CN106429143A - Multifunctional product recovery and distribution device control method - Google Patents
Multifunctional product recovery and distribution device control method Download PDFInfo
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- CN106429143A CN106429143A CN201610881350.2A CN201610881350A CN106429143A CN 106429143 A CN106429143 A CN 106429143A CN 201610881350 A CN201610881350 A CN 201610881350A CN 106429143 A CN106429143 A CN 106429143A
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- unit
- driving wheel
- triggered
- recovery
- distribution device
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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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a multifunctional product recovery and distribution device control method. The method comprises the step that a, after a product distribution button or a product recovery button is triggered, a control center triggers a recovery and distribution device located on a recovery and distribution device storage track; b, when the recovery and distribution device runs to a first transition track, the first transition track is in butt connection with a main track after the time M, and the recovery and distribution device runs to the main track; c, after the recovery and distribution device reaches a first target position, the recovery and distribution device stops running and grabs a product, and the recovery and distribution device is started to run to a second target position after grabbing the object and puts down the object after reaching the second target position; and d, when the recovery and distribution device does not receive other tasks any longer, the recovery and distribution device returns along the original way, and after the recovery and distribution device triggers the main track to be close to a trigger on one side of the first transition track, the first transition track is rotated to be in butt connection with the recovery and distribution device storage track, and the recovery and distribution device runs to the recovery and distribution device storage track. In this way, the multifunctional product recovery and distribution device is easy and convenient to use, high in efficiency and low in cost.
Description
Technical field
The present invention relates to distribution of goods recovery technology field, more particularly to a kind of multifunction article R-T unit controlling party
Method.
Background technology
The phenomenon that the field people line such as food and drink, warehouse logisticses, article, medicine distribution or goods are waited in line is increasingly
Many, the strong influence experience of efficiency and client is unfavorable for the development of industry.
Nowadays several families are all to carry out the distribution of food, article, medicine etc. by artificial mode and return to these industries
Receive, and human resources are more and more valuable, cost of labor more and more higher, while manually there is a problem of that efficiency is low, therefore, improve effect
Rate becomes common recognition.
In such as large-scale restaurant, when client is more, need to bear with waiter's evacuation to put the kitchen on table away
Rubbish, and the food that selects needs wait waiter's evacuation end to come, and the situation for sending out mistake often occurs, if service people
Member not enough when, can cause the time that client treats for a long time under poor environment, waiter that cost, and visitor excessively greatly improved again
Family needs the time Relatively centralized of service so that what difficult reasonable arrangement attendant, has had a strong impact on the mood of client, equally,
In large hospital, after doctor holds medicine successfully, need oneself to arrive special pharmaceutical drug taking, this process is often waited in line very
Long, hospital efficiency has been had a strong impact on, and has there is also the situation for grabbing wrong medicine, caused even more serious consequence, in the same manner, for storage
Logistics field be also thus, warehouse is by article efficiency is manually picked and placeed, with high costs.Accordingly, it would be desirable to be solved by the upgrading of technology
Certainly the problems referred to above.
Content of the invention
It is an object of the invention to provide a kind of high efficiency, the multifunction article R-T unit control method of low cost.
In order to realize the purpose of the present invention, adopt the technical scheme that：
A kind of multifunction article R-T unit control method, comprises the following steps：
A, after distribution of goods button or article reclaim button and are triggered, control centre's activation is located at R-T unit storage rail
R-T unit to be sent on road；
B, control centre control the R-T unit and run to First Transition track, after elapsed time M, control the first mistake
Orbit rotation is crossed, and is docked with corresponding main orbit, First Transition track is docked with main orbit after success, on First Transition track
Trigger be triggered, control centre control R-T unit run to main orbit, and to first object from First Transition track
Run position；
C, when the R-T unit reach first object position after, the first motor of R-T unit, the second motor stop fortune
OK, the driver drives retractor device elongation of R-T unit, and manipulator crawl article is driven, after article caught by manipulator,
Driver drives retractor device returns to initial position, now the first motor, the second electric motor starting, drives R-T unit toward the second mesh
Cursor position is run, and after R-T unit reaches the second target location, the first motor of R-T unit, the second motor are out of service,
The driver drives retractor device elongation of R-T unit, and drive manipulator to decontrol the article in manipulator；
D, when the R-T unit does not receive other tasks again, R-T unit works as R-T unit along backtracking
After the trigger of First Transition track side, elapsed time M, First Transition orbit rotation are extremely filled triggering main orbit with transmitting-receiving
Storage orbital docking is put, R-T unit is run to R-T unit storage track.
