CN204124719U - The position fixing system of Shuttling trolley - Google Patents
The position fixing system of Shuttling trolley Download PDFInfo
- Publication number
- CN204124719U CN204124719U CN201420553139.4U CN201420553139U CN204124719U CN 204124719 U CN204124719 U CN 204124719U CN 201420553139 U CN201420553139 U CN 201420553139U CN 204124719 U CN204124719 U CN 204124719U
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- car body
- shuttling trolley
- plc
- sensor
- motor
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Abstract
The position fixing system of Shuttling trolley, it comprises car body, is arranged on the support platform on car body, running mechanism, lifting body, battery and PLC; Running mechanism comprises motor controller and motor; Car body is also provided with deceleration sensor and alignment sensor; Deceleration sensor is arranged on the front end of car body, and alignment sensor has two at least, is arranged on respectively on the adjacent both sides of described car body, carries out left-right and front-back location; Deceleration sensor is connected with PLC respectively with alignment sensor, controls deceleration and the stopping of described motor.Its structure is simple, easy to operate, ensure that the smooth running of Shuttling trolley when complicated track and operation platform and precise positioning.Take MANUAL CONTROL mode and automatic control mode, switch at any time as required, realize remote manual control control and the Automatic Control of Shuttling trolley.
Description
Technical field
The utility model relates to logistic storage Shuttling trolley, and referring in particular to can automatic operating the Shuttling trolley conveyed goods.
Background technology
Along with scientific and technological progress, modern logistics storage also more and more automation.Automation formula logistic storage can be saved manual labor's intensity and increase work efficiency.Realize the Shuttling trolley that automation formula logistic storage must rely on the unmanned carrying of automation.The transfer of goods can be realized very easily by back and forth the transporting goods of Shuttling trolley of unmanned carrying automatically.The Shuttling trolley of unmanned carrying in the market, it mainly comprises car body usually, is arranged on the support platform on car body, running mechanism, lifting body and position fixing system composition.Running mechanism generally comprises axle drive shaft, drive wheel, drives drive wheel to drive Shuttling trolley forward-reverse by axle drive shaft.Lifting body adopts eccentric shaft or cam to realize jacking support platform conveyance goods usually.The employing eccentric shaft that current Shuttling trolley has, by the rotation of eccentric shaft, drives the rotation of another driven shaft, and this driven shaft can be eccentric shaft also can be the cam composition that concentric shafts is installed, and realizes jacking support platform by the distance do not waited from axle center.Also have Shuttling trolley to adopt on jacking axle and directly fixedly mount cam, carry out driving by wheel chain and rotate, realize jacking.
Running mechanism, current Shuttling trolley generally all adopts four-wheel Shuttling trolley, the two-wheel drive that major part adopts, and the Shuttling trolley also had takes four wheel drive.Comparatively speaking, the everyways such as its power of the Shuttling trolley of four wheel drive are better than the Shuttling trolley of two-wheel drive.Shuttling trolley is generally used in Modern Materials Circulation warehouse at present, carries out contact and shuttles back and forth, transport goods in the track in stereo storage rack.Its advantage is shuttled back and forth efficient and convenient, runs comparatively steady, requires that higher and track requires higher with the joining place of transfer mechanism to the track of stereo storage rack.
Positioning control system, on the automatic operating Shuttling trolley of unmanned carrying, takes positioning control system independently locate and control.Current Shuttling trolley is generally taked on Shuttling trolley, arrange some opto-electronic pickups and is positioned, and locating effect is relatively good.Induction information is sent in PLC by opto-electronic pickup, and control signal is sent to motor controller by PLC, and motor controller controls Direct Current Motor and slows down and stop.Its stabilization ratio is higher, but also there are some drawbacks, and such as, when opto-electronic pickup lost efficacy, then the function of location of slowing down just cannot realize, and causes in conveyance, has in the operation process such as warehouse-in accident generations such as colliding.
Summary of the invention
Technical problem to be solved in the utility model is to provide one and can runs by safety and steady, accurate positioning Shuttling trolley in handling process.
