CN201209103Y - Railless intelligent movable buck stacker - Google Patents

Railless intelligent movable buck stacker Download PDF

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Publication number
CN201209103Y
CN201209103Y CNU2007200470426U CN200720047042U CN201209103Y CN 201209103 Y CN201209103 Y CN 201209103Y CN U2007200470426 U CNU2007200470426 U CN U2007200470426U CN 200720047042 U CN200720047042 U CN 200720047042U CN 201209103 Y CN201209103 Y CN 201209103Y
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CN
China
Prior art keywords
piler
control
intelligence mobile
trackless
bar code
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2007200470426U
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Chinese (zh)
Inventor
刘全胜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Institute of Technology
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Wuxi Institute of Technology
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Filing date
Publication date
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Priority to CNU2007200470426U priority Critical patent/CN201209103Y/en
Application granted granted Critical
Publication of CN201209103Y publication Critical patent/CN201209103Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a trackless intelligent movable type piler which is composed of a travelling dolly mechanism part of the piler, an electrical control part of the piler and a piler elevating and fork horizontal moving mechanism; the travelling dolly mechanism part of the piler is composed of a mechanical part of the piler, four collision switches in front and back, two photoelectric sensors in front and back, two bar code scanners in front and back, two guiding wheels in front and back, and two driving wheels on the left and right and an electric control box battery, the electrical control part of the piler mainly adopts an embedded type industrial personal computer as the central controller, the signals are input to the industrial personal computer memory through the two bar code scanners, the start-stop position of the piler is determined and the piler is protected from being collided, the piler is controlled to lift the electric motor and cause the fork to move back and forth through the output signals, and thereby the freight handling is realized. The utility model has the advantages of intelligent control, wireless communication, remote control, accurate data acquisition, and the like.

