CN109693897A - A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley - Google Patents
A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley Download PDFInfo
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- CN109693897A CN109693897A CN201810918933.7A CN201810918933A CN109693897A CN 109693897 A CN109693897 A CN 109693897A CN 201810918933 A CN201810918933 A CN 201810918933A CN 109693897 A CN109693897 A CN 109693897A
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- shelf
- trolley
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- shelf trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
This application provides a kind of intelligent three-dimensional warehouses based on shelf trolley, including tiered warehouse facility ontology, further include the jacking system being arranged in tiered warehouse facility, conveyer, shelf trolley, control system, track girder；The channel that the shelf include shelf, are arranged at intervals between shelf, the shelf have multilayer, and every layer has several matter storage lattices, and the channel includes the track girder being laid with along channel；The transfer track of two wing passage of connection is offered on the shelf；The conveyer setting connection jacking system and shelf passage mouth；The shelf trolley is arranged on track girder, the advantages of the application, is that shelf trolley can pass through shelf, it shuttles in the channel of shelf two sides, it need not travel to and fro between elevator and shelf, the number of shelf trolley can also be reduced by reasonably planning simultaneously, shelf trolley can combine the access goods work of three row's overhead baggage rack units, and efficiency gets a promotion.
Description
Technical field
This application involves tiered warehouse facility technical field more particularly to a kind of intelligent three-dimensional warehouse based on shelf trolley and its
Control method.
Background technique
Class producer is manufactured, can be for lower a large amount of standby redundancy, the departments such as production, equipment get standby redundancy and mostly use
Following process: fill in standby redundancy material requistion-donor sign confirmation-get to warehouse-warehouse donor seeks according to material requistion
Standby redundancy is looked for, the time which expends is longer, wherein time-consuming more long in picking link, picking people need to often shuttle in shelf
In, standby redundancy is found, efficiency is extremely low.The process develops phase toward automation, efficient, precision direction with modern manufacturing
It is contrary to.
There is also access identical problem, when consumer goes to take express delivery, access point with standby redundancy for the access point of express mail
Staff often can spend longer time to look for express mail, and consumption experience is bad.
Automating vertical vehicle warehouse is a kind of more mature intelligent automation system, be chiefly used in storing at present Varieties compared with
Few cargo is made of, occupied space shelf, conveyer system, piler, AGV trolley, RGV trolley, integrated control system etc.
Larger, cost of investment is high, is not suitable for that the storehouses such as the storeroom of spare product and part or the express delivery bleeding point of general manufacturing enterprise are small, the type of inventories
More, the extremely frequent occasion of access.
The problem of generally existing shelf trolley flexibility of tiered warehouse facility at present is not high, the low efficiency of charging or transhipment.Automatically
It is generally less to change the type that tiered warehouse facility occupancy warehouse area is big, accesses, it is difficult to realize general manufacturing enterprise's storeroom of spare product and part
With the application of express mail bleeding point, high efficiency, automation, precision are current manufacturing enterprises or service the development of class industry and become
Gesture.The patent of invention for having some small intelligent tiered warehouse facilities at present is able to publicity, and the shelf that such patent of invention is described are deposited
In the low problem of the degree of modularity；The access mechanism described has that access action is complicated, access efficiency is low.
In addition, the access module (shuttle, piler etc.) in current automated warehouse storage cavern mostly uses trolley or common
The mode of lead-acid battery is powered.Trolley can generate biggish pressure difference as picking distance increases, and trolley may be caused to be not achieved
The speed of setting, takes that deposit efficiency lower；Common batteries packet cruising ability is poor and using unstable, it is difficult to meet picking more frequency
Numerous small-sized library, and this kind of battery easily generates super-charge super-discharge phenomenon in charge and discharge, there is biggish security risk.
Therefore, how to be directed to disadvantage present in the above-mentioned prior art and carry out research and development improvement, actually exerted needed for relevant industry
Power research and development target, the application designer in view of this, be think and creation idea, designed then with the experience of many years, pass through
In many ways sampling test is inquired into and is studied, and repeatedly amendment improvement, be releasing the application.
Summary of the invention
(1) technical problems to be solved
In view of above-mentioned technical problem, this application provides a kind of intelligent three-dimensional warehouses and its controlling party based on shelf trolley
Method.