For solving the problems of the technologies described above, the technical scheme that the utility model provides is a kind of position fixing system of Shuttling trolley, and it comprises car body, is arranged on the support platform on car body, running mechanism, lifting body, battery and PLC; Described running mechanism comprises motor controller and motor; It is characterized in that, on described car body, deceleration sensor and alignment sensor are also installed; Described deceleration sensor is arranged on the front end of described car body, and described alignment sensor has two at least, is arranged on respectively on the adjacent both sides of described car body, carries out left-right and front-back location; Described deceleration sensor and alignment sensor are connected with described PLC respectively, control deceleration and the stopping of described motor.
Described alignment sensor has four at least, is separately positioned on four sides all around of described car body.Deceleration sensor and alignment sensor are opto-electronic pickup, and it also can be other types sensor.Multiple alignment sensor can be set according to needs in car body both sides, accurately locate.First control motor by deceleration sensor to slow down, reduce the running velocity of ship's speed dolly, reduce impulsive force, then according to the induction of alignment sensor, control motor and stop operating, steadily stop at target storage space region.
Wherein side in the described car body left and right sides is provided with for code reader, and described code reader is connected with described PLC.Take code reader, identification can be read and be arranged on bar code in storage space, Shuttling trolley is stopped in location, target storage space place.
The side that described car body is positioned at described motor is provided with coder, and described coder is connected with described PLC.By coder, calculate the distance of Shuttling trolley movement, confirm whether motor reduces rotating speed when slowing down; if coder confirm motor should slow down and rotating speed does not reduce time; PLC, according to the encoder data information received, controls motor and slows down, realize duplicate protection.
The car body of described battery both sides is provided with the stopper braked Shuttling trolley.
Protectiveness sensor for responding to foreign matter in working direction is installed in the side, front end of described car body.When protectiveness sensor sensing is to when having foreign matter to stop forward march in a forward direction, then can notifies that PLC controls motor out of service, realize the protection to Shuttling trolley.
Described car body is provided with electric quantity detection apparatus, and described electric quantity detection apparatus one end is connected with described battery, and the other end is connected with described PLC.When electric quantity monitoring device detects that battery electric quantity is not enough, this Detection Information is sent to PLC, PLC control Shuttling trolley automatically enters charging zone and carries out automatic charging.
The pressure sensor responding to described support platform pressure is installed in the below of described support platform.Because Shuttling trolley Main Function is used for transporting goods, by pressure sensor, can sense whether be placed with goods in support platform.
Shuttling trolley of the present utility model, by settings such as a series of deceleration sensor, alignment sensor, coder, code reader and the PLC in the position fixing system on dolly, realizes Automated condtrol Shuttling trolley and accurately locates.Simultaneously automatically detect the electricity of Shuttling trolley and carry out automatic charging, ensure that Shuttling trolley is in operation power.By protection sensor, Shuttling trolley safe operation is protected.The utility model is by means of only increasing various sensor induction detecting element and control element on Shuttling trolley, take MANUAL CONTROL mode and automatic control mode, switch at any time as required, realize remote manual control control and the Automatic Control of Shuttling trolley.Its structure is simple, easy to operate, ensure that the smooth running of Shuttling trolley when complicated track and operation platform and precise positioning.
Accompanying drawing explanation
Fig. 1, the positioning control system functional block diagram of Shuttling trolley.
Fig. 2, inside top planar structure schematic diagram of the present utility model.
Fig. 3, the utility model faces structural representation.
Fig. 4, the utility model control flow schematic diagram.
Detailed description of the invention
For the utility model, existing act has a preferred embodiment and is described in conjunction with graphic.The Shuttling trolley of logistic storage of the present utility model, it mainly comprises car body A, support platform, running mechanism, lifting body, positioning control system, wherein: referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, specifically describes as follows.
Car body A is hollow structure, the support platform for transporting goods having base, four perisporiums and cover on car body A.In car body A, be provided with the space can installing running mechanism, lifting body and driving power etc.
Running mechanism, it mainly comprises the wheel being arranged on the car body A left and right sides, and drives the running motor of vehicle wheel rotation, i.e. motor, and by running mechanism, the running of band motor car wheel, makes Shuttling trolley freely move forward and backward.In the present embodiment, motor is Direct Current Motor, and motor controls motor deceleration by motor controller and stops action.Motor controller, by special programming operation handle input control parameter and program, controls motor controller by PLC.
