CN107161584B - Clamping type e-commerce storage intelligent shuttle car and control method thereof - Google Patents
Clamping type e-commerce storage intelligent shuttle car and control method thereof Download PDFInfo
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- CN107161584B CN107161584B CN201710556574.0A CN201710556574A CN107161584B CN 107161584 B CN107161584 B CN 107161584B CN 201710556574 A CN201710556574 A CN 201710556574A CN 107161584 B CN107161584 B CN 107161584B
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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
Abstract
The invention discloses a clamping type e-commerce storage intelligent shuttle and a control method thereof, wherein the clamping type e-commerce storage intelligent shuttle comprises the following steps: the shuttle car comprises a pair of shuttle car frames, a shuttle car chassis, a traveling mechanism, a secondary fork extending mechanism, a current collecting device, a bearing plate and a bearing platform. The intelligent shuttle car can be used for accurately positioning each layer of the automatic stereoscopic warehouse and flexibly storing and taking the goods baskets in different storage positions, so that the maximum use efficiency of the shuttle car can be exerted, and the running stability and reliability of the shuttle car are ensured.
Description
Technical Field
The invention relates to the technical field of intelligent shuttle vehicles used in an e-commerce automatic stereoscopic warehouse, in particular to a clamping type e-commerce warehousing intelligent shuttle vehicle which can flexibly store and take goods baskets with different storage positions on a multilayer stock platform in the automatic stereoscopic warehouse.
Background
Under the rapid development of the e-commerce and logistics service industries, the automatic stereoscopic warehouse shows stronger vitality and adaptability. The electric traders seeking manpower conservation and long-term development also need automated stereoscopic warehouses to help them achieve the goal, and the successful establishment of the fully automated logistics warehousing system by amazon is the best proof of the favor of the electric traders for the automated stereoscopic warehouses.
Most of the existing shuttle vehicles can only replace manpower to a certain extent, certain specific links can still be realized by manpower, and complete automation is not realized (for example, the existing common tunnel stacker needs manpower to push goods to the stacker), so that the convenience of the shuttle vehicles is greatly reduced, the enthusiasm of the market on the shuttle vehicle system is influenced, and the difficulty of industrial automation popularization is increased.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a clamping type e-commerce storage intelligent shuttle car which is simple in structure, light in weight, safe and reliable and a control method thereof, so that accurate positioning can be realized on each layer of an automatic stereoscopic warehouse, and flexible storage and taking of goods baskets on different storage positions can be realized, thereby exerting the maximum use efficiency of the shuttle car and ensuring the running stability and reliability of the shuttle car.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a structure characteristic of a clamping type e-commerce storage intelligent shuttle vehicle, which comprises: the shuttle car comprises a pair of shuttle car frames, a shuttle car chassis, a walking mechanism, a secondary fork extending mechanism, a current collecting device, a bearing plate and a bearing platform;
any shuttle vehicle frame is a closed cavity formed by main body brackets at two sides, a shell and a hub bracket at the inner side and is respectively arranged at two ends of a chassis of the shuttle vehicle; the shell is provided with an upper cover which can be opened and closed through a flap hinge; a panel wire frame is arranged above the hub bracket;
the running gear includes: the driving wheel set, the driven wheel set, the first DC brushless motor, the first speed reducer and the connecting shaft;
a group of driving wheels connected by a connecting shaft are arranged on two sides of a shuttle vehicle frame at one end of the shuttle vehicle chassis, and a group of driven wheels connected by a connecting shaft are arranged on two sides of the shuttle vehicle frame at the other end of the shuttle vehicle chassis; the first direct current brushless motor and the first speed reducer are matched together to drive the group of driving wheels and drive the group of driven wheels to move;
a magnetoelectric encoder is arranged on the connecting shaft, and the magnetoelectric encoder is used for acquiring the starting and stopping position of the shuttle vehicle on the linear track;
the secondary fork extending mechanisms are symmetrically arranged on the inner sides of the pair of shuttle car frames; a bearing platform for placing a cargo basket is arranged on a shuttle car chassis between the two-stage fork extending mechanisms;
the bearing plates are respectively arranged in the closed cavities of the shuttle frame, and a driving plate, a walking mechanism main control plate and a fork extending mechanism main control plate are sequentially arranged on the bearing plates; the driving plate drives the travelling mechanism to drive the shuttle car to run on a linear track, the travelling mechanism main control panel controls the running parameters and the starting and stopping positions of the shuttle car, and the fork extending mechanism main control panel controls the secondary fork extending mechanism to grab and place a basket on a goods shelf;
the current collecting device is arranged between the shuttle car and the linear track, is communicated with an electrified lead arranged on the inner side of the linear track and is used for supplying power to the shuttle car.
The structure of the clasping type intelligent shuttle vehicle for e-commerce warehousing is also characterized in that a group of grooves are formed in the positions where the group of driving wheels and the group of driven wheels are respectively contacted with the connecting shaft, and elastic check rings are arranged in the group of grooves and used for axially positioning the group of driving wheels and the group of driven wheels.
The shuttle car chassis lateral part of a set of action wheel and a set of follower below is in be provided with respectively between linear rail and the shuttle car chassis two leading wheels to two leading wheels form to a set of action wheel and a set of follower are in control spacing when moving on the linear rail.
