Non-navigated automated warehouse transport system and method

Abstract

The application discloses a non-navigation type automatic stereoscopic warehouse transportation system and method, relates to the technical field of automatic stereoscopic warehouses, and comprises a stereoscopic warehouse body, a control mechanism, a track mechanism, a chain plate conveyor, a positioning mechanism, a vehicle identity recognition mechanism, a weighing mechanism, a transportation vehicle and a storage unit. The method comprises the steps of overall management, weighing, positioning, warehouse-out, warehouse-in and the like of the transportation vehicle. The application provides the automatic stereoscopic warehouse applicable to building material storage, improves the traditional AGV trolley and conveyor technology, improves the building material conveying efficiency in the warehouse, and improves the management quality and management efficiency of the stereoscopic warehouse.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated stereoscopic warehouse, in particular to a non-navigation type automated stereoscopic warehouse transportation system and method. BACKGROUND

[0002] In the field of construction engineering, there are various types of building materials, including steel, cement and its products, asphalt, fuel, land construction equipment, water construction equipment, other metal materials, wood and bamboo products, ground materials, light chemicals, standard parts and electrical products, building decoration materials, special materials and tools, etc. The current storage method is to store them in the open air or in a common building material warehouse. The management method for building materials is backward and the use efficiency is low.

[0003] At present, the technology of automated stereoscopic warehouse is becoming mature, and there are still very few automated stereoscopic warehouses specially designed for building materials. Part of the reason is that there are many types of building materials, and the shapes are different. Many building materials are heavy and inconvenient to transport. In the automated stereoscopic warehouse, AGV trolley is often used for transportation, and this method has many defects:

[0004] 1. AGV trolley uses positioning navigation technology to travel in the planned path through wireless network and numerous sensors. The cost is high, and the network environment is high. When the sensor fails, positioning is difficult, the network is missing or delayed, the navigation system fails, the program problem causes the car to stop, etc. The building materials in the automated stereoscopic warehouse will be interrupted or the collision between the cars will occur, which will bring great maintenance cost and operating risk.

[0005] 2. In order to adapt to or solve the delay of communication network, the time length of sensor signal collection, avoid collision or wrong road, etc., the AGV trolley usually travels at a slow speed, which leads to low transportation efficiency and is difficult to meet the requirements of building materials field for material transportation efficiency.

[0006] 3. The carrying capacity of AGV trolley is limited, while the building material field usually needs large carrying capacity. When a large amount of building materials is involved, the AGV trolley is obviously insufficient in carrying capacity.

[0007] 4. The AGV trolley using positioning navigation technology mainly relies on its own navigation positioning and various sensors to collect road condition signals to realize obstacle avoidance and road recognition function. In the whole automated stereoscopic warehouse, there is still a lack of technology for overall management of all AGV trolleys. If all AGV trolleys can be managed overall, the transportation efficiency will be effectively improved.

[0008] In addition, the existing stereoscopic warehouse often uses a conveyor belt to transport goods. Since there are many types of building materials with different shapes, and many of them are heavy materials, such as the transportation of a large number of steel components, sand and stone materials, wood and wood products, obviously the ordinary conveyor belt technology is difficult to apply to the field of building materials, which is an important reason why the current building material warehouse still remains in the original warehouse state. SUMMARY

[0009] The application provides a non-navigation type automated stereoscopic warehouse transportation system and method, which aims to solve the problems of the AGV trolley in the prior art and the problem that the commonly used conveyor belt is not suitable for building material transportation.

[0010] To solve the above problems, the technical scheme of the application is as follows:

[0011] A non-navigation type automated stereoscopic warehouse transportation system, comprising a stereoscopic warehouse body, a control mechanism, a track mechanism, a chain plate conveyor, a positioning mechanism, a vehicle identity recognition mechanism, a weighing mechanism, a transportation vehicle and a storage unit. The stereoscopic warehouse body is internally provided with a plurality of storage units, each of which is used to store one type of building material. The track mechanism is distributed between the storage units. The track mechanism is provided with a plurality of transportation vehicles. The chain plate surface of the chain plate conveyor is provided with a protrusion structure. The bottom plate of the transportation vehicle is provided with a rack structure. The chain plate conveyor drives the transportation vehicle to move along the track mechanism through the mutual engagement of the protrusion structure and the rack structure. The chain plate conveyor bears the weight of the transportation vehicle, which is 0. The bottom end of the transportation vehicle is in abutting and sliding connection with the track mechanism. The track mechanism is provided with a positioning mechanism for identifying the position of the transportation vehicle. The weighing mechanism is used to weigh the transportation vehicle. The vehicle identity recognition mechanism comprises a sensing unit arranged on the track mechanism and a triggering unit arranged on the transportation vehicle. The sensing unit and the triggering unit cooperate with each other. The control mechanism is connected with the power distribution cabinet in the stereoscopic warehouse body and is electrically connected with the chain plate conveyor, the positioning mechanism, the weighing mechanism and the vehicle identity recognition mechanism arranged on the track mechanism. The transportation path, transportation speed and transportation sequence of the plurality of transportation vehicles in the stereoscopic warehouse body are planned to manage the automated stereoscopic warehouse transportation system.

