WO2015127828A1

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

Info

Publication number: WO2015127828A1
Application number: PCT/CN2015/000114
Authority: WO
Inventors: 许庆波; 胡公娄; 钱佳
Original assignee: 上海速锐信息技术有限公司
Priority date: 2014-02-28
Filing date: 2015-02-27
Publication date: 2015-09-03
Also published as: CN103818672B; CN103818672A

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

Intelligent shuttle car with three-dimensional driving and control method thereof

Technical field

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.

Background technique

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.

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.

Summary of the invention

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.

In order to achieve the above object, the technical solution adopted by the present invention is as follows:

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.

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.

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.

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.

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.

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.

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.

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.

A control method for a three-dimensional driving intelligent shuttle includes the following steps;

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, 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, 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, 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, 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, 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, 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, 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, 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, the industrial computer sends the task completed command to the background server through the wireless transceiver module.

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.

Compared with the prior art, the present invention has the following advantages and benefits:

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. 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. 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%.

DRAWINGS

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.

1 is a schematic structural view of a three-dimensional traveling intelligent shuttle car according to the present invention;

2 is a schematic structural view of a reversing system of a three-dimensional driving intelligent shuttle car according to the present invention;

3 is a schematic structural view of a jacking system of a three-dimensional driving intelligent shuttle car according to the present invention;

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;

5 is a logic diagram of a control system of a three-dimensional traveling intelligent shuttle car according to the present invention;

6 is a flow chart of remote control of a three-dimensional traveling intelligent shuttle car according to the present invention;

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;

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.

detailed description

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.

Example

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.

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.

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. .

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.

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.

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.

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.

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.

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. .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

A control method for a three-dimensional driving intelligent shuttle includes the following steps:

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;

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.

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.

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

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.
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.
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.
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.
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.
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.
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.
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.
A control method for a three-dimensional driving intelligent shuttle is characterized in that it comprises the following steps:

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, 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, 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, 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, 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, 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, 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, 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, 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, the industrial computer sends the task completed command to the background server through the wireless transceiver module.
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.