The fork mechanism is stretched to second grade includes: the device comprises a primary extension fork push plate, a secondary extension fork plate, a secondary synchronous pulley mechanism, a secondary extension fork transmission mechanism, a second direct-current brushless motor, a second speed reducer and a transmission shaft;
the primary extending fork push plate is arranged on the outer side of the hub support of the shuttle car frame; a U-shaped sliding groove is formed in the middle of the primary fork extending push plate, and a plurality of U-shaped groove pulleys are arranged in the U-shaped sliding groove at equal intervals; the second-stage fork plate is arranged on the outer side of the U-shaped sliding groove; the secondary fork plate is connected with the plurality of U-shaped groove pulleys through bolts and nuts; a shifting fork, a direct current planetary gear motor and a photoelectric sensor are respectively arranged at two ends of the top of the secondary fork plate from outside to inside; the photoelectric sensor is used for acquiring a position signal of the shifting fork and sending the position signal to the main control board of the fork extending mechanism, and the main control board of the fork extending mechanism controls the direct current planetary gear motor to drive the shifting fork to move horizontally or vertically;
the secondary synchronous pulley mechanisms are respectively arranged on the primary fork-extending push plate and are positioned right below and right above the U-shaped sliding groove; the secondary synchronous pulley mechanism is connected with a synchronous belt pressing plate on the secondary fork plate; the second direct current brushless motor and the second speed reducer drive the second stage stretches the fork drive mechanism motion, and pass through the second stage that the transmission shaft drove the opposite side stretches the fork drive mechanism motion, makes the one-level stretches the fork push pedal motion and drives the motion of second stage hold-in range pulley mechanism, thereby drives the second stage stretches the fork board motion.
The second grade is stretched and is pitched drive mechanism and is included: the device comprises a magnetoelectric encoder, a first synchronous belt wheel, a first synchronous belt, a tension wheel device and a rack;
the first synchronous belt wheel and the first synchronous belt are arranged below the primary fork push plate; one side of the first synchronous belt wheel is connected with the transmission shaft, the other side of the first synchronous belt wheel is connected with an output shaft of the second speed reducer through a key groove, and the two sides of the second speed reducer are respectively provided with the tensioning wheel devices for assisting and fixing the first synchronous belt wheel and the first synchronous belt; the rack is arranged between the primary fork-extending push plate and the synchronous belt;
with second DC brushless motor with the drive of second reduction gear first synchronous pulley rotates with first synchronous belt, and through the second synchronous pulley and the second synchronous belt rotation of transmission shaft drive opposite side drive corresponding one-level respectively through the rack of both sides simultaneously and stretch the fork push pedal and realize once stretching when the fork, second grade synchronous pulley mechanism synchronous motion, and drive when the fork board motion is stretched to the second grade, U type groove pulley is in roll in the U type spout, make the fork board is stretched to the second grade realizes that the secondary stretches the fork.
The tension pulley device comprises: the device comprises a bolt, an adjusting bracket, a double nut and a tensioning wheel;
the tensioning wheels are arranged below the synchronous belt and on two sides of the second speed reducer, and the synchronous belt is fixed on the main body bracket through the double nuts; the adjusting bracket is arranged below the double nuts through the bolts, and the bolts are used for adjusting the positions of the adjusting bracket, so that the adjusting bracket drives the double nuts to move up and down, and the synchronous belt is kept in a tensioning state under the action of the tensioning wheel.
The invention relates to a control method of a clamping type e-commerce storage intelligent shuttle car, which is applied to a logistics storage environment formed by a plurality of layers of shelf platforms, wherein each layer of shelf platform is provided with one shuttle car; goods stacking areas are arranged on two sides of the shuttle car in the driving direction; the method is characterized in that: the control method comprises the following steps:
step 1, when the shuttle vehicle works, a driving signal is sent out through a driving plate to enable the shuttle vehicle to start, and the magnetoelectric encoder is matched with a photoelectric door arranged on the linear track according to the driving signal to obtain the position information of the shuttle vehicle running on the linear track and send the position information to a main control plate of the travelling mechanism in real time;
when the shuttle vehicle reaches a specified position, the magnetoelectric encoder acquires a photogate signal at the specified position and sends the photogate signal to the traveling mechanism main control panel, so that the traveling mechanism main control panel controls the shuttle vehicle to stop traveling at the specified position;
step 4, the main control board of the fork extending mechanism controls the second direct current brushless motor to move reversely and drives the second synchronous belt to move reversely, so that the primary fork extending push plate and the secondary fork extending mechanism also start to move reversely to the other side synchronously until the primary fork extending push plate and the secondary fork extending mechanism reset, and the cargo basket completely enters the bearing platform;
and 6, sending a completion signal to the drive plate by the main control plate of the fork extending mechanism, enabling the drive plate to start working, enabling the shuttle car to reach a goods unloading area under the control of the main control plate of the walking mechanism, and finally unloading the goods basket under the control of the main control plate of the fork extending mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention has reasonable structural layout of the travelling mechanism, the fork extending mechanism, the frame, the trolley line, the power collecting device and the like of the clamping type e-commerce storage intelligent shuttle car, fully utilizes the space of the shuttle car, can adapt to the automatic storage and taking of goods with different specifications and different positions in an e-commerce stereoscopic warehouse, enlarges the application coverage range of the shuttle car, quickly and effectively completes a series of continuous actions of the travelling, the fork extending, the goods taking, the goods placing and the like of the shuttle car, realizes the quick and accurate storage of the goods, greatly improves the operating efficiency and the automation technical level of the automatic stereoscopic warehouse, reduces the cost and the expenditure of enterprises, has simple and light structure, high reliability and easy maintenance, can replace the traditional roadway stacker, realizes the flexibility of the system, and conforms to the great development trend of e-commerce logistics and storage automation.
