CN110182511B - Steering speed reduction device and steering speed reduction method of intelligent storage vehicle - Google Patents
Steering speed reduction device and steering speed reduction method of intelligent storage vehicle Download PDFInfo
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- CN110182511B CN110182511B CN201910392020.0A CN201910392020A CN110182511B CN 110182511 B CN110182511 B CN 110182511B CN 201910392020 A CN201910392020 A CN 201910392020A CN 110182511 B CN110182511 B CN 110182511B
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- 238000003860 storage Methods 0.000 title claims abstract description 190
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- 238000007514 turning Methods 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000008569 process Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 41
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 10
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- 238000013461 design Methods 0.000 description 2
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- 238000005381 potential energy Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- 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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Abstract
The invention discloses a steering speed reducer and a turning speed reducing method of an intelligent storage vehicle, which comprises a base, wherein a driving mechanism is arranged at the bottom end of the base, an anti-collision device and a first distance measuring device are arranged at the front end and the rear end of the base, a second distance measuring device and a rail distance measuring device are respectively arranged at the left side and the right side and the bottom end of the base, a mechanical hopper is arranged at the top end of the base, the center of the mechanical hopper is connected with a loading and unloading manipulator through a lifting and rotating mechanism, when the storage vehicle runs, the first distance measuring device is started, the rail distance measuring device or the second distance measuring device is started according to the condition of whether the storage vehicle runs on a track, the speed reduction is started when the storage vehicle reaches the warning distance, the storage vehicle starts to turn when reaching the turning distance, the anti-collision device can ensure the integrity of the shape of a material pile and the quality, the speed reduction, the turning and the braking of the storage vehicle can be controlled in time, and the cost is low.
Description
Technical Field
The invention relates to the field of intelligent material handling equipment, in particular to a steering speed reduction device and a steering speed reduction method of an intelligent storage vehicle.
Background
With the gradual development of factory automation and computer integrated manufacturing system technologies and the wide application of flexible manufacturing systems and automated stereoscopic warehouses, the intelligent material handling equipment is used as a necessary automatic handling and loading and unloading means for connecting and adjusting the discrete logistics management system to enable the operation of the discrete logistics management system to be continuous, and the application range and the technical level of the intelligent material handling equipment are rapidly developed.
Intelligent material handling equipment includes AGV intelligent transfer robot and AGV dolly, and main function is concentrated on automatic commodity circulation and is removed the transportation, and AGV intelligent transfer robot is through the automatic goods transportation to appointed place of special landmark navigation, and the most common guide mode is the magnetic stripe guide, laser guide, RFID guide etc..
AGV transfer robots in the market are mainly and intensively applied to material transfer in the manufacturing industry, and AGV can efficiently, accurately and flexibly complete the material transfer task in the manufacturing industry. And a plurality of AGVs can form a flexible logistics carrying system, and the carrying route can be adjusted in time along with the adjustment of the production process flow, so that more than ten products can be manufactured on one production line, and the production flexibility and the enterprise competitiveness are greatly improved. The AGV is used as a basic carrying tool, the application of the AGV extends into a plurality of industries such as machining, household appliance production, microelectronic manufacturing and cigarettes, and the production and processing field becomes the most extensive field of the AGV application.
However, the existing intelligent storage vehicle has the following defects:
(1) when the storage vehicle transports materials, the materials do not always travel on straight lines or straight rails, if the materials are on a curved route, a complex trolley travel track program needs to be designed, so that stable transportation of the storage vehicle is guaranteed, if the storage vehicle changes the route or changes the track, a control system of the storage vehicle needs to be redesigned, time and energy are consumed, and the cost is high;
(2) the storage vehicle does not have a speed reduction command before turning, the storage vehicle does not slow down when turning, and the storage vehicle is easy to vibrate or incline, so that materials in the storage vehicle are easy to incline, the materials are damaged, and the materials can cause troubles and obstacles to the walking of the storage vehicle if falling onto a track.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the steering speed reduction device and the steering speed reduction method of the intelligent storage vehicle, the anti-collision device can reduce the impact force between the storage vehicle and a material pile or an obstacle so as to ensure the integrity of the shape of the material pile and the quality of the storage vehicle, the material grabbing range is wide, the efficiency is high, the braking is stable and safe, the curve type can be judged without a design program, the speed reduction, the turning and the braking of the storage vehicle can be controlled in time, the cost is low, the practicability is high, and the problems in the background art can be effectively solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a turn to decelerator and turn speed reduction method of intelligent storage car, includes the base, the driving mechanism that traveles is installed to the base bottom, buffer stop and first range unit are all installed to the front end and the rear end of base, two second range unit are all installed on the left side and the right side of base, four rail distance measuring device are installed to the bottom of base, mechanical hopper is installed on the top of base, mechanical hopper center is connected with the manipulator mount pad through lifting and rotating mechanism, install loading and unloading manipulator on the manipulator mount pad.
