CN110182516A - A kind of intelligent storage equipment multiple degrees of freedom conveying device and balance control method - Google Patents
A kind of intelligent storage equipment multiple degrees of freedom conveying device and balance control method Download PDFInfo
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- CN110182516A CN110182516A CN201910401487.7A CN201910401487A CN110182516A CN 110182516 A CN110182516 A CN 110182516A CN 201910401487 A CN201910401487 A CN 201910401487A CN 110182516 A CN110182516 A CN 110182516A
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- plate
- detent
- doubler
- loading
- storage equipment
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The invention discloses a kind of intelligent storage equipment multiple degrees of freedom conveying devices, including bearing soleplate and mobile runner, bearing soleplate is respectively arranged on the left side and the right side control staking out and translation locking mechanism, and the lower surface for controlling staking out is equipped with several C word detent slots, translating locking mechanism includes the detent vertical plate for being movably arranged on bearing soleplate upper end, and several guiding balancing poles being uniformly mounted on detent vertical plate, actuating cylinder is additionally provided on bearing soleplate, limit long slab is additionally provided on bearing soleplate, the upper end for limiting long slab is equipped with several U-shaped card holes, guiding balancing pole sequentially passes through corresponding U-shaped card hole, and the end correspondence for being oriented to balancing pole assigns into matched C word detent slot, the upper end for being oriented to balancing pole is equipped with loading doubler；This programme can carry out clamping action to the cargo of different sizes, and arrangement of goods is fallen from delivery platform in acceleration-deceleration or turn, to improve the stability of cargo during transportation, increase the security performance of cargo conveying.
Description
Technical field
The present invention relates to intelligent storage field, specially a kind of intelligent storage equipment multiple degrees of freedom conveying device and balance
Control method.
Background technique
Intelligent storage is a link of logistics progress, and the application of intelligent storage ensure that merchandise warehouse manages each ring
Joint number according to input speed and accuracy, it is ensured that enterprise timely and accurately grasps the truthful data of inventory, rationally keep and control
Business inventory.By the coding of science, being also convenient to the batch to warehouse goods, shelf-life etc. is managed.It utilizes
The bucket management function of SNHGES system can more grasp all warehouse goods present positions in time, be conducive to improve storehouse
The working efficiency of depositary management reason.
At home in the application of Internet of Things, mainly there is the characteristics of several aspects: firstly, what cognition technology applicable cases compared
Well.In China, warehousing industry is RFID technique using most Internet of Things cognition technologies, at some advanced storage dispensing centers,
RFID label tag and intelligent wireless radio frequency (RF) handheld terminal, which have to compare, to be widely applied.This is because RFID technique and pallet system
System combines, and in the closed loop application of storage dispensing center, cost can be effectively reduced.We it is also known that in common warehousing system,
Other than the automatic identification technology based on bar code has and is widely applied, " electronic tag auxiliary sorting system " also has certain answer
With.Here the not instead of RFID label tag that so-called electronic tag refers to, the system that picking is carried out using electronics indicating label.
Using this system, storage order will be gone out after computer system decomposition, each goods yard of shelf is transferred to, is drawn with electronic display technology
Lead the auxiliary sorting system of picking.
During intelligent storage equipment, conveying device can be all used mostly, and most widely used at present conveying fills
It sets in intelligent storage and to control it using many-degrees of freedom system and moved in two dimension even three-dimensional space, conveying device is two
Dimension space when perhaps three-dimensional space is moved due to deceleration-operation, accelerate operation or turn round etc. significantly to operate, having can
Falling for conveying articles can be caused, the stability for carrying transportation work is seriously affected.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of intelligent storage equipment multiple degrees of freedom conveying dress
It sets and balance control method, can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of intelligent storage equipment multiple degrees of freedom conveying device, including bearing soleplate and it is mounted on bearing soleplate lower surface
Mobile runner, the bearing soleplate is respectively arranged on the left side and the right side control staking out and translation locking mechanism, and the control
The lower surface of staking out is equipped with several equally distributed C word detent slots, and the opening face of the C word detent slot is fixedly mounted on load-bearing bottom
On plate, the translation locking mechanism includes being movably arranged on the detent vertical plate of bearing soleplate upper end and several being uniformly mounted on
Guiding balancing pole on detent vertical plate is additionally provided with the actuating cylinder for pushing detent vertical plate anterior-posterior translation, institute on the bearing soleplate
It states and is additionally provided with limit long slab on bearing soleplate, the upper end of the limit long slab is equipped with several equally distributed U-shaped card holes, described to lead
Corresponding U-shaped card hole is sequentially passed through to balancing pole, and the end correspondence of the guiding balancing pole assigns into matched C word detent
In slot, the upper end of the guiding balancing pole is equipped with loading doubler.
