CN110182511A - A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle - Google Patents
A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle Download PDFInfo
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- CN110182511A CN110182511A CN201910392020.0A CN201910392020A CN110182511A CN 110182511 A CN110182511 A CN 110182511A CN 201910392020 A CN201910392020 A CN 201910392020A CN 110182511 A CN110182511 A CN 110182511A
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- pedestal
- warehouse trucks
- range unit
- distance
- warehouse
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Classifications
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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
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of steering deceleration device of intelligent storage vehicle and turning retarding methods, including pedestal, pedestal bottom end is equipped with travel-driving mechanism, the front and back end of pedestal is equipped with anticollision device, collision-prevention device and the first range unit, the left and right sides of pedestal and bottom end are mounted on the second range unit respectively and survey gauge device, the top of pedestal is equipped with mechanical hopper, mechanical hopper central is connected with assembling and disassembling manipulator by lifting rotation mechanism, trolley store in a warehouse in motion, open the first range unit, according to whether walking situation opens survey gauge device or the second range unit in orbit, storage trolley reach it is watchful apart from when reduce speed now, storage trolley reach turning apart from when start to turn, anticollision device, collision-prevention device can guarantee the integrity degree of material heap shape and warehouse trucks quality, it is wide that material grabs range, it is high-efficient, brake is stablized and safety, it is not required to Design program can determine whether bend type, can control warehouse trucks in time and slow down, turns and brake, at low cost.
Description
Technical field
The present invention relates to intelligent material conveying apparatus field, the steering deceleration device of specially a kind of intelligent storage vehicle and turn
Curved retarding method.
Background technique
As factory automation, computer integrated manufacturing system technology gradually develop and flexible manufacturing system, automation
The extensive use of tiered warehouse facility, intelligent material conveying equipment connect its operation as contacting and adjusting discrete type logistic management system
The necessary automated handling handling means of continuousization, application range and technical level have obtained swift and violent development.
Intelligent material conveying equipment includes AGV Intelligent transfer robot and AGV trolley, and main function concentrates on automatic logistics
Transhipment is removed, AGV Intelligent transfer robot is by special ground marker navigation automatically by goods transportation to designated place, most common to draw
It leads mode to guide for magnetic stripe, laser aiming, RFID guidance etc..
Mainly also pooled applications are in the carrying of manufacturing industry material for AGV transfer robot on the market, and AGV is in manufacturing industry application
In with its efficiently, accurately, flexibly complete material carrying task.And can more AGV form logistics handling systems flexible,
Transportation route can adjust in time with the adjustment of the technological process of production, make that ten several productions can be produced on a production line
Product substantially increase the flexibility of production and the competitiveness of enterprise.AGV is deep into machinery as basic handbarrow, the application of AGV
Multiple industries such as processing, household electrical appliances production, micro-electronic manufacturing, cigarette, production and processing field become the most widely used field AGV.
But existing intelligent storage vehicle has the following deficiencies:
(1) for warehouse trucks when transported material, that walks is not necessarily straight line or straight rail, if curved route, needs to set
Complicated carriage walking track program is counted, thus guarantee the stable transport of warehouse trucks, if warehouse trucks replacement route or replacement track,
The control system for then needing to redesign warehouse trucks compares consuming time and efforts, higher cost；
(2) there is no deceleration command before warehouse trucks turning, warehouse trucks turning is not slowed down, easily make warehouse trucks vibration or inclination, from
And easily pour out the material in warehouse trucks, to damage material, if fall on track can also be to the walking of warehouse trucks for material
Cause trouble and obstacle.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of steering deceleration device of intelligent storage vehicle and turns
Curved retarding method, anticollision device, collision-prevention device can reduce the impact force of warehouse trucks and material heap or barrier to ensure that material heap shape and
The integrity degree of warehouse trucks quality, material crawl range is wide, high-efficient, and brake is stablized and safety, and being not required to design program can determine whether
Bend type can control warehouse trucks in time and slow down, turns and brake, and at low cost, practicability is high, can effectively solve background skill
The problem of art proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle, including pedestal, the pedestal bottom end installation
There is travel-driving mechanism, the front-end and back-end of the pedestal are mounted on anticollision device, collision-prevention device and the first range unit, the pedestal
Left and right side is respectively mounted there are two the second range unit, and there are four the bottom end installations of the pedestal surveys gauge device, the bottom
The top of seat is equipped with mechanical hopper, and the machinery hopper central is connected with manipulator mounting base, institute by lifting rotation mechanism
It states and assembling and disassembling manipulator is installed in manipulator mounting base.
Further, the bottom end of the pedestal, which is also equipped with, is located at the preceding universal of travel-driving mechanism front-end and back-end
Wheel and rear universal wheel, the travel-driving mechanism includes two axletrees that pedestal bottom end is mounted on by bearing, two wheels
In the same horizontal line, and one end of axletree extends outside the base and is equipped with wheel the axis of axis, and the other end of axletree passes through
Gear drive is connected with direct current generator, and the top side of axletree is additionally provided with auxiliary brake mechanism.
