Follow-up walking precise distance measurement and positioning device used in four-way shuttle

Abstract

The invention discloses a follow-up type precise distance measurement and positioning device for a four-way shuttle vehicle, comprising a follow-up distance measuring wheel swing arm (3) movably arranged on a body (1) of the four-way shuttle vehicle, one end of the follow-up distance measuring wheel swing arm (3) being movably fixed by a swing arm rotating shaft (4) fixedly arranged on the body (1) of the four-way shuttle vehicle, and the follow-up distance measuring wheel swing arm (3) being freely rotatable around the swing arm rotating shaft (4), the other end of the follow-up distance measuring wheel swing arm (3) being fixedly arranged with a rotating shaft sleeve (18), the follow-up distance measuring wheel (5) being fixedly arranged on one end of the follow-up distance measuring wheel rotating shaft (6), and being movably arranged in the rotating shaft sleeve (18) by the follow-up distance measuring wheel rotating shaft (6), and the problem of inaccurate distance measurement and inaccurate positioning caused by deformation, wear, slippage and the like of the travel wheel during long-distance operation of the four-way shuttle vehicle is solved by the separately arranged follow-up distance measuring wheel.

Description

Technical Field

[0001] The invention relates to a follow-up type walking precise positioning and distance measuring device used for a four-way shuttle vehicle, and belongs to the field of automated three-dimensional warehousing and intelligent warehousing. Background Art

[0002] The dense warehouse is created to cope with the storage of large quantities of similar goods. In order to make full use of the space in the dense warehouse, the shuttle car used to transfer goods in the dense warehouse is designed to be a flat plate, also known as a shuttle car or a shuttle board; and the four-way shuttle car is an automated dense warehouse that can walk along the track set along the longitudinal direction of the shelf or along the track set along the transverse direction of the shelf. It is used for handling goods in the three-dimensional storage system. Usually, the collection warehouse is designed to have a longer distance in the longitudinal lane where the goods are stacked; and the transverse lane where the shuttle car changes lanes is generally designed to be shorter, so that a single lane can store more goods. When the lane distance is very long, the distance measurement detection device of the four-way shuttle car is required to provide distance measurement data to the control system to facilitate the system to determine the exact position of the shuttle car. The positioning and distance measurement devices of the existing four-way shuttle cars on the market generally directly collect the number of revolutions of the running wheel, and then calculate the specific distance traveled by the running wheel diameter. The device has the following problems: when the weight of the goods is large, the running wheel will produce a large deformation, resulting in the running wheel not being a regular circle, and the measured distance will produce a certain error; after the running wheel has been used for a period of time, it will wear out, resulting in a smaller diameter of the running wheel. If the original calculation formula is still used, the data difference will also be generated; in addition, when the running wheel and the track slip due to insufficient friction, a large numerical error will be generated. Therefore, considering the above situation, when the shuttle car travels a long distance, due to deformation, wear, slippage and other reasons of the running wheel, the production errors will continue to accumulate, resulting in serious positioning inaccuracy. As a result, the location of the goods placed in the stereoscopic warehouse cannot be determined, affecting the safe use and stability of the system. Summary of the invention

[0003] The present invention provides a follow-up precise distance measurement and positioning device for a four-way shuttle vehicle, which solves the problem of inaccurate positioning of the four-way shuttle vehicle due to continuous accumulation of errors caused by deformation, wear, slippage and the like of the running wheels during long-distance transportation of the four-way shuttle vehicle.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The overall concept of the present invention is to design a follow-up distance measuring roller, which is reliably pressed on the travel track by a spring, and the actual travel distance of the four-way shuttle is calculated by directly collecting the number of revolutions of the follow-up distance measuring roller and then using the known roller diameter to calculate. Since the follow-up distance measuring roller no longer bears the weight of the vehicle body and cargo, but only needs to bear the tension of the spring, the roller will not be severely deformed or worn. At the same time, the follow-up distance measuring roller will only rotate when the four-way shuttle is traveling, and a spring is provided to ensure its reliable contact, thereby solving the distance measurement data error caused by slipping. In order to avoid jamming of the small wheel or wear of the follower small wheel when the small wheel passes through the track joint, thereby increasing the measured error, the small wheel is lifted by the follower wheel lifting device when passing through the track joint in the shelf, and a detection switch is set at the corresponding position. When the trolley passes through the track interface at the intersection or travels horizontally, the follower distance measuring small wheel is lifted by the lifting mechanism to prevent the follower distance measuring small wheel from colliding with the track gap or the longitudinal track, causing wear or damage. When the four-way shuttle trolley enters the longitudinal driving track, it is triggered by the detection switch, the distance measuring device data is reset, the follower distance measuring small wheel descends to the track surface, and the reliable contact of the small wheel is ensured under the tension of the spring, and the distance measurement calculation is restarted, effectively ensuring the distance measurement accuracy of the four-way shuttle trolley during repeated positioning.

