CN107472821B - A kind of logistics sorting equipment and its driving method - Google Patents
A kind of logistics sorting equipment and its driving method Download PDFInfo
- Publication number
- CN107472821B CN107472821B CN201710626181.2A CN201710626181A CN107472821B CN 107472821 B CN107472821 B CN 107472821B CN 201710626181 A CN201710626181 A CN 201710626181A CN 107472821 B CN107472821 B CN 107472821B
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- China
- Prior art keywords
- delivery board
- drive block
- axis drive
- roller tooth
- axis
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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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of logistics sorting equipments, including delivery board and support plate, the bottom of delivery board is provided with several delivery board roller tooths, X-axis drive block and Y-axis drive block are provided in support plate, X-axis drive block passes through transmission component with Y-axis drive block and connects driving device, and several driving roller tooths are provided on X-axis drive block and Y-axis drive block, drive roller tooth identical as delivery board roller tooth structure, and the spacing of two neighboring roller tooth can at least hold single roller tooth, when driving delivery board, the driving roller tooth of X-axis drive block and Y-axis drive block selects one and is meshed with delivery board roller tooth, and delivery board is driven to be moved as unit of the distance of single roller tooth along X-axis or Y-axis.The present invention cooperates transmission by the roller tooth between drive block and delivery board, complete the purpose of sorting conveying, have many advantages, such as simple structure, accurate positioning, strong applicability, operation quick and stable, different material pipelines can also be combined into, meet different operating environmental requirement.
Description
Technical field
The invention belongs to Sorting Technique fields, quick logistics sorting equipment and its drive more particularly, to a kind of transmission of roller tooth
Dynamic method.
Background technique
Along with the fast development of e-business, mating logistic storage industry and related logistics transportation, sorting, storage facilities
More and more concerns are obtained, quick, flexibility is that modern logistics storage sector is newly wanted to what storage facilities proposed in high precision
It asks.
Product stream center can receive thousands of suppliers daily or the owner of cargo is sent not by various forms of transport
With cargo or commodity, these commodity are unloaded within the shortest time and are carried out by range of goods, the owner of cargo, storage space or transmission place
Rapidly and accurately classify, and by these commodity transportings to designated place (such as specified shelf, machining area, shipment platform)
Require quick logistics sorting equipment and system.Meanwhile when supplier or the owner of cargo notify logistics center by dispatching instruction delivery
When, sorting system, which is also required to deposit within the shortest time from huge high-rise goods, accurately finds the quotient for wanting outbound in frame storage system
Product position, and requirement outbound is pressed, the commodity of the different number taken out from different storage spaces are transported by dispatching place
It is concentrated to different tally regions or dispatching platform, so as to entrucking dispatching.
Existing domestic and international logistics sorting device mainly uses material conveyer belt to add the combination of free degree manipulator, needs
A large amount of sensor device is assisted to realize the positioning of transmission process, meanwhile, workspace environment needs mating volume once changing
Outer ancillary transmission equipment completes the sorting of cargo or commodity.Meanwhile the above-mentioned also generally existing craft flexibility of logistics sorting device
Difference, at high cost, the defects such as reliability is low.
Therefore, it is necessary to a kind of novel logistics sorting equipments, to meet the needs of this field.
Summary of the invention
It is complicated, suitable to solve sorting device in the prior art it is an object of the invention to propose a kind of logistics sorting equipment
The problems such as low, at high cost, reliability is low with property.
Another object of the present invention is to propose a kind of driving method of logistics sorting equipment, realize conveying object in above-mentioned object
It accurately, rapidly, continuously, is smoothly conveyed on stream sorting equipment.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of logistics sorting equipment, including delivery board and support plate, the bottom of delivery board are provided with several delivery board rollers
Tooth can movably be provided with X-axis drive block and Y-axis drive block in support plate, and X-axis drive block and Y-axis drive block pass through biography
Dynamic component connects driving device, and several driving roller tooths are provided on X-axis drive block and Y-axis drive block, driving roller tooth with
Delivery board roller tooth structure is identical, and the spacing of two neighboring roller tooth can at least hold single roller tooth, when driving delivery board, X-axis
The driving roller tooth of drive block and Y-axis drive block selects one and is meshed with delivery board roller tooth, and drives delivery board along X-axis or Y-axis with list
The distance of a roller tooth is that unit is moved.
Wherein, transmission component includes positioning guide rail and screw rod, and positioning guide rail is set in support plate, and screw rod is led along positioning
Rail setting, driving device drive X-axis drive block or Y-axis drive block to translate along positioning guide rail by screw rod.
