CN107344670A - A kind of goods automatic transporting method - Google Patents

A kind of goods automatic transporting method Download PDF

Info

Publication number
CN107344670A
CN107344670A CN201710588485.4A CN201710588485A CN107344670A CN 107344670 A CN107344670 A CN 107344670A CN 201710588485 A CN201710588485 A CN 201710588485A CN 107344670 A CN107344670 A CN 107344670A
Authority
CN
China
Prior art keywords
identification mark
motor
track
carrier
pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710588485.4A
Other languages
Chinese (zh)
Other versions
CN107344670B (en
Inventor
林星星
倪虹
叶霞
易际钢
徐潇薇
柴佳瑜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Susong Jiaxing Rice Industry Co ltd
Original Assignee
Qianjiang College of Hangzhou Normal University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qianjiang College of Hangzhou Normal University filed Critical Qianjiang College of Hangzhou Normal University
Priority to CN201710588485.4A priority Critical patent/CN107344670B/en
Publication of CN107344670A publication Critical patent/CN107344670A/en
Application granted granted Critical
Publication of CN107344670B publication Critical patent/CN107344670B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a kind of goods automatic transporting method.During logistics transportation, time, manpower and the material resources of indoor short distance transport point consumption are all very big.The goods automatic handing system that the present invention uses includes traveling track and the carrier that tracks.The described carrier that tracks includes bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, illuminating lamp, the first row stepper motor, the second traveling motor, deflecting roller, steering wheel fork and control module.Control module includes processing module, driving chip, start button and battery.Traveling track includes main orbit, arc orbit, branch's track, identification mark of turning, storage point identification mark and break bulk point identification mark.Goods can be transported each cargo storage point into warehouse by the present invention from logistics break bulk point according to demand, eliminate the cost of labor carried in goods room.