R-T unit is initially all concentrated on transmitting apparatus storage track, is touched when distribution of goods button or article reclaim button
After sending out, corresponding R-T unit is activated by control centre, and towards presetting object run, stores track energy by R-T unit
Scheduling to R-T unit is preferably realized.Article is captured after R-T unit reaches target location, and article is taken to another
Target location, so as to completing full automatic granting and reclaiming article, whole process manually need not be participated in, it is only necessary to set in advance each
Individual distribution of goods button or article reclaim the corresponding access position of button, so as to reduce cost, improve efficiency.Main orbit number
Amount can have multiple, connect R-T unit by First Transition track and store track and main orbit so that R-T unit storage rail
Road has access to the utilization rate that improve main orbit on different main orbits, while preventing main orbit from blocking occur.First mistake
Cross track to store after orbital docking with R-T unit, corresponding trigger can be triggered, so as to control on this basis to receive and dispatch
Device is entered on First Transition track, then First Transition orbit rotation, can be docked with main orbit, and certain main orbit can be with position
In First Transition track side, it is also possible to be located at First Transition track both sides respectively, can be also turned on by the first excessive track
The main orbit of both sides, so as to there is more paths select, improves efficiency.
Further, further comprising the steps of：
E, the first driving wheel, the second driving wheel respectively by under the first motor, the second Motor drive on main orbit run when,
When the first trigger switch of the first driving wheel is triggered by non-toggle state, and the 4th trigger switch of the second driving wheel is by non-touch
When hair-like state is triggered, then first the first driving wheel of Motor drive keeps high-grade bit rate operation, the second Motor drive second to drive
Driving wheel keeps low-grade bit rate operation, when the first trigger switch of the first driving wheel is triggered again by triggering state, and second
When 4th trigger switch of driving wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle gear
Speed is run, and second the second driving wheel of Motor drive keeps middle-grade bit rate operation.
Further, further comprising the steps of：
F, the first driving wheel, the second driving wheel respectively by under the first motor, the second Motor drive on main orbit run when,
When the 3rd trigger switch of the first driving wheel is triggered by non-toggle state, and the second trigger switch of the second driving wheel is by non-touch
When hair-like state is triggered, then first the first driving wheel of Motor drive keeps low-grade bit rate operation, the second Motor drive second to drive
Driving wheel keeps high-grade bit rate operation, when the 3rd trigger switch of the first driving wheel is triggered again by triggering state, and second
When second trigger switch of driving wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle gear
Speed is run, and second the second driving wheel of Motor drive keeps middle-grade bit rate operation.
Further, further comprising the steps of：
G, after execution of step a, first determine whether whether there is which between R-T unit to be sent and first object position
Its R-T unit is currently running, if having, after the R-T unit completes task, then execution step b, if nothing, directly execute
Step b.
Further, further comprising the steps of：
H, when be located at the second twilight orbit side main orbit on trigger be triggered when, the second twilight orbit is in transition
Driver is rotated by, and docks with trigger place main orbit；In time T, when being located at, the second twilight orbit is another
When trigger on the main orbit of side is triggered, the second twilight orbit recovers to initial shape under twilight orbit driving..
It should be noted that described in the present invention first, second is not to limit quantity and order, but in order to distinguish peace
It is mounted in the identical parts of various location.High, medium and low bit rate described in the present invention is also relative low- medium- high level simultaneously
Bit rate, according to demand setting corresponding low- medium- high level bit rate.First object position during distribution of goods is corresponding
The corresponding fixed pickup position of distribution of goods button, the corresponding first object position of different distribution of goods buttons are different, article
The second target location during distribution is corresponding distribution of goods button another fixation issuance location corresponding, different articles
The corresponding fixed issuance location of distribution button is different, and in the same manner, first object position when article is reclaimed is corresponding article and returns
The corresponding fixed pickup position of button is received, different articles reclaims the corresponding first object position difference of button, when article is reclaimed
The second target location be corresponding article and reclaim button another fixation deposit position corresponding, different articles is reclaimed to be pressed
The corresponding fixed deposit position of button is different.
