CN109719729A - A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method - Google Patents
A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method Download PDFInfo
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- CN109719729A CN109719729A CN201910072630.2A CN201910072630A CN109719729A CN 109719729 A CN109719729 A CN 109719729A CN 201910072630 A CN201910072630 A CN 201910072630A CN 109719729 A CN109719729 A CN 109719729A
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Abstract
The invention discloses a kind of rotating disc type Automatic Track Finding codings to identify floor truck, including car body, running gear, positioning device, grabbing device, identification device, control device, rotation objective table, the running gear, positioning device, grabbing device, identification device, control device, rotation objective table are set on the car body, and the control device is connected with running gear, positioning device, grabbing device, identification device, rotation objective table respectively；Pick-and-place accurately technical effect may be implemented in the present invention, and it is independent for positioning each time all, there is higher fault-tolerance；Zero before No.1 steering engine rotates every time, effectively avoids the accumulation of steering engine dentition steering engine dentition error；It is in order to generate centrifugal force when support board I rotates, so that the article being placed in loading slot is adjacent to loading groove sidewall, to improve its locating effect that hang plate is provided in loading slot.
Description
Technical field
The present invention relates to fields of automation technology, identify floor truck more particularly, to a kind of rotating disc type Automatic Track Finding coding
And its application method.
Background technique
In the production line for needing frequently to carry article, traditional manual handling amount of labour is big, at high cost, production efficiency
It is low, it takes time and effort, the device that Automatic Track Finding bar code recognition is carried can be transported to specific location with automatic identification, but existing
Automatic transporting trolley need mechanical arm in X, Y, Z tri- dimensions up-regulation perfect square positions, after mechanical arm frequently grabs article, positioning
Error accumulation can be increasing, can lead to the problem of positioning and grab inaccuracy.
Summary of the invention
In order to solve above-mentioned defect existing in the prior art, the present invention provides a kind of knowledges of rotating disc type Automatic Track Finding coding
Other floor truck and its application method.
The technical proposal for solving the technical problem of the invention is: a kind of rotating disc type Automatic Track Finding coding identification carrying is small
Vehicle, including car body, running gear, positioning device, grabbing device, identification device, control device, rotation objective table, the row
Walking apparatus, positioning device, grabbing device, identification device, control device, rotation objective table are set on the car body, described
Control device respectively with running gear, positioning device, grabbing device, identification device, rotation objective table be connected.
The car body is equipped with sweep, and the running gear includes that driving wheel, motor, the driving wheel are at least
Four, and be uniformly distributed in the sweep bottom, the driving wheel includes the near front wheel, left rear wheel, off-front wheel and off hind wheel,
The motor includes for driving the left driving motor of the near front wheel and left rear wheel rotation, for driving off-front wheel and off hind wheel to turn
Dynamic right driving motor.
The positioning device includes three groups, and sensor, No. eight sensors, near infrared sensor and laser ranging are kept away all the way
Hinder sensor, sensor is set to the right side of sweep, No. eight sensors all the way for the near infrared sensor and three groups
Below sweep, the sweep middle position positioned at car body traffic direction front end, the laser ranging obstacle avoidance sensor is set
Above the sweep on position corresponding with No. eight sensors.
The grabbing device includes manipulator, mechanical arm, and the manipulator is connected with one end of mechanical arm, described
The other end of mechanical arm is connected with the sweep.
The mechanical arm includes inverted U connection frame I, U-shaped connection frame II, U-shaped connection frame III, inverted U connection frame IV, two
Number steering engine, No. three steering engines, No. four steering engines, connection straight-bar, No. two steering engines are set on the upper surface of inverted U connection frame IV,
The lower end of the inverted U connection frame IV is connected with sweep, and No. two steering engines pass sequentially through inverted U connection frame I, connection directly
Bar, U-shaped connection frame II and No. three steering engine are connected, and the output shaft of No. two steering engines and No. three steering engines is connect with inverted U respectively
Frame I is connected with two medial surfaces of U-shaped connection frame II, the both ends of the described connection straight-bar respectively with the upper table of inverted U connection frame I
The plane perpendicular of face and U-shaped connection frame II is connected, and No. three steering engines are connected with the bottom surface of U-shaped connection frame III, described
The output shaft of No. four steering engines is connected with two medial surfaces of III top of U-shaped connection frame, the top of No. four steering engines 17 with it is described
Manipulator 1 be connected；The identification device is set to the top of the manipulator 1；
The identification device is set to the top of the manipulator, and the identification device is scanning device, the scanning
The processor for being equipped with scanning chip in equipment and being connected with scanning chip.
