WO2015127828A1 - Intelligent rail guide vehicle capable of running in three-dimensional way, and control method therefor - Google Patents

Intelligent rail guide vehicle capable of running in three-dimensional way, and control method therefor Download PDF

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WO2015127828A1
WO2015127828A1 PCT/CN2015/000114 CN2015000114W WO2015127828A1 WO 2015127828 A1 WO2015127828 A1 WO 2015127828A1 CN 2015000114 W CN2015000114 W CN 2015000114W WO 2015127828 A1 WO2015127828 A1 WO 2015127828A1
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reversing
control
jacking
shuttle
dimensional driving
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PCT/CN2015/000114
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French (fr)
Chinese (zh)
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许庆波
胡公娄
钱佳
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上海速锐信息技术有限公司
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Priority to CN201410072650.7A priority Critical patent/CN103818672B/en
Priority to CN201410072650.7 priority
Application filed by 上海速锐信息技术有限公司 filed Critical 上海速锐信息技术有限公司
Publication of WO2015127828A1 publication Critical patent/WO2015127828A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles

Abstract

The present invention provides an intelligent rail guide vehicle capable of running in a three-dimensional way. The intelligent rail guide vehicle comprises a vehicle body, a power system, a driving system, a speed-reducing system, a reversing system, and a control system. The power system, the driving system, the speed-reducing system, the reversing system and the control system are fixed to the vehicle body. The power system is electrically connected to the control system and the driving system separately by using cables, so as to supply electric power. The control system is electrically connected to the driving system, the speed-reducing system and the reversing system separately. Each of four sides of the bottom of the vehicle body is provided with two wheels separately. The driving system is in transmission connection with the wheels by means of the speed-reducing system, so as to supply power to the wheels. The present invention provides a control method for the intelligent rail guide vehicle capable of running in a three-dimensional way. The method comprises the step of: an industrial control machine receiving a task instruction by means of a wireless transceiver, that is, requesting the intelligent rail guide vehicle capable of running in a three-dimensional way to run to a goods reception point for carrying goods and run to a goods unloading point for unloading goods. The present invention has the beneficial effects of high operational efficiency, high storage capacity and reduction of investment cost.

Description

一种三维立体行驶的智能穿梭车及其控制方法Intelligent shuttle car with three-dimensional driving and control method thereof 技术领域Technical field
本发明提出了一种运输设备,尤其是涉及一种在密集式仓储中应用的具备智能控制的可以在前后、左右、上下三维空间行驶的穿梭车及其控制方法。The invention provides a transportation device, in particular to a shuttle car with intelligent control and can be driven in front, rear, left and right, up and down three-dimensional space and its control method applied in dense storage.
背景技术Background technique
目前,穿梭车广泛应用在食品、医药、烟草、饮料等仓储物流领域,其应用大大增加了仓储面积使用率,加快了货物的存取效率,减少了人员的使用,从而降低了物流成本。At present, the shuttle car is widely used in the field of warehousing and logistics such as food, medicine, tobacco, beverage, etc. Its application greatly increases the utilization rate of storage area, speeds up the access efficiency of goods, reduces the use of personnel, and reduces the logistics cost.
当前,穿梭车的主要模式有直行穿梭车和环形穿梭车这两种。对于直行穿梭车(专利201120108586.5)而言,由于布置在一条轨道上运行,这就限制了输送货物的方向,它只能在一段直线轨道上进行往复运动,该模式的穿梭车只能在一个平面内运行,输送能力有限。而对于环形穿梭车(专利申请号200920156077.2),其驱动轮安装于车体的同一侧,另一侧无动力装置,易造成穿梭车在行进过程中发生偏转,且大部分的环形穿梭车其轨道在平面内呈闭环布置,穿梭车沿轨道单向运行,该环形轨道可以同时运行多台穿梭车,但过多的穿梭车在一条闭环轨道上运行也将会导致交通堵塞,致使穿梭车使用效率不高,形成穿梭车运力的浪费。尤其是应用于多层立体高架仓库时,穿梭车无法自行换道与换层,需要依靠外部设备,如叉车、堆垛机等设备实现,因此会造成效率低、投资高等问题。Currently, the main modes of the shuttle are the straight shuttle and the ring shuttle. For the straight shuttle (patent 201120108586.5), since it is arranged to run on one track, this limits the direction of conveying the cargo. It can only reciprocate on a straight track. The shuttle of this mode can only be in one plane. Internal operation, limited delivery capacity. For the ring shuttle (patent application number 200920156077.2), the drive wheel is mounted on the same side of the vehicle body, and the other side has no power device, which is easy to cause the shuttle to deflect during the travel, and most of the ring shuttles have their orbits. It is arranged in a closed loop in the plane, and the shuttle runs in one direction along the track. The circular track can run multiple shuttles at the same time, but too many shuttles running on a closed loop track will cause traffic jams, resulting in efficient use of the shuttle. Not high, forming a waste of shuttle capacity. Especially when applied to a multi-layer three-dimensional overhead warehouse, the shuttle can't change lanes and change layers by itself. It needs to rely on external equipment, such as forklifts and stackers, which will result in low efficiency and high investment.
发明内容Summary of the invention
针对现有物流行业高密度存储系统中穿梭车存在的问题,为了满足当前仓储物流系统对货物搬运设备的要求,为了提高仓库空间利用率,本发明的目的是提供一种多向行驶、双侧车轮驱动且具有爬坡功能的三维立体行驶智能穿梭车,从而可以实现前后左右及上下三维空间行驶,在立体多层高架库中依靠自身实现换道和换层。In view of the problems existing in the shuttle trucks in the high-density storage system of the existing logistics industry, in order to meet the requirements of the current warehouse logistics system for cargo handling equipment, in order to improve the utilization of the warehouse space, the object of the present invention is to provide a multi-directional driving, bilateral The three-dimensional driving intelligent shuttle with wheel drive and climbing function can realize front, rear, left and right and up and down three-dimensional space driving, and realize lane changing and layer changing in the three-dimensional multi-layer elevated library.
为了实现上述目的,本发明采用的技术方案如下:In order to achieve the above object, the technical solution adopted by the present invention is as follows:
一种三维立体行驶智能穿梭车,包括车体、电力系统、驱动系统、减速系统、换向系统、控制系统;其中电力系统、驱动系统、减速系统、换向系统、控制系统固定于车体上;所述电力系统通过线缆分别与控制系统、驱动系统连接进行电气供电;所述控制系统分别与驱动系统、减速系统、换向系统电气连接;所述车体底面的四边分别设有两个车轮,所述驱动系统通过减速系统与车轮传动连接向车轮提供动力。A three-dimensional driving intelligent shuttle comprises a vehicle body, a power system, a driving system, a deceleration system, a reversing system and a control system; wherein the power system, the driving system, the deceleration system, the reversing system and the control system are fixed on the vehicle body The power system is electrically connected to the control system and the driving system through cables; the control system is electrically connected to the driving system, the deceleration system, and the reversing system respectively; and two sides of the bottom surface of the vehicle body are respectively provided with two A wheel that provides power to the wheel through a deceleration system in connection with the wheel drive.
