CN110980164A - Universal ball transportation platform and transportation method - Google Patents

Universal ball transportation platform and transportation method Download PDF

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Publication number
CN110980164A
CN110980164A CN201911332513.1A CN201911332513A CN110980164A CN 110980164 A CN110980164 A CN 110980164A CN 201911332513 A CN201911332513 A CN 201911332513A CN 110980164 A CN110980164 A CN 110980164A
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China
Prior art keywords
transportation
universal
universal ball
structures
ball
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CN201911332513.1A
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Chinese (zh)
Inventor
梁利华
金佳钰
许杨剑
陈俊俊
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Priority to CN201911332513.1A priority Critical patent/CN110980164A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0275—Damage on the load carrier

Abstract

The invention discloses a universal ball transportation platform and a transportation method, wherein the universal ball transportation platform comprises a plurality of transportation units which are spliced with each other, each transportation unit comprises a box body, each box body is provided with a box cover, a bottom plate and a side wall which is annularly distributed between the box cover and the bottom plate, and an avoidance opening is formed in the box cover; the universal ball is arranged in the box body, the top of the universal ball protrudes out of the box body through the avoiding opening, four groups of roller structures are arranged in the box body, the four groups of roller structures are uniformly distributed on the periphery of the universal ball, and two adjacent groups of the four groups of roller structures are driving wheel structures and the other two groups of roller structures are auxiliary wheel structures. The transportation platform is formed by combining a plurality of independent transportation units, and when one transportation unit is damaged and cannot be replaced in time, the damaged transportation unit can be avoided for planning a transportation path, so that the normal operation of a transportation process is ensured; and when the damaged transportation unit is replaced, only the corresponding transportation unit needs to be replaced without overall maintenance, so that the maintenance cost is reduced, and the maintenance efficiency is improved.

Description

Universal ball transportation platform and transportation method
Technical Field
The application belongs to the technical field of logistics equipment, and particularly relates to a universal ball transportation platform and a transportation method.
Background
In the logistics transportation, the mode of utilizing automatic dolly transportation is more, but current automatic dolly transportation, through automatic guiding device guide dolly along the route travel of regulation, the shortcoming is that a dolly can only transport a goods, and is inefficient, and area occupied is big, and can only walk along fixed line, and the route is fragile, in case damage whole circuit stop work.
Therefore, logistics storage gradually develops towards a unitized logistics mode, and in the process of the unitized logistics storage and supply chain, a certain unit appliance is adopted to form a transportation platform for storing and standardizing goods so as to implement logistics operation and improve the operation efficiency.
However, most of the existing semi-automatic cargo transportation platforms are roller type transportation and belt pulley transportation, and the existing semi-automatic cargo transportation platforms have the defect that only one-way transportation is available; and the existing cargo transportation platform needs manpower participation when sorting the cargoes, so that the labor cost is increased, and the sorting efficiency is low.
Under the promotion of market demand, some combined transportation platforms come along with the fortune, but combined transportation platform has the area of contact with goods and appears the transportation direction change when less easily, or transports scheduling problem not smooth.
Disclosure of Invention
The utility model aims to provide a universal ball transportation platform and transportation method, the transportation platform is formed by a plurality of independent transportation unit combinations, has improved transportation platform transportation's reliability and flexibility.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a universal ball transportation platform comprises a plurality of transportation units which are spliced with one another, each transportation unit comprises a box body, each box body is provided with a box cover, a bottom plate and a side wall annularly distributed between the box cover and the bottom plate, and an avoidance opening is formed in the box cover;
the universal ball is arranged in the box body, the top of the universal ball protrudes out of the box body through the avoiding opening, four groups of roller structures are arranged in the box body, the four groups of roller structures are uniformly distributed on the periphery of the universal ball, two adjacent groups of the four groups of roller structures are driving wheel structures, and the other two groups of roller structures are auxiliary wheel structures;
each auxiliary wheel structure comprises a guide rail arranged on the bottom plate, a push frame is arranged on the guide rail in a matched mode, the push frame is opened towards one side of a universal ball, the opening of the push frame is connected with a universal wheel through a diamond-shaped seat bearing, the rolling surface of the universal wheel abuts against the universal ball, the rolling axis of the universal wheel is horizontal, linear bearing seats are respectively arranged on the two outer side surfaces of the rolling axis of the universal wheel of the auxiliary wheel structure where the push frame is located along the two outer side surfaces of the rolling axis of the universal wheel, a linear bearing perpendicular to the rolling axis of the universal wheel of the auxiliary wheel structure where the push frame is located is arranged on the linear bearing seats, one side, far away from the universal ball, of the linear bearing is fixed on the side wall, a spring in a compression state is sleeved on the linear bearing, and.
Preferably, the guide rail in the auxiliary wheel structure extends perpendicular to the direction of the rolling axis of the universal wheel of the auxiliary wheel structure.
Preferably, the driving wheel structure comprises a motor, a motor fixing plate, a coupler, a vertical bearing seat and universal wheels, the motor is connected with the side wall through the motor fixing plate, the universal wheels are fixed with the bottom plate through the vertical bearing seat, an output shaft of the motor drives the universal wheels through the coupler, rolling surfaces of the universal wheels are abutted against the universal balls, and rolling axes of the universal wheels of the driving wheel structures are parallel to rolling axes of the universal wheels of the auxiliary wheel structures on the opposite sides.
Preferably, the surface at the level of the ball 1/2 abuts the castor wheel.
Preferably, the universal wheel comprises a first main body and small oval rollers fixed on the first main body, the first main body comprises a middle fixing plate and branch brackets arranged on two sides of the middle fixing plate, the small oval rollers are connected to the branch brackets, the small oval rollers on two sides of the middle fixing plate are equal in number and are arranged in a staggered mode, and the rolling axes of the small oval rollers are perpendicular to the rolling axes of the universal wheel.
Preferably, a first bull's eye roller is installed on the top of the box cover, balls of the first bull's eye roller face upwards, and the tops of the balls of the first bull's eye roller are as high as the tops of the universal balls.
Preferably, a second bull's eye roller is mounted on the inner surface of the avoidance port, a ball of the second bull's eye roller faces the universal ball, and the ball of the second bull's eye roller abuts against the universal ball;
the number and the positions of the second bull's eye rollers correspond to the structures of the four groups of rollers.
Preferably, a third bull's eye roller is installed on the bottom plate, balls of the third bull's eye roller face upwards, and the balls of the third bull's eye roller abut against the universal ball.
The application also provides a transportation method based on the universal ball transportation platform, which is used for transporting goods on the universal ball transportation platform from an initial position A to a destination position B, and the transportation method comprises the following steps:
step S1, planning a transportation path of the goods from the initial position A to the destination position B, and presetting a rotation angle theta and transportation time T of the goods;
step S2, calculating the linear motion speed v of the goods according to the length S of the transportation path and the transportation time T1And simultaneously calculating the rotation angular velocity omega of the cargo according to the rotation angle theta and the transportation time T:
Figure BDA0002330046780000031
Figure BDA0002330046780000032
step S3, a rectangular coordinate system is established by taking one transportation unit of the transportation platform as an origin, one of an x axis and a y axis in the rectangular coordinate system is parallel to the rolling axis of the universal wheel of one group of auxiliary wheel structures, and the other one is parallel to the rolling axis of the universal wheel of the other group of auxiliary wheel structures;
step S4, calculating the linear velocity v of the universal ball rotation of each transportation unit contacting with the goods on the transportation path at the corresponding time according to the rotation angular velocity omega2：
v2＝ωr
Wherein r is the distance between the center of each transport unit and the center of mass of the cargo;
step S5, Linear motion velocity v1Is the direction of the transportation path of the goods at the corresponding moment, and the linear velocity v2Is oriented perpendicular to the line connecting the center of the transport unit and the center of mass of the cargo, thereby obtaining a vector
Figure BDA0002330046780000033
Sum vector
Figure BDA0002330046780000034
And according to the vector
Figure BDA0002330046780000035
Sum vector
Figure BDA0002330046780000036
Obtain the vector
Figure BDA0002330046780000037
Instantaneous speed of motion of the gimbals as individual transport units in contact with the goods at corresponding times
Figure BDA0002330046780000038
Figure BDA0002330046780000039
Step S6, according to the instantaneous movement speed
Figure BDA00023300467800000310
Obtaining instantaneous movement speed
Figure BDA00023300467800000311
An angle α from the x-axis, and an instantaneous speed of motion is calculated from the angle α
Figure BDA00023300467800000312
Component in x-and y-axes
Figure BDA00023300467800000313
Figure BDA00023300467800000314
Figure BDA00023300467800000315
Step S7, instantaneous movement speed
Figure BDA00023300467800000316
Component in x-and y-axes
Figure BDA00023300467800000317
And respectively serving as the speeds of the corresponding driving wheel structures to obtain the speeds required by the work of the two driving wheel structures in each transportation unit contacted with the goods along the transportation path, and outputting work instructions to the corresponding transportation units according to the sequence of contact with the goods to finish the transportation of the goods.