Wherein, X-axis drive block and Y-axis drive block are sheathed on corresponding screw rod, and it is equal to correspond to screw rod on two drive blocks
Offer internal screw thread, X-axis drive block and Y-axis drive block with positioning guide rail smooth contact.Guarantee drive block along positioning guide rail
Normal movement.
Wherein, driving device can use a servo motor, and servo motor passes through one end of shaft coupling connection wire rod, silk
The other end of bar is set on positioning guide rail by bearing block.
Wherein, driving device can also use two servo motors, and two servo motors pass through shaft coupling connecting filament respectively
The both ends of bar, two driving motors are synchronized and are rotate in same direction.
Wherein, it there are two X-axis drive blocks, and horizontally-parallel is intervally arranged；Between there are two Y-axis drive blocks, and longitudinal direction is parallel
Every arrangement.
Wherein, it drives roller tooth and delivery board roller tooth is terrace with edge, prism or any shape of pyramid.Preferably truncated rectangular pyramids knot
Structure, when this structure makes the driving roller tooth of X-axis drive block drive delivery board mobile, drive of the delivery board roller tooth to Y-axis drive block
Roller tooth is moved without influence；Conversely,.
Wherein, the both ends of support plate are correspondingly arranged on link slot, and support plate passes through the branch of link slot and other same device
Fagging series connection, forms different transporting patterns, meets the requirement of different material sorting environment, is extended to any shape, position with this
The delivery platform set.
A kind of driving method of logistics sorting equipment, logistics sorting equipment is above-mentioned logistics sorting equipment, with single roller
The distance of tooth is reference axis scale division value, establishes two-dimensional coordinate system with plane where delivery board；
Delivery board initial position co-ordinates are set as (X0, Y0), the delivery board position to be moved to is (X1, Y1), controller
The wanted moving distance Δ X of delivery board X-direction, the wanted moving distance Δ Y of Y direction are calculated, and controls corresponding servo motor and turns
Dynamic respective angles, driving delivery board reach displacement；
It, can only along the x axis or Y direction is selected one and moved when delivery board is driven.
Wherein, when the X-axis drive block driving delivery board of logistics sorting equipment moves along the x-axis, Y-axis drive block is static, and Y
The driving roller tooth of axis drive block is staggered with the delivery board roller tooth；The Y-axis drive block driving delivery board of logistics sorting equipment is along Y-axis
When mobile, X-axis drive block is static, and the driving roller tooth of X-axis drive block is staggered with the delivery board roller tooth.Avoid the occurrence of latch
The case where, so that transmission process steadily carries out.
To sum up, logistics sorting equipment and its driving method provided by the invention, pass through the roller between drive block and delivery board
Tooth cooperation transmission, completes the purpose of sorting conveying, has simple structure, accurate positioning, strong applicability, operation quick and stable etc. excellent
Point can also be combined into different material pipelines, meet different operating environmental requirement.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of logistics sorting equipment provided in an embodiment of the present invention；
Fig. 2 is drive block provided in an embodiment of the present invention in the location map in support plate；
Fig. 3 is the drive mechanism schematic diagram of drive block provided in an embodiment of the present invention.
In figure:
1- delivery board；11- delivery board roller tooth；2- support plate；21- link slot；3- drive block；31- drives roller tooth；4- transmission
Component；41- positioning guide rail；42- screw rod；5- servo motor.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Referring to Fig. 1-2, a kind of logistics sorting equipment, including delivery board 1, support plate 2, delivery board 1 are present embodiments provided
Bottom be provided with several delivery board roller tooths 11, delivery board roller tooth 11 is truncated rectangular pyramids shape and proper alignment side by side, in support plate 2
It is provided with X-axis drive block and Y-axis drive block, the structure of two drive blocks 3 is identical, driving device is connected by transmission component 4,
And several driving roller tooths 31 are provided on drive block 3, driving roller tooth 31 is identical as 11 structure of delivery board roller tooth, and adjacent two
The spacing of a roller tooth can at least hold single roller tooth, when driving delivery board 1, the driving roller tooth of X-axis drive block and Y-axis drive block
31 select one is meshed with delivery board roller tooth 11, and delivery board 1 is driven to carry out as unit of the distance of single roller tooth along X-axis or Y-axis
It is mobile.