[0012] Preferably, the stereoscopic warehouse body is provided with one or more goods inlet ports and one or more goods outlet ports. The goods inlet ports and the goods outlet ports are connected through the track mechanism. The storage units are arranged in a matrix in the stereoscopic warehouse body. The track mechanism comprises a horizontal track, a vertical track and an internal track of the storage unit. The horizontal track, the vertical track and the internal track of the storage unit are vertically crossed in the same plane and connect the goods inlet ports, the goods outlet ports and the plurality of storage units.

[0013] Preferably, the transverse track, longitudinal track and the track in the storage unit are of the same structure, each comprising track bodies arranged side by side, the track bodies being provided with a track groove along the direction of the track groove, limit plates being provided at the top ends of the track bodies on both sides of the track groove along the direction of the track groove, and a plurality of chain plate conveyors being uniformly distributed on both sides of the track bodies.

[0014] Preferably, the transport vehicle comprises a bottom plate, a transport bin provided at the top end of the bottom plate, and four walking units provided at the bottom end of the bottom plate, the walking unit comprising a ball seat, a universal ball and a support roller, the top end of the ball seat being fixedly connected to the lower end of the bottom plate, the universal ball being mounted at the bottom end of the ball seat, the universal ball being in sliding fit with the track groove, the side walls of the ball seat being fixedly connected with support frames arranged horizontally at the front and rear ends and left and right ends, respectively, the support roller being rotatably connected to the support frame, the support roller being in sliding fit with the inner surface of the corresponding limit plate, the center points of the four universal balls being connected by a first square, and the lower end of the bottom plate being provided with a rack structure arranged along the longitudinal direction or the transverse direction on the left and right sides of the same column of walking units and on the front and rear sides of the same row of walking units.

[0015] Preferably, the bottom plate is further fixedly connected with a mounting seat at the tail end, the mounting seat is provided with a six-axis robot at the top end for handling building materials, the mounting seat is provided with a triggering unit at the bottom end, the transport vehicle is provided with a controller, the six-axis robot, the triggering unit and the controller are electrically connected with the vehicle-mounted power supply of the transport vehicle, the mounting seat is provided with a visual sensor at the bottom end for identifying the position of a sensing unit, the sensing unit is a first pressure sensor arranged between adjacent track bodies, the triggering unit comprises a slide rod fixedly connected to the bottom end of the mounting seat along the longitudinal direction, the top end of the slide rod is sleeved with a ring-shaped electromagnet, the slide rod is sleeved with a sleeve, the top end of the sleeve is closed and provided with a through hole, the through hole is in sliding connection with the slide rod, the bottom end of the slide rod is fixedly provided with a ring-shaped limiting block, when the ring-shaped electromagnet is de-energized, the top end of the ring-shaped limiting block is in cooperation with the inner surface of the top end of the sleeve to prevent the sleeve from being separated from the slide rod, when the bottom end of the sleeve abuts against the top end of the first pressure sensor, the top end of the ring-shaped limiting block is separated from the inner surface of the top end of the sleeve, the visual sensor and the ring-shaped electromagnet are electrically connected with the controller, respectively, the sleeves configured on each transport vehicle are different in weight, and the controller identifies the vehicle identity of the transport vehicle according to the weight of the sleeve detected by the first pressure sensor.

[0016] Preferably, the chain conveyor comprises a servo motor, a transmission chain plate, a driving sprocket, a driven sprocket, the servo motor is embedded in the outer end or inner end of the track body, the output shaft of the servo motor is fixedly connected with the driving sprocket, the central shaft of the driven sprocket is fixedly connected with the outer end or inner end of the track body, the transmission chain plate is transmissionally connected between the driving sprocket and the driven sprocket, the outer surface of the transmission chain plate is provided with a convex tooth structure matched with the rack structure, the servo motor is electrically connected with the control mechanism, the transverse track, the longitudinal track and the inner track of the storage unit are respectively provided with a plurality of chain conveyors along the track direction, when the adjacent chain conveyors operate, the next chain conveyor receives the transportation of the transport vehicle before the previous chain conveyor completes the transportation of the transport vehicle, the control mechanism calculates the rotation number of the servo motor and converts it into distance data of the transport vehicle moving along the track body, and controls the next group of adjacent chain conveyors to start according to the distance data.

