CN110182511A - A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle - Google Patents

Abstract

The invention discloses a steering deceleration device and a turning deceleration method for an intelligent storage vehicle, which comprises a base, a traveling drive mechanism is installed at the bottom of the base, an anti-collision device and a first distance measuring device are installed at the front and rear ends of the base, and the left and right sides of the base are The second distance measuring device and the gauge measuring device are respectively installed at the bottom end and the bottom end of the base. A mechanical hopper is installed on the top of the base. The center of the mechanical hopper is connected with a loading and unloading manipulator through a lifting and rotating mechanism. , turn on the track gauge device or the second distance measuring device according to whether it is walking on the track, the storage trolley starts to decelerate when it reaches the warning distance, and the storage trolley starts to turn when it reaches the turning distance. The anti-collision device can ensure the shape of the material pile and the storage vehicle Integrity of quality, wide range of material grabbing, high efficiency, stable and safe braking, no need to design programs to determine the type of curve, and timely control of deceleration, turning and braking of storage vehicles, with low cost.

Description

A steering deceleration device and a turning deceleration method for an intelligent storage vehicle

technical field

The invention relates to the field of intelligent material handling equipment, in particular to a steering deceleration device and a turning deceleration method for an intelligent storage vehicle.

Background technique

With the gradual development of factory automation, computer integrated manufacturing system technology, and the wide application of flexible manufacturing systems and automated three-dimensional warehouses, intelligent material handling equipment is used as a necessary means of automatic handling and handling to connect and adjust discrete logistics management systems to make their operations continuous. Its application scope and technical level have been developed rapidly.

Intelligent material handling equipment includes AGV intelligent handling robots and AGV trolleys. The main functions focus on automatic logistics handling and transfer. AGV intelligent handling robots automatically transport items to designated locations through special landmark navigation. The most common guidance methods are magnetic strip guidance, laser Guidance, RFID guidance, etc.

The AGV handling robots on the market are mainly used in the handling of materials in the manufacturing industry. In the application of the manufacturing industry, the AGV can complete the handling tasks of materials efficiently, accurately and flexibly. Moreover, multiple AGVs can form a flexible logistics handling system, and the handling route can be adjusted in time with the adjustment of the production process, so that more than a dozen products can be produced on one production line, which greatly improves the flexibility of production and the competitiveness of enterprises. AGV is used as a basic handling tool. The application of AGV has penetrated into many industries such as machining, home appliance production, microelectronics manufacturing, and cigarettes. The field of production and processing has become the most widely used field of AGV.

However, the existing intelligent warehouse vehicles have the following defects:

(1) When the storage vehicle transports materials, it does not necessarily follow a straight line or a straight track. If it is a curved route, it is necessary to design a complex trolley trajectory program to ensure the stable transportation of the storage vehicle. If the storage vehicle changes the route or replaces track, it is necessary to redesign the control system of the storage vehicle, which is time-consuming and energy-consuming, and the cost is high;

(2) There is no deceleration command before the storage vehicle turns. If the storage vehicle does not decelerate when turning, it is easy to cause the storage vehicle to vibrate or tilt, so that the materials in the storage vehicle are easy to dump, thus damaging the material. If the material falls on the track, it will still It will cause trouble and obstacles to the walking of the storage truck.

Contents of the invention

In order to overcome the deficiencies of the existing technical solutions, the present invention provides a steering deceleration device and a turning deceleration method for an intelligent storage vehicle. Integrity of car quality, wide range of material grabbing, high efficiency, stable and safe braking, judgment of curve type without designing programs, timely control of deceleration, turning and braking of storage cars, low cost, high practicability, It can effectively solve the problems raised by the background technology.