Further, the pedestal bottom end is equipped with lower through rod slot, and the auxiliary brake mechanism includes being mounted on lower through rod slot
Interior electric telescopic rod, the electric telescopic rod bottom end are equipped with pulley by pulley base, are equipped with rubber on the outside of the pulley
Brake piece, the rubber brake piece are located at the top side of axletree.
Further, the anticollision device, collision-prevention device includes the Crashworthy plate that pan frontward end is mounted on by hinged shaft, the right end of Crashworthy plate
Section shape is in inverted L shape, and Crashworthy plate is connected by several buffer springs with pan frontward end face close to the side of pedestal
It connects.
Further, first range unit, the second range unit and survey gauge device are all made of miniature laser ranging
Instrument, the first range unit, the second range unit and survey gauge device are respectively connected with single-chip microcontroller, and the single-chip microcontroller is connected with control
Device, the laser pulse that the first range unit issues is vertical with the front end face of pedestal, and the second range unit is evenly distributed in pedestal
Left and right side, and two of them second laser range unit projects the laser beam parallel with chassis left side face forwards, separately
Two second laser range units rearward project the laser beam parallel with chassis left side face, four survey gauge device average marks
Cloth is on the bottom surface of pedestal, and the laser beam for surveying the transmitting of gauge device is parallel with base end face.
Further, the lifting rotation mechanism includes mechanical hopper inside center is fixed on by cylindrical jacket vertical
Oil cylinder, the vertical oil cylinder top are connected with force-bearing base, and the force-bearing base is interior to be equipped with shaft bar, the shaft bar by bearing
Top is fixed together with manipulator mounting base bottom center, and force-bearing base top passes through plane bearing and manipulator mounting base
It is connected, worm gear is installed on the outside of the shaft bar, the worm gear is engaged with worm screw, and the worm screw is connected with micromotor.
In addition, the present invention also provides a kind of turning retarding method of intelligent storage vehicle, the turning deceleration of warehouse trucks includes
Following steps:
On trapped orbit when driving, the first range unit and survey gauge device are opened, the second ranging for S100, storage trolley
Device is closed；
When walking on the ground of not track, the first range unit and the second range unit are opened for S200, storage trolley,
It closes and surveys gauge device；
S300, the second range unit or survey gauge device detect preceding object distance reach it is watchful apart from when,
Storage trolley reduce speed now, when the second range unit or survey gauge device detect preceding object with store in a warehouse trolley distance be less than
Turning apart from when, warehouse trucks start execute cornering operation.
Further, the step of storage turning in orbit is as follows:
During S101, warehouse trucks move forward in orbit, two survey gauge devices positioned at pan frontward end are opened,
Laser range finder constantly emits laser pulse forwards, while optoelectronic induction sensor receives laser, the place inside rangefinder
Device is managed to calculate laser two-way time and calculate the distance between warehouse trucks and bending track according to the light velocity and time；
S102, when measuring the distance between bending track and warehouse trucks greater than 4-5m, warehouse trucks drive at a constant speed in orbit；
S103, when measuring that distance is in 2-4m between bending track and warehouse trucks, be at this time watchful distance, rangefinder is to monolithic
Machine sends signal, and single-chip microcontroller, which sends control command to controller, makes warehouse trucks Reduced Speed Now；
S104, when measure the distance between bending track and warehouse trucks be 1-2m when, at this time be turning distance, single-chip microcontroller to
The controller of two motors sends different control signals respectively, accelerates a wheel, another wheel slows down, to make storehouse
Storage vehicle is turned on track.
Further, warehouse trucks turning includes turning left and turning right, the judgment method and turning turned left and turned right
Steps are as follows:
When S201, warehouse trucks move forward, surveys gauge device and project laser forwards, detection front bending track distance, two
The survey gauge device for projecting laser forward is located at the left and right side of universal wheel before warehouse trucks, and another two is reversed in warehouse trucks
The survey gauge device that traveling just starts is located at the left and right side of rear universal wheel, emits laser forward to measure bending track and warehouse trucks
The distance between when, since the survey gauge device in left side is different apart from bending track lateral distance from the survey gauge device on right side,
It can judge to turn or bend to right to the left apart from size according to what two survey gauge devices were measured；
S202, the front obstacle distance that the survey gauge device in left side measures are greater than the preceding object that gauge device is surveyed on right side
Object apart from when, illustrate that front track is to turn left track, warehouse trucks enter turning apart from when, single-chip microcontroller is by sending two
Difference control signal makes controller control left side wheel slow down, and right side wheels accelerate, so that warehouse trucks be made to turn to the left；
S203, the front obstacle distance that the survey gauge device in left side measures are less than the preceding object that gauge device is surveyed on right side
Object apart from when, illustrate that front track is to turn right track, warehouse trucks enter turning apart from when, single-chip microcontroller is by sending two
Difference control signal makes controller control right side wheels slow down, and left side wheel accelerates, so that warehouse trucks be made to bend to right.