In the present embodiment, as shown in figure 3, transmission component 4 includes positioning guide rail 41, screw rod 42, positioning guide rail 41 is fixed on
In support plate 2, screw rod 42 is arranged along positioning guide rail 41, and driving device uses two servo motors 5, and two servo motors 5 are set
The both ends of positioning guide rail 41 are placed in, are connect respectively by shaft coupling with the both ends of screw rod 42, and synchronize and rotate in same direction driving screw rod
42 rotations, drive block 3 are sheathed on screw rod 42, screw rod 42 are corresponded on drive block 3 and offers internal screw thread, drive block 3 is led with positioning
41 smooth contact of rail setting, so that the driving of screw rod 42 that drive block 3 is rotated can be translated along positioning guide rail 41.
X-axis drive block and Y-axis drive block respectively there are two, respective parallel interval setting and the surrounding for being distributed in support plate 2.
Since driving roller tooth 31 is truncated rectangular pyramids shape, delivery board roller tooth 11 is the shape of falling truncated rectangular pyramids, and the driving roller tooth of X-axis drive block drives
When delivery board 1 is mobile, delivery board roller tooth 11 can pass through from the driven roller backlash of Y-axis drive block, thus to Y-axis drive block
Without influence；Conversely,.
The both ends of this external support board 2 are provided with link slot 21, and support plate 2 passes through the branch of link slot 21 and other same device
Fagging series connection, can be extended to the delivery platform of any shape, position, form different transporting patterns, meet different material point
Pick the requirement of environment.
When the specifically used device, above-mentioned support plate can be connected and integrate a large-scale delivery platform, several are defeated
Send plate that can fast move the purpose for completing logistics sorting on the delivery platform.When driving whole system, with single roller tooth
Distance be reference axis scale division value, two-dimensional coordinate system is established with plane where delivery board, can be in place with delivery board central point institute
Set the real-time coordinates point as delivery board.When being conveyed, at system interaction interface, input delivery board to be moved to
Target position (X1, Y1), controller move the position (X0, Y0) and target position terminated when stopping according to the delivery board last time
(X1, Y1) calculates delivery board and needs mobile displacement Δ X and Δ Y in the x-direction and the z-direction, according to the single roller tooth of movement
The angle to be rotated apart from driving motor, the servo motor for controlling X-axis drive block and Y-axis drive block rotates corresponding amount, makes
It obtains delivery board and reaches target position in a manner of right angle cabling.
It should be noted that X-direction amount of movement can be completed first, Y-direction amount of movement can also be first completed, but the two is only
A movement can be selected, it is not possible to both direction moves simultaneously, in order to avoid there is latch problem.Because of the roller tooth of truncated rectangular pyramids structure, one
While a direction is engaged, the roller tooth in another direction is just staggered, and only guaranteed roller tooth is staggered the drive block non-displacement in direction,
The drive block for engaging direction could the movement of normal driving delivery board.
The logistics sorting equipment and its driving method that the embodiment passes through, pass through the cooperation between gear unit and delivery board
Unique texture, complete the purpose of sorting conveying, can achieve delivery board and fast move and the effect of even running, there is structure
Simply, the advantages that accurate positioning, strong applicability, operation quick and stable, it can also be combined into different material pipelines, met not
Same operating environment requirements.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (7)
1. a kind of logistics sorting equipment, which is characterized in that including delivery board and support plate, if the bottom of the delivery board is provided with
A delivery board roller tooth is done, can movably be provided with X-axis drive block and Y-axis drive block, the X-axis drive block in the support plate
Pass through transmission component with Y-axis drive block and connect driving device, and if being provided on the X-axis drive block and Y-axis drive block
Dry driving roller tooth, the driving roller tooth is identical as the delivery board roller tooth structure, and the spacing of two neighboring roller tooth at least can
Single roller tooth is enough held, when driving delivery board, the driving roller tooth of the X-axis drive block and Y-axis drive block selects one and the conveying
Plate roller tooth is meshed, and the delivery board is driven to be moved as unit of the distance of single roller tooth along X-axis or Y-axis；
The transmission component includes guide rail and screw rod, and the guide rail is set in the support plate, and the screw rod is led along described
Rail setting, the driving device drive the X-axis or Y-axis drive block to translate along the guide rail by the screw rod.
2. logistics sorting equipment according to claim 1, it is characterised in that: the X-axis drive block and Y-axis drive block cover
On corresponding screw rod, the screw rod is corresponded on two drive blocks and is provided with internal screw thread, and the X-axis drive block and Y-axis are driven
Motion block with corresponding guide rail smooth contact.
3. logistics sorting equipment according to claim 1, it is characterised in that: the driving device uses a servo electricity
Machine, the servo motor connect one end of the screw rod by shaft coupling, and the other end of the screw rod is set to by bearing block
On the guide rail.