上述的一种三维立体行驶智能穿梭车,其中,所述车体包括上车体与下车体,所述上车体、下车体之间通过换向系统连接,所述上车体包括第一侧边与第二侧边,所述第一侧边、第二侧边平行设置且分别安装有两个车轮;所述下车体包括第三侧边与第四侧边,所述第三侧边、第四侧边平行设置且分别安装有两个车轮;所述第一侧边、第二侧边、第三侧边、第四侧边构成车体的四个侧边;所述换向系统固定安装于下车体上。The above-mentioned three-dimensional driving intelligent shuttle, wherein the vehicle body includes an upper body and a lower body, and the upper body and the lower body are connected by a reversing system, and the upper body includes a a first side and a second side, the first side and the second side are arranged in parallel and respectively mounted with two wheels; the lower body comprises a third side and a fourth side, the third The side edges and the fourth side edges are disposed in parallel and are respectively mounted with two wheels; the first side, the second side, the third side, and the fourth side constitute four sides of the vehicle body; The system is fixedly mounted on the lower body.
上述的一种三维立体行驶智能穿梭车,其中,所述换向系统包括一台换向电机与四台换向螺旋升降机,所述换向电机与四台换向螺旋升降机固定安装于下车体上,所述换向电机为双输出轴电机,所述换向电机分别与两台换向螺旋升降机传动连接,该两台换向 螺旋升降机中的一台换向螺旋升降机依次与另外两台换向螺旋升降机传动连接,所述四台换向螺旋升降机位于下车体的四个角落,所述四个台换向螺旋升降机的升降丝杆端部法兰固定在上车体上。因换向系统将上车体、下车体产生的相对高度值改变时,驱动系统仍能传递动力,通过所述换向电机控制换向螺旋升降机,实现上车体、下车体分别与轨道接触,从而使智能穿梭车实现十字换向。The above three-dimensional driving intelligent shuttle, wherein the reversing system comprises a reversing motor and four reversing screw jacks, and the reversing motor and the four reversing screw jacks are fixedly mounted on the lower body The reversing motor is a dual output shaft motor, and the reversing motor is respectively connected with two reversing screw jacks, and the two commutations are respectively A reversing screw jack in the screw jack is in turn connected with two other reversing screw jacks, the four reversing screw jacks are located at four corners of the lower body, and the lifting and lowering of the four reversing screw jacks The end flange of the screw is fixed on the upper body. When the relative height value generated by the upper body and the lower body is changed by the reversing system, the driving system can still transmit power, and the reversing motor is controlled by the reversing motor to realize the upper body and the lower body respectively. Contact, so that the smart shuttle achieves a crossover.
上述的一种三维立体行驶智能穿梭车,其中,还包括两组顶升系统,所述两组顶升系统分别与控制系统电气连接,所述两组顶升系统分别安装在上车体的两侧,所述每组顶升系统包括一台顶升电机与两台顶升螺旋升降机,所述顶升电机分别与两台顶升螺旋升降机传动连接,所述两台顶升螺旋升降机的升降丝杆端部法兰固定安装载物平台,所述两个载物平台构成一个平面共同承放所载物品。当车轮在轨道上行驶时,本发明产品进入货位轨道,进行取货与存货。所述两套顶升系统,通过控制升降高度差,保证本发明产品爬坡时货物的水平,实现本发明产品自动行驶至不同层货架轨道上。两套套顶升系统对称布置与上车体两侧内部。一台顶升电机控制两台顶升螺旋升降机同步升降,两套顶升系统通过两台顶升电机控制四台顶升螺旋式升降机实现两个载物平台同步顶升和保持同一水平。The above three-dimensional driving intelligent shuttle, further comprising two sets of jacking systems, wherein the two sets of jacking systems are respectively electrically connected to the control system, and the two sets of jacking systems are respectively installed on the upper body Side, each set of jacking system comprises a jacking motor and two jacking screw jacks, wherein the jacking motor is respectively connected with two jacking screw jacks, and the lifting wires of the two jacking jack lifts The rod end flange is fixedly mounted with a load platform, and the two load platforms form a plane to jointly carry the articles. When the wheel is traveling on the track, the product of the invention enters the cargo track for picking up and inventory. The two sets of jacking systems ensure the level of the goods when the product of the invention is climbed by controlling the height difference of the lifting and lowering, so that the products of the invention are automatically driven to different shelf rails. The two sets of jacking systems are symmetrically arranged with the interior of both sides of the upper body. One jacking motor controls the two jacking jack lifts to synchronously lift, and the two jacking systems control the four jacking screw lifts through two jacking motors to realize simultaneous lifting and maintaining the same level of the two loading platforms.
上述的一种三维立体行驶智能穿梭车,其中,所述驱动系统包括伺服电机及伺服电机驱动器,所述伺服电机驱动器与伺服电机电气连接,所述伺服电机为交流伺服电机;由伺服电机驱动器发送信号给伺服电机,伺服电机驱动器具有速度、位置和放大器三种控制模式,伺服电机给本发明产品提供动力;所述电力系统包括直流电源与逆变器,所述直流电源通过逆变器与交流伺服电机电气连接进行电气供电。The above three-dimensional driving intelligent shuttle, wherein the driving system comprises a servo motor and a servo motor driver, the servo motor driver is electrically connected with a servo motor, the servo motor is an AC servo motor; and the servo motor driver sends The signal is supplied to the servo motor. The servo motor driver has three control modes: speed, position and amplifier. The servo motor provides power to the product of the invention. The power system includes a DC power source and an inverter, and the DC power source communicates with the inverter through the inverter. The servo motor is electrically connected for electrical supply.
上述的一种三维立体行驶智能穿梭车,其中,所述减速系统包括四个换向减速器,所述伺服电机的输出轴与换向减速器的输入轴通过联轴器连接,所述四个换向减速器之间传动连接。所述换向减速器为T2减速器。减速系统通过对驱动系统进行减速,增扭矩,实现对本发明产品提供符合要求的速度与动力。The above three-dimensional driving intelligent shuttle, wherein the deceleration system comprises four reversing reducers, and an output shaft of the servo motor and an input shaft of the reversing reducer are connected by a coupling, the four Drive connection between the commutating gear units. The reversing reducer is a T2 reducer. The deceleration system achieves the required speed and power for the product of the present invention by decelerating the drive system and increasing the torque.
上述的一种三维立体行驶智能穿梭车,其中,所述车体四周设置用以防止发生碰撞的接近光电开关,所述接近光电开关与控制系统电气连接。In the above three-dimensional driving intelligent shuttle, wherein the vehicle body is provided with a proximity photoelectric switch for preventing a collision, and the proximity photoelectric switch is electrically connected to the control system.
上述的一种三维立体行驶智能穿梭车,其中,所述控制系统包括控制电器与控制软件,控制电器包括工控机、无线收发器、电阻尺、编码器、制动器,所述控制电器之间电气连接。所述控制软件包含驱动控制模块、制动控制模块、换向控制模块、顶升控制模块、定位控制模块、上位机控制模块。The above three-dimensional driving intelligent shuttle, wherein the control system comprises a control appliance and a control software, and the control appliance comprises an industrial computer, a wireless transceiver, a resistor ruler, an encoder, a brake, and an electrical connection between the control appliances . The control software comprises a drive control module, a brake control module, a commutation control module, a jacking control module, a positioning control module, and a host computer control module.