[0017] Preferably, when the transverse track, the longitudinal track and the inner track of the storage unit intersect with each other, four intersection positions are formed, the center points of the four intersection positions are connected to form a second square, the first square and the second square are the same size, the second pressure sensor is arranged at the four corners of the second square and located in the intersection position, when the four universal balls are opposite to and abut against the four second pressure sensors, the control mechanism calculates the sum of the detection values of the four second pressure sensors as the overall weight of the transport vehicle, and a plurality of groups of second pressure sensors same as those at the intersection positions are arranged on the transverse track, the longitudinal track and the inner track of the storage unit.

[0018] Preferably, the positioning mechanism comprises a plurality of photoelectric sensors arranged linearly along the outer edge of the top end of the track body, each photoelectric sensor is provided with a number, and the controller judges the position of the transport vehicle according to the information detected by different photoelectric sensors.

[0019] Preferably, the transport vehicle is provided with a number, and a camera is further installed on the top plate of the stereoscopic warehouse body, the camera is used to assist in identifying the position of each transport vehicle, and the camera is electrically connected with the control mechanism.

[0020] A use method of a non-navigation type automatic stereoscopic warehouse transportation system, comprising the following steps:

[0021] (1) At the goods inlet, the building materials are loaded into the transport bin by the six-axis robot, after loading, the first group of chain conveyors is started to move the transport vehicle along the track body, in the moving process, the adjacent chain conveyors are started in turn to alternately drive the transport vehicle; at the same time, the other transport vehicles in the stereoscopic warehouse body are driven in the same way;

[0022] (2) The control mechanism determines the position of each transport vehicle according to the detection signals of each photoelectric sensor and the shooting information of the camera, identifies the speed of the transport vehicle according to the rotating speed of each servo motor, and plans the speed of each transport vehicle according to the layout of the track mechanism, so that each transport vehicle passes through each intersection position staggered with each other; in this process, the control mechanism controls the speed of each transport vehicle by controlling the rotating speed of the servo motor;

[0023] (3) At the goods inlet, the total weight of the transport vehicle is initially weighed by the second pressure sensor, when the transport vehicle passes through the intersection position, the vehicle identity information of the transport vehicle is identified by the cooperation of the trigger unit and the sensing unit, then the electromagnet is energized, the sleeve rises and is separated from the first pressure sensor;

[0024] (4) The control mechanism re-weighs the total weight of the vehicle according to the data detected by the four second pressure sensors, to check the weight of the goods in the transport vehicle, and weighs the total weight of the vehicle before and after unloading when the transport vehicle enters the multiple storage units to unload, the controller records the unloading amount according to the weight difference before and after unloading, when the weight of the vehicle is the net weight of the transport vehicle, the control mechanism returns the transport vehicle to the goods inlet by overall planning the path;

[0025] (5) When the goods are delivered, the total weight of the transport vehicle is initially weighed by the second pressure sensor on the track in the storage unit, and the total weight of the transport vehicle is rechecked when passing through the intersection position;

[0026] (6) At each goods outlet, the control mechanism determines and records the delivery amount at each goods outlet according to the weight difference before and after unloading, and after the delivery is completed, the control mechanism plans the transport vehicle to return to the goods inlet or the corresponding storage unit for loading.

[0027] The non-navigation type automatic three-dimensional warehouse transport system and method has the following beneficial effects:

[0028] 1、The transport vehicle structure of the present application is firm, has large load capacity, can be adjusted to the maximum speed as needed, and can avoid congestion and collision in the transport system on this basis, thereby being suitable for efficient transportation of various building materials in the three-dimensional warehouse body.

[0029] 2、In the present application, the control mechanism plans and coordinates the operation of the plurality of transport vehicles, so that the three-dimensional warehouse body forms a whole mechanical structure, and each transport vehicle runs in order in the three-dimensional warehouse body. Through overall planning, not only the transport vehicles run smoothly, but also the transportation efficiency of the transport vehicles is improved.

[0030] 3、The chain plate conveyor is only responsible for driving the transport vehicle, and is separated from the use mode of the traditional conveyor, and the chain plate conveyor does not bear the weight of the transport vehicle while driving the transport vehicle, so that the subsequent steps of weighing and measuring the transport vehicle and identifying the vehicle identity of the transport vehicle are facilitated.

[0031] 4、The application also gets rid of the mode of relying on positioning navigation operation of the traditional AGV trolley, avoids the problems of high cost, small transportation capacity and slow transportation speed caused by the mode, and solves the problems of material transportation interruption in the automatic stereoscopic warehouse and collision accidents between trolleys caused by sensor failure, positioning difficulty, network loss or network delay, navigation system failure and program problems.

