CN216188164U

CN216188164U - A RGV shuttle that is used for slight extrusion formula of intensive storage to put things in good order

Info

Publication number: CN216188164U
Application number: CN202122181989.9U
Authority: CN
Inventors: 王梦文; 管树林; 崔雄; 陈健
Original assignee: Shanghai Jingxing Storage Equipment Engineering Co ltd
Current assignee: Shanghai Jingxing Storage Equipment Engineering Co ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2022-04-05
Anticipated expiration: 2031-09-09

Abstract

The utility model relates to an RGV (reduced graphics vector) shuttle car for densely storing slightly-extruded stacked goods, which comprises a walking servo motor driver, a walking servo motor, a walking mechanism, a PLC (programmable logic controller) and an energy storage device, wherein the walking servo motor driver and the walking servo motor form a walking servo driving mechanism of the RGV shuttle car, the walking servo driving mechanism is connected with the walking mechanism, the PLC is connected with the walking servo motor driver and is used for reading a following error value and a moment change value of the walking mechanism in the walking servo motor driver and outputting a control signal to the walking servo driving mechanism after comparing the following error value with a set value, so that the RGV shuttle car stops running before the set value, the goods are extruded and placed, and the space utilization rate is maximized.

Description

A RGV shuttle that is used for slight extrusion formula of intensive storage to put things in good order

Technical Field

The utility model relates to an RGV (freight guide vehicle) shuttle vehicle for goods, in particular to an RGV shuttle vehicle for densely storing lightly-extruded goods stacked.

Background

At present, the rail automatic shuttle car is an intelligent rail automatic carrying trolley, and the rail automatic shuttle car reciprocates on a deep rail of a goods shelf to realize warehousing and delivery operation of goods. The shuttle car can be used for carrying forklifts, parent cars and stacking rail automatic shuttle cars, is an intelligent rail automatic carrying trolley, and can reciprocate on a goods shelf deep track to realize warehousing and delivery operation of goods. The shuttle car can be used with equipment such as carrying fork truck, mother's car, stacker, AGV fork truck, forms various intelligent intensive space solutions of advance, promotes the space utilization of storehouse greatly, joins in first-out, operation mode such as first-in last-out, is applicable to in the intensive storage logistics system that the batch is big and article SKU is few, is particularly useful for trades such as food, beverage, freezer, fast article and third party's commodity circulation.

The traditional goods shelf is matched with the shuttle car, and the shuttle car carries goods to the inside of the goods shelf. And the collision between the tray and the tray is prevented in the carrying process, so that the shuttle vehicle driving mechanism gives an alarm. The goods need to be separated from each other by a certain distance (30-100mm), so that the goods of the trolley can be prevented from colliding when exceeding the pallet. But this has the disadvantage that 30-100mm of space is wasted between each pallet position in which the goods are stacked. When the warehouse is put into a view, the resource waste is not small.

The following error in the servo driving system during running of the walking mechanism is found through research and observation, and when the constant speed is input, the motion speed of the system under the steady state condition is the same as the command speed value, but the instantaneous positions of the system and the command speed value have a constant lag.

Disclosure of Invention

The utility model provides an RGV shuttle vehicle for densely storing lightly-extruded stacked goods, which stops the running of a trolley before a system set value by reading the change of a following error value and a moment value in a driving mechanism, thereby achieving the purpose of extruding and placing the goods and maximizing the space utilization rate.

In order to achieve the purpose, the technical scheme of the utility model is as follows: the RGV shuttle car comprises a walking servo motor driver, a walking servo motor, a walking mechanism, a PLC (programmable logic controller) and an energy storage device, wherein the walking servo motor driver and the walking servo motor form a walking servo driving mechanism of the RGV shuttle car, the walking servo driving mechanism is connected with the walking mechanism, the PLC is connected with the walking servo motor driver and used for reading a following error value and a moment change value of the walking mechanism in the walking servo motor driver and outputting a control signal to the walking servo driving mechanism after the following error value and the moment change value are compared with a set value, so that the RGV shuttle car stops running before the set value.

Furthermore, the walking servo motor driver is provided with a detection function module for detecting the following error value and the moment value of the walking mechanism.

Further, the walking servo motor driver adopts a kylin 400 low-voltage direct-current servo driver.

Furthermore, the walking servo driving mechanism is connected with the walking wheels through a walking mechanism.

Furthermore, a jacking servo motor driver, a jacking servo motor and a jacking mechanical mechanism are also arranged in the RGV shuttle car.

The utility model has the beneficial effects that:

the utility model adopts a PLC (programmable logic controller) and a walking servo motor driver to read the change of the following error value and the moment value in the driving mechanism, so that the trolley stops running before the set value of the system, thereby achieving the purpose of extruding and placing goods and maximizing the space utilization rate.