Description

A kind of goods automatic transporting method
Technical field
The invention belongs to cargo transport technical field, and in particular to a kind of goods automatic transporting method.
Background technology
During the entire process of most products production and sales, only 5% time remains for processing and manufacturing Remaining 95% time be used to storing, load and unload, etc. to be processed and logistics transportation etc..In the U.S., direct labor cost proportion is not The 10% of sufficient production cost, and this ratio is also constantly declining, and the expense shared by storing, transporting accounts for production cost 40%.At present, each industrial powers in the world generally prevail over competition transformation logistics structure, reduction logistics cost as enterprise Important measures.And during logistics transportation, time, manpower and the material resources of indoor short distance transport point consumption are all very big, therefore It is particularly significant to design a kind of method suitable for indoor short distance transport.
The content of the invention
It is an object of the invention to provide a kind of method applied to indoor short distance cargo transport.
The goods automatic handing system that the present invention uses includes traveling track and the carrier that tracks.The described carrier that tracks Tracked sensing including bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, second Device, distance measuring sensor, steering motor, illuminating lamp, the first row stepper motor, the second traveling motor, deflecting roller, steering wheel fork and control Module.
The plate top surface is fixedly arranged at the front end with distance measuring sensor and cushion block；Described distance measuring sensor is arranged on cushion block Front.Steering motor is fixed with described cushion block；The output shaft of steering motor is fixed with steering wheel fork.Supported on steering wheel fork There is deflecting roller.The both sides of plate top surface rear end are respectively and fixedly provided with a bearing block.Drive is supported with by bearing on two bearing blocks Driving wheel.Described the first row stepper motor and the second traveling motor is each attached to the rear end of plate top surface；The first row stepper motor, second The output shaft of traveling motor is fixed respectively with two driving wheels.The bottom of dress lamp stand is fixed with bottom plate, and top is fixed with illuminating lamp. Described the first tracing sensor and the second tracing sensor centering is fixed on bottom plate.First tracing sensor tracks with second The spacing of sensor is d, 30mm≤d≤100mm.First tracing sensor is located at the same side with the first row stepper motor.The load The front end of container bottom and the rear end of bottom plate are fixed.The rear end of load-carrying box bottom forms revolute pair with loading wheel fork.Loading wheel branch Hold on loading wheel fork.Control module is arranged on bottom plate.
Described control module includes processing module, driving chip, start button and battery.The negative pole of the battery connects Ground.Described start button is connected with processing module；Described processing module is connected by wireless module with host computer.
Described processing module includes controller and crystal oscillator；First crystal oscillator pin of the controller connect the first electric capacity C1 and One end of crystal oscillator, the second crystal oscillator pin connect the other end of crystal oscillator and the second electric capacity C2 one end；First electric capacity C1 and the second electric capacity The C2 other end is grounded；The reseting pin of controller connects first resistor R1, button and the 3rd electric capacity C3 one end；First resistor R1 other end ground connection；The other end of 3rd electric capacity C3 and button connects the positive pole of battery；The memory base pin selection of controller Connect the positive pole of battery；First I/O mouths of controller connect triode Q1 base stage；Triode Q1 emitter stage connects the positive pole of battery, Colelctor electrode connects the positive pole of illuminating lamp；The negative pole ground connection of illuminating lamp；2nd I/O mouths of controller connect the signal of the second tracing sensor Output pin, the 3rd I/O mouths connect the signal output pin of the first tracing sensor；First tracing sensor and second track sensing The power cathode pin of device is grounded, and positive source pin connects the positive pole of battery；4th I/O mouths of controller connect ranging sensing First signal output pin of device, the 5th I/O mouths connect the secondary signal output pin of distance measuring sensor；The power supply of distance measuring sensor Negative pole pin is grounded, and positive source pin connects anode；6th I/O mouths of controller connect one end of the first row stepper motor, the Seven I/O mouths connect one end of the second traveling motor；The other end of the first row stepper motor and the second traveling motor is grounded；
First input pin of the driving chip connects the 8th I/O mouths of controller, and the second input pin connects controller 9th I/O mouths, the 3rd input pin connect the tenth I/O mouths of controller, and the 4th input pin connects the 11st I/O mouths of controller, Power cathode pin is grounded, and positive source pin connects the positive pole of battery and the power input of steering motor, the first output pin The first signal input part of steering motor is connect, the second output pin connects the secondary signal input of steering motor, the 3rd efferent duct Pin connects the 3rd signal input part of steering motor, and the 4th output pin connects the 4th signal input part of steering motor.
