CN110304387B - One-stop type carrying equipment capable of moving in multiple directions and carrying method thereof - Google Patents
One-stop type carrying equipment capable of moving in multiple directions and carrying method thereof Download PDFInfo
- Publication number
- CN110304387B CN110304387B CN201910611009.9A CN201910611009A CN110304387B CN 110304387 B CN110304387 B CN 110304387B CN 201910611009 A CN201910611009 A CN 201910611009A CN 110304387 B CN110304387 B CN 110304387B
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- carrying trolley
- carrying
- trolley
- shelf
- lifting
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000009193 crawling Effects 0.000 claims abstract description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
Classifications
-
- 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 one-stop type carrying equipment capable of moving in multiple directions, which comprises a carrying trolley 100, a geomagnetic guiding device 200 and a running rail 8 between shelves; the transfer cart 100 includes a main body frame 1, a travel drive device 2, a guide system 4, a lifting device 5, an electrical control system 6, and a power supply system 7. The invention also discloses a one-stop carrying method capable of multidirectional movement, which comprises the steps of enabling the carrying trolley to reach the position of the platform, completing taking and placing goods at the platform, reaching the appointed position in the goods shelf roadway, crawling along the goods shelf to reach the appointed goods shelf, completing taking and placing goods tasks at the goods shelf, reaching a charging area, and the like. The invention can effectively reduce conveying and carrying equipment in an automatic logistics system, such as a conveying line and a platform at the front end of an automatic three-dimensional warehouse, can replace a stacker to finish the goods storing and taking tasks of different layers and columns in a roadway, can shuttle among a plurality of roadways, and can effectively improve the carrying efficiency.
Description
Technical Field
The invention belongs to the technical field of automatic logistics equipment, further belongs to the technical field of material handling in automatic stereoscopic warehouses, and particularly relates to one-stop handling equipment capable of moving in multiple directions and a handling method thereof.
Background
With the rapid development of logistics industry in China, the single quantity of the logistics system is increased rapidly, the distribution timeliness is faster and faster, and the automation and the intellectualization become the development direction of the E-commerce logistics. Various sorting conveying lines, multi-layer shuttling vehicles, primary and secondary shuttling vehicles and the like which are pushed out in the current market are used for solving the problem that commodities are conveyed from a warehouse to an output platform, but the sorting conveying lines only solve the problem that the front end of the warehouse is conveyed to the output platform, and the multi-layer shuttling vehicles and the secondary shuttling vehicles only solve the problem that the front end of the warehouse is conveyed to the platform, so that one-stop equipment which can completely solve the problem that the front end of the warehouse is conveyed to the output platform is not available. For this reason, it is a key to solve this problem to develop a multi-directional movement one-stop type cart and a track for guiding and climbing thereof.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides one-stop type carrying equipment capable of moving in multiple directions and a carrying method thereof.
The technical scheme for solving the technical problems is as follows:
a multi-directional movement one-stop type carrying device comprises a carrying trolley 100, a geomagnetic guiding device 200 and a running rail 8 between shelves; the method is characterized in that: the carrying trolley 100 comprises a main body frame 1, a walking driving device 2, a guiding system 4, a lifting device 5, an electric control system 6 and a power supply system 7;
the bottom of the main body frame 1 is provided with a running driving device 2, a lifting device 5 and a power supply system 7, and the electric control system 6 and the guide system 4 are arranged on any side surface of the main body frame 1; the travel driving device 2 comprises a driving motor 21, a travel driving wheel 22 and a steering mechanism 23; the lifting device 5 comprises an electromagnet 51, a telescopic driving shaft 52 and a lifting driving wheel 53; the geomagnetic guiding device 200 is arranged on the bottom surface, and the inter-shelf running rail 8 is fixedly connected in the shelf upright post;
the power supply end of the electric control system 6 is connected with the power supply system 7, the signal input end of the electric control system 6 is connected with the guiding system 4, and the driving output end of the electric control system 6 is connected with the driving motor 21;
the lifting driving wheels 53 are fixedly connected to two ends of the telescopic driving shaft 52, and the inner dimension of the lifting driving wheels is matched with the outer dimension of the electromagnet 51; the electromagnet 51 is sleeved on the telescopic driving shaft 52, the lifting driving wheel 53 is attracted during power-on, the lifting driving wheel 53 is moved to two ends during power-off, and an elastic component 54 is arranged between the electromagnet 51 and the lifting driving wheel 53.
