CN110668096A - Shuttle with simple positioning - Google Patents
Shuttle with simple positioning Download PDFInfo
- Publication number
- CN110668096A CN110668096A CN201911030500.9A CN201911030500A CN110668096A CN 110668096 A CN110668096 A CN 110668096A CN 201911030500 A CN201911030500 A CN 201911030500A CN 110668096 A CN110668096 A CN 110668096A
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- CN
- China
- Prior art keywords
- shuttle
- sensor
- driving
- positioning
- constant head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a shuttle vehicle, in particular to a shuttle vehicle with simple positioning, which comprises driving wheels, a driving motor and a positioning sensor, wherein the driving wheels are positioned at two sides of the shuttle vehicle; the constant head tank, the constant head tank sets up on the guide rail, the constant head tank equidistant is equipped with a plurality ofly, positioning sensor is used for detecting the constant head tank. The shuttle car with simple positioning provided by the invention has the advantages of simple structure, low cost, simplicity in installation and debugging, simplicity in control and high positioning precision.
Description
Technical Field
The invention relates to a shuttle vehicle, in particular to a shuttle vehicle with simple positioning.
Background
The shuttle car is used for intensive storage, and the shuttle car is used for transporting goods to appointed place or equipment of plugging into, therefore the shuttle car needs fix a position, and the walking location mode of current shuttle car is to sweep yard location, and the cost is very high, and the installation and debugging is more loaded down with trivial details.
Disclosure of Invention
In order to solve the problems, the invention provides a shuttle vehicle with low cost and simple installation and debugging, and the specific technical scheme is as follows:
a shuttle car with simple positioning comprises driving wheels, a driving motor and a positioning sensor, wherein the driving wheels are positioned on two sides of the shuttle car; the constant head tank, the constant head tank sets up on the guide rail, the constant head tank equidistant is equipped with a plurality ofly, positioning sensor is used for detecting the constant head tank.
Through adopting above-mentioned technical scheme, be equipped with a plurality of constant head tanks on the guide rail, the constant head tank is corresponding with the goods position on the goods shelves, and every through a constant head tank all add one in original count quantity, give control system through accumulating constant head tank quantity and passback to guarantee that the shuttle can accurately stop on required position. The corresponding scanning positioning is simpler and the control is convenient.
Preferably, the number of the positioning sensors is two, and the two positioning sensors are respectively located on two sides of the positioning groove.
Through adopting above-mentioned technical scheme, because inertial reason, still can slide a bit distance when positioning sensor detects to stop behind the constant head tank, lead to the location inaccurate, set up two positioning sensor, when current one positioning sensor detects the constant head tank, slow down, thoroughly stop when second positioning sensor detects the constant head tank, the position of location this moment is comparatively accurate.
Preferably, the shuttle car further comprises a sensor bracket, the sensor bracket is installed on one side of the shuttle car, and the positioning sensor is fixed on the sensor bracket.
By adopting the technical scheme, the two positioning sensors are fixed on the sensor bracket, so that the installation and the adjustment are convenient.
Preferably, the positioning sensor is a correlation photoelectric sensor.
By adopting the technical scheme, the correlation type photoelectric sensor is high in detection precision, not easy to cause problems and good in stability.
Preferably, the shuttle vehicle further comprises an active driving shaft, wherein the active driving shaft is arranged at one end of the shuttle vehicle, and driving wheels are arranged at two ends of the active driving shaft; the driven driving shaft is arranged at the other end of the shuttle vehicle, and driving wheels are arranged at two ends of the driven driving shaft; the driving belt wheels are respectively arranged on the driving motor and the driving shaft; the driving synchronous belt is sleeved on the two driving belt wheels; driven pulleys mounted on the driving shaft and the driven driving shaft, respectively; and the driven synchronous belt is sleeved on the two driven belt wheels.
By adopting the technical scheme, the synchronous belt has high transmission precision and can accurately control the walking position.
Preferably, the device further comprises an encoder, and the encoder is mounted on the driving motor.