2. In the travelling mechanism of the clasping type e-commerce storage intelligent shuttle car, grooves are formed on the connecting shafts of the driving wheel and the driven wheel and are connected with the connecting part of the bearing through a novel elastic retainer ring, so that the axial positioning effect of the connecting shafts is realized; in the prior art, the stepped shaft is adopted for axial positioning, so that the manufacturing is difficult and materials are wasted; the invention realizes the axial positioning effect by adopting the elastic retainer ring, can increase the production efficiency and save the cost, and the elastic retainer ring is a standard component and is convenient to purchase.
3. The double-guide-wheel structure realizes that the driving wheel and the driven wheel always move on the linear track and move along the linear track without deviating from the track, and the positioning structure is more stable and reliable.
4. The secondary fork extending structure adopted by the invention can enable the fork extending distance to be farther, and more baskets at different positions can be obtained; meanwhile, the principle of the two-stage fork extending mechanism is simple, and the design and manufacturing cost is low; the transmission part adopts the mode of a single motor, a speed reducer and a transmission shaft to ensure that the two-stage fork extending mechanism achieves the purpose of synchronous extension, thus saving the cost, effectively reducing the required arrangement space and reducing the whole weight of the shuttle vehicle.
5. The novel tensioning wheel device is adopted, so that the synchronous belt can be rapidly kept in a tensioning state, normal operation of the shuttle vehicle is realized, the tensioning wheel device is simple to manufacture and convenient to install, rapid adjustment can be performed, cost and space are saved, and working efficiency is improved.
Drawings
Fig. 1 is a schematic overall structure diagram of the clamping type e-commerce storage intelligent shuttle vehicle of the invention;
fig. 2 is a top view of the clasping type e-commerce warehousing intelligent shuttle vehicle of the invention;
fig. 3 is a bottom view of the clasping type e-commerce warehousing intelligent shuttle vehicle of the invention;
fig. 4 is a schematic structural view of a traveling mechanism and a fork extending mechanism assembly of the clamping type e-commerce warehousing intelligent shuttle vehicle;
fig. 5 is a schematic structural view of a frame of the clasping type electronic commerce storage intelligent shuttle vehicle;
fig. 6 is a schematic structural view of a novel tensioning wheel device of the clamping type electric commercial storage intelligent shuttle vehicle;
fig. 7 is a schematic view of the extension fork of the clasping type electronic commerce storage intelligent shuttle car for picking up goods;
sequence numbers in the figure: 1a pair of shuttle frames; 2, a traveling mechanism; 3, a secondary fork extending mechanism; 4, a basket; 5, a secondary fork extending mechanism; 6 emergency stop button; 7, a linear track; 8, a photogate; 9, a power-on lead; 10, shifting a fork; 11 a carrier plate; 12 a load-bearing platform; 13, covering the upper cover; 14, a hinge; 15 double guide wheels; 16 drive plates; 17 a traveling mechanism main control panel; 18, a main control panel of the fork extending mechanism; 19 current collecting means; 20 a walking transmission mechanism; 21 a shuttle chassis; 22 a secondary fork extending transmission mechanism; 23a tensioning wheel arrangement; 24 a magneto-electric encoder; 25, a circlip; 1a main body support; 1b a housing; 1c, a hub bracket; 1d panel line frame; 1f, installing a vacancy; 2a first dc brushless motor; 2b a first speed reducer; 2c a belt; 2d a belt pulley; 2e driving wheel; 2f a driven wheel; 2g of a connecting shaft; 3a secondary fork extending reinforcing plate; 3b, a bolt and double nut structure; 3c direct current planetary gear motor; a 3d photosensor; 3f a secondary fork plate; 3g of a first-stage fork extending push plate; 3h, pressing a synchronous belt plate; 3i two-stage synchronous pulley mechanism; 3j a second synchronous belt; 3l of a second synchronous pulley; 3n racks; 3p U grooved pulley; 3q extending fork transmission motor; 3o U type chute; 3s a first synchronous belt; 3t first synchronous pulley; 23a bolt; 23b adjusting the bracket; 23c double nuts; 23d tension wheel.
Detailed Description
Referring to fig. 1 and 5, an intelligent clasping type e-commerce warehouse shuttle vehicle is used for flexibly storing and taking baskets with different storage positions on a multi-layer storage platform in an automatic stereoscopic warehouse, and comprises the following components: the device comprises a pair of shuttle car frames 1, a shuttle car chassis 21, a traveling mechanism 2, a secondary fork extending mechanism 3, a current collecting device 19, a bearing plate 11, a bearing platform 12 and a tension wheel device 23;
any shuttle vehicle frame is a closed cavity formed by the main body supports 1a, the outer shell 1b and the hub support 1c on the inner side at two sides, and is respectively arranged at two ends of the shuttle vehicle chassis 21; the housing 1b is provided with an openable and closable upper cover 13 by a flip-door type hinge 14. The door-turning type hinge 14 enables the shuttle car cover to do rotary motion so as to be opened and closed but not to do translational motion; a panel wire frame 1d is arranged above the hub bracket 1c and used for reserving wiring spaces for a motor, a driving plate, a control plate and the like; the frame 1 is mainly designed by sheet metal materials, and the materials have the characteristics of light weight, low cost, easiness in forming, high stability and the like. Emergency stop buttons 6 are symmetrically arranged on the left side and the right side right above any shell 1b, so that if an abnormal phenomenon occurs in the operation process of the shuttle car, the upper computer can not stop the shuttle car, and the emergency stop motion of the shuttle car can be artificially realized.