Further, further include the automatic braking process of warehouse trucks, steps are as follows for self-actuating brake:
In motion, the first range unit of storage trolley front end constantly measures front obstacle for S301, storage trolley
Distance, when measuring barrier and warehouse trucks distance is less than 2-4m, single-chip microcontroller, which sends control command to controller, to be made to store in a warehouse
Vehicle first slows down；
S302, when measure barrier and warehouse trucks distance be less than or equal to 1m when, at this time store in a warehouse trolley reach brake
Distance, single-chip microcontroller, which sends control command to controller, brakes direct current generator, while extends electric telescopic rod, and rubber brake piece is opened
Beginning contact axletree stops wheel shaft rotation to reach brake to make the rotating inertia force of axletree be gradually reduced until stopping rotating
The purpose of vehicle.
Compared with prior art, the beneficial effects of the present invention are:
(1) warehouse trucks of the invention are after brake, and Crashworthy plate can be contacted first with barrier or material heap, and buffer spring will touch
It hits impact force and is converted into natural resiliency potential energy, thus greatly reduce the vibration of warehouse trucks and material heap and rock, ensure that object
The integrity degree of material heap shape and warehouse trucks quality.
(2) lifting rotation mechanism of the invention can make manipulator oscilaltion, so that manipulator be enable to grab different height
The material of degree, and manipulator can be made to rotate in the horizontal plane around vertical axis, so that manipulator be enable to grab positioned at warehouse trucks
The material in the multiple orientation in outside, crawl range is wide, and the rotation and lifting of manipulator can make manipulator be more nearly material, to contract
Short material grasping stroke substantially increases material crawl efficiency.
(3) auxiliary brake mechanism of the invention controls the contact of the rubber brake piece on the outside of pulley by electric telescopic rod elongation
And axletree is compressed to gradually decrease the inertia velocity of rotation of axletree, achieve the purpose that brake, rubber brake piece is supported in contact
Delaying unloading can rotate during wheel shaft, avoid the case where axletree is by brake piece locking, avoid warehouse trucks due to emergency brake
The case where material caused by vibration is thrown away is braked more stable safer.
(4) present invention is located at the second not ipsilateral range unit of universal wheel by two or surveys the measuring and calculating obstacle of gauge device
The different distance of object judges that bend turns left or turns right, so that warehouse trucks be made to make correct timely turning action, and is turning
Warehouse trucks Reduced Speed Now can be controlled before curved, thus ensure that warehouse trucks to stability, material transportation is more stable, and first
Range unit can measure terminal in time, carry the distance between starting point and warehouse trucks, so that single-chip microcontroller be made to send to controller
Slow down and brake signal, controller control motor slow down in time, then controller control auxiliary brake mechanism brakes in time, makes
Warehouse trucks brake is more stable.
(5) present invention has measured bending track type by survey gauge device, the second range unit, and can be made by signal transmitting
Single-chip microcontroller issues decelerating turn signal in time, so that the transported material for keeping warehouse trucks stable on track or ground, is not required to set
Complicated warehouse trucks run trace program is counted, warehouse trucks can also walk in more tracks, the cost and handling time of saving, real
It is wide with property.
Detailed description of the invention
Fig. 1 is whole schematic cross-sectional view of the invention；
Fig. 2 is auxiliary brake mechanism structure schematic diagram of the invention；
Fig. 3 is the enlarged structure schematic diagram of A in Fig. 1 of the invention；
Fig. 4 is that survey gauge device of the invention looks up distributed architecture schematic diagram on pedestal；
Fig. 5 is turning method flow chart of the invention.
Figure label:
1- pedestal；2- travel-driving mechanism；3- anticollision device, collision-prevention device；The first range unit of 4-；The second range unit of 5-；6- surveys rail
Away from device；7- machinery hopper；8- lifting rotation mechanism；9- auxiliary brake mechanism；
Universal wheel before 21-；Universal wheel after 22-；23- axletree；24- wheel；25- direct current generator；
31- hinged shaft；32- Crashworthy plate；33- buffer spring；
61- single-chip microcontroller；62- controller；
71- manipulator mounting base；72- assembling and disassembling manipulator；
81- cylindrical jacket；The vertical oil cylinder of 82-；83- force-bearing base；84- shaft bar；85- worm gear；86- worm screw；87- micro electric
Machine；
Through rod slot under 91-；92- electric telescopic rod；93- pulley；94- rubber brake piece.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 5, the present invention provides a kind of steering deceleration device of intelligent storage vehicle and turning deceleration sides
Method, including pedestal 1, pedestal 1 are in a rectangular shape, and bottom end is equipped with the mounting groove that can install travel-driving mechanism 2, pedestal
1 bottom end is equipped with travel-driving mechanism 2, and the bottom end of pedestal 1, which is also equipped with, is located at 2 front-end and back-end of travel-driving mechanism
Preceding universal wheel 21 and rear universal wheel 22, travel-driving mechanism 2 include two axletrees that 1 bottom end of pedestal is mounted on by bearing
23, the axis of two axletrees 23 in the same horizontal line, and is equipped with wheel 24 outside one end stretching pedestal 1 of axletree 23,
The other end of axletree 23 is connected with direct current generator 25 by gear drive.