Description

Trackless intelligence mobile piler
One, technical field
The utility model is a kind of tiered warehouse facility access device of being made up of the dolly and the elevator in when walking.This car belongs to indoor handling machinery, can be widely used in warehouses, low, middle goods yard such as pharmaceutical items, fruit, tobacco, mechanical component, electrical equipment, is one of modern storage imperative equipment.
Two, background technology
Rack fork generally has following shortcoming at present
(1) general rack fork can not be turned, and can only walk along the tunnel in the regulation tunnel, and is very inconvenient.
(2) general rack fork walking and fork operation impassabitity long-distance intelligent are controlled.
(3) general rack fork can not be at indoor as prescribed complex course walking freely.
Three, summary of the invention
1, goal of the invention
It is succinct that goal of the invention of the present utility model provides a kind of structure, and widely applicable, storage battery is power supply, and is precise and stable, can realize Long-distance Control, has the packaged type piler of certain intelligence.
2, technical scheme
Trackless intelligence mobile piler of the present utility model is by piler walking dolly mechanism part, piler electric control system and piler lifting and cup one hand in the other before the chest and move forward and backward mechanism's three parts and form.Piler mechanism part by piler mechanics, four impact switches in front and back, former and later two opto-electronic pickups, former and later two bar code scannings, former and later two track adjusting wheels, about two drive wheels and electric appliance control box storage battery form.The piler electric control system mainly by a built-in industrial control machine as central controller, 4 impact switches and two bar code scanners by data collecting card input industrial computer internal memory, are determined incoming signal piler start-stop position and are protected when being collided; The piler integral part is contained on the walking dolly, the wide informal voucher of the 30mm that piler is laid on the ground by identification by dolly in advance by the 2 groups of opto-electronic pickups in front and back is as the trolley travelling track, lay bar code at corresponding station and be used to discern the station code name, carry out differential speed regulation, allow dolly advance or retreat along the bar code track; When trolley travelling was near the requirement station, automatic deceleration travelled, and corrected the operation deviation, and when the sensor of dolly received danger signal, dolly stopped.Industrial computer give piler liftable motor with signal output and cup one hand in the other before the chest move forward and backward motor control signal make the piler liftable and make cup one hand in the other before the chest can before and after action.Industrial computer carries out communication by upper computer by wireless network card.
3, technique effect
Adopt the advantage of trackless intelligent stacker of the present utility model to be:
(1) Based Intelligent Control: piler adopts based on the control of microcomputer mode, specifically an industrial control computer is installed on the piler, my windows 2000 server operating systems are installed, adopt data collecting card, wireless network card to insert industrial computer PCI slot, installation of drive software.Write real-time control routine based on visual c++, comprise the cycle detection thread in the program, carry out walking movement control on the one hand, that is: read the signal of forward and backward passage opto-electronic pickup in real time, compare according to signal that reads and standard signal, different program segments is carried out in decision, the control movable motor carries out differential speed regulation, the correction of moving moves ahead piler all the time along the arrowband of white, and carries out starting and stopping control according to the signal that receives; On the other hand, detect in real time the on-off signal that is installed on the piler, according to the signal that receives, analyze, judge, send different movement instructions, realize the control piler ascending, descending, stretch, contract, regularly etc.
(2) wireless telecommunications: be other computer networkings in industrial computer and upper control machine and the system on the realization piler, wireless network card has been installed on industrial computer, and by wireless access point AP and active line connector HUB, wired, wireless seamless integrated of local area network in the realization system.
(3) can realize Long-distance Control: windows 2000 server operating systems are installed on the industrial computer of piler, utilize its Terminal Service that carries to control remote computer fully, its operating process: installing terminal service and configurating terminal server on the piler industrial computer, create the client computer subpanel; On upper computer (client computer): utilize the client computer subpanel " terminal client service end " to be installed and it is configured.
(4) data acquisition is accurate: utilize the PCI-7296 data collecting card to insert in the computer PCI slot, link to each other with power (driving) module of DC machine by flat cable; Utilize Visual C++ exploitation real-time control routine, the built-in function that provides by data collecting card is realized the reading and writing operation of port.
(5) track accurately and reliably: carriage walking adopts differential speed regulation controlling and driving wheel to press the track walking, can calculate the counter frequency of corresponding 1 microsecond, sets up microsecond level function so that routine call.Program kernel partly comprises: cycle detection thread and self-defined message response function, basis detects the variation of different pieces of information position in cycle detection thread body, send different message to main window, thereby call the different messages response function, realize the real-time control of piler, thereby the stacking function is accurately tracked.
Four, description of drawings
Fig. 1 is the overall structure scheme drawing of the utility model trackless intelligent stacker.Lifting guide pillar 1 wherein arranged, cup one hand in the other before the chest 2, walking dolly 3, linked transmission lifting mechanism 4 and move forward and backward mechanism 5.
Fig. 2 is the walking dolly Distribution of Institutions scheme drawing of the utility model trackless intelligent stacker.Bar code scanner 21, opto-electronic pickup 22, industrial computer and storage battery 23, impact switch 24, lifting and the part 25 of cupping one hand in the other before the chest are wherein arranged, start and stop received signal 26, drive wheel 27 and track adjusting wheel 28.
Fig. 3 is the utility model trackless intelligence mobile piler electrical control block diagram.
Fig. 4 is that the utility model trackless intelligence mobile piler is totally controlled block diagram.Opto-electronic pickup (preceding) is wherein arranged, opto-electronic pickup (back) is arranged, gather change-over circuit, dolly isolation drive road, vehicle motor, I/O conversion baseplate, lifting isolation drive, the lifting motor of cupping one hand in the other before the chest, pci data capture card, industrial computer, apparatus for reading of bar code and various sensor.
Five, specific embodiments
As shown in Figure 1, walking dolly 3 top front ends are equipped with linked transmission lifting mechanism 4, cup one hand in the other before the chest 2 to be connected with linked transmission lifting mechanism 4 by lifting guide pillar 1, carry with front and back about moving forward and backward mechanism 5 and linked transmission lifting mechanism 4 realization goods.
As shown in Figure 2, walking dolly mechanism part by bar code scanner 21, opto-electronic pickup 22, industrial computer and storage battery 23, impact switch 24, lifting and the part 25 of cupping one hand in the other before the chest, start and stop received signal, drive wheel 27 and track adjusting wheel 28 and form jointly.
As shown in Figure 3; ground reflecting strips signal that 2 groups of opto-electronic pickups receive and start-stop signal read and write data by IO expansion board and pci bus and industrial computer; industrial computer is contrasted processing to signal; utilize the differential speed regulation principle to motor-driven; make dolly all the time along the track walking of laying; 4 crash sensors can be protected the piler collision avoidance; 2 bar code scanners installing previously can be discerned workpiece; the embedded wireless network card of industrial computer can carry out wireless telecommunications with upper computer; the input/output signal of piler function part realizes that by IO expansion slot and industrial computer swap data piler rises; actions such as decline and claw are flexible.
The utility model trackless intelligence mobile piler is installed industrial computer as central controller, adopts Insert industrial computer PCI slot with data collecting card, wireless network card and can realize remote control function, have Easy to operate, data acquisition accurately, the advantage such as look for an opportunity accurately.

Claims (7)

1, trackless intelligence mobile piler of the present utility model is by piler walking dolly mechanism part, piler electric control system and piler lifting with cup one hand in the other before the chest and move forward and backward mechanism's three parts and form, it is characterized in that: described piler mechanism part by piler mechanics, four impact switches in front and back, former and later two opto-electronic pickups, former and later two bar code scannings, former and later two track adjusting wheels, about two drive wheels and electric appliance control box storage battery form, the piler electric control system mainly by a built-in industrial control machine as central controller.
2, trackless intelligence mobile piler according to claim 1 is characterized in that: described piler mechanics is equipped with the linked transmission lifting mechanism and moves forward and backward mechanism, realize to the front and back of goods with move up and down.
3, trackless intelligence mobile piler according to claim 1 is characterized in that: described industrial computer adopts the control of microcomputer mode, and operating system, wireless network card and drive software are installed.
4, trackless intelligence mobile piler according to claim 1, it is characterized in that: described piler is equipped with two bar code scanners, by data collecting card input industrial computer internal memory and then control piler lifting mechanism and make the work that can move forward and backward of cupping one hand in the other before the chest.
5, trackless intelligence mobile piler according to claim 1 is characterized in that: described piler is equipped with two opto-electronic pickups, determines the moving of car track by identification station code name.
6, trackless intelligence mobile piler according to claim 1 is characterized in that: described piler is equipped with four impact switches, can protect the piler collision avoidance.
7, trackless intelligence mobile piler according to claim 3 is characterized in that: described industrial computer is equipped with wireless network card can realize Long-distance Control.
CNU2007200470426U 2007-09-04 2007-09-04 Railless intelligent movable buck stacker Expired - Fee Related CN201209103Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007200470426U CN201209103Y (en) 2007-09-04 2007-09-04 Railless intelligent movable buck stacker