[0032] 5、The vehicle identity identification, positioning and weighing of the transport vehicle can improve the management efficiency and management level of the stereoscopic warehouse. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The layout structure diagram of the stereoscopic warehouse body of the application;

[0034] Figure 2 The partial structure diagram of the cross position of the application;

[0035] Figure 3 The sectional view of the transport vehicle and the track body of the application;

[0036] Figure 4 The bottom view structure diagram of the transport vehicle of the application;

[0037] Figure 5 The top view structure diagram of the transport vehicle of the application;

[0038] Figure 6 The cooperation structure diagram of the supporting roller and the limiting plate of the application;

[0039] 1: stereoscopic warehouse body, 2: storage unit, 3: goods inlet, 4: goods outlet, 5: horizontal track, 6: longitudinal track, 7: track in the storage unit, 8: transport vehicle, 9: track groove, 10: first chain plate conveyor, 11: second chain plate conveyor, 12: second pressure sensor, 13: first pressure sensor, 14: convex tooth structure, 15: photoelectric sensor, 16: driving sprocket, 17: servo motor, 18: limiting plate; 19: bearing seat, 20: supporting roller, 21: bottom plate, 22: six-axis robot, 23: mounting seat, 24: rack structure, 25: annular electromagnet, 26: sleeve, 27: annular limiting block, 28: transport bin, 29: rack structure arranged in the longitudinal direction, 30: rack structure arranged in the transverse direction, 31: universal ball, 32: ball seat, 33: supporting frame, 34: supporting roller. Detailed Implementation

[0040] The following description provides a detailed explanation of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0041] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limiting this invention.

[0042] Example 1:

[0043] A non-navigation automated storage and retrieval system, such as Figure 1 As shown, the automated storage and retrieval system includes a main body 1, a control mechanism, a track mechanism, a chain conveyor, a positioning mechanism, a vehicle identification mechanism, a weighing mechanism, a transport vehicle, and storage units 2. The main body 1 contains several storage units 2, each of which stores a specific type of building material. Track mechanisms are distributed between the various storage units 2.

[0044] The track mechanism is equipped with several transport vehicles 8. The chain plate of the chain conveyor is provided with a toothed structure 14 on its chain plate surface. The bottom plate of the transport vehicle 8 is provided with a rack structure 24. The chain plate conveyor drives the transport vehicle 8 to move along the track mechanism through the meshing of the toothed structure 14 and the rack structure 24. The chain plate conveyor bears no weight of the transport vehicle, that is, it does not bear the weight of the transport vehicle, but is only responsible for driving the transport vehicle to move.

[0045] The bottom of the transport vehicle 8 is abutted against and slidably connected to the track mechanism. The track mechanism is equipped with a positioning mechanism for identifying the position of the transport vehicle, and a weighing mechanism for weighing the transport vehicle. The vehicle identification mechanism includes a sensing unit on the track mechanism and a triggering unit on the transport vehicle. The sensing unit and the triggering unit cooperate with each other. The control mechanism is connected to the power distribution cabinet inside the automated storage and retrieval system 1, and is configured to be electrically connected to several chain conveyors, positioning mechanisms, weighing mechanisms, and vehicle identification mechanisms installed on the track mechanism. By comprehensively planning the transport paths, transport speeds, and transport sequences of several transport vehicles within the automated storage and retrieval system, the automated storage and retrieval system transport system is managed.

[0046] In the embodiment, the several transport vehicles are planned and arranged to run by the control mechanism, so that the stereoscopic warehouse body forms a whole mechanical structure, and the transport vehicles orderly run in the stereoscopic warehouse body, and through the planning and arrangement, the transport vehicles not only run smoothly, but also improve the transport efficiency of the transport vehicles.

[0047] The chain plate conveyor is only responsible for driving the transport vehicle, and is separated from the use mode of the traditional conveyor, and at the same time of driving the transport vehicle, the chain plate conveyor does not bear the weight of the transport vehicle, so as to facilitate the weighing measurement of the transport vehicle and the identification of the vehicle identity of the transport vehicle in the subsequent steps.

[0048] The application also gets rid of the mode that the traditional AGV depends on positioning and navigation, avoids the problems of high cost, small transport capacity and slow transport speed caused by the mode, and solves the problems that when the sensor fails, positioning is difficult, the network is missing or delayed, the navigation system fails, the program problem causes the problem of dead machine, and the like, the building material conveying in the automatic stereoscopic warehouse is interrupted or the collision accidents between the transport vehicles occur.

[0049] Embodiment 2:

[0050] As shown in Figure 1 , the stereoscopic warehouse body 1 is provided with one or more goods inlet ports 3 and one or more goods outlet ports 4, the goods inlet port 3 and the goods outlet port 4 are connected through a track mechanism, and the storage unit 2 is arranged in a matrix in the stereoscopic warehouse body 1. The track mechanism comprises a horizontal track 5, a vertical track 6 and a storage unit inner track 7, the horizontal track 5, the vertical track 6 and the storage unit inner track 7 are perpendicular to each other in the same plane and connect the goods inlet port 3, the goods outlet port 4 and the several storage units 2.