一种三维立体行驶智能穿梭车的控制方法,包括如下步骤;A control method for a three-dimensional driving intelligent shuttle includes the following steps;
S1,工控机通过无线收发器接收任务指令,即要求三维立体行驶智能穿梭车运行至接货点承载货物并运行至卸货点卸载货物;S1, the industrial computer receives the task instruction through the wireless transceiver, that is, the three-dimensional driving intelligent shuttle bus is required to run to the receiving point to carry the cargo and run to the unloading point to unload the cargo;
S2,三维立体行驶智能穿梭车通过工控机内的定位控制模块,从当前位置向接货点运行;S2, the three-dimensional driving intelligent shuttle runs through the positioning control module in the industrial control machine from the current position to the receiving point;
S3,三维立体行驶智能穿梭车运行至接货点,工控机通过控制伺服电机实现制动停止运行;安装的制动器,是为了在电机发生制动意外的情况下刹车抱死保护使用的,在正常运行状态下备用。S3, the three-dimensional driving intelligent shuttle bus runs to the receiving point, the industrial computer realizes the braking stop operation by controlling the servo motor; the installed brake is used for braking and locking protection in the case of a motor braking accident, in normal Standby in the running state.
S4,工控机向顶升系统下达运行指令,带动载物平台升起,载物平台将货物托起后,顶升系统停止运行,在载物平台升起的过程中,电阻尺判断载物平台是否在同一水平 面;S4, the industrial computer sends a running command to the jacking system to drive the loading platform to rise. After the cargo platform lifts the cargo, the jacking system stops running. During the lifting of the loading platform, the resistance gauge judges the loading platform. Is it at the same level? surface;
S5,工控机根据接货点与卸货点之间的路线分析路况,读取进入坡度点和离开坡度点;S5, the industrial computer analyzes the road condition according to the route between the receiving point and the unloading point, and reads the entry slope point and the exit slope point;
S6,工控机向驱动系统下达运行指令,三维立体行驶智能穿梭车从接货点向卸货点运行;S6, the industrial computer issues a running command to the driving system, and the three-dimensional driving intelligent shuttle runs from the receiving point to the unloading point;
S7,三维立体行驶智能穿梭车运行至进入坡度点时,启动载物平台调平模式,顶升系统运行,使两个载物平台维持在同一水平状态;三维立体行驶智能穿梭车运行至离开坡度点时,载物平台调平模式关闭;S7, when the three-dimensional driving intelligent shuttle runs to the slope point, the load platform leveling mode is started, the jacking system is operated, and the two loading platforms are maintained at the same level; the three-dimensional driving intelligent shuttle runs to the gradient When the point is up, the load platform leveling mode is turned off;
S8,三维立体行驶智能穿梭车运行至卸货点,工控机通过控制伺服电机实现制动停止运行;S8, the three-dimensional driving intelligent shuttle runs to the unloading point, and the industrial computer realizes the braking stop operation by controlling the servo motor;
S9,工控机向顶升系统下达运行指令,带动载物平台下降,载物平台将货物卸下至卸货点,顶升系统停止运行,在载物平台下降的过程中,电阻尺判断载物平台是否在同一水平面。S9, the industrial computer issues a running command to the jacking system, which drives the load platform to descend, the cargo platform unloads the cargo to the unloading point, and the jacking system stops running. During the process of descending the load platform, the resistance gauge judges the load platform. Whether it is at the same level.
S10,工控机通过无线收发模块发送任务已完成指令至后台服务器。S10, the industrial computer sends the task completed command to the background server through the wireless transceiver module.
10、根据权利要求8所述的一种三维立体行驶智能穿梭车的控制方法,其特征在于,所述载物平台调平模式是指工控机读取载物平台位移参数后,判断再无平台位移是否超过允许范围,如果是,顶升系统启动,使两个载物平台调至同一水平面位置;如果否,工控机继续读取载物平台位移参数。10 . The control method of a three-dimensional driving intelligent shuttle according to claim 8 , wherein the loading platform leveling mode refers to that the industrial computer reads the displacement parameter of the loading platform and determines that there is no platform. Whether the displacement exceeds the allowable range, and if so, the jacking system is activated to adjust the two load platforms to the same horizontal position; if not, the industrial computer continues to read the displacement parameters of the load platform.
本发明同现有技术相比,具有以下优点和有益效果:Compared with the prior art, the present invention has the following advantages and benefits:
1、本发明采用8个车轮实现穿梭车沿四个方向行驶,可以到达交叉轨道平面上的任何一个点,通过两侧车轮同时驱动保证穿梭车不发生偏转,可以在立体货架上沿着纵向和横向轨道行驶,无需人工操作叉车取货与存货;并且采用该穿梭车的立体仓库只需留出几个出入口供货物进出,而无需人员和叉车进入库区即可实现货物进出仓库,提高了货物存取效率及仓库的空间利用率。1. The invention adopts 8 wheels to realize the shuttle traveling in four directions, and can reach any point on the plane of the cross track, and the two wheels simultaneously drive to ensure that the shuttle does not deflect, and can be longitudinally and on the three-dimensional shelf. The horizontal track travels without the need to manually pick up the forklift to pick up the goods and stock; and the three-dimensional warehouse using the shuttle only needs to leave a few entrances and exits for the goods to enter and exit, without the need for personnel and forklifts to enter the storage area, the goods can enter and leave the warehouse, and the warehouse is improved. Cargo access efficiency and warehouse space utilization.
2、本发明的控制系统是通过电阻尺实现载物平台调平,具备不大于10度角爬坡功能,从而可以自身实现换层工作,节约了其他种类穿梭车换层需要借助外力的叉车和堆垛机,从而提高了效率、节约了投资。2. The control system of the invention realizes the leveling of the load platform through the resistance ruler, and has the function of climbing the slope at an angle of not more than 10 degrees, so that the layer changing work can be realized by itself, and the forklift truck which needs external force is needed to save the other types of shuttle cars. Stacker, which increases efficiency and saves investment.
3、本发明控制系统实现智能控制,整车工作具有全自动和半自动两种模式,较现有遥控器手动控制模式具有明显优势,采用本发明的穿梭车进行仓储存储系统设计方案相对于现有穿梭车的存储形式,具有运行效率、储量可分别提高50%、70%,且整体投资可节约30%左右。3. The control system of the invention realizes intelligent control, and the whole vehicle work has two modes of automatic and semi-automatic, which has obvious advantages compared with the manual control mode of the existing remote control, and the design scheme of the storage and storage system using the shuttle of the invention is compared with the existing one. The storage form of the shuttle has operational efficiency and reserves can be increased by 50% and 70% respectively, and the overall investment can be saved by about 30%.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.
