113 moves to predetermined goods yard for controlling the second power set 123 shift fork 122.As a example by loaded material, also
That is, first by the motor of walking mechanism 11 by position (making a reservation for of track corresponding with storage position for shuttle unit driving to track
Position), then by the storage position (predetermined goods yard) at motor drive leader 121 to the material place of Shen Cha mechanism 12, and drive is dialled
Fork 122 stretches out to grip material.
Being different from prior art, the embodiment of the present invention is provided with the second positioner 31 the most in orbit, is used for knowing and wears
The most whether shuttle device arrives the precalculated position of track.The embodiment of the present invention is equivalent to use determining of motor itself at shuttle unit
On the premise of the mode of position, adding a kind of location mode in orbit, the combination of two kinds of location modes is advantageously implemented the dress that shuttles back and forth
The hi-Fix put.
As a example by the second positioner 31 is as photogate, there is individual linear light sorurce one end of photogate, and the other end has photosensitive
Resistance, is blocked when the wheel 112 of shuttle unit is positioned at the time in the middle of photogate, stops that light is irradiated in photoconductive resistance, photosensitive
Resistance is reduced by illuminance, and resistance increases, and photoconductive resistance two ends are high voltage.Otherwise, when the wheel 112 of shuttle unit does not has
When being positioned in the middle of photogate, photoconductive resistance resistance reduces, and photoconductive resistance two ends are low-voltage.In other words, between photogate
When not having wheel 112 to stop, its internal circuit disconnects；When having wheel 112 to stop between photogate, its internal circuit is connected.
By checking whether internal circuit disconnects, and i.e. would know that the most whether shuttle unit arrives the precalculated position of track.
Further, the present embodiment can also install the second positioner 31 on the guide rod 121 of Shen Cha mechanism 11, thus
Know whether shift fork 122 currently arrives predetermined goods yard.
It should be appreciated that above-mentioned second positioner 31 can also other be capable of positioning function for photoelectric encoder etc.
Sensor.
In outdoor scene application scenarios, in view of the shuttle unit running fair speed is difficulty with being accurately positioned, the present invention
Embodiment preferably controlled the decelerating through motor of walking mechanism 11 to control to shuttle back and forth before the precalculated position of shuttle unit arrival track
Device slows down, thus at low speeds, the second positioner 31 positions.Specifically, walking mechanism 11 also includes subtracting
Speed device 114 and belt wheel 115, belt wheel 115 is connected with wheel 112 and the first power set 111, and decelerator 114 is at the dress that shuttles back and forth
Control the first power set 111 before putting arrival precalculated position to slow down with preset deceleration ratio, then driven wheel by belt wheel 115
The precalculated position of 112 to track.
The shuttle unit of the present embodiment can also include pallet body (not shown), is used for carrying material for shift fork 122
Load and unload and take material.When outdoor scene realizes, four wheels 112 are arranged at the lower section of pallet body, alternatively, described pallet body
Upper end be additionally provided with control box, each yuan controlling in walking mechanism 11 and Shen Cha mechanism 12 respectively is installed in this control box
The first processor 116 of part and the second processor 124.
Wherein, first processor 116 can be determined with the first power set 111 of walking mechanism 11, decelerator 114, first
Position device 113 and the second positioner 31 connect, thus control each element machine in due course in walking mechanism 11 and perform
Aforementioned corresponding operating.Second processor 124 can position with the second power set 123 of Shen Cha mechanism 12, shift fork 122, first
Device 113 and the second positioner 31 connect, thus before controlling each element machine in due course execution in Shen Cha mechanism 12
State corresponding operating.
Need to communicate between first processor 116 and the second processor 124.Such as, at the motor of walking mechanism 11
Being driven to the precalculated position of track by shuttle unit, first processor 116 needs to send message to accuse to the second processor 124
Knowing this event, then, the second processor 124 controls the storage position at motor drive leader 121 to the material place of Shen Cha mechanism 12
Between, and driven shift fork 122 to stretch out to grip material by guide rod 121.Alternatively, first processor 116 and the second processor 124
Between communicated by DMA (Direct Memory Access, direct memory access) mode.
Based on above-mentioned, it is known that the walking mechanism 11 and Shen Cha mechanism 12 of described shuttle unit the most each uses a process
Device, is compared to walking mechanism and Shen Cha mechanism in prior art and is used in conjunction with one piece of processor, and the embodiment of the present invention can drop
Each use frequency and load in low two processors 116,124 such that it is able to accelerate the speed of data acquisition and processing (DAP),
While ensureing the response speed of system, improve the stability of system, advantageously account for processor in prior art greatly
The defect that stability is not enough and the life-span is not grown.
The present invention also provides for an embodiment logistic storage system, including above-mentioned shuttle unit, therefore has the above-mentioned dress that shuttles back and forth
Put the beneficial effect that can be generated by.
It should be appreciated that each mechanism above-mentioned and element be described as a kind of logic function explanation, actual its tool when realizing
Body structure can have other implementation, such as two elements to be desirably integrated in a system, and each element is each other
Connection can pass through some interfaces, it is also possible to be electrical or other form, it is not limited to described in foregoing exemplary.
Further, the foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilization
Equivalent structure or equivalence flow process that description of the invention and accompanying drawing content are made convert, technical characteristic between the most each embodiment
It is combined with each other, or be directly or indirectly used in other relevant technical fields, be the most in like manner included in the patent protection model of the present invention
In enclosing.