[0051] As shown in Figure 2 , 3 , the horizontal track 5, the vertical track 6 and the storage unit inner track 7 are the same in structure, and all comprise track bodies arranged side by side, the track bodies are provided with track grooves 9 along the direction, limit plates 18 are arranged at the top of the track bodies on both sides of the track grooves 9 along the direction of the track grooves 9, and the track bodies are uniformly distributed with several chain plate conveyors on both sides. Figure 2 The first chain plate conveyor 10 located on the horizontal track and the second chain plate conveyor 11 located on the vertical track are shown.

[0052] Embodiment 3:

[0053] As shown in Figures 2-6As shown, the transport vehicle includes a base plate 21, a transport compartment 28 located at the top of the base plate 21, and four traveling units located at the bottom of the base plate 21. Each traveling unit includes a ball seat 32, a universal ball 31, and a support roller 20. The top of the ball seat 32 is fixedly connected to the bottom of the base plate 21, and the universal ball 31 is installed at the bottom of the ball seat. The universal ball 31 slides in conjunction with the track groove 9.

[0054] The ball seat 32 has horizontally arranged support frames 33 fixedly connected to the front, back, left and right ends of its side wall. Support rollers 34 are rotatably connected to the support frames 33. The support rollers 34 slide with the inner surface of the corresponding limiting plate 18. The line connecting the center points of the four universal balls 31 forms a first square.

[0055] The lower end of the base plate 21 is provided with rack structures arranged longitudinally or laterally on the left and right sides of the same column of traveling units and on the front and rear sides of the same row of traveling units, such as... Figure 4 As shown, the rack structure includes a rack structure 29 arranged longitudinally and a rack structure 30 arranged transversely. The purpose of having two rack structures on each side is to facilitate the flexible installation of a chain conveyor on the track body.

[0056] like Figures 3-5 As shown, a mounting base 23 is fixedly connected to the tail end of the base plate 21. A six-axis robot 22 for transporting building materials is mounted on the top of the mounting base 23, and a trigger unit is mounted on the bottom of the mounting base 23. A controller is mounted on the transport vehicle 8. The six-axis robot, the trigger unit, and the controller are electrically connected to the on-board power supply of the transport vehicle. A vision sensor (not shown in the figure) for identifying the position of the sensing unit is mounted on the bottom of the mounting base. The sensing unit is a first pressure sensor 13 located between adjacent track bodies.

[0057] The triggering unit includes a slide rod fixedly connected longitudinally to the bottom end of the mounting base 23. A ring electromagnet 25 is sleeved on the top end of the slide rod, and a sleeve 26 is sleeved on the outer side of the slide rod. The top end of the sleeve 26 is closed and has a through hole. The through hole is slidably connected to the slide rod. A ring limiting block 27 is fixedly provided at the bottom end of the slide rod. When the ring electromagnet 25 is de-energized, the top end of the ring limiting block 27 cooperates with the inner surface of the top end of the sleeve to prevent the sleeve 26 from detaching from the slide rod.

[0058] When the bottom end of the sleeve 26 abuts against the top end of the first pressure sensor 13, the top end of the annular limiting block 27 disengages from the inner surface of the top end of the sleeve 26. The visual sensor and the annular electromagnet 25 are electrically connected to the controller. The weight of the sleeve 26 configured on each transport vehicle is different. The controller identifies the vehicle identity of the transport vehicle based on the weight of the sleeve 26 detected by the first pressure sensor 13.

[0059] The purpose of identifying vehicle identity is: such asFigure 2 As shown, four first pressure sensors are installed at each intersection. After the transport vehicles from each direction stop at the intersection, the vehicle identification is required. After the vehicle identification is identified, the controller controls the transport vehicle to pass in a straight line or turn according to the pre-planned path. When turning, the chain plate conveyor on another track body that intersects the original track body perpendicularly is started. In this way, the transport vehicle is controlled to finally reach the designated position.

[0060] Example 4:

[0061] like Figure 3 As shown, the chain conveyor includes a servo motor 17, a transmission chain plate, a drive sprocket 16, and a driven sprocket (not shown in the figure, representing common technology). The servo motor 17 is embedded in the outer or inner end of the track body, and the output shaft of the servo motor 17 is fixedly connected to the drive sprocket 16. The central shaft of the driven sprocket is fixedly connected to the outer or inner end of the track body. A transmission chain plate is connected between the drive sprocket and the driven sprocket, and the outer surface of the transmission chain plate is provided with a toothed structure 14 that mates with the rack and pinion structure.