Specific embodiment
Below embodiments of the invention are described in detail：
A kind of multifunction article R-T unit control method, comprises the following steps：
A, after distribution of goods button or article reclaim button and are triggered, control centre's activation is located at R-T unit storage rail
R-T unit to be sent on road；
B, control centre control the R-T unit and run to First Transition track, after elapsed time M, control the first mistake
Orbit rotation is crossed, and is docked with corresponding main orbit, First Transition track is docked with main orbit after success, on First Transition track
Trigger be triggered, control centre control R-T unit run to main orbit, and to first object from First Transition track
Run position；
C, when the R-T unit reach first object position after, the first motor of R-T unit, the second motor stop fortune
OK, the driver drives retractor device elongation of R-T unit, and manipulator crawl article is driven, after article caught by manipulator,
Driver drives retractor device returns to initial position, now the first motor, the second electric motor starting, drives R-T unit toward the second mesh
Cursor position is run, and after R-T unit reaches the second target location, the first motor of R-T unit, the second motor are out of service,
The driver drives retractor device elongation of R-T unit, and drive manipulator to decontrol the article in manipulator；
D, when the R-T unit does not receive other tasks again, R-T unit works as R-T unit along backtracking
After the trigger of First Transition track side, elapsed time M, First Transition orbit rotation are extremely filled triggering main orbit with transmitting-receiving
Storage orbital docking is put, R-T unit is run to R-T unit storage track.
R-T unit is initially all concentrated on transmitting apparatus storage track, is touched when distribution of goods button or article reclaim button
After sending out, corresponding R-T unit is activated by control centre, and towards presetting object run, stores track energy by R-T unit
Scheduling to R-T unit is preferably realized.Article is captured after R-T unit reaches target location, and article is taken to another
Target location, so as to completing full automatic granting and reclaiming article, whole process manually need not be participated in, it is only necessary to set in advance each
Individual distribution of goods button or article reclaim the corresponding access position of button, so as to reduce cost, improve efficiency.Main orbit number
Amount can have multiple, when on track run distribution retracting device more when, if each track is not connected, on same track
Distribution retracting device is likely to occur clogging, now, by the setting of the second twilight orbit, each bar track can be carried out point
Stream, so as to reply the pressure for alleviating each track, improves transmitting capacity, while improve track utilization rate.By First Transition
Track connection R-T unit storage track and main orbit so that R-T unit storage track has access to different main orbits
On, the utilization rate of main orbit is improve, while preventing main orbit from blocking occur.First Transition track stores track with R-T unit
After docking, corresponding trigger can be triggered, and enter on First Transition track so as to control R-T unit on this basis,
Then First Transition orbit rotation, can be docked with main orbit, and certain main orbit may be located at First Transition track side, it is also possible to
First Transition track both sides are located at respectively, and the main orbit that can be also turned on both sides by the first excessive track is more so as to have
Path can select, and improve efficiency.
Further, further comprising the steps of：
E, the first driving wheel, the second driving wheel respectively by under the first motor, the second Motor drive on main orbit run when,
When the first trigger switch of the first driving wheel is triggered by non-toggle state, and the 4th trigger switch of the second driving wheel is by non-touch
When hair-like state is triggered, then first the first driving wheel of Motor drive keeps high-grade bit rate operation, the second Motor drive second to drive
Driving wheel keeps low-grade bit rate operation, when the first trigger switch of the first driving wheel is triggered again by triggering state, and second
When 4th trigger switch of driving wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle gear
Speed is run, and second the second driving wheel of Motor drive keeps middle-grade bit rate operation.The first trigger switch when the first driving wheel
It is triggered by non-toggle state, and the 4th trigger switch of the second driving wheel is when being triggered by non-toggle state, then the first motor
The first driving wheel is driven to keep high-grade bit rate operation, second the second driving wheel of Motor drive to keep low-grade bit rate operation, go out
During existing such case, it is meant that main orbit is bent to the second driving wheel direction, is adopted in this way, automatically can realize to the
One driving wheel, the second driving wheel carry out speed governing, simple and convenient.When the first driving wheel the first trigger switch by triggering state again
Secondary be triggered, and the 4th trigger switch of the second driving wheel is when being triggered by triggering state again, then the first Motor drive first
Driving wheel keeps middle-grade bit rate operation, second the second driving wheel of Motor drive to keep middle-grade bit rate operation, served as backbone
After road bending position, two driving wheels are made to keep same speed operation again, whole process is all that automated manner is realized, it is only necessary to set
Get well the corresponding granting of difference button and recovery position, you can whole-process automatic operation.