A multi-directional one-stop handling method, comprising the steps of:
A. the carrying trolley reaches the station position after receiving the task instruction;
B. the carrying trolley completes the picking and placing tasks at the platform;
C. the carrying trolley reaches a designated goods taking and placing position in the goods shelf roadway according to the task instruction;
D. the carrying trolley crawls along the goods shelf to reach a specified goods lattice;
E. the carrying trolley completes the picking and placing tasks at the goods lattice;
F. and the carrying trolley reaches a charging area to be charged according to the task instruction.
The beneficial effects of the invention are as follows:
the multi-directional movement one-stop type carrying equipment and the carrying method thereof can effectively reduce the conveying and carrying equipment in an automatic logistics system, such as the elimination of a conveying line and a platform at the front end of an automatic three-dimensional warehouse, can replace a stacker in a roadway to finish the goods storing and taking tasks of different layers and columns, can also shuttle among a plurality of roadways, and can effectively improve the carrying efficiency.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the operation of the present invention;
FIG. 3 is a schematic diagram of a material taking unit according to the present invention;
FIG. 4 is a schematic view of the inter-shelf travel track of the present invention;
FIG. 5 is an enlarged view of the interface between the trolley and the pallet track of FIG. 2;
FIG. 6 is a cross-sectional view of the lifting device of the present invention;
in the figure: 100-a carrying trolley; 200-geomagnetic guiding means; 8-running tracks among shelves; 1-a main body frame; 2-a travel drive device; 21-a drive motor; 22-a walking driving wheel; 23-steering mechanism; 3-a material storing and taking unit; 4-a guidance system; 5-lifting device, 51-electromagnet, 52-telescopic driving shaft, 53-lifting driving wheel and 54-elastic component; 6-an electrical control system; 7-a power supply system.
Detailed Description
A multi-directional movement one-stop type carrying device comprises a carrying trolley 100, a geomagnetic guiding device 200 and a running rail 8 between shelves; the method is characterized in that: the carrying trolley 100 comprises a main body frame 1, a walking driving device 2, a guiding system 4, a lifting device 5, an electric control system 6 and a power supply system 7;
the bottom of the main body frame 1 is provided with a running driving device 2, a lifting device 5 and a power supply system 7, and the electric control system 6 and the guide system 4 are arranged on any side surface of the main body frame 1; the travel driving device 2 comprises a driving motor 21, a travel driving wheel 22 and a steering mechanism 23; the lifting device 5 comprises an electromagnet 51, a telescopic driving shaft 52 and a lifting driving wheel 53; the geomagnetic guiding device 200 is arranged on the bottom surface, and the inter-shelf running rail 8 is fixedly connected in the shelf upright post;
the power supply end of the electric control system 6 is connected with the power supply system 7, the signal input end of the electric control system 6 is connected with the guiding system 4, and the driving output end of the electric control system 6 is connected with the driving motor 21;
the lifting driving wheels 53 are fixedly connected to two ends of the telescopic driving shaft 52, and the inner dimension of the lifting driving wheels is matched with the outer dimension of the electromagnet 51; the electromagnet 51 is sleeved on the telescopic driving shaft 52, and when the power is on, the lifting driving wheel 53 is attracted, and when the power is off, the lifting driving wheel 53 moves towards two ends. An elastic member 54 is provided between the electromagnet 51 and the elevation drive wheel 53.
Preferably, the resilient member 54 is a compression spring/disc spring.
Preferably, the lifting drive wheel 53 is a gear, a pulley, a sprocket, or the like, which can mesh with the inter-shelf running rail 8.
Preferably, the maximum outer circle size of the lifting driving wheel 53 is smaller than that of the walking driving wheel 22.
Preferably, the inter-shelf running rail 8 is a linear rack/toothed belt or the like which can be meshed with the lifting driving wheel 53.
Preferably, the geomagnetic guiding apparatus 200 is arranged along a plurality of paths between the platform and the shelf according to the logistics system plan.
Preferably, the inter-shelf travel rail 8 runs along the front face of the shelf upright to the top layer of the shelf.
Preferably, a material storing and taking unit 3 is disposed at the top of the main body frame 1 of the cart 100.
A multi-directional one-stop handling method, comprising the steps of:
A. the carrying trolley reaches the station position after receiving the task instruction;
B. the carrying trolley completes the picking and placing tasks at the platform;
C. the carrying trolley reaches a designated goods taking and placing position in the goods shelf roadway according to the task instruction;
D. the carrying trolley crawls along the goods shelf to reach a specified goods lattice;
E. the carrying trolley completes the picking and placing tasks at the goods lattice;
F. and the carrying trolley reaches a charging area to be charged according to the task instruction.
The working principle and working process of the invention are further described below with reference to the accompanying drawings.