(2) technical solution
This application provides a kind of intelligent three-dimensional warehouses based on shelf trolley, including tiered warehouse facility ontology, further include setting
Set jacking system, conveyer, shelf trolley, control system, track girder in tiered warehouse facility；The shelf include shelf,
Every the channel of setting between shelves, the shelf have multilayer, and every layer has several matter storage lattices, and the channel includes along channel
The track girder being laid with；The transfer track of two wing passage of connection is offered on the shelf；The jacking system is arranged in shelf
End, including lifting unit, displacement sensor, delivery section and charging part, the charging part have charge port；The conveyer setting connection
Logical jacking system and shelf passage mouth.The shelf trolley is arranged on track girder, the shelf it is small it is interior have capacitance module,
Motion control card；The track girder includes the movable rail beam opposite with transfer track；Wherein, in transfer track and the transfer track two sides
Channel between be horizontally arranged with track plates, the movable rail beam is slidably connected with track plates, and the movable rail beam can edge
Track plates sliding；Control system connects control jacking system, conveyer, shelf trolley by wireless information transfer.
In some embodiments of the present application, the shelf trolley includes: rack, including a pair extends along track girder direction
Stringer and a pair of crossbeam being connected between stringer, the stringer both ends there is the card slot axially opened up along stringer；Driving machine
Structure, across the universal driving shaft of wheel between two stringers, is equipped with including a pair of of both ends, the universal driving shaft is driven by motor；It is a pair of
Shen Cha mechanism, comprising: level-one Shen Cha mechanism, including level-one expansion plate, the level-one expansion plate are driven flexible, institute by belt wheel mechanism
Stating has a fixed pulley on level-one expansion plate；Second level Shen Cha mechanism, it is described including the second level expansion plate parallel with level-one expansion plate
One end of traction rope is fixedly connected on second level is flexible, the traction rope bypasses fixed pulley, and the other end connects on the rack.
In some embodiments of the present application, the rack further include set up vertically stretch fork substrate, the traction rope
The other end is fixed on this and stretches on fork substrate.
In some embodiments of the present application, the belt wheel mechanism includes: belt, struts setting by two support belt wheels and exists
The lower section of level-one expansion plate is fixedly connected between the belt middle and level-one expansion plate；Drive shaft has match with belt thereon
The driving pulley of conjunction, the drive shaft are driven by motor.
In some embodiments of the present application, the both ends of the movable rail beam are respectively provided in embeddable stringer card slot
Electronic restrictor bar, the electronic restrictor bar are folded in movable rail beam end, can be to opening on the inside of movable rail beam.
In some embodiments of the present application, the level-one expansion plate and fork substrate is stretched, has between second level expansion plate and slides
Being in rolling contact between fork substrate and second level expansion plate is realized using pulley and stretched to wheel.
In some embodiments of the present application, the track board width is less than transfer track width.
In some embodiments of the present application, first straight line guide rail, the work are installed along track plates on the track plates
Dynamic track girder is fixed on the first straight line guide rail.
In some embodiments of the present application, the lifting unit includes that lifting motor, synchronous toothed belt and second straight line are led
Rail.
Present invention also provides a kind of control methods in intelligent three-dimensional warehouse based on shelf trolley, include the following steps:
(1) control system sends instruction and carries out delivery, specifies target position；
(2) jacking system is elevated to the specified shelf number of plies, and cargo carries out sidesway and docks with conveyer；
(3) cargo is sent to designated position through conveyer, if the shelf trolley of place layer is just located at where target position
Channel, then shelf trolley orbiting to designated position；Where if trolley is located at target position in the adjacency channel in channel,
Shelf trolley passes through transfer track first, then reaches designated position again；
(4) it forks cargo and is placed on shelf designated position.
(3) beneficial effect
It can be seen from the above technical proposal that the application at least has the advantages that one of them:
(1) the shelf trolley of the application can pass through shelf, shuttle in the channel of shelf two sides, it is not necessary to travel to and fro between promotion
Between machine and shelf, while the number of shelf trolley can also be reduced by reasonably planning, shelf trolley can combine
The access goods of three row's overhead baggage rack units works, and efficiency gets a promotion；
(2) it being planar as due to shelf trolley, height is less than its width and length, when passing through shelf, 90 degree of rotations
The shelf trolley turned can save space shared when passing through, and maximize the storage space retained on shelf；
(3) shelf trolley uses two-stage telescopic fork, and two-stage stretches fork and just realizes while driving, second level merely with a driving source
It stretches fork dexterously to drive using fixed pulley, realizes that two-stage is stretched fork and at the uniform velocity stretched out, collapsing length is long, and structure is simple；
(4) shelf trolley in the fluting of electronic restrictor bar insertion shelf trolley longeron end, is realized when rotating with track plates
The fixation of shelf trolley and movable rail beam prevents from falling in shelf trolley switching process；
(5) second level stretch fork plate and stretch fork substrate and level-one stretch be all made of between fork plate idler wheel contact, not only reduce friction, and
And also limit the flexible path that second level stretches fork plate；
(6) super capacitor of charging can be completed using 5s, charge port is arranged on jacking system, the charging of shelf trolley
Time greatly shortens, and improves access efficiency.