[0006] A follow-up walking precise distance measuring and positioning device used in a four-way shuttle vehicle comprises a shelf, a shelf longitudinal walking track and a shelf transverse walking wheel track arranged in the shelf; a four-way shuttle vehicle body, a driving motor installed in the four-way shuttle vehicle body, and longitudinal walking wheels fixedly installed on the left and right sides of the four-way shuttle vehicle body. The longitudinal walking wheels can flexibly rotate under the drive of the driving motor, and transverse walking wheel frames movably installed on the front and rear sides of the four-way shuttle vehicle body, and the transverse walking wheels are movably installed in the transverse walking wheel frames and can flexibly rotate under the drive of the driving motor; a transverse walking wheel frame lifting motor reducer is also provided in the four-way shuttle vehicle body, and a camshaft is fixedly installed on the output shaft hole of the transverse walking wheel frame lifting motor reducer, and cams are fixedly arranged at both ends of the camshaft and are movably connected to the transverse walking wheel frame, and the transverse walking wheel frame can be lifted up and down under the rotation of the cam; the longitudinal walking wheels of the four-way shuttle vehicle can travel on the longitudinal walking wheel track of the shelf, and the transverse walking wheels can travel on the transverse walking wheel track of the shelf, and the four-way shuttle vehicle body is provided with a plurality of lifting motor reducers, wherein the lifting motor reducer is provided on the front and rear sides of the four-way shuttle vehicle body, and the lifting motor reducer is provided on the rear ... A follower measuring wheel swing arm is movably arranged between the longitudinal walking wheels on the left side of the body, one end of the follower measuring wheel swing arm is movably arranged through a swing arm rotating shaft fixedly arranged on the body of the four-way shuttle vehicle, and the follower measuring wheel swing arm can freely rotate around the swing arm rotating shaft, and the other end of the follower measuring wheel swing arm is fixedly arranged with a rotating shaft sleeve, the follower measuring wheel is fixedly arranged at one end of the follower measuring wheel rotating shaft, and is movably arranged in the rotating shaft sleeve through the follower measuring wheel rotating shaft, and the follower measuring wheel can be flexibly moved with the follower measuring wheel rotating shaft in the rotating shaft sleeve Rotation; the other end of the follower distance measuring wheel shaft is fixedly connected to the encoder shaft, and the encoder is fixedly arranged on the shaft sleeve through the encoder connecting plate. When the follower distance measuring wheel rotates, the encoder shaft rotates together with the follower distance measuring wheel shaft, and the rotation number data of the follower distance measuring wheel is obtained; a tension spring is also fixed under the swing arm of the follower distance measuring wheel, and the other end of the tension spring is fixedly connected to the body of the four-way shuttle car. Under the action of the tension spring, the follower distance measuring wheel can reliably contact with the longitudinal walking track of the shelf.