图1是本发明一种三维立体行驶智能穿梭车的结构示意图;1 is a schematic structural view of a three-dimensional traveling intelligent shuttle car according to the present invention;
图2是本发明一种三维立体行驶智能穿梭车的换向系统结构示意图; 2 is a schematic structural view of a reversing system of a three-dimensional driving intelligent shuttle car according to the present invention;
图3是本发明一种三维立体行驶智能穿梭车的顶升系统结构示意图;3 is a schematic structural view of a jacking system of a three-dimensional driving intelligent shuttle car according to the present invention;
图4是本发明一种三维立体行驶智能穿梭车的驱动系统、减速系统结构示意图;4 is a schematic structural view of a driving system and a deceleration system of a three-dimensional traveling intelligent shuttle car according to the present invention;
图5是本发明一种三维立体行驶智能穿梭车的控制系统逻辑关系图;5 is a logic diagram of a control system of a three-dimensional traveling intelligent shuttle car according to the present invention;
图6是本发明一种三维立体行驶智能穿梭车的远程控制流程图;6 is a flow chart of remote control of a three-dimensional traveling intelligent shuttle car according to the present invention;
图7是本发明一种三维立体行驶智能穿梭车的伺服电机工作模式图;7 is a schematic diagram showing the operation mode of a servo motor of a three-dimensional traveling intelligent shuttle car according to the present invention;
图8是本发明一种三维立体行驶智能穿梭车的载物平台自动调平流程图。FIG. 8 is a flow chart of the automatic leveling of the loading platform of a three-dimensional traveling intelligent shuttle car according to the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
实施例Example
如图1所示,一种三维立体行驶智能穿梭车,包括车体、电力系统2、驱动系统3、减速系统4、换向系统5、控制系统9;其中电力系统2、驱动系统3、减速系统4、换向系统5、控制系统9固定于车体上;所述电力系统2通过线缆分别与控制系统9、驱动系统3连接进行电气供电;所述控制系统9分别与驱动系统3、减速系统4、换向系统5电气连接;所述车体底面的四边分别设有两个车轮7,所述驱动系统3通过减速系统4与车轮7传动连接向车轮7提供动力。As shown in FIG. 1 , a three-dimensional driving intelligent shuttle includes a vehicle body, a power system 2, a driving system 3, a deceleration system 4, a reversing system 5, and a control system 9; wherein the power system 2, the driving system 3, and the deceleration The system 4, the reversing system 5, and the control system 9 are fixed on the vehicle body; the electric power system 2 is electrically connected to the control system 9 and the driving system 3 through cables, respectively; the control system 9 and the driving system 3, respectively The deceleration system 4 and the reversing system 5 are electrically connected; the four sides of the bottom surface of the vehicle body are respectively provided with two wheels 7, and the drive system 3 is connected to the wheels 7 through the deceleration system 4 to provide power to the wheels 7.
上述的一种三维立体行驶智能穿梭车,其中:所述车体包括上车体1与下车体8,所述上车体1、下车体8之间通过换向系统5连接,所述上车体1包括第一侧边11与第二侧边12,所述第一侧边11、第二侧边12平行设置且分别安装有两个车轮7;所述下车体8包括第三侧边81与第四侧边82,所述第三侧边81、第四侧边82平行设置且分别安装有两个车轮7;所述第一侧边11、第二侧边12、第三侧边81、第四侧边82构成车体的四个侧边;所述换向系统5固定安装于下车体8上。The above-described three-dimensional driving intelligent shuttle, wherein: the vehicle body includes an upper body 1 and a lower body 8, and the upper body 1 and the lower body 8 are connected by a reversing system 5, The upper body 1 includes a first side 11 and a second side 12, and the first side 11 and the second side 12 are disposed in parallel and are respectively mounted with two wheels 7; the lower body 8 includes a third The side edge 81 and the fourth side edge 82, the third side edge 81 and the fourth side edge 82 are disposed in parallel and are respectively mounted with two wheels 7; the first side edge 11, the second side edge 12, and the third side The side 81 and the fourth side 82 constitute four sides of the vehicle body; the reversing system 5 is fixedly mounted on the lower body 8.
上车体1由两块铝板以及角钢固定组成,其上固定有四个车轮7,以及两套顶升系统6,当车轮7在轨道上行驶时,穿梭车进入货位轨道,进行取货与存货。下车体8由两块铝板以及角钢固定组成,其上固定有电力系统2、驱动系统3、减速系统4、换向系统5、四个车轮7、控制系统9,当车轮7在轨道上行驶时,本发明产品进入爬坡轨道或水平轨道,可以到达货架任意货位。上车体1、下车体8之间通过可伸缩式万向节相连,从而实现因换向系统5将上车体、下车体产生的相对高度值改变时,驱动系统3仍能传递动力。The upper body 1 is composed of two aluminum plates and angle steel fixed, four wheels 7 are fixed thereon, and two sets of jacking systems 6 are provided. When the wheels 7 are traveling on the track, the shuttle enters the cargo track for picking up and picking up stock. The lower body 8 is composed of two aluminum plates and angle steel fixed with an electric power system 2, a drive system 3, a deceleration system 4, a reversing system 5, four wheels 7, and a control system 9 when the wheels 7 are on the track. When the product of the invention enters a climbing track or a horizontal track, it can reach any position on the shelf. The upper body 1 and the lower body 8 are connected by a retractable universal joint, so that when the relative height value generated by the reversing system 5 changes the upper body and the lower body, the drive system 3 can still transmit power. .
如图2所示,上述的一种三维立体行驶智能穿梭车,其中:所述换向系统5包括一台换向电机55与四台换向螺旋升降机,下车体8为下车体架,起承载固定作用,所述换向电机55与四台换向螺旋升降机固定安装于下车体8上,所述换向电机55提供换向动力,所述换向电机55为双输出轴电机,所述四台换向螺旋升降机分别为第一换向螺旋升降机51、第二换向螺旋升降机52、第三换向螺旋升降机53、第四换向螺旋升降机54、所述换向电机55的一个输出轴通过联轴器与第一换向螺旋升降机51传动连接,所述换向电机55的另一个输出轴通过联轴器与第二换向螺旋升降机52传动连接,为保证平衡同步性,第二换向螺旋升降机52通过同步带轮56、同步带57和连接轴将动力传递给第三换向螺旋升降机53,第 三换向螺旋升降机53通过联轴器与第四换向螺旋升降机54传动连接,从而实现了四个换向螺旋升降机的串联。As shown in FIG. 2, the above-mentioned three-dimensional driving intelligent shuttle, wherein: the reversing system 5 includes a reversing motor 55 and four reversing screw jacks, and the lower body 8 is a lower body frame. The reversing motor 55 and the four reversing screw jacks are fixedly mounted on the lower body 8, the reversing motor 55 provides reversing power, and the reversing motor 55 is a dual output shaft motor. The four reversing screw jacks are respectively a first reversing screw jack 51, a second reversing screw jack 52, a third reversing screw jack 53, a fourth reversing screw jack 54, and one of the reversing motors 55. The output shaft is drivingly coupled to the first reversing screw jack 51 via a coupling, and the other output shaft of the reversing motor 55 is coupled to the second reversing screw jack 52 via a coupling to ensure balance synchronization. The second reversing screw jack 52 transmits power to the third reversing screw jack 53 through the timing pulley 56, the timing belt 57 and the connecting shaft, The three-way screw jack 53 is mechanically coupled to the fourth reversing screw jack 54 via a coupling, thereby achieving a series connection of four reversing screw jacks.
所述四台换向螺旋升降机位于下车体8的四个角落,所述四个台换向螺旋升降机的升降丝杆端部法兰固定在上车体1上。因换向系统5将上车体1、下车体8产生的相对高度值改变时,驱动系统3仍能传递动力,通过所述换向电机55控制换向螺旋升降机,实现上车体1、下车体8分别与轨道接触,从而本发明产品实现十字换向。The four reversing screw jacks are located at four corners of the lower body 8, and the end flanges of the lifting rods of the four reversing screw jacks are fixed on the upper body 1. When the relative height value generated by the upper body 1 and the lower body 8 is changed by the reversing system 5, the drive system 3 can still transmit power, and the reversing screw 55 is controlled by the reversing motor 55 to realize the upper body 1. The lower body 8 is in contact with the track, respectively, so that the product of the invention achieves a cross-reversal.
