CN107444823A - A kind of intelligent Shuttling trolley applied to piler - Google Patents
A kind of intelligent Shuttling trolley applied to piler Download PDFInfo
- Publication number
- CN107444823A CN107444823A CN201710865760.2A CN201710865760A CN107444823A CN 107444823 A CN107444823 A CN 107444823A CN 201710865760 A CN201710865760 A CN 201710865760A CN 107444823 A CN107444823 A CN 107444823A
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- Prior art keywords
- piler
- vehicle frame
- shuttling trolley
- plc
- intelligent
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- 230000003028 elevating effect Effects 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 239000005955 Ferric phosphate Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 229940032958 ferric phosphate Drugs 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- WBJZTOZJJYAKHQ-UHFFFAOYSA-K iron(3+) phosphate Chemical compound [Fe+3].[O-]P([O-])([O-])=O WBJZTOZJJYAKHQ-UHFFFAOYSA-K 0.000 claims description 3
- 229910000399 iron(III) phosphate Inorganic materials 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000005693 optoelectronics Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- 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
-
- 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
- B65G1/0407—Storage devices mechanical using stacker cranes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to logistic storage technical field, a kind of especially intelligent Shuttling trolley applied to piler, it includes vehicle frame and some groups of road wheels, vehicle frame is built with movable motor and lifting motor and elevating mechanism, movable motor forms drive connection with one of which road wheel, and the forward and backward side of vehicle frame is respectively provided with anticollision device, collision-prevention device；Vehicle frame is configured with remote monitoring terminal built with power supply unit, PLC, servo-driver, wireless communication terminal, wireless remote control terminal；The laser range sensor and encoder and the position sensor for controlling lifting motor trend of work for being used for controlling movable motor trend of work are housed on vehicle frame；The present invention is simple in construction, compact to design, equipment investment cost is low, realize and intelligent quick charge is carried out to Shuttling trolley, and the walking dynamic to Shuttling trolley carries out accurately control and remote monitoring with dynamic is lifted, and the operation service efficiency of tiered warehouse facility has been significantly increased.
Description
Technical field
The present invention relates to logistic storage technical field, especially a kind of intelligent Shuttling trolley applied to piler.
Background technology
Currently, automatic stereowarehouse is widely used in logistic industry, and it not only increases oneself of goods and materials transmitting-receiving
The efficiency that dynamicization degree and transmitting-receiving prepare, and hall space is saved in large quantities.However, existing tiered warehouse facility uses mostly
Laneway type shelf, i.e., a piler tunnel is set typically between two adjacent row's shelf, set in every piler tunnel
The piler track for carrying piler is put, piler tunnel occupies storage space in large quantities, in actual job, more
The chance that piler works simultaneously is also fewer, and this causes idle and investment the waste of equipment, and with the increasing of tunnel number
Add, the quantity of piler is then more aobvious excessive, and efficiency of investment then drastically declines.
At the same time, the Shuttling trolley for being used to transport goods in existing tiered warehouse facility is not tight enough in structure design
Gather and function is single, it is impossible to realize intelligent charge and multiple safety protection；Can not be in real time to Shuttling trolley on control design case
Walking dynamic and lift dynamic carry out accurately control and remote monitoring.
Thus, by the internal design structures to tiered warehouse facility and to the structure of Shuttling trolley and function upgrade excellent
Change, the operation service efficiency and security for improving tiered warehouse facility are particularly important.
The content of the invention
Present invention aim to the shuttle for solving to be used to transport goods in existing tiered warehouse facility and tiered warehouse facility is small
Car above mentioned problem existing in structure design and control design case, it is small that a kind of intelligence shuttle applied to piler is provided for this
Car, this Shuttling trolley is compact-sized, control is accurate, and realizes intelligent charge, and the operation of tiered warehouse facility is greatly improved
Service efficiency and security.