Direct current generator 25 controls its revolving speed by controller 62, and direct current generator 25 drives axletree 23 to rotate, two direct currents
Machine 25 drives two axletrees 23 to rotate respectively, so that wheel 24 be made to rotate, any one universal wheel with two wheels 24
Axial connecting line forms an isosceles triangle, and two wheels 24 is made to drive warehouse trucks walking more stable.And warehouse trucks at the uniform velocity
The revolving speed of two direct current generators 25, steering and torque are all identical under driving status, guarantee warehouse trucks riding stability.It needs
When turning, controller 62 controls two 25 revolving speeds of direct current generator and generates rotational speed difference, warehouse trucks can be made to turn.
Control direct current generator 25 slows down, PWM governor, speed control principle can be used in starting and the controller 62 braked are as follows:
PWM governor switches on and off power supply according to a fixed frequency, and changes " on " in a cycle as needed and " break
Open " length of time, change the size of average voltage by changing the duty ratio of voltage on 25 armature of direct current generator, to control
The revolving speed of motor processed.By control single-deck and timer T0, T1 time, to realize P0.4, P0.5, P1.0, P1.1, P1.2 are produced
Raw pwm signal, the every interruption of timer successively, make the specified supervisor of single-chip microcontroller 61 according to output with conditions high level or low level, account for
Sky accounts for the percentage of a cycle overall pulse number than as high level pulse number.The voltage at a cycle loading motor both ends
It is pulse high-voltage multiplied by duty ratio, duty ratio is bigger, and voltage is bigger, and motor rotation is faster, and changing duty ratio can be obtained not
Same motor average speed, to achieve the purpose that speed regulation.
When warehouse trucks being needed to slow down, reduced by the quantity that single-chip microcontroller 61 controls high level, duty ratio reduces at this time, motor
Voltage reduces, so that direct current generator 25 be made to slow down, entire warehouse trucks is made to slow down.It needs to accelerate warehouse trucks, i.e. height-regulating motor electricity
Pressure duty ratio can make motor accelerate rotation.
Generally controlling direct current generator 25 by controller 62 and brake to reach makes warehouse trucks brake stop traveling, but direct current generator 25
Its shaft and non-locking after power-off, therefore wheel 24 can still be rotated due to rotator inertia, and trolley of storing in a warehouse still has forward
The inertia of displacement, therefore warehouse trucks can be made to knock the barrier of terminal without brake gear.
The top side of axletree 23 is additionally provided with auxiliary brake mechanism 9, and 1 bottom end of pedestal is equipped with lower through rod slot 91, auxiliary brake machine
Structure 9 includes the electric telescopic rod 92 being mounted in lower through rod slot 91, and 92 bottom end of electric telescopic rod is equipped with pulley by pulley base
93, rubber brake piece 94 is installed on the outside of pulley 93, rubber brake piece 94 is located at the top side of axletree 23.Warehouse trucks reach brake away from
From when, i.e. when the first range unit 4 measures warehouse trucks front end and is less than or equal to 1m apart from terminal barrier, single-chip microcontroller 61 is vertical
Control command is sent to controller 62, controller 62 controls electric telescopic rod 92 and extends, to make rubber brake piece 94 close to simultaneously
It is attached to the side of axletree 23, so that the revolving speed of axletree 23 is reduced by frictional force, with the contact friction of rubber brake piece 94
Power increases, and rotates the inertia of axletree 23 slower and slower, until stopping, reaching the purpose of brake.
Preferably, auxiliary brake mechanism 9 is extended by electric telescopic rod 92 to control the rubber brake piece in 93 outside of pulley
94 contact and compress axletree 23, to gradually decrease the inertia velocity of rotation of axletree 23, achieve the purpose that brake, make to store in a warehouse
Vehicle brake deceleration is more stable, and rubber brake piece 94 can rotate during contact compresses axletree 23, avoid axletree
23 by brake piece locking the case where, avoid the case where material caused by warehouse trucks are vibrated because of emergency brake is thrown away, brake is more pacified
Entirely.
The front-end and back-end of pedestal 1 are mounted on anticollision device, collision-prevention device 3 and the first range unit 4, and anticollision device, collision-prevention device 3 includes passing through hinge
Axis 31 is mounted on the Crashworthy plate 32 of 1 front end of pedestal, and the right end section shape of Crashworthy plate 32 is in inverted L shape, and Crashworthy plate 32
Side close to pedestal 1 is connected by several buffer springs 33 with 1 front end face of pedestal.