Referring to fig. 1 and 4, the traveling mechanism 2 includes: a group of driving wheels 2e, a group of driven wheels 2f, a first direct current brushless motor 2a, a first speed reducer 2b, a synchronous pulley structure 2c, a connecting shaft 2g and a walking transmission mechanism 20.
A group of driving wheels 2e connected with a key groove through a key by a connecting shaft 2g are arranged on two sides of a shuttle vehicle frame 1 at one end of a shuttle vehicle chassis 21, and a group of driven wheels 2f connected with the connecting shaft are arranged on two sides of the shuttle vehicle frame at the other end of the shuttle vehicle chassis 21; the first dc brushless motor 2a and the first speed reducer 2b cooperate to drive a set of driving wheels 2e and a set of driven wheels 2 f.
The walking transmission mechanism 20 for driving the shuttle car to move mainly adopts a mode that a direct current brushless motor 2a is matched with a speed reducer to drive a driving mechanism 2b, and a mode that a single motor is matched with a speed reducer to drive is adopted, namely, an integrated structure of the direct current brushless motor and the speed reducer is arranged in a frame 1 on one side of the shuttle car, so that the cost can be saved, and the weight of the whole shuttle car can be reduced. One side with a brushless DC motor and a speed reducer is used as a driving wheel 2a so as to drive the whole shuttle vehicle to move transversely in linear tracks 7 of different layers. The motor and the reducer are fixed inside the shuttle car through a bearing, and the output shaft end of the motor is in key connection with the belt pulley 2 d. The belt pulley rotates to drive the toothed belt 2c to move, meanwhile, the belt drives the main belt pulley to move, the belt pulley is connected with a connecting shaft 2g through a key and a key groove, and the shaft is fixed on a support of the shuttle vehicle through two cylindrical roller bearings and a bearing support. The two ends of the shaft are respectively connected with the two wheels. The fixing of the axial direction position is completed by matching with the elastic retainer ring 25 for the shaft, and meanwhile, in order to prevent the problems of unstable running of the shuttle car and the like caused by the driving of a single motor, the programmed S-shaped speed curve is packaged into a speed function in a function packaging mode in control, so that the process of walking each time is a complete motion process of the speed curve function; meanwhile, accurate positioning in the traveling direction is achieved by a method that the photoelectric door 8 arranged on the rail is matched with the magnetoelectric encoder 24 on the connecting shaft 2g, and the starting and stopping positions of the shuttle car on the linear rail 7 are obtained. Through the PID and other parameter adjusting modes, the most appropriate parameter value between the no-load state and the full-load state is found, and the running stability, reliability and positioning accuracy are ensured.
Referring to fig. 2 and 3, a pair of shuttle frames 1 are symmetrically provided with two-stage fork extending mechanisms 3 at the inner sides thereof; a bearing platform 12 for placing the cargo basket 4 is arranged on a shuttle car chassis 21 between the two-stage fork extending mechanisms 3;
meanwhile, bearing plates 11 are respectively arranged in the closed cavities of the pair of shuttle frame 1, and a driving plate 16, a walking mechanism main control plate 17 and a fork extending mechanism main control plate 18 are sequentially arranged on the bearing plates 11; the driving plate 16 drives the travelling mechanism 2 to drive the shuttle car to run on the linear track 7, the travelling mechanism main control panel 17 controls the running parameters and the starting and stopping positions of the shuttle car, and the fork extending mechanism main control panel 18 controls the secondary fork extending mechanism 3 to grab and place the goods basket 4 on the goods shelf;
a current collector 19 is arranged between the shuttle car and the linear rail 7, which current collector 19 communicates with the current-carrying line 9 arranged inside the linear rail 7 and serves to supply the shuttle car with current.
Meanwhile, double guide wheels 15 are respectively arranged on the side portions of the shuttle car chassis 21 below the group of driving wheels 2e and the group of driven wheels 2f and between the linear rail 7 and the shuttle car chassis 21, and the double guide wheels 15 form left and right limit for the group of driving wheels 2e and the group of driven wheels 2f when the group of driving wheels 2e and the group of driven wheels 2f run on the linear rail 7. Adopt two leading wheel structures to compare in traditional single leading wheel structure more stable, make shuttle can more steady linear motion on linear orbit 7, and linear orbit 7 parts adopt hollow square steel, and the rest of shuttle automobile body mainly adopts Q235 steel and aluminium alloy material.