如图3所示,上述的一种三维立体行驶智能穿梭车,其中:还包括两组顶升系统6,所述两组顶升系统6分别与控制系统9电气连接,所述两组顶升系统6分别安装在上车体1的两侧,所述每组顶升系统6包括一台顶升电机61与两台顶升螺旋升降机62,所述顶升电机61通过机座611固定在上车体1上,所述顶升电机61的两个输出轴分别依次通过联轴器、连接轴63将动力传递给顶升螺旋升降机62,所述两台顶升螺旋升降机62的升降丝杆端部法兰固定安装载物平台(图中未示出),所述两个载物平台构成一个平面共同盛放所载物品。当车轮7在轨道上行驶时,本发明产品进入货位轨道,进行取货与存货。所述两套顶升系统6,通过控制升降高度差,保证本发明产品爬坡时货物的水平,实现本发明产品自动行驶至不同层货架轨道上。两套套顶升系统对称布置与上车体两侧内部。一台顶升电机61控制两台顶升螺旋升降机62同步升降,两套顶升系统6通过两台顶升电机61控制四台顶升螺旋式升降机62实现顶升高度的相同或不同,从而实现货物的顶升、卸下以及爬坡时保证两个载物平台同步顶升和保持同一水平。As shown in FIG. 3, the above three-dimensional driving intelligent shuttle, further comprising two sets of jacking systems 6, wherein the two sets of jacking systems 6 are electrically connected to the control system 9, respectively, the two sets of jacking The systems 6 are respectively mounted on both sides of the upper body 1, each of the jacking systems 6 comprising a jacking motor 61 and two jacking jacks 62, the jacking motor 61 being fixed by the base 611 On the vehicle body 1, the two output shafts of the jacking motor 61 respectively transmit power to the jacking screw lift 62 through the coupling and the connecting shaft 63, respectively, and the lifting screw ends of the two jacking jack lifts 62 The flanges are fixedly mounted on the loading platform (not shown), and the two loading platforms form a plane to collectively hold the contained articles. When the wheel 7 is traveling on the track, the product of the invention enters the cargo track for picking up and stocking. The two sets of jacking systems 6 ensure the level of the goods when the product of the invention is climbed by controlling the height difference of the lifting and lowering, so that the products of the invention are automatically driven to different shelf rails. The two sets of jacking systems are symmetrically arranged with the interior of both sides of the upper body. A jacking motor 61 controls the two jacking jack lifts 62 to synchronously move, and the two jacking systems 6 control the four jacking screw jacks 62 to achieve the same or different top lift degrees by the two jacking motors 61, thereby realizing When the cargo is lifted, unloaded and climbed, the two load platforms are simultaneously raised and maintained at the same level.
如图4所示,上述的一种三维立体行驶智能穿梭车,其中:所述驱动系统3包括伺服电机31及伺服电机驱动器,所述伺服电机驱动器与伺服电机31电气连接,所述伺服电机31为交流伺服电机。由伺服电机驱动器发送信号给伺服电机,伺服电机驱动器具有速度和位置控制模块,伺服电机31给本发明产品提供动力。所述电力系统2包括直流电源与逆变器,所述直流电源通过逆变器与交流伺服电机31电气连接进行电气供电。As shown in FIG. 4, the above three-dimensional driving intelligent shuttle, wherein: the driving system 3 includes a servo motor 31 and a servo motor driver, and the servo motor driver is electrically connected to the servo motor 31, and the servo motor 31 is electrically connected. For AC servo motor. The servo motor driver sends a signal to the servo motor. The servo motor driver has a speed and position control module, and the servo motor 31 provides power to the product of the present invention. The power system 2 includes a DC power source and an inverter, and the DC power source is electrically connected to the AC servo motor 31 through an inverter for electrical power supply.
所述伺服电机31作为驱动源,通过联轴器传递动力给减速系统4,所述减速系统4包括四个换向减速器,所述换向减速器为T2减速器。所述四个换向减速器分别为第一换向减速器41、第二换向减速器42、第三换向减速器43、第四换向减速器44。The servo motor 31 serves as a driving source, and transmits power to the deceleration system 4 through a coupling. The deceleration system 4 includes four reversing speed reducers, and the reversing speed reducer is a T2 speed reducer. The four reversing speed reducers are a first reversing speed reducer 41, a second reversing speed reducer 42, a third reversing speed reducer 43, and a fourth reversing speed reducer 44, respectively.
所述第一换向减速器41具有换向减速功能,进行一级减速,所述伺服电机31的输出轴通过联轴器与第一换向减速器41连接;所述第一换向减速器41通过联轴器与第二换向减速器42连接,所述第二换向减速器42将一级减速动力分为下车体动力源和上车体动力源,从而实现给双向行走提供动力。The first reverse speed reducer 41 has a reverse speed reduction function for performing one-stage deceleration, and an output shaft of the servo motor 31 is connected to the first reverse speed reducer 41 through a coupling; the first reverse speed reducer 41 is connected to the second reversing reducer 42 through a coupling, and the second reversing reducer 42 divides the first-stage deceleration power into a lower body power source and an upper body power source, thereby realizing power for two-way walking. .
所述第二换向减速器42通过万向联轴器45与第三换向减速器43连接将动力传递给下车体,第三换向减速器43通过联轴器与第一减速箱46连接,其中第一减速箱46直接固定在下车体8的车体板上,第一减速箱46的输出轴直接与下车体8的一个车轮连接,该车轮作为下车体的主动车轮,从而保证下车体动力;下车体的其它车轮通过连接轴安装在下车体的车体板上。The second reverse speed reducer 42 is connected to the third reverse speed reducer 43 through the universal joint 45 to transmit power to the lower vehicle body, and the third reverse speed reducer 43 passes through the coupling and the first reduction gear box 46. Connecting, wherein the first reduction gear box 46 is directly fixed to the body panel of the lower vehicle body 8, and the output shaft of the first reduction gear box 46 is directly connected to one wheel of the lower vehicle body 8, and the wheel serves as the active wheel of the lower vehicle body, thereby The vehicle body is guaranteed to be powered; the other wheels of the lower body are mounted on the body panel of the lower body through the connecting shaft.
所述第二换向减速器42通过可伸缩式万向节47与第四换向减速器44连接将动力传递给上车体1,第四换向减速器44通过联轴器与第二减速箱48连接,所述第二减速箱48直接固定在上车体1的车体板上,所述第二减速箱48的输出轴直接与上车体1的一个车轮连接,该车轮作为上车体的主动车轮,从而保证上车体动力。上车体的其它车轮通过连接 轴安装在上车体的车体板上.The second reverse speed reducer 42 is connected to the fourth reverse speed reducer 44 through the telescopic universal joint 47 to transmit power to the upper body 1, and the fourth reverse speed reducer 44 is coupled to the second reverse gear. The box 48 is connected, and the second reduction box 48 is directly fixed to the body panel of the upper body 1. The output shaft of the second reduction box 48 is directly connected to one wheel of the upper body 1, and the wheel is used as the upper vehicle. The active wheel of the body ensures the power of the upper body. The other wheels of the upper body are connected by The shaft is mounted on the body panel of the upper body.
减速系统4通过对驱动系统3进行减速,增扭矩,实现对本发明产品提供符合要求的速度与动力。The deceleration system 4 achieves the required speed and power for the product of the present invention by decelerating and increasing the torque of the drive system 3.