Further, further comprising the steps of：
F, the first driving wheel, the second driving wheel respectively by under the first motor, the second Motor drive on main orbit run when,
When the 3rd trigger switch of the first driving wheel is triggered by non-toggle state, and the second trigger switch of the second driving wheel is by non-touch
When hair-like state is triggered, then first the first driving wheel of Motor drive keeps low-grade bit rate operation, the second Motor drive second to drive
Driving wheel keeps high-grade bit rate operation, when the 3rd trigger switch of the first driving wheel is triggered again by triggering state, and second
When second trigger switch of driving wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle gear
Speed is run, and second the second driving wheel of Motor drive keeps middle-grade bit rate operation.The 3rd trigger switch when the first driving wheel
It is triggered by non-toggle state, and the second trigger switch of the second driving wheel is when being triggered by non-toggle state, then the first motor
The first driving wheel is driven to keep low-grade bit rate operation, second the second driving wheel of Motor drive to keep high-grade bit rate operation, when
3rd trigger switch of the first driving wheel is triggered again by triggering state, and the second trigger switch of the second driving wheel is by triggering
When state is triggered again, then first the first driving wheel of Motor drive keeps middle-grade bit rate operation, the second Motor drive second
Driving wheel keeps middle-grade bit rate operation, adopts in this way when main orbit is turned to the first driving wheel direction, also can be automatic
Smoothly run, so as to whole process achieves automation, it is not necessary to artificial intervention can automatic running, improve efficiency, while
Reduce cost.
Further, further comprising the steps of：
G, after execution of step a, first determine whether whether there is which between R-T unit to be sent and first object position
Its R-T unit is currently running, if having, after the R-T unit completes task, then execution step b, if nothing, directly execute
Step b.Adopt and blocking occur on track, improve transport efficiency.
Further, further comprising the steps of：
H, when be located at the second twilight orbit side main orbit on trigger be triggered when, the second twilight orbit is in transition
Driver is rotated by, and docks with trigger place main orbit；In time T, when being located at, the second twilight orbit is another
When trigger on the main orbit of side is triggered, the second twilight orbit recovers to initial shape under twilight orbit driving.Main orbit
Quantity can have multiple, when on main orbit run distribution retracting device more when, if each main orbit is not connected, same master
Distribution retracting device on track is likely to occur clogging, now, by the setting of the second twilight orbit, can be to each bar backbone
Road is shunted, and so as to reply the pressure for alleviating each main orbit, improves transmitting capacity, while improve track utilization rate.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (5)
1. a kind of multifunction article R-T unit control method, it is characterised in that comprise the following steps：
A, after distribution of goods button or article reclaim button and are triggered, control centre's activation is located on R-T unit storage track
R-T unit to be sent；
B, control centre control the R-T unit and run to First Transition track, after elapsed time M, control First Transition rail
Road is rotated, and is docked with corresponding main orbit, and First Transition track is docked with main orbit after success, touching on First Transition track
Send out device to be triggered, control centre's control R-T unit is run to main orbit from First Transition track, and to first object position
Operation；
C, when the R-T unit reach first object position after, the first motor of R-T unit, the second motor are out of service, receive
The driver drives retractor device elongation of transmitting apparatus, and drive manipulator crawl article, after article caught by manipulator, driver
Drive retractor device to return to initial position, now the first motor, the second electric motor starting, R-T unit is driven toward the second target location
Operation, after R-T unit reaches the second target location, the first motor of R-T unit, the second motor are out of service, transmitting-receiving dress
The driver drives retractor device elongation that puts, and drive manipulator to decontrol the article in manipulator；
D, when the R-T unit does not receive other tasks again, R-T unit along backtracking, when R-T unit is triggered
After the trigger of First Transition track side, elapsed time M, First Transition orbit rotation are extremely stored up main orbit with R-T unit
Orbital docking is deposited, R-T unit is run to R-T unit storage track.