Furthermore, the bottom end of the base is also provided with a front universal wheel and a rear universal wheel which are respectively positioned at the front end and the rear end of the driving mechanism, the driving mechanism comprises two wheel shafts which are arranged at the bottom end of the base through bearings, the axes of the two wheel shafts are on the same horizontal line, one ends of the wheel shafts extend out of the base and are provided with wheels, the other ends of the wheel shafts are connected with a direct current motor through a gear transmission mechanism, and the top side of the wheel shafts are also provided with an auxiliary brake mechanism.
Further, the base bottom is equipped with down leads to the pole groove, auxiliary brake mechanism is including installing the electric telescopic handle in leading to the pole inslot under, the pulley is installed through the pulley holder to the electric telescopic handle bottom, the rubber piece of stopping is installed in the pulley outside, the rubber piece of stopping is located the top side of axletree.
Furthermore, the anti-collision device comprises an anti-collision plate which is arranged at the front end of the base through a hinge shaft, the section shape of the right end of the anti-collision plate is in an inverted L shape, and one side, close to the base, of the anti-collision plate is connected with the front end face of the base through a plurality of buffer springs.
Furthermore, first range unit, second range unit and track gauge device all adopt miniature laser range finder, and first range unit, second range unit and track gauge device all are connected with the singlechip, the singlechip is connected with the controller, and the laser pulse that first range unit sent is perpendicular with the preceding terminal surface of base, and second range unit evenly distributed is on the left side and the right side of base, and wherein two second laser range unit jet out the laser beam parallel with the base left surface to the place ahead, and two other second laser range unit jet out the laser beam parallel with the base left surface to the rear, and four track gauge devices evenly distributed are on the bottom surface of base, and the laser beam that the track gauge device launched is parallel with the base bottom surface.
Further, lifting and rotating mechanism includes the vertical hydro-cylinder of fixing at the inside center of machinery hopper through the tube-shape sheath, vertical hydro-cylinder top is connected with the load seat, install the pivot pole through the bearing in the load seat, pivot pole top and manipulator mount pad bottom end center fixed connection are in the same place, and the load seat top is connected with the manipulator mount pad through planar bearing, the worm wheel is installed in the pivot pole outside, the worm wheel meshing has the worm, the worm is connected with micro motor.
In addition, the invention also provides a turning deceleration method of the intelligent storage vehicle, and the turning deceleration method of the storage vehicle comprises the following steps:
s100, when the warehousing trolley runs on a fixed track, the first distance measuring device and the track distance measuring device are started, and the second distance measuring device is closed;
s200, when the storage trolley travels on the ground without a track, the first distance measuring device and the second distance measuring device are started, and the track distance measuring device is closed;
s300, when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley reaches the warning distance, the storage trolley starts to decelerate, and when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley is smaller than the turning distance, the storage trolley starts to execute turning operation.
Further, the step of turning the storage on the track is as follows:
s101, in the process that the storage vehicle runs forwards on the rail, two rail distance measuring devices positioned at the front end of a base are started, a laser range finder continuously emits laser pulses forwards, meanwhile, a photoelectric sensor receives laser, and a processor in the range finder calculates the round-trip time of the laser and calculates the distance between the storage vehicle and a bent rail according to the speed of light and the time;
s102, when the measured distance between the bent rail and the storage vehicle is larger than 4-5m, the storage vehicle runs on the rail at a constant speed;
s103, when the distance between the bent rail and the storage vehicle is measured to be within 2-4m, the distance is a warning 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 enable the storage vehicle to run at a reduced speed;
and S104, when the distance between the bent rail and the storage vehicle is measured to be 1-2m, the distance is the turning distance, the single chip microcomputer sends different control signals to the controllers of the two motors respectively to accelerate one wheel and decelerate the other wheel, and therefore the storage vehicle turns on the rail.
