Three-dimensional storage robot running track gauge setting method

Abstract

The invention provides a three-dimensional storage robot running track gauge setting method which comprises the following steps: (1) according to the initial track gauge of a current running track, a track fillet, the boundary dimension of a walking wheel and the arrangement position of the walking wheel relative to a three-dimensional storage robot, determining the maximum in-track deflection angle theta of the three-dimensional storage robot when the three-dimensional storage robot is guided along a rim; (2) the maximum offset bias of the storage robot is determined according to the vehicle body size of the storage robot, the sizes of a positioning sensor and a positioning piece and the maximum in-orbit deflection angle theta; (3) according to the size of the walking wheel after rail changing, the distance value between the feature point on the walking wheel after rail changing and the inner edge of the corresponding rail after rail changing is determined in combination with the maximum offset; and according to the value of the value, judging whether the track gauge after track changing meets the requirement or not. The final required track gauge can be judged and obtained through calculation by giving the basic parameters of the three-dimensional storage robot, the parameters of the positioning piece and the initial track gauge of the sub-track or the mother track.

Description

Technical Field

[0001] The present technical solution belongs to the field of warehousing and logistics, and specifically relates to a method for setting the track gauge of a three-dimensional warehousing robot. Background Art

[0002] Automated three-dimensional warehouses can achieve high-level rationalization of warehouses, automated access, and simplified operation by using three-dimensional warehouse equipment. At present, three-dimensional shelves are generally arranged in three-dimensional warehouses to store goods, and the three-dimensional shelves are provided with cross-vertical tracks for three-dimensional storage robots to move on them, so as to transport and access the cargo pallets stored on the three-dimensional shelves. There are two tracks in each direction, and the track gauge should meet the normal movement operation of the three-dimensional storage robot, including the normal switching track during the reversing operation.

[0003] The three-dimensional storage robot usually adopts a flat design to maximize the storage space saving. The three-dimensional storage robot is controlled by the system, and the system sends instructions to the three-dimensional storage robot through the communication device. The three-dimensional storage robot moves and transports according to the instructions. The three-dimensional storage robot is equipped with two sets of running wheels in cross directions and can move on the track of the three-dimensional shelf.

[0004] The track gauge is usually determined based on the size of the vehicle body through experience or multiple tests, which requires multiple adjustments and brings extra work. On the other hand, the process of confirming the track gauge in this way is only suitable for specific vehicle models and cannot provide guiding setting directions for the track gauge corresponding to different vehicle models. Summary of the invention

[0005] The present invention provides a method for setting the track gauge of a three-dimensional storage robot, and the steps are as follows:

[0006] A three-dimensional storage robot is selected, wherein the three-dimensional storage robot comprises a body, and a positioning sensor is provided under the body; the positioning sensor comprises at least two first positioning sensors, and the at least two first positioning sensors are arranged at intervals along the track direction where the positioning piece is located;

[0007] The running track includes a sub-track and a main track, and the sub-track and the main track are arranged to intersect vertically;

[0008] The three-dimensional storage robot is provided with sub-rail running wheels and main-rail running wheels;

[0009] Set the initial track gauge d track , the initial track gauge of the sub-track or the initial track gauge of the mother track is d track_c or track_m ; The final track moment setting method is as follows:

[0010] (1) Determine the maximum on-track deflection angle θ of the three-dimensional storage robot when guided by the wheel rim based on the initial track gauge, track radius, outer dimensions of the running wheels, and the arrangement position of the running wheels relative to the three-dimensional storage robot;

[0011] (2) Determine the maximum offset bias of the storage robot based on the size of the storage robot body, the size of the positioning sensor and the positioning piece, and the maximum on-track deflection angle θ;

[0012] (3) According to the size of the running wheel after track change and the maximum offset, determine the distance between the characteristic point on the running wheel after track change and the inner edge of the corresponding track after track change. judge ;

[0013] According to value judge The value of is used to determine whether the track gauge after track replacement meets the requirements.

[0014] Preferably, according to the above track moment setting method, a qualified final sub-track gauge data table or a final mother track gauge data table is obtained; the final sub-track gauge or the final mother track gauge needs to meet the following requirements: value judge >0.