The technical solution adopted by the present invention to solve its technical problems is:

A steering deceleration device and a turning deceleration method for an intelligent storage vehicle, including a base, a driving mechanism is installed at the bottom end of the base, an anti-collision device and a first distance measuring device are installed at the front end and the rear end of the base, and the Two second distance measuring devices are installed on the left and right sides of the base, four gauge measuring devices are installed on the bottom of the base, a mechanical hopper is installed on the top of the base, and the center of the mechanical hopper passes through the The lifting and rotating mechanism is connected with a manipulator mounting base, and a loading and unloading manipulator is installed on the manipulator mounting base.

Further, the bottom end of the base is also equipped with front universal wheels and rear universal wheels respectively located at the front end and rear end of the travel drive mechanism. The travel drive mechanism includes two wheel axles installed on the bottom end of the base through bearings. The axes of the two wheel shafts are on the same horizontal line, and one end of the wheel shaft stretches out of the base to install a wheel, the other end of the wheel shaft is connected with a DC motor through a gear transmission mechanism, and the top side of the wheel shaft is also provided with an auxiliary brake mechanism.

Further, the bottom end of the base is provided with a lower rod groove, and the auxiliary brake mechanism includes an electric telescopic rod installed in the lower rod groove, and the bottom end of the electric telescopic rod is equipped with a pulley through a pulley seat, and the outer side of the pulley is A rubber brake pad is installed, and the rubber brake pad is located on the top side of the wheel axle.

Further, the anti-collision device includes an anti-collision plate mounted on the front end of the base through a hinge shaft, the cross-sectional shape of the right end of the anti-collision plate is an inverted "L" shape, and the side of the anti-collision plate close to the base is connected with a number of buffer springs. The front faces of the bases are connected.

Further, the first distance measuring device, the second distance measuring device and the track distance measuring device all adopt a miniature laser range finder, and the first distance measuring device, the second distance measuring device and the track distance measuring device are all connected with a single-chip microcomputer, The single-chip microcomputer is connected with a controller, and the laser pulses emitted by the first distance measuring device are perpendicular to the front face of the base, and the second distance measuring devices are evenly distributed on the left and right sides of the base, and two of the second laser distance measuring devices A laser beam parallel to the left side of the base is emitted forward, and the other two second laser distance measuring devices emit laser beams parallel to the left side of the base backward, and the four track distance measuring devices are evenly distributed on the bottom surface of the base, and The laser beam emitted by the track gauge device is parallel to the bottom surface of the base.

Further, the lifting and rotating mechanism includes a vertical oil cylinder fixed in the center of the mechanical hopper through a cylindrical sheath, the top of the vertical oil cylinder is connected with a bearing seat, and a rotating shaft rod is installed in the bearing seat through a bearing, The top of the rotating shaft rod is fixedly connected with the center of the bottom end of the manipulator mounting base, the top end of the bearing seat is connected with the manipulator mounting base through a plane bearing, a worm wheel is installed on the outside of the rotating shaft rod, and the worm gear is engaged with a worm, and the worm A micro motor is connected.

In addition, the present invention also provides a turning deceleration method of an intelligent storage vehicle. The turning deceleration of the storage vehicle includes the following steps:

S100. When the storage trolley is running on the fixed track, the first distance measuring device and the track gauge device are turned on, and the second distance measuring device is turned off;

S200. When the storage trolley walks on the ground without tracks, the first distance measuring device and the second distance measuring device are turned on, and the track distance measuring device is turned off;

S300. When the second distance measuring device or the track distance measuring device detects that the distance of the obstacle in front reaches the warning distance, the storage trolley starts to decelerate. When the turning distance is reached, the storage vehicle starts to perform the turning operation.

Further, the steps of turning the warehouse on the track are as follows:

S101. When the storage vehicle is moving forward on the track, the two gauge devices located at the front end of the base are turned on, and the laser rangefinder continuously emits laser pulses forward. The processor calculates the round-trip time of the laser and calculates the distance between the storage vehicle and the curved track according to the speed of light and time;

S102, when the measured distance between the curved rail and the storage vehicle is greater than 4-5m, the storage vehicle runs at a constant speed on the track;

S103, when the distance between the curved track and the storage vehicle is measured within 2-4m, it is the alert distance, the distance meter sends a signal to the single-chip microcomputer, and the single-chip microcomputer sends a control command to the controller to make the storage vehicle slow down;

S104, when the distance between the curved track and the warehouse car is measured to be 1-2m, it is the turning distance at this time, and the single-chip microcomputer sends different control signals to the controllers of the two motors to accelerate one wheel and accelerate the other wheel Slow down so that the truck turns on the track.