[0007] On the left side wall of the four-way shuttle body, a lifting plate rotating shaft is fixedly arranged, and an inverted U-shaped follow-up measuring wheel lifting plate is movably arranged on the lifting plate rotating shaft. The follow-up measuring wheel lifting plate can rotate freely around the lifting plate rotating shaft to form a lever structure; one end of the follow-up measuring wheel lifting plate is connected to one end of the connecting plate through a first connecting hinge shaft, and the other end of the connecting plate is hinged to a connecting plate fixed ear plate fixed above the follow-up measuring wheel swing arm through a second connecting hinge shaft; at the other end of the follow-up measuring wheel lifting plate, a lifting plate pressing arm is arranged, and by pressing down the lifting plate pressing arm, the follow-up measuring wheel can be lifted to a certain height by utilizing the lever principle, thereby playing a protective role for the follow-up measuring wheel. On the left end surface of the front transverse travel wheel frame of the four-way shuttle vehicle, a pressure block is fixedly arranged, and the position of the pressure block is located just above the lifting plate pressure arm. The pressure block can rise and fall together with the transverse travel wheel frame; when the four-way shuttle vehicle moves to the position of the measuring wheel lifting position detection switch, the measuring wheel lifting position detection switch is triggered, and the transverse travel wheel frame drops to a certain height. When the transverse travel wheel frame drops, the pressure block drops at the same time and presses the lifting plate pressure arm downward, and the other end of the following measuring wheel lifting plate is lifted by the following measuring wheel lifting plate through the lever principle. When the four-way shuttle vehicle moves from the horizontal traveling wheel track of the shelf to the longitudinal traveling wheel track of the shelf, the measuring wheel lifting position detection switch is triggered again, and the horizontal traveling wheel frame continues to rise for a certain distance. When the horizontal traveling wheel frame rises, the pressure block rises at the same time and withdraws the downward pressure of the lifting plate pressure arm. Under the action of the tension spring, the measuring wheel recovers the state of being pressed on the longitudinal traveling wheel track of the shelf. At the same time, the system distance measurement data is reset and the distance measurement value is calculated again.

[0008] In order to ensure that the follow-up distance measuring wheel lifting plate can rotate more flexibly, a bearing is also arranged between the rotating shaft sleeve and the lifting plate rotating shaft.

[0009] The lifting action of the follow-up distance measuring wheel can also be achieved by pressing the lifting plate pressure arm through other power devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a system schematic diagram of the dense library system of the present application invention;

[0011] Figure 2 is a three-dimensional diagram of the four-way shuttle vehicle of the present invention;

[0012] Figure 3 It is a main enlarged view of the present invention;

[0013] Figure 4 It is an expanded view of a cross section through multiple rotation axes. DETAILED DESCRIPTION

[0014] The present invention is described in detail below in conjunction with the accompanying drawings:

[0015] A follow-up walking precise distance measuring and positioning device for a four-way shuttle vehicle comprises a shelf 23, a shelf longitudinal walking track 2 and a shelf transverse walking wheel track 24 arranged in the shelf 23; a four-way shuttle vehicle body 1, a driving motor 30 installed in the four-way shuttle vehicle body 1, longitudinal walking wheels 22 fixedly installed on the left and right sides of the four-way shuttle vehicle body 1, the longitudinal walking wheels 22 can be flexibly rotated under the drive of the driving motor 30, and a transverse walking wheel frame 16 movably installed on the front and rear sides of the four-way shuttle vehicle body 1, and a transverse walking wheel 29 movably installed in the transverse walking wheel frame 16, and It can be flexibly rotated under the drive of the driving motor 30; a transverse walking wheel frame lifting motor reducer 27 is also provided in the four-way shuttle body 1, and a camshaft 31 is fixedly installed on the output shaft hole of the transverse walking wheel frame lifting motor reducer 27, and cams 28 are fixedly provided at both ends of the camshaft 31 and are movably connected to the transverse walking wheel frame 16, and the transverse walking wheel frame 16 can be lifted up and down under the rotation of the cam 28; the longitudinal walking wheel 22 of the four-way shuttle 26 can walk on the longitudinal walking wheel track 2 of the shelf, and the transverse walking wheel 29 can walk on the transverse walking wheel track 24 of the shelf. A follower measuring wheel swing arm 3 is movably arranged between the longitudinal walking wheels 22 on the left side of the four-way shuttle body 1. One end of the follower measuring wheel swing arm 3 is movably arranged through a swing arm rotating shaft 4 fixedly arranged on the four-way shuttle body 1, and the follower measuring wheel swing arm 3 can freely rotate around the swing arm rotating shaft 4. The other end of the follower measuring wheel swing arm 3 is fixedly arranged with a rotating shaft sleeve 18. The follower measuring wheel 5 is fixedly arranged at one end of the follower measuring wheel rotating shaft 6 and movably arranged in the rotating shaft sleeve 18 through the follower measuring wheel rotating shaft 6. The follower measuring wheel 5 can be rotated with the follower measuring wheel rotating shaft 6 in the rotating shaft sleeve 18. Flexible rotation; at the other end of the follower distance measuring wheel shaft 6, it is fixedly connected to the shaft of the encoder 17, and the encoder 17 is fixedly arranged on the shaft sleeve 18 through the encoder connecting plate 20. When the follower distance measuring wheel 5 rotates, the encoder 17 shaft rotates together with the follower distance measuring wheel shaft 6, and the rotation number data of the follower distance measuring wheel 5 is obtained; under the follower distance measuring wheel swing arm 3, a tension spring 7 is also fixed, and the other end of the tension spring 7 is fixedly connected to the four-way shuttle body 1. Under the action of the tension spring 7, the follower distance measuring wheel 5 can reliably contact with the longitudinal walking track 2 of the shelf.

[0016] Furthermore, a lifting plate rotating shaft 10 is fixedly provided on the left side wall of the four-way shuttle body 1, and an inverted U-shaped follow-up measuring wheel lifting plate 9 is movably provided on the lifting plate rotating shaft 10. The follow-up measuring wheel lifting plate 9 can rotate freely around the lifting plate rotating shaft 10 to form a lever structure; one end of the follow-up measuring wheel lifting plate 9 is connected to one end of the connecting plate 11 through a first connecting hinge shaft 12, and the other end of the connecting plate 11 is hinged to a connecting plate fixing ear plate 21 fixedly provided above the follow-up measuring wheel swing arm 3 through a second connecting hinge shaft 13; at the other end of the follow-up measuring wheel lifting plate 9, a lifting plate pressing arm 15 is provided, and by pressing down the lifting plate pressing arm 15, the follow-up measuring wheel 5 can be lifted to a certain height by using the lever principle, thereby protecting the follow-up measuring wheel 5. On the left end surface of the front transverse walking wheel frame 32 of the four-way shuttle vehicle, a pressure block 14 is fixedly arranged. The position of the pressure block 14 is located just above the lifting plate pressure arm 15. The pressure block 14 can rise and fall together with the transverse walking wheel frame 16. When the four-way shuttle vehicle 26 reaches the position of the distance measuring wheel lifting position detection switch 25, the distance measuring wheel lifting position detection switch 25 is triggered, and the transverse walking wheel frame 16 drops to a certain height. When the transverse walking wheel frame 16 drops, the pressure block 14 drops at the same time and presses the lifting plate pressure arm 15 downward, and the other end of the following distance measuring wheel lifting plate 9 is lifted by the following distance measuring wheel lifting plate 9 through the lever principle. The wheel 5 is lifted up a certain distance, so that the follow-up measuring wheel 5 is lifted up and separated from the longitudinal running wheel track 2 of the shelf; similarly, when the four-way shuttle 26 moves from the transverse running wheel track 24 of the shelf to the longitudinal running wheel track 2 of the shelf, the measuring wheel lifting position detection switch 25 is triggered again, and the transverse running wheel frame 16 continues to rise for a distance. When the transverse running wheel frame 16 rises, the pressure block 14 rises at the same time and removes the downward pressure of the lifting plate pressure arm 15. The follow-up measuring wheel 5 is restored to the state of being pressed on the longitudinal running wheel track 2 of the shelf under the action of the tension spring 7. At the same time, the system distance measurement data is reset to zero and the distance measurement value is calculated again.

[0017] Furthermore, a bearing 19 is provided between the rotating shaft sleeve 18 and the lifting plate rotating shaft 10 .

[0018] The further lifting action of the follow-up distance measuring wheel 5 can also be achieved by pressing the lifting plate pressing arm through other power devices.