Further, the lower end of the detent vertical plate be equipped with several groups be uniformly distributed and with guiding balancing pole direction phase
Same installation group plate, the installation group plate is interior to be equipped with idler wheel, and the upper surface of the bearing soleplate is equipped with matched elongated with idler wheel
Track.
Further, the detent vertical plate is additionally provided with close to the surface of guiding balancing pole increases locking plate, and the detent is vertical
The inside of plate is equipped with driving set space, and driving is equipped in the driving set space and increases the driving electricity that locking plate moves up and down
Machine, the output end of the driving motor are connected with rotational lead screw, and the back side for increasing locking plate is equipped with and is set in rotational lead screw
Outer ball pedestal, the inside of the detent vertical plate is additionally provided with the vertical open pore space connecting with driving set space, described to add
High locking plate is along the vertical open pore space upper and lower translation.
Further, the inner surface for increasing locking plate, which is equipped with, thickeies springing mechanism, and the thickening springing mechanism includes
The nested hole slot for increasing locking plate upper end inner surface is set, and is mounted on the trapezoidal springing plate inside nested hole slot, it is described
Trapezoidal springing plate is fixed in nested hole slot by several equally distributed compressed springs, and described increases locking plate trapezoidal
The outer surface of springing plate is fixed with elastic wear-resisting rubber pad, and the inner surface of the detent vertical plate also is provided with elastic wear-resisting rubber
Pad.
Further, the upper surface of the loading doubler is equipped with the abnormity protrusion for increasing friction, the loading two
Weight plate is additionally provided with extension Lengthening mechanism along the direction of guiding balancing pole, and the extension Lengthening mechanism includes that setting is double in loading
The rectangle carrier block of intralamellar part and two ladder lengthening blocks moved left and right respectively along rectangle carrier block, the rectangle are held
The outer surface for carrying block is equipped with guide step and lengthens the mobile C font card slot of block, and the ladder lengthens block along the C font card slot
Mobile, the loading doubler is equipped with cutting at left and right sides of rectangle carrier block and walks slot, and the ladder lengthens block
Outside be equipped with and walk the drawer plate of slot across cutting, and the ladder lengthens the inside of block and is equipped with absorption magnetic sheet, the C
The inside of font card slot is equipped with magnetic opposite anisotropic magnetic sheet.
Further, the ladder lengthens and is connected with right-angled trapezium plate on the inside of block, and the width of the right-angled trapezium plate omits
Less than the width that ladder lengthens block, the inside upper surface that the ladder lengthens block is equipped with positioning hole groove, and the ladder lengthens block
The left and right sides, which is additionally provided with, extends side, and the extension side is equipped with the locking plate of tower, and it is locking that the positioning hole groove can be set in tower
Plate outer surface.
In addition it the present invention also provides a kind of intelligent storage equipment control system of multiple degrees of freedom conveying device, specifically includes
It is mounted on the weighing system of loading doubler rear and front end, and the central processing system connecting with weighing system, the center
Processing system receives the data of two weighing systems, and handles weighing data, the central processing by data processing module
System is connected with alarm module.
Further, the data processing module subtracts each other the data of two weighing systems, if two titles
The data difference of weight system is greater than the threshold range of setting, then central processing system control alarm module work carries out alert process.