The present invention concrete scheme be：A kind of intelligent Shuttling trolley applied to piler, including vehicle frame and some groups of rows
Walk wheel, vehicle frame built with movable motor and lifting motor and by lifting motor drive elevating mechanism, movable motor with wherein
One group of road wheel forms drive connection, and anticollision device, collision-prevention device is respectively provided with the forward and backward side of vehicle frame；It is characterized in that：
In vehicle frame built with power supply unit, PLC, servo-driver, wireless communication terminal, wireless remote control terminal, and match somebody with somebody
It is equipped with the remote monitoring terminal to match with wireless remote control terminal；
Power supply unit includes rechargeable battery, for detecting the electric power detection unit of rechargeable battery electricity in real time and being arranged on car
Frame bottom and the charging brush board for providing rechargeable electrical energy to rechargeable battery；It is configured with piler and the brush board phase that charges
The charging head matched somebody with somebody；Respectively it is equipped with the left and right side of vehicle frame and is used to detect Shuttling trolley and the mirror reflection photoelectricity of piler alignment
Switch；When electric power detection unit detects that the electricity of rechargeable battery is less than predetermined value, servo is passed through by PLC in real time
Driver drives movable motor starting operation, when Shuttling trolley runs to the upside of piler and is aligned with it, mirror reflected light
Electric switch sends switching signal to PLC in real time, and PLC sends control to piler by wireless communication terminal and referred to
Order, piler provide rechargeable electrical energy by charging head to rechargeable battery；
Laser range sensor is respectively provided with the forward and backward side of vehicle frame, is configured with coaxially arranged volume on a road wheel wherein
Code device；In vehicle frame built with the position sensor for detecting elevating mechanism rise/fall running status；Remote monitoring terminal is used
Control instruction is sent to PLC in operating personnel, PLC passes after control instruction is received according to laser ranging
The signal of sensor, encoder Real-time Feedback, the operation state of movable motor is controlled by servo-driver；Or PLC
According to the signal of position sensor Real-time Feedback, pass through the operation state of servo-driver control lifting motor.
Heretofore described anticollision device, collision-prevention device includes being separately positioned on the Crashworthy plate of the forward and backward side of vehicle frame and for detecting barrier
The electric switch that diffuses, wherein with elastic connection between Crashworthy plate and vehicle frame；The electric switch that diffuses connects PLC,
The detection range of electric switch of diffusing is less than or equal to 1m.
Two electric switches that diffuse, two electric switch cloth that diffuse are respectively provided with the present invention in the forward and backward side of vehicle frame
Crashworthy plate arranged on left and right sides is placed in, the buffer stopper that anticollision and buffering are carried out to it is equipped with the outside of the electric switch that each diffuses.
Heretofore described elevating mechanism is provided with two sets, and is driven by lifting motor by same root power transmission shaft；Institute's rheme
Putting sensor includes being arranged on two photoelectric sensor switch of power transmission shaft both sides, is provided with power transmission shaft and photoelectric sensor switch
The induction contact to match, when power transmission shaft often rotates 180 °, induction contact enters the sensing of one of photoelectric sensor switch
Section
Elevating mechanism is often covered in the present invention to put down including at least two sets of guide holders being arranged side by side and the lifting being fixed on guide holder
Platform, often cover guide holder and formed by upside slide and downside pedestal, the slide bar to match with slide is provided with pedestal；It is being oriented to
The wherein side or the left and right sides of seat are provided with long connecting rod, and the pitman shaft corresponding with often covering guide holder is fixed with long connecting rod；
One end of the long connecting rod is hinged by trace and power transmission shaft, and every pitman shaft is by short connecting rod with often covering in guide holder
Slide is hinged.
In the present invention, mounting seat is housed on the piler, the electric pushrod arranged vertically is housed in mounting seat, in electricity
Stretch end and the charging head is installed in the top of dynamic push rod；The jacking state and charging head for being used for controlling electric pushrod are provided with piler
Power supply state vehicle control syetem, vehicle control syetem passes through the wireless communication terminal and PLC on Shuttling trolley
Carry out information exchange.
Heretofore described road wheel selects glue coating wheel；The remote monitoring terminal selects remote control；The chargeable electricity
Ferric phosphate lithium cell is selected in pond；The movable motor and lifting motor select DC servo motor, and servo-driver is from straight
Flow servo-driver；The vehicle frame is provided with the audible-visual annunciator for PLC communicate connection；The mirror reflects photoelectricity
The detection range of switch is less than or equal to 2m;The detection range of the laser range sensor is less than or equal to 8m；The encoder
Accuracy of detection is 0.1mm.