[0015] Preferably, the maximum offset is calculated as follows:

[0016] The spot diameter of the photoelectric sensor for positioning the current running track direction on the three-dimensional warehouse robot is set to D s , the light spot occlusion ratio when the signal is triggered is δ, and the distance between the center of the light spot and the left and right midline of the vehicle body is u s The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s , the center distance between the two light spots is l s ; The length of the positioning piece on the sub-rail is l p The distance between the center line of the current running track of the positioning piece and the symmetry line of the two tracks after the reversal is v p ;

[0017] The offset is calculated as follows:

[0018]

[0019]

[0020] The maximum absolute value of the offset in the four cases is taken as the sub-track positioning offset measurement value bias:

[0021] bias=max{|bias 1 |,|bias 2 |,|bias 3 |,|bias4 |}.

[0022] Preferably, the distance between the outer edges of the wheel rims of the two sides of the track after the reversal is d flange_i , the maximum track width of the running wheel after track change is c, then the initial track width after track change is selected as d track Under the condition of , the distance between the characteristic point on the running wheel after track change and the inner edge of the track after track change is:

[0023]

[0024] value judge If the value of is positive, there is no risk of "going off track".

[0025] Preferably, the current running track is a sub-track, and the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , calculate the distance value between the feature point of the mother rail walking wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail judge_m , according to value judge_m Whether the value of is positive determines the final mother rail gauge;

[0026] The characteristic point of the mother rail running wheel is the lowest point of the outer edge of the wheel rim on the mother rail running wheel.

[0027] Preferably, the spot diameter of the photoelectric sensor for positioning the sub-track direction on the three-dimensional storage robot is D s_c , the light spot occlusion ratio when the trigger signal is δ c , the distance between the center of the light spot and the left and right midline of the vehicle body is u s_c The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s_c , the center distance between the two light spots is l s_c ; The length of the positioning piece on the sub-rail is l p_c The distance between the center line of the positioning piece track and the symmetry line of the two mother rails is v p_c ; The offset calculation method is as follows:

[0028]

[0029] Take the maximum absolute value of the four cases as the sub-track offset measurement value bias c :

[0030] bias c =max{|bias 1_c |,|bias 2_c |,|bias 3_c |,|bias 4_c |}.

[0031] Preferably, the distance between the outer edges of the running wheels on both sides of the mother rail is d flange_i_m The maximum wheelbase of the mother rail running wheel is c m , then when the initial mother rail gauge d is selected track_m Under the condition of , the distance between the characteristic point on the mother rail running wheel and the inner edge of the corresponding mother rail is:

[0032]

[0033] value judge_m If the value of is positive, there is no risk of "going off track".

[0034] Preferably, the current running track is a mother track, and the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judge_c ; According to value judge_c Whether the value is positive determines the final sub-rail gauge; the characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel.

[0035] Preferably, the spot diameter of the photoelectric sensor for positioning the mother rail direction on the three-dimensional storage robot is D s_m , the light spot occlusion ratio when the trigger signal is δ m , the distance between the center of the light spot and the center line of the vehicle body in the front and rear direction is u s_m The distance between the midpoint of the line connecting the two light spots and the left and right midline of the vehicle body is v. s_m , the center distance between the two light spots is l s_m The length of the positioning piece on the mother rail is l p_m The distance between the center line of the positioning piece track and the symmetry line of the two sub-tracks is v p_m ; The offset calculation method is as follows:

[0036]

[0037] Take the maximum value of the absolute value of the four cases as the measurement value of the parent rail positioning offset bias m :

[0038] bias m =max{|bias 1_m |,|bias 2_m |,|bias 3_m |,|bias 4_m |}.

[0039] Preferably, the distance between the outer edges of the running wheel rims on both sides of the sub-rail is d flange_i_c, the maximum wheelbase of the sub-rail running wheel is c c , then when selecting the initial sub-track gauge d track_c Under the condition of , the distance between the characteristic point on the sub-rail running wheel and the inner edge of the corresponding sub-rail is:

[0040]

[0041] value judge_c If the value of is positive, there is no risk of "going off track".

[0042] Preferably, when the current running track is a sub-track, the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , calculate the distance value between the feature point of the mother rail walking wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail judge_m ; The characteristic point of the mother rail running wheel is the lowest point on the outer edge of the wheel rim of the mother rail running wheel;

[0043] When the current running track is the mother track, the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judge_c ; The characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel;

[0044] According to different settings of the initial gauge of the sub-rail and the initial gauge of the mother rail, the final mother rail gauge data table and the final sub-rail data table that meet the requirements after the track change can be obtained.