According to the universal ball transportation platform and the universal ball transportation method, the transportation platform is formed by combining a plurality of independent transportation units, the plurality of independent transportation units realize transportation and steering of goods, when one transportation unit is damaged and cannot be replaced in time, the damaged transportation unit can be avoided to plan a transportation path, and normal operation of a transportation process is guaranteed; and when the damaged transportation unit is replaced, only the corresponding transportation unit needs to be replaced without overall maintenance, so that the maintenance cost is reduced, and the maintenance efficiency is improved. And the power of the transportation unit is only derived from a unique universal ball relative to the goods, namely, each transportation unit accurately schedules the goods, the condition that the preset direction is changed when the goods contact part of the power sources due to the fact that the same transportation unit is provided with a plurality of power sources does not exist, and the reliability and the accuracy of transportation are improved.
Drawings
FIG. 1 is a schematic structural view of a gimbaled ball transport platform of the present application;
FIG. 2 is a schematic structural view of a transport unit of the present application;
FIG. 3 is a schematic illustration of a disassembled structure of a transport unit of the present application;
FIG. 4 is a schematic structural diagram of a universal ball and four sets of rollers according to the present application;
FIG. 5 is a schematic structural view of the caster of the present application;
FIG. 6 is a schematic diagram of a control structure of the gimbaled ball transport platform of the present application;
fig. 7 is a schematic view of an embodiment of a transport path in the transport method of the present application and a schematic enlarged view of the speed of one transport unit.
In the drawings: 1. a transport platform; 11. a transport unit; 101. a box body; 102. a first bull's eye roller; 103. a universal ball; 104. a second bull's eye roller; 105. avoiding the mouth; 106. a box cover; 107. a side wall; 108. a base plate; 109. a third bull's eye roller; 110. an auxiliary wheel structure; 1101. a linear bearing seat; 1102. a linear bearing; 1103. a spring; 1104. pushing the frame; 1105. a diamond-shaped seat bearing; 1106. a guide rail; 1107. a universal wheel; 111. a driving wheel structure; 1111. a motor fixing plate; 1112. a motor; 1113. a coupling; 1114. a vertical bearing seat; 1115. a universal wheel; 1121. a middle fixing plate; 1122. an elliptical small roller; 1123. a branch frame; 12. a motor controller; 13. a PLC controller; 14. and a PC terminal.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It is noted that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; when an element is referred to as being "secured" to another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In one embodiment, as shown in fig. 1, a universal ball transportation platform is provided, wherein the universal ball transportation platform 1 comprises a plurality of transportation units 11 which are spliced with each other. The transportation platform 1 is formed by combining a plurality of independent transportation units 11, the independent transportation units 11 realize transportation and steering of goods, and when one transportation unit 11 is damaged and cannot be replaced in time, the damaged transportation unit 11 can be avoided for planning a transportation path, so that normal operation of a transportation process is ensured; and when the damaged transportation unit 11 is replaced, only the corresponding transportation unit 11 needs to be replaced without overall maintenance, so that the maintenance cost is reduced, and the maintenance efficiency is improved.
As shown in fig. 2 to 3, the transportation unit 11 includes a box 101, the box 101 has a box cover 106, a bottom plate 108 and a sidewall 107 disposed between the box cover 106 and the bottom plate 108, and the box cover 106 is provided with an avoiding opening 105.
In order to facilitate stable splicing among the plurality of transport units 11, the box 101 is preferably rectangular, and may be another three-dimensional structure with flat side walls 107, such as a rectangular frustum.