Using a kind of tiered warehouse facility of intelligent Shuttling trolley applied to piler described in above-mentioned any one, including
Upper and lower area and the piler tunnel being horizontally set between upper and lower area, it is in array to be correspondingly arranged on several in Shang Qu and lower area
The unit shelf of arrangement, pallet is provided with each unit shelf；The piler tunnel, which is provided with, to be used to carry piler
Piler track；The Shuttling trolley track for being used for carrying Shuttling trolley is provided with the unit shelf of each row in upper and lower area；
One is provided with the left side in upper and lower area or right side and arranges express passway for carrying Shuttling trolley.
The present invention has advantages below：
(1) present invention, which realizes the walking dynamic to Shuttling trolley and lifts dynamic, carries out accurately control and remote monitoring, significantly
Improve the operation service efficiency of tiered warehouse facility degree；
(2) present invention is simple in construction, compact to design, and drives movable motor and lifting motor simultaneously by a set of servo-driver
Operation, so as to substantially reduce the volume of Shuttling trolley and equipment cost；
(3) present invention runs the barrier being likely to occur in the range of the 1m of front side to Shuttling trolley by the electric switch that diffuses and carried out
Prevention and sound and light alarm in advance, and mechanical protection is further carried out using Crashworthy plate, it is ensured that the security of Shuttling trolley operation；
(4) present invention is monitored in real time to the electricity of rechargeable battery in Shuttling trolley, and regulates and controls Shuttling trolley in control
With the alignment of piler, realize and intelligent quick charge is carried out to Shuttling trolley by the charging head configured on piler, keep away
The problem of existing Shuttling trolley is wasted time and energy because need to be replaced as frequently as rechargeable battery is exempted from；
(5) present invention only passes through a piler by carrying out ingehious design to the arrangement of shelf in tiered warehouse facility
Realize Shuttling trolley upper and lower area shuttle and the enterprising crudely-made articles lattice operation of shelf in different lines, not only significantly contract
Subtract equipment investment cost, and improve the utilization rate and the effect that uses of tiered warehouse facility storage operation of tiered warehouse facility inner space
Rate.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of Shuttling trolley in embodiment 1；
Fig. 2 is the main structure diagram of Shuttling trolley in embodiment 1；
Fig. 3 is the overlooking the structure diagram of Shuttling trolley in embodiment 1；
Fig. 4 is the control structure block diagram of Shuttling trolley in embodiment 1；
Fig. 5 is the structural representation in charged state of Shuttling trolley in embodiment 1；
Fig. 6 is the configuration schematic diagram of elevating mechanism in embodiment 1；
Fig. 7 is the overlooking the structure diagram of tiered warehouse facility in embodiment 2.
In figure：1-vehicle frame, 2-road wheel, 3-movable motor, 4-lifting motor, 5-PLC, 6-servo are driven
Dynamic device, 7-wireless communication terminal, 8-wireless remote control terminal, 9-remote monitoring terminal, 10-rechargeable battery, 11-electricity
Detection unit, 12-charging brush board, 13-piler, 14-charging head, 15-Shuttling trolley, 16-mirror reflection photoelectric switch,
17-laser range sensor, 18-encoder, 19-position sensor, 20-Crashworthy plate, 21-diffuse electric switch,
22-audible-visual annunciator, 23-buffer stopper, 24-power transmission shaft, 25-induction contact, 26-guide holder, 26a-slide, 26b-
Pedestal, 26c-slide bar, 27-hoistable platform, 28-long connecting rod, 29-pitman shaft, 30-trace, 31-short connecting rod, 32-
Mounting seat, 33-electric pushrod, 34-vehicle control syetem, 35-upper area, 36-lower area, 37-piler tunnel, 38-mono-
First shelf, 39-pallet, 40-piler track, 41-Shuttling trolley track, 42-express passway.