[0062] The servo motor 17 is electrically connected to the control mechanism. Several chain plate conveyors are provided along the track direction of the transverse track, longitudinal track and the track in the storage unit. When adjacent chain plate conveyors are running, the next chain plate conveyor takes over the transport of the transport vehicle 8 before the previous chain plate conveyor completes the transport of the transport vehicle.

[0063] The control mechanism calculates the number of rotations of the servo motor and converts it into the distance the transport vehicle moves along the track body. Based on this distance data, it controls the start of the next set of adjacent chain conveyors. That is, the transport vehicle's driving process includes the individual driving process of each chain conveyor and the transition driving process when adjacent chain conveyors connect. During the individual driving process, the control mechanism can adjust the transport vehicle's speed by adjusting the servo motor's rotation speed. During the transition driving process, the servo motors of adjacent chain conveyors rotate at the same speed.

[0064] Example 5:

[0065] like Figure 2 As shown, when the horizontal track 5, the vertical track 6, and the track 7 in the storage unit intersect each other, they form four intersection positions. The line connecting the center points of the four intersection positions forms a second square. The first square and the second square have the same size. A second pressure sensor 12 is provided at the four corners of the second square and within the intersection position.

[0066] When the four universal balls are in contact with the four second pressure sensors 12 respectively, the control mechanism calculates the sum of the detection values of the four second pressure sensors as the overall weight of the transport vehicle; a plurality of groups of second pressure sensors identical to those at the intersection positions are arranged on the lateral track, the longitudinal track and the inner track of the storage unit, the only difference being that the four second pressure sensors on the lateral track, the longitudinal track and the inner track of the storage unit are located on the same track body.

[0067] As shown in Figure 2 , the positioning mechanism is a plurality of photoelectric sensors 15 arranged linearly along the top edge of the track body, each photoelectric sensor 15 is numbered, and the controller determines the position of the transport vehicle according to the information detected by the different photoelectric sensors 15. When the front end and the rear end of the bottom plate of the transport vehicle are detected by the front and rear photoelectric sensors at the same time during weighing, the transport vehicle reaches the weighing position, at which time the universal ball is in contact with the second pressure sensor. When setting, the top end of the second pressure sensor should be flush with the bottom of the track groove, and the control mechanism can also find the combination point of the four universal balls and the four second pressure sensors by moving the transport vehicle forward and backward.

[0068] As shown in Figure 1 , the transport vehicle 8 is numbered, and a camera (not shown in the figure) is also installed on the top plate of the three-dimensional warehouse body 1, which is used to assist in identifying the position of each transport vehicle, and the camera is electrically connected with the control mechanism.

[0069] Example 6:

[0070] A use method of a non-navigation type automated three-dimensional warehouse transport system, comprising the following steps:

[0071] At the goods inlet, the building materials are loaded into the transport bin by the six-axis robot, after loading, the first group of chain conveyors is started to move the transport vehicle along the track body, and in the moving process, the adjacent chain conveyors are started in turn to alternately drive the transport vehicle.

[0072] At the same time, the other transport vehicles in the three-dimensional warehouse body are driven in the same way; the control mechanism determines the position of each transport vehicle according to the detection signals of each photoelectric sensor and the shooting information of the camera, determines the speed of each transport vehicle according to the rotation speed of each servo motor, and plans the speed of each transport vehicle according to the layout of the track mechanism, so that each transport vehicle passes through each intersection position staggered with each other; in this process, the control mechanism controls the speed of each transport vehicle by controlling the rotation speed of the servo motor.

[0073] At the goods-in port, the total weight of the transport vehicle is weighed by the second pressure sensor, when the transport vehicle passes the intersection position, the vehicle identity information is identified by the cooperation of the trigger unit and the sensing unit, then the electromagnet is energized, the sleeve is lifted and separated from the first pressure sensor, the control mechanism re-weighs the total weight of the vehicle according to the data detected by the four second pressure sensors to check the weight of the goods in the transport vehicle, so as to avoid the loss of goods in the middle of the journey without knowing.

[0074] When the transport vehicle enters the multiple storage units to unload goods, the total weight of the vehicle is weighed before and after unloading, the controller records the unloading amount according to the weight difference before and after unloading, and the management and accounting of the goods-in amount in each storage unit are realized, when the weight of the vehicle is the net weight of the transport vehicle, the control mechanism returns the transport vehicle to the goods-in port through overall planning of the path.

[0075] When the goods are delivered, the total weight of the transport vehicle is weighed by the second pressure sensor on the track in the storage unit, the total weight of the transport vehicle is checked when passing the intersection position, at each goods-out port, the control mechanism judges the delivery amount at each goods-out port according to the weight difference before and after unloading, and records it, that is, the management and accounting of the delivery amount at each goods-out port are realized; after the delivery is completed, the control mechanism plans the transport vehicle to return to the goods-in port or the corresponding storage unit for loading.