Described traveling track includes main orbit, arc orbit, branch's track, identification mark of turning, storage point identification mark Note and break bulk point identification mark.Described main orbit, branch's track, arc orbit, identification mark of turning, storage point identification mark Width with break bulk point identification mark is e, 10mm≤e≤25mm.Identification of turning marks, deposits point identification mark and a break bulk point The length of identification mark is f, f ＞ 2d-e.Main orbit is in a ring；Main orbit is provided with unloading at the logistics break bulk point in warehouse Point identification mark.The length direction of break bulk point identification mark is vertical with main orbit, and the friendship of break bulk point identification mark and main orbit The center position that point marks for break bulk point identification.The starting point of s bars branch track is connected by arc orbit with main orbit, terminal It is separately positioned at the s cargo storage point in warehouse, 1≤s≤40.The destination county of s bars branch track is provided with storage point identification Mark.The length direction of storage point identification mark is vertical with place branch track, and deposits point identification mark and a place branch rail The center position that the intersection point in road marks for storage point identification.S bars branch track is non-intersect.The company of main orbit and s bar arc orbits The place of connecing is provided with turning identification mark.Turn identification mark length direction it is vertical with main orbit, and turn identification mark and The center position that the intersection point of main orbit marks for identification of turning.K tracking carrier, 1≤k≤100 are provided with traveling track. The s cargo storage point in warehouse is ranked up, the branch's track being connected with x-th of cargo storage point is xTiao branches track, X=1,2,3 ... s.The arc orbit being connected with xTiao branches tracks is xth bar arc orbit.Xth bar arc orbit and master The turning identification of rail connection is labeled as x-th of identification mark of turning.Tracking carrier turns by x successively along direct of travel Curved identification mark.
The goods automatic transporting method is specific as follows：
Step 1: first tracking carrier is located at break bulk point identification mark, and marked towards first identification of turning. Remaining tracking carrier is sequentially arranged in the rear of first tracking carrier.First tracking carrier is as the first train number Tracking carrier.I=1,2,3 ..., step 2 and three is performed successively.
Step 2: staff loads onto goods to be transported the tracking carrier of i-th train number, and goods is needed to transport To the sequence number value of x-th of cargo storage point be assigned to ai；By aiInput host computer.Host computer is by wireless module by aiTransmission Tracking carrier to the i-th train number.
Step 3: press the start button of the tracking carrier of the i-th train number.The tracking carrier of i-th train number starts to go to AiIndividual cargo storage point.The tracking carrier of i+1 train number proceeds to break bulk point identification mark.
The method that tracking carrier goes to cargo storage point corresponding to itself is as follows：
Step 1: the first row stepper motor and the second traveling motor rotate forward, the first tracing sensor and second track sensing Device is located at the both sides of main orbit respectively；If the first tracing sensor and the second tracing sensor can't detect main orbit, the A line stepper motor and the second traveling motor constant velocity rotation.If the first tracing sensor detects main orbit, the first row stepper motor Rotating speed reduces, if the second tracing sensor detects traveling track, the second traveling motor speed reduces.If distance measuring sensor is examined Measuring front has object, then it is assumed that occurs other tracking carrier, barrier or pedestrians in front of tracking carrier, the tracking is carried Car halts, and waits other tracking carriers, pedestrian or barrier to disappear, moves on.
Step 2: tracking carrier is reached when turning identification mark, two tracing sensors are detected simultaneously by turning identification Mark.Two tracing sensors detect that walking mechanism is turned along arc orbit when identification mark is turned corresponding to itself, to right The branch's track answered is advanced.
Step 3: when tracking carrier reaches corresponding storage point identification mark, halt.
Step 4: staff unloads the goods on tracking carrier.
Step 5: staff presses start button.The first row stepper motor and the second traveling motor invert.Tracking is carried Car is retreated to main orbit.
Step 6: the first row stepper motor and the second traveling motor rotate forward, tracking carrier continues to forward along main orbit Enter, until reaching break bulk point identification mark.
Described illuminating lamp is LED.
Described controller uses model AT89C51 single-chip microcomputer.
Described driving chip uses model ULN2003APG stepper motor driver chip.
The output voltage of the battery is 5V.
The center arc radius of the arc orbit is more than or equal to 200mm.
The invention has the advantages that：
1st, goods can be transported each cargo storage point into warehouse by the present invention from logistics break bulk point according to demand, be saved The cost of labor carried in goods room is gone.