Detailed description of the invention
Fig. 1 is the top view of the embodiment of the present application.
Fig. 2 is the top view of the embodiment of the present application shelf.
Fig. 3 is the main view of the embodiment of the present application.
Fig. 4 is the left view of the embodiment of the present application.
Fig. 5 is the track plates of the embodiment of the present application and the schematic diagram of movable rail beam.
Fig. 6 is the shelf trolley schematic diagram of the embodiment of the present application.
Fig. 7 is the shelf drive car schematic diagram of the embodiment of the present application.
Fig. 8 is that the shelf trolley of the embodiment of the present application stretches fork structural scheme of mechanism.
Fig. 9 is the main view of the shelf trolley Shen Cha mechanism of the embodiment of the present application.
Figure 10 is the side view of the shelf trolley Shen Cha mechanism of the embodiment of the present application.
[the application main element symbol description]
1, shelf；2, channel；21, track girder；
211, movable rail beam；211a, electronic restrictor bar；3, shelf trolley；
31, bracket；311, stringer；311a, card slot；
312, crossbeam；313, fork substrate is stretched；32, driving mechanism；
321, active universal driving shaft；322, driven universal driving shaft；331, level-one expansion plate；
331a, fixed pulley；331b, pulley groove；332, second level expansion plate；
332a, pulley blocks；333a, belt；333b, directive wheel；
333c, driving pulley；333d, belt wheel；333e, motor；
34, claw；34a, small machine；4, track plates；
41, first straight line guide rail；42, protruding rail；5, transfer track；
6, control system；7, jacking system；8, conveyer.
Specific embodiment
This application provides a kind of intelligent three-dimensional warehouses based on shelf trolley.Transfer track is set between shelves, is convenient for
Shelf trolley is walked in transfer track, is achieved the purpose that same trolley can take into account two passes, has been saved the tune of shelf trolley
The quantity of time and required shelf trolley are spent, while the construction of shelf trolley is ingenious, fork can be stretched to two sides, can completed logical
The work of picking and stock on the shelf of road two sides.
For the purposes, technical schemes and advantages of the application are more clearly understood, below in conjunction with specific embodiment, and reference
The application is further described in attached drawing.
In the exemplary embodiment of the application, the intelligent three-dimensional warehouse based on shelf trolley is provided.As Fig. 1,
Shown in Fig. 2, Fig. 3, Fig. 4, which shares 5 parts and forms, including jacking system 7, conveyer 8, shelf trolley 3, goods
Frame and control system 6, shelf include shelf 1, the channel being arranged at intervals between shelf 12, and shelf 1 have multilayer, and every layer has
Several matter storage lattices.Wherein, jacking system 7 is integrated with three lifting unit, delivery section, charging part parts, have lifting, sidesway with
And the function of three aspects of power supply.
Each component part of the present embodiment is described in detail individually below.
Jacking system 7 is integrated with three lifting part, transport portion, live part part compositions, has lifting, sidesway
And the function of three aspects of power supply.Hoistable platform is realized by way of synchronous toothed belt+linear guide+motor in the part
Lifting, operational efficiency is high in implementation process, run smoothly, running noises are small.Charging part in jacking system 7 has charge port,
Convenient for charging for shelf trolley 3.
There is capacitance module, motion control card in shelf trolley 3；Super-capacitor module is integrated in shelf trolley 3, it is super
Capacitances to supply power is stable, service life is high, the charging time is extremely short, can solve many disadvantages of conventional electron.Motion control card is
" the control brain " of shelf trolley 3, the functional concentration of the fixture, cheap, long service life are easy to implement shelf trolley 3
The degree of modularity of the modularization of electric part, whole trolley is extremely high.
Shelf trolley 3 can run to specified position when needing to charge along channel and dock completion with the charge port of jacking system
Charging, entire charging time can control within 5S.