Further, the turning of the storage vehicle comprises left turning and right turning, and the judging method and the turning steps of the left turning and the right turning are as follows:
s201, when the storage vehicle runs forwards, the track distance measuring devices emit laser forwards to detect the distance of a front bent track, the two track distance measuring devices emitting laser forwards are respectively positioned on the left side and the right side of a front universal wheel of the storage vehicle, the other two track distance measuring devices which are started only when the storage vehicle runs reversely are positioned on the left side and the right side of a rear universal wheel, and when the laser is emitted forwards to measure the distance between the bent track and the storage vehicle, because the distance between the track distance measuring device on the left side and the track distance measuring device on the right side and the side surface of the bent track is different, whether the bent track is turned leftwards or rightwards can be judged according to the distance measured by the two track distance measuring devices;
s202, when the distance of a front obstacle measured by the left rail gauge measuring device is larger than that of a front obstacle of the right rail gauge measuring device, the front rail is a left turning rail, and when the storage vehicle enters a turning distance, the single chip microcomputer enables the controller to control the left wheel to decelerate and the right wheel to accelerate by sending two different control signals, so that the storage vehicle turns left;
s203, when the distance of the front obstacle measured by the left track gauge measuring device is smaller than that of the right track gauge measuring device, the front rail is a right-turning rail, when the storage vehicle enters the turning distance, the single chip microcomputer enables the controller to control the right wheels to decelerate and the left wheels to accelerate by sending two different control signals, and therefore the storage vehicle turns to the right.
Further, still include the automatic braking process of storage car, the automatic braking step is as follows:
s301, when the warehousing trolley runs, a first distance measuring device at the front end of the warehousing trolley continuously measures the distance between obstacles in front, and when the measured distance between the obstacles and the warehousing trolley is less than 2-4m, the single chip sends a control command to the controller to enable the warehousing trolley to decelerate first;
s302, when the distance between the obstacle and the storage trolley is smaller than or equal to 1m, the storage trolley reaches the braking distance, the single chip sends a control command to the controller to brake the direct current motor, the electric telescopic rod extends, the rubber brake sheet starts to contact the wheel shaft to stop the wheel shaft from rotating, and accordingly the rotating inertia force of the wheel shaft gradually drops until the wheel shaft stops rotating, and the purpose of braking is achieved.
Compared with the prior art, the invention has the beneficial effects that:
(1) after the storage vehicle is braked, the anti-collision plate can be firstly contacted with a barrier or a material stack, and the buffer spring converts collision impact force into self elastic potential energy, so that the vibration and the swing of the storage vehicle and the material stack are greatly reduced, and the integrity of the shape of the material stack and the quality of the storage vehicle is ensured.
(2) The lifting and rotating mechanism can lift the manipulator up and down, so that the manipulator can grab materials with different heights and rotate in a horizontal plane around the vertical axis, so that the manipulator can grab materials positioned at multiple positions outside the storage vehicle, the grabbing range is wide, the manipulator can be closer to the materials by the rotation and lifting of the manipulator, the grabbing stroke is shortened, and the material grabbing efficiency is greatly improved.
(3) The auxiliary brake mechanism controls the rubber brake sheet on the outer side of the pulley to contact and press the wheel shaft through the extension of the electric telescopic rod so as to gradually reduce the inertial rotating speed of the wheel shaft and achieve the purpose of braking.
(4) According to the invention, whether the curve is turned left or right is judged according to different distances of the obstacles measured and calculated by the two second distance measuring devices or the two track distance measuring devices which are positioned on different sides of the universal wheels, so that the storage vehicle can make correct and timely turning actions, and the storage vehicle can be controlled to run at a reduced speed before turning, so that the directional stability of the storage vehicle is ensured, the material transportation is more stable, the first distance measuring device can timely measure the distances between the terminal point, the carrying starting point and the storage vehicle, so that the single chip microcomputer sends speed reduction and brake signals to the controller, the controller controls the motor to decelerate timely, and then the controller controls the auxiliary brake mechanism to brake timely, so that the storage vehicle brakes more stably.
(5) The invention measures the type of the bent rail through the rail distance measuring device and the second distance measuring device, and can enable the singlechip to issue the deceleration and turning signal in time through signal transmission, thereby enabling the storage vehicle to stably transport materials on the rail or the ground without designing a complicated track program for the storage vehicle to travel, enabling the storage vehicle to travel on more rails, saving the cost and the transportation time, and having wide practicability.
Drawings
FIG. 1 is a schematic overall sectional view of the present invention;
FIG. 2 is a schematic structural diagram of an auxiliary braking mechanism according to the present invention;
FIG. 3 is an enlarged view of A of FIG. 1 according to the present invention;
FIG. 4 is a schematic bottom view of the arrangement of the track gauge device of the present invention on the base;
FIG. 5 is a flow chart of a turning method of the present invention.