Claims (10)
1. the shuttle unit being applied to orbital platform, it is characterised in that described shuttle unit includes:
Walking mechanism, the wheel including the first power set and being all connected with described first power set and the first location dress
Putting, described first power set are used for driving described wheel to drive described shuttle unit orbital motion, and described first positions
Device is used for controlling described first power set to drive described shuttle unit to move to precalculated position, described rail along described track
Road is provided with the second positioner, is used for knowing whether described shuttle unit arrives described precalculated position；
Shen Cha mechanism, the shift fork including guide rod and being all connected with described guide rod and the second power set, described second power dress
Put for driving described guide rod to drive described shift fork stretch out and regain.
Shuttle unit the most according to claim 1, it is characterised in that described Shen Cha mechanism also includes being arranged at described guide rod
On described second positioner.
Shuttle unit the most according to claim 2, it is characterised in that described second positioner includes photogate and photoelectricity
At least one in encoder.
Shuttle unit the most according to claim 1 and 2, it is characterised in that described Shen Cha mechanism also includes and described second
Described first positioner that power set connect, is used for controlling described second power set to drive described shift fork to move to pre-
Order position.
Shuttle unit the most according to claim 4, it is characterised in that described first power set include motor, described
One positioner includes at least one in described motor encoder and Hall element.
Shuttle unit the most according to claim 1, it is characterised in that described walking mechanism also includes decelerator and belt wheel,
Described belt wheel is connected with described wheel and described first power set, and described decelerator is described for arriving at described shuttle unit
Described first power set are controlled with preset deceleration than slowing down, then by wheel described in described band wheel drive extremely before precalculated position
Described precalculated position.
Shuttle unit the most according to claim 1, it is characterised in that described shuttle unit also includes first processor and
Two processors, described first processor and described second processor control in described walking mechanism and described Shen Cha mechanism respectively
Element.
Shuttle unit the most according to claim 7, it is characterised in that described first processor and described second processor it
Between communicated by direct memory access dma mode.
Shuttle unit the most according to claim 1, it is characterised in that described shuttle unit also includes pallet body, is used for
Carrying material loads for described shift fork and unloads and takes material.
10. a logistic storage system, it is characterised in that described logistic storage system includes claim 1-9 any one institute
The shuttle unit stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788535.9A CN106185148A (en) | 2016-08-31 | 2016-08-31 | It is applied to shuttle unit and the logistic storage system of orbital platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788535.9A CN106185148A (en) | 2016-08-31 | 2016-08-31 | It is applied to shuttle unit and the logistic storage system of orbital platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106185148A true CN106185148A (en) | 2016-12-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788535.9A Pending CN106185148A (en) | 2016-08-31 | 2016-08-31 | It is applied to shuttle unit and the logistic storage system of orbital platform |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4428708A (en) * | 1980-12-31 | 1984-01-31 | Midwest Conveyor Co., Inc. | Apparatus and method for fine positioning a vehicle at a storage bin in an automatic storage and retrieval system |
| EP1422169B1 (en) * | 2002-11-22 | 2006-03-29 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Warehouse with rail trolleys for storing and retrieving goods |
| CN200990020Y (en) * | 2006-12-21 | 2007-12-12 | 上海宝钢工业检测公司 | Goods fork position detector |
| CN203229120U (en) * | 2012-12-25 | 2013-10-09 | 云南昆船设计研究院 | Multilayer shuttle capable of storing and taking boxes of different specifications automatically |
| CN103723421A (en) * | 2012-10-11 | 2014-04-16 | 贵阳普天物流技术有限公司 | Multi-layer shuttling storage, taking and carrying method and device |
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN205203968U (en) * | 2015-10-28 | 2016-05-04 | 深圳市鸿志软件有限公司 | Three -dimensional storage shuttle |
| CN105631616A (en) * | 2014-10-25 | 2016-06-01 | 深圳市科陆电子科技股份有限公司 | Intelligent positioning system and positioning method for warehousing logistics |
-
2016
- 2016-08-31 CN CN201610788535.9A patent/CN106185148A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4428708A (en) * | 1980-12-31 | 1984-01-31 | Midwest Conveyor Co., Inc. | Apparatus and method for fine positioning a vehicle at a storage bin in an automatic storage and retrieval system |
| EP1422169B1 (en) * | 2002-11-22 | 2006-03-29 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Warehouse with rail trolleys for storing and retrieving goods |
| CN200990020Y (en) * | 2006-12-21 | 2007-12-12 | 上海宝钢工业检测公司 | Goods fork position detector |
| CN103723421A (en) * | 2012-10-11 | 2014-04-16 | 贵阳普天物流技术有限公司 | Multi-layer shuttling storage, taking and carrying method and device |
| CN203229120U (en) * | 2012-12-25 | 2013-10-09 | 云南昆船设计研究院 | Multilayer shuttle capable of storing and taking boxes of different specifications automatically |
| CN105631616A (en) * | 2014-10-25 | 2016-06-01 | 深圳市科陆电子科技股份有限公司 | Intelligent positioning system and positioning method for warehousing logistics |
| CN205203968U (en) * | 2015-10-28 | 2016-05-04 | 深圳市鸿志软件有限公司 | Three -dimensional storage shuttle |
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |