CN112455998A - Loft type shuttle vehicle device and control method - Google Patents
Loft type shuttle vehicle device and control method Download PDFInfo
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- CN112455998A CN112455998A CN202011190779.XA CN202011190779A CN112455998A CN 112455998 A CN112455998 A CN 112455998A CN 202011190779 A CN202011190779 A CN 202011190779A CN 112455998 A CN112455998 A CN 112455998A
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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
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
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Abstract
The invention discloses an attic type shuttle vehicle device and a control method, and belongs to the technical field of shuttle vehicle devices. The loft type shuttle device comprises a moving main body and an access main body, wherein the access main body comprises a main body frame and a plurality of access assemblies with movable positions, and each access assembly comprises an access frame, a transfer mechanism and a clamping mechanism. When the access main body moves to different shelf storage lattices, the access assembly performs position adjustment to access the goods, so that the access of a plurality of goods is completed in the round trip of the access main body from leaving the initial position to returning to the initial position again. Meanwhile, the loft type shuttle device further comprises a path planning module, and the shortest walking path of the plurality of cargo storage grid positions is planned through the path planning module, so that the round-trip distance is reduced. Compared with the prior art, the loft type shuttle car device provided by the invention can realize the access of a plurality of goods in the round trip, and can reduce the round trip distance and greatly improve the efficiency of goods access.
Description
Technical Field
The invention belongs to the technical field of shuttle vehicles, and particularly relates to an attic type shuttle vehicle device and a control method.
Background
The Attic Shuttle car is an efficient and automatic storage system for the bins and cartons, can quickly and accurately realize storage operation of goods, and has the advantages of small occupied warehouse area, small required space and more flexible storage mode.
At the present stage, the loft type shuttle car runs at a designated position along a goods shelf rail in a roadway, and then the retractable clamp holding type goods storing and taking device which moves up and down is utilized to realize the storing and taking operation of different layers. However, the loft type shuttle car can only finish the access of one goods in one round trip, and when a plurality of goods are accessed, the shuttle car needs to continuously go back and forth between the initial position and the goods access position, so that the travel trip of the shuttle car is far, and the goods access efficiency is greatly reduced.
Disclosure of Invention
The invention provides an attic shuttle car device and a control method thereof, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a loft shuttle device comprising:
a moving body having a frame-shaped structure, the moving body including a vertical frame and a horizontal frame, the moving body having a degree of freedom of movement in a length direction of the horizontal frame;
the access main body comprises a main body frame which can move up and down along the vertical frame and a plurality of access assemblies which are arranged on the main body frame and can move in position;
the access assembly comprises an access frame with a concave structure, a transfer mechanism arranged on the access frame and two groups of clamping mechanisms arranged oppositely; the access frame comprises an access bottom plate and two access side plates which are vertically and fixedly connected with two sides of the access bottom plate; the transfer mechanism comprises a transfer cylinder fixed on the access bottom plate, a transfer block fixedly connected with the end part of a telescopic rod of the transfer cylinder and a transfer transverse plate fixedly connected with the transfer block; one end of the transfer transverse plate, which is far away from the transfer cylinder, is provided with a notch convenient for goods to be stored and taken; the clamping mechanism comprises a plurality of clamping cylinders with the same structure, a clamping block fixedly connected with the end part of a telescopic rod of each clamping cylinder and a clamping side plate fixedly connected with the clamping block, and the clamping cylinders are arranged on two sides of a notch of the transfer transverse plate; the access main body is moved to the corresponding shelf storage lattice through the transverse movement of the moving main body and the vertical movement of the access main body, and then the goods are accessed through the access assembly; when the access main part moves to different goods shelves and deposits the check, the access subassembly carries out the position adjustment and carries out goods access to realize that the access main part accomplishes the access of a plurality of goods from leaving the initial position to getting back to the stroke of initial position again.
In a further embodiment, the access assembly is rotatably connected to the main body frame; the main body frame is also of a concave structure and comprises a frame bottom plate and two frame side plates which are vertically and fixedly connected with two sides of the frame bottom plate; the access main body also comprises a rotating mechanism for realizing the rotating connection of the access frame and the main body frame; when access frame and main body frame relatively rotated, the spatial position of access subassembly changed to make the access subassembly that originally was close to the goods shelves and has accomplished the access operation keep away from the goods shelves, the access subassembly that originally kept away from the goods shelves is close to the goods shelves and accesses the subassembly, and then realizes that loft formula shuttle device accomplishes the access operation of a plurality of goods in a round trip.
In a further embodiment, the rotating mechanism comprises a first motor horizontally fixed on the frame side plate, and a first side plate and a second side plate which are in a circular structure, wherein an output shaft of the first motor horizontally penetrates through the frame side plate and is fixedly connected with the first side plate, and the second side plate is arranged opposite to the first side plate and is rotatably connected with the other frame side plate; the access assemblies are arranged between the first side plate and the second side plate and are uniformly distributed along the circumferential direction of the first side plate or the second side plate; the access side plate of the access frame is fixedly connected with the first side plate and the second side plate respectively and enables the telescopic rod of the transfer cylinder to stretch and contract along the radial direction of the first side plate or the second side plate; the first motor drives the first side plate to rotate to adjust the position of the access assembly, and the access assembly is uniformly distributed along the circumferential direction of the first side plate or the second side plate, so that when the position of the access assembly is adjusted, the access assembly only needs to be adjusted by rotating the first side plate, the access assembly does not need to be adjusted along the radial position of the first side plate, and the efficiency is improved.
In a further embodiment, the rotating mechanism comprises a first gear and a second gear which are identical in structure, a gear ring meshed with the second gear and a second motor driving the first gear to rotate; the first gear and the gear ring are coaxial, the first gear and the second gear are in meshing transmission, and the first gear is fixedly sleeved on an output shaft of the second motor; the number of the second gears is equal to that of the access assemblies, the second gears are uniformly distributed along the circumferential direction of the first gears, fixed rotating shafts are inserted into the second gears, and the fixed rotating shafts are fixedly connected with access side plates of the access frame; the gear ring is fixedly connected with a frame side plate of the main body frame; when the first gear rotates to enable the second gear to rotate in a meshed mode, the rotating angles of the first gear and the second gear are the same, and the rotating directions of the first gear and the second gear are opposite, so that the position of the access assembly is adjusted to be always kept in a horizontal state.
In a further embodiment, the number of access components is 4.
In a further embodiment, the loft shuttle device further comprises a horizontal moving assembly, the horizontal moving assembly comprises a moving shell, a bearing base fixed on the moving shell, a rotating shaft body inserted in the bearing base, a track roller wheel coaxially and fixedly connected with the rotating shaft body, and a horizontal motor arranged in the moving shell, a driving sprocket is fixed on an output shaft of the horizontal motor, a driven sprocket is coaxially and fixedly sleeved on the rotating shaft body, the driving sprocket and the driven sprocket are in transmission connection through a transmission chain, and the top of the moving shell is fixedly connected with a horizontal frame at the bottom of a vertical frame; the horizontal motor drives the driving chain wheel to rotate, the driving chain drives the driven chain wheel to rotate, the track roller rolls, and the horizontal moving component drives the moving main body to move horizontally to adjust the position in the horizontal direction.
In a further embodiment, the loft shuttle car device further comprises a vertical movement assembly, the vertical movement assembly including a vertical motor, a rotary lead screw, a lead screw nut; the vertical motor is vertically fixed at the top end of the vertical frame, a vertical groove is formed in the inner side surface of the vertical frame in the outward direction, the rotating lead screw is arranged in the vertical groove, the output shaft of the vertical motor extends downwards into the vertical groove and is coaxially and fixedly connected with the rotating lead screw, the bottom end of the rotating lead screw is rotatably connected with the bottom end of the vertical groove, the lead screw nut is sleeved on the rotating lead screw and is in threaded connection with the rotating lead screw, and the outer side surface of the lead screw nut is fixedly connected with the main body frame; the vertical motor drives the rotating lead screw to rotate, the lead screw nut and the rotating lead screw rotate relatively to enable the main body frame to generate displacement in the vertical direction, and then position adjustment of the storing and taking assembly in the vertical direction is achieved.
In a further embodiment, the loft shuttle car device further comprises a path planning module for controlling the path of travel of the moving body, the path planning module planning the path of travel of the accessing body according to the number of the accessing components:
firstly, if the number of the access components is n, the access main body can access n goods from leaving the initial position to returning to the initial position, the n goods respectively correspond to n shelf storage grids on the shelf, the coordinates of the initial position are set to be (0,0), and the n shelf storage grids respectively correspond to n coordinate points which are (X)1,Y1)、(X2,Y2)……(Xn,Yn)；
Next, a set S { (X) of fixed point coordinate points of the access subject is constructed0,Y0)，(X1,Y1)，(X2,Y2)……(Xn,Yn) In which (X)0,Y0)＝(0,0)
Then, connecting any two points in the set S end to form a closed loop, and calculating the minimum value of the closed loop
i ≠ j and (X)i,Yi)∈S,(Xj,Yj) E is S; in the formula, min () is a minimum evaluation function;
and finally, setting a walking path with (0,0) as an initial position according to the connection sequence of the coordinate points determined by the closed loop, walking to the corresponding shelf storage lattice by the access main body according to the walking path, and carrying out goods access by the access assembly.
A control method of an attic shuttle device comprises the following steps:
step 1: the path planning module plans a walking path of the access main body according to the position of the goods storage lattice corresponding to the accessed goods, the access main body walks to the corresponding goods shelf storage lattice from the initial position according to the planned walking path, the access assembly accesses and accesses the multiple goods and finally returns to the initial position;
step 2: when the loft type shuttle car device stores goods, firstly, the goods to be stored are placed on the transfer transverse plate, and the goods are clamped by the clamping mechanism; secondly, the horizontal moving assembly drives the moving main body to move transversely, meanwhile, the vertical moving assembly drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism operates to feed goods into the goods storage grid, and the clamping assembly relaxes to place the goods in the corresponding goods storage grid; then, the transfer mechanism reversely runs and leaves the goods storage grid; then the horizontal moving assembly and the vertical moving assembly operate again to move the storage main body to the next corresponding goods storage grid, meanwhile, the rotating mechanism drives the access assembly to rotate for a set angle, then the next access assembly stores corresponding goods, and the operation is repeated until all goods are stored;
and step 3: when goods are taken by the attic shuttle device, firstly, the horizontal moving component drives the moving main body to move transversely, meanwhile, the vertical moving component drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism runs and extends into the goods storage grid, and the clamping component clamps the goods; secondly, the transfer mechanism reversely runs away from the goods storage grid; then, horizontal migration subassembly and vertical migration subassembly move once more and deposit the main part and remove to next goods that corresponds and deposit the check, and simultaneously, slewing mechanism drives the access subassembly and rotates the angle of setting for, carries out corresponding goods by next access subassembly again and takes, circulates according to this until all goods all are taken out.
In a further embodiment, the specific process of the path planning module performing the path planning in step 1 is as follows:
firstly, if the number of the access components is n, the access main body can access n goods from leaving the initial position to returning to the initial position, the n goods respectively correspond to n shelf storage grids on the shelf, the coordinates of the initial position are set to be (0,0), and the n shelf storage grids respectively correspond to n coordinate points which are (X)1,Y1)、(X2,Y2)……(Xn,Yn)；
Next, a set S { (X) of fixed point coordinate points of the access subject is constructed0,Y0)，(X1,Y1)，(X2,Y2)……(Xn,Yn) In which (X)0,Y0)＝(0,0)
Then, connecting any two points in the set S end to form a closed loop, and calculating the minimum value of the closed loop
i ≠ j and (X)i,Yi)∈S,(Xj,Yj) E is S; in the formula, min () is a minimum evaluation function;
and finally, setting a walking path with (0,0) as an initial position according to the connection sequence of the coordinate points determined by the closed loop, walking to the corresponding shelf storage lattice by the access main body according to the walking path, and carrying out goods access by the access assembly.
Has the advantages that: the invention provides an attic type shuttle device which comprises a moving main body and an access main body, wherein the access main body comprises a main body frame and a plurality of access assemblies with movable positions, and each access assembly comprises an access frame, a transfer mechanism and a clamping mechanism. When the access main body moves to different shelf storage lattices, the access assembly performs position adjustment to access the goods, so that the access of a plurality of goods is completed in the round trip of the access main body from leaving the initial position to returning to the initial position again. Furthermore, the loft type shuttle device further comprises a path planning module, and the shortest walking path of the plurality of cargo storage grid positions is planned through the path planning module, so that the distance of a round trip is reduced. Compared with the prior art, the loft type shuttle car device provided by the invention can realize the storage and taking of a plurality of goods in the round trip, and meanwhile, the distance of the round trip can be reduced, and the efficiency of the storage and taking of the goods is greatly improved.
Drawings
Fig. 1 is a schematic structural view of the loft shuttle car apparatus of the present invention.
Fig. 2 is a schematic structural view of the horizontal movement assembly of the present invention.
Fig. 3 is a schematic structural view of the vertical moving assembly of the present invention.
FIG. 4 is a schematic diagram of an access module according to the present invention.
Fig. 5 is a schematic structural view of the transfer mechanism and the chucking mechanism of the present invention.
Fig. 6 is a schematic structural view of the rotating mechanism of the present invention.
Fig. 7 is a schematic view of a modified rotating mechanism of the present invention.
Fig. 8 is a schematic diagram of a round trip of a cargo access process in the prior art.
Fig. 9 is a schematic diagram of the round trip of the access body in the cargo access process.
Each of fig. 1 to 9 is labeled as: the access device comprises a moving body 10, a vertical frame 11, a vertical groove 111, a horizontal frame 12, an access body 20, a body frame 21, a frame bottom plate 211, a frame side plate 212, an access assembly 22, an access frame 221, an access bottom plate 2211, an access side plate 2212, a transfer mechanism 222, a transfer cylinder 2221, a transfer block 2222, a transfer transverse plate 2223, a notch 22231, a clamping mechanism 223, a clamping cylinder 2231, a clamping block 2232, a clamping side plate 2233, a rotating mechanism 23, a first side plate 231, a second side plate 232, a first gear 233, a second gear 234, a gear ring 235, a fixed rotating shaft 236, a horizontal moving assembly 30, a moving housing 31, a bearing base 32, a rotating shaft body 33, a track roller 34, a horizontal motor 35, a driving sprocket 36, a transmission chain 37, a vertical moving assembly 40, a vertical motor 41, a rotating lead screw 42 and a lead screw nut.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Research shows that the existing loft type shuttle car usually runs at a specified position along a goods shelf rail in a roadway, and then the storage and taking operation of goods on different layers is realized by utilizing a telescopic clamp type goods storing and taking device which moves up and down. However, the loft type shuttle car can only finish the access of one goods in one round trip, and when a plurality of goods are accessed, the shuttle car needs to continuously go back and forth between the initial position and the goods access position, so that the travel trip of the shuttle car is far, and the goods access efficiency is greatly reduced. .
In order to solve the problems in the prior art, as shown in fig. 1, the present invention provides an attic shuttle car device, which includes a moving body 10 and an access body 20.
The moving body 10 has a frame-shaped structure. The moving body 10 includes a vertical frame 11 and a horizontal frame 12. The moving body 10 has a degree of freedom to move in the longitudinal direction of the horizontal frame 12. To achieve this, the loft shuttle car apparatus further includes a horizontal movement assembly 30 driving the movement of the moving body 10. Referring to fig. 2, the horizontal movement assembly 30 includes a movement housing 31, a bearing base 32, a rotation shaft body 33, a rail roller 34, and a horizontal motor 35. Wherein the top of the movable housing 31 is fixedly connected with the horizontal frame 12 at the bottom of the vertical frame 11. The bearing base 32 is fixed to the movable housing 31. The rotation shaft body 33 is horizontally inserted into the bearing base 32. The rail roller 34 is coaxially and fixedly connected to the rotation shaft body 33. The horizontal motor 35 is arranged in the movable shell 31; a drive sprocket 36 is fixed to an output shaft of the horizontal motor 35. The rotating shaft 33 is coaxially fixed with a driven sprocket. The driving sprocket 36 and the driven sprocket are drivingly connected by a drive chain 37. When the horizontal motor 35 is operated, the driving sprocket 36 drives the driven sprocket to rotate via the driving chain 37, thereby causing the track roller 34 to roll along the laid track. The horizontal movement component 30 moves horizontally to drive the moving main body 10 to move horizontally, so that the position of the loft type shuttle device in the horizontal direction is adjusted.
The access body 20 includes a body frame 21 and a plurality of access components 22. Wherein the main body frame 21 can move up and down along the vertical frame 11; the access unit 22 is provided on the main body frame 21 and is movable in position. In particular, the attic shuttle assembly further includes a vertical movement assembly 40. Referring to fig. 3, the vertical moving assembly 40 includes a vertical motor 41, a rotary screw 42, and a screw nut 43. The vertical motor 41 is vertically fixed to the top end of the vertical frame 11. The inner side surface of the vertical frame 11 is opened with a vertical groove 111 along the vertical direction toward the outside. The rotary screw 42 is provided in the vertical groove 111. The output shaft of the vertical motor 41 extends downward into the vertical groove 111 and is coaxially and fixedly connected with the rotary screw 42. The bottom end of the rotary screw 42 is rotatably connected with the bottom end of the vertical groove 111. The lead screw nut 43 is fitted over the rotary lead screw 42 and is screwed to the rotary lead screw 42. The outer side surface of the lead screw nut 43 is fixedly connected to the main body frame 21. When the vertical motor 41 drives the rotary screw 42 to rotate, the screw nut 43 and the rotary screw 42 rotate relatively to displace the main body frame 21 in the vertical direction, so as to adjust the position of the access assembly 22 in the vertical direction.
Referring to fig. 4 and 5, the access module 22 includes an access frame 221, a transfer mechanism 222, and a clamping mechanism 223. The access frame 221 has a concave structure, and the access frame 221 includes an access bottom plate 2211 and two access side plates 2212, where the access side plates 2212 are vertically and fixedly connected to two sides of the access bottom plate 2211. The transfer mechanism 222 is provided on the access frame 221. The transfer mechanism 222 includes a transfer cylinder 2221, a transfer block 2222, and a transfer cross plate 2223. The transfer cylinder 2221 is fixed to the access base 2211. The transfer block 2222 is fixedly connected to an end of an expansion rod of the transfer cylinder 2221, and the transfer cross plate 2223 is fixedly connected to the transfer block 2222. The clamping mechanism 223 includes a plurality of clamping cylinders 2231 having the same structure, a clamping block 2232 fixedly connected to an end of an expansion link of the clamping cylinders 2231, and a clamping side plate 2233 fixedly connected to the clamping block 2232. In order to facilitate clamping of the obtained goods and placement of the clamped goods on the goods shelf, a notch 22231 is formed in one end, away from the transfer cylinder 2221, of the transfer transverse plate 2223; meanwhile, the holding cylinders are provided at both sides of the notch 22231 of the transfer cross plate 2223. The access body 20 is moved to the corresponding shelf storage compartment by the lateral movement of the moving body 10 and the vertical movement of the access body 20, and then the goods are accessed by the access assembly 22. The telescopic rod of the transfer cylinder 2221 extends to transfer the transfer transverse plate 2223 into the storage grid of the goods shelf, when goods need to be stored, the telescopic rod of the clamping cylinder 2231 is contracted to enable the clamping side plate 2233 to be far away, and the clamped goods are placed in the storage grid of the goods shelf from the notch 22231; when goods need to be taken away, the telescopic rod of the clamping cylinder 2231 extends to enable the clamping side plates 2233 to be close to each other and clamp the goods, and then the telescopic rod of the transferring cylinder 2221 contracts to take the clamped goods out of the shelf storage grid. When the access main body 20 moves to different shelf storage spaces, the plurality of access components 22 respectively access the goods through position adjustment, so that the access of the plurality of goods is completed in the process that the access main body 20 leaves the initial position and returns to the initial position again.