Reference numbers in the figures:
1-a base; 2-a travel drive; 3-an anti-collision device; 4-a first ranging device; 5-a second distance measuring device; 6-measuring the track distance; 7-a mechanical hopper; 8-lifting and rotating mechanism; 9-auxiliary brake mechanism;
21-front universal wheel; 22-rear universal wheel; 23-wheel axle; 24-a wheel; 25-a direct current motor;
31-a hinge shaft; 32-a crash panel; 33-a buffer spring;
61-single chip microcomputer; 62-a controller;
71-manipulator mounting base; 72-handling robot;
81-cylindrical jacket; 82-a vertical cylinder; 83-force bearing seat; 84-a spindle shaft; 85-worm gear; 86-a worm; 87-a micro motor;
91-lower through rod groove; 92-an electric telescopic rod; 93-a pulley; 94-rubber brake sheet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the invention provides a steering and decelerating device and a steering and decelerating method for an intelligent storage vehicle, which includes a base 1, wherein the base 1 is in a cuboid shape, the bottom end of the base 1 is provided with a mounting groove capable of mounting a driving mechanism 2, the bottom end of the base 1 is provided with the driving mechanism 2, the bottom end of the base 1 is further provided with a front universal wheel 21 and a rear universal wheel 22 which are respectively arranged at the front end and the rear end of the driving mechanism 2, the driving mechanism 2 includes two wheel shafts 23 mounted at the bottom end of the base 1 through bearings, the axes of the two wheel shafts 23 are on the same horizontal line, one ends of the wheel shafts 23 extend out of the base 1 and are provided with wheels 24, and the other ends of the wheel shafts 23 are connected with a direct current motor 25.
The rotation speed of the direct current motor 25 is controlled by the controller 62, the direct current motor 25 drives the wheel shafts 23 to rotate, the two direct current motors 25 respectively drive the two wheel shafts 23 to rotate, so that the wheels 24 rotate, any one universal wheel and the axis connecting line of the two wheels 24 form an isosceles triangle, and the two wheels 24 drive the storage vehicle to walk more stably. And the rotating speed, the steering and the torque of the two direct current motors 25 are the same under the condition that the storage vehicle runs at a constant speed, so that the running stability of the storage vehicle is ensured. When the vehicle needs to turn, the controller 62 controls the rotating speeds of the two direct current motors 25 to generate a rotating speed difference, so that the storage vehicle can turn.
The controller 62 for controlling the deceleration, start and brake of the dc motor 25 may adopt a PWM speed regulator, and the speed regulation principle is as follows: the PWM governor switches the power on and off at a fixed frequency and varies the amount of "on" and "off" time in a cycle as needed to vary the average voltage by varying the duty cycle of the voltage across the armature of the dc motor 25, thereby controlling the speed of the motor. The PWM signals are generated by P0.4, P0.5, P1.0, P1.1 and P1.2 by controlling the time of the single disk and the timers T0 and T1, and the designated supervision of the single chip microcomputer 61 outputs high level or low level according to conditions every time the timers are interrupted in sequence, wherein the duty ratio is the percentage of the number of high level pulses in the total number of pulses in one period. The voltage at two ends of the motor loaded in one period is pulse high voltage multiplied by duty ratio, the larger the duty ratio is, the larger the voltage is, the faster the motor rotates, and different motor average speeds can be obtained by changing the duty ratio, so that the purpose of speed regulation is achieved.
When the storage vehicle is required to decelerate, the number of high levels is controlled by the single chip microcomputer 61 to be reduced, the duty ratio is reduced at the moment, and the motor voltage is reduced, so that the direct current motor 25 is decelerated, and the whole storage vehicle is decelerated. The storage vehicle needs to be accelerated, namely the motor voltage duty ratio is increased to enable the motor to rotate in an accelerated mode.
The controller 62 is generally used to control the braking of the dc motor 25 to stop the driving of the storage cart, but the dc motor 25 is not locked after power failure, so the wheels 24 still rotate due to the rotational inertia, and the storage cart still has the inertia of forward displacement, so there is no braking device to make the storage cart hit the obstacle at the terminal.
The top side of the wheel shaft 23 is further provided with an auxiliary brake mechanism 9, the bottom end of the base 1 is provided with a lower through rod groove 91, the auxiliary brake mechanism 9 comprises an electric telescopic rod 92 installed in the lower through rod groove 91, the bottom end of the electric telescopic rod 92 is provided with a pulley 93 through a pulley seat, the outer side of the pulley 93 is provided with a rubber brake sheet 94, and the rubber brake sheet 94 is located on the top side of the wheel shaft 23. When the storage vehicle reaches a braking distance, namely when the distance between the front end of the storage vehicle and an end point obstacle is less than or equal to 1m measured by the first distance measuring device 4, the single chip microcomputer 61 immediately sends a control command to the controller 62, the controller 62 controls the electric telescopic rod 92 to extend, so that the rubber brake piece 94 is close to and attached to the side face of the wheel shaft 23, the rotating speed of the wheel shaft 23 is reduced through friction, and the inertial rotation of the wheel shaft 23 is slower and slower until the brake is stopped along with the increase of the contact friction of the rubber brake piece 94.