In addition, the present invention also provides a kind of control method that intelligent storage equipment is balanced with multiple degrees of freedom conveying device,
Include the following steps:
Cargo is placed on loading doubler by step 100, on the direction on loading doubler along guiding balancing pole
It is provided with extension Lengthening mechanism, expands the bearing area of cargo, and cargo is fixed and is limited by limit and fastening device
Position；
Step 200 after cargo is placed on loading doubler, carries out conveying balance detection to cargo, conveys when reaching
It is conveyed after balance, otherwise carries out second-pumping balance detection.
Further, in step 200, the specific detection method of balance detection is conveyed are as follows:
Weighing system is respectively set in the rear and front end of loading doubler in step 201, and by the number of two weighing systems
According to being transmitted to central processing system；
Step 202, central processing system handle the data received, and will treated data with set in advance
Fixed threshold value compares, and is then issued warn by alarm module when a threshold is exceeded, be adjusted, and it is qualified otherwise to determine；
Step 203 carries out secondary detection after adjust again, until meeting testing requirements, otherwise returns to previous step.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention adds cargo locking mechanism, can carry out clamping action, arrangement of goods to the cargo of different sizes
It is fallen from delivery platform in acceleration-deceleration or turn, to improve the stability of cargo during transportation, increases goods
The security performance of object conveying；
(2) the loading doubler that present invention setting size can increase, it is possible to increase branch when being loaded to larger-size cargo
Area is supportted, the pressure of cargo is reduced, to improve the stability in transmission process, is set for using convenient for carrying out limiting card to cargo.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is detent vertical plate structural schematic diagram of the invention；
Fig. 3 is the enlarged structure schematic diagram of A in Fig. 2 of the invention；
Fig. 4 is extension Lengthening mechanism structural schematic diagram of the invention；
Fig. 5 is loading doubler schematic diagram of internal structure of the invention；
Fig. 6 is that ladder of the invention lengthens block locking strutcture schematic diagram；
Fig. 7 is control system architecture schematic diagram of the invention；
Fig. 8 is detection method flow diagram.
Figure label:
1- bearing soleplate；2- controls staking out；3- translates locking mechanism；4-C word detent slot；5- loading doubler；6- increases
Locking plate；7- drives set space；8- driving motor；9- rotational lead screw；10- ball pedestal；The vertical open pore space of 11-；12- peace
Dress group plate；13- idler wheel；The elongated track of 14-；15- abnormity protrusion；16- extension Lengthening mechanism；17- adsorbs magnetic sheet；18- opposite sex magnetic
Piece；The locking plate of 19- tower；
301- detent vertical plate；302- is oriented to balancing pole；303- actuating cylinder；304- limits long slab；305-U shape card hole；
701- nesting hole slot；The trapezoidal springing plate of 702-；703- compressed spring；704- elastic wear-resisting rubber pad；
1601- rectangle carrier block；1602- ladder lengthens block；1603-C font card slot；Slot is walked in 1604- cutting；1605-
Drawer plate；1606- right-angled trapezium plate；1607- positioning hole groove；1608- extends side.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of intelligent storage equipment multiple degrees of freedom conveying devices, including hold
Weight bottom plate 1 and the mobile runner for being mounted on 1 lower surface of bearing soleplate, the conveying device that present embodiment mentions is mainly by bearing soleplate
1 forms with mobile runner, and shape is the shape of transport trolley, and the bearing soleplate 1 is respectively arranged on the left side and the right side control staking out 2
Several equally distributed C word detent slots 4, the C word are equipped with the lower surface of translation locking mechanism 3, and the control staking out 2
The opening face of detent slot 4 is fixedly mounted on bearing soleplate 1, and car-mounted computer is equipped in the control staking out, is mainly used for counting
Information data of the transport trolley in conveying is calculated, the translation locking mechanism 3 is mainly used for the kinds of goods of locking loading, prevents kinds of goods
It is fallen from transport trolley.
It is described translation locking mechanism 3 include be movably arranged on 1 upper end of bearing soleplate detent vertical plate 301 and it is several
The even guiding balancing pole 302 being mounted on detent vertical plate 301 is additionally provided on the bearing soleplate 1 and pushes 301 front and back of detent vertical plate
The actuating cylinder 303 of translation, actuating cylinder 303 can also be linear motor or hydraulic cylinder, and the main function of actuating cylinder is to push away
Dynamic 301 anterior-posterior translation of detent vertical plate, to change the distance between 301 inner surface of detent vertical plate and control 2 inner surface of staking out, just
In clamping is fixed to various sizes of article, effectively prevent article from falling off from bearing soleplate 1.