The box 101 is internally provided with a universal ball 103, and the top of the universal ball 103 protrudes out of the box 101 through an escape opening 105. For the purpose of path planning, the universal ball 103 is preferably arranged at the center of the box body 101, and the more the universal ball 103 protrudes from the box body 101, the more the cargo is transported, but the protruding part should not exceed half of the height of the universal ball 103, so as to ensure the stability of the structure.
Use universal ball 103 to provide power for the goods in this embodiment, and consider the difficult driven condition of universal ball 103 self, this embodiment adopts the mode of indirect drive universal ball 103, specifically for set up four group's gyro wheel structures in the inside of box 101, four group's gyro wheel structures equipartition are in the week side of universal ball 103, two sets of adjacent in four group's gyro wheel structures are driving wheel structure 111, two sets of other are auxiliary wheel structure 110.
As shown in fig. 4, four sets of roller structures are uniformly distributed on the periphery of the universal ball 103, so as to provide two sets of mutually perpendicular driving forces to the universal ball 103, and realize multi-directional rotation of the universal ball 103 through the two sets of mutually perpendicular driving forces.
In the four roller structures, two groups are provided as the driving wheel structures 111 and the other two groups are provided as the auxiliary wheel structures 110 in order to save energy consumption and reduce control difficulty.
Each auxiliary wheel structure 110 includes a guide rail 1106 mounted on the base plate 108, and a push frame 1104 is fittingly mounted on the guide rail 1106. The push frame 1104 should be understood to be a frame-like or internally hollow box structure. The pushing frame 1104 is opened towards one side of the universal ball 103, the universal wheel 1107 is connected to the opening of the pushing frame 1104 through a diamond-shaped seat bearing 1105, the rolling surface of the universal wheel 1107 abuts against the universal ball 103, and the rolling axis of the universal wheel 1107 is horizontal.
The push frame 1104 is provided with linear bearing seats 1101 respectively along two outer side surfaces of rolling axes of universal wheels 1107 of the auxiliary wheel structure 110, the linear bearing seats 1101 are provided with linear bearings 1102 perpendicular to the rolling axes of the universal wheels 1107 of the auxiliary wheel structure 110, one sides of the linear bearings 1102 far away from the universal balls 103 are fixed on the side walls 107, the linear bearings 1102 are sleeved with springs 1103 in a compressed state, and two ends of the springs 1103 are respectively abutted against the side walls 107 and the linear bearing seats 1101.
Since the two sets of auxiliary wheel structures 110 are disposed adjacently and the four sets of roller structures are uniformly distributed, it can be known that one set of auxiliary wheel structure 110 and one set of driving wheel structure 111 are disposed oppositely, and the other set of auxiliary wheel structure 110 and the other set of driving wheel structure 111 are disposed oppositely. The rolling axes of the universal wheels 1107 of one of the two sets of auxiliary wheel structures 110 thus extend in the direction indicated at a in fig. 4, and the rolling axes of the universal wheels 1107 of one of the sets of auxiliary wheel structures 110 extend in the direction indicated at B in fig. 4.
And the guide rail 1106 in the auxiliary wheel structure 110 extends perpendicular to the rolling axis direction of the universal wheel 1107 of the auxiliary wheel structure 110, so that the position of the auxiliary wheel structure 110 is adjusted and the rolling surface of the universal wheel 1107 is always kept to be tangential to the universal ball 103.
Auxiliary wheel structure 110 adopts flexible fixed mode, and universal wheel 1107 compresses tightly through spring 1103 and offsets with universal ball 103 promptly, avoids appearing the phenomenon of the unable universal ball of contact of universal wheel because of machining error or installation error, has guaranteed the reliability of structure. And push away frame 1104 and install through guide rail 1106, push away frame 1104 when receiving the effect of spring 1103 and universal wheel 1107 both, can adjust the position along guide rail 1106 steadily, avoid pushing away frame 1104 and appear removing the dead phenomenon of card, guarantee the normal drive of universal wheel 1107 to universal ball 103.