Preferably, the auxiliary brake mechanism 9 controls the rubber brake sheet 94 outside the pulley 93 to contact and press against the wheel shaft 23 by extending the electric telescopic rod 92, so as to gradually reduce the inertial rotation speed of the wheel shaft 23, thereby achieving the purpose of braking, making the braking speed of the storage vehicle more stable, and the rubber brake sheet 94 rotates in the process of contacting and pressing the wheel shaft 23, avoiding the situation that the wheel shaft 23 is locked by the brake sheet, avoiding the situation that the material is thrown out due to vibration of the storage vehicle caused by emergency braking, and making the braking safer.
The front end and the rear end of the base 1 are both provided with the anti-collision device 3 and the first distance measuring device 4, the anti-collision device 3 comprises an anti-collision plate 32 which is arranged at the front end of the base 1 through a hinge shaft 31, the right end section of the anti-collision plate 32 is inverted L-shaped, and one side, close to the base 1, of the anti-collision plate 32 is connected with the front end face of the base 1 through a plurality of buffer springs 33.
Preferably, after the storage vehicle brakes, the storage vehicle still has the possibility of colliding with the obstacle or the material stack, but the design of the anti-collision plate 32 reduces the damage of the collision to the material stack and the storage vehicle, because the anti-collision plate 32 is firstly contacted with the obstacle or the material stack before the storage vehicle collides with the obstacle or the material stack, and the anti-collision plate 32 can rotate around the hinge shaft 31 and is provided with a spring on one side, most of the collision force is absorbed by the buffer spring 33 to become the elastic potential energy of the spring, the rigid collision force is greatly reduced, and the tidiness of the material stack and the stability of the storage vehicle are ensured.
Two second distance measuring devices 5 are respectively arranged on the left side and the right side of a base 1, four track distance measuring devices 6 are arranged at the bottom end of the base 1, a first distance measuring device 4, a second distance measuring device 5 and the track distance measuring devices 6 all adopt miniature laser distance measuring instruments, the laser distance measuring instruments are respectively arranged on the side surfaces of the base through a mounting shell, one side of the mounting shell is provided with a hole for allowing laser to pass through and receive reflected laser, a laser pulse sent by the first distance measuring device 4 is vertical to the front end surface 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 track distance measuring devices 6, the height of a default terminal point or a default starting point obstacle is higher than that of the track distance measuring devices 6 and the second distance measuring devices 5, so that the second distance measuring device 5 and the track distance measuring devices 6 can not detect a starting point or a terminal point obstacle, and can better judge whether the storage vehicle, therefore, the command issuing is more accurate and effective.
The second distance measuring devices 5 are evenly distributed on the left side and the right side of the base 1, two of the second distance measuring devices 5 emit laser beams parallel to the left side surface of the base 1 to the front, and the other two second distance measuring devices 5 emit laser beams parallel to the left side surface of the base 1 to the rear. The four track distance measuring devices 6 are evenly distributed on the bottom surface of the base 1, laser beams emitted by the track distance measuring devices 6 are parallel to the bottom surface of the base 1, and when the storage vehicle runs forwards, the track distance measuring devices 6 on two sides of the front universal wheel 21 emit laser pulses to the front of the storage vehicle uninterruptedly and periodically. When the storage vehicle runs backwards, the track measuring devices 6 positioned at two sides of the rear universal wheel 22 emit laser pulses backwards.
It should be noted that the laser pulses emitted by all the distance measuring devices are parallel to each other, and all the laser pulses are perpendicular to the wheel axle 23, that is, the emitting direction of the laser pulses is always consistent with the advancing direction of the storage cart, and the laser pulses are not blocked by the base 1 or the side surface of the storage cart, the track distance measuring device 6 only measures the distance between the side surface of the curved track and the storage cart, the second distance measuring device 5 only measures the distance between the obstacle on the side surface of the storage cart and the storage cart, and the first distance measuring device 4 only measures the distance between the starting point and the end point of the storage cart and the storage cart.
First range unit 4, second range unit 5 and survey track distance device 6 all are connected with singlechip 61, singlechip 61 is connected with controller 62, controller 62 includes the DC motor controller, the cylinder controller, electronic telescopic link controller, micro motor controller and manipulator controller, can control the motor in proper order, the telescopic link, hydro-cylinder and manipulator, thereby make each device of storage car move in proper order, the cooperation is accomplished snatching of material, steps such as the transportation of material and the uninstallation of material, reach the purpose of intelligent transportation.
The steps of the distance measuring device and the single chip microcomputer 61 for controlling the speed reduction, turning and braking of the storage vehicle are described in detail in the turning speed reduction method of the intelligent storage vehicle.