Embodiment
Embodiment 1
Referring to Fig. 1-5, a kind of intelligent Shuttling trolley applied to piler, including vehicle frame 1 and four groups of road wheels 2, in vehicle frame 1
Equipped with movable motor 3 and lifting motor 4 and the elevating mechanism driven by lifting motor 4, movable motor 3 and one of which road wheel
Drive connection is formed, anticollision device, collision-prevention device is respectively provided with the forward and backward side of vehicle frame 1；Vehicle frame 1 built with power supply unit, PLC 5,
Servo-driver 6, wireless communication terminal 7, wireless remote control terminal 8, and it is configured with the long-range prison to match with wireless remote control terminal 8
Control terminal 9；
Power supply unit includes rechargeable battery 10, the electric power detection unit 11 for detecting the electricity of rechargeable battery 10 in real time, if
Put in the bottom of vehicle frame 1 and be used for the charging brush board 12 that rechargeable electrical energy is provided to rechargeable battery 10；It is configured with piler 13
The charging head 14 to match with charging brush board 12；Respectively it is equipped with the left and right side of vehicle frame 1 and is used to detect Shuttling trolley 15 and piler
The mirror reflection photoelectric switch 16 of 13 alignments；When electric power detection unit 11 detects the electricity of rechargeable battery 10 less than predetermined
Value（10% or 15%）When, the starting operation of movable motor 3 is driven by servo-driver 6 by PLC 5 in real time, it is small when shuttling
When car 15 runs to the upside of piler 13 and aligned with it, mirror reflection photoelectric switch 16 sends to PLC 5 switch in real time
Signal, PLC 5 by wireless communication terminal 7 to piler 13 send control instruction, piler 13 by charging head 14 to
Rechargeable battery 10 provides rechargeable electrical energy；
Laser range sensor 17 is respectively provided with the forward and backward side of vehicle frame 1, is configured with wherein on a road wheel 2 coaxially arranged
Encoder 18；In vehicle frame 1 built with the position sensor 19 for detecting elevating mechanism rise/fall running status；Remotely
Monitor terminal 9 is used for operating personnel and sends control instruction to PLC 5, and PLC 5 is after control instruction is received, root
According to the current acceleration and deceleration positional information of the Shuttling trolley 15 of the Real-time Feedback of laser range sensor 17 and the Real-time Feedback of encoder 18
The current more specific location information of Shuttling trolley 15, pass through the operation state that servo-driver 6 controls movable motor 3；It is same with this
When, when Shuttling trolley 15 is expert in place, operating personnel send control instruction by remote monitoring terminal 9 to PLC 5,
PLC 5 after control instruction is received, according to the elevating mechanism of the Real-time Feedback of position sensor 19 rise in place information or
Decline information in place, the operation state of lifting motor 4 is controlled by servo-driver 6.
Anticollision device, collision-prevention device described in the present embodiment includes being separately positioned on the Crashworthy plate 20 of 1 forward and backward side of vehicle frame and for detecting
The electric switch 21 that diffuses of barrier, wherein with elastic connection between Crashworthy plate 20 and vehicle frame 1；The electric switch 21 that diffuses connects
PLC 5 is connect, the detection range for the electric switch 21 that diffuses is less than or equal to 1m.Worn when the electric switch 21 that diffuses detects
During the barrier occurred in the range of the operation of shuttle dolly 15 front side 1m, switching signal, PLC are sent to PLC 5 in real time
5 control audible-visual annunciators 22 send sound and light alarm instruction immediately, and control movable motor 3 out of service by servo-driver 6；
When the electric switch 21 that diffuses give warning in advance failure or Shuttling trolley 15 continues to impinge upon the barrier of front side in the presence of inertia
When hindering on thing, now the Crashworthy plate 20 of 1 front/rear side of vehicle frame plays a part of further carrying out mechanical protection, ensures that and wears
The security that shuttle dolly 15 is run.
It is respectively provided with two electric switches 21 that diffuse in the present embodiment in the forward and backward side of vehicle frame 1, two diffuse and establish by cable
Close and 21 be arranged in the arranged on left and right sides of Crashworthy plate 20, the outside for the electric switch 21 that each diffuses, which is equipped with, to carry out anticollision to it and ease up
The buffer stopper 23 of punching.
Referring to Fig. 3, elevating mechanism described in the present embodiment is provided with two sets, and passes through same root power transmission shaft by lifting motor 4
24 drivings；The position sensor 19 includes two photoelectric sensor switch for being arranged on the both sides of power transmission shaft 24, on power transmission shaft 24
The induction contact 25 to match with photoelectric sensor switch is provided with, when power transmission shaft 24 often rotates 180 °, induction contact 25 enters
The sensing section of one of photoelectric sensor switch, so that can be in real time by the highest state of the jacking of elevating mechanism and decline
Minimum state Real-time Feedback is to PLC 5.