Further, the turning of the storage vehicle includes left turning and right turning, and the judging method and turning steps of the left turning and right turning are as follows:

S201. When the storage vehicle is moving forward, the gauge measuring device emits laser light forward to detect the distance of the curved rail ahead. The two gauge measuring devices that emit laser light forward are respectively located on the left and right sides of the front universal wheel of the storage vehicle. The other two track gauge devices, which are activated only when the storage vehicle is running in the reverse direction, are located on the left and right sides of the rear universal wheels. The distance between the track gauge device and the gauge gauge device on the right is different from the side of the curved rail, so it can be judged whether to turn left or right according to the distance measured by the two gauge gauge devices;

S202. When the distance of the obstacle in front measured by the left gauge measuring device is greater than the distance of the obstacle ahead of the right gauge measuring device, it means that the track ahead is a left turn track. When the storage vehicle enters the turning distance, the single chip microcomputer sends Two different control signals make the controller control the left wheel to decelerate and the right wheel to accelerate, so that the storage vehicle turns left;

S203. When the distance of the obstacle ahead measured by the left gauge measuring device is smaller than the distance of the obstacle ahead of the right gauge measuring device, it means that the track ahead is a right-turning track. Two different control signals make the controller control the right wheel to decelerate and the left wheel to accelerate, so that the storage vehicle turns right.

Further, it also includes the automatic braking process of the storage vehicle, and the automatic braking steps are as follows:

S301. When the storage trolley is running, the first distance measuring device at the front end of the storage trolley continuously measures the distance of the obstacle in front. When the measured distance between the obstacle and the storage trolley is less than 2-4m, the single-chip microcomputer sends a control command to the controller to make the storage trolley The car slows down first;

S302. When the measured distance between the obstacle and the storage vehicle is less than or equal to 1m, the storage trolley reaches the braking distance at this time, the single-chip microcomputer sends a control command to the controller to brake the DC motor, and at the same time make the electric telescopic rod stretch, and the rubber brake pads start Contacting the wheel shaft prevents the wheel shaft from rotating, so that the rotational inertia force of the wheel shaft gradually decreases until it stops rotating, achieving the purpose of braking.

Compared with prior art, the beneficial effect of the present invention is:

(1) After the storage vehicle of the present invention is braked, the anti-collision plate can first contact with the obstacle or the material pile, and the buffer spring converts the collision impact force into its own elastic potential energy, thereby greatly reducing the vibration and shaking of the storage vehicle and the material pile , to ensure the integrity of the shape of the material pile and the quality of the storage vehicle.

(2) The lifting and rotating mechanism of the present invention can not only make the manipulator lift up and down, so that the manipulator can grab materials of different heights, but also can make the manipulator rotate around the vertical axis in the horizontal plane, so that the manipulator can grab materials located in the storage vehicle. The material in multiple directions on the outside has a wide range of grabbing. The rotation and lifting of the manipulator can make the manipulator closer to the material, thereby shortening the material grabbing stroke and greatly improving the material grabbing efficiency.

(3) The auxiliary braking mechanism of the present invention controls the rubber brake pads on the outside of the pulley to contact and press the wheel shaft through the extension of the electric telescopic rod, thereby gradually reducing the inertial rotation speed of the wheel shaft to achieve the purpose of braking. The wheel axle will rotate during the process of pressing, which avoids the situation that the wheel axle is locked by the brake pads, and avoids the situation where the storage vehicle vibrates due to emergency braking and the material is thrown out, and the brake is more stable and safer.

