Shuttle vehicle tray correction method and shuttle vehicle tray correction device

Abstract

The present application belongs to the technical field of warehouse logistics, and discloses a shuttle vehicle tray correction method and a shuttle vehicle tray correction device. The shuttle vehicle tray correction method comprises S10-S30, S10: judging whether the tray is offset to the second direction relative to the center of the tray correction device within the preset time before or after the tray enters the guide mechanism, the second direction being perpendicular to the first direction; S20: if the judgment result is no, the tray is in the standard position, no correction is performed, and the shuttle vehicle continues to travel in the first direction; if the judgment result is yes, S30 is executed; S30: identifying the offset side of the tray, the tray correction device further comprising a first correction mechanism, the front part of each guide mechanism being provided with a first correction mechanism, the corresponding mechanism of the offset side correcting the tray to make the tray return to the standard position, and the shuttle vehicle continuing to travel in the first direction. The shuttle vehicle tray correction method and the shuttle vehicle correction device can prevent the tray from being tilted and entering the guide mechanism, and the correction position is accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and in particular to a shuttle vehicle pallet correction method and a shuttle vehicle pallet correction device. BACKGROUND

[0002] In the field of warehouse logistics, goods are generally heavy, some even reaching the level of tons. After the goods are processed by the assembly line, they are generally placed on a pallet. The pallet has a forklift hole. The forklift (or mechanical device with forks) forks the pallet carrying the goods to the shuttle vehicle. The shuttle vehicle delivers the pallet into the warehouse or performs the operation of taking the goods out of the warehouse. However, in the above operation, there are many links that cause the relative positions of the pallet and the shuttle vehicle to be inaccurate. For example, the placement position of the forklift or the jolt of the shuttle vehicle during driving can cause the displacement of the pallet, resulting in the inaccuracy of the pallet into the warehouse.

[0003] In the prior art, a rigid guide plate is used. Even if the end of the guide plate is inclined, the pallet is not accurately corrected before entering the two guide plates and during the process of entering the two guide plates. When the displacement of the pallet is large, the pallet will vibrate greatly when it collides with the guide plate, which can easily cause the pallet to overturn, causing the goods to shake or be damaged. In addition, due to manufacturing errors, the guide plate cannot accurately guide the pallet, resulting in inaccurate placement of the pallet into the warehouse or out of the warehouse.

[0004] Therefore, there is an urgent need to design a shuttle vehicle pallet correction method and a shuttle vehicle pallet correction device to solve the above problems. SUMMARY

[0005] An object of the present application is to provide a shuttle vehicle pallet correction method that can correct the pallet within a preset time before or after the pallet enters the guide mechanism to prevent the pallet from tilting when it enters the guide mechanism, and the correction position of the method is accurate.

[0006] To achieve this object, the present application adopts the following technical solutions:

[0007] The shuttle vehicle pallet correction method and the shuttle vehicle pallet correction device include two guide mechanisms. The two guide mechanisms extend along a first direction and are spaced apart along a second direction to form a channel. The shuttle vehicle can carry the pallet through the channel. The pallet carries goods. The shuttle vehicle pallet correction method includes the following steps:

[0008] S10: Before or within a preset time after the pallet enters the guide mechanism, determine whether the pallet is offset relative to the center of the pallet correction device in the second direction. The second direction is perpendicular to the first direction.

[0009] S20: If the result is no, the tray is in the standard position, no correction is performed, and the shuttle vehicle continues to travel in the first direction; if the result is yes, S30 is performed;

[0010] S30: The offset side of the tray is identified, and the tray correction device further comprises a first correction mechanism. The front part of each guide mechanism is provided with the first correction mechanism. The first correction mechanism on the offset side corrects the tray to return to the standard position, and the shuttle vehicle continues to travel in the first direction.

[0011] Optionally, the shuttle vehicle tray correction method further comprises S09: stopping the tray at a predetermined position, and the front end of the tray in the predetermined position is located between the two first correction mechanisms.

[0012] Optionally, the shuttle vehicle tray correction device further comprises a first sensor, which is correspondingly arranged at the front end of the first correction mechanism. The first sensor is correspondingly arranged and communicatively connected with the first correction mechanism. When the tray is in the standard position, the distance between the edge of the tray and the two first sensors is X. The two first sensors respectively measure the distance from the edge of the tray to be X1 and X2. The judgment method of S20 is specifically: when |X1-X|≤a and |X2-X|≤a, no correction is needed.

[0013] The way of S30 to identify the offset side of the tray is specifically: when XnX and |Xn-X|>a, the side where Xn is located is the offset side, and the first correction mechanism on the offset side pushes the edge of the tray on the offset side to return the tray to the standard position. Xn is one of X1 and X2, and 3mm≤a≤5mm.