The top end of the base 1 is provided with a mechanical hopper 7, 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 arranged on the manipulator mounting seat 71. The loading and unloading manipulator 72 can not only extend out of the mechanical hopper 7 and clamp and place the material into the mechanical hopper 7, but also clamp and place the material out of the mechanical hopper 7 to the storage place, and has double functions of loading and unloading.
The lifting and rotating mechanism 8 comprises a vertical oil cylinder 82 fixed at the center inside the mechanical hopper 7 through a cylindrical sheath 81, the top end of the vertical oil cylinder 82 is connected with a bearing seat 83, a rotating shaft rod 84 is installed in the bearing seat 83 through a bearing, the top end of the rotating shaft rod 84 is fixedly connected with the center of the bottom end of the manipulator installation seat 71, the top end of the bearing seat 83 is connected with the manipulator installation seat 71 through a plane bearing, and the plane bearing and the bearing seat 83 bear the weight of the manipulator and the manipulator installation seat 71 together, so that the rotation of the manipulator installation seat 71 in the horizontal plane is easier and more stable. A worm wheel 85 is arranged on the outer side of the rotating shaft rod 84, a worm 86 is meshed with the worm wheel 85, and a micro motor 87 is connected to the worm 86.
The lifting and rotating mechanism 8 can enable the manipulator to ascend, descend and rotate in a horizontal plane, and comprises the following steps:
when the manipulator needs height and angle adjustment, vertical hydro-cylinder 82 starts earlier and makes the manipulator rise or descend, then hydro-cylinder 82 pause start, micro motor 87 starts, micro motor 87 drives worm 86 through the output shaft and rotates, worm 86 drives worm wheel 85 and slowly rotates, play the speed reduction effect, thereby make the manipulator slowly rotate steadily on load seat 83, thereby reached the effect that the adjustment manipulator snatched the direction and snatched the height, make the manipulator be close more and wait the material of snatching, and the manipulator can rotate to a plurality of angles and snatch the material, need not the storage car to turn to and can make the material that lies in a plurality of directions of storage car all snatched, it is wide to snatch the scope, the efficiency of snatching the material of loading and unloading manipulator 72 has been improved greatly. It should be added that the circuit module in the storage trolley is powered by a built-in replaceable storage battery, the storage battery can supply power to the motor, the oil cylinder, the control system and the manipulator, the complex external circuit design is avoided, the storage battery can be detached and replaced, the storage battery is similar to the detachable storage battery on the storage battery car and can be detached for charging, the storage battery is connected with an insufficient-electric-quantity reminding device, when the electric quantity of the storage battery is insufficient, the battery with insufficient electric quantity is taken down and replaced by the storage battery charged in the external environment, the charging time of the storage car can be saved, the delay time of the storage car is reduced, and the carrying efficiency of the storage car is improved.
In addition, the invention also provides a turning deceleration method of the intelligent storage vehicle, and the turning deceleration method of the storage vehicle comprises the following steps:
step 11, in the process that the storage vehicle travels forwards on the track, two track distance measuring devices positioned at the front end of a base are started, a laser range finder continuously emits laser pulses forwards, meanwhile, a photoelectric sensor receives laser, a processor in the range finder calculates the round-trip time of the laser and calculates the distance between the storage vehicle and a bent track according to the speed of light and the time;
step 12, when the measured distance between the bent rail and the storage vehicle is larger than 4-5m, the storage vehicle runs on the rail at a constant speed;
step 13, when the distance between the bent rail and the storage vehicle is measured to be within 2-4m, the distance is a warning 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 enable the storage vehicle to run at a reduced speed;
and step 14, when the distance between the bent rail and the storage vehicle is measured to be 1-2m, the distance is the turning distance, the single chip microcomputer sends different control signals to the controllers of the two motors respectively to accelerate one wheel and decelerate the other wheel, and therefore the storage vehicle turns on the rail.
and 3, when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley reaches the warning distance, the storage trolley starts to decelerate, and when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley is smaller than the turning distance, the storage trolley starts to execute turning operation.
The storage vehicle turning comprises left turning and right turning, and the judging method for the left turning and the right turning is suitable for the rail storage vehicle and the trackless storage vehicle, namely the storage vehicle can turn by using the following turning steps when walking on the rail and walking on the ground, and the judging method for the left turning and the right turning and the turning steps are as follows:
and step 23, when the distance of the front obstacle measured by the left rail gauge measuring device is smaller than that of the right rail gauge measuring device, the front rail is indicated to be a right-turning rail, and when the storage vehicle enters a turning distance, namely when the distance between the front obstacle and the storage vehicle is detected by the two rail gauge measuring devices or the two second distance measuring devices to be within 1-2m, the singlechip controls the right wheels to decelerate and the left wheels to accelerate by sending two different control signals, so that the storage vehicle turns to the right.