(4) The present invention judges whether the curve is a left turn or a right turn through the different distances of the measuring and calculating obstacles of the second distance measuring device or the track gauge device located on different sides of the universal wheel, so that the storage vehicle can make a correct and timely The turning action of the storage vehicle is controlled, and the storage vehicle will be controlled to slow down before turning, thereby ensuring the stability of the storage vehicle's direction, and the material transportation is more stable, and the first distance measuring device can timely measure the distance between the end point, the starting point of handling and the storage vehicle. The distance between them makes the MCU send deceleration and braking signals to the controller, the controller controls the motor to decelerate in time, and then the controller controls the auxiliary brake mechanism to brake in time to make the brakes of the storage vehicle more stable.

(5) The present invention has measured the type of curved rail through the track gauge device and the second distance measuring device, and can make the single-chip microcomputer issue the deceleration turning signal in time through signal transmission, so that the storage vehicle can transport materials stably on the track or on the ground , without the need to design complex storage vehicle trajectory programs, storage vehicles can also walk on more tracks, saving costs and handling time, and wide practicability.

Description of drawings

Fig. 1 is the overall sectional structure schematic diagram of the present invention;

Fig. 2 is a schematic structural view of the auxiliary braking mechanism of the present invention;

Fig. 3 is the schematic diagram of the enlarged structure of A in Fig. 1 of the present invention;

Fig. 4 is a schematic diagram of the distribution structure of the track distance measuring device of the present invention on the base;

Fig. 5 is a flow chart of the turning method of the present invention.

Labels in the figure:

1-base; 2-driving mechanism; 3-anti-collision device; 4-first distance measuring device; 5-second distance measuring device; 6-gauge gauge device; 7-mechanical hopper; 8-lifting and rotating mechanism; 9-Auxiliary brake mechanism;

21-front universal wheel; 22-rear universal wheel; 23-wheel axle; 24-wheel; 25-DC motor;

31-hinge shaft; 32-anti-collision plate; 33-buffer spring;

61-single-chip microcomputer; 62-controller;

71-manipulator mounting seat; 72-loading and unloading manipulator;

81-tubular sheath; 82-vertical oil cylinder; 83-bearing seat; 84-rotating shaft; 85-worm gear; 86-worm; 87-miniature motor;

91-lower through rod groove; 92-electric telescopic rod; 93-pulley; 94-rubber brake disc.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figures 1 to 5, the present invention provides a steering deceleration device and a turning deceleration method for an intelligent storage vehicle, including a base 1, the base 1 is in the shape of a cuboid, and its bottom end is provided with a drive mechanism 2. Mounting groove, base 1 bottom end is equipped with travel drive mechanism 2, and the bottom end of base 1 is also installed with front universal wheel 21 and rear universal wheel 22 respectively positioned at travel drive mechanism 2 front end and rear end, travel drive mechanism 2 includes through Bearings are installed on the two wheel shafts 23 at the bottom of the base 1, the axes of the two wheel shafts 23 are on the same horizontal line, and one end of the wheel shaft 23 protrudes out of the base 1 and a wheel 24 is installed, and the other end of the wheel shaft 23 is driven by a gear. Mechanism is connected with DC motor 25.

DC motor 25 is controlled its rotating speed by controller 62, and DC motor 25 drives wheel shaft 23 to rotate, and two DC motors 25 drive two wheel shafts 23 to rotate respectively, thereby makes wheel 24 rotate, and any universal wheel is all with two wheels The connecting lines of the axes of 24 form an isosceles triangle, so that the two wheels 24 drive the storage vehicle to walk more stably. And when the storage vehicle is running at a constant speed, the rotational speed, steering and torque of the two DC motors 25 are the same, which ensures the stability of the storage vehicle. When turning is required, the controller 62 controls the rotational speeds of the two DC motors 25 to generate a rotational speed difference, so that the storage vehicle can be turned.