Preferably, after warehouse trucks brake, warehouse trucks still have the possibility for knocking barrier or material heap, but Crashworthy plate
32 design reduces the injury hit to material heap and warehouse trucks, because before warehouse trucks and barrier or material heap are hit,
Crashworthy plate 32 is contacted with barrier or material heap first, and Crashworthy plate 32 can be rotated around hinged shaft 31 and side is equipped with spring, because
This impact force is most of to be absorbed the elastic potential energy for becoming spring by buffer spring 33, rigid collision power is greatly reduced, to protect
The stabilization of the neat and warehouse trucks of material heap is demonstrate,proved.
The left and right side of pedestal 1 is respectively mounted there are two the second range unit 5, and there are four the bottom end installations of pedestal 1 surveys rail
Away from device 6, the first range unit 4, the second range unit 5 and survey gauge device 6 are all made of miniature laser rangefinder, laser ranging
Instrument passes through mounting shell and is mounted on base side, and mounting shell side, which is equipped with, allows laser to pass through and receive reflected laser
Hole, the laser pulse that the first range unit 4 issues is vertical with the front end face of pedestal 1, and the height of the first range unit 4 is than second
Range unit 5 and the height for surveying gauge device 6 are intended to height, default the height of terminal or starting point barrier than surveying 6 He of gauge device
The height of second range unit 5 is high, and such second range unit 5 and survey gauge device 6 will not detect that beginning or end hinders
Hinder object, can preferably judge that warehouse trucks need to brake or turn, so that make order assigns more accurate and effective.
Second range unit 5 is evenly distributed in the left and right side of pedestal 1, and two of them second laser range unit 5
The laser beam parallel with 1 left side of pedestal is projected forwards, and another two second laser range unit 5 rearward projects and pedestal
The parallel laser beam in 1 left side.Four survey gauge devices 6 are evenly distributed on the bottom surface of pedestal 1, and are surveyed gauge device 6 and sent out
The laser beam penetrated is parallel with 1 bottom surface of pedestal, the survey gauge device when warehouse trucks move forward, positioned at preceding 21 two sides of universal wheel
6 periodically emit laser pulse to warehouse trucks front incessantly.Warehouse trucks rearward when driving, are located at 22 liang of rear universal wheel
The survey rail device 6 of side rearward emits laser pulse.
It need to remark additionally, the laser pulse of all range unit transmittings is mutually parallel, and all laser pulses are equal
Vertical with axletree 23, i.e. the preceding line direction of the direction of the launch and warehouse trucks of laser pulse is always consistent, and laser pulse is not
It can be stopped by pedestal 1 or warehouse trucks side, survey gauge device 6 measurements the distance between bending track sides and warehouse trucks, second surveys
Distance between barrier and warehouse trucks away from 5, device measurement storage trolley sides, first surveys 4 measurements storage garages of rail device
The beginning and end sailed is at a distance from warehouse trucks.
First range unit 4, the second range unit 5 and survey gauge device 6 are respectively connected with single-chip microcontroller 61, and single-chip microcontroller 61 connects
There is controller 62, controller 62 includes DC motor controller, oil cylinder controller, electric expansion rod controller, micromotor control
Device and Manipulator Controller processed can successively control motor, telescopic rod, oil cylinder and manipulator, to make each device of warehouse trucks
Successively acted, the crawl of cooperation completion material, the transport of material and the unloading of material and etc., reach the mesh of intelligent transport
's.
The step of range unit and the cooperation of single-chip microcontroller 61 control warehouse trucks deceleration, turning and brake intelligent storehouse as detailed below
Store up the turning retarding method of vehicle.
The top of pedestal 1 is equipped with mechanical hopper 7, and mechanical 7 center of hopper is connected with manipulator by lifting rotation mechanism 8
Mounting base 71 is equipped with assembling and disassembling manipulator 72 in manipulator mounting base 71.Assembling and disassembling manipulator 72 can not only stretch out outside mechanical hopper 7
And pick and place material clamp into mechanical hopper 7, material can also be pressed from both sides out from mechanical hopper 7 and be put into stock place, there is charging and unload
The dual function of material.
Lifting rotation mechanism 8 includes the vertical oil cylinder 82 that mechanical 7 inside center of hopper is fixed on by cylindrical jacket 81, is erected
Straight 82 top of oil cylinder is connected with force-bearing base 83, and force-bearing base 83 is interior to be equipped with shaft bar 84,84 top of shaft bar and machine by bearing
71 bottom center of tool hand mounting base is fixed together, and 83 top of force-bearing base passes through plane bearing and 7 phase of manipulator mounting base
Connection, plane bearing and force-bearing base 83 take the weight of manipulator and manipulator mounting base 71 together, so that manipulator be made to install
The rotation of seat 71 in the horizontal plane is more easily stablized.Worm gear 85 is installed on the outside of shaft bar 84, worm gear 85 is engaged with worm screw 86,
Worm screw 86 is connected with micromotor 87.