本发明通过控制上车体、下车体升降实现穿梭车十字换向行驶,通过控制两套顶升系统顶升高度不同实现穿梭车在不大于10度角斜坡轨道上行驶的能力,从而实现本发明产品行驶的功能。在密集式仓储货架中,通过智能穿梭车自动取货,并由斜坡轨道将货物输送到不同层货架走廊轨道上,然后通过十字换向将货物送到预定货位,取货与之相反。The invention realizes the shuttle cross reversing driving by controlling the lifting of the upper body and the lower body, and realizes the ability of the shuttle to travel on the slope track of not more than 10 degrees by controlling the different lifting degrees of the two sets of jacking systems, thereby realizing the present. The function of inventing the product. In the intensive storage shelves, the goods are automatically picked up by the smart shuttle, and the goods are transported by the ramp track to the different shelves of the corridor corridor, and then the goods are sent to the predetermined position through the cross reversal, and the pickup is reversed.
上述的一种三维立体行驶智能穿梭车,所述车体四周设置接近光电开关,所述接近光电开关用以防止发生碰撞,所述接近光电开关与控制系统电气连接,In the above three-dimensional driving intelligent shuttle car, the vehicle body is disposed near the photoelectric switch, the proximity photoelectric switch is used to prevent a collision, and the proximity photoelectric switch is electrically connected to the control system.
上述的一种三维立体行驶智能穿梭车,控制系统包括控制电器与控制软件,控制电器包括工控机、无线收发器、电阻尺、编码器、制动器,所述控制电器之间电气连接。所述控制软件包含驱动控制模块、制动控制模块、换向控制模块、顶升控制模块、定位控制模块、上位机控制模块。In the above three-dimensional driving intelligent shuttle, the control system comprises a control appliance and a control software, and the control appliance comprises an industrial computer, a wireless transceiver, a resistor scale, an encoder, a brake, and an electrical connection between the control appliances. The control software comprises a drive control module, a brake control module, a commutation control module, a jacking control module, a positioning control module, and a host computer control module.
如图5所示,每辆独立的穿梭车都各自载有控制系统,该控制系统能够实现自动化调平载物平台,记录穿梭车运行的历史情况,利用无线通信技术,通过不同的PC/手机客户端对各个穿梭车发送控制指令,从而实现对穿梭车的远程控制。PC/手机客户端能够查询穿梭车当前或者历史的运行情况,方便对穿梭车的追踪与管理。穿梭车运行历史情况的记录,是通过程序用工控机上的一个车载数据库记录下来的。当穿梭车运行时,定时读取电流与电压及其他参数时,并能根据这些测量到的参数值计算所使用的功耗其他相关的参量等。通过无线通信技术,能很方便地在客户端查询到指定穿梭车的历史情况。As shown in Figure 5, each individual shuttle has its own control system that enables automated leveling of the load platform, recording the history of the shuttle operation, using wireless communication technology, through different PCs/cell phones The client sends control commands to each shuttle to achieve remote control of the shuttle. The PC/Mobile client can query the current or historical operation of the shuttle to facilitate tracking and management of the shuttle. The record of the running history of the shuttle is recorded by an in-vehicle database on the industrial computer through the program. When the shuttle is running, when the current and voltage and other parameters are read periodically, the other relevant parameters of the power consumption used can be calculated based on the measured parameter values. Through the wireless communication technology, it is convenient to query the history of the designated shuttle on the client.
如图6所示,能够在客户端对各穿梭车进行远程控制是该穿梭车的一大亮点。每辆穿梭车都配有各自固定的IP,通过无线通信技术,可以向指定IP的穿梭车发送操作指令,穿梭车接收到操作指令之后便会执行相应的动作。这样,利用网络技术就能实现对穿梭车的远程控制。由于没有用到一一对应的遥控器,也避免了因用错其他穿梭车的遥控器这种失误操作而导致的穿梭车失控的情况。As shown in Figure 6, the ability to remotely control each shuttle at the client is a highlight of the shuttle. Each shuttle is equipped with its own fixed IP. Through wireless communication technology, it can send an operation command to the designated IP shuttle. After the shuttle receives the operation command, it will perform the corresponding action. In this way, remote control of the shuttle can be achieved by using network technology. Since the one-to-one remote controller is not used, the situation that the shuttle is out of control due to the mistake operation of the remote controller using the other shuttles is also avoided.
该穿梭车通过直流电源提供电量,直流电源是通过智能变压器来进行充电及控制,变压器通过COM串口与工控机相连,然后通过工控机与变压器的交互可以实现对输出电压电流及其他参数的设置和对电压、电流及充电量等其他的参数的实时监控,并且还可以通过对历史记录的查看了解某段时间的电量消耗等。通过直流电源的供电可以让穿梭车稳定的工作在低压安全的环境下。The shuttle provides power through a DC power supply, and the DC power is charged and controlled by an intelligent transformer. The transformer is connected to the industrial computer through a COM serial port, and then the output voltage, current, and other parameters are set by the interaction between the industrial computer and the transformer. Real-time monitoring of other parameters such as voltage, current, and charge, and also viewing the history to see the power consumption for a certain period of time. Powering the DC power supply allows the shuttle to operate stably in a low-voltage, safe environment.
如图7所示工作人员通过向控制系统的工控机发送指令来控制伺服电机的运转,然后由伺服电机带动穿梭车的运动。工控机发送指令至伺服电机驱动器,伺服电机驱动器通过选择不同的工作模式来控制交流伺服电机在不同模式下运行,伺服电机工作模式包括速度模式、放大器模式和位置控制模式。速度控制模式可以让穿梭车保持在一个恒定的速度内运行,以达到快速稳定的效果,而位置控制模式可以校准穿梭车的位置,用来实现准确定位工作。As shown in Fig. 7, the worker controls the operation of the servo motor by sending an instruction to the industrial computer of the control system, and then the servo motor drives the movement of the shuttle. The industrial computer sends commands to the servo motor driver. The servo motor driver controls the AC servo motor to operate in different modes by selecting different working modes. The servo motor working modes include speed mode, amplifier mode and position control mode. The speed control mode allows the shuttle to operate at a constant speed for fast and stable results, while the position control mode calibrates the position of the shuttle for accurate positioning.
一种三维立体行驶智能穿梭车的控制方法,包括如下步骤:A control method for a three-dimensional driving intelligent shuttle includes the following steps:
S1,工控机通过无线收发器接收任务指令,即要求三维立体行驶智能穿梭车运行至接货点承载货物并运行至卸货点卸载货物; S1, the industrial computer receives the task instruction through the wireless transceiver, that is, the three-dimensional driving intelligent shuttle bus is required to run to the receiving point to carry the cargo and run to the unloading point to unload the cargo;
S2,三维立体行驶智能穿梭车通过工控机内的定位控制模块,从当前位置向接货点运行;S2, the three-dimensional driving intelligent shuttle runs through the positioning control module in the industrial control machine from the current position to the receiving point;
S3,三维立体行驶智能穿梭车运行至接货点,工控机通过控制伺服电机实现制动停止运行;安装的制动器,是为了在电机发生制动意外的情况下刹车抱死保护使用的,在正常运行状态下备用。S3, the three-dimensional driving intelligent shuttle bus runs to the receiving point, the industrial computer realizes the braking stop operation by controlling the servo motor; the installed brake is used for braking and locking protection in the case of a motor braking accident, in normal Standby in the running state.