The rotation objective table includes No.1 steering engine, universal wheel, copper post, support board I and support board II, the support board
I and support board II be disc, the No.1 steering engine be set to the sweep upper surface on, the No.1 steering engine
Output shaft is connected with support board I, and the universal wheel is set to I lower section of the support board, each universal wheel and described
The distance between No.1 steering engine output shaft is all the same, and the lower end of the copper post is connected with I upper surface of support board, described
The top of copper post be connected with support board II, the copper post is several and uniformly divides around the center of circle of the support board I
Cloth, the support board II are equipped with several loading slots, and hang plate is equipped in the loading slot, and the loading slot encloses
The center of circle around support board II is uniformly distributed, and the height of the hang plate is from one end close to II the center point of support board to separate
The one end in II center of circle of support board gradually decreases；No.1 steering engine output shaft, support board I and the support board II concentrically line.
The control device is raspberry pie.
A kind of application method of the rotating disc type Automatic Track Finding coding identification floor truck, comprising the following steps:
(1) firstly, several coherent and not cross one another tracking black lines are drawn carrying region, with No. eight sensors and all the way
Subject to the width that sensor can identify, by shelf presence on the right side in trolley travelling direction, shelf are divided into warehousing area and code goods
Area's shelf are flat with three perpendicular with tracking black line are decorated between black line in the shelf and tracking of warehousing area and code goods area
The positioning black line of row arrangement；
(2) control device for opening, control device start running gear Zhong No. eight sensor, track tracking with black line and carry out vehicle
It is mobile；
(3) when running to warehousing area, near infrared sensor detects the shelf feedback signal in warehousing area, in conjunction with three group one of side
Road sensor carries out five positioning, manipulator face article, vehicle by the coding mode of three black line triads of identification
Stop；
(4) mechanical arm and scanning device starting, are scanned the coding of article on warehousing area shelf, the goods that then will have been scanned
Product are carried on rotation loading slot, while in the processor by the location information of scanning information, kinds of goods record；If before five positioning
Pick-and-place finishes article, and trolley continues tracking walking, without five positioning are completed, saves the feeding time；
(5) starting running gear is walked forward according to the track of tracking black line, when running to yard goods area, near infrared sensor
The shelf feedback signal for detecting yard goods area, in conjunction with three groups of side, sensor passes through three black line triads of identification all the way
Coding mode carry out five positioning, each manipulator face shelf frame, vehicle is out of service；
(6) mechanical arm and scanning device starting, are scanned the coding on code goods area shelf, then will be right therewith on support board
The kinds of goods answered are put into specified shelf by manipulator, carry and complete；
(7) in above-mentioned steps (2) and (5), during trolley tracks, if laser ranging obstacle avoidance sensor has detected obstacle
Object will carry out avoidance movement, i.e., left-hand rotation avoiding barrier and look for route to advance again, tracking be then proceeded to, if do not examined
It has measured barrier and has continued the operation that tracks；If five times position preceding article, pick-and-place is finished, and trolley continues tracking walking, without complete
Cheng Wuci positioning, saves the feeding time.
The beneficial effects of the present invention are: using three groups all the way sensor determined by way of triad coding
Position, does not need mechanical arm and rotates about the z axis, only makes mechanical arm and item to get product to just, then mechanical arm grabs object to front curve
Product bend backward placement article, to realize pick-and-place accurately technical effect, it is independent for positioning each time all, have higher
Fault-tolerance；Using rotation objective table, mechanical arm can realize that fixed point folds up, and rotary type carrying disk fixed point rotary simplifies mechanical arm
Moving line, so that structure is more stable；Control it is simpler, No.1 steering engine rotate every time before zero, effectively avoid rudder
The accumulation of machine dentition error；It is in order to generate centrifugal force when support board I rotates, so that placing that hang plate is provided in loading slot
Article in loading slot is adjacent to loading groove sidewall, to improve its locating effect.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is main view of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown, a kind of rotating disc type Automatic Track Finding coding identifies floor truck, including car body, running gear, positioning dress
It sets, grabbing device, identification device, control device, rotation objective table, the running gear, positioning device, grabbing device, knowledge
Other device, control device, rotation objective table are set on the car body, the control device respectively with running gear, fixed
Position device, grabbing device, identification device are connected.