Lifting rotation mechanism 8 can make manipulator up and down and rotate in the horizontal plane, and steps are as follows:
When manipulator needs to adjust height and angle, vertical oil cylinder 82, which first starts, rises or falls manipulator, so
The pause of oil cylinder 82 starting, micromotor 87 start afterwards, and micromotor 87 drives worm screw 86 to rotate by output shaft, and worm screw 86 drives
Worm gear 85 slowly rotates, and slowing effect is played, to make manipulator slowly be stably rotated on force-bearing base 83, to reach
It adjusts manipulator crawl direction and grabs the effect of height, so that manipulator is more nearly material to be captured, and manipulator can revolve
Multiple angle crawl materials are gone to, not needing warehouse trucks steering can be such that the material positioned at warehouse trucks multiple directions is crawled,
It is wide to grab range, substantially increases the crawl material efficiencies of assembling and disassembling manipulator 72.It need to remark additionally, storage of the invention is small
Interior circuit module uses built-in replaceable storage battery power supply, battery can to motor, oil cylinder and control system and
Manipulator power supply avoids complicated external circuit design, and battery is detachable and replaces, dismountable on battery and battery truck
Battery is similar, also removably charges, and battery is connected with not enough power supply alarm set, will be electric when accumulator electric-quantity deficiency
It measures insufficient battery to remove, changes the battery charged in external environment, the charging time of warehouse trucks can be saved, reduce storehouse
The time that storage vehicle delays, to improve the handling efficiency of warehouse trucks.
In addition, the present invention also provides a kind of turning retarding method of intelligent storage vehicle, the turning deceleration of warehouse trucks includes
Following steps:
On trapped orbit when driving, the first range unit and survey gauge device are opened, and second surveys for step 1, storage trolley
It is closed away from device, the step of turning in orbit of storing in a warehouse is as follows:
During step 11, warehouse trucks move forward in orbit, two survey gauge devices positioned at pan frontward end are opened
It opens, laser range finder constantly emits laser pulse forwards, while optoelectronic induction sensor receives laser, inside rangefinder
Processor calculates laser two-way time and calculates the distance between warehouse trucks and bending track according to the light velocity and time；
Step 12, when measuring the distance between bending track and warehouse trucks greater than 4-5m, warehouse trucks drive at a constant speed in orbit；
Step 13, when measuring that distance is in 2-4m between bending track and warehouse trucks, be at this time watchful distance, rangefinder is to list
Piece machine sends signal, and single-chip microcontroller, which sends control command to controller, makes warehouse trucks Reduced Speed Now；
Step 14, when measure the distance between bending track and warehouse trucks be 1-2m when, at this time be turning distance, single-chip microcontroller
It sends different control signals respectively to the controller of two motors, accelerates a wheel, another wheel slows down, to make
Warehouse trucks are turned on track.
When walking on the ground of not track, the first range unit and the second range unit are opened for step 2, storage trolley
It opens, closes and survey gauge device；
Step 3, the second range unit or survey gauge device detect preceding object distance reach it is watchful apart from when,
Storage trolley reduce speed now, when the second range unit or survey gauge device detect preceding object with store in a warehouse trolley distance be less than
Turning apart from when, warehouse trucks start execute cornering operation.
Warehouse trucks turning include turn left and turn right, turn left and turn right judgment method be suitble to rail warehouse trucks and
Trackless warehouse trucks, i.e. warehouse trucks are walked in orbit and walking can be turned using following turning steps on the ground,
Steps are as follows for left-hand bend and the judgment method turned right and turning:
When step 21, warehouse trucks move forward, surveys gauge device and project laser forwards, detection front bending track distance, two
A survey gauge device for projecting laser forward is located at the left and right side of universal wheel before warehouse trucks, and another two is anti-in warehouse trucks
The survey gauge device just started to traveling is located at the left and right side of rear universal wheel, emits laser forward to measure bending track and storage
When the distance between vehicle, due to left side survey gauge device and the survey gauge device on right side apart from bending track lateral distance it is different (if
Warehouse trucks are walked on trackless ground, then second range unit in left side and second range unit on right side are apart from curve barrier
Distance it is different), therefore can according to two survey that gauge device (the second range unit) measure judge to be to the left apart from size
Turning still bends to right；
Step 22, the front obstacle distance that the survey gauge device in left side measures are greater than the front barrier that gauge device is surveyed on right side
Hinder object apart from when, illustrate that front track is to turn left track, warehouse trucks enter turning apart from when, i.e., two survey gauge devices
Or two the second range units, when detecting that the distance between front obstacle and warehouse trucks are in 1-2m, single-chip microcontroller passes through hair
Send two different control signals that controller control left side wheel is made to slow down, right side wheels accelerate, so that warehouse trucks be made to turn to the left；
Step 23, the front obstacle distance that the survey gauge device in left side measures are less than the front barrier that gauge device is surveyed on right side
Hinder object apart from when, illustrate that front track is to turn right track, warehouse trucks enter turning apart from when, i.e., two survey gauge devices
Or two the second range units, when detecting that the distance between front obstacle and warehouse trucks are in 1-2m, single-chip microcontroller passes through hair
Send two different control signals that controller control right side wheels is made to slow down, left side wheel accelerates, so that warehouse trucks be made to bend to right.