Lifting body (not shown), comprises the jacking motor be arranged in car body, the upper and lower displacement of jacking driven by motor support platform, realizes the carrying transfer of goods.In order to jacking is steady, can arrange the mechanism for steady jacking between jacking motor and support platform, such as take screw mandrel cam set structure etc., therefore technology is existing mature technology, then repeats no more at this.
Driving power B, it is chargeable battery, is arranged in the battery compartment in car body.The propulsive effort that a battery part provides CD-ROM drive motor to rotate as electrical source of power for motor, another part is other control units as control power supply, such as: sensor, PLC, other electric elements etc. provide control electric power.In order to charge in time lower than during operation required electric power at battery electric quantity, car body be provided with electric quantity detection apparatus and is connected with battery, for detecting battery electric quantity.Electric quantity detection apparatus is connected with PLC, will detect that electric quantity data inputs to PLC.When the electricity detected is lower than setting value, PLC control Shuttling trolley enters charging zone and carries out automatic charging.
Positioning control system, is arranged on car body.Mainly comprise induction detecting device, PLC, motor controller, motor.
Deceleration alignment sensor, is used for detecting Shuttling trolley deceleration and position location, and induced signal is sent to PLC.Comprise the opto-electronic pickup (1,2,6,8,12,16,19) be arranged on car body, wherein opto-electronic pickup (2,8) is symmetricly set on the first half of the left and right sides of car body respectively, opto-electronic pickup (8,12) is symmetricly set on the latter half of the left and right sides of car body respectively, for realizing left and right detection and localization to Shuttling trolley in operational process.The front and back end car body of Shuttling trolley forward-reverse is respectively arranged with opto-electronic pickup (1,19), for realizing the front and back detection and localization of Shuttling trolley.Opto-electronic pickup 16 is arranged on Vehicular body front, for detection of slowing down.Above-mentioned opto-electronic pickup is connected with PLC respectively, and opto-electronic pickup sends the induced signal sensed to PLC, and PLC sends different decelerations or halt instruction according to the induced signal received.((1,2,6,8,12,19) control for the detection and localization of Shuttling trolley opto-electronic pickup.When running state, when opto-electronic pickup 16 moves to the required band of position of slowing down, opto-electronic pickup 16 can sense restriction signal, and this restriction signal is sent to PLC, PLC, according to the deceleration induction information received, sends deceleration instruction to motor controller, and motor reduces rotating speed and slows down, Shuttling trolley underspeeds, and slowly runs to target area with low speed; When Shuttling trolley target approach region, ((1,2,6,8,12,19) send induction information to PLC to the opto-electronic pickup being arranged on Shuttling trolley one by one, after PLC have received the stopping detection induction information of all opto-electronic pickups, PLC sends halt instruction to motor controller, motor controller cuts off the electrical source of power of motor, motor shuts down, then Shuttling trolley stops at target area.Carry out by the portage in support platform on shelf, or by the cargo transportation of shelf to the conveyance operation in support platform.As required, sensor also can be other types sensor.
Coder 11, is arranged on car body for detecting the rotating speed of motor and detecting Shuttling trolley travel distance.Coder 11 is connected with PLC.When opto-electronic pickup 16 produces fault, when motor should slow down and not slow down, coder 11 calculates according to the rotating speed of Shuttling trolley motor and runs straight-line distance and this is detected that range information passes to PLC, when the distance that the need that this straight-line distance equals to arrange slow down, PLC sends deceleration instruction to motor controller and slows down, when the distance that the need that the PLC mensuration straight-line distance received from coder equals to arrange stop, PLC sends instruction to motor controller, control motor shuts down, Shuttling trolley is made to stop at target area.When opto-electronic pickup lost efficacy, the existence of coder stopped providing another safety control to the deceleration of Shuttling trolley, ensure that Shuttling trolley because of sensor fault, safety misadventure can not occur.