Referring to fig. 4, 5, and 6, the secondary fork extending mechanism 3 of the clasping type e-commerce warehousing intelligent shuttle car includes: the device comprises a primary extending fork push plate 3g, a secondary extending fork plate 3f, a secondary synchronous pulley mechanism 3i, a secondary extending fork transmission mechanism 22, a second direct current brushless motor 3q, a second speed reducer 3r and a transmission shaft 3e. And the secondary fork drive 22 comprises: a magnetoelectric encoder 24, a first synchronous pulley 3t, a first synchronous belt 3s, a tensioning wheel device 23 and a rack 3n.
A primary extending fork push plate 3g is arranged on the outer side of the hub bracket 1c of the shuttle car frame; a U-shaped chute 3o is arranged in the middle of the primary fork-extending push plate 3g, and a plurality of U-shaped groove pulleys 3p are arranged in the U-shaped chute 3o at equal intervals; a secondary fork extending plate 3f is arranged on the outer side of the U-shaped chute 3 o; the secondary fork plate 3f is connected with a plurality of U-shaped groove pulleys 3p through bolts and nuts; a shifting fork 10, a direct current planetary gear motor 3c and a photoelectric sensor 3d are respectively arranged at two ends of the top of the second-stage extension fork plate 3f from outside to inside; the photoelectric sensor 3d is used for acquiring position signals of the shifting fork 10 and sending the position signals to the main control board 18 of the fork extending mechanism, and the direct current planetary gear motor 3c structurally connected with the shifting fork 10 is controlled by the main control board 18 of the fork extending mechanism to drive the shifting fork 10 to move horizontally or vertically, so that the processes of hooking and placing a basket are achieved.
On the primary fork extending push plate 3g, a secondary synchronous pulley mechanism 3i is respectively arranged right below and right above the U-shaped chute 3o and is a composition body of a secondary synchronous pulley and a secondary belt, and the secondary synchronous pulley mechanism 3i is connected with a synchronous belt pressing plate 3h on a secondary fork extending plate 3f through screws and the like to play a role in fixing the secondary synchronous pulley mechanism; a first synchronous belt pulley 3t and a first synchronous belt 3s are arranged below the first-stage fork push plate 3g; one side of the first synchronous pulley 3t is connected with the transmission shaft 3e, the other side is connected with an output shaft of the second speed reducer 3r through a key groove, and two sides of the second speed reducer 3r are respectively provided with a novel tensioning wheel device 23 for auxiliary fixing of the first synchronous pulley 3t and the first synchronous belt 3s; there is rack 3n through rivet connection between one-level stretches fork push pedal 3g and the first synchronous belt 3s for the acting force with the hold-in range is given the one-level and is stretched the fork push pedal.
When the fork stretching mechanism works, a brushless direct current motor 3q and a second speed reducer 3r of the fork stretching structure part drive a first synchronous belt pulley 3t and a first synchronous belt 3s on one side to rotate, and drive a second synchronous belt pulley 3l and a second synchronous belt 3j on the other side to rotate through a transmission shaft 3e, and simultaneously drive a corresponding first-stage fork stretching push plate 3g to realize primary fork stretching through racks 3n on two sides respectively, a second-stage synchronous belt pulley mechanism 3i synchronously moves and drives a second-stage fork stretching plate 3f to move, a U-shaped groove pulley 3p rolls in a U-shaped sliding groove 3o, friction in the moving process can be reduced by using the pulley to further improve the working efficiency, and the second-stage fork stretching plate 3f realizes secondary fork stretching, so that the second-stage fork stretching plate synchronously stretches out when the first-stage fork stretching push plate stretches out, the comprehensive stretching distance between the first-stage fork stretching plate and the second-stage stretching plate is longer, and a mechanism similar to a movable pulley is formed.
Referring to fig. 6, the novel tension wheel device 23 of the clasping type e-commerce warehousing intelligent shuttle vehicle comprises: a bolt 23a, an adjusting bracket 23b, double nuts 23c and a tension wheel 23d;
a tension wheel 23d is arranged below the first synchronous belt 3s and positioned at two sides of a second speed reducer 3r of the fork extending mechanism, and is fixed on the main body bracket 1a through a double nut 23c + gasket device; an adjusting bracket 23b is arranged below the double nuts 23c through bolts 23a and nuts, and the upper and lower positions of the adjusting bracket 23b are adjusted by the bolts 23a, so that the adjusting bracket 23b drives the double nuts 23c to move up and down, and the first synchronous belt 3s is always kept in a tensioning state under the action of a tensioning wheel 23 d.
In this embodiment, a control method for a clasping type e-commerce storage intelligent shuttle car is applied to a logistics storage environment formed by a plurality of layers of shelf platforms, and one shuttle car is arranged on each layer of shelf platform; goods stacking areas are arranged on two sides of the shuttle vehicle in the driving direction; the control method comprises the following steps:
step 1, firstly, when the shuttle vehicle works, an upper computer is started first and sends out a driving signal through a driving plate 16 to start the shuttle vehicle, a magneto-electric encoder 24 in the middle of a connecting shaft 2g senses a grating signal sent out by a photoelectric door 8 on a linear track 7 according to the transmitted driving signal, the magneto-electric encoder and the photoelectric door are matched with each other to obtain position information and speed information of the shuttle vehicle running on the linear track 7, and the position information and the speed information are sent to a main control panel 17 of a travelling mechanism in real time.