2nd, the present invention is tracked using more and carrier while transported simultaneously, is greatly promoted in the case where not interfereing with each other Handling efficiency.
3rd, the carrier that tracks used in the present invention has illumination functions, is easy to worker in night handling goods.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the carrier that tracks used in the present invention；
Fig. 2 be the present invention used in the carrier that tracks in processing module circuit diagram；
Fig. 3 is the wiring diagram of the first tracing sensor and the second tracing sensor in the carrier that tracks used in the present invention；
Fig. 4 be the present invention used in the carrier that tracks in distance measuring sensor wiring diagram；
Fig. 5 is the wiring diagram of the first row stepper motor and the second traveling motor in the carrier that tracks used in the present invention；
Fig. 6 is driving chip and the wiring diagram of steering motor in the carrier that tracks used in the present invention；
Fig. 7 is the schematic diagram of the traveling track used in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figure 1, a kind of goods automatic transporting method, the goods automatic handing system of use includes being arranged in warehouse Traveling track and track carrier.The carrier that tracks includes bearing block 1, cushion block 2, loading wheel 3, bottom plate 4, load-carrying box 5, driving Wheel 6, dress lamp stand 7, the first tracing sensor U2, the second tracing sensor U3, distance measuring sensor U4, steering motor M3, illuminating lamp D1, the first row stepper motor M1, the second traveling motor M2, deflecting roller, steering wheel fork and control module.Illuminating lamp D1 is LED.
The top surface of bottom plate 4 is fixedly arranged at the front end with distance measuring sensor U4 and cushion block 2；Before distance measuring sensor U4 is arranged on cushion block 2 Side.Steering motor M3 is fixed with cushion block 2；Steering motor M3 output shaft is fixed with steering wheel fork.It is supported with steering wheel fork Deflecting roller.The both sides of plate top surface rear end are respectively and fixedly provided with a bearing block 1.Drive is supported with by bearing on two bearing blocks 1 Driving wheel 6.The first row stepper motor M1 and the second traveling motor M2 is each attached to the rear end of plate top surface；The first row stepper motor M1, Two traveling motor M2 output shaft is fixed respectively with two driving wheels 6.The bottom of dress lamp stand 7 is fixed with bottom plate, top and illumination Lamp D1 is fixed.First tracing sensor U2 and the second tracing sensor U3 centerings are fixed on bottom plate 4.First tracing sensor U2 Spacing with the second tracing sensor U3 is d, and d value takes 40mm.First tracing sensor U2 is located at the first row stepper motor M1 The same side.The front end and the rear end of bottom plate 4 of the bottom of load-carrying box 5 are fixed.The rear end of the bottom of load-carrying box 5 forms with loading wheel fork and rotated It is secondary.Loading wheel 3 is supported on loading wheel fork.Control module is arranged on bottom plate 4.
Control module includes processing module, driving chip U5, start button and battery.The output voltage of battery is 5V；Electricity The negative pole ground connection in pond.Start button is connected with processing module；Start button is used for control process module and entered in next step.Handle mould Block is connected by wireless module with host computer.
As shown in Fig. 2,3,4 and 5, processing module includes controller U1 and crystal oscillator Y1, and controller U1 uses model AT89C51 single-chip microcomputer.Controller U1 19 pins connect the first electric capacity C1 and crystal oscillator Y1 one end, and 18 pins connect the another of crystal oscillator Y1 One end and the second electric capacity C2 one end.First electric capacity C1 and the second electric capacity C2 other end are grounded.Controller U1 9 pins connect First resistor R1, SR K1 and the 3rd electric capacity C3 one end.First resistor R1 other end ground connection.3rd electric capacity C3 and multiple The position button K1 other end connects the positive pole of battery.Controller U1 31 pins connect the positive pole of battery.Controller U1 8 pins connect Triode Q1 base stage；Triode Q1 emitter stage connects the positive pole of battery, and colelctor electrode connects illuminating lamp D1 positive pole；Illuminating lamp D1's Negative pole is grounded.Controller U1 1 pin connects the second tracing sensor U3 out pins, and 2 pins connect the first tracing sensor U2's Out pins.First tracing sensor U2 and the second tracing sensor U3 GND pins are grounded, and VCC pins are connecing battery just Pole.Controller U1 3 pins connect distance measuring sensor U4 Echo pins, and 4 pins connect distance measuring sensor U4 Trig pins.Ranging Sensor U4 GND pins ground connection, VCC pins connect anode.Controller U1 5 pins meet the one of the first row stepper motor M1 End, 6 pins connect the second traveling motor M2 one end；The first row stepper motor M1 and the second traveling motor M2 other end are grounded.
As shown in fig. 6, driving chip U5 uses model ULN2003APG stepper motor driver chip.Driving chip U5 1 pin connect controller U1 10 pins, 2 pins connect controller U1 11 pins, and 3 pins connect controller U1 12 pins, 4 pipes Pin connects controller U1 13 pins, 5 pins ground connection, and 6 pins connect the positive pole of battery and steering motor M3 power input, 7 pipes Pin connects steering motor M3 the first signal input part, and 8 pins connect steering motor M3 secondary signal input, 9 pins switch through to Motor M3 the 3rd signal input part, 10 pins connect steering motor M3 the 4th signal input part.