Drawings

FIG. 1 is a perspective view of an RGV shuttle body;

FIG. 2 is a top view of an RGV shuttle body;

FIG. 3 is a graph of the variation of the following error;

FIG. 4 is a graph of position versus time followed.

Detailed Description

The utility model is further described with reference to the following figures and examples.

As shown in fig. 1 and 2, the RGV shuttle car for densely storing lightly squeezed stacked goods according to the present invention includes a walking servo motor driver 1, a walking servo motor 2, a PLC (programmable logic controller) 3, an energy storage device (battery) 4, a walking mechanism 5, a walking wheel 6, a jacking servo motor driver 7, a jacking servo motor 8, and a jacking mechanical mechanism 9.

The walking servo motor driver 1 and the walking servo motor 2 form a walking servo driving mechanism of the RGV shuttle, the walking servo driving mechanism is connected with the walking mechanism 5, the PLC (programmable logic controller) 3 is connected with the walking servo motor driver 1 and used for reading the following error value and the change value of the moment of the walking mechanism 5 in the walking servo motor driver 1 and outputting a control signal to the walking servo driving mechanism after comparing with a set value so that the RGV shuttle stops running before the set value, thereby achieving the purpose of extruding and placing goods and maximizing the space utilization rate.

The utility model uses PLC (programmable logic controller) in the trolley to read the following error value and the moment value in the travelling mechanism, and the PLC compares the following error value and the moment value with the set value to obtain the extrusion condition of the trolley when the following error value and the moment value reach the set value, thereby stopping the trolley in advance. The walking servo motor driver 1 is provided with a detection function module to detect the following error value and the moment value of the walking mechanism.

The walking servo motor driver 1 adopts a low-voltage direct current servo driver (kylin 400, equipment model: GSD400-L200KSDN) produced by Shenzhen microsecond control technology Limited. The kylin 400(fusion cube) low-voltage direct-current servo driver integrates a motion controller and a driver with high power density into a small volume, and is convenient for serving various mobile devices. The motion controller integrates advanced motion control and logic control functions; the driver supports multiple encoder feedback types. The system provides various bus communication protocols, and is compatible with various synchronous motors and various installation modes. And flexible programming and debugging software is equipped to provide a professional motion control servo solution with high precision and high reliability.

As shown in fig. 3, this curve is a curve that follows the error. When the curve becomes horizontal, the car has already alarmed. Therefore, the walking servo motor driver 1 can only collect data when the curve climbs the slope to stop the trolley.

As shown in fig. 4, the principle of the following error value detected by the traveling servo motor driver 1 of the traveling mechanism 5 is as follows: curve a is the position command input curve of a certain coordinate axis, and curve B is the position time curve of the actual movement. When t is t, the system enters steady state and the actual position always lags the commanded position by the value of E (i.e., the following error). E.g. at t_iAt the time point, when the command position is at Ye and the actual position is at Yi, the following error Ei is Ye-Yi. And when the vehicle runs, if the resistance changes and the difference value of the following error changes, the larger the resistance is, the larger the value of the following error is, and the vehicle gives an alarm when the set value of the system is reached (the goods are stopped to be put down, and if the vehicle is continuously put in a warehouse, the functions are continuously carried out to extrude and place the goods).

Claims

1. The utility model provides a RGV shuttle that is used for slightly extrusion formula of intensive storage to put things in good order which characterized in that: the walking servo motor driver and the walking servo motor form a walking servo driving mechanism of the RGV shuttle car, the walking servo driving mechanism is connected with the walking mechanism, the PLC is connected with the walking servo motor driver and used for reading a following error value and a moment change value of the walking mechanism in the walking servo motor driver and outputting a control signal to the walking servo driving mechanism after comparing the following error value with a set value, so that the RGV shuttle car stops running before the set value.

2. An RGV shuttle vehicle for densely storing lightly squeezed palletized goods according to claim 1, wherein: the walking servo motor driver is provided with a detection function module for detecting the following error value and the moment value of the walking mechanism.

3. An RGV shuttle vehicle for densely storing lightly squeezed palletized goods according to claim 2, wherein: the walking servo motor driver adopts a kylin 400 low-voltage direct-current servo driver.

4. An RGV shuttle vehicle for densely storing lightly squeezed palletized goods according to claim 1, wherein: the walking servo driving mechanism is connected with the walking wheels through the walking mechanism.

5. An RGV shuttle vehicle for densely storing lightly squeezed palletized goods according to claim 1, wherein: and a jacking servo motor driver, a jacking servo motor and a jacking mechanical mechanism are also arranged in the RGV shuttle car.