The car body is equipped with sweep 9, and the running gear includes driving wheel 11, motor, the driving wheel 11
At least four, and it is uniformly distributed in 9 bottom of sweep, the driving wheel 11 includes the near front wheel, left rear wheel, off-front wheel
And off hind wheel, the motor include for driving the left driving motor of the near front wheel and left rear wheel rotation, for driving off-front wheel
With the right driving motor of off hind wheel rotation；Before making the near front wheel, left rear wheel and the right side by control left driving motor and right driving motor
Wheel, off hind wheel obtain different revolving speeds, and car body is allowed to carry out cornering operation.
The positioning device includes three groups of sensor 3, No. eight sensors 18, near infrared sensor and laser rangings all the way
Obstacle avoidance sensor 14, sensor 3 is set to the right side of sweep all the way for the near infrared sensor and three groups, and eight tunnels pass
Sensor 18 is set to 9 lower section of sweep, 9 middle position of sweep positioned at car body traffic direction front end, the laser ranging avoidance
Sensor 14 is set on the position corresponding with No. eight sensors 18 of 9 top of sweep.
The grabbing device includes manipulator 1, mechanical arm, and the manipulator 1 is connected with one end of mechanical arm, described
The other end of mechanical arm be connected with the sweep 9.
The mechanical arm includes inverted U connection frame I 6, U-shaped connection frame II 4, U-shaped connection frame III 3, inverted U connection frame IV
7, No. two steering engine 16, four of steering engine 15, three steering engines 17, connection straight-bar 5, No. two steering engines 15 are set to inverted U connection frame
On IV 7 upper surface, the lower end of the inverted U connection frame IV 7 is connected with sweep 9, and No. two steering engines 15 pass sequentially through
Inverted U connection frame I 6, connection straight-bar 5, U-shaped connection frame II 4 are connected with No. three steering engines 16, No. two steering engines 15 and No. three rudders
The output shaft of machine 16 is connected with two medial surfaces of inverted U connection frame I 6 and U-shaped connection frame II 4 respectively, the connection straight-bar 5
Both ends be connected respectively with the plane perpendicular of the upper surface of inverted U connection frame I 6 and U-shaped connection frame II 4, No. three rudders
Machine 16 is connected with the bottom surface of U-shaped connection frame III 3, and two of III 3 top of the output shaft of No. four steering engines 17 and U-shaped connection frame
Medial surface is connected, and the top of No. four steering engines 17 is connected with the manipulator 1；
The identification device 2 is set to the top of the manipulator 1；The identification device is scanning device, and described sweeps
Retouch the processor for being equipped with scanning chip in equipment and being connected with scanning chip.
Using three groups all the way sensor 3 positioned by way of triad coding, do not need mechanical arm about the z axis
Rotation only makes mechanical arm and item to get product to just, and then mechanical arm grabs article to front curve, bends backward placement article,
To realize pick-and-place accurately technical effect, it is independent for positioning each time all, there is higher fault-tolerance.
The rotation objective table includes No.1 steering engine, universal wheel 10, copper post 19, support board I 20 and support board II 21, institute
Stating support board I 20 and support board II 21 is disc, and the No.1 steering engine is set on the upper surface of the sweep 9, institute
The output shaft for the No.1 steering engine stated is connected with support board I 20, and the universal wheel 10 is set to I 20 lower section of support board, often
The distance between a universal wheel 10 and the No.1 steering engine output shaft are all the same, the lower end of the copper post 19 with it is described
I 20 upper surface of support board be connected, the top of the copper post 19 is connected with support board II 21, the copper post 19 be several
And be uniformly distributed around the center of circle of the support board I 20, the support board II 21 is equipped with several loading slots 12, in institute
Hang plate 13 is equipped in the loading slot 12 stated, the loading slot 12 is uniformly distributed around the center of circle of support board II 21, and described
The height of hang plate 13 gradually dropped from one end close to II 21 the center point of support board to far from the one end in II 21 center of circle of support board
It is low；No.1 steering engine output shaft, support board I 20 and the support board II 21 concentrically line；Using rotation objective table, mechanical arm can
Realize that fixed point folds up, rotary type carrying disk fixed point rotary simplifies the moving line of mechanical arm, so that structure is more stable；Control
Simpler, zero before No.1 steering engine rotates every time effectively avoids the accumulation of steering engine dentition error；Setting in loading slot 12
Hang plate 13 is in order to generate centrifugal force when support board I 20 rotates, so that the article being placed in loading slot 12 is adjacent to load
Object groove sidewall, to improve its locating effect.
The control device includes raspberry pie 8.