Code reader 4, is arranged on the car body of Shuttling trolley side.On shelf, each storage space is provided with corresponding bar code.When Shuttling trolley moves to target area, unanimously whether code reader read this bar code and carry out verifying according to the target area arranged, and ensures to stop in the target area that Shuttling trolley stops needed for it.When sensor, coder all lost efficacy, the bar code information of reading is sent to PLC by code reader 4, PLC to motor controller according to the delivering instruction received, is cut off the electrical source of power of motor, is made Shuttling trolley stop at target area by motor controller.Code reader is the another heavy protection to Shuttling trolley; slow down stop three re-detection protections of locating and detecting device by sensor, coder, code reader three layers; ensure that Shuttling trolley accurately stops at target area; the object collision such as Shuttling trolley and shelf can not be caused because of the sense faults of one of them, avoid accident to occur.
The both sides, front and back of battery compartment on car body, be provided with stopper (7,13), stopper is connected with PLC.When motor shuts down, PLC controls stopper action, makes Shuttling trolley static on shelf or track, avoids rocking before and after Shuttling trolley.
In the front end, side arranging opto-electronic pickup 16 of Shuttling trolley, be provided with protection sensor (14,15).When Shuttling trolley advances, when working direction has foreign matter, induction information is sent to PLC by protection sensor, and PLC controls motor and shuts down, and ensures the collision that Shuttling trolley can not meet accident.The support platform of the car body of Shuttling trolley being also provided with the pressure sensor (21,22) detecting pallet, whether being placed with the pallet of goods for detecting support platform.Indicator lamp 17, digital display 18 and source switch 20 is also provided with in the front end of Shuttling trolley.Indicator lamp is for showing the running state of Shuttling trolley, and digital display is for showing parameter and the electricity of Shuttling trolley.Current switch 20 is for opening and closing Shuttling trolley power supply.
Car body is also provided with wireless receiver 9 and remote controller receiver 10, and wireless receiver 9 is connected with PLC respectively with receiver of remote-control sytem 10.Receiver of remote-control sytem 10 receives the instruction that the remote manual control controller from outside sends, and will receive telecommand and send to PLC, controls Shuttling trolley action by PLC; Wireless receiver 9 receives the instruction that the autonomous cruise speed system from outside sends, and this instruction is sent to PLC, controls Shuttling trolley motion by PLC.Realize Non-follow control and automatically control two kinds of patterns.
Under automatic control mode: pass through automatic control device, such as, industrial computer, by the target location parameter that moves to needed for Shuttling trolley and operating parameter instruction input industrial computer, and by wireless launcher by this instruction issue to the wireless receiver in Shuttling trolley.By wireless receiver, this instruction is sent to PLC.PLC controls Shuttling trolley according to instruction operation, in operational process, by the deceleration sensor in deceleration alignment sensor, deceleration detection signal is delivered to PLC, PLC controls motor controller reduction motor rotary speed and slows down, slowly near target area; Alignment sensor, code reader position detection to target location, coder detects range ability and motor rotary speed, this detection signal is sent to PLC respectively, PLC is according to the instruction received, detection signal is judged, judge consistent, then send instruction to motor controller, control motor and stop operating; Meanwhile, control stopper braking, Shuttling trolley is steadily parked in target area.When needing manual mode, only need manually remote controller to send instruction to the receiver of remote-control sytem of Shuttling trolley, by receiver of remote-control sytem, this instruction is sent to PLC.
The position fixing system of Shuttling trolley of the present utility model; by arranging the fender guard of triple location of slowing down such as deceleration alignment sensor, coder, code reader; ensure that Shuttling trolley is steadily positioned in target area smoothly and accurately, improve the accuracy that Shuttling trolley runs.Simultaneously due to full automatic control, automatic charging when electricity also automatically can detect and realize electricity deficiency, avoids human intervention, improves operating efficiency.
Claims (8)
1. a position fixing system for Shuttling trolley, it comprises car body, is arranged on the support platform on car body, running mechanism, lifting body, battery and PLC; Described running mechanism comprises motor controller and motor; It is characterized in that, on described car body, deceleration sensor and alignment sensor are also installed; Described deceleration sensor is arranged on the front end of described car body, and described alignment sensor has two at least, is arranged on respectively on the adjacent both sides of described car body, carries out left-right and front-back location; Described deceleration sensor and alignment sensor are connected with described PLC respectively, control deceleration and the stopping of described motor.