Preferably, it is located at the second not ipsilateral range unit of universal wheel by two or surveys the measuring and calculating obstacle of gauge device
The different distance of object judges that bend turns left or turns right, so that warehouse trucks be made to make correct timely turning action, and is turning
Warehouse trucks Reduced Speed Now can be controlled before curved, thus ensure that warehouse trucks to stability, material transportation is more stable.
Further include the automatic braking process of warehouse trucks, steps are as follows for self-actuating brake:
In motion, the first range unit of storage trolley front end constantly measures preceding object for step 31, storage trolley
Object distance, when measuring barrier and warehouse trucks distance is less than 2-4m, single-chip microcontroller, which sends control command to controller, makes storehouse
Storage vehicle first slows down；
Step 32, when measure barrier and warehouse trucks distance be less than or equal to 1m when, at this time store in a warehouse trolley reach stop
Vehicle distance, single-chip microcontroller, which sends control command to controller, brakes direct current generator, while extends electric telescopic rod, rubber brake piece
Starting contact axletree stops wheel shaft rotation to reach to make the rotating inertia force of axletree be gradually reduced until stopping rotating
The purpose of brake.
First range unit can measure terminal in time, carry the distance between starting point and warehouse trucks, to make single-chip microcontroller
Deceleration and brake signal are sent to controller, controller control motor slows down in time, and then controller controls auxiliary brake machine
Structure brakes in time, keeps warehouse trucks brake more stable.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of steering deceleration device of intelligent storage vehicle, including pedestal (1), it is characterised in that: pedestal (1) the bottom end installation
Have travel-driving mechanism (2), the front-end and back-end of the pedestal (1) are mounted on anticollision device, collision-prevention device (3) and the first range unit
(4), the left and right side of the pedestal (1) is respectively mounted there are two the second range unit (5), and the bottom end of the pedestal (1) is installed
There are four gauge device (6) are surveyed, the top of the pedestal (1) is equipped with mechanical hopper (7), and machinery hopper (7) center is logical
It crosses lifting rotation mechanism (8) to be connected with manipulator mounting base (71), loading mechanization is installed on the manipulator mounting base (71)
Hand (72).
2. a kind of steering deceleration device of intelligent storage vehicle according to claim 1, it is characterised in that: the pedestal (1)
Bottom end be also equipped with the preceding universal wheel (21) and rear universal wheel (22) for being located at travel-driving mechanism (2) front-end and back-end,
The travel-driving mechanism (2) includes two axletrees (23) that pedestal (1) bottom end is mounted on by bearing, two axletrees
(23) axis in the same horizontal line, and is equipped with wheel (24), axletree outside one end stretching pedestal (1) of axletree (23)
(23) the other end is connected with direct current generator (25) by gear drive, and the top side of axletree (23) is additionally provided with auxiliary brake
Mechanism (9).
3. a kind of steering deceleration device of intelligent storage vehicle according to claim 2, it is characterised in that: the pedestal (1)
Bottom end is equipped with lower through rod slot (91), and the auxiliary brake mechanism (9) includes the electric telescopic rod being mounted in lower through rod slot (91)
(92), electric telescopic rod (92) bottom end is equipped with pulley (93) by pulley base, is equipped with rubber on the outside of the pulley (93)
Glue brake piece (94), the rubber brake piece (94) are located at the top side of axletree (23).
4. a kind of steering deceleration device of intelligent storage vehicle according to claim 1, it is characterised in that: the anticollision device, collision-prevention device
It (3) include the Crashworthy plate (32) that pedestal (1) front end is mounted on by hinged shaft (31), the right end section shape of Crashworthy plate (32) is in
The L shape set, and Crashworthy plate (32) passes through several buffer springs (33) and pedestal (1) front end face phase close to the side of pedestal (1)
Connection.
5. a kind of steering deceleration device of intelligent storage vehicle according to claim 1, it is characterised in that: first ranging
It device (4), the second range unit (5) and surveys gauge device (6) and is all made of miniature laser rangefinder, the first range unit (4), the
Two range units (5) and survey gauge device (6) are respectively connected with single-chip microcontroller (61), and the single-chip microcontroller (61) is connected with controller
(62), the laser pulse that the first range unit (4) issues is vertical with the front end face of pedestal (1), the second range unit (5) average mark
Cloth pedestal (1) left and right side, and two of them second laser range unit (5) project forwards with pedestal (1) on the left of
The parallel laser beam in face, another two second laser range unit (5) rearward project the laser parallel with pedestal (1) left side
Light beam, four survey gauge devices (6) are evenly distributed on the bottom surface of pedestal (1), and survey the laser beam of gauge device (6) transmitting
It is parallel with pedestal (1) bottom surface.