Shelf 1 have multilayer, and every layer has several matter storage lattices, and the transfer track 5 of two wing passage 2 of connection is offered on shelf 1.
Shelf trolley 3 can by the transfer track 5 complete ALT-CH alternate channel 2 movement, save the boosted machine of shelf trolley 3 scheduling when
Between, and two neighboring channel 2 can share a shelf trolley 3, reduce the use number of shelf trolley 3.
It include the track girder 21 being laid with along channel in channel 2, track girder 21 includes the movable rail beam opposite with transfer track 5
211, track girder 21 is a pair of steel track that 2 two sides of channel are arranged in parallel, and shelf trolley 3 is travelled at this to steel track
On.
As shown in figure 5, being equipped with track plates 4 between transfer track 5 and the channel 2 of 5 two sides of transfer track, track plates 4 extend
It is arranged in the channel 2 of 5 two sides of transfer track 5 and transfer track, track plates 4 are equipped with a pair of of protruding rail 42, and movable rail beam 211 is installed
On track plates 4, there is the groove cooperated with protruding rail 42 thereon, first straight line guide rail 41 is additionally provided on track plates 4, first is straight
Line guide rail 41 is arranged along track plates 4, and is fixedly connected with movable rail beam 211, and movable rail beam 211 is in first straight line guide rail 41
Under the action of can do the movement moved along track plates 4, first straight line guide rail 41 guarantees rail by high-precision servo motor driven
The accurate pairing of road beam.
The both ends of movable rail beam 211 are respectively provided with electronic restrictor bar 211a, and electronic restrictor bar 211a is folded in movable rail beam
211 ends, when shelf trolley 3 needs lane-change to another channel 2, electronic restrictor bar 211a can be to beating on the inside of movable rail beam 211
It opens, clamping shelf trolley 3 is to guarantee the steady of 3 lane-change of shelf trolley.
As shown in Fig. 6 to 10, shelf trolley 3 includes rack, driving mechanism 32 and a pair of Shen Cha mechanism；Rack includes a pair
The stringer 311 and a pair of crossbeam 312 being connected between stringer 311,311 both ends of stringer extended along 21 direction of track girder has edge
The card slot 311a convenient for electronic restrictor bar 211a insertion that 311 length direction of stringer opens up；Driving mechanism 32 is across in two stringers 311
Between, the universal driving shaft of wheel is installed including a pair of of both ends, wherein a universal driving shaft is active universal driving shaft 321, is driven by motor,
Another is driven universal driving shaft 322；A pair of of Shen Cha mechanism includes level-one Shen Cha mechanism and second level Shen Cha mechanism；Level-one Shen Cha mechanism
Including level-one expansion plate 331, level-one expansion plate 331 driven by belt wheel mechanism it is flexible, belt wheel mechanism can forward or reverse, thus
Drive level-one expansion plate 331 flexible to 3 two sides of shelf trolley respectively；Belt wheel mechanism is arranged below level-one expansion plate 331, level-one
Have on expansion plate 331 and be configured with the complete traction rope used on a pair of of fixed pulley 331a, fixed pulley 331a, by fixed pulley 331a
It is oppositely arranged with two sets of traction rope composition；Second level Shen Cha mechanism includes the second level expansion plate parallel with level-one expansion plate 331
332, one end of traction rope is fixedly connected on second level expansion plate 332, traction rope bypasses fixed pulley 331a, and the other end is connected to machine
It is set up vertically on frame, in rack and stretches fork substrate 313 convenient for the installation of Shen Cha mechanism, the other end of traction rope is mounted on this and stretches
It pitches on substrate 313, while level-one expansion plate 331 stretches to side, the position of fixed pulley 331a also changes, and due to stretching fork
Substrate 313 be it is fixed, so traction rope be located at stretch fork substrate 313 on rope end it is motionless, traction rope is located at second level expansion plate 332
On rope end it is mobile, drive second level expansion plate 332 to be subjected to displacement, so that second level expansion plate 332 be driven to stretch out or retract, and stretch out
Or the direction retracted is identical as level-one expansion plate 331, and the displacement of second level expansion plate 332 is twice of level-one expansion plate 331,
When extended, second level expansion plate 332 just leads over 331 1 times of level-one expansion plate displacements, realizes and is stretched by a driving source realization
It pitches mechanism second level to stretch out, it is long to stretch out stroke.