S4,工控机向顶升系统下达运行指令,带动载物平台升起,载物平台将货物托起后,顶升系统停止运行,在载物平台升起的过程中,电阻尺判断载物平台是否在同一水平面;S4, the industrial computer sends a running command to the jacking system to drive the loading platform to rise. After the cargo platform lifts the cargo, the jacking system stops running. During the lifting of the loading platform, the resistance gauge judges the loading platform. Whether it is at the same level;
S5,工控机根据接货点与卸货点之间的路线分析路况,读取进入坡度点和离开坡度点;S5, the industrial computer analyzes the road condition according to the route between the receiving point and the unloading point, and reads the entry slope point and the exit slope point;
S6,工控机向驱动系统下达运行指令,三维立体行驶智能穿梭车从接货点向卸货点运行;S6, the industrial computer issues a running command to the driving system, and the three-dimensional driving intelligent shuttle runs from the receiving point to the unloading point;
S7,三维立体行驶智能穿梭车运行至进入坡度点时,启动载物平台调平模式,顶升系统运行,使两个载物平台维持在同一水平状态;三维立体行驶智能穿梭车运行至离开坡度点时,载物平台调平模式关闭;S7, when the three-dimensional driving intelligent shuttle runs to the slope point, the load platform leveling mode is started, the jacking system is operated, and the two loading platforms are maintained at the same level; the three-dimensional driving intelligent shuttle runs to the gradient When the point is up, the load platform leveling mode is turned off;
S8,三维立体行驶智能穿梭车运行至卸货点,工控机通过控制伺服电机实现制动停止运行;S8, the three-dimensional driving intelligent shuttle runs to the unloading point, and the industrial computer realizes the braking stop operation by controlling the servo motor;
S9,工控机向顶升系统下达运行指令,带动载物平台下降,载物平台将货物卸下至卸货点,顶升系统停止运行,在载物平台下降的过程中,电阻尺判断载物平台是否在同一水平面。S9, the industrial computer issues a running command to the jacking system, which drives the load platform to descend, the cargo platform unloads the cargo to the unloading point, and the jacking system stops running. During the process of descending the load platform, the resistance gauge judges the load platform. Whether it is at the same level.
S10,工控机通过无线收发模块发送任务已完成指令至后台服务器。S10, the industrial computer sends the task completed command to the background server through the wireless transceiver module.
如图8所示,上述的一种三维立体行驶智能穿梭车的控制方法,所述载物平台调平模式是指工控机读取载物平台位移参数后,判断再无平台位移是否超过允许范围,如果是,顶升系统启动,使两个载物平台调至同一水平面位置;如果否,工控机继续读取载物平台位移参数。As shown in FIG. 8 , in the above control method of a three-dimensional driving intelligent shuttle, the load platform leveling mode refers to whether the industrial platform reads the displacement parameter of the loading platform, and determines whether no platform displacement exceeds the allowable range. If yes, the jacking system is started, so that the two loading platforms are adjusted to the same horizontal plane position; if not, the industrial computer continues to read the displacement parameters of the loading platform.
所述控制系统包括控制电器和控制软件,所述控制电器与伺服电机的驱动器经信号线连接实现驱动、定位、刹车控制;控制电器包括工控机、无线收发器、电阻尺、编码器、制动器,所述控制电器之间电气连接。工控机通过串口线与继电器连接,继电器通过数据线分别与电阻尺、编码器和驱动器连接,变压器通过COM串口与工控机连接。The control system comprises a control device and a control software, wherein the control device and the driver of the servo motor are connected by a signal line to realize driving, positioning and braking control; the control device comprises an industrial computer, a wireless transceiver, a resistance ruler, an encoder, a brake, The electrical connections between the control appliances. The industrial computer is connected to the relay through the serial line. The relay is connected to the resistor, the encoder and the driver through the data line. The transformer is connected to the industrial computer through the COM serial port.
以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and scope of the present invention, should be included in the present invention. Within the scope of protection.

Claims (10)

  1. 一种三维立体行驶智能穿梭车,其特征在于:包括车体、电力系统、驱动系统、减速系统、换向系统、控制系统;其中电力系统、驱动系统、减速系统、换向系统、控制系统固定于车体上;所述电力系统通过线缆分别与控制系统、驱动系统连接进行电气供电;所述控制系统分别与驱动系统、减速系统、换向系统电气连接;所述车体底面的四边分别设有两个车轮,所述驱动系统通过减速系统与车轮传动连接向车轮提供动力。The utility model relates to a three-dimensional driving intelligent shuttle, which comprises: a vehicle body, a power system, a driving system, a deceleration system, a reversing system and a control system; wherein the power system, the driving system, the deceleration system, the reversing system and the control system are fixed On the vehicle body; the power system is electrically connected to the control system and the drive system through cables; the control system is electrically connected to the drive system, the deceleration system, and the reversing system; respectively, the four sides of the bottom surface of the vehicle body are respectively Two wheels are provided, which drive the wheel to the wheel through a deceleration system.
  2. 根据权利要求1所述的一种三维立体行驶智能穿梭车,其特征在于:所述车体包括上车体与下车体,所述上车体、下车体之间通过换向系统连接,所述上车体包括第一侧边与第二侧边,所述第一侧边、第二侧边平行设置且分别安装有两个车轮;所述下车体包括第三侧边与第四侧边,所述第三侧边、第四侧边平行设置且分别安装有两个车轮;所述第一侧边、第二侧边、第三侧边、第四侧边构成车体的四个侧边;所述换向系统固定安装于下车体上。The three-dimensional driving intelligent shuttle according to claim 1, wherein the vehicle body comprises an upper body and a lower body, and the upper body and the lower body are connected by a reversing system. The upper body includes a first side and a second side, the first side and the second side are disposed in parallel and are respectively mounted with two wheels; the lower body includes a third side and a fourth side a side wall, the third side and the fourth side are disposed in parallel and are respectively mounted with two wheels; the first side, the second side, the third side, and the fourth side constitute a fourth body of the vehicle body One side; the reversing system is fixedly mounted on the lower body.
  3. 根据权利要求2所述的一种三维立体行驶智能穿梭车,其特征在于:所述换向系统包括一台换向电机与四台换向螺旋升降机,所述换向电机与四台换向螺旋升降机固定安装于下车体上,所述换向电机为双输出轴电机,所述换向电机分别与两台换向螺旋升降机传动连接,该两台换向螺旋升降机中的一台换向螺旋升降机依次与另外两台换向螺旋升降机传动连接,所述四台换向螺旋升降机位于下车体的四个角落,所述四个台换向螺旋升降机的升降丝杆端部法兰固定在上车体上。A three-dimensional driving intelligent shuttle according to claim 2, wherein said reversing system comprises a reversing motor and four reversing screw jacks, said reversing motor and four reversing spirals The elevator is fixedly mounted on the lower body, the reversing motor is a dual output shaft motor, and the reversing motor is respectively connected with two reversing screw jacks, and one of the two reversing screw jacks has a reversing spiral The elevator is in turn connected with two other reversing screw jacks, the four reversing screw jacks are located at four corners of the lower body, and the end flanges of the lifting screws of the four reversing screw jacks are fixed on the upper On the body of the car.