The driving wheel structure 111 can be driven by a driving wheel commonly used in the prior art, that is, a motor is used to drive the roller. In one embodiment, in order to improve the driving effect of the universal ball 103 and improve the consistency and coordination of the four sets of roller structures, the driving wheel structure 111 includes a motor 1112, a motor fixing plate 1111, a coupler 1113, an upright bearing seat 1114 and a universal wheel 1115, the motor 1112 is connected with the side wall 107 through the motor fixing plate 1111, the universal wheel 1115 is fixed with the bottom plate 108 through the upright bearing seat 1114, an output shaft of the motor 1112 drives the universal wheel 1115 through the coupler 1113, a rolling surface of the universal wheel 1115 abuts against the universal ball 103, and a rolling axis of the universal wheel 1115 of each driving wheel structure 111 is parallel to a rolling axis of the universal wheel 1107 of the auxiliary wheel structure 110 on the opposite side.
The driving wheel structure 111 and the auxiliary wheel structure 110 both adopt universal wheels, and in order to ensure that the contact effect with the universal ball 103 is similar as much as possible, the structures of the universal wheels 1115 and the universal wheels 1107 arranged in the embodiment are the same, and the relative relationship with the universal ball 103 is the same.
As shown in fig. 5, the universal wheel 1107, 1115 includes a first main body and small oval rollers 1122 fixed on the first main body, the first main body includes a middle fixing plate 1121 and branch brackets 1123 disposed on both sides of the middle fixing plate 1121, the small oval rollers 1122 are connected to the branch brackets 1123, the small oval rollers 1122 on both sides of the middle fixing plate 1121 are equal in number and are arranged in a staggered manner, and the rolling axis of the small oval rollers 1122 is perpendicular to the rolling axis of the universal wheel.
The small oval wheel 1122 can reduce the lateral friction between the universal ball 103 and the universal wheel, thereby facilitating the multi-directional rolling of the universal ball 103. And in order to enhance the driving effect of the universal wheel, a part for increasing the friction force between the universal wheel and the universal ball, such as anti-skid rubber, can be added on the first main body.
With the normal use state of the transportation unit 11 as reference, the four groups of roller structures are equivalent to be points and then are positioned in the same horizontal plane. Although the universal wheels are in contact with the universal balls to drive the universal balls to rotate, in order to improve the transmission efficiency and ensure the driving process, in one embodiment, the surface of the universal ball 103 at the 1/2 level is set to abut against the universal wheels 1107, 1115.
Considering that the supporting point for the cargo may be insufficient due to the arrangement of the universal balls only in the central position of each transportation unit 11, the first bull's eye rollers 102 are installed on the top of the box cover 106, the balls of the first bull's eye rollers 102 face upwards, and the tops of the balls of the first bull's eye rollers 102 are at the same height as the tops of the universal balls 103.
In this embodiment, the number of the first bull-eye rollers 102 is 4, and the first bull-eye rollers are distributed at the end corners of the box cover 106, so that good cargo supporting and cargo transportation friction reducing effects are achieved.
In another embodiment, a second bull's eye roller 104 is mounted on the inner surface of the exit 105, the balls of the second bull's eye roller 104 face the universal ball 103, and the balls of the second bull's eye roller 104 abut against the universal ball 103. The number and position of the second bull's eye rollers 104 correspond to the four sets of roller structures.
Second bull's eye gyro wheel 104 and the tangent contact of universal ball 103 have both realized prescribing a limit to the position of universal ball 103, have avoided universal ball 103 and dodge the friction of mouth 105 simultaneously, and through the assistance of second bull's eye gyro wheel 104, the rotation smoothness nature of universal ball 103 promotes greatly.
In another embodiment, the bottom plate 108 is provided with a third bull's eye roller 109, the ball of the third bull's eye roller 109 faces upwards, and the ball of the third bull's eye roller 109 abuts against the universal ball 103, so that the effect of axially supporting the universal ball 103 and reducing the rolling friction of the universal ball is achieved.
As shown in fig. 6, in one embodiment, in order to facilitate the control of the operation of the transportation platform, two motors of each transportation unit 11 are respectively connected with a motor controller 12, the two motor controllers 12 are connected to the same PLC controller 13, and the PLC controllers 13 of all the transportation units are connected to the same PC terminal 14. The PLC controller 13 calculates parameters respectively needed by the two motors, and the PC end only needs to send a working instruction to each PLC controller to control the transportation unit 11 to work, so that the control is more convenient, and the operation is quicker.