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007200470426U CN201209103Y (en) 2007-09-04 2007-09-04 Railless intelligent movable buck stacker

Publications (1)

Publication Number Publication Date
CN201209103Y true CN201209103Y (en) 2009-03-18

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Country Status (1)

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CN (1) CN201209103Y (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011120200A1 (en) * 2010-04-01 2011-10-06 江苏六维物流设备实业有限公司 Genetic optimization control technology for stacking machines
WO2011120201A1 (en) * 2010-04-01 2011-10-06 江苏六维物流设备实业有限公司 Piler neural network control technology
CN102990640A (en) * 2012-11-29 2013-03-27 何守印 Intelligent transportation robot of electric power storehouse
CN103318812A (en) * 2013-07-09 2013-09-25 京东方科技集团股份有限公司 Pallet fork assembly for stacker, stacker and method for carrying cartridges
CN103663274A (en) * 2013-12-31 2014-03-26 无锡职业技术学院 Electric cylinder stacker based on control of single-chip microcomputer
CN103717522A (en) * 2011-06-15 2014-04-09 西门子公司 Self-propelled trolley
CN103809501A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Transportation crane control system
CN103809590A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Carrying apparatus walking apparatus control system
CN104591039A (en) * 2015-02-09 2015-05-06 张琦 Portable forklift early-warning device
CN104635649A (en) * 2013-11-12 2015-05-20 沈阳新松机器人自动化股份有限公司 Clean stack machine control system
CN105236061A (en) * 2015-10-09 2016-01-13 深圳市华星光电技术有限公司 Storage equipment

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011120201A1 (en) * 2010-04-01 2011-10-06 江苏六维物流设备实业有限公司 Piler neural network control technology
WO2011120200A1 (en) * 2010-04-01 2011-10-06 江苏六维物流设备实业有限公司 Genetic optimization control technology for stacking machines
US9708166B2 (en) 2011-06-15 2017-07-18 Blue Water Shipping A/S Self-propelled trolley
CN103717522A (en) * 2011-06-15 2014-04-09 西门子公司 Self-propelled trolley
CN103809590B (en) * 2012-11-08 2016-08-24 沈阳新松机器人自动化股份有限公司 A kind of Handling device walking position control system
CN103809501A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Transportation crane control system
CN103809590A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Carrying apparatus walking apparatus control system
CN102990640A (en) * 2012-11-29 2013-03-27 何守印 Intelligent transportation robot of electric power storehouse
CN103318812A (en) * 2013-07-09 2013-09-25 京东方科技集团股份有限公司 Pallet fork assembly for stacker, stacker and method for carrying cartridges
CN103318812B (en) * 2013-07-09 2015-04-01 京东方科技集团股份有限公司 Pallet fork assembly for stacker, stacker and method for carrying cartridges
CN104635649A (en) * 2013-11-12 2015-05-20 沈阳新松机器人自动化股份有限公司 Clean stack machine control system
CN103663274B (en) * 2013-12-31 2016-04-06 无锡职业技术学院 A kind of based on monolithic processor controlled electric cylinder forklift
CN103663274A (en) * 2013-12-31 2014-03-26 无锡职业技术学院 Electric cylinder stacker based on control of single-chip microcomputer
CN104591039A (en) * 2015-02-09 2015-05-06 张琦 Portable forklift early-warning device
CN105236061A (en) * 2015-10-09 2016-01-13 深圳市华星光电技术有限公司 Storage equipment
CN105236061B (en) * 2015-10-09 2018-01-09 深圳市华星光电技术有限公司 Storage facilities

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
EE01 Entry into force of recordation of patent licensing contract

Assignee: Wuxi Lida Gear Manufacturing Co., Ltd.

Assignor: Wuxi Institute of Technology

Contract fulfillment period: 2009.4.17 to 2014.4.17

Contract record no.: 2009320000709

Denomination of utility model: Railless intelligent movable buck stacker

Granted publication date: 20090318

License type: Exclusive license

Record date: 20090429

LIC Patent licence contract for exploitation submitted for record

Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.4.17 TO 2014.4.17; CHANGE OF CONTRACT

Name of requester: WUXI LIDA GEER MANUFACTURING CO., LTD.

Effective date: 20090429

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090318

Termination date: 20140904

EXPY Termination of patent right or utility model