CN114919909A - Position positioning method for four-way shuttle car of three-dimensional shuttle library - Google Patents
Position positioning method for four-way shuttle car of three-dimensional shuttle library Download PDFInfo
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- CN114919909A CN114919909A CN202210580325.6A CN202210580325A CN114919909A CN 114919909 A CN114919909 A CN 114919909A CN 202210580325 A CN202210580325 A CN 202210580325A CN 114919909 A CN114919909 A CN 114919909A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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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
- 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)
- B65G2203/0283—Position of the load carrier
Abstract
The invention relates to a position positioning method of a four-way shuttle car for a three-dimensional shuttle library, which relates to the field of the four-way shuttle car and comprises a four-way shuttle car main body, a goods positioning mechanism and a pallet positioning mechanism; the four-way shuttle vehicle main body is used for carrying goods; the cargo positioning mechanism comprises a carrying tray assembly for detecting and carrying cargo and a plurality of groups of cargo positioning assemblies which are arranged on the carrying tray assembly and used for adjusting the positions of the cargo. Through setting up tray positioning mechanism, can carry out the chucking location with jacking layer board and tray main part, thereby fix tray main part's position, avoid tray main part and automobile body to take place the condition of relative movement, cooperate goods positioning mechanism simultaneously, can carry out real-time positioning monitoring and adjust to the position of goods, thereby avoid the goods offset too big, cause the goods to take place to empty, the condition of landing, the normal transport of protection quadriversal shuttle main part to the goods, the normal use in protection three-dimensional shuttle storehouse.
Description
Technical Field
The invention relates to the field of four-way shuttle vehicles, in particular to a position positioning method of a four-way shuttle vehicle for a three-dimensional shuttle library.
Background
With the rapid development of the modern logistics industry, the four-way shuttle three-dimensional warehouse has become one of the mainstream forms of the automatic three-dimensional warehouse due to the advantages of efficient and intensive storage function, operation cost and systematic intelligent management in the warehousing system.
At present, an automatic stereoscopic warehouse of a four-way shuttle car mainly comprises the four-way shuttle car and a stereoscopic goods shelf, wherein the stereoscopic warehouse goods shelf is internally provided with a standard goods space for storing goods, the height of the stereoscopic goods shelf can reach dozens of meters, and a cross beam type goods shelf structure is adopted; the four-way shuttle car is an intelligent moving device, is upgraded on the basis of the traditional two-way shuttle car (advancing and retreating), and shuttles in four directions (namely front, back, left and right) in the plane of the automatic stereoscopic warehouse through a warehouse management/control system (WCS/WMS) to realize the automatic storage and taking work of goods.
The existing four-way shuttle vehicle is different according to the unit type of processing, and mainly comprises a material box type shuttle vehicle and a pallet type shuttle vehicle, wherein the pallet type four-way shuttle vehicle comprises a vehicle frame, wheels, a carrying pallet and the like, when the shuttle vehicle is used, goods are placed on a pallet, then the pallet is jacked up to move through the carrying pallet, the shuttle vehicle is convenient to use, but the goods are mostly irregular, the gravity center of the goods is often deviated to one side on the pallet, the pallet is in movable friction with the carrying pallet, when the shuttle vehicle decelerates in the advancing process, the goods can be caused, the relative movement between the pallet and the carrying pallet is caused due to inertia, the goods and the pallet are deviated, if the deviation is too large, the normal running of the shuttle vehicle can be influenced, the goods are caused to topple, slide and the like, and certain hidden danger exists.
Disclosure of Invention
The invention aims to: the present invention provides a method for positioning a four-way shuttle car for a three-dimensional shuttle library to solve the above problems in the prior art.
The technical scheme is as follows: a position locating device of a four-way shuttle car for a three-dimensional shuttle library comprises a four-way shuttle car main body, a goods locating mechanism and a pallet locating mechanism;
the four-way shuttle car body is used for carrying goods;
the cargo positioning mechanism comprises a carrying tray assembly for detecting carried cargos and a plurality of groups of cargo positioning assemblies which are arranged on the carrying tray assembly and used for adjusting the positions of the cargos;
and the tray positioning mechanism is arranged on the four-way shuttle vehicle main body and is used for jacking in cooperation with the four-way shuttle vehicle main body and positioning the goods positioning mechanism.
In a further embodiment, the tray positioning mechanism comprises a plurality of first lifting components, a plurality of groups of lifting supporting plates and a plurality of groups of positioning clamping blocks;
the lifting device comprises a four-way shuttle car body, a plurality of first lifting components, a plurality of second lifting components and a plurality of lifting mechanisms, wherein the plurality of first lifting components are arranged in the four-way shuttle car body;
the jacking supporting plates are correspondingly arranged on the first lifting parts and used for bearing the goods positioning mechanism, in the application, a pair of jacking supporting plates are arranged, and the pair of jacking supporting plates are symmetrically arranged relative to the central axis of the four-way shuttle vehicle main body and can stably lift the tray main body;
and the plurality of groups of positioning clamping blocks are correspondingly arranged on the plurality of groups of jacking supporting plates and are used for clamping and positioning the position of the goods positioning mechanism.
In a further embodiment, the carrier tray assembly comprises a tray body and a plurality of locator slots;
the tray main body is used for bearing goods, and when the tray main body is used, the goods can be placed on the tray main body;
and the positioning clamping grooves are arranged on the tray main body and are used for matching with a plurality of groups of positioning clamping blocks to clamp and position the goods positioning mechanism.
In a further embodiment, the carrier tray assembly includes a positioning moving slot and a plurality of mounting plates;
the positioning moving groove is formed in the tray main body and used for moving the cargo positioning assembly, and the cargo positioning assembly can move to drive the cargo to move so as to adjust the position of the cargo, avoid the situation that the cargo is toppled and fallen due to overlarge offset of the cargo and protect the normal conveying of the four-way shuttle main body to the cargo;
a plurality of mounting panels connect in on the tray main part for installation goods locating component, during the in-service use, because the mounting panel is used for installing goods locating component, consequently, the mounting panel mountable is in the middle part of tray main part, also can install the both sides etc. at tray main part, can set up according to the length and width of goods.
In a further embodiment, the carrier tray assembly further comprises an outer plate, a positioning frame and a plurality of photoelectric detection components;
the external connecting plate is arranged on the outer wall of the tray main body and used for installing the positioning frame;
the locating rack is installed on the outer connecting plate and located on the outer side of the tray main body, and a plurality of photoelectric detection parts are arranged on the locating rack and used for monitoring the position of goods.
In a further embodiment, the cargo positioning assembly comprises a position positioning moving part, a positioning connecting plate and a plurality of positioning pallets;
the position positioning moving component is arranged between the four-direction shuttle car main body and the tray main body and is used for moving the goods positioning component;
a positioning connecting plate mounted on the position positioning moving part;
the positioning support plates are used for lifting the goods, the positioning support plates with proper quantity can be installed at proper positions according to different goods, the stability of the lifting moving is guaranteed, and the goods are lifted through the positioning moving grooves during use.
In a further embodiment, the position-positioning moving means includes a second elevating means and a position adjusting means;
the second lifting component is arranged between the four-way shuttle body and the tray body, is arranged on the mounting plate and is used for driving goods to lift;
and the position adjusting component is connected between the second lifting component and the positioning connecting plate and used for driving the goods to adjust the position.
In a further embodiment, the position adjustment member includes a lateral movement member and a longitudinal movement member;
the transverse moving component is connected to the second lifting component and used for driving goods to transversely move, comprises a transverse moving motor, a transverse guide rail, a transverse sliding block and the like, and is matched with the photoelectric detection component to be controlled by a control system of the three-dimensional shuttle library when in use;
and the longitudinal moving part is connected between the transverse moving part and the positioning connecting plate and used for driving goods to longitudinally move, comprises a longitudinal moving motor, a longitudinal guide rail, a longitudinal sliding block and the like, and is controlled by a control system of the three-dimensional shuttle library in cooperation with the photoelectric detection part when in use.
In a further embodiment, a position locating device for a four-way shuttle car of a stereoscopic shuttle library further comprises: a first fixing member and a second fixing member;
the first fixing component is used for fixing the jacking supporting plate and the positioning clamping block, comprises first fixing threads which are correspondingly arranged on the jacking supporting plate and the positioning clamping block, and also comprises first fixing screws which are correspondingly in threaded connection with the first fixing threads and are used for fixing the jacking supporting plate and the positioning clamping block;
the second fixing part is used for fixing the outer connecting plate and the positioning frame, comprises second fixing threads, is correspondingly arranged on the outer connecting plate and the positioning frame, and further comprises second fixing screws, the second fixing screws are connected in the second fixing threads in a corresponding mode, and are used for fixing the outer connecting plate and the positioning frame.
A position positioning method of a four-way shuttle car for a stereoscopic shuttle library comprises the following steps:
s1, when the tray is used, the first lifting component is utilized to correspondingly lift the jacking supporting plate, the positioning clamping block is tightly clamped with the positioning clamping groove on the tray main body, and the position of the tray main body is positioned and fixed;
s2, after the goods are placed on the tray main body, the goods have safe positions on the tray main body, the distances between the goods and the photoelectric detection parts when the goods are at the safe positions are set in advance, and an error range is set;
s3, when the corresponding photoelectric detection component detects that the goods exceed a preset error range, the position adjustment component works to drive the positioning connecting plate and the positioning supporting plate to correspond to the preset position of the bottom of the goods, and then the work is stopped;
s4, then, the second lifting component works to drive the positioning connecting plate and the positioning supporting plate to lift so as to lift the goods, then the position adjusting component works again to drive the goods to move, so that the goods are displaced to a safe position within a preset error range, and the position adjusting component stops working;
s5, driving the positioning connecting plate and the positioning supporting plate to be separated from the goods by the second lifting component, and enabling the four-way shuttle car body to normally advance.
Has the advantages that: the invention relates to a position positioning method of a four-way shuttle car for a three-dimensional shuttle library, which is characterized in that a tray positioning mechanism is arranged, a jacking supporting plate and a tray main body can be clamped and positioned, so that the position of the tray main body is fixed, the relative movement between the tray main body and a car body is avoided, and meanwhile, the position of a cargo can be positioned, monitored and adjusted in real time by matching with the cargo positioning mechanism, so that the situation that the cargo is toppled and fallen due to overlarge offset is avoided, the normal conveying of the cargo by the four-way shuttle car main body is protected, and the normal use of the three-dimensional shuttle library is protected.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a perspective view of the four-way shuttle body and pallet positioning mechanism of the present invention.
Fig. 3 is a perspective view of the object positioning mechanism of the present invention.
Figure 4 is an exploded view of the carrier tray assembly of the present invention.
Fig. 5 is a diagram illustrating the effect of the present invention.
The figures are numbered: 1. the four-direction shuttle car comprises a four-direction shuttle car body, 2, a tray positioning mechanism, 201, a jacking supporting plate, 202, a positioning fixture block, 3, a goods positioning mechanism, 4, a carrying tray assembly, 401, a tray body, 402, a positioning clamping groove, 403, an external connecting plate, 404, a positioning frame, 405, a photoelectric detection component, 406, an installation plate, 5, a goods positioning assembly, 501, a positioning connecting plate and 502, and the positioning supporting plate is arranged on the four-direction shuttle car body.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant thinks that when the existing tray type four-way shuttle vehicle is used, because the goods are irregular in size and are not fixed on the tray, the position is uncertain, the center of gravity of the goods is always deviated to one side on the tray, and the tray is movably rubbed with the carrying supporting plate, so that when the shuttle vehicle decelerates in the advancing process, the goods and the carrying supporting plate can be moved relatively due to inertia, the goods and the tray can deviate, if the deviation amount is too large, the normal running of the shuttle vehicle can be influenced, the goods can be toppled over and slide down, and the like, and certain hidden dangers exist.
For this purpose, the applicant proposes a position locating method for a four-way shuttle car of a stereoscopic shuttle library, wherein a position locating device for a four-way shuttle car of a stereoscopic shuttle library, as shown in fig. 1 to 5, comprises a four-way shuttle car body 1, a goods locating mechanism 3 and a pallet locating mechanism 2.
The four-way shuttle body 1 is used for carrying goods.
The cargo positioning mechanism 3 comprises a carrying tray assembly 4 for detecting carried cargo and a plurality of sets of cargo positioning assemblies 5 which are arranged on the carrying tray assembly 4 and used for adjusting the positions of the cargo.
The tray positioning mechanism 2 is installed on the four-way shuttle main body 1 and used for being matched with the four-way shuttle main body 1 to lift up and positioning the goods positioning mechanism 3.
As shown in fig. 2, the tray positioning mechanism 2 includes a plurality of first lifting members, a plurality of sets of lifting pallets 201, and a plurality of sets of positioning fixtures 202.
Wherein, a plurality of first elevating parts set up in four-way shuttle main part 1.
In this application, first lifting unit is connected with jacking layer board 201 for drive jacking layer board 201 and go up and down, drop when idle, rise during the use, including a lift motor, and first lifter etc..
The plurality of sets of jacking supporting plates 201 are correspondingly arranged on the plurality of first lifting components and used for bearing the goods positioning mechanism 3.
In this application, jacking layer board 201 is provided with a pair ofly, and a pair of jacking layer board 201 sets up about the axis symmetry of quadriversal shuttle main part 1, can steadily promote tray main part 401.
The multiple sets of positioning fixture blocks 202 are correspondingly mounted on the multiple sets of jacking supporting plates 201 and used for clamping and positioning the positions of the cargo positioning mechanisms 3.
In this application, the symmetry is provided with a pair of location fixture block 202 on every jacking layer board 201, and a pair of location fixture block 202 sets up about the axis symmetry of jacking layer board 201, can carry out steady chucking location with tray main part 401, and jacking layer board 201 and location fixture block 202 utilize first fixed part to be connected.
The first fixing component is used for fixing the jacking supporting plate 201 and the positioning fixture block 202, comprises a first fixing thread, is correspondingly arranged on the jacking supporting plate 201 and the positioning fixture block 202, and further comprises a first fixing screw, is correspondingly connected in the first fixing thread in a threaded manner, and is used for fixing the jacking supporting plate 201 and the positioning fixture block 202.
As shown in fig. 1-5, the carrier tray assembly 4 includes a tray body 401 and a plurality of locator card slots 402.
Wherein the pallet body 401 is used to carry goods.
In use, goods are placed on the pallet body 401.
The positioning clamping grooves 402 are formed in the tray main body 401 and used for being matched with the plurality of groups of positioning clamping blocks 202 to clamp and position the goods positioning mechanism 3.
In this application, positioning groove 402 sets up in the one side that tray main part 401 is close to quadriversal shuttle main part 1, and during the use, jacking layer board 201 rises, until positioning fixture block 202 card go into positioning groove 402 in, can fix tray main part 401's position, avoids tray main part 401 and jacking layer board 201 to take place the condition of relative movement.
As shown in fig. 4, the carrier tray assembly 4 includes a positioning moving slot and a plurality of mounting plates 406.
Wherein, the positioning moving groove is arranged on the tray main body 401 and is used for moving the cargo positioning component 5.
In this application, 5 removal of goods locating component can drive the goods and remove to adjust the goods position, avoid the goods offset too big, cause the goods to take place to empty, the condition of landing, the normal transport of protection quadriversal shuttle main part 1 to the goods.
A plurality of mounting plates 406 are attached to the pallet body 401 for mounting the cargo positioning assembly 5.
In actual use, the mounting plate 406 is used for mounting the cargo positioning assembly 5, so the mounting plate 406 can be mounted in the middle of the tray main body 401, can also be mounted on two sides of the tray main body 401, and can be arranged according to the length and width of the cargo.
As shown in fig. 1-5, the carrier tray assembly 4 further includes an outer plate 403, a positioning frame 404, and a plurality of photodetecting elements 405.
The external board 403 is mounted on the tray body 401.
In this application, the external connection plate 403 is installed on the outer wall of the tray main body 401, and is used for installing the positioning frame 404, and the external connection plate 403 and the positioning frame 404 are connected by using the second fixing member.
The second fixing part is used for fixing the outer connecting plate 403 and the positioning frame 404, comprises second fixing threads, is correspondingly arranged on the outer connecting plate 403 and the positioning frame 404, and further comprises a second fixing screw, is correspondingly connected in the second fixing threads through threads, and is used for fixing the outer connecting plate 403 and the positioning frame 404.
The positioning frame 404 is installed on the external connection plate 403 and located outside the tray main body 401, and a plurality of photoelectric detection parts 405 are arranged on the positioning frame 404 and used for monitoring the position of the goods.
In this application, a plurality of photoelectric detection part 405 are along the multi-angle setting on locating rack 404 for carry out the real-time supervision of multi-angle to the goods, monitor the distance between goods and the photoelectric detection part 405.
During the in-service use, place the goods on tray main body 401, in order to protect the stability of goods, place the position that tray main body 401 is close to the middle part with the goods usually, be called safe position, different goods safe position is different, and simultaneously, also inevitable when placing the goods has certain deviation, consequently sets up predetermined error range outside safe position, as long as the goods is in predetermined error range, all can regard as safety.
The three-dimensional shuttle storehouses are internally provided with control systems, and the goods stored in each three-dimensional shuttle storehouse are generally of a certain type, so that the safe position and the preset error range of each kind of goods can be set in advance by matching with the control systems, the goods placed on the tray main body 401 are monitored through the photoelectric detection part 405, and whether the goods are in the safe position and the preset error range is monitored.
When the goods are in the safe position and within the preset error range, the control system controls the four-way shuttle main body 1 to work to transport the goods, when the goods exceed the safe position and the preset error range, the control system controls the goods positioning assembly 5 to work, and after the goods are adjusted to the safe position, the control system controls the four-way shuttle main body 1 to work.
Meanwhile, when the goods and the tray main body 401 move relatively and exceed the safe position and the preset error range due to the conditions of speed reduction and the like in the transportation process of the four-way shuttle main body 1, the control system controls the four-way shuttle main body 1 to stop advancing, controls the goods positioning assembly 5 to work, adjusts the goods to the safe position, and controls the four-way shuttle main body 1 to advance to avoid the conditions of goods dumping, sliding and the like due to too large offset of the goods, thereby protecting the normal operation of the three-dimensional shuttle warehouse.
In addition, the heights, positions and the like of the positioning frame 404 and the photoelectric detection component 405 can be selected and installed according to different goods, so that the photoelectric detection component 405 can monitor the goods in real time conveniently.
As shown in fig. 3, the cargo positioning assembly 5 includes a position positioning moving member, a positioning connection plate 501, and a plurality of positioning pallets 502.
The position positioning moving component is arranged between the four-way shuttle body 1 and the tray body 401, and is used for moving the cargo positioning assembly 5.
In this application, position location moving part can drive location connecting plate 501 and location layer board 502 and go up and down and the displacement, and the effect that rises can promote the goods to carry out the displacement to the goods, the effect that falls can break away from the goods, thereby places the goods on tray main part 401, improves the stability of goods.
The positioning connecting plate 501 is attached to the position positioning moving member.
A plurality of positioning support plates 502 are connected to the positioning connection plate 501 for supporting the goods and moving the goods in the positioning moving grooves in cooperation with the position positioning components.
In this application, location layer board 502 is used for the lifting goods, can select the location layer board 502 of suitable position installation suitable quantity according to the difference of goods, guarantees the stability when the lifting removes, during the use, passes the location movable groove and lifts up the goods.
As shown in fig. 1 to 5, the position fixing moving part includes a second elevation part and a position adjustment part.
The second lifting component is arranged between the four-way shuttle body 1 and the tray body 401 and is installed on the installation plate 406, and is used for driving the goods to lift.
In this application, the second lifting unit is installed between mounting panel 406 and position adjustment part for drive location connecting plate 501 and location layer board 502 go up and down, descend when idle, rise during the use, including first elevator motor, or first cylinder, work is carried out to cooperation first lifter etc..
The position adjusting component is connected between the second lifting component and the positioning connecting plate 501, and is used for driving the goods to adjust the position.
As shown in fig. 1 to 5, the position adjustment member includes a laterally moving member and a longitudinally moving member.
The transverse moving component is connected to the second lifting component and used for driving goods to move transversely, and the transverse moving component comprises a transverse moving motor, a transverse guide rail, a transverse sliding block and the like.
When in use, the photoelectric detection part 405 is matched to be controlled by a control system of the stereoscopic shuttle library.
The longitudinal moving part is connected between the transverse moving part and the positioning connecting plate 501 and used for driving goods to move longitudinally, and comprises a longitudinal moving motor, a longitudinal guide rail, a longitudinal sliding block and the like.
When in use, the photoelectric detection part 405 is matched to be controlled by a control system of the stereoscopic shuttle library.
Based on the technical scheme, the specific working process of the invention is as follows: when the lifting device is used, the first lifting component is utilized to correspondingly lift the lifting supporting plate 201, the positioning fixture block 202 is clamped with the positioning fixture groove 402 on the tray main body 401, and the position of the tray main body 401 is positioned and fixed.
After the goods are placed on the tray main body 401, the goods have a safe position on the tray main body 401, the distance between the goods and the plurality of photoelectric detection components 405 when the goods are at the safe position is set in advance, an error range is set, when the corresponding photoelectric detection components 405 detect that the goods exceed the preset error range, the position adjusting components work to drive the positioning connecting plate 501 and the positioning supporting plate 502 to correspond to the preset position of the bottom of the goods, and then the work is stopped.
Afterwards, the second lifting component works to drive the positioning connecting plate 501 and the positioning support plate 502 to lift so as to lift the goods, then the position adjusting component works again to drive the goods to move, the goods are displaced to a safe position within a preset error range, the position adjusting component stops working, and then the second lifting component drives the positioning connecting plate 501 and the positioning support plate 502 to separate from the goods, and the four-way shuttle main body 1 normally advances.
As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A position locating device that is used for four-way shuttle of three-dimensional shuttle storehouse characterized in that includes:
the four-way shuttle car body is used for carrying goods;
the cargo positioning mechanism comprises a carrying tray assembly for detecting carried cargos and a plurality of groups of cargo positioning assemblies which are arranged on the carrying tray assembly and used for adjusting the positions of the cargos;
and the tray positioning mechanism is arranged on the four-direction shuttle main body and used for jacking in cooperation with the four-direction shuttle main body and positioning the goods positioning mechanism.
2. The position locating device for the four-way shuttle car of the stereoscopic shuttle library according to claim 1, wherein: the tray positioning mechanism includes:
the first lifting components are arranged in the four-way shuttle body;
the jacking supporting plates are correspondingly arranged on the first lifting parts and are used for bearing the cargo positioning mechanism;
and the plurality of groups of positioning clamping blocks are correspondingly arranged on the plurality of groups of jacking supporting plates and are used for clamping and positioning the position of the goods positioning mechanism.
3. The position locating device for the four-way shuttle car of the stereoscopic shuttle library according to claim 1, wherein: the carrier tray assembly comprises:
the tray main body is used for bearing goods;
and the positioning clamping grooves are arranged on the tray main body and are used for matching with a plurality of groups of positioning clamping blocks to clamp and position the goods positioning mechanism.
4. The position locating device for the four-way shuttle car of the stereoscopic shuttle library according to claim 3, wherein: the carrier tray assembly comprises:
the positioning moving groove is formed in the tray main body and used for moving the cargo positioning assembly;
and the mounting plates are connected to the tray main body and used for mounting the cargo positioning assembly.
5. The position locating device of the four-way shuttle car for the stereoscopic shuttle library according to claim 3, wherein: the carrier tray assembly further comprises:
the outer connecting plate is arranged on the tray main body;
the locating rack is installed on the outer connecting plate and located on the outer side of the tray main body, and a plurality of photoelectric detection parts are arranged on the locating rack and used for monitoring the position of goods.
6. The position locating device of the four-way shuttle car for the stereoscopic shuttle library according to claim 1, wherein: the cargo positioning assembly comprises:
the position positioning moving component is arranged between the four-direction shuttle car main body and the tray main body and is used for moving the goods positioning component;
the positioning connecting plate is arranged on the position positioning moving component;
and the positioning support plates are connected to the positioning connecting plates and used for supporting the goods and matching with the position positioning components to move the goods in the positioning moving grooves.
7. The position locating device of the four-way shuttle car for the stereoscopic shuttle library according to claim 6, wherein: the position-locating moving member includes:
the second lifting component is arranged between the four-direction shuttle car main body and the tray main body, is arranged on the mounting plate and is used for driving goods to lift;
and the position adjusting component is connected between the second lifting component and the positioning connecting plate and is used for driving the goods to adjust the position.
8. The position locating device of the four-way shuttle car for the stereoscopic shuttle library according to claim 7, wherein: the position adjustment member includes:
the transverse moving component is connected to the second lifting component and used for driving goods to transversely move;
and the longitudinal moving part is connected between the transverse moving part and the positioning connecting plate and is used for driving the goods to move longitudinally.
9. The position locating device for the four-way shuttle car of the stereoscopic shuttle library according to claim 1, wherein: further comprising:
the first fixing component is used for fixing the jacking supporting plate and the positioning fixture block;
and the second fixing part is used for fixing the external connection plate and the positioning frame.
10. A position positioning method of a four-way shuttle car for a three-dimensional shuttle library is characterized by comprising the following steps:
s1, when the tray is used, the first lifting component is utilized to correspondingly lift the jacking supporting plate, the positioning clamping block is tightly clamped with the positioning clamping groove on the tray main body, and the position of the tray main body is positioned and fixed;
s2, after the goods are placed on the tray main body, the goods have a safe position on the tray main body, the distance between the goods and the photoelectric detection components when the goods are at the safe position is set in advance, and an error range is set;
s3, when the corresponding photoelectric detection component detects that the goods exceed a preset error range, the position adjusting component works to drive the positioning connecting plate and the positioning supporting plate to correspond to a preset position of the bottom of the goods, and then the work is stopped;
s4, then, the second lifting component works to drive the positioning connecting plate and the positioning supporting plate to lift so as to lift the goods, then the position adjusting component works again to drive the goods to move, so that the goods are displaced to a safe position within a preset error range, and the position adjusting component stops working;
s5, driving the positioning connecting plate and the positioning supporting plate to be separated from the goods by the second lifting component, and enabling the four-way shuttle car body to normally advance.
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| CN115818075A (en) * | 2022-11-01 | 2023-03-21 | 郑州德力自动化物流设备制造有限公司 | A quadriversal shuttle for tray transport |
| CN117228124A (en) * | 2023-11-14 | 2023-12-15 | 青岛威弗德自动化系统有限公司 | Transportation tray for commodity circulation and four-way shuttle |
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