A kind of application method of the rotating disc type Automatic Track Finding coding identification floor truck, comprising the following steps:
(1) firstly, several coherent and not cross one another tracking black lines are drawn carrying region, with No. eight sensors 18 and one
Subject to the width that road sensor 3 can identify, by shelf presence on the right side in trolley travelling direction, shelf are divided into warehousing area and code
Goods area shelf, in the shelf and tracking of warehousing area and code goods area with being decorated with three perpendicular with tracking black line between black line
Positioning black line arranged in parallel；
(2) control device for opening, control device start running gear Zhong No. eight sensor 18, track tracking with black line and carry out vehicle
Movement；
(3) when running to warehousing area, near infrared sensor detects the shelf feedback signal in warehousing area, in conjunction with three group one of side
Road sensor carries out five positioning, 1 face article of manipulator, vehicle by the coding mode of three black line triads of identification
Stop；
(4) mechanical arm, rotation objective table and scanning device starting, are scanned the coding of article on warehousing area shelf, then
The kinds of goods scanned are carried on loading slot 12, while in the processor by the location information of scanning information, kinds of goods record, if
Pick-and-place finishes article before five positioning, and trolley continues tracking walking, positions without completing five times, saves the feeding time；
(5) starting running gear is walked forward according to the track of tracking black line, when running to yard goods area, near infrared sensor
The shelf feedback signal for detecting yard goods area, in conjunction with three groups of side all the way sensor 3 by three black lines of identification with three two into
The coding mode of system carries out five times and positions, each 1 face shelf frame of manipulator, and vehicle is out of service；
(6) mechanical arm, rotation objective table and scanning device starting, are scanned the coding on code goods area shelf, then will carry
Corresponding kinds of goods are put into specified shelf by manipulator 1 on object slot 12, carry and complete；
(7) in above-mentioned steps (2) and (5), during trolley tracks, if laser ranging obstacle avoidance sensor 14 has detected barrier
Hinder object, avoidance movement will be carried out, i.e., left-hand rotation avoiding barrier and look for route to advance again, tracking is then proceeded to, if do not had
Detect that barrier continues the operation that tracks；If five times position preceding article, pick-and-place is finished, and trolley continues tracking walking, without
Five positioning are completed, the feeding time is saved.
Claims (9)
1. a kind of rotating disc type Automatic Track Finding coding identifies floor truck, which is characterized in that including car body, running gear, positioning dress
It sets, grabbing device, identification device, control device, rotation objective table, the running gear, positioning device, grabbing device, knowledge
Other device, control device, rotation objective table are set on the car body, the control device respectively with running gear, fixed
Position device, grabbing device, identification device, rotation objective table are connected.
2. a kind of rotating disc type Automatic Track Finding coding as described in claim 1 identifies floor truck, which is characterized in that the vehicle
Body is equipped with sweep, and the running gear includes that driving wheel, motor, the driving wheel are at least four, and are uniformly distributed
In the sweep bottom, the driving wheel includes the near front wheel, left rear wheel, off-front wheel and off hind wheel, and the motor includes
Left driving motor for driving the near front wheel and left rear wheel to rotate, the right driving electricity for driving off-front wheel and off hind wheel to rotate
Machine.
3. a kind of rotating disc type Automatic Track Finding coding as claimed in claim 2 identifies floor truck, which is characterized in that described determines
Position device includes three groups of sensor, No. eight sensors, near infrared sensor and laser ranging obstacle avoidance sensors all the way, and described is close
Sensor is set to the right side of sweep all the way for infrared sensor and three groups, and No. eight sensors are set to below sweep, are located at
The sweep middle position of car body traffic direction front end, the laser ranging obstacle avoidance sensor are set to above sweep and pass with eight tunnels
On the corresponding position of sensor.
4. a kind of rotating disc type Automatic Track Finding coding as claimed in claim 3 identifies floor truck, which is characterized in that described grabs
Taking device includes manipulator, mechanical arm, and the manipulator is connected with one end of mechanical arm, the other end of the mechanical arm with
The sweep is connected.
5. a kind of rotating disc type Automatic Track Finding coding as claimed in claim 4 identifies floor truck, which is characterized in that the machine
Tool arm include inverted U connection frame I, U-shaped connection frame II, U-shaped connection frame III, IV, No. two steering engine of inverted U connection frame, No. three steering engines,
No. four steering engines, connection straight-bar, No. two steering engines are set on the upper surface of inverted U connection frame IV, the inverted U connection frame
IV lower end is connected with sweep, No. two steering engines pass sequentially through inverted U connection frame I, connection straight-bar, U-shaped connection frame II with
No. three steering engines are connected, the output shaft of No. two steering engines and No. three steering engines respectively with inverted U connection frame I and U-shaped connection frame II
Two medial surfaces be connected, the both ends of the described connection straight-bar respectively with the upper surface of inverted U connection frame I and U-shaped connection frame
II plane perpendicular is connected, and No. three steering engines are connected with the bottom surface of U-shaped connection frame III, the output shaft of No. four steering engines
It is connected with two medial surfaces of U-shaped III top of connection frame, the top of No. four steering engines 17 is connected with the manipulator 1；Institute
The identification device stated is set to the top of the manipulator 1.