[0014] Optionally, the shuttle vehicle tray correction device further comprises a second correction mechanism, and the rear part of each guide mechanism is provided with the second correction mechanism. The shuttle vehicle tray correction method further comprises:

[0015] S40: The shuttle vehicle enters between the two guide mechanisms, and it is judged whether the tray is offset relative to the center of the tray correction device in the second direction.

[0016] S50: If the result is no, the tray is in the standard position, no correction is performed, and the shuttle vehicle continues to travel in the first direction out of the guide mechanism; if the result is yes, S60 is performed;

[0017] S60: The secondary offset side of the tray is identified, and the corresponding second correction mechanism on the secondary offset side corrects the tray to return to the standard position.

[0018] Optionally, the pressures of the tray on the two sides of the guiding mechanism on the corresponding side are Y1 and Y2 respectively, and the specific judgment method of S40 is:

[0019] Case 1: When |Y1-Y2|≤b, no secondary correction is needed, and the tray directly passes through.

[0020] Case 2: When |Y1-Y2|>b, and Ym>Yn, the second correction mechanism on the corresponding side of Ym corrects the tray, wherein Ym is one of Y1 and Y2, Yn is the other of Y1 and Y2, and 2bar≤b≤4bar.

[0021] Optionally, each guiding mechanism includes a pressure sensor, and the two pressure sensors are oppositely arranged along the second direction, each pressure sensor is in communication connection with the second correction mechanism on the corresponding side, and the two pressure sensors are used for measuring Y1 and Y2 respectively.

[0022] Optionally, the confirmation method of Y1 or Y2 is that the time of the tray passing through the corresponding pressure sensor is T, a plurality of pressure values are selected within T time, and Y1 or Y2 is the average value of the plurality of pressure values on the corresponding side.

[0023] Another object of the present application is to provide a shuttle tray correction device, which corrects the tray by the first correction mechanism within the preset time when the tray enters the guiding mechanism or after entering the guiding mechanism, ensures that the tray continues to enter the guiding mechanism in the standard position, prevents the tray from being turned over due to a large collision with the guiding piece, and the tray adjusted by the first correction mechanism is accurately in the standard position, and the correction position has higher accuracy.

[0024] To achieve this object, the present application adopts the following technical solutions:

[0025] The shuttle tray correction device adopts the above-mentioned shuttle tray correction method to correct the tray, and the shuttle tray correction device comprises:

[0026] Two guiding mechanisms and a first correction mechanism, the two guiding mechanisms extend along the first direction and are arranged at intervals along the second direction, and the front part of each guiding mechanism is provided with the first correction mechanism;

[0027] A first sensor is installed at the front part of each guiding mechanism, the first sensor is used to identify the offset side of the tray relative to the standard position, each first correction mechanism is in communication connection with the corresponding first sensor, and the first correction mechanism on the offset side can correct the tray according to the instruction of the corresponding first sensor.

[0028] Optionally, the first correction mechanism comprises a first correction driving member and a first correction assembly installed at the output end of the first correction driving member, the first correction assembly is opposite to the offset side of the tray at the front end of the tray in the preset position, and the first correction mechanism can drive the first correction assembly to extend to correct the offset tray to the standard position.

[0029] Optionally, the guide mechanism comprises a guide member, a plurality of first rollers and a pressure sensor, the guide member extends along a first direction and is provided with a first through hole, the plurality of first rollers are arranged side by side along the first direction and are all pivotally connected to the guide member, part of the circumferential surface of the first rollers is provided in the first through hole, and the pressure sensor is installed on the guide member and is in contact with the first rollers.

[0030] The present application has the following advantages:

[0031] The present application provides a shuttle tray correction method, which first judges whether the tray is offset before or within a preset time after the tray enters the guide mechanism. If the tray is not offset, the tray continues to pass through the guide mechanism. If the tray is offset, the first correction mechanism on the offset side corrects the tray to return to the standard position, prevents the tray from entering the guide member with a large offset amount and colliding with the guide member to cause side turning, and the tray adjusted by the first correction mechanism is accurately in the standard position, and the correction position has higher accuracy.