Claims

1. A follow-up walking accurate distance measurement and positioning device used for a four-way shuttle vehicle, comprising: A shelf (23), a shelf longitudinal running wheel track (2) and a shelf transverse running wheel track (24) arranged in the shelf; a four-way shuttle vehicle body (1), a drive motor (30) installed in the four-way shuttle vehicle body, longitudinal running wheels (22) fixedly installed on the left and right sides of the four-way shuttle vehicle body, the longitudinal running wheels can rotate under the drive of the drive motor, and a transverse running wheel frame (16) movably installed on the front and rear sides of the four-way shuttle vehicle body, and the transverse running wheel (29) is movably installed in the transverse running wheel frame and can rotate under the drive of the drive motor; a transverse running wheel frame lifting motor reducer (27) is also arranged in the four-way shuttle vehicle body, and a transverse running wheel frame lifting motor reducer is fixedly installed on the output shaft hole of the transverse running wheel frame lifting motor reducer. A camshaft (31) is provided, cams (28) are fixedly arranged at both ends of the camshaft and are movably connected to a transverse travel wheel frame, and the transverse travel wheel frame can be raised and lowered under the rotation of the cam; the longitudinal travel wheels of the four-way shuttle vehicle (26) travel on the longitudinal travel wheel track of the shelf, and the transverse travel wheels travel on the transverse travel wheel track of the shelf; the characteristic is that a follower distance measuring wheel swing arm (3) is movably arranged between the longitudinal travel wheels on the left side of the four-way shuttle vehicle body, one end of the follower distance measuring wheel swing arm is movably arranged through a swing arm rotating shaft (4) fixedly arranged on the four-way shuttle vehicle body, and the follower distance measuring wheel swing arm can freely rotate around the swing arm rotating shaft, and the other end of the follower distance measuring wheel swing arm is fixedly arranged with a rotating shaft sleeve (18), and the follower distance measuring wheel swing arm is fixedly arranged with a rotating shaft sleeve (18). (5) is fixedly arranged at one end of the follower distance measuring wheel rotating shaft (6), and is movably arranged in the rotating shaft sleeve through the follower distance measuring wheel rotating shaft, and the follower distance measuring wheel and the follower distance measuring wheel rotating shaft rotate in the rotating shaft sleeve; at the other end of the follower distance measuring wheel rotating shaft, it is fixedly connected to the rotating shaft of the encoder (17), and the encoder is fixedly arranged on the rotating shaft sleeve through the encoder connecting plate (20). When the follower distance measuring wheel rotates, the encoder rotating shaft rotates together with the follower distance measuring wheel rotating shaft, and the rotation number data of the follower distance measuring wheel is obtained; under the swing arm of the follower distance measuring wheel, a tension spring (7) is also fixed, and the other end of the tension spring is fixedly hung on the body of the four-way shuttle vehicle. Under the action of the tension spring, the follower distance measuring wheel can reliably move in the longitudinal direction of the shelf. The wheel track is in contact with each other, and a lifting plate rotating shaft (10) is fixedly arranged on the left side wall of the four-way shuttle body. An inverted U-shaped follower distance measuring wheel lifting plate (9) is movably arranged on the lifting plate rotating shaft. The follower distance measuring wheel lifting plate can freely rotate around the lifting plate rotating shaft to form a lever structure; one end of the follower distance measuring wheel lifting plate is connected to one end of the connecting plate (11) through a first connecting hinge shaft (12), and the other end of the connecting plate is hinged to a connecting plate fixing ear plate (21) fixedly arranged above the follower distance measuring wheel swing arm through a second connecting hinge shaft (13); a lifting plate pressing arm (15) is arranged at the other end of the follower distance measuring wheel lifting plate, and by pressing down the lifting plate pressing arm, the follower distance measuring wheel is lifted to a certain height by utilizing the lever principle, thereby playing a protective role for the follower distance measuring wheel;A pressure block (14) is fixedly arranged on the left end surface of the front transverse running wheel frame (32) of the four-way shuttle vehicle. The pressure block is located just above the lifting plate pressure arm and can rise and fall together with the transverse running wheel frame.

2. According to claim 1, a follow-up type precise distance measurement and positioning device for a four-way shuttle vehicle is characterized in that: When the four-way shuttle vehicle moves to the position of the measuring wheel lifting position detection switch (25), the measuring wheel lifting position detection switch is triggered, and the transverse travel wheel frame descends to a certain height. When the transverse travel wheel frame descends, the pressure block descends at the same time and presses the lifting plate pressure arm downward. Through the principle of leverage, the other end of the follower measuring wheel lifting plate is lifted by the follower measuring wheel lifting plate to a certain distance, so that the follower measuring wheel is lifted and separated from the longitudinal travel wheel track of the shelf; when the four-way shuttle vehicle moves from the transverse travel wheel track of the shelf to the longitudinal travel wheel track of the shelf, the measuring wheel lifting position detection switch is triggered again, and the transverse travel wheel frame continues to rise for a certain distance. When the transverse travel wheel frame rises, the pressure block rises at the same time and withdraws the downward pressure of the lifting plate pressure arm. The follower measuring wheel resumes the state of being pressed on the longitudinal travel wheel track of the shelf under the action of the tension spring, and the system distance measurement data is cleared and the distance measurement value is calculated again.

3. The follow-up type walking accurate distance measurement and positioning device used for a four-way shuttle according to claim 2 is characterized in that: A bearing (19) is also provided between the rotating shaft sleeve and the lifting plate rotating shaft.

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