In another embodiment, a transportation method is further provided, which is implemented based on the universal ball transportation platform provided in the present application, and is used for transporting goods on the universal ball transportation platform 1 from an initial position a to a destination position B.
The transportation method comprises the following steps:
step S1, planning a transportation path of the cargo from the initial position a to the destination position B, and presetting a rotation angle α and a transportation time T of the cargo.
When the path of the goods is planned, the complex path of the goods can be composed of one or more sections of straight paths, namely when no transportation unit on the transportation platform is damaged and no transportation path interference of other goods exists, the transportation path of the goods is the shortest line segment between the initial position A and the target position B; when a transportation unit on the transportation platform is damaged or a transportation path of other goods interferes, the transportation path is composed of multiple lines of segments to achieve obstacle avoidance, and the planning of the obstacle avoidance path can be referred to patent document with application number 2019100329613, and is not described herein again.
As shown in fig. 7, the line segment AB is the planned transportation path, a represents the projection range of the cargo on the transportation platform, the rotation angle α of the cargo means that the cargo needs to rotate by θ while completing the movement from the initial position a to the destination position B, and the purpose of the cargo rotation is usually to align the head of the cargo with the movement direction.
Step S2, calculating the linear motion speed v of the goods according to the length S of the transportation path and the transportation time T1And simultaneously calculating the rotation angular velocity omega of the cargo according to the rotation angle theta and the transportation time T:
Figure BDA0002330046780000081
Figure BDA0002330046780000082
step S3, a rectangular coordinate system is established with one transport unit 11 of the transport platform 1 as the origin, in which one of the x-axis and the y-axis is parallel to the rolling axis of the universal wheel 1107 of one set of auxiliary wheel structures 110, and the other is parallel to the rolling axis of the universal wheel 1107 of the other set of auxiliary wheel structures 110.
In general, the transportation surface of the transportation platform 1 is rectangular, that is, the origin of the rectangular coordinate system is an end corner of the rectangle, and the x-axis and the y-axis are two adjacent sides of the rectangle; if the transport plane of the transport platform is not rectangular, one transport unit 11 is randomly selected as the origin, and the transport unit 11 at the extreme edge is usually selected, and the x-axis and the y-axis are established by the rolling axes of the universal wheels 1107 of the two sets of auxiliary wheel structures 110 for calculation.
Step S4 is a step of calculating, from the rotational angular velocity ω, a linear velocity v at which the ball 103 of each transport unit 11, which comes into contact with the load on the transport route at the corresponding time, rotates2：
v2＝ωr
Wherein r is the distance between the center of each transport unit 11 and the center of mass of the cargo, and the linear velocity v obtained due to the different distances between the center of each transport unit 11 and the center of mass of the cargo at different times2Is a real-time variable quantity. And the contact with the goods referred to in this embodiment is the contact, i.e. calculation, of the goods with any position of the transport unit 11And (4) contacting.
Because the goods have certain volume, so the condition that all contact with same transport unit 11 in a certain period of time exists, in order to adapt to the change of r, improve the accuracy of freight, set up in this embodiment and calculate linear velocity v once with certain time interval2. For example, if the predetermined time interval is 30 seconds and the cargo is in contact with the same transportation unit from the 2 nd minute to the 3 rd minute of transportation, the linear velocity v of the transportation unit at the 2 nd minute is calculated2Linear velocity v at 2 minutes 30 seconds2And linear velocity v at 3 minute2。
Step S5, Linear motion velocity v1Is the direction of the transportation path of the goods at the corresponding moment, and the linear velocity v2Is oriented perpendicular to the line connecting the center of the transport unit 11 and the center of mass of the cargo, thus obtaining a vector
Figure BDA0002330046780000091
Sum vector
Figure BDA0002330046780000092
And according to the vector
Figure BDA0002330046780000093
Sum vector
Figure BDA0002330046780000094
Obtain the vector
Figure BDA0002330046780000095
Instantaneous speed of motion of the gimbaled ball 103 of each transport unit 11 as a function of the moment of contact with the load
Figure BDA0002330046780000096
Figure BDA0002330046780000097
Step S6, according to the instantaneous movement speed
Figure BDA0002330046780000098
Obtaining instantaneous movement speed
Figure BDA0002330046780000099
An angle α from the x-axis, and an instantaneous speed of motion is calculated from the angle α
Figure BDA00023300467800000910
Component in x-and y-axes
Figure BDA00023300467800000911
Figure BDA00023300467800000912
Figure BDA00023300467800000913
Step S7, instantaneous movement speed
Figure BDA00023300467800000914
Component in x-and y-axes
Figure BDA00023300467800000915
And respectively as the speeds of the corresponding driving wheel structures 111, obtaining the speeds required by the work of the two driving wheel structures 111 in each transportation unit 11 contacted with the goods along the transportation path, and outputting work instructions to the corresponding transportation units 11 according to the sequence of contact with the goods to finish the transportation of the goods.