The controller 62 that controls the deceleration, starting and braking of the DC motor 25 can use a PWM speed governor. The length of "on" and "off" time changes the size of the average voltage by changing the duty cycle of the voltage on the armature of the DC motor 25, thereby controlling the speed of the motor. By controlling the single disk and timer T0, T1 time, so as to realize P0.4, P0.5, P1.0, P1.1, P1.2 to generate PWM signal, the timer is interrupted in sequence, so that the designated discipline of the single chip microcomputer 61 is based on The condition outputs high level or low level, and the duty cycle is the percentage of the number of high level pulses to the total number of pulses in one cycle. The voltage at both ends of the motor loaded in one cycle is the pulse high voltage multiplied by the duty cycle. The larger the duty cycle, the greater the voltage, and the faster the motor rotates. Changing the duty cycle can obtain different average speeds of the motor, so as to achieve the speed regulation. Purpose.

When the storage vehicle needs to be decelerated, the number of high levels controlled by the single-chip microcomputer 61 is reduced. At this time, the duty cycle is reduced, and the motor voltage is reduced, so that the DC motor 25 is decelerated, and the entire storage vehicle is decelerated. It is necessary to accelerate the storage vehicle, that is, to increase the duty cycle of the motor voltage to accelerate the rotation of the motor.

Generally, the controller 62 controls the braking of the DC motor 25 to stop the storage vehicle from braking. However, after the DC motor 25 is powered off, its rotating shaft is not locked, so the wheels 24 will still rotate due to the rotational inertia, and the storage trolley still has a forward displacement. Inertia, so there is no brake device that will cause the warehouse truck to hit the obstacle at the end.

The top side of the wheel axle 23 is also provided with an auxiliary brake mechanism 9, and the base 1 bottom is provided with a lower through-rod groove 91, and the auxiliary brake mechanism 9 includes an electric telescopic rod 92 installed in the lower through-rod groove 91, and the bottom end of the electric telescopic rod 92 A pulley 93 is installed through the pulley seat, and a rubber brake pad 94 is installed on the outside of the pulley 93, and the rubber brake pad 94 is positioned on the top side of the wheel shaft 23. When the storage vehicle reaches the braking distance, that is, when the first distance measuring device 4 measures that the front end of the storage vehicle is less than or equal to 1m from the terminal obstacle, the single-chip microcomputer 61 immediately sends a control command to the controller 62, and the controller 62 controls the electric telescopic rod 92 elongate, so that the rubber brake pad 94 is close to and attached to the side of the wheel shaft 23, thereby reducing the rotational speed of the wheel shaft 23 through friction, and the inertial rotation of the wheel shaft 23 is made as the contact friction force of the rubber brake pad 94 increases Slower and slower until it stops and achieves the purpose of braking.

Preferably, the auxiliary brake mechanism 9 controls the rubber brake pad 94 on the outside of the pulley 93 to contact and press the wheel shaft 23 through the extension of the electric telescopic rod 92, thereby gradually reducing the inertial rotation speed of the wheel shaft 23 to achieve the purpose of braking. The braking deceleration of the storage vehicle is more stable, and the rubber brake pad 94 will rotate during the process of contacting and pressing the wheel shaft 23, which avoids the situation that the wheel shaft 23 is locked by the brake pad, and avoids material damage caused by the vibration of the storage vehicle due to emergency braking. In the case of throwing out, the brakes are safer.

The front end and the rear end of the base 1 are equipped with an anti-collision device 3 and a first distance measuring device 4. The anti-collision device 3 includes an anti-collision plate 32 installed on the front end of the base 1 by a hinge shaft 31, and the cross-sectional shape of the right end of the anti-collision plate 32 is It is in an inverted "L" shape, and the side of the anti-collision plate 32 close to the base 1 is connected to the front end of the base 1 through a number of buffer springs 33 .