As shown in fig. 7, traveling track identifies mark 11 including main orbit 8, arc orbit 9, branch's track 10, turning, deposited Put an identification mark 12 and break bulk point identification mark 13.Traveling track is used to track sensing for the first tracing sensor U2 and second Device U3 is identified.Main orbit 8, branch's track 10, arc orbit 9, identification mark 11 of turning, storage point identification mark 12 and break bulk point The width for identifying mark 13 is e, and e value takes 20mm.Turn and identify mark 11, storage point identification mark 12 and break bulk point identification The length of mark 13 is f, f ＞ 2d-e.Main orbit 8 is in a ring；Main orbit 8 is provided with unloading at the logistics break bulk point in warehouse Point identification mark 13.The length direction of break bulk point identification mark 13 is vertical with main orbit 8, and break bulk point identification mark 13 and backbone The intersection point in road 8 is the center position that break bulk point identifies mark 13.The starting point of s bars branch track 10 passes through arc orbit 9 and master Track 8 is connected, and terminal is separately positioned at the s cargo storage point in warehouse, and s value takes 13.The destination county of s bars branch track 10 It is provided with storage point identification mark 12.The length direction of storage point identification mark 12 is vertical with place branch track 10, and storage The intersection point of point identification mark 12 and place branch track 10 is the center position of storage point identification mark 12.S bars branch track 10 It is non-intersect.The center arc radius of arc orbit 9 is 300mm.The junction of main orbit 8 and s bars arc orbit 9, which is provided with, to be turned Curved identification mark 11.Turn and identify that the length direction of mark 11 is vertical with main orbit 8, and turn identification mark 11 and main orbit 8 Intersection point for turn identification mark 11 center position.K tracking carrier is provided with traveling track, k value takes 10.To storehouse The s cargo storage point in storehouse is ranked up, and the branch's track 10 being connected with x-th of cargo storage point is xTiao branches track 10, X=1,2,3 ... s.The arc orbit 9 being connected with xTiao branches track 10 is xth bar arc orbit 9.Xth bar arc orbit 9 Turning identification mark 11 with the junction of main orbit 8 is x-th of identification mark 11 of turning.Tracking carrier along direct of travel successively Turned by x and identify mark 11.
The goods automatic transporting method is specific as follows：
Step 1: k tracking carrier is placed on traveling track so that first tracking carrier is located at break bulk point Identify at mark 13, and turned towards first and identify mark 11.Remaining tracking carrier is sequentially arranged in first tracking and removed Transport the rear of car.Tracking carrier of first tracking carrier as the first train number.I=1,2,3 ... performs step successively Two and three.
Step 2: staff loads onto goods to be transported the tracking carrier of i-th train number, and goods is needed to transport To the sequence number value of x-th of cargo storage point be assigned to ai；By aiInput host computer.Host computer is by wireless module by aiTransmission Tracking carrier to the i-th train number.
Step 3: press the start button of the tracking carrier of the i-th train number.The tracking carrier of i-th train number starts to go to AiIndividual cargo storage point.The tracking carrier of i+1 train number is proceeded at break bulk point identification mark 13.
The method that tracking carrier goes to cargo storage point corresponding to itself is as follows：
Step 1: the first row stepper motor M1 and the second traveling motor M2 are rotated forward.First tracing sensor U2 and second is sought Mark sensor U3 is located at the both sides of main orbit 8 respectively；If the first tracing sensor U2 and the second tracing sensor U3 are detected not To main orbit 8, then the first row stepper motor M1 and the second traveling motor M2 constant velocity rotations.If the first tracing sensor U2 detects master Track 8, then the first row stepper motor M1 rotating speeds reduce, if the second tracing sensor U3 detects traveling track, the second traveling electricity Machine M2 rotating speeds reduce.If distance measuring sensor U4 detects that there is object in front, then it is assumed that other trackings occurs in front of tracking carrier Carrier, barrier or pedestrian, the tracking carrier halt, and wait other tracking carriers, pedestrian or barrier to disappear, Move on.
Step 2: tracking carrier is reached when turning identification mark 11, two tracing sensors, which are detected simultaneously by turning, to be known Not mark 11.Two tracing sensors detect that walking mechanism is along corresponding to itself when identification mark 11 is turned corresponding to itself Arc orbit 9 is turned, and is advanced to branch's track 10 corresponding to itself.
Step 3: when tracking carrier reaches storage point identification mark 12 corresponding to itself, before the tracking carrier stops Enter.
Step 4: staff unloads the goods on tracking carrier.
Step 5: staff presses start button.The first row stepper motor M1 and the second traveling motor M2 are inverted.Tracking Carrier is retreated to main orbit 8.
Step 6: the first row stepper motor M1 and the second traveling motor M2 are rotated forward, tracking carrier along main orbit 8 continue to Preceding traveling, until reaching break bulk point identification mark 13.