The lower end of the detent vertical plate 301 is equipped with several groups and is uniformly distributed and identical as guiding 302 directions of balancing pole
Installation group plate 12, be equipped with idler wheel 13 in the installation group plate 12, the upper surface of the bearing soleplate 1 is equipped with to be matched with idler wheel 13
Elongated track 14, when moving, idler wheel 13 rolls detent vertical plate 301 in corresponding elongated track 14, reduce detent vertical plate
301 friction when moving left and right, to reduce the working strength of actuating cylinder 303.
Limit long slab 304 is additionally provided on the bearing soleplate 1, the upper end of the limit long slab 304 is equipped with several uniform points
The U-shaped card hole 305 of cloth, the guiding balancing pole 302 sequentially pass through corresponding U-shaped card hole 305, and the guiding balancing pole
302 end correspondence assigns into matched C word detent slot 4, detent vertical plate 301 when moving, U-shaped card hole 305 and C word detent
Slot 4 limits guiding balancing pole 302 and generates displacement in other directions, so that the stability of detent vertical plate 301 when moving is improved,
Guarantee the stability to kinds of goods clamping action.
As shown in Figures 2 and 3, the detent vertical plate 301 is additionally provided with close to the surface of guiding balancing pole 302 increases locking plate
6, increasing locking plate 6 is mainly to carry out position restriction processing to the cargo that superposition is placed, and the inside of the detent vertical plate 301 is equipped with
Set space 7 is driven, driving is equipped in the driving set space 7 and increases the driving motor 8 that locking plate 6 moves up and down, it is described
The output end of driving motor 8 is connected with rotational lead screw 9, and the back side for increasing locking plate 6 is equipped with and is set in outside rotational lead screw 9
Ball pedestal 10, the inside of the detent vertical plate 301 are additionally provided with the vertical open pore space 11 connecting with driving set space 6, institute
It states and increases locking plate 6 along vertical 11 upper and lower translation of open pore space, driving motor 8 is in driving 9 both forward and reverse directions of rotational lead screw
When rotation, increases locking plate 6 then by ball pedestal 10 in 9 upper and lower translation of rotational lead screw, be moved to highest when increasing locking plate 6
When place, then can the cargo placed of upper end to cargo or superposition carry out position restriction.
Increase locking plate 6 to be arranged in detent vertical plate 301, in order to enable the contact surface for increasing locking plate 6 can be vertical with detent
In the same plane, special be equipped in the inner surface for increasing locking plate 6 thickeies springing mechanism 7, the thickening springing mechanism 7 to plate 301
Increase the nested hole slot 701 of locking 6 upper end inner surface of plate including being arranged in, and is mounted on trapezoidal inside nested hole slot 701
Springing plate 702, the trapezoidal springing plate 702 are fixed in nested hole slot 701 by several equally distributed compressed springs 703,
Trapezoidal springing plate 702 is moved in nested hole slot 701 by compressed spring 703, and the trapezoidal hypotenuse of trapezoidal springing plate 702 is convenient for
It is moved in vertical open pore space 11, the concrete operating principle of trapezoidal springing plate 702 are as follows: trapezoidal when increasing the locking retraction downwards of plate 6
The lower bevel edge of springing plate 702 is compressed in nested hole slot 701 under the extruding of vertical open pore space 11, increases locking plate 6 upwards
When stretching, extension, the upper bevel edge of trapezoidal springing plate 702 is detached from the extruding of vertical open pore space 11, pops up out of nested hole slot 701, thus
Limiting card can be carried out to cargo to be set for using.
It is described to increase locking plate 6 and be fixed with elastic wear-resisting rubber pad 704 in the outer surface of trapezoidal springing plate 702, it is described
The inner surface of detent vertical plate 301 also is provided with elastic wear-resisting rubber pad 704, and elastic wear-resisting rubber pad 704 can increase frictional force, simultaneously
Play the role of protection to cargo, is compressed under the extruding of external force additionally, due to elastic wear-resisting rubber pad 704, it is locking convenient for increasing
Plate 6 moves in vertical open pore space 11.