[0032] The present application provides a shuttle tray correction device, which first judges the offset direction of the front end of the tray through the first sensor, and the first correction mechanism on the corresponding side corrects the tray to return to the standard position, prevents the tray from entering the guide member with a large offset amount and colliding with the guide member to cause side turning, and the tray adjusted by the first correction mechanism is accurately in the standard position, and the correction position has higher accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a structural diagram of a warehouse system provided by an embodiment of the present application Figure 1 ;

[0034] Figure 2 is a flowchart of a shuttle tray correction method provided by an embodiment of the present application

[0035] Figure 3 is a structural diagram of a warehouse system provided by an embodiment of the present application Figure 2 ;

[0036] Figure 4 is a structural diagram of a guide member, a first correction mechanism, a roller mechanism and a second correction mechanism on one side provided by an embodiment of the present application

[0037] Figure 5 is an exploded view of the first correction assembly and the slide rail provided by the embodiment of the present application;

[0038] Figure 6 is a structural schematic view of the roller assembly provided by the embodiment of the present application;

[0039] Figure 7 is a structural schematic view of the pressure sensor and the pressure sensor mounting plate provided by the embodiment of the present application.

[0040] In the figure:

[0041] 10, guiding mechanism; 11, guiding piece; 111, guiding plate; 1111, guiding portion; 11111, second via hole; 1112, limiting portion; 11121, first via hole; 112, side wall; 1121, side wall body; 1122, slide rail; 113, mounting portion; 1131, second waist-shaped hole;

[0042] 12, roller mechanism; 121, roller assembly; 1211, support; 12111, pivoting support; 1212, first roller;

[0043] 20, first sensor;

[0044] 31, first correction assembly; 311, integrated piece; 3111, wheel shaft; 312, rolling assembly; 3121, rotating shaft mounting piece; 3122, second roller 3122; 313, spacer sleeve; 314, bearing;

[0045] 40, pressure sensor; 41, pressure sensor mounting plate;

[0046] 50, second correction mechanism; 60, second sensor; 70, passage;

[0047] 200, shuttle vehicle; 300, tray; 400, goods; 500, bearing piece; 510, track beam; 520, sub-track; 600, shelf column; 700, standard position. DETAILED DESCRIPTION

[0048] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0049] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0051] In the description of the present embodiment, the terms "up", "down", "left", "right" and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0052] As Figure 1 As shown in the structural schematic diagram of the warehouse system, the warehouse system includes a shelf and a shuttle 200, the shelf includes a shelf column 600 and a carrier 500 installed between adjacent shelf columns 600, the carrier 500 includes a track beam 510 and a sub-track 520, the track beam 510 is installed between two adjacent shelf columns 600, and the track beam 510 is installed with the sub-track 520 on both sides in the second direction (Y direction in the figure), the shuttle 200 travels on the side tracks of the two sub-tracks 520, when traveling, the shuttle 200 is in a jacking state, the tray 300 is a certain distance from the top surface of the sub-track 520, when the shuttle 200 with the tray 300 and the goods 400 is in place, the shuttle 200 sinks, and the tray 300 falls onto the top surface of the sub-track 520 for storage and placement.

[0053] In the prior art, a rigid guide plate 111 is used. Even if the end of the guide plate 111 is set at an angle, the pallet 300 is not accurately corrected before entering the two guide plates 111 and during the process of entering the two guide plates 111. When the pallet 300 has a large offset, when the pallet 300 rushes into the guide plate 111, it will cause a large vibration and is prone to tipping over, causing the goods 400 to shake or be damaged. In addition, due to manufacturing errors, the pallet 300 may still be in a slightly off-center state between the two guide plates 111, resulting in inaccurate entry or exit positions of the pallet 300.

[0054] To address the aforementioned problems, this embodiment provides a shuttle pallet correction method and a shuttle pallet correction device. This method can correct the pallet 300 within a preset time before or after it enters the guide mechanism 10, preventing the pallet 300 from entering the guide mechanism 10 at an angle and causing it to tip over. Furthermore, the correction position is accurate. Figure 1 and Figure 2 As shown, the shuttle pallet straightening device includes two guide mechanisms 10, both of which are along a first direction ( Figure 1 perpendicular to Figure 1 The plane extends along the direction of the plane (i.e., the X direction in the following figure, which is perpendicular to the Y direction) and is spaced apart along the second direction to form a channel 70. The shuttle 200 can carry pallets 300 through the channel 70. The pallets 300 carry goods 400. The shuttle pallet alignment method includes:

[0055] S10: Determine whether the pallet 300 is offset in the second direction relative to the center of the pallet correction device within a preset time before or after the pallet 300 enters the guide mechanism 10;

[0056] S20: If the judgment result is negative, the pallet 300 is in the standard position 700, no correction is performed, and the shuttle 200 continues to travel in the first direction; if the judgment result is positive, execute S30.