To enable adjustment of the position of the access assembly 22, in a further embodiment the access assembly 22 is rotatably connected to the main body frame 21. The main body frame 21 is also designed in a concave structure. Specifically, the main body frame 21 includes a frame bottom plate 211 and two frame side plates 212, and the frame side plates 212 are vertically and fixedly connected to two sides of the frame bottom plate 211. The access body 20 further includes a rotating mechanism 23 for rotatably connecting the access frame 221 and the body frame 21. When the access frame 221 and the main body frame 21 rotate relatively, the spatial position of the access assembly 22 changes, so that the access assembly 22 which is originally close to the shelf and has completed the access operation is far away from the shelf, and the access assembly 22 which is originally far away from the shelf is close to the shelf to access the assembly 22, thereby realizing that the attic shuttle device completes the access operation of a plurality of goods in one round trip.
Referring to fig. 6, the rotating mechanism 23 of the present embodiment includes a first motor (not shown), a first side plate 231, and a second side plate 232. Specifically, the first motor is horizontally fixed to the outer side of the frame side plate 212, and an output shaft of the first motor horizontally penetrates through the frame side plate 212 and then is fixedly connected to the first side plate 231. The second side plate 232 is disposed opposite to the first side plate 231; and, the second side plate 232 is pivotally connected to the other frame side plate 212. The first side plate 231 and the second side plate 232 are both circular structures, and an output shaft of the first motor is coaxial with the first side plate 231 and the second side plate 232. Wherein the second side plate 232 and the other frame side plate 212 can be rotatably connected through the fit relationship of the bearing and the shaft. The access assembly 22 is disposed between the first side plate 231 and the second side plate 232; and, the access assemblies 22 are evenly distributed along the circumferential direction of the first side plate 231 or the second side plate 232. The two access side plates 2212 of the access frame 221 are fixedly connected to the first side plate 231 and the second side plate 232, respectively; meanwhile, the telescopic rod of the transfer cylinder 2221 extends in the radial direction of the first side plate 231 or the second side plate 232. When the first motor operates, the first side plate 231 rotates to drive the access assembly 22 to rotate, thereby adjusting the position of the access assembly 22. Since the access assemblies 22 are uniformly distributed along the circumferential direction of the first side plate 231 or the second side plate 232, when the position of the access assembly 22 is adjusted, only the first side plate 231 needs to be rotated, and the radial position of the access assembly 22 along the first side plate 231 or the second side plate 232 does not need to be adjusted. That is, after the access operation is completed to the current access subassembly 22, when the angle of setting is rotated to first curb plate 231, when next access subassembly 22 rotated to the one side that is close to the goods shelves, this access subassembly 22 equals with the distance of preceding access subassembly 22 to the goods shelves, the direct access that can next goods, and need not carry out other position adjustments again to promote the efficiency of goods access greatly.
In the above embodiment, when the position of the access component 22 is adjusted, the angle of the access component 22 is changed accordingly. That is, in the storage of the goods in the access unit 22, when the access unit 22 approaches the shelf, the access unit 22 is in the horizontal state, but when the first side plate 231 rotates 180 °, the access unit 22 is still in the horizontal state, but the top and bottom positions of the access unit 22 are reversed; meanwhile, when the first side plate 231 rotates 90 ° or 270 °, the access assembly 22 is in the vertical state. Such a rotating mechanism 23 may cause the goods to be turned upside down or to stand on its side during the rotation with the access assembly 22, which may easily cause the goods to be damaged.