[0076] The non-navigation type automatic three-dimensional warehouse transport system is managed by the above method, the transport vehicle has the characteristics of large load capacity, firm structure and automatic loading and unloading, is suitable for building material transportation with large load, and can be adjusted to the maximum transport speed according to the actual situation, and the transport efficiency is effectively improved.

Claims

1. A method of using a non-navigated automated storage and retrieval system, characterized by: The application relates to a non-navigation type automatic stereoscopic warehouse transportation system, which comprises a stereoscopic warehouse body, a control mechanism, a track mechanism, a chain plate conveyor, a positioning mechanism, a vehicle identity recognition mechanism, a weighing mechanism, a transportation vehicle and a storage unit. The stereoscopic warehouse body is internally provided with a plurality of storage units, each of which is used for storing one kind of building material; track mechanisms are distributed between the storage units; the track mechanisms are provided with a plurality of transportation vehicles; the chain plate surface of the chain plate conveyor is provided with a convex tooth structure; the bottom plate of the transportation vehicle is provided with a rack structure; the chain plate conveyor drives the transportation vehicle to move along the track mechanism through the mutual meshing of the convex tooth structure and the rack structure; the chain plate conveyor bears the weight of the transportation vehicle; the bottom end of the transportation vehicle is abutted with and slidably connected with the track mechanism; the track mechanism is provided with a positioning mechanism used for identifying the position of the transportation vehicle and a weighing mechanism used for weighing the transportation vehicle; the vehicle identity recognition mechanism comprises a sensing unit arranged on the track mechanism and a triggering unit arranged on the transportation vehicle; the sensing unit and the triggering unit are matched with each other; the control mechanism is connected with a power distribution cabinet in the stereoscopic warehouse body and is electrically connected with a plurality of chain plate conveyors, positioning mechanisms, weighing mechanisms and vehicle identity recognition mechanisms arranged on the track mechanism; the transportation path, transportation speed and transportation sequence of the plurality of transportation vehicles in the stereoscopic warehouse body are planned to manage the automatic stereoscopic warehouse transportation system. The stereoscopic warehouse body is provided with one or more goods inlet ports and one or more goods outlet ports; the goods inlet ports and the goods outlet ports are connected through the track mechanisms; the storage units are arranged in a matrix in the stereoscopic warehouse body; the track mechanisms comprise horizontal tracks, vertical tracks and storage unit internal tracks; the horizontal tracks, the vertical tracks and the storage unit internal tracks are vertically crossed in the same plane and connect the goods inlet ports, the goods outlet ports and the storage units; The horizontal tracks, the vertical tracks and the storage unit internal tracks have the same structure and comprise track bodies arranged side by side; the track bodies are provided with track grooves along the direction; limit plates are arranged at the top ends of the track bodies on both sides of the track grooves along the direction of the track grooves; a plurality of chain plate conveyors are uniformly distributed on the two sides of the track bodies; The transportation vehicle comprises a bottom plate, a transportation bin arranged at the top end of the bottom plate and four walking units arranged at the bottom end of the bottom plate; the walking unit comprises a ball seat, a universal ball and a supporting roller; the top end of the ball seat is fixedly connected with the lower end of the bottom plate; the universal ball is mounted on the bottom end of the ball seat and is slidably matched with the track groove; the side walls of the ball seat are fixedly connected with supporting frames arranged horizontally at the front, the back, the left and the right; the supporting rollers are rotatably connected with the supporting frames and are slidably matched with the inner surfaces of the corresponding limit plates; the center points of the four universal balls are connected to form a first square; the rack structures are arranged along the vertical direction or the horizontal direction at the left and right sides of the same column of walking units and at the front and back sides of the same row of walking units. The tail end of the bottom plate is also fixedly connected with a mounting seat, the top end of the mounting seat is provided with a six-axis robot for carrying building materials, and the bottom end of the mounting seat is provided with a triggering unit; the transport vehicle is provided with a controller, the six-axis robot, the triggering unit, the controller and the vehicle-mounted power supply of the transport vehicle are electrically connected, the bottom end of the mounting seat is provided with a visual sensor for identifying the position of a sensing unit, the sensing unit is a first pressure sensor arranged between adjacent track bodies, the triggering unit comprises a sliding rod fixedly connected to the bottom end of the mounting seat in the longitudinal direction; the top end of the sliding rod is sleeved with a ring-shaped electromagnet, the sliding rod is sleeved with a sleeve, the top end of the sleeve is closed and is provided with a through hole, the through hole is in sliding connection with the sliding rod, the bottom end of the sliding rod is fixedly provided with a ring-shaped limiting block, when the ring-shaped electromagnet is powered off, the top end of the ring-shaped limiting block is matched with the inner surface of the top end of the sleeve to prevent the sleeve from being separated from the sliding rod; when the bottom end of the sleeve abuts against the