Preferably, whether the curve is turned left or right is judged according to different distances of the obstacles measured and calculated by two second distance measuring devices or two rail distance measuring devices which are positioned on different sides of the universal wheels, so that the storage vehicle can make correct and timely turning actions, and the storage vehicle can be controlled to decelerate before turning, thereby ensuring the directional stability of the storage vehicle and ensuring more stable material transportation.
Still include the automatic braking process of storage car, the automatic braking step is as follows:
and step 32, when the distance between the obstacle and the storage vehicle is measured to be less than or equal to 1m, the storage vehicle reaches the braking distance, the single chip sends a control command to the controller to brake the direct current motor, the electric telescopic rod is extended, the rubber brake sheet starts to contact the wheel shaft to block the wheel shaft from rotating, and therefore the rotating inertia force of the wheel shaft gradually drops until the wheel shaft stops rotating, and the purpose of braking is achieved.
The first distance measuring device can measure the distance between the end point, the carrying starting point and the storage vehicle in time, so that the single chip microcomputer sends a speed reduction signal and a brake signal 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, so that the storage vehicle brakes more stably.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The utility model provides a smart storage car turn to decelerator, includes base (1), its characterized in that: the automatic track distance measuring device is characterized in that a driving mechanism (2) is installed at the bottom end of the base (1), an anti-collision device (3) and a first distance measuring device (4) are installed at the front end and the rear end of the base (1), two second distance measuring devices (5) are installed on the left side and the right side of the base (1), four track distance measuring devices (6) are installed at the bottom end of the base (1), a mechanical hopper (7) is installed at the top end of the base (1), the center of the mechanical hopper (7) is connected with a manipulator installation seat (71) through a lifting rotating mechanism (8), and a loading and unloading manipulator (72) is installed on the manipulator installation seat (71);
the bottom end of the base (1) is also provided with a front universal wheel (21) and a rear universal wheel (22) which are respectively positioned at the front end and the rear end of the driving mechanism (2), the driving mechanism (2) comprises two wheel shafts (23) which are arranged at the bottom end of the base (1) through bearings, the axes of the two wheel shafts (23) are on the same horizontal line, one ends of the wheel shafts (23) extend out of the base (1) and are provided with wheels (24), the other ends of the wheel shafts (23) are connected with a direct current motor (25) through a gear transmission mechanism, and the top sides of the wheel shafts (23) are also provided with auxiliary brake mechanisms (9);
base (1) bottom is equipped with down logical pole groove (91), auxiliary brake mechanism (9) are including installing electric telescopic handle (92) in logical pole groove (91) down, pulley (93) are installed through the pulley holder in electric telescopic handle (92) bottom, the rubber is installed in the pulley (93) outside and is stopped piece (94), rubber is stopped piece (94) and is located the top side of axletree (23).
2. The steering deceleration device of the intelligent storage vehicle as claimed in claim 1, wherein: the anti-collision device (3) comprises an anti-collision plate (32) which is arranged at the front end of the base (1) through a hinge shaft (31), the section shape of the right end of the anti-collision plate (32) is inverted L-shaped, and one side, close to the base (1), of the anti-collision plate (32) is connected with the front end face of the base (1) through a plurality of buffer springs (33).
3. The steering deceleration device of the intelligent storage vehicle as claimed in claim 1, wherein: the first distance measuring device (4), the second distance measuring device (5) and the track distance measuring device (6) all adopt miniature laser distance measuring instruments, the first distance measuring device (4), the second distance measuring device (5) and the track distance measuring device (6) are all connected with a single chip microcomputer (61), the single chip microcomputer (61) is connected with a controller (62), the laser pulse emitted by the first distance measuring device (4) is vertical to the front end face of the base (1), the second distance measuring devices (5) are evenly distributed on the left side and the right side of the base (1), and two of the second distance measuring devices (5) emit laser beams parallel to the left side surface of the base (1) forwards, the other two second distance measuring devices (5) emit laser beams parallel to the left side surface of the base (1) backwards, the four track distance measuring devices (6) are evenly distributed on the bottom surface of the base (1), and the laser beam emitted by the track distance measuring device (6) is parallel to the bottom surface of the base (1).
4. The steering deceleration device of the intelligent storage vehicle as claimed in claim 1, wherein: lifting and drop rotating mechanism (8) include vertical hydro-cylinder (82) of fixing at mechanical hopper (7) inside center through tube-shape sheath (81), vertical hydro-cylinder (82) top is connected with load seat (83), install pivot pole (84) through the bearing in load seat (83), pivot pole (84) top and manipulator mount pad (71) bottom center fixed connection together, load seat (83) top is connected with the manipulator mount pad through plane bearing, worm wheel (85) are installed in pivot pole (84) outside, worm wheel (85) meshing has worm (86), worm (86) are connected with micro motor (87).