Claims (6)

  1. A kind of 1. goods automatic transporting method, it is characterised in that：The goods automatic handing system of use includes traveling track and sought Mark carrier；The described carrier that tracks includes bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the One tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, illuminating lamp, the first row stepper motor, second are advanced Motor, deflecting roller, steering wheel fork and control module；
    The plate top surface is fixedly arranged at the front end with distance measuring sensor and cushion block；Before described distance measuring sensor is arranged on cushion block Side；Steering motor is fixed with described cushion block；The output shaft of steering motor is fixed with steering wheel fork；It is supported with steering wheel fork Deflecting roller；The both sides of plate top surface rear end are respectively and fixedly provided with a bearing block；Driving is supported with by bearing on two bearing blocks Wheel；Described the first row stepper motor and the second traveling motor is each attached to the rear end of plate top surface；The first row stepper motor, the second row The output shaft of stepper motor is fixed respectively with two driving wheels；The bottom of dress lamp stand is fixed with bottom plate, and top is fixed with illuminating lamp；Institute The first tracing sensor and the second tracing sensor centering stated are fixed on bottom plate；First tracing sensor and second tracks biography The spacing of sensor is d, 30mm≤d≤100mm；First tracing sensor is located at the same side with the first row stepper motor；The loading The front end in bottom portion and the rear end of bottom plate are fixed；The rear end of load-carrying box bottom forms revolute pair with loading wheel fork；Loading wheel supports On loading wheel fork；Control module is arranged on bottom plate；
    Described control module includes processing module, driving chip, start button and battery；The negative pole ground connection of the battery；Institute The start button stated is connected with processing module；Described processing module is connected by wireless module with host computer；
    Described processing module includes controller and crystal oscillator；First crystal oscillator pin of the controller connects the first electric capacity C1 and crystal oscillator One end, the second crystal oscillator pin connects the other end of crystal oscillator and the second electric capacity C2 one end；First electric capacity C1's and the second electric capacity C2 The other end is grounded；The reseting pin of controller connects first resistor R1, button and the 3rd electric capacity C3 one end；First resistor R1's The other end is grounded；The other end of 3rd electric capacity C3 and button connects the positive pole of battery；The memory base pin selection of controller connects electricity The positive pole in pond；First I/O mouths of controller connect triode Q1 base stage；Triode Q1 emitter stage connects the positive pole of battery, current collection Pole connects the positive pole of illuminating lamp；The negative pole ground connection of illuminating lamp；2nd I/O mouths of controller connect the signal output of the second tracing sensor Pin, the 3rd I/O mouths connect the signal output pin of the first tracing sensor；First tracing sensor and the second tracing sensor Power cathode pin is grounded, and positive source pin connects the positive pole of battery；4th I/O mouths of controller connect distance measuring sensor First signal output pin, the 5th I/O mouths connect the secondary signal output pin of distance measuring sensor；The power cathode of distance measuring sensor Pin is grounded, and positive source pin connects anode；6th I/O mouths of controller meet one end of the first row stepper motor, the 7th I/O Mouth connects one end of the second traveling motor；The other end of the first row stepper motor and the second traveling motor is grounded；
    First input pin of the driving chip connects the 8th I/O mouths of controller, and the second input pin meets the 9th of controller I/O mouths, the 3rd input pin connect the tenth I/O mouths of controller, and the 4th input pin connects the 11st I/O mouths of controller, power supply Negative pole pin is grounded, and positive source pin connects the positive pole of battery and the power input of steering motor, and the first output pin switches through To the first signal input part of motor, the second output pin connects the secondary signal input of steering motor, and the 3rd output pin connects 3rd signal input part of steering motor, the 4th output pin connect the 4th signal input part of steering motor；