Working principle:
the guiding system 4 is arranged on the ground in advance according to the technological process of the logistics system, the carrying trolley 100 can run to a target position in a goods shelf horizontally or vertically under the action of the single-machine electric control system 6 according to instructions, and the goods taking and placing tasks are completed through the material storing and taking unit 3. The power supply system 7 can charge the cart 100.
The working process comprises the following steps:
as shown in fig. 1 and 2, the transport cart 100 performs path planning by using a geomagnetic guidance method, the guidance system 4 is arranged on the ground in advance, and a plurality of paths are provided between the platform and the shelf according to the logistics system planning. The cart 100 is placed in a charging area for charging when in a non-operating state. Assuming that the carrying trolley 100 takes goods from a station 1 and places the goods in a third row and a fourth layer of goods grid on the left side of a roadway 2, the working process is as follows: when the electric control system 6 of the carrying trolley 100 receives an instruction and drives the travelling driving device 2 to work so as to enable the carrying trolley 100 to advance, and when the carrying trolley 100 reaches a guide corner (the guide system 4 is arranged in advance, a path planning is finished, and the corner is contained in the path), the steering mechanism firstly jacks up the trolley body so that the travelling wheel leaves the ground and then rotates the whole trolley body by 90 degrees (the path is determined because the guide system 4 is arranged on the ground in advance, the steering action that the carrying trolley 100 reaches the corner and rotates by 90 degrees is designed), then the trolley body floor travelling driving device 2 continues to work so as to enable the carrying trolley 100 to advance, and when the carrying trolley 100 runs to a station, the material access unit 3 carries the material at the station onto the carrying trolley 100 and runs to the third column of the lane No. 2 along the planned path. The electrical control system 6 sends a command to cause the elastic member 54 in the lifting device 5 to act while the telescopic drive shaft 52 is extended to cause the lifting drive wheel 53 to snap into the inter-shelf travel rail 8, and then the transfer cart 100 is climbed along the inter-shelf travel rail to the target floor. Since the driving motor 21 is provided with a rotary encoder, the crawling height of the transporting carriage 100 can be calculated by signal feedback of the rotary encoder, and the transporting carriage 100 can be positioned to the target layer. A horizontal conveying device, such as a fork, a conveyor, a hooking device, etc., is arranged right above the carrying trolley 100, and the material storing and taking unit 3 completes the discharging operation according to the system requirement.
Claims (7)
1. A multi-directional movement one-stop type carrying device, which comprises a carrying trolley (100), a geomagnetic guiding device (200) and an inter-shelf running track (8); the method is characterized in that:
the carrying trolley (100) comprises a main body frame (1), a travelling driving device (2), a material storing and taking unit (3), a guiding system (4), a lifting device (5), an electric control system (6) and a power supply system (7);
the bottom of the main body frame (1) is provided with a running driving device (2), a lifting device (5) and a power supply system (7), and the electric control system (6) and the guide system (4) are arranged on any side surface of the main body frame (1);
the walking driving device (2) comprises a driving motor (21), a walking driving wheel (22) and a steering mechanism (23);
the lifting device (5) comprises an electromagnet (51), a telescopic driving shaft (52) and a lifting driving wheel (53);
the geomagnetic guiding device (200) is arranged on the bottom surface, and the running rail (8) between the goods shelves is fixedly connected in the upright post of the goods shelf;
the power supply end of the electric control system (6) is connected with the power supply system (7), the signal input end of the electric control system (6) is connected with the guide system (4), and the driving output end of the electric control system (6) is connected with the driving motor (21); the material storing and taking unit (3) is arranged at the top of the main body frame (1) of the carrying trolley (100);
the lifting driving wheels (53) are fixedly connected to two ends of the telescopic driving shaft (52), and the inner dimension of the lifting driving wheels is matched with the outer dimension of the electromagnet (51); the electromagnet (51) is sleeved on the telescopic driving shaft (52), the lifting driving wheel (53) is attracted when the power is on, the lifting driving wheel (53) moves towards two ends when the power is off, and an elastic part (54) is arranged between the electromagnet (51) and the lifting driving wheel (53);
the geomagnetic guiding device (200) is arranged between the platform and the goods shelf according to the logistics system planning to form a plurality of paths;
when the steering mechanism (23) reaches the guiding corner of the carrying trolley (100), the trolley body is jacked up firstly to enable the walking driving wheel (22) to leave the ground, then the whole trolley body is rotated by 90 degrees, then the trolley body is landed, and the walking driving device (2) continues to work to enable the carrying trolley (100) to advance.