[0057] S30: identifying the offset side of the tray 300, the tray correction device further comprises a first correction mechanism, the front of each guide mechanism 10 is provided with a first correction mechanism, the first correction mechanism of the offset side corrects the tray 300 to make the tray 300 return to the standard position 700, and then the shuttle vehicle 200 continues to travel in the first direction. The shuttle vehicle tray correction method first judges whether the tray 300 is offset before the tray 300 enters the guide mechanism 10 or within a preset time after the tray 300 enters the guide mechanism 10. If not, it continues to pass through the guide mechanism 10. If it is offset, the first correction mechanism of the offset side corrects the tray 300 to make it return to the standard position 700, preventing the tray 300 from entering the guide 11 with a large offset and colliding with the guide 11 to cause a rollover. The tray 300 adjusted by the first correction mechanism is accurately in the standard position 700, and the correction position has higher accuracy.

[0058] Specifically, as shown in Figure 1 and Figure 3 The tray correction device further comprises a first sensor 20, the front of each guide mechanism 10 is provided with a first sensor 20, the first sensor 20 is used to identify the offset side of the tray 300 relative to the standard position 700, each first correction mechanism is in communication connection with the corresponding first sensor 20, and the first correction mechanism of the offset side can correct the tray 300 according to the instruction of the corresponding first sensor 20.

[0059] The shuttle vehicle tray correction device judges the offset direction of the front end of the tray 300 through the first sensor 20, the first correction mechanism of the corresponding side corrects the tray 300 to make the tray 300 return to the standard position 700, preventing the tray 300 from entering the guide 11 with a large offset and colliding with the guide 11 to cause a rollover. The tray 300 adjusted by the first correction mechanism is accurately in the standard position 700, and the correction position has higher accuracy. Optionally, the first sensor 20 is a distance sensor.

[0060] Further, when the tray 300 is in the standard position 700, the distance between the edge of the tray 300 and the two first sensors 20 is X, the distance from the edge of the tray 300 to the two first sensors 20 is X1 and X2 respectively, and the judgment method of S20 is as follows: when ∣X1-X∣≤a and ∣X2-X∣≤a, no correction is needed;

[0061] The method for determining the offset side of tray 300 in S30 is as follows: when Xn < X and |Xn-X| > a, the side where Xn is located is the offset side. The first correction mechanism on the offset side pushes the edge of tray 300 on the offset side to return tray 300 to the standard position 700. Xn is one of X1 and X2, and 3mm ≤ a ≤ 5mm. Optionally, 3mm ≤ a ≤ 5mm. In this embodiment, a is 3mm. In actual operation, the value of a can be set according to the actual situation, and is not limited here.

[0062] Furthermore, the first sensor 20 and the first calibration mechanism are connected via a host computer. That is, the first sensor 20 feeds Xn back to the host computer, which then judges Xn and transmits the correction signal to the corresponding first calibration mechanism for correction.

[0063] There are two problems with determining the offset of the tray 300 during the movement of the shuttle 200. On the one hand, the determination of the first sensor 20 may be misjudged due to the movement of the tray 300. On the other hand, the first correction mechanism needs time to adjust the position of the tray 300. If the tray 300 is constantly moving with the shuttle 200, the correction will be unstable.

[0064] To address the aforementioned issues, the shuttle tray alignment method provided in this embodiment further includes S09: positioning the tray 300 at a preset position ( Figure 3 The standard position 700 is also the preset position (but the standard position 700 can move along the Y direction and stop); the front end of the tray 300 in the preset position is located between the two first correction mechanisms. Through the above settings, the first sensor 20 measures the distance between the two sides when the tray 300 is stationary, thereby ensuring the accuracy of the determination of the offset side of the tray 300, and the first correction mechanism corrects the tray 300 when the tray 300 is stopped in the preset position, ensuring the stability of the correction.

[0065] Specifically, such as Figure 3 As shown, a second sensor 60 is installed on the track beam 510, and a travel motor is installed on the shuttle 200. The second sensor 60 is set to a preset distance and emits light that shines directly onto the shuttle 200. When the shuttle 200 reaches the preset distance of the second sensor, it receives the diffused light emitted from the shuttle 200. The second sensor sends a signal to the host computer, which then sends a signal to the controller that controls the travel motor. The controller stops the travel motor, causing the shuttle 200 to stop running.

[0066] Among them, such as Figure 4As shown, the first correction mechanism comprises a first correction driving member (not shown in the figure) and a first correction assembly 31 (the first correction assembly 31 with the reference sign is the first correction mechanism as the first correction driving member is not shown) mounted on the output end of the first correction driving member, the first correction assembly 31 is opposite to the front end of the tray 300 in the preset position, the first correction driving member is in communication connection with the first sensor 20 on the same side, and the first correction assembly 31 of the first correction mechanism on the offset side of the tray 300 can be driven to extend according to the information of the corresponding first sensor 20 so as to make the offset tray 300 return to the standard position 700.