2. the position fixing system of Shuttling trolley according to claim 1, is characterized in that described alignment sensor has four at least, is separately positioned on four sides all around of described car body.
3. the position fixing system of Shuttling trolley according to claim 1, it is characterized in that the wherein side in the described car body left and right sides is provided with for code reader, described code reader is connected with described PLC.
4. the position fixing system of Shuttling trolley according to claim 1, it is characterized in that the side being positioned at described motor on described car body is provided with coder, described coder is connected with described PLC.
5. the position fixing system of Shuttling trolley according to claim 1, is characterized in that being provided with the stopper braked Shuttling trolley on the car body of described battery both sides.
6. the position fixing system of Shuttling trolley according to claim 1, is characterized in that the protectiveness sensor be provided with in the side, front end of described car body for responding to foreign matter in working direction.
7. the position fixing system of Shuttling trolley according to claim 1, it is characterized in that being provided with electric quantity detection apparatus on described car body, described electric quantity detection apparatus one end is connected with described battery, and the other end is connected with described PLC.
8. the position fixing system of Shuttling trolley according to claim 1, is characterized in that being provided with the pressure sensor responding to described support platform pressure in the below of described support platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420553139.4U CN204124719U (en) | 2014-09-25 | 2014-09-25 | The position fixing system of Shuttling trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420553139.4U CN204124719U (en) | 2014-09-25 | 2014-09-25 | The position fixing system of Shuttling trolley |
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| CN204124719U true CN204124719U (en) | 2015-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420553139.4U Expired - Fee Related CN204124719U (en) | 2014-09-25 | 2014-09-25 | The position fixing system of Shuttling trolley |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858121A (en) * | 2016-05-11 | 2016-08-17 | 福建铁拓机械有限公司 | Automatic control method for finished trolley of asphalt mixing plant |
| CN105966948A (en) * | 2016-07-04 | 2016-09-28 | 长沙长泰智能装备有限公司 | Delivery positioning system for load transfer platform and control method |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN106841656A (en) * | 2016-12-09 | 2017-06-13 | 中国恩菲工程技术有限公司 | Number tests the speed transmission device, cableway control device and cableway control method |
| CN108287551A (en) * | 2018-03-15 | 2018-07-17 | 马鞍山钢铁股份有限公司 | Based on route round-trip industrial locomotive running gear and method |
| CN109164811A (en) * | 2018-10-23 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of shuttle vehicle control and method |
| CN109382646A (en) * | 2018-12-17 | 2019-02-26 | 上海联晟汽车配套服务有限公司 | The pre- full-automatic device for screwing up of wiring bolt in chassis |
-
2014
- 2014-09-25 CN CN201420553139.4U patent/CN204124719U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858121A (en) * | 2016-05-11 | 2016-08-17 | 福建铁拓机械有限公司 | Automatic control method for finished trolley of asphalt mixing plant |
| CN105858121B (en) * | 2016-05-11 | 2018-03-02 | 福建铁拓机械有限公司 | A kind of small vehicle automatic control method of bituminous mixing plant finished product |
| CN105966948A (en) * | 2016-07-04 | 2016-09-28 | 长沙长泰智能装备有限公司 | Delivery positioning system for load transfer platform and control method |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN106841656A (en) * | 2016-12-09 | 2017-06-13 | 中国恩菲工程技术有限公司 | Number tests the speed transmission device, cableway control device and cableway control method |
| CN106841656B (en) * | 2016-12-09 | 2024-02-06 | 中国恩菲工程技术有限公司 | Digital speed measuring transmission device, cableway control device and cableway control method |
| CN108287551A (en) * | 2018-03-15 | 2018-07-17 | 马鞍山钢铁股份有限公司 | Based on route round-trip industrial locomotive running gear and method |
| CN108287551B (en) * | 2018-03-15 | 2024-03-08 | 马鞍山钢铁股份有限公司 | Industrial locomotive traveling system and method based on fixed route round trip |
| CN109164811A (en) * | 2018-10-23 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of shuttle vehicle control and method |
| CN109382646A (en) * | 2018-12-17 | 2019-02-26 | 上海联晟汽车配套服务有限公司 | The pre- full-automatic device for screwing up of wiring bolt in chassis |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20210925 |