Elevating mechanism is often covered referring to Fig. 6, in the present embodiment to be included at least two sets guide holders 26 being arranged side by side and is fixed on
Hoistable platform 27 on guide holder 26, often cover guide holder 26 and formed by upside slide 26a and downside pedestal 26b, in pedestal 26b
It is provided with the slide bar 26c to match with slide 26a；Long connecting rod 28 is provided with the left and right sides of guide holder 26, on long connecting rod 28
It is fixed with the pitman shaft 29 corresponding with often covering guide holder 26；One end of the long connecting rod 28 passes through trace 30 and power transmission shaft 24
It is hinged, every pitman shaft 29 is hinged by short connecting rod 31 with often covering the slide 26a in guide holder 26.As seen from the figure, biography is worked as
When moving axis 24 rotates, power transmission shaft 24 drives long connecting rod 28 to move upward or downward by be hinged trace 30, long connecting rod 28
Drive slide 26a to move upward or downward by be hinged short connecting rod 31, thus drive the hoistable platform 27 of elevating mechanism to make
Rise or fall motion.
Referring to Fig. 5, in the present embodiment, mounting seat 32 is housed on the piler 13, vertical cloth is housed in mounting seat 32
The electric pushrod 33 put, end is stretched on the top of electric pushrod 33 charging head 14 is installed；It is provided with piler 13 and is used to control
The vehicle control syetem 34 of the jacking state of electric pushrod 33 and the power supply state of charging head 14, vehicle control syetem 34 is by wearing
Wireless communication terminal 7 on shuttle dolly 15 carries out information exchange with PLC 5.In the complete of Shuttling trolley 15 and piler 13
Into during contraposition, PLC 5 sends control by wireless communication terminal 7 to the vehicle control syetem 34 on piler 13 in real time
Instruction, vehicle control syetem 34 control electric pushrod 33 to jack up upwards so that and charging head 14 is in contact with charging brush board 12, and with
This provides rechargeable electrical energy to rechargeable battery 10.
Road wheel 2 described in the present embodiment selects glue coating wheel；The remote monitoring terminal 9 selects remote control；It is described to fill
Battery 10 selects ferric phosphate lithium cell；The movable motor 3 and lifting motor 4 select DC servo motor, servo-drive
Device 6 selects direct current servo driver；The vehicle frame 1 is provided with the audible-visual annunciator 22 for PLC 5 communicate connection；
The detection range of the mirror reflection photoelectric switch 16 is less than or equal to 2m;The detection range of the laser range sensor 17 be less than etc.
In 8m；The accuracy of detection of the encoder 18 is 0.1mm.
Embodiment 2
Referring to Fig. 7, the present embodiment uses a kind of tiered warehouse facility of intelligent Shuttling trolley applied to piler described in embodiment 1,
Including upper area 35, lower area 36 and the piler tunnel 37 being horizontally set between upper and lower area 35,36, in upper area 35 and lower area 36
Several unit shelf 38 being arranged in array are correspondingly arranged on, pallet 39 is provided with each unit shelf 38；It is described
Piler tunnel 37 is provided with the piler track 40 for being used for carrying piler 13；The unit load of each row in upper and lower area 35,36
Frame is provided with the Shuttling trolley track 41 for being used for carrying Shuttling trolley 15；Arranged on the right side in upper and lower area 35,36 provided with one for holding
Carry the express passway 42 of Shuttling trolley 15.
As shown in Figure 7, piler 13 is used for Shuttling trolley track 41 of the Shuttling trolley 15 from upper area 35 as switching rail
Run on the Shuttling trolley track of the same row of lower area 36 corresponding thereto, shuttle that also can be by Shuttling trolley 15 from upper area 35
Trolley track 41 is carried to lower area 36 not on the Shuttling trolley track of same row, it is achieved thereby that Shuttling trolley 15 is in upper and lower area
35th, 36 shuttle and in the enterprising crudely-made articles lattice operation of shelf of different lines, this not only significantly reduce equipment investment into
This, and improve the utilization rate and the efficiency that uses of tiered warehouse facility storage operation of tiered warehouse facility inner space.