6. a kind of rotating disc type Automatic Track Finding coding as claimed in claim 5 identifies floor truck, which is characterized in that the knowledge
Other device is set to the top of the manipulator, and the identification device is scanning device, is equipped with and sweeps in the scanning device
The processor retouching chip and being connected with scanning chip.
7. a kind of rotating disc type Automatic Track Finding coding as claimed in claim 6 identifies floor truck, which is characterized in that described turns
Dynamic object stage includes No.1 steering engine, universal wheel, copper post, support board I and support board II, and the support board I and support board II are
Disc, the No.1 steering engine are set on the upper surface of the sweep, the output shaft and support board I of the No.1 steering engine
Be connected, the universal wheel is set to I lower section of support board, each universal wheel and the No.1 steering engine output shaft it
Between distance it is all the same, the lower end of the copper post is connected with I upper surface of support board, the top of the copper post and load
Object plate II is connected, and the copper post is several and is uniformly distributed around the center of circle of the support board I, the support board II
Several loading slots are equipped with, hang plate is equipped in the loading slot, the loading slot surrounds the center of circle of support board II
Be uniformly distributed, and the height of the hang plate from one end close to II the center point of support board to far from II center of circle of support board one
End gradually decreases；No.1 steering engine output shaft, support board I and the support board II concentrically line.
8. such as a kind of described in any item rotating disc type Automatic Track Finding coding identification floor trucks of claim 1-7, which is characterized in that
The control device is raspberry pie.
9. a kind of application method of rotating disc type Automatic Track Finding coding identification floor truck as claimed in claim 8, feature exist
In, comprising the following steps:
(1) firstly, several coherent and not cross one another tracking black lines are drawn carrying region, with No. eight sensors and all the way
Subject to the width that sensor can identify, by shelf presence on the right side in trolley travelling direction, shelf are divided into warehousing area and code goods
Area's shelf are flat with three perpendicular with tracking black line are decorated between black line in the shelf and tracking of warehousing area and code goods area
The positioning black line of row arrangement；
(2) control device for opening, control device start running gear Zhong No. eight sensor, track tracking with black line and carry out vehicle
It is mobile；
(3) when running to warehousing area, near infrared sensor detects the shelf feedback signal in warehousing area, in conjunction with three group one of side
Road sensor carries out five positioning, manipulator face article, vehicle by the coding mode of three black line triads of identification
Stop；
(4) mechanical arm and scanning device starting, are scanned the coding of article on warehousing area shelf, the goods that then will have been scanned
Product are carried on rotation loading slot, while in the processor by the location information of scanning information, kinds of goods record；If before five positioning
Pick-and-place finishes article, and trolley continues tracking walking, without five positioning are completed, saves the feeding time；
(5) starting running gear is walked forward according to the track of tracking black line, when running to yard goods area, near infrared sensor
The shelf feedback signal for detecting yard goods area, in conjunction with three groups of side, sensor passes through three black line triads of identification all the way
Coding mode carry out five positioning, each manipulator face shelf frame, vehicle is out of service；
(6) mechanical arm and scanning device starting, are scanned the coding on code goods area shelf, then will be right therewith on support board
The kinds of goods answered are put into specified shelf by manipulator, carry and complete；
(7) in above-mentioned steps (2) and (5), during trolley tracks, if laser ranging obstacle avoidance sensor has detected obstacle
Object will carry out avoidance movement, i.e., left-hand rotation avoiding barrier and look for route to advance again, tracking be then proceeded to, if do not examined
It has measured barrier and has continued the operation that tracks；If five times position preceding article, pick-and-place is finished, and trolley continues tracking walking, without complete
Cheng Wuci positioning, saves the feeding time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910072630.2A CN109719729B (en) | 2019-01-25 | 2019-01-25 | Rotating disc type automatic tracing mark code identification carrying trolley and use method thereof |
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| CN201910072630.2A CN109719729B (en) | 2019-01-25 | 2019-01-25 | Rotating disc type automatic tracing mark code identification carrying trolley and use method thereof |
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| CN109719729B CN109719729B (en) | 2022-02-18 |
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| CN109719729B (en) | 2022-02-18 |
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