[0067] Optionally, the first correction driving member is a pneumatic cylinder, and in other embodiments, the first correction driving member can be a hydraulic cylinder or a linear motor and any power source capable of outputting linear motion, which is not limited here. It can be understood that the host computer finally sends the correction command to the first correction driving member, and the first correction driving member drives the first correction assembly 31 to extend and then completes the action of correction.

[0068] Preferably, as shown in Figure 4 and Figure 5 The first correction assembly 31 comprises an integrated member 311 and a plurality of rolling assemblies 312 arranged in the vertical direction, each rolling assembly 312 is mounted on the integrated member 311, and the free end of the rolling assembly 312 can abut the tray 300. Through the above arrangement, the integrated member 311 facilitates the installation of the rolling assembly 312. In this embodiment, the rolling assembly 312 is provided with two in the vertical direction, so that when the rolling assembly 312 pushes the tray 300, the stress of the tray 300 in the vertical direction is more uniform. In other embodiments, the number of rolling assemblies 312 can be adjusted appropriately according to the installation space and the height of the tray 300, which is not limited here.

[0069] Preferably, as shown in Figure 4 and Figure 5As shown, the rolling assembly 312 comprises a rotating shaft (hidden, not labeled), a second roller 3122, and two rotating shaft mounting members 3121, the two rotating shaft mounting members 3121 are arranged in a vertical direction and are both mounted to the integrated member 311 at one end; the rotating shaft is connected to the other end of the corresponding rotating shaft mounting member 3121 at both ends; the second roller 3122 is coaxially mounted to the rotating shaft; the second roller 3122 is fixed coaxially with the rotating shaft and the rotating shaft can rotate relative to the end of the rotating shaft mounting member 3121; or, the second roller 3122 can rotate relative to the rotating shaft and the two ends of the rotating shaft are fixedly mounted to the other end of the corresponding rotating shaft mounting member 3121. Through the above arrangement, the free end of the rolling assembly 312 can roll, so that when the tray 300 is in contact with the rolling assembly 312 before correction, it can slide forward along the outer periphery of the second roller 3122, and the outer wall of the tray 300 is in rolling friction with the second roller 3122, preventing the outer wall of the tray 300 from being scratched.

[0070] Optionally, in the embodiment, as shown in Figure 4 As shown, the guide mechanism 10 comprises a guide member 11, the guide member 11 comprises a guide plate 111 and two side walls 112, the guide plate 111 comprises a limiting portion 1112 and a guide portion 1111 connected in sequence, the limiting portion 1112 extends in a first direction, the free end of the guide portion 1111 is inclinedly arranged away from the channel 70, the two side walls 112 are respectively arranged on both sides of the guide plate 111 in a vertical direction and are respectively arranged at an angle with the guide plate 111, the side wall 112 is connected with the shelf column 600, through the above arrangement, the guide portion 1111 ensures that the tray 300 is roughly guided before entering the limiting portion 1112. Due to the arrangement of the guide portion 1111, in the embodiment, as shown in Figure 4 The first correction assembly 31 is arranged at the guide portion 1111, a second through hole 11111 is formed on the guide portion 1111 to enable the free end of the first correction assembly 31 to extend out for correction, that is, the tray 300 is corrected in the guide mechanism 10 within a preset time after entering the guide mechanism 10, and the preset time is generally set to be short to ensure that the tray 300 is corrected before contacting the limiting portion 1112. In other embodiments, if the guide plate 111 is not provided with the guide portion 1111, the first correction assembly 31 can be directly arranged at the front end of the guide plate 111, that is, the tray 300 is corrected before entering the guide mechanism 10.

[0071] Optionally, the two ends of the integrated member 311 are respectively connected with the two side walls 112 in a sliding fit and are respectively limited in a vertical direction by the two side walls 112. Through the above arrangement, the several rolling assemblies 312 are improved in stability in a vertical direction when being driven, and the driving direction is more accurate and the correction position is accurately controlled.

[0072] In this embodiment, as shown in Figure 5 Each side wall 112 includes a side wall body 1121 and a slide rail 1122 mounted on the side wall body 1121. The side wall body 1121 is provided with a first waist-shaped hole (not shown) and a wheel shaft 3111 at both ends of the first waist-shaped hole. A spacer 313 is sleeved on the wheel shaft 3111. A bearing 314 is installed in the slide rail 1122. The wheel shaft 3111 with the spacer 313 is coaxially installed in the first waist-shaped hole and the bearing 314. One end of the spacer 313 abuts against the end face of the bearing 314, and the other end abuts against the mounting surface of the wheel shaft 3111. This can prevent the wheel shaft 3111 from extending too much into the bearing 314 and affecting the smoothness of sliding when the wheel shaft 3111 is installed. Through the above arrangement, the integrated component 311 is connected to the side wall 112 in a sliding fit.