Through adopting above-mentioned technical scheme, the detection motor pivoted angle that the encoder can be accurate to the walking position of control shuttle rectifies a deviation to positioning sensor, further guarantees accurate positioning.
Preferably, the shuttle vehicle further comprises an origin sensor, wherein the origin sensor is arranged on one side of the shuttle vehicle; the origin groove is arranged on the guide rail, and the origin sensor is used for detecting the origin groove.
By adopting the technical scheme, the original point groove is used for confirming the original point position, so that the position deviation is convenient to correct.
Preferably, the shuttle car further comprises anti-collision sensors, and the anti-collision sensors are installed at two ends of the shuttle car.
Through adopting above-mentioned technical scheme, collision avoidance sensor is used for detecting two adjacent shuttle cars and whether is close, and when two adjacent shuttle cars were close certain distance, collision avoidance sensor can detect the shuttle car, and the shuttle car stop movement prevents to bump, improves the security.
Preferably, the shuttle vehicle further comprises deceleration sensors, and the deceleration sensors are arranged at two ends of the shuttle vehicle.
Through adopting above-mentioned technical scheme, the speed reduction sensor is used for detecting other shuttle on same guide rail, slows down when detecting other shuttle, prevents that two shuttle from taking place the striking because of inertia leads to. The distance detected by the deceleration sensor is greater than the detection distance of the anti-collision sensor.
Preferably, the anti-collision sensor and the deceleration sensor are both distance measuring sensors.
Through adopting above-mentioned technical scheme, the detection distance that range sensor can be accurate improves control accuracy, and range sensor can adopt infrared range sensor or laser rangefinder sensor.
Compared with the prior art, the invention has the following beneficial effects:
the shuttle car with simple positioning provided by the invention has the advantages of simple structure, low cost, simplicity in installation and debugging, simplicity in control and high positioning precision.
Drawings
FIG. 1 is a schematic diagram of an axis-measuring structure of a simply positioned shuttle;
FIG. 2 is a top plan view of a simply positioned shuttle;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic view of a simple positioning shuttle hidden guide rail;
FIG. 5 is a schematic view of the structure of the guide rail;
FIG. 6 is a schematic view of a sensor holder with a position sensor and origin sensor;
fig. 7 is a schematic diagram of the exploded structure of fig. 6.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
Example one
As shown in fig. 1 to 7, a shuttle car with simple positioning comprises a driving wheel 22, a guide wheel 28 and a driving motor 27, wherein the driving wheel 22 and the guide wheel 28 are both positioned at two sides of the shuttle car 21, the driving motor 27 is fixed on the shuttle car 21, the driving motor 27 is connected with the driving wheel 22, and the shuttle car further comprises a positioning sensor 3, and the positioning sensor 3 is arranged at one side of the shuttle car 21; constant head tank 11, constant head tank 11 set up on guide rail 1, and constant head tank 11 equidistant is equipped with a plurality ofly, and positioning sensor 3 is used for detecting constant head tank 11.
The guide rail 1 is provided with a plurality of positioning grooves 11, the positioning grooves 11 correspond to the positions of goods on the goods shelf, one is added to the original counting number when each goods shelf passes through one positioning groove 11, and the number of the positioning grooves 11 is accumulated and transmitted back to the control system, so that the shuttle 21 can be accurately stopped at a required position. The corresponding scanning positioning is simpler and the control is convenient.
The guide rail 1 is a C-shaped guide rail 1. The driving wheel 22 is a rubber-covered wheel which has large friction force and is not easy to slip.
The number of the positioning sensors 3 is two, and the two positioning sensors 3 are respectively positioned at two sides of the positioning groove 11. Because of inertial reason, still can slide a bit distance when stopping after positioning sensor 3 detects constant head tank 11, lead to the location inaccurate, set up two positioning sensor 3 to with the length extension of constant head tank 11, when current positioning sensor 3 detects constant head tank 11, slow down, thoroughly stop when second positioning sensor 3 detects constant head tank 11, the position of location this moment is comparatively accurate.