Preferably, after the storage vehicle brakes, the storage vehicle still has the possibility of hitting an obstacle or a material pile, but the design of the anti-collision plate 32 reduces the damage of the collision to the material pile and the storage vehicle, because the storage vehicle and the obstacle Or before the material pile hits, the anti-collision plate 32 first contacts with the obstacle or the material pile, and the anti-collision plate 32 can rotate around the hinge shaft 31 and one side is provided with a spring, so most of the impact force is absorbed by the buffer spring 33 and becomes a spring The elastic potential energy greatly reduces the rigid collision force, thus ensuring the orderliness of the material pile and the stability of the storage vehicle.

The left side and the right side of the base 1 are equipped with two second distance measuring devices 5, and the bottom end of the base 1 is equipped with four track distance measuring devices 6, the first distance measuring device 4, the second distance measuring device 5 and the distance measuring device 5. The gauge devices 6 all adopt miniature laser range finders, and the laser range finders are all installed on the side of the base through the installation shell, and one side of the installation shell is provided with holes that allow the laser to pass through and receive the reflected laser light. The first range finder 4 The emitted laser pulse is perpendicular to the front face of the base 1, the height of the first distance measuring device 4 is higher than that of the second distance measuring device 5 and the height of the track distance measuring device 6, and the height of the default end point or starting point obstacle is higher than that of the track distance measuring device. The distance device 6 and the height of the second distance measuring device 5 are high, so that the second distance measuring device 5 and the track gauge device 6 will not detect the starting point or the end point obstacle, and can better judge whether the storage vehicle needs to brake or turn. Thereby making the issuing of orders more accurate and effective.

The second distance measuring devices 5 are evenly distributed on the left and right sides of the base 1, and two of the second laser distance measuring devices 5 emit laser beams parallel to the left side of the base 1 forward, and the other two second laser distance measuring devices The distance device 5 emits a laser beam parallel to the left side of the base 1 to the rear. Four track gauge devices 6 are evenly distributed on the bottom surface of the base 1, and the laser beam emitted by the track gauge device 6 is parallel to the bottom surface of the base 1. The gauge device 6 emits laser pulses periodically and uninterruptedly to the front of the storage vehicle. When the storage vehicle is running backward, the rail measuring device 6 positioned at both sides of the rear universal wheel 22 emits laser pulses backward.

It should be added that the laser pulses emitted by all distance measuring devices are parallel to each other, and all laser pulses are perpendicular to the wheel axis 23, that is, the emission direction of the laser pulse is always consistent with the forward direction of the storage vehicle, and the laser pulse It will not be blocked by the base 1 or the side of the storage vehicle. The gauge measuring device 6 only measures the distance between the side of the curved rail and the storage vehicle, and the second distance measuring device 5 only measures the distance between the obstacle on the side of the storage trolley and the storage vehicle. The first rail measuring device 4 only measures the distance between the starting point and the end point of the storage vehicle and the storage vehicle.

The first distance measuring device 4, the second distance measuring device 5 and the track gauge device 6 are all connected with a single-chip microcomputer 61, and the single-chip microcomputer 61 is connected with a controller 62, and the controller 62 includes a DC motor controller, an oil cylinder controller, an electric telescopic rod control Controller, micro motor controller and manipulator controller, which can control the motor, telescopic rod, oil cylinder and manipulator in sequence, so that each device of the storage vehicle can move in sequence, and cooperate to complete the steps of material grabbing, material transportation and material unloading. , to achieve the purpose of intelligent transportation.

For the steps of controlling the deceleration, turning and braking of the storage vehicle in cooperation with the distance measuring device and the single-chip microcomputer 61, please refer to the turning deceleration method of the intelligent storage vehicle below for details.

The top of the base 1 is equipped with a mechanical hopper 7, and the center of the mechanical hopper 7 is connected with a manipulator mounting seat 71 through a lifting and rotating mechanism 8, and a loading and unloading manipulator 72 is installed on the manipulator mounting seat 71. The loading and unloading manipulator 72 can not only extend out of the mechanical hopper 7 and clamp materials into the mechanical hopper 7, but also can clamp materials out of the mechanical hopper 7 and put them in the storage place, which has dual functions of loading and unloading.