Claims (8)
1. a kind of intelligent Shuttling trolley applied to piler, including vehicle frame and some groups of road wheels, in vehicle frame built with walking
Motor and lifting motor and the elevating mechanism driven by lifting motor, movable motor form driving with one of which road wheel and connected
Connect, anticollision device, collision-prevention device is respectively provided with the forward and backward side of vehicle frame；It is characterized in that：
In vehicle frame built with power supply unit, PLC, servo-driver, wireless communication terminal, wireless remote control terminal, and match somebody with somebody
It is equipped with the remote monitoring terminal to match with wireless remote control terminal；
Power supply unit includes rechargeable battery, the electric power detection unit for detecting rechargeable battery electricity in real time, for can
Rechargeable battery provides the charging brush board of rechargeable electrical energy；The charging head to match with charging brush board is configured with piler；In car
The left and right side of frame, which is respectively equipped with, to be used to detect Shuttling trolley and the mirror reflection photoelectric switch of piler alignment；Work as electric power detection
When unit detects that the electricity of rechargeable battery is less than predetermined value, walked in real time by servo driver drives by PLC
Electric motor starting is run, and when Shuttling trolley runs to the upside of piler and is aligned with it, mirror reflection photoelectric switch is in real time to PLC
Controller sends switching signal, and PLC sends control instruction by wireless communication terminal to piler, and piler is by filling
Dateline provides rechargeable electrical energy to rechargeable battery；
Laser range sensor is respectively provided with the forward and backward side of vehicle frame, is configured with coaxially arranged volume on a road wheel wherein
Code device；In vehicle frame built with the position sensor for detecting elevating mechanism rise/fall running status；Remote monitoring terminal is used
Control instruction is sent to PLC in operating personnel, PLC passes after control instruction is received according to laser ranging
The signal of sensor, encoder Real-time Feedback, the operation state of movable motor is controlled by servo-driver；Or PLC
According to the signal of position sensor Real-time Feedback, pass through the operation state of servo-driver control lifting motor.
2. a kind of intelligent Shuttling trolley applied to piler according to claim 1, it is characterized in that：The anticollision device, collision-prevention device
Including being separately positioned on the Crashworthy plate of the forward and backward side of vehicle frame and the electric switch that diffuses for detecting barrier, wherein Crashworthy plate
With elastic connection between vehicle frame；The electric switch that diffuses connects PLC, and the detection range for the electric switch that diffuses is less than
Equal to 1m.
3. a kind of intelligent Shuttling trolley applied to piler according to claim 2, it is characterized in that：Before vehicle frame,
Rear side is respectively provided with two electric switches that diffuse, and two electric switches that diffuse are arranged in Crashworthy plate arranged on left and right sides, each unrestrained anti-
The buffer stopper for being equipped with and anticollision and buffering being carried out to it is penetrated on the outside of optoelectronic switch.
4. a kind of intelligent Shuttling trolley applied to piler according to claim 1, it is characterized in that：The elevating mechanism
Driven provided with two sets, and by lifting motor by same root power transmission shaft；The position sensor includes being arranged on power transmission shaft both sides
Two photoelectric sensor switch, the induction contact to match with photoelectric sensor switch is provided with power transmission shaft, it is every in power transmission shaft
When rotating 180 °, induction contact enters the sensing section of one of photoelectric sensor switch.
5. a kind of intelligent Shuttling trolley applied to piler according to claim 4, it is characterized in that：Often cover elevating mechanism
Including at least two sets of guide holders being arranged side by side and the hoistable platform being fixed on guide holder, guide holder is often covered by upside slide
Formed with downside pedestal, the slide bar to match with slide is provided with pedestal；Set in the wherein side of guide holder or the left and right sides
There is long connecting rod, the pitman shaft corresponding with often covering guide holder is fixed with long connecting rod；One end of the long connecting rod passes through gearing
Bar is hinged with power transmission shaft, and every pitman shaft is hinged by short connecting rod with often covering the slide in guide holder.
6. a kind of intelligent Shuttling trolley applied to piler according to claim 1, it is characterized in that：In the piler
It is upper that mounting seat is housed, the electric pushrod arranged vertically is housed in mounting seat, end is stretched on the top of electric pushrod the charging head is installed；
The vehicle control syetem for the power supply state for being used for the jacking state and charging head for controlling electric pushrod is provided with piler, it is vehicle-mounted
Control system carries out information exchange by the wireless communication terminal on Shuttling trolley and PLC.