When the shuttle vehicle reaches the designated position, the magnetoelectric encoder 24 acquires a photoelectric gate signal on the designated position and sends the photoelectric gate signal to the traveling mechanism main control board 17, so that the traveling mechanism main control board 17 controls the shuttle vehicle to stop traveling at the designated position of the linear track;
and 3, continuously acquiring position signals of the shifting fork 10 while the photoelectric sensor 3d extends out along with the secondary fork extending plate 3f and sending the position signals to the fork extending mechanism main control plate 18, and controlling the shifting fork 10 in the secondary fork extending mechanism 3 to be changed from a vertical state to a horizontal state by the direct-current planetary speed reducing motor 3c driven by the fork extending mechanism main control plate 18 so as to hook the basket 4, as shown in fig. 7.
Step 4, controlling the output shaft of the second brushless direct current motor 3q to move reversely by the fork extending motor control board 18, and driving the second synchronous belt 3j to move reversely after being decelerated by the decelerator, so that the first-stage fork extending push plate 3g and the second-stage fork extending mechanism 3 start to move reversely to the other side synchronously until the first-stage fork extending push plate 3g and the second-stage fork extending mechanism 3 reset, and the goods basket 4 completely enters the bearing platform 12;
and 5, sending the acquired position signal of the shifting fork 10 structure to the main control board 18 of the fork extending mechanism again by the photoelectric sensor 3d, and controlling the shifting fork 10 in the secondary fork extending mechanism 3 to be changed from the horizontal state to the vertical state by the direct current planetary gear motor 3c driven by the main control board 18 of the fork extending mechanism, so that the basket 4 is loosened and the state shown in the figure 1 is recovered.
And 6, finally, the fork extending mechanism main control board 18 sends a completion signal to the drive board 16, so that the drive board 16 starts to work, the shuttle car reaches a goods unloading area under the control of the traveling mechanism main control board 17, and finally the process from the step 2 to the step 5 is repeated under the control of the fork extending mechanism main control board 18 to unload the goods basket 4.
Claims (7)
1. The utility model provides a press from both sides formula electricity merchant storage intelligence shuttle, its characterized in that includes: the shuttle car comprises a pair of shuttle car frames (1), a shuttle car chassis (21), a traveling mechanism (2), a secondary fork extending mechanism (3), a current collecting device (19), a bearing plate (11) and a bearing platform (12);
any shuttle vehicle frame is a closed cavity formed by main body brackets (1 a) at two sides, a shell (1 b) and a hub bracket (1 c) at the inner side, and is respectively arranged at two ends of a shuttle vehicle chassis (21); the shell (1 b) is provided with an upper cover (13) which can be opened and closed through a flap hinge (14); a panel line frame (1 d) is arranged above the hub bracket (1 c);
the traveling mechanism (2) includes: a group of driving wheels (2 e), a group of driven wheels (2 f), a first direct current brushless motor (2 a), a first speed reducer (2 b) and a connecting shaft (2 g);
a group of driving wheels (2 e) connected by a connecting shaft (2 g) are arranged on two sides of a shuttle vehicle frame (1) at one end of the shuttle vehicle chassis (21), and a group of driven wheels (2 f) connected by a connecting shaft are arranged on two sides of the shuttle vehicle frame at the other end of the shuttle vehicle chassis (21); the first direct current brushless motor (2 a) and the first speed reducer (2 b) are matched together to drive the group of driving wheels (2 e) and drive the group of driven wheels (2 f) to move;
a magnetoelectric encoder (24) is arranged on the connecting shaft (2 g), and the magnetoelectric encoder (24) is used for acquiring the starting and stopping positions of the shuttle vehicle on the linear track (7);
the secondary fork extending mechanisms (3) are symmetrically arranged on the inner sides of the pair of shuttle vehicle frames (1); a bearing platform (12) for placing the cargo basket (4) is arranged on the shuttle vehicle chassis (21) between the two-stage fork extending mechanisms (3);
the bearing plates (11) are respectively arranged in the closed cavities of the pair of shuttle car frames (1), and a driving plate (16), a walking mechanism main control plate (17) and a fork extending mechanism main control plate (18) are sequentially arranged on the bearing plates (11); the driving plate (16) drives the travelling mechanism (2) to drive the shuttle car to run on a linear track (7), the travelling mechanism main control panel (17) controls the running parameters and the start-stop position of the shuttle car, and the fork extending mechanism main control panel (18) controls the secondary fork extending mechanism (3) to grab and place the goods basket (4) on the goods shelf;
the current collecting device (19) is arranged between the shuttle car and the linear track (7), and the current collecting device (19) is communicated with an electrified conducting wire (9) arranged on the inner side of the linear track (7) and used for supplying power to the shuttle car.
2. The intelligent gripper-type e-commerce storage shuttle car as claimed in claim 1, wherein a set of grooves are arranged at positions where the set of driving wheels (2 e) and the set of driven wheels (2 f) are respectively contacted with the connecting shaft (2 g), and elastic check rings (25) are arranged in the set of grooves, so that the elastic check rings (25) axially position the set of driving wheels (2 e) and the set of driven wheels (2 f).
3. The clip type e-commerce warehousing intelligent shuttle car as claimed in claim 1,
and double guide wheels (15) are respectively arranged at the side parts of the shuttle vehicle chassis (21) below the group of driving wheels (2 e) and the group of driven wheels (2 f) and between the linear track (7) and the shuttle vehicle chassis (21), so that the double guide wheels (15) form left and right limit for the group of driving wheels (2 e) and the group of driven wheels (2 f) when the group of driving wheels (2 e) and the group of driven wheels (2 f) run on the linear track (7).