In order to save the transportation cost, the embodiment controls the corresponding transportation units 11 to work according to the sequence of contact with the goods, that is, when the goods pass through the corresponding transportation units, the corresponding transportation units work, and the transportation units do not move at other times.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. The universal ball transportation platform is characterized in that the universal ball transportation platform (1) comprises a plurality of mutually spliced transportation units (11), each transportation unit (11) comprises a box body (101), each box body (101) is provided with a box cover (106), a bottom plate (108) and a side wall (107) annularly distributed between the box cover (106) and the bottom plate (108), and an avoiding opening (105) is formed in each box cover (106);
the universal ball (103) is mounted inside the box body (101), the top of the universal ball (103) protrudes out of the box body (101) through the avoidance port (105), four groups of roller structures are arranged inside the box body (101), the four groups of roller structures are uniformly distributed on the periphery of the universal ball (103), two adjacent groups of the four groups of roller structures are driving wheel structures (111), and the other two adjacent groups of roller structures are auxiliary wheel structures (110);
each auxiliary wheel structure (110) comprises a guide rail (1106) installed on the bottom plate (108), a push frame (1104) is installed on the guide rail (1106) in a matched mode, the push frame (1104) faces to an opening on one side of the universal ball (103), the opening of the push frame (1104) is connected with a universal wheel (1107) through a diamond-shaped seat bearing (1105), the rolling surface of the universal wheel (1107) is abutted to the universal ball (103), the rolling axis of the universal wheel (1107) is horizontal, linear bearing seats (1101) are respectively installed on two outer side surfaces of the rolling axis of the universal wheel (1107) of the auxiliary wheel structure (110) along the push frame (1104), linear bearings (1102) perpendicular to the rolling axis of the universal wheel (1107) of the auxiliary wheel structure (110) are installed on the linear bearing seats (1101), one side, far away from the universal ball (103), of each linear bearing (1102) is fixed on the side wall (107), the linear bearing (1102) is sleeved with a spring (1103) in a compressed state, and two ends of the spring (1103) respectively abut against the side wall (107) and the linear bearing seat (1101).
2. A gimbaled ball transport platform as claimed in claim 1, wherein the guide tracks (1106) in the auxiliary wheel structure (110) extend perpendicular to the direction of the rolling axis of the gimbaled wheels (1107) of the auxiliary wheel structure (110).
3. The transportation platform of claim 1, wherein the driving wheel structures (111) comprise motors (1112), motor fixing plates (1111), couplings (1113), vertical bearing seats (1114) and universal wheels (1115), the motors (1112) are connected with the side walls (107) through the motor fixing plates (1111), the universal wheels (1115) are fixed with the bottom plate (108) through the vertical bearing seats (1114), the output shafts of the motors (1112) drive the universal wheels (1115) through the couplings (1113), the rolling surfaces of the universal wheels (1115) are abutted against the universal balls (103), and the rolling axis of the universal wheel (1115) of each driving wheel structure (111) is parallel to the rolling axis of the universal wheel (1107) of the auxiliary wheel structure (110) on the opposite side.
4. A gimbaled ball transport platform as claimed in claim 3, characterized by the fact that the surface at the level of said gimbaled ball (103)1/2 is against the gimbaled wheels (1107, 1115).
5. A universal ball transportation platform according to claim 3, wherein the universal wheels (1107, 1115) comprise a first main body and small oval rollers (1122) fixed on the first main body, the first main body comprises a middle fixing plate (1121) and branch brackets (1123) arranged at two sides of the middle fixing plate (1121), the small oval rollers (1122) are connected to the branch brackets (1123), the small oval rollers (1122) at two sides of the middle fixing plate (1121) are equal in number and are arranged in a staggered manner, and the rolling axes of the small oval rollers (1122) are perpendicular to the rolling axes of the universal wheels.