top end of the first pressure sensor, the top end of the ring-shaped limiting block is separated from the inner surface of the top end of the sleeve, the visual sensor and the ring-shaped electromagnet are electrically connected with the controller respectively, the sleeves arranged on each transport vehicle are different in weight, and the controller identifies the vehicle identity of the transport vehicle according to the weight of the sleeve detected by the first pressure sensor; The chain plate conveyor comprises a servo motor, a transmission chain plate, a driving sprocket and a driven sprocket; the servo motor is embedded on the outer side end or the inner side end of the track body, the output shaft of the servo motor is fixedly connected with the driving sprocket, the central shaft of the driven sprocket is fixedly connected with the outer side end or the inner side end of the track body, and the transmission chain plate is in transmission connection between the driving sprocket and the driven sprocket; the outer surface of the transmission chain plate is provided with a convex tooth structure matched with a rack structure, the servo motor is electrically connected with a control mechanism, the transverse track, the longitudinal track and the inner track of the storage unit are respectively provided with a plurality of chain plate conveyors along the track direction, when adjacent chain plate conveyors operate, the next chain plate conveyor receives the transportation of the transport vehicle before the previous chain plate conveyor completes the transportation of the transport vehicle; the control mechanism calculates the number of rotation of the servo motor and converts it into distance data of the transport vehicle moving along the track body, and controls the next group of adjacent chain plate conveyors to start according to the distance data; The transverse track, the longitudinal track and the inner track of the storage unit cross each other to form four intersection positions, the center points of the four intersection positions are connected to form a second square, the first square and the second square are the same in size, and the second pressure sensor is arranged at the four corners of the second square and in the intersection position; when the four universal balls are opposite to and abut against the four second pressure sensors, the control mechanism calculates the sum of the detection values of the four second pressure sensors as the overall weight of the transport vehicle; a plurality of groups of second pressure sensors same as those in the intersection positions are arranged on the transverse track, the longitudinal track and the inner track of the storage unit; The positioning mechanism comprises a plurality of photoelectric sensors arranged linearly along the outer edge of the top end of the track body, each photoelectric sensor is provided with a number, and the controller judges the position of the transport vehicle according to the information detected by different photoelectric sensors. The transport vehicle is numbered, and a camera is installed on the top plate of the stereoscopic warehouse body to assist in identifying the position of each transport vehicle, and the camera is electrically connected with the control mechanism; The use method of the non-navigation type automated stereoscopic warehouse transport system comprises the following steps: (1) At the goods inlet, the building materials are loaded into the transport bin by the six-axis robot, after loading, the first group of chain plate conveyors are started to move the transport vehicle along the track body, in the moving process, the adjacent chain plate conveyors are started in turn to alternately drive the transport vehicle; at the same time, the other transport vehicles in the stereoscopic warehouse body are driven in the same way; (2) The control mechanism determines the position of each transport vehicle according to the detection signals of each photoelectric sensor and the shooting information of the camera, identifies the speed of the transport vehicle according to the rotating speed of each servo motor, and plans the speed of each transport vehicle according to the layout of the track mechanism, so that each transport vehicle passes through each intersection position staggered with each other; in this process, the control mechanism controls the speed of each transport vehicle by controlling the rotating speed of the servo motor; (3) At the goods inlet, the total weight of the transport vehicle is initially weighed by the second pressure sensor, when the transport vehicle passes through the intersection position, the vehicle identity information of the transport vehicle is identified by the cooperation of the trigger unit and the sensing unit, then the electromagnet is powered on, the sleeve rises and is separated from the first pressure sensor; (4) The control mechanism re-weighs the total weight of the vehicle according to the data detected by the four second pressure sensors to check the weight of the goods in the transport vehicle, and the total weight of the vehicle is weighed before and after unloading when the transport vehicle enters the multiple storage units to unload, the controller records the unloading amount according to the weight difference before and after unloading, when the weight of the vehicle is the net weight of the transport vehicle, the control mechanism returns the transport vehicle to the goods inlet through overall planning of the path; (5) When the goods are delivered, the total weight of the transport vehicle is initially weighed by the second pressure sensor on the track in the storage unit, and the total weight of the transport vehicle is rechecked when passing through the intersection position; (6) At each goods outlet, the control mechanism determines and records the delivery amount at each goods outlet according to the weight difference before and after unloading, and after the delivery is completed, the control mechanism plans the transport vehicle to return to the goods inlet or the corresponding storage unit for loading.

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