The positioning sensor 3 is a correlation type photoelectric sensor. The correlation photoelectric sensor has high detection precision, sensitive induction, difficult problem occurrence and good stability.
As shown in fig. 6 and 7, the sensor support further comprises a sensor support, the sensor support comprises a positioning support 42 and a connecting support 41, the positioning support 42 is U-shaped, a threading hole 421 is formed in the positioning support 42, and the positioning sensor 3 is fixed at two sides inside the positioning support 42; connecting bracket 41 is fixed in one side of shuttle 21, is equipped with waist shape hole on connecting bracket 41, and locating support 42 passes through the screw and nut and is connected with the waist shape hole on the connecting bracket 41, and the position of locating support 42 is conveniently adjusted in waist shape hole to realize the adjustment of positioning sensor 3 position, the transmission end and the receiving end of correlation formula positioning sensor 3 are located the both sides of guide rail 1 respectively. The two positioning sensors 3 are fixed on the sensor bracket, so that the installation and the adjustment are convenient.
The shuttle vehicle further comprises an active driving shaft 23, the active driving shaft 23 is installed at one end of the shuttle vehicle 21 through a bearing seat, and driving wheels 22 are installed at two ends of the active driving shaft 23; the driven driving shaft 24 is installed at the other end of the shuttle 21 through a bearing seat, and the driving wheels 22 are installed at the two ends of the driven driving shaft 24; driving pulleys mounted on the driving motor 27 and the driving shaft 23, respectively; the driving synchronous belt 25 is sleeved on the two driving belt wheels; driven pulleys mounted on the driving shaft 23 and the driven driving shaft 24, respectively; the driven synchronous belt 26 is sleeved on the two driven belt wheels, and the driven synchronous belt 26 is sleeved on the two driven belt wheels; and an encoder 7, wherein the encoder 7 is arranged on the driving motor 27.
The synchronous belt has high transmission precision and can accurately control the walking position. The encoder 7 can accurately detect the rotation angle of the driving motor 27, so that the walking position of the shuttle 21 is controlled, the positioning sensor 3 is corrected, and accurate positioning is further ensured. And the rubber coating roller effectively ensures the accuracy of the rolling position.
The device also comprises an origin sensor 5, wherein the origin sensor 5 is arranged on an origin support 43, and the origin support 43 is arranged on the connecting support 41; origin groove 12, origin groove 12 set up on guide rail 1, and origin groove 12 and constant head tank 11 are in the different sides of guide rail 1, and origin sensor 5 is used for detecting origin groove 12.
The origin groove 12 is used for confirmation of the origin position, facilitating correction of the positional deviation. The origin groove 12 and the positioning groove 11 are prevented from interfering at different sides of the guide rail 1, which leads to erroneous judgment of the sensor.
Example two
On the basis of the above embodiment, the shuttle 21 further comprises the anti-collision sensors 62, and the anti-collision sensors 62 are installed at two ends of the shuttle 21. The detection distance of the anti-collision sensor 62 is one meter, the anti-collision sensor 62 is used for detecting whether two adjacent shuttle vehicles 21 are close, when the two adjacent shuttle vehicles 21 are close to the detection distance, the anti-collision sensor 62 can detect the adjacent shuttle vehicles 21, the shuttle vehicles 21 stop moving, collision is prevented, and safety is improved.
And a deceleration sensor 61, wherein the deceleration sensor 61 is arranged at two ends of the shuttle 21. The detection distance of the deceleration sensor 61 is three meters, and the deceleration sensor 61 is used for detecting other shuttle cars 21 on the same guide rail 1, and performs deceleration when detecting other shuttle cars 21, so as to prevent two shuttle cars 21 from colliding due to inertia. The distance detected by the deceleration sensor 61 is greater than the detection distance of the pre-crash sensor 62.
The collision avoidance sensor 62 and the deceleration sensor 61 are both distance measuring sensors. The distance measuring sensor can accurately detect the distance and improve the control precision, and the distance measuring sensor can adopt an infrared distance measuring sensor or a laser distance measuring sensor.