2. multifunction article R-T unit control method according to claim 1, it is characterised in that also include following step
Suddenly：
E, the first driving wheel, the second driving wheel respectively by running on main orbit under the first motor, the second Motor drive when, when the
First trigger switch of one driving wheel is triggered by non-toggle state, and the 4th trigger switch of the second driving wheel is by non-touch hair-like
When state is triggered, then first the first driving wheel of Motor drive keeps high-grade bit rate operation, second the second driving wheel of Motor drive
Low-grade bit rate operation is kept, when the first trigger switch of the first driving wheel is triggered again by triggering state, and second drives
When 4th trigger switch of wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle-grade bit rate
Operation, second the second driving wheel of Motor drive keep middle-grade bit rate operation.
3. multifunction article R-T unit control method according to claim 1, it is characterised in that also include following step
Suddenly：
F, the first driving wheel, the second driving wheel respectively by running on main orbit under the first motor, the second Motor drive when, when the
3rd trigger switch of one driving wheel is triggered by non-toggle state, and the second trigger switch of the second driving wheel is by non-touch hair-like
When state is triggered, then first the first driving wheel of Motor drive keeps low-grade bit rate operation, second the second driving wheel of Motor drive
High-grade bit rate operation is kept, when the 3rd trigger switch of the first driving wheel is triggered again by triggering state, and second drives
When second trigger switch of wheel is triggered again by triggering state, then first the first driving wheel of Motor drive keeps middle-grade bit rate
Operation, second the second driving wheel of Motor drive keep middle-grade bit rate operation.
4. the multifunction article R-T unit control method according to Claims 2 or 3, it is characterised in that also include following
Step：
G, after execution of step a, first determine whether whether to have other receipts between R-T unit to be sent and first object position
Transmitting apparatus are currently running, if having, after the R-T unit completes task, then execution step b, if nothing, direct execution step
b.
5. multifunction article R-T unit control method according to claim 4, it is characterised in that also include following step
Suddenly：
H, when be located at the second twilight orbit side main orbit on trigger be triggered when, the second twilight orbit transition drive
Device is rotated by, and docks with trigger place main orbit；In time T, when positioned at the second twilight orbit opposite side
When trigger on main orbit is triggered, the second twilight orbit recovers to initial shape under twilight orbit driving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610881350.2A CN106429143A (en) | 2016-10-09 | 2016-10-09 | Multifunctional product recovery and distribution device control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610881350.2A CN106429143A (en) | 2016-10-09 | 2016-10-09 | Multifunctional product recovery and distribution device control method |
Publications (1)
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| CN106429143A true CN106429143A (en) | 2017-02-22 |
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ID=58172239
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| CN201610881350.2A Pending CN106429143A (en) | 2016-10-09 | 2016-10-09 | Multifunctional product recovery and distribution device control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113874301A (en) * | 2019-05-17 | 2021-12-31 | 牧野J株式会社 | Transport system |
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| CN205239512U (en) * | 2015-12-21 | 2016-05-18 | 株洲南车特种装备科技有限公司 | Power truck of adaptable little curvature radius bend |
| CN205257304U (en) * | 2015-12-10 | 2016-05-25 | 中国汽车工业工程有限公司 | Automatic work piece transfer device for descaling machine that polishes of bent axle |
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| JPH05170325A (en) * | 1991-12-19 | 1993-07-09 | Daifuku Co Ltd | Conveying equipment using movable body |
| CN201099535Y (en) * | 2007-08-15 | 2008-08-13 | 沈阳清林机械厂 | Suspended type bogie straight-line conveying line rail |
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| CN113874301A (en) * | 2019-05-17 | 2021-12-31 | 牧野J株式会社 | Transport system |
| CN113874301B (en) * | 2019-05-17 | 2023-04-25 | 牧野J株式会社 | Transport system |
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