The lifting and rotating mechanism 8 includes a vertical oil cylinder 82 fixed on the inner center of the mechanical hopper 7 through a cylindrical sheath 81. The top of the vertical oil cylinder 82 is connected with a bearing seat 83, and a rotating shaft rod 84 is installed through a bearing in the bearing seat 83, and the rotating shaft The top of the bar 84 is fixedly connected with the center of the bottom end of the manipulator mount 71, the top of the bearing seat 83 is connected with the manipulator mount 7 through a plane bearing, and the plane bearing and the load bearing 83 bear the weight of the manipulator and the manipulator mount 71 together. Therefore, the rotation of the manipulator mount 71 in the horizontal plane is easier and more stable. A worm wheel 85 is installed on the outer side of the rotating shaft rod 84, and the worm wheel 85 is engaged with a worm screw 86, and the worm screw 86 is connected with a micro motor 87.

The lifting and rotating mechanism 8 can make the manipulator rise, fall and rotate in the horizontal plane, the steps are as follows:

When the manipulator needs to adjust the height and angle, the vertical oil cylinder 82 starts first to make the manipulator rise or fall, then the oil cylinder 82 pauses and starts, and the micro motor 87 starts, and the micro motor 87 drives the worm 86 to rotate through the output shaft, and the worm 86 drives the worm wheel 85 to rotate slowly , play a deceleration effect, so that the manipulator rotates slowly and stably on the bearing seat 83, thereby achieving the effect of adjusting the grabbing direction and height of the manipulator, making the manipulator closer to the material to be grabbed, and the manipulator can rotate to Grabbing materials from multiple angles, the materials located in multiple directions of the storage truck can be grabbed without turning the storage truck, and the grabbing range is wide, which greatly improves the material grabbing efficiency of the loading and unloading manipulator 72 . It should be added that the circuit module in the storage trolley of the present invention is powered by a built-in replaceable battery, which can supply power to the motor, oil tank, control system and manipulator, avoiding complicated external circuit design, and the battery can be disassembled and replaced The battery is similar to the detachable battery on the battery car, and can also be removed for charging. The battery is connected to a low-power reminder device. When the battery is low, remove the low-power battery and replace it with a battery that has been charged in the external environment. It can save the charging time of the storage vehicle, reduce the delay time of the storage vehicle, and thus improve the handling efficiency of the storage vehicle.

In addition, the present invention also provides a turning deceleration method of an intelligent storage vehicle. The turning deceleration of the storage vehicle includes the following steps:

Step 1. When the storage trolley is running on a fixed track, the first distance measuring device and the track gauge device are turned on, the second distance measuring device is turned off, and the steps for turning the storage car on the track are as follows:

Step 11. When the storage vehicle is moving forward on the track, the two gauge devices located at the front end of the base are turned on, and the laser rangefinder continuously emits laser pulses forward. At the same time, the photoelectric sensor receives the laser light, and The processor calculates the round-trip time of the laser and calculates the distance between the storage vehicle and the curved track according to the speed of light and time;

Step 12, when the measured distance between the curved rail and the storage vehicle is greater than 4-5m, the storage vehicle runs at a constant speed on the track;

Step 13, when the measured distance between the curved rail and the storage vehicle is within 2-4m, this is the alert distance, the distance meter sends a signal to the single-chip microcomputer, and the single-chip microcomputer sends a control command to the controller to slow down the storage vehicle;

Step 14. When the measured distance between the curved rail and the storage vehicle is 1-2m, it is the turning distance at this time. The single-chip microcomputer sends different control signals to the controllers of the two motors to accelerate one wheel and the other The wheels slow down, allowing the cart to turn on the rails.