In order to solve the above problem, in a further embodiment, the rotating mechanism 23 includes a first gear 233 and a second gear 234 having the same structure, a gear ring 235 engaged with the second gear 234, and a second motor (not shown) for driving the first gear 233 to rotate. The first gear 233 is sleeved on the output shaft of the second motor and is fixedly connected with the output shaft of the second motor. The first gear 233 and the second gear 234 are in meshing engagement. The number of the second gears 234 is equal to that of the access assemblies 22; the second gears 234 are uniformly distributed along the circumferential direction of the first gear 233. The second gear 234 is coaxially inserted with a fixed rotation shaft 236, and the fixed rotation shaft 236 is fixedly connected with the access side plate 2212 of the access frame 221. The gear ring 235 is engaged with the second gear 234, and the gear ring 235 is coaxial with the first gear 233 and the output shaft of the second motor. The side face of the gear ring 235 is fixedly connected to the inner side face of the frame side plate 212 of the main body frame 21. When the first gear 233 rotates, the second gear 234 generates relative rotation in the circumferential direction of the first gear 233, and at the same time, the second gear 234 itself generates rotation in the direction opposite to the rotation direction of the first gear 233. Since the first gear 233 and the second gear 234 have the same structure, the rotation angle of the first gear 233 is equal to the rotation angle of the second gear 234, and the rotation angle of the first gear 233 is equal to the relative rotation angle of the second gear 234 and the first gear 233, so that the access assembly 22 is always kept in a horizontal state during the position adjustment process with the second gear 234, and therefore, the situations of goods inversion and side standing cannot occur, and the safety of goods access is ensured.
For better illustration of the embodiment, the number of the access modules is 4, and the angle of each time the access module is driven to rotate by the rotating mechanism is 90 ° or a multiple of 90 °. With reference to fig. 8 and 9, a total of 4 accesses of goods are possible during the shuttle of the loft shuttle unit from the home position back to the home position. Correspondingly, the access main body needs to move to 4 positions corresponding to the access shelf. The initial position of the access main body is set to (0,0), and the coordinates of the 4 positions corresponding to the access shelf are respectively set to (X)1,Y1)、(X2,Y2)、(X3,Y3)、(X4,Y4). If the access main body is set to go from the initial position and then return to the initial position after passing through the 4 points in sequence, the actual stroke distance of the access main body is set to be
Although the above embodiments have been able to be implementedThe reduction in the stroke of the access body is now achieved, but there is still a further reduction in space. E.g. position (X)2,Y2) In position (X)1,Y1) And initial position (0,0), and position (X)3,Y3) In position (X)1,Y1) On the side away from the initial position (0,0), when the access subject is from (X)1,Y1) To (X)2,Y2) To (X)3,Y3) There may be a repetitive return trip, in which the travel path may result in an increased stroke of the accessing entity. In order to improve the technical solution of the present application, in a further embodiment, the loft shuttle device further includes a path planning module for controlling a traveling path of the moving body, and the path planning module plans the traveling path of the accessing body according to the number of the accessing components:
firstly, if the number of the access components is n, the access main body can access n goods from leaving the initial position to returning to the initial position, the n goods respectively correspond to n shelf storage grids on the shelf, the coordinates of the initial position are set to be (0,0), and the n shelf storage grids respectively correspond to n coordinate points which are (X)1,Y1)、(X2,Y2)……(Xn,Yn)；
Next, a set S { (X) of fixed point coordinate points of the access subject is constructed0,Y0)，(X1,Y1)，(X2,Y2)……(Xn,Yn) In which (X)0,Y0)＝(0,0)
Then, connecting any two points in the set S end to form a closed loop, and calculating the minimum value of the closed loop
i ≠ j and (X)i,Yi)∈S,(Xj,Yj) E is S; in the formula, min () is a minimum evaluation function;
and finally, setting a walking path with (0,0) as an initial position according to the connection sequence of the coordinate points determined by the closed loop, walking to the corresponding shelf storage lattice by the access main body according to the walking path, and carrying out goods access by the access assembly. In the process, the access main body gradually moves away from the initial position (0,0), then gradually moves close to the initial position (0,0) and returns to the initial position. Therefore, the situation that the mobile phone is frequently far away from the initial position and is close to the initial position does not occur, namely, the mobile phone is not far away from the initial position, is close to the initial position, is far away from the initial position and is close to the initial position again. Thereby avoid appearing the condition of the frequent repeated return stroke of access main part, further reduce the walking stroke of access main part, promote the efficiency of goods access.