4. The intelligent gripper-type e-commerce warehousing shuttle vehicle as claimed in claim 1, wherein the secondary fork extending mechanism (3) comprises: a primary fork extending push plate (3 g), a secondary fork extending plate (3 f), a secondary synchronous pulley mechanism (3 i), a secondary fork extending transmission mechanism (22), a second direct current brushless motor (3 q), a second speed reducer (3 r) and a transmission shaft (3 e);
the primary extending fork push plate (3 g) is arranged on the outer side of the hub bracket (1 c) of the shuttle frame; a U-shaped sliding groove (3 o) is formed in the middle of the primary fork extending push plate (3 g), and a plurality of U-shaped groove pulleys (3 p) are arranged in the U-shaped sliding groove (3 o) at equal intervals; the secondary fork plate (3 f) is arranged on the outer side of the U-shaped sliding groove (3 o); the secondary fork plate (3 f) is connected with the plurality of U-shaped groove pulleys (3 p) through bolts and nuts; a shifting fork (10), a direct-current planetary gear motor (3 c) and a photoelectric sensor (3 d) are respectively arranged at two ends of the top of the secondary fork plate (3 f) from outside to inside; the photoelectric sensor (3 d) is used for acquiring a position signal of the shifting fork (10) and sending the position signal to the main control board (18) of the fork extending mechanism, and the main control board (18) of the fork extending mechanism controls the direct-current planetary gear motor (3 c) to drive the shifting fork (10) to move horizontally or vertically;
the secondary synchronous pulley mechanisms (3 i) are respectively arranged on the primary fork-extending push plate (3 g) and right below and above the U-shaped sliding groove (3 o); the secondary synchronous pulley mechanism (3 i) is connected with a synchronous belt pressing plate (3 h) on the secondary fork plate (3 f); by second direct current brushless motor (3 q) with second reduction gear (3 r) drive the second grade is stretched and is pitched drive mechanism (22) and move, and pass through the second grade that transmission shaft (3 e) drove the opposite side is stretched and is pitched drive mechanism and move, makes the one-level is stretched and is pitched push pedal (3 g) and move and drive second grade synchronous pulley mechanism (3 i) motion, thereby drives the second grade is stretched and is pitched board (3 f) and move.
5. The intelligent gripper-type e-commerce warehousing shuttle as claimed in claim 4, wherein the secondary fork drive mechanism (22) comprises: a magnetoelectric encoder (24), a first synchronous belt wheel (3 t), a first synchronous belt (3 s), a tension wheel device (23) and a rack (3 n);
the first synchronous belt wheel (3 t) and the first synchronous belt (3 s) are arranged below the first-stage fork push plate (3 g); one side of the first synchronous belt pulley (3 t) is connected with the transmission shaft (3 e), the other side of the first synchronous belt pulley is connected with an output shaft of the second speed reducer (3 r) through a key groove, and two sides of the second speed reducer (3 r) are respectively provided with the tensioning wheel devices (23) which are used for assisting and fixing the first synchronous belt pulley (3 t) and the first synchronous belt (3 s); the rack (3 n) is arranged between the primary fork-extending push plate (3 g) and the synchronous belt (3 s);
with second DC brushless motor (3 q) with second reduction gear (3 r) drive first synchronous pulley (3 t) rotate with first synchronous belt (3 s), and pass through transmission shaft (3 e) drive second synchronous pulley (3 l) and second synchronous belt (3 j) rotation of opposite side, drive corresponding one-level respectively simultaneously through rack (3 n) of both sides and stretch when fork push pedal (3 g) realize once stretching the fork, secondary synchronous pulley mechanism (3 i) synchronous motion, and drive when fork board (3 f) motion is stretched to the second grade, U type groove pulley (3 p) is in roll in U type spout (3 o), make the second grade is stretched fork board (3 f) and is realized the secondary and is stretched the fork.
6. The clip type e-commerce warehouse intelligent shuttle vehicle of claim 5, wherein the tensioning wheel device (23) comprises: the device comprises a bolt (23 a), an adjusting bracket (23 b), double nuts (23 c) and a tension wheel (23 d);
the tensioning wheels (23 d) are arranged below the synchronous belt (3 s) and on two sides of the second speed reducer (3 r), and are fixed on the main body bracket (1 a) through double nuts (23 c); the adjusting bracket (23 b) is arranged below the double nut (23 c) through the bolt (23 a), and the position of the adjusting bracket (23 b) is adjusted through the bolt (23 a), so that the adjusting bracket (23 b) drives the double nut (23 c) to move up and down, and the synchronous belt (3 s) is kept in a tensioning state under the action of the tensioning wheel (23 d).