6. The universal ball transport platform according to claim 1, wherein a first bull's eye roller (102) is mounted on the top of the box cover (106), the balls of the first bull's eye roller (102) face upward, and the tops of the balls of the first bull's eye roller (102) are at the same height as the tops of the universal balls (103).
7. The universal ball transport platform according to claim 1, wherein the inner surface of the evasion port (105) is provided with a second bull's eye roller (104), the balls of the second bull's eye roller (104) face the universal ball (103), and the balls of the second bull's eye roller (104) are against the universal ball (103);
the number and the positions of the second bull's eye rollers (104) correspond to the structures of four groups of rollers.
8. The universal ball transport platform according to claim 1, wherein a third bull's eye roller (109) is mounted on the base plate (108), the balls of the third bull's eye roller (109) face upward, and the balls of the third bull's eye roller (109) abut against the universal ball (103).
9. A transportation method based on the universal ball transportation platform of claim 1, for transporting goods on the universal ball transportation platform (1) from an initial position a to a destination position B, the transportation method comprising:
step S1, planning a transportation path of the goods from the initial position A to the destination position B, and presetting a rotation angle theta and transportation time T of the goods;
step S2, calculating the linear motion speed v of the goods according to the length S of the transportation path and the transportation time T1And simultaneously calculating the rotation angular velocity omega of the cargo according to the rotation angle theta and the transportation time T:
Figure FDA0002330046770000021
Figure FDA0002330046770000022
step S3, establishing a rectangular coordinate system by taking one transportation unit (11) of the transportation platform (1) as an origin, wherein one of an x axis and a y axis in the rectangular coordinate system is parallel to the rolling axis of the universal wheel (1107) of one group of auxiliary wheel structures (110), and the other one is parallel to the rolling axis of the universal wheel (1107) of the other group of auxiliary wheel structures (110);
step S4, calculating the linear velocity v of the rotation of the universal ball 103 of each transportation unit 11 contacting with the goods on the transportation path at the corresponding time according to the rotation angular velocity omega2：
v2＝ωr
Wherein r is the distance between the center of each transport unit (11) and the center of mass of the cargo;
step S5, Linear motion velocity v1Is the direction of the transportation path of the goods at the corresponding moment, and the linear velocity v2Is directed perpendicular to the line connecting the centre of the transport unit (11) and the centre of mass of the goods, thus obtaining a vector
Figure FDA0002330046770000031
Sum vector
Figure FDA0002330046770000032
And according to the vector
Figure FDA0002330046770000033
Sum vector
Figure FDA0002330046770000034
Obtain the vector
Figure FDA0002330046770000035
Instantaneous speed of motion of the ball 103 as a function of the time of contact with the load of each transport unit 11
Figure FDA0002330046770000036
Figure FDA0002330046770000037
Step S6, according to the instantaneous movement speed
Figure FDA0002330046770000038
Obtaining instantaneous movement speed
Figure FDA0002330046770000039
An angle α from the x-axis, and an instantaneous speed of motion is calculated from the angle α
Figure FDA00023300467700000310
Component in x-and y-axes
Figure FDA00023300467700000311
Figure FDA00023300467700000312
Figure FDA00023300467700000313
Step S7, instantaneous movement speed
Figure FDA00023300467700000314
Component in x-and y-axes
Figure FDA00023300467700000315
And respectively as the speeds of the corresponding driving wheel structures (111), obtaining the speeds required by the work of the two driving wheel structures (111) in each transportation unit (11) contacted with the goods along the transportation path, and outputting work instructions to the corresponding transportation units (11) according to the sequence of contact with the goods to finish the transportation of the goods.
CN201911332513.1A 2019-12-22 2019-12-22 Universal ball transportation platform and transportation method Pending CN110980164A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112623763A (en) * 2020-12-25 2021-04-09 蚌埠凯盛工程技术有限公司 Universal conveying assembly and glass original sheet universal conveying device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112623763A (en) * 2020-12-25 2021-04-09 蚌埠凯盛工程技术有限公司 Universal conveying assembly and glass original sheet universal conveying device

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