    Described traveling track include main orbit, arc orbit, branch's track, turn identification mark, storage point identification mark and Break bulk point identification mark；Described main orbit, branch's track, arc orbit, identification mark of turning, storage point identification mark and unload The width of goods point identification mark is e, 10mm≤e≤25mm；Identification of turning marks, storage point identification mark and break bulk point identify The length of mark is f, f ＞ 2d-e；Main orbit is in a ring；Main orbit is provided with break bulk point knowledge at the logistics break bulk point in warehouse Do not mark；The length direction of break bulk point identification mark is vertical with main orbit, and the intersection point of break bulk point identification mark and main orbit is The center position of break bulk point identification mark；The starting point of s bars branch track is connected by arc orbit with main orbit, terminal difference It is arranged at the s cargo storage point in warehouse, 1≤s≤40；The destination county of s bars branch track is provided with storage point identification mark； The length direction of storage point identification mark is vertical with place branch track, and deposits a friendship for point identification mark and place branch track Point identifies the center position of mark for storage point；S bars branch track is non-intersect；The junction of main orbit and s bar arc orbits is equal It is provided with turning identification mark；The length direction that identification marks of turning is vertical with main orbit, and turn identification mark and main orbit Intersection point for turn identification mark center position；K tracking carrier, 1≤k≤100 are provided with traveling track；To warehouse S cargo storage point be ranked up, the branch's track being connected with x-th of cargo storage point is xTiao branches track, x=1, 2,3……s；The arc orbit being connected with xTiao branches tracks is xth bar arc orbit；Xth bar arc orbit connects with main orbit The turning identification at place is connect labeled as x-th of identification mark of turning；Tracking carrier is turned by x and identified successively along direct of travel Mark；
    The goods automatic transporting method is specific as follows：
    Step 1: first tracking carrier is located at break bulk point identification mark, and marked towards first identification of turning；Remaining Tracking carrier is sequentially arranged in the rear of first tracking carrier；Tracking of first tracking carrier as the first train number Carrier；I=1,2,3 ..., step 2 and three is performed successively；
    Step 2: staff loads onto goods to be transported the tracking carrier of i-th train number, and goods is needed what is transported The sequence number value of x-th of cargo storage point is assigned to ai；By aiInput host computer；Host computer is by wireless module by aiIt is transferred to i-th The tracking carrier of train number；
    Step 3: press the start button of the tracking carrier of the i-th train number；The tracking carrier of i-th train number starts to go to aiIt is individual Cargo storage point；The tracking carrier of i+1 train number proceeds to break bulk point identification mark；
    The method that tracking carrier goes to cargo storage point corresponding to itself is as follows：
    Step 1: the first row stepper motor and the second traveling motor rotate forward, the first tracing sensor and the second tracing sensor point Not Wei Yu main orbit both sides；If the first tracing sensor and the second tracing sensor can't detect main orbit, the first row Stepper motor and the second traveling motor constant velocity rotation；If the first tracing sensor detects main orbit, the first row stepper motor rotating speed Reduce, if the second tracing sensor detects traveling track, the second traveling motor speed reduces；If distance measuring sensor detects There is object in front, then it is assumed that other tracking carrier, barrier or pedestrians occurs in front of tracking carrier, the tracking carrier stops Only advance, wait other tracking carriers, pedestrian or barrier to disappear, move on；
    Step 2: tracking carrier is reached when turning identification mark, two tracing sensors are detected simultaneously by turning identification mark； Two tracing sensors detect that walking mechanism is turned along arc orbit when identification mark is turned corresponding to itself, to corresponding Branch's track is advanced；
    Step 3: when tracking carrier reaches corresponding storage point identification mark, halt；
    Step 4: staff unloads the goods on tracking carrier；
    Step 5: staff presses start button；The first row stepper motor and the second traveling motor invert；After tracking carrier Retreat at main orbit；
    Step 6: the first row stepper motor and the second traveling motor rotate forward, tracking carrier continues to advance forward along main orbit, directly Marked to break bulk point identification is reached.
  2. A kind of 2. goods automatic transporting method according to claim 1, it is characterised in that：Described illuminating lamp is LED.
  3. A kind of 3. goods automatic transporting method according to claim 1, it is characterised in that：Described controller uses model For AT89C51 single-chip microcomputer.
  4. A kind of 4. goods automatic transporting method according to claim 1, it is characterised in that：Described driving chip uses type Number be ULN2003APG stepper motor driver chip.
  5. A kind of 5. goods automatic transporting method according to claim 1, it is characterised in that：The output voltage of the battery is 5V。
  6. A kind of 6. goods automatic transporting method according to claim 1, it is characterised in that：The center circle of the arc orbit Arc radius is more than or equal to 200mm.
CN201710588485.4A 2017-07-19 2017-07-19 A kind of cargo automatic transporting method Active CN107344670B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710588485.4A CN107344670B (en) 2017-07-19 2017-07-19 A kind of cargo automatic transporting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710588485.4A CN107344670B (en) 2017-07-19 2017-07-19 A kind of cargo automatic transporting method