[0073] In other embodiments, a sliding block can be installed at both ends of the integrated component 311. A slide rail 1122 is installed on the side of the two side walls 112 corresponding to the sliding block. The sliding block can slide along the slide rail 1122 on the corresponding side to achieve the sliding fit connection between the integrated component 311 and the side wall 112.

[0074] Preferably, the first correction mechanism is spaced apart in the inclined direction of the guide part 1111. In the X direction, the distance that the tray 300 is corrected is increased, and the stability and accuracy of correcting the tray 300 are improved. It should be noted that the strokes of the first correction driving parts of the at least two first correction mechanisms are different, but the coordinates of the outer edges of the second rollers 3122 in the Y direction are the same after each first correction assembly 31 is ejected.

[0075] Preferably, the guide 11 further includes a mounting part 113. The two mounting parts 113 are respectively connected to the corresponding side walls 112 and are arranged at an angle. A second waist-shaped hole 1131 extending in the first direction is formed in the mounting part 113. The mounting part 113 is installed on the shelf column 600 by penetrating the second waist-shaped hole 1131 with a fixing part. Through the above arrangement, the position of the guide 11 in the X direction is adjusted. Specifically, the fixing part can be a screw. The screw is threadedly connected to the shelf column 600. The guide 11 is fixed by tightening the screw, and the guide 11 is adjusted by loosening the screw.

[0076] Preferably, as shown in Figure 4As shown, the guide mechanism 10 further comprises a roller mechanism 12, the roller mechanism 12 comprises a plurality of roller assemblies 121 arranged side by side along the X direction, the roller assembly 121 comprises a bracket 1211 and a first roller 1212, the two ends of the bracket 1211 are respectively mounted on the two side walls 112: the first roller 1212 is pivotally connected with the bracket 1211, a first through hole 11121 is formed on the limiting portion 1112 corresponding to the roller mechanism 12, and part of the peripheral surface of each first roller 1212 is protruded in the first through hole 11121. The arrangement of the first roller 1212 also avoids a large collision between the tray 300 and the limiting portion 1112 when the tray 300 moves in the limiting portion 1112, reduces the wear of the limiting portion 1112, and makes the tray 300 pass through the guide mechanism 10 more smoothly. It can be understood that when the tray 300 passes through the limiting portion 1112 at the standard position 700, the outer edge of the tray 300 is zero-stuck with the first roller 1212.

[0077] In this embodiment, the first roller 1212 and the second roller 3122 are smooth strips, and in other embodiments, they can be fur wheels. The above arrangement can make the first roller 1212 and the second roller 3122 have slight elasticity and ensure a certain hardness to reduce the wear during use.

[0078] Preferably, as Figure 6 As shown, the bracket 1211 comprises a pivot shaft (hidden by the first roller 1212 and not labeled) and two pivot brackets 12111, the two pivot brackets 12111 are respectively mounted on the two side walls 112; the two ends of the pivot shaft are respectively mounted on the two pivot brackets 12111, the first roller 1212 is coaxially mounted with the pivot shaft and can rotate around the pivot shaft. Through the above arrangement, the size of the first roller 1212 in the vertical direction can be appropriately reduced, and then the size of the first through hole 11121 in the vertical direction is reduced, thereby ensuring the overall strength of the guide piece 11.

[0079] Preferably, the pivot bracket 12111 is in a U-shaped structure, which is convenient for installation.

[0080] After the shuttle tray correction device corrects the tray 300 once, the tray 300 enters the limiting portion 1112 and travels in the limiting portion 1112. A short distance of travel will also cause the tray 300 to be slightly deviated from the standard position 700 at the limiting portion 1112, and then cause the tray 300 to be slightly deviated when it comes out of the outlet of the guide mechanism 10. On the other hand, since the first sensor 20 is an optical sensor, dust is more in the field and the environment is poor, which will affect the measurement of the optical sensor, causing inaccurate distance measurement, and then causing a slight deviation between the tray 300 and the standard position 700 after one correction, and also causing a slight deviation of the tray 300 when it comes out of the outlet of the guide mechanism 10.

[0081] To solve the above problems, as shown in Figure 1 and Figure 5 The tray correction device in the embodiment further comprises a second correction mechanism 50, and the rear part of each guide mechanism 10 is provided with the second correction mechanism 50, as shown in Figure 2 The above shuttle tray correction method further comprises:

[0082] S40: The shuttle 200 enters between the two guide mechanisms 10, and it is judged again whether the tray 300 is offset to the second direction relative to the center of the tray correction device;

[0083] S50: If the judgment result is no, the tray 300 is in the standard position 700, no secondary correction is performed, and the shuttle 200 continues to drive out of the guide mechanism 10 in the first direction; if the judgment result is yes, S60 is executed;

[0084] S60: The secondary offset side of the tray 300 is identified, and the second correction mechanism 50 corresponding to the secondary offset side corrects the tray 300 to make the tray 300 return to the standard position 700.