7. The control method of the clasping type e-commerce warehousing intelligent shuttle car as claimed in claim 6, which is applied to a logistics warehousing environment formed by a plurality of layers of shelf platforms, wherein each layer of shelf platform is provided with one shuttle car; goods stacking areas are arranged on two sides of the shuttle car in the driving direction; the method is characterized in that: the control method comprises the following steps:
step 1, when the shuttle vehicle works, a driving signal is sent out through a driving plate (16) to enable the shuttle vehicle to start, and the magneto-electric encoder (24) is matched with a photoelectric door (8) installed on the linear track (7) according to the driving signal to obtain position information of the shuttle vehicle running on the linear track (7) and send the position information to a walking mechanism main control panel (17) in real time;
when the shuttle vehicle reaches a specified position, the magneto-electric encoder (24) acquires a photoelectric gate signal at the specified position and sends the photoelectric gate signal to the traveling mechanism main control board (17), so that the traveling mechanism main control board (17) controls the shuttle vehicle to stop traveling at the specified position;
step 2, after the shuttle car reaches the indicated position, controlling the second direct current brushless motor (3 q) and the second speed reducer (3 r) to drive the second-stage fork extending transmission mechanism (22) to move by using the fork extending mechanism main control board (18), and driving the second-stage fork extending transmission mechanism on the other side to move through the transmission shaft (3 e), so that the second-stage synchronous pulley mechanism (3 i) moves while the first-stage fork extending push plate (3 g) extends to the goods stacking area, and drives the second-stage fork extending plate (3 f) to extend to the goods stacking area again and reach the goods basket (4) of the goods stacking area;
step 3, the photoelectric sensor (3 d) acquires a position signal of the shifting fork (10) and sends the position signal to the main control board (18) of the fork extending mechanism, and the main control board (18) of the fork extending mechanism drives the direct current planetary gear motor (3 c) to control the shifting fork (10) in the secondary fork extending mechanism (3) to change from a vertical state to a horizontal state, so that the basket (4) is hooked;
step 4, the main control board (18) of the fork extending mechanism controls the second direct current brushless motor (3 q) to move reversely and drives the second synchronous belt (3 j) to move reversely, so that the primary fork extending push plate (3 g) and the secondary fork extending mechanism (3) start to move reversely to the other side synchronously until the primary fork extending push plate (3 g) and the secondary fork extending mechanism (3) reset, and the cargo basket (4) completely enters the bearing platform (12);
step 5, the photoelectric sensor (3 d) acquires the position signal of the shifting fork (10) again and sends the position signal to the main control board (18) of the fork extending mechanism, and the main control board (18) of the fork extending mechanism drives the direct current planetary gear motor (3 c) to control the shifting fork (10) in the secondary fork extending mechanism (3) to change from a horizontal state to a vertical state, so that the basket (4) is loosened;
and 6, the fork extending mechanism main control board (18) sends a completion signal to the drive board (16), so that the drive board (16) starts to work, the shuttle car reaches a goods unloading area under the control of the walking mechanism main control board (17), and finally the goods basket (4) is unloaded under the control of the fork extending mechanism main control board (18).
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| CN201710556574.0A CN107161584B (en) | 2017-07-10 | 2017-07-10 | Clamping type e-commerce storage intelligent shuttle car and control method thereof |
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| CN201710556574.0A CN107161584B (en) | 2017-07-10 | 2017-07-10 | Clamping type e-commerce storage intelligent shuttle car and control method thereof |
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| CN107161584B true CN107161584B (en) | 2023-03-21 |
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| CN109818226B (en) * | 2017-11-20 | 2020-03-03 | 天津京东深拓机器人科技有限公司 | Electricity taking device of rail shuttle |
| CN107963380B (en) * | 2017-11-22 | 2020-01-14 | 江苏长虹智能装备股份有限公司 | Intelligent storage goods shelf |
| CN108045825B (en) * | 2018-01-18 | 2024-02-13 | 合肥工业大学 | Rotatable cargo bed shuttle of carrying manipulator |
| CN108033188B (en) * | 2018-01-22 | 2024-02-27 | 合肥工业大学 | Double-stroke shuttle fork extending mechanism |
| CN108147033B (en) * | 2018-01-30 | 2023-08-15 | 合肥工业大学 | Second grade extension rod shuttle with rack and pinion |
| CN108328193B (en) * | 2018-03-09 | 2019-08-23 | 合肥工业大学 | A kind of intelligent shuttle based on straight line gripping body |
| CN109693897A (en) * | 2018-08-13 | 2019-04-30 | 江苏南通三建集团股份有限公司 | A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley |
| CN109368150A (en) * | 2018-12-12 | 2019-02-22 | 长沙长泰智能装备有限公司 | Shuttle |
| CN109693899B (en) * | 2019-01-24 | 2020-06-05 | 郑州航空工业管理学院 | Device is looked up fast to books information |
| CN110203601A (en) * | 2019-06-06 | 2019-09-06 | 山东洛杰斯特物流科技有限公司 | Agile type shuttle |
| CN110143394B (en) * | 2019-06-17 | 2024-02-09 | 隆链智能科技（上海）有限公司 | Storage sorting system with full two-dimension code real-time positioning function and sorting method thereof |
| CN110329963A (en) * | 2019-07-26 | 2019-10-15 | 兰剑智能科技股份有限公司 | Pallet fork component and shuttle |
| CN111792249B (en) * | 2019-09-17 | 2022-08-12 | 北京京东乾石科技有限公司 | Warehouse management method, device, system and computer readable storage medium |
| CN112407821A (en) * | 2020-09-30 | 2021-02-26 | 上海沃典工业自动化有限公司 | Double-rail linear double-station full-automatic high-speed shuttle |
| CN113772437B (en) * | 2021-09-01 | 2022-05-17 | 深圳市创新特科技有限公司 | Dustless multistation support plate loading machine |
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