Publications (2)

Publication Number Publication Date
CN107344670A true CN107344670A (en) 2017-11-14
CN107344670B CN107344670B (en) 2019-04-09

Family

ID=60257099

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710588485.4A Active CN107344670B (en) 2017-07-19 2017-07-19 A kind of cargo automatic transporting method

Country Status (1)

Country Link
CN (1) CN107344670B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3212029B2 (en) * 1997-11-07 2001-09-25 村田機械株式会社 Automatic guided vehicle system
CN1982175A (en) * 2005-12-14 2007-06-20 三星电子株式会社 Transferring apparatus
CN201284148Y (en) * 2008-08-30 2009-08-05 江苏天奇物流系统工程股份有限公司 Control system for rail type conveyor
CN201946167U (en) * 2011-01-11 2011-08-24 吉林大学 Teaching aid for automatic guided vehicle transportation system
CN104149781A (en) * 2014-07-07 2014-11-19 广东技术师范学院天河学院 Intelligent carrier control system and control method
CN205274520U (en) * 2015-12-18 2016-06-01 湖州上电科电器科学研究有限公司 Assembly line RGV commodity circulation carrier system
CN105775540A (en) * 2016-03-07 2016-07-20 上海诺力智能科技有限公司 Control method of storing and taking trays for magnetic stripe guide type vehicle
CN106315096A (en) * 2016-08-30 2017-01-11 北京建筑大学 Intelligent control device for warehousing system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3212029B2 (en) * 1997-11-07 2001-09-25 村田機械株式会社 Automatic guided vehicle system
CN1982175A (en) * 2005-12-14 2007-06-20 三星电子株式会社 Transferring apparatus
CN201284148Y (en) * 2008-08-30 2009-08-05 江苏天奇物流系统工程股份有限公司 Control system for rail type conveyor
CN201946167U (en) * 2011-01-11 2011-08-24 吉林大学 Teaching aid for automatic guided vehicle transportation system
CN104149781A (en) * 2014-07-07 2014-11-19 广东技术师范学院天河学院 Intelligent carrier control system and control method
CN205274520U (en) * 2015-12-18 2016-06-01 湖州上电科电器科学研究有限公司 Assembly line RGV commodity circulation carrier system
CN105775540A (en) * 2016-03-07 2016-07-20 上海诺力智能科技有限公司 Control method of storing and taking trays for magnetic stripe guide type vehicle
CN106315096A (en) * 2016-08-30 2017-01-11 北京建筑大学 Intelligent control device for warehousing system

Also Published As

Publication number Publication date
CN107344670B (en) 2019-04-09

Similar Documents

Publication Publication Date Title
CN103625822B (en) A kind of picking method for single good in automation pallet vertical library and equipment
CN107954181B (en) Automatic conveying, taking and feeding system for cell basket
CN102565749A (en) Flexible automatic verification system and method for watt-hour meter
CN208103441U (en) Material automatic butt system
CN106144433B (en) Two casees method automatic butt loading and unloading devices
CN103171850A (en) System for the transport of goods arranged on auxiliary aids
CN206232157U (en) Fully-automatic intelligent loading system
CN103043447B (en) Magnetic navigation feeding trolley
CN107028727B (en) Automatic traditional Chinese medicine dispensing vehicle and dispensing method thereof
CN107963409B (en) Automatic conveying mechanism for battery piece flower basket
CN203740440U (en) Single-piece cargo selecting device for automation tray stereoscopic warehouse
CN207917736U (en) A kind of mobile transfer robot and cargo transfer system
CN204150613U (en) A kind of intelligent express delivery sorting car
CN104444165A (en) Intelligent express sorting vehicle
CN107364711A (en) A kind of sorting device and its method for sorting
CN203199599U (en) Conveying belt capable of transmitting and identifying multiple workpieces simultaneously
CN104139969A (en) Backlight module feeding position correcting mechanism
CN207956996U (en) A kind of automatic production line suitable for magnetic shoe production
CN210654757U (en) Intelligent material distribution system
CN203833075U (en) Material box conveying and transferring device
CN107344670A (en) A kind of goods automatic transporting method
CN207293220U (en) Suitable for the logistics code fetch system of freight container
CN110474124B (en) Electric automobile retired power storage battery pack disassembling line and disassembling process thereof
CN107973039A (en) A kind of shuttle charging and discharging mechanism
CN107891010A (en) A kind of structure optimization type carton sorting equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20201013

Address after: San de Cun, Liangting Town, Anqing City, Anhui Province

Patentee after: SUSONG JIAXING RICE INDUSTRY Co.,Ltd.

Address before: Hangzhou City, Zhejiang province 310036 Xiasha Higher Education Park forest Street No. 16

Patentee before: HANGZHOU NORMAL UNIVERSITY QIANJIANG College

TR01 Transfer of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A Method of Automatic Cargo Handling

Effective date of registration: 20230925

Granted publication date: 20190409

Pledgee: China Postal Savings Bank Co.,Ltd. Susong County Branch

Pledgor: SUSONG JIAXING RICE INDUSTRY CO.,LTD.

Registration number: Y2023980058787

PE01 Entry into force of the registration of the contract for pledge of patent right