4. logistics sorting equipment according to claim 1, it is characterised in that: there are two the X-axis drive blocks, and laterally flat
Row interval arrangement；There are two the Y-axis drive blocks, and longitudinal parallel interval arrangement.
5. logistics sorting equipment according to claim 1, it is characterised in that: the driving roller tooth and the delivery board roller tooth
For terrace with edge, prism or any shape of pyramid.
6. logistics sorting equipment according to claim 1, it is characterised in that: the both ends of the support plate are correspondingly arranged on company
Access slot, the support plate are connected by link slot with the support plate of other same device, and different transporting patterns is formed, and are met not
With the requirement of Material Sorting environment.
7. a kind of driving method of logistics sorting equipment, the logistics sorting equipment is object described in any one of claims 1-6
Flow sorting equipment, it is characterised in that using the distance of single roller tooth as reference axis scale division value, two dimension is established with plane where delivery board
Coordinate system；
Delivery board initial position co-ordinates are set as (X0, Y0), the delivery board position to be moved to is (X1, Y1), and controller calculates
The wanted moving distance △ X of delivery board X-direction, the wanted moving distance △ Y of Y direction, and control corresponding servo motor rotation phase
Angle is answered, driving delivery board reaches displacement；
When the delivery board drives, can only along the x axis or Y direction to select one mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626181.2A CN107472821B (en) | 2017-07-27 | 2017-07-27 | A kind of logistics sorting equipment and its driving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626181.2A CN107472821B (en) | 2017-07-27 | 2017-07-27 | A kind of logistics sorting equipment and its driving method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472821A CN107472821A (en) | 2017-12-15 |
| CN107472821B true CN107472821B (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710626181.2A Active CN107472821B (en) | 2017-07-27 | 2017-07-27 | A kind of logistics sorting equipment and its driving method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112985500A (en) * | 2021-02-10 | 2021-06-18 | 广州市影擎电子科技有限公司 | Universal motion system and detection device thereof |
| CN112999567A (en) * | 2021-02-10 | 2021-06-22 | 广州市影擎电子科技有限公司 | Universal motion mechanism and universal motion system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1296039A (en) * | 1969-01-25 | 1972-11-15 | ||
| CN102849423A (en) * | 2012-09-29 | 2013-01-02 | 厦门思尔特机器人系统有限公司 | Heavy type free shuttling trolley with tracks |
| CN104627673A (en) * | 2015-01-16 | 2015-05-20 | 海宁飞戎工业设计咨询有限公司 | Station switching device of plate workpiece |
| CN104709685A (en) * | 2015-01-19 | 2015-06-17 | 上海理工大学 | NC automation right-angle track |
| CN106970629A (en) * | 2017-05-22 | 2017-07-21 | 北京京东尚科信息技术有限公司 | The control method and device of automatic guided vehicle |
-
2017
- 2017-07-27 CN CN201710626181.2A patent/CN107472821B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1296039A (en) * | 1969-01-25 | 1972-11-15 | ||
| CN102849423A (en) * | 2012-09-29 | 2013-01-02 | 厦门思尔特机器人系统有限公司 | Heavy type free shuttling trolley with tracks |
| CN104627673A (en) * | 2015-01-16 | 2015-05-20 | 海宁飞戎工业设计咨询有限公司 | Station switching device of plate workpiece |
| CN104709685A (en) * | 2015-01-19 | 2015-06-17 | 上海理工大学 | NC automation right-angle track |
| CN106970629A (en) * | 2017-05-22 | 2017-07-21 | 北京京东尚科信息技术有限公司 | The control method and device of automatic guided vehicle |
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| Publication number | Publication date |
|---|---|
| CN107472821A (en) | 2017-12-15 |
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Address after: 214154 Rennan Road, Luoshe Town, Huishan District, Wuxi, Jiangsu Province, No. 4 Applicant after: Nanjing University of Aeronautics and Astronautics Applicant after: Wuxi Research Institute of Nanjing University of Aeronautics & Astronautics Address before: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 214000 Applicant before: Nanjing University of Aeronautics and Astronautics Applicant before: Wuxi Research Institute of Nanjing University of Aeronautics & Astronautics |
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Address after: 214154 40 South Renmin Road, Luoshe Town, Huishan District, Wuxi, Jiangsu Applicant after: Nanjing University of Aeronautics and Astronautics Applicant after: Wuxi Research Institute of Nanjing University of Aeronautics & Astronautics Address before: 214154 4 South Renmin Road, Luoshe Town, Huishan District, Wuxi, Jiangsu Applicant before: Nanjing University of Aeronautics and Astronautics Applicant before: Wuxi Research Institute of Nanjing University of Aeronautics & Astronautics |
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