In a further embodiment, the present application also provides a method of controlling an attic shuttle car device, comprising the steps of:
firstly, a path planning module plans a walking path of an access main body according to the position of a goods storage lattice corresponding to the accessed goods, the access main body walks to the corresponding goods shelf storage lattice from an initial position according to the planned walking path, and an access assembly accesses and accesses a plurality of goods and finally returns to the initial position;
secondly, when the attic shuttle car device stores goods, firstly, the goods to be stored are placed on the transfer transverse plate, and the goods are clamped by the clamping mechanism; secondly, the horizontal moving assembly drives the moving main body to move transversely, meanwhile, the vertical moving assembly drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism operates to feed goods into the goods storage grid, and the clamping assembly relaxes to place the goods in the corresponding goods storage grid; then, the transfer mechanism reversely runs and leaves the goods storage grid; then the horizontal moving assembly and the vertical moving assembly operate again to move the storage main body to the next corresponding goods storage grid, meanwhile, the rotating mechanism drives the access assembly to rotate for a set angle, then the next access assembly stores corresponding goods, and the operation is repeated until all goods are stored;
finally, when goods are taken by the loft type shuttle device, firstly, the horizontal moving component drives the moving main body to move transversely, meanwhile, the vertical moving component drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism runs and extends into the goods storage grid, and the clamping component clamps the goods; secondly, the transfer mechanism reversely runs away from the goods storage grid; then, horizontal migration subassembly and vertical migration subassembly move once more and deposit the main part and remove to next goods that corresponds and deposit the check, and simultaneously, slewing mechanism drives the access subassembly and rotates the angle of setting for, carries out corresponding goods by next access subassembly again and takes, circulates according to this until all goods all are taken out.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An attic shuttle device, comprising:
a moving body having a frame-shaped structure, the moving body including a vertical frame and a horizontal frame, the moving body having a degree of freedom of movement in a length direction of the horizontal frame;
the access main body comprises a main body frame which can move up and down along the vertical frame and a plurality of access assemblies which are arranged on the main body frame and can move in position;
the access assembly comprises an access frame with a concave structure, a transfer mechanism arranged on the access frame and two groups of clamping mechanisms arranged oppositely; the access frame comprises an access bottom plate and two access side plates which are vertically and fixedly connected with two sides of the access bottom plate; the transfer mechanism comprises a transfer cylinder fixed on the access bottom plate, a transfer block fixedly connected with the end part of a telescopic rod of the transfer cylinder and a transfer transverse plate fixedly connected with the transfer block; one end of the transfer transverse plate, which is far away from the transfer cylinder, is provided with a notch convenient for goods to be stored and taken; the clamping mechanism comprises a plurality of clamping cylinders with the same structure, a clamping block fixedly connected with the end part of a telescopic rod of each clamping cylinder and a clamping side plate fixedly connected with the clamping block, and the clamping cylinders are arranged on two sides of a notch of the transfer transverse plate; the access main body is moved to the corresponding shelf storage lattice through the transverse movement of the moving main body and the vertical movement of the access main body, and then the goods are accessed through the access assembly; when the access main part moves to different goods shelves and deposits the check, the access subassembly carries out the position adjustment and carries out goods access to realize that the access main part accomplishes the access of a plurality of goods from leaving the initial position to getting back to the stroke of initial position again.
2. The loft shuttle car device of claim 1, wherein the access assembly is rotatably connected to the body frame; the main body frame is also of a concave structure and comprises a frame bottom plate and two frame side plates which are vertically and fixedly connected with two sides of the frame bottom plate; the access main body further comprises a rotating mechanism for realizing the rotating connection of the access frame and the main body frame.
3. The loft shuttle device of claim 2, wherein the rotating mechanism comprises a first motor horizontally fixed to the frame side plate, and a first side plate and a second side plate of circular structure, wherein an output shaft of the first motor horizontally penetrates through the frame side plate to be fixedly connected with the first side plate, and the second side plate is arranged opposite to the first side plate and is rotatably connected with the other frame side plate; the access assemblies are arranged between the first side plate and the second side plate and are uniformly distributed along the circumferential direction of the first side plate or the second side plate; the access side plate of the access frame is fixedly connected with the first side plate and the second side plate respectively and enables the telescopic rod of the transfer cylinder to stretch and retract along the radial direction of the first side plate or the second side plate.
4. A loft shuttle car device according to claim 2, wherein the rotary mechanism comprises first and second gears of identical construction, a ring gear in meshing engagement with the second gear, and a second motor for driving the first gear to rotate; the first gear and the gear ring are coaxial, the first gear and the second gear are in meshing transmission, and the first gear is fixedly sleeved on an output shaft of the second motor; the number of the second gears is equal to that of the access assemblies, the second gears are uniformly distributed along the circumferential direction of the first gears, fixed rotating shafts are inserted into the second gears, and the fixed rotating shafts are fixedly connected with access side plates of the access frame; the gear ring is fixedly connected with a frame side plate of the main body frame.
5. A loft shuttle car device according to claim 3 or 4, wherein the number of access assemblies is 4.
6. The loft type shuttle device according to claim 1, further comprising a horizontal moving assembly, wherein the horizontal moving assembly comprises a moving housing, a bearing base fixed on the moving housing, a rotating shaft inserted in the bearing base, a track roller coaxially and fixedly connected with the rotating shaft, and a horizontal motor arranged in the moving housing, wherein a driving sprocket is fixed on an output shaft of the horizontal motor, a driven sprocket is coaxially and fixedly sleeved on the rotating shaft, the driving sprocket is in transmission connection with the driven sprocket through a transmission chain, and the top of the moving housing is fixedly connected with a horizontal frame at the bottom of the vertical frame.