2. Handling equipment according to claim 1, characterized in that the inter-shelf travel rail (8) is routed along the front end of the shelf upright to the top layer of the shelf.
3. Handling equipment according to claim 1, characterized in that the inter-shelf travel rail (8) is a linear rack/toothed belt which can be engaged with a lifting drive wheel (53).
4. Handling equipment according to claim 1, characterized in that the lifting drive wheel (53) is a gear/pulley/sprocket wheel capable of meshing with the inter-shelf running rail (8).
5. Handling equipment according to claim 1, characterized in that the lifting drive wheel (53) has a largest outer circle dimension smaller than the travelling drive wheel (22).
6. Handling equipment according to any of claims 1 to 5, characterized in that the elastic member (54) employs a compression spring/disc spring.
7. A method of handling a multi-directionally movable one-stop handling device according to any one of claims 1 to 5, comprising the steps of:
step 1, after an electric control system (6) of a carrying trolley (100) receives an instruction, under the guidance of a guide system (4) along a geomagnetic guide device (200), driving a travel driving device (2) to work so as to enable the carrying trolley (100) to advance, when the carrying trolley (100) reaches a guide corner, a steering mechanism (23) firstly jacks up a trolley body so as to enable a travel driving wheel (22) to leave the ground and then rotate the whole trolley body by 90 degrees, then the trolley body falls to the ground, the travel driving device (2) continues to work so as to enable the carrying trolley (100) to advance, and when the carrying trolley (100) runs to a station, a material storage unit (3) carries materials at the station onto the carrying trolley (100) and runs a goods shelf of a designated row along a planned path;
step 2, the electrical control system (6) sends a command to enable an elastic component (54) in the lifting device (5) to act, meanwhile, the telescopic driving shaft (52) stretches to enable the lifting driving wheel (53) to be clamped into the inter-shelf running rail (8), and then the carrying trolley (100) ascends to a target layer along the inter-shelf running rail;
step 3, calculating the crawling height of the carrying trolley (100) through signal feedback of a rotary encoder of the driving motor (21), and further positioning the carrying trolley (100) to a target layer;
step 4, arranging a horizontal conveying device right above the carrying trolley (100), and completing a goods placing action by the material storing and taking unit (3) according to the system requirement;
and 5, placing the carrying trolley (100) in a charging area for charging when the carrying trolley is not in an operating state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910611009.9A CN110304387B (en) | 2019-07-08 | 2019-07-08 | One-stop type carrying equipment capable of moving in multiple directions and carrying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910611009.9A CN110304387B (en) | 2019-07-08 | 2019-07-08 | One-stop type carrying equipment capable of moving in multiple directions and carrying method thereof |
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| Publication Number | Publication Date |
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| CN110304387A CN110304387A (en) | 2019-10-08 |
| CN110304387B true CN110304387B (en) | 2024-03-19 |
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| CN201910611009.9A Active CN110304387B (en) | 2019-07-08 | 2019-07-08 | One-stop type carrying equipment capable of moving in multiple directions and carrying method thereof |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017809A (en) * | 2020-03-03 | 2020-04-17 | 昆明昆船物流信息产业有限公司 | Cross beam type stacker and using method thereof |
| CN113277255B (en) * | 2021-06-11 | 2022-08-05 | 深圳市海柔创新科技有限公司 | Lifting method and device for carrying equipment |
| CN114620395A (en) * | 2022-04-08 | 2022-06-14 | 卜文涛 | Stereoscopic warehouse with hook-pull storing and taking functions |
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| CN210456123U (en) * | 2019-07-08 | 2020-05-05 | 昆明昆船物流信息产业有限公司 | One-stop type carrying equipment capable of moving in multiple directions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2249625T3 (en) * | 2001-07-04 | 2006-04-01 | Tgw Transportgerate Gmbh | TRANSPORT CART FOR STORAGE AND DISASSEMBLY OF TRANSPORTED PROPERTY. |
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| CN102341323A (en) * | 2009-03-02 | 2012-02-01 | 安塔尔宗博里 | Arrangement for storage, warehouse rack and handling machine particularly for such arrangement |
| WO2012106744A1 (en) * | 2011-02-08 | 2012-08-16 | Tgw Mechanics Gmbh | Rack store system and method for operating it |
| CN109264274A (en) * | 2018-01-29 | 2019-01-25 | 驰创科技（天津）有限公司 | A kind of intelligent warehousing system and its working method |
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