  4. 根据权利要求1所述的一种三维立体行驶智能穿梭车,其特征在于:还包括两组顶升系统,所述两组顶升系统分别与控制系统电气连接,所述两组顶升系统分别安装在上车体的两侧,所述每组顶升系统包括一台顶升电机与两台顶升螺旋升降机,所述顶升电机分别与两台顶升螺旋升降机传动连接,所述两台顶升螺旋升降机的升降丝杆端部法兰固定安装载物平台,所述两个载物平台构成一个平面共同盛放所载物品。A three-dimensional driving intelligent shuttle according to claim 1, further comprising two sets of jacking systems, wherein the two sets of jacking systems are respectively electrically connected to the control system, and the two sets of jacking systems respectively Mounted on both sides of the upper body, each set of jacking system includes a jacking motor and two jacking jack lifts, and the jacking motor is respectively connected with two jacking jack lifts, the two The lifting screw end flange of the jacking screw jack is fixedly mounted with the loading platform, and the two loading platforms form a plane to jointly hold the loaded articles.
  5. 根据权利要求1所述的一种三维立体行驶智能穿梭车,其特征在于:所述驱动系统包括伺服电机及伺服电机驱动器,所述伺服电机驱动器与伺服电机电气连接,所述伺服电机为交流伺服电机;所述电力系统包括直流电源与逆变器,所述直流电源通过逆变器与交流伺服电机电气连接进行电气供电。A three-dimensional driving intelligent shuttle according to claim 1, wherein said driving system comprises a servo motor and a servo motor driver, said servo motor driver being electrically connected to a servo motor, said servo motor being an AC servo The electric power system includes a DC power supply and an inverter, and the DC power supply is electrically connected by an electrical connection between the inverter and the AC servo motor.
  6. 根据权利要求5所述的一种三维立体行驶智能穿梭车,其特征在于:所述减速系统包括四个换向减速器,所述伺服电机的输出轴与换向减速器的输入轴通过联轴器连接,所述四个换向减速器之间传动连接。A three-dimensional driving intelligent shuttle according to claim 5, wherein said deceleration system comprises four reversing speed reducers, and an output shaft of said servo motor and said input shaft of said reversing reducer are coupled The device is connected, and the four commutating reducers are connected between the drives.
  7. 根据权利要求1所述的一种三维立体行驶智能穿梭车,其特征在于:所述车体四周设置用以防止发生碰撞的接近光电开关,所述接近光电开关与控制系统电气连接。A three-dimensional driving intelligent shuttle according to claim 1, wherein the vehicle body is provided with a proximity photoelectric switch for preventing collision, and the proximity photoelectric switch is electrically connected to the control system.
  8. 根据权利要求1所述的一种三维立体行驶智能穿梭车,其特征在于:所述控制系统包括控制电器与控制软件,控制电器包括工控机、无线收发器、电阻尺、编码器、制动器,所述控制电器之间电气连接。所述控制软件包含驱动控制模块、制动控制模块、换向控制模块、顶升控制模块、定位控制模块、上位机控制模块。The three-dimensional driving intelligent shuttle according to claim 1, wherein the control system comprises a control appliance and a control software, and the control appliance comprises an industrial computer, a wireless transceiver, a resistor ruler, an encoder, a brake, and a control device. The electrical connection between the control appliances. The control software comprises a drive control module, a brake control module, a commutation control module, a jacking control module, a positioning control module, and a host computer control module.
  9. 一种三维立体行驶智能穿梭车的控制方法,其特征在于,包括如下步骤:A control method for a three-dimensional driving intelligent shuttle is characterized in that it comprises the following steps:
    S1,工控机通过无线收发器接收任务指令,即要求三维立体行驶智能穿梭车运行至接货点承载货物并运行至卸货点卸载货物;S1, the industrial computer receives the task instruction through the wireless transceiver, that is, the three-dimensional driving intelligent shuttle bus is required to run to the receiving point to carry the cargo and run to the unloading point to unload the cargo;
    S2,三维立体行驶智能穿梭车通过工控机内的定位控制模块.从当前位置向接货点运 行;S2, the three-dimensional driving intelligent shuttle passes the positioning control module in the industrial computer. From the current position to the receiving point Row;
    S3,三维立体行驶智能穿梭车运行至接货点,工控机通过控制伺服电机实现制动停止运行;S3, the three-dimensional driving intelligent shuttle bus runs to the receiving point, and the industrial computer realizes the braking stop operation by controlling the servo motor;
    S4,工控机向顶升系统下达运行指令,带动载物平台升起,载物平台将货物托起后,顶升系统停止运行,在载物平台升起的过程中,电阻尺判断载物平台是否在同一水平面;S4, the industrial computer sends a running command to the jacking system to drive the loading platform to rise. After the cargo platform lifts the cargo, the jacking system stops running. During the lifting of the loading platform, the resistance gauge judges the loading platform. Whether it is at the same level;
    S5,工控机根据接货点与卸货点之间的路线分析路况,读取进入坡度点和离开坡度点;S5, the industrial computer analyzes the road condition according to the route between the receiving point and the unloading point, and reads the entry slope point and the exit slope point;
    S6,工控机向驱动系统下达运行指令,三维立体行驶智能穿梭车从接货点向卸货点运行;S6, the industrial computer issues a running command to the driving system, and the three-dimensional driving intelligent shuttle runs from the receiving point to the unloading point;
    S7,三维立体行驶智能穿梭车运行至进入坡度点时,启动载物平台调平模式,顶升系统运行,使两个载物平台维持在同一水平状态;三维立体行驶智能穿梭车运行至离开坡度点时,载物平台调平模式关闭;S7, when the three-dimensional driving intelligent shuttle runs to the slope point, the load platform leveling mode is started, the jacking system is operated, and the two loading platforms are maintained at the same level; the three-dimensional driving intelligent shuttle runs to the gradient When the point is up, the load platform leveling mode is turned off;
    S8,三维立体行驶智能穿梭车运行至卸货点,工控机通过控制伺服电机实现制动停止运行;S8, the three-dimensional driving intelligent shuttle runs to the unloading point, and the industrial computer realizes the braking stop operation by controlling the servo motor;
    S9,工控机向顶升系统下达运行指令,带动载物平台下降,载物平台将货物卸下至卸货点,顶升系统停止运行,在载物平台下降的过程中,电阻尺判断载物平台是否在同一水平面。S9, the industrial computer issues a running command to the jacking system, which drives the load platform to descend, the cargo platform unloads the cargo to the unloading point, and the jacking system stops running. During the process of descending the load platform, the resistance gauge judges the load platform. Whether it is at the same level.
    S10,工控机通过无线收发模块发送任务已完成指令至后台服务器。S10, the industrial computer sends the task completed command to the background server through the wireless transceiver module.
  10. 根据权利要求8所述的一种三维立体行驶智能穿梭车的控制方法,其特征在于,所述载物平台调平模式是指工控机读取载物平台位移参数后,判断再无平台位移是否超过允许范围,如果是,顶升系统启动,使两个载物平台调至同一水平面位置;如果否,工控机继续读取载物平台位移参数。 The control method for a three-dimensional driving intelligent shuttle according to claim 8, wherein the load platform leveling mode refers to whether the industrial platform reads the displacement parameter of the loading platform, and determines whether there is no platform displacement. Exceeding the allowable range, if yes, the jacking system is activated to adjust the two load platforms to the same horizontal position; if not, the industrial computer continues to read the displacement parameters of the load platform.
PCT/CN2015/000114 2014-02-28 2015-02-27 Intelligent rail guide vehicle capable of running in three-dimensional way, and control method therefor WO2015127828A1 (en)

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