Belt wheel mechanism includes belt 333a and drive shaft；Belt 333a is strutted by two support belt wheel 333d to be arranged in level-one
The lower section of expansion plate 331 is fixedly connected among 331 bottom of middle part and level-one expansion plate of belt 333a；In drive shaft have with
The driving pulley 333c of belt 333a cooperation, the drive shaft are driven by motor 333e, and driving pulley 333c drives belt 333a to turn
Dynamic, belt 333a drives the level-one expansion plate 331 on top mobile again, realizes extended or retracted movement.Driving pulley 333c's
There is a pair of of directive wheel 333b, belt 333a to be interspersed between directive wheel 333b and driving pulley 333c for two sides, and two sides are led
Belt 333a is pressed into driving pulley 333c to wheel 333b, guarantees the contact of belt 333a and driving pulley 333c, prevents belt
333a skids.
It level-one expansion plate 331 and stretches fork substrate 313, there is between second level expansion plate 332 pulley, in level-one expansion plate 331
Two sides offer the pulley groove 331b opened up along 331 length direction of level-one expansion plate, stretch fork substrate 313 and second level expansion plate
It is equipped on 332 in one group of the pulley 332a, two groups of pulley blocks 332a insertion pulley groove 331b arranged in the same direction with pulley groove 331b,
Being in rolling contact between fork substrate 313 and second level expansion plate 332 is realized and stretched using pulley.
The both ends of second level expansion plate 332 all have claw 34, and convenient for hooking cargo, cargo is pulled in small car.Claw
34 when not working state in a vertical shape, when work, its rotation is made by small machine 34a, claw 34 is in a horizontal state, and hooks cargo
Convenient for dragging.
It is rotated in transfer track 5 in order to facilitate track plates 4, also for structure is simplified, track plates 4 are made into strip rectangle,
Width is less than 5 width of transfer track.
Shelf trolley 3 in one channel 2 can combine the shelf 1 of two sides, and due to transfer track 5, same
Shelf trolley 3 can take into account most four shelf 1 side by side, and two intermediate shelf 1 are closely arranged, and save shelf trolley 3
Quantity, saved scheduling time.
The control method in the intelligent three-dimensional warehouse based on shelf trolley of the application includes the following steps:
(1) control system sends instruction and carries out delivery, specifies target position；
(2) jacking system is elevated to the specified shelf number of plies, and cargo carries out sidesway and docks with conveyer；
(3) cargo is sent to designated position through conveyer, if the shelf trolley of place layer is just located at where target position
Channel, then shelf trolley orbiting to designated position；Where if trolley is located at target position in the adjacency channel in channel,
Shelf trolley passes through transfer track first, then reaches designated position again；
(4) it forks cargo and is placed on shelf designated position.
Picking method is identical as above method principle.
So far, attached drawing is had been combined the present embodiment is described in detail.According to above description, those skilled in the art
There should be clear understanding to the application.
It should be noted that in attached drawing or specification text, the implementation for not being painted or describing is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, the above-mentioned definition to each element and method is simultaneously
It is not limited only to various specific structures, shape or the mode mentioned in embodiment.
It should also be noted that, can provide the demonstration of the parameter comprising particular value herein, but these parameters are without definite etc.
In corresponding value, but analog value can be similar in acceptable error margin or design constraint.The side mentioned in embodiment
It is only the direction with reference to attached drawing to term, such as "upper", "lower", "front", "rear", "left", "right" etc., is not used to limit this
The protection scope of application.In addition, unless specifically described or the step of must sequentially occur, the sequences of above-mentioned steps there is no restriction in
It is listed above, and can change or rearrange according to required design.And above-described embodiment can be based on design and reliability
Consider, the collocation that is mixed with each other is used using or with other embodiments mix and match, i.e., the technical characteristic in different embodiments can be with
Freely form more embodiments.
Particular embodiments described above has carried out further in detail the purpose of the application, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not intended to limit this application the foregoing is merely the specific embodiment of the application
Within spirit herein and principle, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the application
Within the scope of shield.