6. a kind of steering deceleration device of intelligent storage vehicle according to claim 1, it is characterised in that: the lifting rotation
Mechanism (8) includes the vertical oil cylinder (82) that mechanical hopper (7) inside center is fixed on by cylindrical jacket (81), the vertical oil
Cylinder (82) top is connected with force-bearing base (83), is equipped with shaft bar (84), the shaft by bearing in the force-bearing base (83)
Bar (84) top is fixed together with manipulator mounting base (71) bottom center, and force-bearing base (83) top passes through plane bearing
It is connected with manipulator mounting base (7), is equipped with worm gear (85) on the outside of the shaft bar (84), the worm gear (85) is engaged with snail
Bar (86), the worm screw (86) are connected with micromotor (87).
7. a kind of turning retarding method of intelligent storage vehicle, it is characterised in that: the turning deceleration of warehouse trucks includes the following steps:
On trapped orbit when driving, the first range unit and survey gauge device are opened, the second range unit for S100, storage trolley
It closes；
When walking on the ground of not track, the first range unit and the second range unit are opened for S200, storage trolley, are closed
Survey gauge device；
S300, the second range unit or survey gauge device detect preceding object distance reach it is watchful apart from when, storage
Trolley reduces speed now, and turns when detecting that preceding object and storage trolley distance are less than in the second range unit or survey gauge device
Apart from when, warehouse trucks start execute cornering operation.
8. a kind of turning retarding method of intelligent storage vehicle according to claim 7, it is characterised in that: the storage is in-orbit
The step of turning on road is as follows:
During S101, warehouse trucks move forward in orbit, two survey gauge devices positioned at pan frontward end are opened, laser
Rangefinder constantly emits laser pulse forwards, while optoelectronic induction sensor receives laser, the processor inside rangefinder
It calculates laser two-way time and the distance between warehouse trucks and bending track is calculated according to the light velocity and time；
S102, when measuring the distance between bending track and warehouse trucks greater than 4-5m, warehouse trucks drive at a constant speed in orbit；
S103, when measuring that distance is in 2-4m between bending track and warehouse trucks, be at this time watchful distance, rangefinder is sent out to single-chip microcontroller
The number of delivering letters, single-chip microcontroller, which sends control command to controller, makes warehouse trucks Reduced Speed Now；
S104, when measure the distance between bending track and warehouse trucks be 1-2m when, at this time be turning distance, single-chip microcontroller is to two
The controller of motor sends different control signals respectively, accelerates a wheel, another wheel slows down, to make warehouse trucks
It turns on track.
9. a kind of turning retarding method of intelligent storage vehicle according to claim 8, it is characterised in that: warehouse trucks turning packet
Left-hand bend and right-hand bend are included, steps are as follows for left-hand bend and the judgment method turned right and turning:
When S201, warehouse trucks move forward, surveys gauge device and project laser forwards, detection front bending track distance, two forward
The survey gauge device for projecting laser is located at the left and right side of universal wheel before warehouse trucks, and another two is in warehouse trucks backward going
The survey gauge device just started is located at the left and right side of rear universal wheel, emits laser forward to measure between bending track and warehouse trucks
Apart from when, can root since the survey gauge device in left side is different apart from bending track lateral distance from the survey gauge device on right side
It turns or bends to right to the left to judge apart from size according to what two survey gauge devices were measured；
S202, the front obstacle distance that the survey gauge device in left side measures are greater than the preceding object object distance that gauge device is surveyed on right side
From when, illustrate that front track is to turn left track, warehouse trucks enter turning apart from when, single-chip microcontroller is by sending two differences
Control signal makes controller control left side wheel slow down, and right side wheels accelerate, so that warehouse trucks be made to turn to the left；
S203, the front obstacle distance that the survey gauge device in left side measures are less than the preceding object object distance that gauge device is surveyed on right side
From when, illustrate that front track is to turn right track, warehouse trucks enter turning apart from when, single-chip microcontroller is by sending two differences
Control signal makes controller control right side wheels slow down, and left side wheel accelerates, so that warehouse trucks be made to bend to right.
10. a kind of turning retarding method of intelligent storage vehicle according to claim 7, it is characterised in that: further include storage
The automatic braking process of vehicle, steps are as follows for self-actuating brake:
In motion, the first range unit of storage trolley front end constantly measures front obstacle distance for S301, storage trolley,
When measuring barrier and warehouse trucks distance is less than 2-4m, single-chip microcontroller, which sends control command to controller, subtracts warehouse trucks first
Speed；
S302, when measure barrier and warehouse trucks distance be less than or equal to 1m when, at this time store in a warehouse trolley reach braking distance,
Single-chip microcontroller, which sends control command to controller, brakes direct current generator, while extends electric telescopic rod, and rubber brake piece starts to connect
Touching axletree stops wheel shaft rotation to reach brake to make the rotating inertia force of axletree be gradually reduced until stopping rotating
Purpose.
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| CN110930848A (en) * | 2019-12-17 | 2020-03-27 | 中国安全生产科学研究院 | Movable fire source device for tunnel fire test |
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