7. The loft shuttle car device of claim 1, further comprising a vertical movement assembly, the vertical movement assembly vertical motor, rotating lead screw, lead screw nut; vertical motor vertical fixation is on the top of vertical frame, the medial surface of vertical frame is opened to the outside direction has vertical recess, it locates in the vertical recess to rotate the lead screw, the output shaft downwardly extending of vertical motor extend to in the vertical recess and with rotate the coaxial fixed connection of lead screw, the bottom that rotates the lead screw is rotated with the bottom of vertical recess and is connected, lead screw nut cover in rotate the lead screw and with rotate lead screw threaded connection, lead screw nut's lateral surface and main body frame fixed connection.
8. A loft shuttle car apparatus as claimed in claim 1, further comprising a path planning module for controlling the path of travel of the moving body, the path planning module planning the path of travel of the accessing body according to the number of accessing components:
firstly, if the number of the access components is n, the access main body can access n goods from leaving the initial position to returning to the initial position, the n goods respectively correspond to n shelf storage grids on the shelf, the coordinates of the initial position are set to be (0,0), and the n shelf storage grids respectively correspond to n coordinate points which are (X)1，Y1)、(X2，Y2)……(Xn，Yn)；
Next, a set S { (X) of fixed point coordinate points of the access subject is constructed0，Y0)，(X1，Y1)，(X2，Y2)……(Xn，Yn) In which (X)0，Y0)＝(0，0)
Then, connecting any two points in the set S end to form a closed loop, and calculating the minimum value of the closed loop
i ≠ j and (X)i，Yi)∈S，(Xj，Yj) E is S; in the formula, min () is a minimum evaluation function;
and finally, setting a walking path with (0,0) as an initial position according to the connection sequence of the coordinate points determined by the closed loop, walking to the corresponding shelf storage lattice by the access main body according to the walking path, and carrying out goods access by the access assembly.
9. A control method of an attic shuttle device is characterized by comprising the following steps:
step 1: the path planning module plans a walking path of the access main body according to the position of the goods storage lattice corresponding to the accessed goods, the access main body walks to the corresponding goods shelf storage lattice from the initial position according to the planned walking path, the access assembly accesses and accesses the multiple goods and finally returns to the initial position;
step 2: when the loft type shuttle car device stores goods, firstly, the goods to be stored are placed on the transfer transverse plate, and the goods are clamped by the clamping mechanism; secondly, the horizontal moving assembly drives the moving main body to move transversely, meanwhile, the vertical moving assembly drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism operates to feed goods into the goods storage grid, and the clamping assembly relaxes to place the goods in the corresponding goods storage grid; then, the transfer mechanism reversely runs and leaves the goods storage grid; then the horizontal moving assembly and the vertical moving assembly operate again to move the storage main body to the next corresponding goods storage grid, meanwhile, the rotating mechanism drives the access assembly to rotate for a set angle, then the next access assembly stores corresponding goods, and the operation is repeated until all goods are stored;
and step 3: when goods are taken by the attic shuttle device, firstly, the horizontal moving component drives the moving main body to move transversely, meanwhile, the vertical moving component drives the storage main body to move vertically to move the storage main body to the corresponding goods storage grid, the transfer mechanism runs and extends into the goods storage grid, and the clamping component clamps the goods; secondly, the transfer mechanism reversely runs away from the goods storage grid; then, horizontal migration subassembly and vertical migration subassembly move once more and deposit the main part and remove to next goods that corresponds and deposit the check, and simultaneously, slewing mechanism drives the access subassembly and rotates the angle of setting for, carries out corresponding goods by next access subassembly again and takes, circulates according to this until all goods all are taken out.
10. The control method of the loft shuttle device according to claim 9, wherein the specific process of the path planning module performing the path planning in step 1 is:
firstly, if the number of the access components is n, the access main body can access n goods from leaving the initial position to returning to the initial position, the n goods respectively correspond to n shelf storage grids on the shelf, the coordinates of the initial position are set to be (0,0), and the n shelf storage grids respectively correspond to n coordinate points which are (X)1，Y1)、(X2，Y2)……(Xn，Yn)；
Next, a set S { (X) of fixed point coordinate points of the access subject is constructed0，Y0)，(X1，Y1)，(X2，Y2)……(Xn，Yn) In which (X)0，Y0)＝(0，0)
Then, connecting any two points in the set S end to form a closed loop, and calculating the minimum value of the closed loop
i ≠ j and (X)i，Yi)∈S，(Xj，Yj) E is S; in the formula, min () is a minimum evaluation function;
and finally, setting a walking path with (0,0) as an initial position according to the connection sequence of the coordinate points determined by the closed loop, walking to the corresponding shelf storage lattice by the access main body according to the walking path, and carrying out goods access by the access assembly.
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