As shown in Figures 4 to 6, the upper end of the guiding balancing pole 302 is equipped with loading doubler 5, the loading doubler 5
Mainly be to provide article carrying platform, guarantee that cargo does not influence the normal movement for being oriented to balancing pole 302, the loading doubler 5 it is upper
Surface is equipped with the abnormity protrusion 15 for increasing friction, improves the stability of cargo in the handling process.
In order to support the cargo of larger size, the pressure that cargo itself is subject to is reduced, loading doubler 5 is balanced along guiding
The direction of bar 302 is additionally provided with extension Lengthening mechanism 16, and the extension Lengthening mechanism 16 includes being arranged in inside loading doubler 5
Rectangle carrier block 1601 and two ladder lengthening blocks 1602 moved left and right respectively along rectangle carrier block 1601, the square
The outer surface of shape carrier block 1601 is equipped with guide step and lengthens the mobile C font card slot 1603 of block 1602, and the ladder lengthens block
1602 move along the C font card slot 1603, and two in present embodiment ladder lengthens block 1602 about loading doubler 5
Axial centre it is symmetrical, so two ladders lengthen blocks 1602 and can lengthen one times on the length of loading doubler 5, thus
Increase the loaded area to conveying articles, reduces the pressure that cargo itself is subject to, improve security performance during transportation.Institute
It states loading doubler 5 and is equipped with cutting in the left and right sides of rectangle carrier block 1601 and walk slot 1604, and the ladder lengthens
The outside of block 1602 is equipped with the drawer plate 1605 that slot 1604 is walked across cutting, and the inside that the ladder lengthens block 1602 is equipped with
Magnetic sheet 17 is adsorbed, the inside of the C font card slot 1603 is equipped with magnetic opposite anisotropic magnetic sheet 18, pulls drawer plate 1605, i.e.,
Ladder can be pulled on and lengthen block 1602 in 1603 internal shift of C font card slot, ladder lengthens block 1602 during displacement, absorption
It attracts each other between magnetic sheet 17 and anisotropic magnetic sheet 18, can prevent ladder from lengthening block 1602 and fall off out of C font card slot 1603.
In addition the inside that ladder lengthens block 1602 is connected with right-angled trapezium plate 1606, the width of the right-angled trapezium plate 1606
It is slightly less than the width that ladder lengthens block 1602, the inside upper surface that the ladder lengthens block 1602 is equipped with positioning hole groove 1607, institute
The left and right sides for stating ladder lengthening block 1602, which is additionally provided with, extends side 1608, and the extension side 1608 is equipped with the locking plate 17 of tower,
The positioning hole groove 1607 can be set in locking 17 outer surface of plate of tower, when ladder, which lengthens block 1602, is pulled to end, push up
Dynamic ladder lengthens block 1602, until by the clamping in positioning hole groove 1607 completely of the locking plate 17 of tower, so as to play to cargo
Supporting role.
Cargo is placed on loading doubler, is provided with and prolongs on the direction on loading doubler along guiding balancing pole
Lengthening mechanism is opened up, expands the bearing area of cargo, and cargo is fixed and is limited by limit and fastening device.
Cargo tilt is placed in order to prevent, stability of the conveying device in conveying articles is further increased, such as Fig. 7 institute
Show, the present invention additionally provides a kind of intelligent storage equipment control systems of multiple degrees of freedom conveying device, specifically include and are mounted on
The weighing system of loading doubler rear and front end, and the central processing system being connect with weighing system, the central processing system
System receives the data of two weighing systems, and handles weighing data by data processing module, and the central processing system connects
It is connected to alarm module, the data processing module subtracts each other the data of two weighing systems, if two weighing systems
The data difference of system is greater than the threshold range of setting, then central processing system control alarm module work carries out alert process, weighing
The effect of system is weighed to the rear and front end of loading doubler, is set if the data difference between two weighing systems is greater than
Definite value then means that cargo places imbalance, is easy to fall in corner, central processing system then controls alarm mould at this time
Block sounds an alarm.