[0085] Through the above setting, the tray 300 is corrected twice in the guide mechanism 10, so that the tray 300 is in the standard position 700 after driving out of the guide mechanism 10.

[0086] Specifically, the pressure of the tray 300 on both sides of the corresponding side of the guide mechanism 10 is Y1 and Y2 respectively, and the specific judgment method of S40 is:

[0087] Case 1: When |Y1-Y2|≤b, no secondary correction is needed, and the tray 300 directly passes through;

[0088] Case 2: When |Y1-Y2|>b, and Ym>Yn, the second correction mechanism 50 corresponding to Ym side corrects the tray 300, wherein Ym is one of Y1 and Y2, Yn is the other of Y1 and Y2, and 2bar≤b≤4bar. In the embodiment, b is 3bar, and in actual operation, the value of b can be set according to the actual situation, which is not limited here.

[0089] For the shuttle tray correction device, as shown in Figure 4 and Figure 7As shown, the guide mechanism 10 comprises a pressure sensor 40, two pressure sensors 40 are oppositely arranged along the second direction, each pressure sensor 40 is in communication connection with the second correction mechanism 50 of the corresponding side, and the two pressure sensors 40 are respectively used for sensing Y1 and Y2. In the embodiment, the pressure sensor 40 is connected to the guide piece 11, and in the case that the first roller 1212 is not under force, the zero is arranged on the first roller 1212, that is, when the tray 300 passes through the first roller 1212, the tray 300 generates extrusion force on the first roller 1212, the first roller 1212 generates pressure on the pressure sensor 40, and the pressure sensor 40 identifies the offset side of the tray 300, and the second correction mechanism 50 of the offset side performs secondary correction on the tray 300. Specifically, the pressure sensor 40 is installed on the pressure sensor mounting plate 41, both ends of the pressure sensor mounting plate are respectively installed on the two side walls 112, and the pressure sensor 40 is zeroed with the outer edge of the first roller 1212 away from the channel 70. Similarly, the pressure sensor 40 is in communication connection with the second correction mechanism 50 through the upper computer, which will not be repeated here. Moreover, the pressure sensor 40 is contact type, reliable and stable in data, and when the photoelectric sensor is not sensitive or has large error, the secondary correction corrects the primary correction.

[0090] Preferably, the shuttle vehicle 200 can also be stopped secondarily before secondary correction, which has the same principle as the primary correction in the preset position, and will not be repeated here.

[0091] It should be noted that the upper computer for control in the embodiment can be the same or separated, which is not limited here.

[0092] Since the tray 300 has a certain distance in the first direction, the sensing force of the pressure sensor 40 is variable in actual use, and preferably, the confirmation method of Y1 or Y2 is that the time of the tray 300 passing through the corresponding pressure sensor 40 is T, and a plurality of pressure values are selected within T time, and Y1 or Y2 is the average value of the plurality of pressure values of the corresponding side. Thus, the pressure sensor 40 gives a more accurate judgment result for correction.

[0093] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For ordinary skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is not necessary and impossible to exhaust all the implementation modes. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. Shuttle vehicle pallet correction method, a shuttle vehicle pallet correction device comprising two guide mechanisms (10), the two guide mechanisms (10) extending along a first direction and being spaced apart along a second direction to form a passage (70), a shuttle vehicle (200) being able to carry a pallet (300) to pass through the passage (70), the pallet (300) carrying goods (400) thereon, characterized in that, The shuttle vehicle tray correction method comprises: S10: before the tray (300) enters the guide mechanism (10) or within a preset time after entering the guide mechanism (10), it is judged whether the tray (300) is offset relative to the center of the tray correction device in a second direction, the second direction being perpendicular to the first direction; S20: if the result is no, the tray (300) is in a standard position (700), no first correction is performed, and the shuttle vehicle (200) continues to travel in the first direction; if the result is yes, S30 is executed; S30: the offset side of the tray (300) is identified, the tray correction device further comprises a first correction mechanism, the front part of each guide mechanism (10) is provided with the first correction mechanism, the first correction mechanism of the offset side corrects the tray (300) to return to the standard position (700), and then the shuttle vehicle (200) continues to travel in the first direction; The shuttle vehicle tray correction device further comprises a second correction mechanism (50), the rear part of each guide mechanism (10) is provided with the second correction mechanism (50), and the shuttle vehicle tray correction method further comprises: S40: the shuttle vehicle (200) enters between two guide mechanisms (10), and it is judged again whether the tray (300) is offset relative to the center of the tray correction device in the second direction; S50: if the result is no, the tray (300) is in the standard position (700), no second correction is performed, and the shuttle vehicle (200) continues to travel in the first direction out of the guide mechanism (10); if the result is yes, S60 is executed; S60: the second offset side of the tray (300) is identified, and the second correction mechanism (50) corresponding to the second offset side corrects the tray (300) to return to the standard position (700) again.