7. a kind of intelligent Shuttling trolley applied to piler according to claim 1, it is characterized in that：The walking polling
Use glue coating wheel；The remote monitoring terminal selects remote control；The rechargeable battery selects ferric phosphate lithium cell；The walking electricity
Machine and lifting motor select DC servo motor, and servo-driver selects direct current servo driver；The vehicle frame be provided with
PLC communicate the audible-visual annunciator of connection；The detection range of the mirror reflection photoelectric switch is less than or equal to 2m;It is described
The detection range of laser range sensor is less than or equal to 8m；The accuracy of detection of the encoder is 0.1mm.
A kind of 8. three-dimensional storehouse of intelligent Shuttling trolley applied to piler in usage right requirement 1 to 7 described in any one
Storehouse, it is characterized in that：Including upper and lower area and the piler tunnel being horizontally set between upper and lower area, correspondingly set in Shang Qu and lower area
Several unit shelf being arranged in array are equipped with, pallet is provided with each unit shelf；The piler tunnel is set
There is the piler track for carrying piler；It is provided with upper and lower area on the unit shelf of each row small for carrying shuttle
The Shuttling trolley track of car；One is provided with the left side in upper and lower area or right side and arranges express passway for carrying Shuttling trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865760.2A CN107444823A (en) | 2017-09-22 | 2017-09-22 | A kind of intelligent Shuttling trolley applied to piler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865760.2A CN107444823A (en) | 2017-09-22 | 2017-09-22 | A kind of intelligent Shuttling trolley applied to piler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107444823A true CN107444823A (en) | 2017-12-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109625742A (en) * | 2019-01-24 | 2019-04-16 | 沈阳新松机器人自动化股份有限公司 | Intelligent compact storage system |
| CN110255202A (en) * | 2019-05-10 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of the Intelligent Laser guiding piler and application method of view-based access control model positioning |
| CN110376960A (en) * | 2019-08-15 | 2019-10-25 | 浙江益海嘉里食品工业有限公司 | Shuttling trolley data collection system and its Shuttling trolley and collecting method |
| CN110615219A (en) * | 2019-08-06 | 2019-12-27 | 山西东杰智能物流装备股份有限公司 | Eight-wheel drive shuttle transfer trolley |
| CN111137607A (en) * | 2018-02-21 | 2020-05-12 | 住友重机械搬运系统工程株式会社 | Automated warehouse system |
| NO20191456A1 (en) * | 2019-02-19 | 2020-08-20 | Autostore Tech As | A storage system, a vehicle for use in the storage system and a method of charging a vehicle in the storage system |
| WO2020169287A1 (en) * | 2019-02-19 | 2020-08-27 | Autostore Technology AS | Storage system |
| CN112978187A (en) * | 2021-03-15 | 2021-06-18 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and use method thereof |
| CN113697755A (en) * | 2021-08-23 | 2021-11-26 | 江苏德大石化科技有限公司 | Automatic alignment loading system |
| CN114475676A (en) * | 2022-03-02 | 2022-05-13 | 昆山燎原自动化设备有限责任公司 | RGV dolly and charging system for train chassis detects |
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| CN111137607A (en) * | 2018-02-21 | 2020-05-12 | 住友重机械搬运系统工程株式会社 | Automated warehouse system |
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| CN110615219A (en) * | 2019-08-06 | 2019-12-27 | 山西东杰智能物流装备股份有限公司 | Eight-wheel drive shuttle transfer trolley |
| CN110376960A (en) * | 2019-08-15 | 2019-10-25 | 浙江益海嘉里食品工业有限公司 | Shuttling trolley data collection system and its Shuttling trolley and collecting method |
| CN112978187A (en) * | 2021-03-15 | 2021-06-18 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and use method thereof |
| CN112978187B (en) * | 2021-03-15 | 2023-08-15 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and application method of intelligent shuttle trolley |
| CN113697755A (en) * | 2021-08-23 | 2021-11-26 | 江苏德大石化科技有限公司 | Automatic alignment loading system |
| CN114475676A (en) * | 2022-03-02 | 2022-05-13 | 昆山燎原自动化设备有限责任公司 | RGV dolly and charging system for train chassis detects |
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Application publication date: 20171208 |