As shown in figure 8, conveying balance detection is carried out to cargo after cargo is placed on loading doubler, it is defeated when reaching
It is conveyed after sending balance, otherwise carries out second-pumping balance detection.
Convey the specific detection method of balance detection are as follows:
Weighing system is respectively set in the rear and front end of loading doubler, and the data of two weighing systems are transmitted to
Central processing system；
Central processing system handles the data received, and will treated data and preset threshold value
It compares, is then issued warn by alarm module when a threshold is exceeded, be adjusted, it is qualified otherwise to determine；
Secondary detection is carried out after adjust again, until meeting testing requirements, otherwise returns to previous step.
It further illustrates, if the inclination of left and right directions occurs when placing for cargo, that is to say, that be not placed on
The surface of loading doubler 5, then detent vertical plate 301 can elapse cargo when limiting locking to loading doubler 5
Surface prevents from being displaced in turn accelerator to improve stability when cargo is carried.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of intelligent storage equipment multiple degrees of freedom conveying device, including bearing soleplate (1) and it is mounted under bearing soleplate (1)
The mobile runner on surface, it is characterised in that: the bearing soleplate (1) is respectively arranged on the left side and the right side control staking out (2) and translation
Locking mechanism (3), and the lower surface of control staking out (2) is equipped with several equally distributed C word detent slots (4), the C word
The opening face of detent slot (4) is fixedly mounted on bearing soleplate (1), and the translation locking mechanism (3) includes being movably arranged on to hold
The detent vertical plate (301) of weight bottom plate (1) upper end and several guiding balancing poles being uniformly mounted on detent vertical plate (301)
(302), the actuating cylinder (303) for pushing detent vertical plate (301) anterior-posterior translation is additionally provided on the bearing soleplate (1), it is described to hold
Limit long slab (304) is additionally provided on weight bottom plate (1), the upper end of limit long slab (304) is equipped with several equally distributed U-shaped cards
Hole (305), the guiding balancing pole (302) sequentially pass through corresponding U-shaped card hole (305), and the guiding balancing pole (302)
End it is corresponding assign into matched C word detent slot (4), the upper end of guiding balancing pole (302) is equipped with loading doubler
(5)。
2. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 1, it is characterised in that: the card
The lower end of position vertical plate (301) is uniformly distributed equipped with several groups and installation group plate identical with guiding balancing pole (302) direction
(12), idler wheel (13) are equipped in the installation group plate (12), the upper surface of the bearing soleplate (1) is equipped with to be matched with idler wheel (13)
Elongated track (14).
3. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 1, it is characterised in that: the card
Position vertical plate (301) is additionally provided with and increases locking plate (6) close to the surface of guiding balancing pole (302), the detent vertical plate (301) it is interior
Portion is equipped with driving set space (7), is equipped with driving in driving set space (7) and increases the drive that locking plate (6) moves up and down
Dynamic motor (8), the output end of the driving motor (8) are connected with rotational lead screw (9), and the back side for increasing locking plate (6) is set
Have and be set in the ball pedestal (10) of rotational lead screw (9) outside, the inside of the detent vertical plate (301) is additionally provided with empty with driving set
Between (6) vertical open pore space (11) for connecting, the locking plate (6) of increasing puts down up and down along the vertical open pore space (11)
It moves.
4. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 3, it is characterised in that: described to add
The inner surface of high locking plate (6), which is equipped with, thickeies springing mechanism (7), the thickenings springing mechanism (7) include be arranged increase it is locking
The nested hole slot (701) of plate (6) upper end inner surface, and it is mounted on the internal trapezoidal springing plate (702) of nested hole slot (701),
The trapezoidal springing plate (702) is fixed in nested hole slot (701) by several equally distributed compressed springs (703), and
It is described to increase locking plate (6) and be fixed with elastic wear-resisting rubber pad (704), the card in the outer surface of trapezoidal springing plate (702)
The inner surface of position vertical plate (301) also is provided with elastic wear-resisting rubber pad (704).
5. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 1, it is characterised in that: the load
The abnormity that the upper surface of object doubler (5) is equipped with for increasing friction is raised (15), and the loading doubler (5) is along guide flat
The direction of weighing apparatus bar (302) is additionally provided with extension Lengthening mechanism (16), and the extension Lengthening mechanism (16) includes that setting is double in loading
The internal rectangle carrier block (1601) of plate (5) and two ladders moved left and right respectively along rectangle carrier block (1601) add
Long block (1602), the outer surface of the rectangle carrier block (1601) are equipped with guide step and lengthen block (1602) mobile C font card
Slot (1603), the ladder lengthen block (1602) along the C font card slot (1603) movement, and the loading doubler (5) exists
It is equipped with cutting at left and right sides of rectangle carrier block (1601) to walk slot (1604), and the ladder lengthens the outer of block (1602)
Side is equipped with the drawer plate (1605) that slot (1604) are walked across cutting, and the inside of ladder lengthening block (1602) is equipped with
It adsorbs magnetic sheet (17), the inside of the C font card slot (1603) is equipped with magnetic opposite anisotropic magnetic sheet (18).
6. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 5, it is characterised in that: the rank
Ladder lengthens to be connected with right-angled trapezium plate (1606) on the inside of block (1602), and the width of the right-angled trapezium plate (1606) is slightly less than rank
Ladder lengthens the width of block (1602), and the inside upper surface that the ladder lengthens block (1602) is equipped with positioning hole groove (1607), described
Ladder, which lengthens to be additionally provided at left and right sides of block (1602), extends side (1608), and the extension side (1608) is equipped with the locking plate of tower
(19), the positioning hole groove (1607) can be set in the locking plate of tower (19) outer surface.
7. a kind of intelligent storage equipment multiple degrees of freedom conveying device described in -5 any claims according to claim 1,
It is characterized in that: further including being mounted on the weighing system of loading doubler rear and front end, and the centre being connect with weighing system
Reason system, the central processing system receives the data of two weighing systems, and handles weighing number by data processing module
According to the central processing system is connected with alarm module.
8. a kind of intelligent storage equipment multiple degrees of freedom conveying device according to claim 7, it is characterised in that: the number
The data of two weighing systems are subtracted each other according to processing module, if the data difference of two weighing systems is greater than setting
Threshold range, then central processing system control alarm module work carry out alert process.
9. a kind of control method that intelligent storage equipment is balanced with multiple degrees of freedom conveying device, which is characterized in that including walking as follows
It is rapid:
Cargo is placed on loading doubler by step 100, is set up on loading doubler along the side of guiding balancing pole
There is extension Lengthening mechanism, expands the bearing area of cargo, and cargo is fixed and is limited by limit and fastening device；
Step 200 after cargo is placed on loading doubler, carries out conveying balance detection to cargo, balances when reaching conveying
After conveyed, otherwise carry out second-pumping balance detection.
10. a kind of control method that intelligent storage equipment is balanced with multiple degrees of freedom conveying device according to claim 9,
It is characterized in that: in step 200, conveying the specific detection method of balance detection are as follows:
Step 201 is respectively set weighing system in the rear and front end of loading doubler, and the data of two weighing systems is passed
Transport to central processing system；
Step 202, central processing system handle the data received, and will treated data with it is preset
Threshold value compares, and is then issued warn by alarm module when a threshold is exceeded, be adjusted, and it is qualified otherwise to determine；
Step 203 carries out secondary detection after adjust again, until meeting testing requirements, otherwise returns to previous step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401487.7A CN110182516B (en) | 2019-05-15 | 2019-05-15 | Multi-degree-of-freedom conveying device for intelligent warehousing equipment and balance control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117208327A (en) * | 2023-11-07 | 2023-12-12 | 山东妙迪食品有限公司 | Marine product anhydrous keep-alive transportation is with separating storage facilities |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117208327A (en) * | 2023-11-07 | 2023-12-12 | 山东妙迪食品有限公司 | Marine product anhydrous keep-alive transportation is with separating storage facilities |
| CN117208327B (en) * | 2023-11-07 | 2024-02-06 | 山东妙迪食品有限公司 | Marine product anhydrous keep-alive transportation is with separating storage facilities |
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| CN110182516B (en) | 2020-08-21 |
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