Claims (10)
1. a kind of intelligent three-dimensional warehouse based on shelf trolley, including tiered warehouse facility ontology, it is characterised in that: further include that setting exists
Jacking system, conveyer, shelf trolley in tiered warehouse facility, control system, track girder；
The channel that the shelf include shelf, are arranged at intervals between shelf, the shelf have multilayer, and every layer has several storages
Object lattice, the channel include the track girder being laid with along channel；The transfer track of two wing passage of connection is offered on the shelf；
In shelf end, including lifting unit, delivery section and charging part, the charging part has charging for the jacking system setting
Mouthful；
The conveyer setting connection jacking system and shelf passage mouth；
The shelf trolley is arranged on track girder, and the shelf are small interior with capacitance module, motion control card；
The track girder includes the movable rail beam opposite with transfer track；
Wherein, track plates, the movable rail beam and rail are horizontally arranged between transfer track and the channel of the transfer track two sides
Guidance tape is slidably connected, and the movable rail beam can be slided along track plates；
Control system connection control jacking system, conveyer, shelf trolley.
2. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 1, which is characterized in that the shelf trolley
Include:
Rack, including stringer and a pair of crossbeam being connected between stringer that a pair extends along track girder direction, the stringer two
Holding has the card slot axially opened up along stringer；
Driving mechanism, across the universal driving shaft of wheel between two stringers, is equipped with including a pair of of both ends, the universal driving shaft is by motor
Driving；
A pair of of Shen Cha mechanism, comprising:
Level-one Shen Cha mechanism, including level-one expansion plate, the level-one expansion plate is driven by belt wheel mechanism to be stretched, and the level-one is flexible
There is a fixed pulley on plate；
Second level Shen Cha mechanism is fixedly connected with including the second level expansion plate parallel with level-one expansion plate, on the second level is flexible and leads
One end of messenger, the traction rope bypass fixed pulley, and the other end connects on the rack.
3. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 2 based on shelf trolley, feature
Be, the rack further include set up vertically stretch fork substrate, the other end of the traction rope is fixed on this and stretches on fork substrate.
4. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 2, which is characterized in that the band turbine
Structure includes:
Belt, is strutted the lower section that level-one expansion plate is arranged in by two support belt wheels, the belt middle and level-one expansion plate it
Between be fixedly connected；
Drive shaft, has the driving pulley cooperated with belt thereon, which is driven by motor.
5. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 2, which is characterized in that the active rail
The both ends of road beam are respectively provided with the electronic restrictor bar in embeddable stringer card slot, and the electronic restrictor bar is folded in movable rail beam-ends
Portion, can be to opening on the inside of movable rail beam.
6. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 2, which is characterized in that the level-one is stretched
It contracting plate and stretches fork substrate, there is between second level expansion plate pulley, realized and stretched between fork substrate and second level expansion plate using pulley
Be in rolling contact.
7. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 1, which is characterized in that the track plates
Width is less than transfer track width.
8. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 1, which is characterized in that the track plates
On along track plates first straight line guide rail is installed, the movable rail beam is fixed on the first straight line guide rail.
9. a kind of intelligent three-dimensional warehouse based on shelf trolley according to claim 1, which is characterized in that the lifting unit
Including lifting motor, synchronous toothed belt and second straight line guide rail.
10. a kind of control method in the described in any item intelligent three-dimensional warehouses based on shelf trolley claim 1-9, feature
It is: includes the following steps:
(1) control system sends instruction and carries out delivery, specifies target position；
(2) jacking system is elevated to the specified shelf number of plies, and cargo carries out sidesway and docks with conveyer；
(3) cargo is sent to designated position through conveyer, if the shelf trolley of place layer is just located at the channel where target position,
Then the orbiting of shelf trolley is to designated position；Where if trolley is located at target position in the adjacency channel in channel, shelf
Trolley passes through transfer track first, then reaches designated position again；
(4) it forks cargo and is placed on shelf designated position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810918933.7A CN109693897A (en) | 2018-08-13 | 2018-08-13 | A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810918933.7A CN109693897A (en) | 2018-08-13 | 2018-08-13 | A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255042A (en) * | 2019-07-22 | 2019-09-20 | 浙江凯乐士科技有限公司 | A kind of cargo fetching device, goods handling apparatus and system |
| CN110422575A (en) * | 2019-08-09 | 2019-11-08 | 广州华恒物流有限公司 | AGV railcar |
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| CN110255042A (en) * | 2019-07-22 | 2019-09-20 | 浙江凯乐士科技有限公司 | A kind of cargo fetching device, goods handling apparatus and system |
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| CN111792315A (en) * | 2020-07-31 | 2020-10-20 | 江苏康达检测技术股份有限公司 | Intelligent sample circulation conveying line, sample management system and sample management method |
| CN113772437A (en) * | 2021-09-01 | 2021-12-10 | 深圳市创新特科技有限公司 | Dustless multistation support plate loading machine |
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