Claims (10)
1. The shuttle car with the simple positioning comprises a driving wheel, a driving motor and a driving motor, wherein the driving wheel is positioned inside a guide rail, the driving wheel is positioned on two sides of the shuttle car, the driving motor is fixed on the shuttle car and is connected with the driving wheel, and the shuttle car is characterized by further comprising
The positioning sensor is arranged on one side of the shuttle vehicle;
the constant head tank, the constant head tank sets up on the guide rail, the constant head tank equidistant is equipped with a plurality ofly, positioning sensor is used for detecting the constant head tank.
2. The shuttle of claim 1 wherein there are two of the alignment sensors, one on each side of the alignment slot.
3. The shuttle of claim 2 further comprising a sensor bracket mounted to a side of the shuttle, the position sensor being secured to the sensor bracket.
4. A simple location shuttle as in claim 1 wherein the location sensor is a correlation photosensor.
5. A simply positioned shuttle as claimed in claim 1 further comprising
The driving shaft is arranged at one end of the shuttle vehicle, and driving wheels are arranged at two ends of the driving shaft;
the driven driving shaft is arranged at the other end of the shuttle vehicle, and driving wheels are arranged at two ends of the driven driving shaft;
the driving belt wheels are respectively arranged on the driving motor and the driving shaft;
the driving synchronous belt is sleeved on the two driving belt wheels;
driven pulleys mounted on the driving shaft and the driven driving shaft, respectively; and
and the driven synchronous belt is sleeved on the two driven belt wheels.
6. A simple location shuttle as in claim 5 further comprising an encoder mounted on the drive motor.
7. The shuttle of claim 1 further comprising a home sensor mounted on a side of the shuttle;
the origin groove is arranged on the guide rail, and the origin sensor is used for detecting the origin groove.
8. The shuttle of claim 1 further comprising anti-collision sensors mounted at both ends of the shuttle.
9. A simply positioned shuttle vehicle as claimed in claim 8 further comprising deceleration sensors mounted at both ends of the shuttle vehicle.
10. A simply positioned shuttle vehicle as claimed in claim 9 wherein said pre-crash and deceleration sensors are distance measuring sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911030500.9A CN110668096A (en) | 2019-10-28 | 2019-10-28 | Shuttle with simple positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911030500.9A CN110668096A (en) | 2019-10-28 | 2019-10-28 | Shuttle with simple positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110668096A true CN110668096A (en) | 2020-01-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911030500.9A Pending CN110668096A (en) | 2019-10-28 | 2019-10-28 | Shuttle with simple positioning |
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| Country | Link |
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| CN (1) | CN110668096A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327314A (en) * | 2020-07-22 | 2021-02-05 | 江苏智库智能科技有限公司 | Positioning system, positioning method and control method of heavy-load stacker |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104118698A (en) * | 2014-06-27 | 2014-10-29 | 河北科技大学 | Bracket lifting type rail guide vehicle |
| CN204549238U (en) * | 2015-02-11 | 2015-08-12 | 南京音飞储存设备股份有限公司 | Location, a kind of number hole shuttle assembly |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN109335531A (en) * | 2018-09-21 | 2019-02-15 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of shuttle feeding blowing and its localization method |
-
2019
- 2019-10-28 CN CN201911030500.9A patent/CN110668096A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104118698A (en) * | 2014-06-27 | 2014-10-29 | 河北科技大学 | Bracket lifting type rail guide vehicle |
| CN204549238U (en) * | 2015-02-11 | 2015-08-12 | 南京音飞储存设备股份有限公司 | Location, a kind of number hole shuttle assembly |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN109335531A (en) * | 2018-09-21 | 2019-02-15 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of shuttle feeding blowing and its localization method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327314A (en) * | 2020-07-22 | 2021-02-05 | 江苏智库智能科技有限公司 | Positioning system, positioning method and control method of heavy-load stacker |
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