Step 2. When the storage trolley is walking on the ground without tracks, the first distance measuring device and the second distance measuring device are turned on, and the track distance measuring device is turned off;

Step 3. When the second distance measuring device or track distance measuring device detects that the distance of the obstacle in front reaches the warning distance, the storage trolley starts to decelerate. When it is less than the turning distance, the storage vehicle starts to perform the turning operation.

Storage vehicle turns include left turn and right turn. The judgment method of left turn and right turn is suitable for tracked storage vehicles and trackless storage vehicles, that is, storage vehicles can use the following turning steps to turn when walking on the track or on the ground , the judging method and turning steps of left turn and right turn are as follows:

Step 21. When the storage vehicle is moving forward, the gauge measuring device emits laser light forward to detect the distance of the curved rail ahead. The two gauge measuring devices that emit laser light forward are respectively located on the left and right sides of the front universal wheel of the storage vehicle , the other two track gauge devices that are activated only when the storage vehicle travels in the reverse direction are located on the left and right sides of the rear universal wheel. When the laser is emitted forward to measure the distance between the curved rail and the storage vehicle, due to The distance between the track distance measuring device and the right side of the track distance measuring device is different from the side of the curved rail (if the storage vehicle walks on the trackless ground, the distance between the second distance measuring device on the left and the second distance measuring device on the right is the distance from the curve obstacle Therefore, it can be judged whether to turn left or turn right according to the distance measured by the two track distance measuring devices (second distance measuring device);

Step 22. When the distance of the obstacle ahead measured by the left track gauge device is greater than the distance of the front obstacle by the right track gauge device, it means that the track ahead is a left-turn track. When the storage vehicle enters the turning distance, that is, two When the first track gauge device or the two second distance measuring devices detect that the distance between the obstacle in front and the storage vehicle is within 1-2m, the single chip microcomputer will send two different control signals to make the controller control the left wheel to decelerate. The right wheel accelerates, thus causing the storage vehicle to turn left;

Step 23. When the distance of the obstacle ahead measured by the left gauge measuring device is smaller than the distance of the obstacle ahead of the right gauge measuring device, it means that the track ahead is a right-turning track. When the storage vehicle enters the turning distance, that is, two When the first track gauge device or the two second distance measuring devices detect that the distance between the obstacle in front and the storage vehicle is within 1-2m, the single chip microcomputer will send two different control signals to make the controller control the right wheel to decelerate. The left wheel accelerates, causing the truck to turn right.

Preferably, it is judged whether the curve is turning left or right through the different distances of the obstacles measured by the two second distance measuring devices or track gauge devices located on different sides of the universal wheel, so that the storage vehicle can make a correct and timely decision. Turning action, and before turning, it will control the storage vehicle to slow down, so as to ensure the stability of the storage vehicle's direction, and the material transportation is more stable.

It also includes the automatic braking process of the storage vehicle. The automatic braking steps are as follows:

Step 31. When the storage trolley is driving, the first distance measuring device at the front end of the storage trolley continuously measures the distance of the obstacle in front. When the distance between the obstacle and the storage trolley is measured to be less than 2-4m, the single-chip microcomputer sends a control command to the controller to make The storage vehicle slows down first;

Step 32. When the measured distance between the obstacle and the storage vehicle is less than or equal to 1m, the storage trolley reaches the braking distance at this time, and the single-chip microcomputer sends a control command to the controller to brake the DC motor, and at the same time make the electric telescopic rod extend and the rubber brake pad Start to contact the wheel shaft to block the rotation of the wheel shaft, so that the rotational inertia force of the wheel shaft gradually decreases until it stops rotating, and the purpose of braking is achieved.

The first distance measuring device can measure the distance between the end point, the starting point of transportation and the storage vehicle in time, so that the single-chip microcomputer sends deceleration and braking signals to the controller, the controller controls the motor to decelerate in time, and then the controller controls the auxiliary brake mechanism in time The brakes make the brakes of the storage vehicles more stable.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

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.