2. The shuttle tray correction method of claim 1, wherein, The shuttle vehicle tray correction method further comprises S09: stopping the tray (300) at a preset position, and the front end of the tray (300) at the preset position is located between two first correction mechanisms.

3. The shuttle tray correction method of claim 1, wherein, The shuttle vehicle tray correction device further comprises a first sensor (20), the first sensor (20) is correspondingly arranged at the front end of the first correction mechanism, the first sensor (20) is arranged in one-to-one correspondence with the first correction mechanism and is in communication connection, when the tray (300) is in the standard position (700), the distance between the edge of the tray (300) and the two first sensors (20) is X, the distance from the two first sensors (20) to the edge of the tray (300) is X1 and X2 respectively, and the judgment method of S20 is specifically: when ∣X1-X∣≤a and ∣X2-X∣≤a, no first correction is needed. The manner of judging the offset side of the tray (300) is specifically as follows: when XnX and |Xn-X|>a, the side where Xn is located is the offset side, the first correction mechanism of the offset side pushes the edge of the tray (300) on the offset side to make the tray (300) return to the standard position (700), Xn is one of X1 and X2, and 3mm≤a≤5mm.

4. The shuttle tray correction method of claim 1, wherein, The pressures of the guiding mechanisms (10) on the corresponding sides of the tray (300) are Y1 and Y2 respectively, and the specific judgment method of S40 is as follows: Case 1: when |Y1-Y2|≤b, no secondary correction is needed, and the tray (300) directly passes through; Case 2: when |Y1-Y2|>b and Ym>Yn, the second correction mechanism (50) on the side corresponding to Ym corrects the tray (300), wherein Ym is one of Y1 and Y2, Yn is the other one of Y1 and Y2, and 2bar≤b≤4bar.

5. The shuttle tray correction method of claim 4, wherein, Each guiding mechanism (10) comprises a pressure sensor (40), the two pressure sensors (40) are oppositely arranged along a second direction, each pressure sensor (40) is in communication connection with the second correction mechanism (50) on the corresponding side, and the two pressure sensors (40) are respectively used for measuring Y1 and Y2.

6. The shuttle tray correction method of claim 5, wherein, The confirmation method of Y1 or Y2 is as follows: the time of the tray (300) passing through the corresponding pressure sensor (40) is T, a plurality of pressure values are selected within T time, and Y1 or Y2 is the average value of the plurality of pressure values on the corresponding side.

7. Shuttle vehicle pallet correction device, characterized in that The shuttle tray correction method according to any one of claims 1-6 is used to correct the tray (300), and the shuttle tray correction device comprises: two guiding mechanisms (10) and a first correction mechanism, the two guiding mechanisms (10) extend along a first direction and are spaced apart along a second direction, and the front part of each guiding mechanism (10) is provided with the first correction mechanism; a first sensor (20) is installed at the front part of each guiding mechanism (10), the first sensor (20) is used for identifying the offset side of the tray (300) relative to the standard position (700), each first correction mechanism is in communication connection with the corresponding first sensor (20), and the first correction mechanism on the offset side can correct the tray (300) according to the instruction of the corresponding first sensor (20).

8. The shuttle tray correction device of claim 7, wherein, The first correction mechanism comprises a first correction driving member and a first correction assembly (31) installed at the output end of the first correction driving member, the first correction assembly (31) is opposite to the front end of the tray (300) in the preset position, and the first correction assembly (31) of the first correction mechanism on the offset side of the tray (300) can be driven to extend so that the offset tray (300) returns to the standard position (700).

9. The shuttle tray correction device of claim 7, wherein, The guiding mechanism (10) comprises a guide piece (11), a plurality of first rollers (1212) and a pressure sensor (40), the guide piece (11) extends along a first direction and is provided with a first through hole (11121), the plurality of first rollers (1212) are arranged side by side along the first direction and are all pivotally connected with the guide piece (11), part of the circumferential surface of the first roller (1212) is provided in the first through hole (11121), and the pressure sensor (40) is installed on the guide piece (11) and is in contact with the first roller (1212).

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