5. The turning deceleration method of the intelligent storage vehicle is characterized by comprising the following steps: the turning deceleration of the storage vehicle comprises the following steps:
s100, when the warehousing trolley runs on a fixed track, the first distance measuring device and the track distance measuring device are started, and the second distance measuring device is closed;
s200, when the storage trolley travels on the ground without a track, the first distance measuring device and the second distance measuring device are started, and the track distance measuring device is closed;
s300, when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley reaches the warning distance, the storage trolley starts to decelerate, and when the second distance measuring device or the track distance measuring device detects that the distance between the front obstacle and the storage trolley is smaller than the turning distance, the storage trolley starts to execute turning operation;
still include the automatic braking process of storage car, the automatic braking step is as follows:
s301, when the warehousing trolley runs, a first distance measuring device at the front end of the warehousing trolley continuously measures the distance between obstacles in front, and when the measured distance between the obstacles and the warehousing trolley is less than 2-4m, the single chip sends a control command to the controller to enable the warehousing trolley to decelerate first;
s302, when the distance between the obstacle and the storage trolley is smaller than or equal to 1m, the storage trolley reaches the braking distance, the single chip sends a control command to the controller to brake the direct current motor, the electric telescopic rod extends, the rubber brake sheet starts to contact the wheel shaft to stop the wheel shaft from rotating, and accordingly the rotating inertia force of the wheel shaft gradually drops until the wheel shaft stops rotating, and the purpose of braking is achieved.
6. The turning deceleration method of the intelligent storage vehicle as claimed in claim 5, wherein the turning deceleration method comprises the following steps: the steps of the storage turning on the track are as follows:
s101, in the process that the storage vehicle runs forwards on the rail, two rail distance measuring devices positioned at the front end of a base are started, a laser range finder continuously emits laser pulses forwards, meanwhile, a photoelectric sensor receives laser, and a processor in the range finder calculates the round-trip time of the laser and calculates the distance between the storage vehicle and a bent rail according to the speed of light and the time;
s102, when the measured distance between the bent rail and the storage vehicle is larger than 4-5m, the storage vehicle runs on the rail at a constant speed;
s103, when the distance between the bent rail and the storage vehicle is measured to be within 2-4m, the distance is a warning 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 enable the storage vehicle to run at a reduced speed;
and S104, when the distance between the bent rail and the storage vehicle is measured to be 1-2m, the distance is the turning distance, the single chip microcomputer sends different control signals to the controllers of the two motors respectively to accelerate one wheel and decelerate the other wheel, and therefore the storage vehicle turns on the rail.
7. The turning deceleration method of the intelligent storage vehicle as claimed in claim 6, wherein the turning deceleration method comprises the following steps: the storage vehicle turns comprises a left turn and a right turn, and the judging method and the turning steps of the left turn and the right turn are as follows:
s201, when the storage vehicle runs forwards, the track distance measuring devices emit laser forwards to detect the distance of a front bent track, the two track distance measuring devices emitting laser forwards are respectively positioned on the left side and the right side of a front universal wheel of the storage vehicle, the other two track distance measuring devices which are started only when the storage vehicle runs reversely are positioned on the left side and the right side of a rear universal wheel, and when the laser is emitted forwards to measure the distance between the bent track and the storage vehicle, because the distance between the track distance measuring device on the left side and the track distance measuring device on the right side and the side surface of the bent track is different, whether the bent track is turned leftwards or rightwards can be judged according to the distance measured by the two track distance measuring devices;
s202, when the distance of a front obstacle measured by the left rail gauge measuring device is larger than that of a front obstacle of the right rail gauge measuring device, the front rail is a left turning rail, and when the storage vehicle enters a turning distance, the single chip microcomputer enables the controller to control the left wheel to decelerate and the right wheel to accelerate by sending two different control signals, so that the storage vehicle turns left;
s203, when the distance of the front obstacle measured by the left track gauge measuring device is smaller than that of the right track gauge measuring device, the front rail is a right-turning rail, when the storage vehicle enters the turning distance, the single chip microcomputer enables the controller to control the right wheels to decelerate and the left wheels to accelerate by sending two different control signals, and therefore the storage vehicle turns to the right.
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| CN110948503A (en) * | 2019-12-23 | 2020-04-03 | 南京图灵信息技术有限公司 | Robot for warehouse operation with automatic avoiding function |
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| CN115494832A (en) * | 2021-06-17 | 2022-12-20 | 苏州宝时得电动工具有限公司 | Self-moving device, obstacle avoidance control method and storage medium |
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