CN107472821B - A kind of logistics sorting equipment and its driving method - Google Patents

A kind of logistics sorting equipment and its driving method Download PDF

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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
driving
Prior art date
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CN201710626181.2A
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Chinese (zh)
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CN107472821A (en
Inventor
朱海华
王旭
唐敦兵
王盈聪
陈鸣
Original Assignee
南京航空航天大学
南京航空航天大学无锡研究院
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Application filed by 南京航空航天大学, 南京航空航天大学无锡研究院 filed Critical 南京航空航天大学
Priority to CN201710626181.2A priority Critical patent/CN107472821B/en
Publication of CN107472821A publication Critical patent/CN107472821A/en
Application granted granted Critical
Publication of CN107472821B publication Critical patent/CN107472821B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22Arrangements or mountings of driving motors

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

A kind of logistics sorting equipment and its driving method

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.
CN201710626181.2A 2017-07-27 2017-07-27 A kind of logistics sorting equipment and its driving method CN107472821B (en)

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

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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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Citations (5)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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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