[0045] Preferably, by setting screening conditions, the final sub-rail gauge and final mother rail gauge data table that meet the conditions are screened out; the final sub-rail gauge and the final mother rail gauge need to meet the following requirements:

[0046] value judge_m >0,

[0047] value judge_c >0,

[0048] |value judge_m -value judge_c |≤value Δ

[0049] where value Δ Set according to actual site needs.

[0050] Preferably, finally, according to the contact characteristics between the running wheel and the track, a set of final sub-rail gauges and mother rail gauges are selected by looking up a table.

[0051] Preferably, at least two second positioning sensors are provided under the vehicle body; the first positioning sensors are arranged at intervals along the running direction of the sub-rail, and correspondingly, a first positioning piece is provided on the sub-rail; the second positioning sensors are arranged at intervals along the running direction of the mother rail, and correspondingly, a second positioning piece is provided on the mother rail.

[0052] Preferably, the initial sub-rail gauge and the main rail gauge are selected according to the sizes of the sub-rail running wheels and the main rail running wheels of the three-dimensional storage robot.

[0053] The beneficial effect of the present invention is that by giving some basic parameters of the three-dimensional storage robot, the parameters of the positioning piece and the initial track gauge of the sub-track or the mother track, the final required track gauge can be judged and obtained through calculation. The confirmation of the track gauge is obtained by relatively accurate calculation, and can be quantitatively given according to the structural dimensions of the track and the three-dimensional storage robot. When certain structural dimensions are adjusted, the setting value of the track gauge can be quickly given, saving labor tooling and time costs; the track gauge is derived from an explicit formula, and the influence of certain dimensions on the operation effect of measuring the switching track can be further obtained, which is convenient for optimizing the coordination effect between the three-dimensional storage robot and the track. . BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Schematic diagram of the structure of the three-dimensional storage robot;

[0055] Figure 2 The figure shows a partial enlarged schematic diagram of the position of the lifting connecting rod;

[0056] Figure 3 Schematic diagram of the location of the light spot of the photoelectric sensor on the three-dimensional storage robot.

[0057] Figure 4 Schematic diagram of the position of the positioning piece on the sub-rail.

[0058] Figure 5 This is a schematic diagram of positioning of the three-dimensional storage robot when there is no on-track deflection;

[0059] Figure 6-9 There are four situations in which the track of the three-dimensional storage robot deviates;

[0060] Fig.10 This is a schematic diagram of data guidance when confirming the track gauge;

[0061] Fig.11 A schematic diagram of the screening process of two tables for measuring the effect of track switching operations during track gauge confirmation;

[0062] Fig.12 ,13 This is a schematic diagram of the final sub-rail gauge table and the final mother rail gauge data of this implementation mode;

[0063] Fig.14 This is a schematic diagram of comparative screening in this embodiment. Specific implementation plan

[0064] like Figure 1 The figure shows the schematic diagram of the three-dimensional storage robot shelf structure. Figure 2 Shown is a schematic diagram of the structure of the three-dimensional storage robot.

[0065] like Figure 1 As shown, a three-dimensional storage robot positioning system includes a three-dimensional storage robot and a three-dimensional shelf, wherein the three-dimensional storage robot 10 includes a body, and a positioning photoelectric sensor is provided under the body;

[0066] The three-dimensional shelf includes a sub-rail 20, a mother rail 30, and a reversing rail 40. The sub-rail 20 and the reversing rail 40 are respectively arranged vertically and crosswise with the mother rail 30, and the reversing rail 40 is linearly connected to the sub-rail 20 end to end. In this embodiment, the track gauge of the reversing rail 40 is the same as that of the sub-rail, and can be regarded as an extension of the sub-rail 20 or a part of the sub-rail. In the present invention, the gauge setting method of the sub-rail is also applicable to the reversing rail. In the following text, the sub-rail and the mother rail are used for explanation, and the reversing rail is not introduced separately.

[0067] A positioning piece is provided on at least one of the sub-rail 20 and the mother rail 30, and the positioning photoelectric sensor includes at least two first positioning sensors, and the at least two first positioning sensors are arranged at intervals along the direction of the track where the positioning piece is located. As another embodiment, more than three first positioning sensors can also be provided, and multiple groups of first positioning sensors (two first positioning sensors in each group) can be arranged along the same track direction. The multiple groups of first positioning sensors can work together to participate in positioning, or each group of first positioning sensors can work alone to achieve positioning at different positions.

[0068] The two first positioning sensors will form two positioning light spots, which will not be blocked under normal circumstances when moving forward or backward in the direction of the track. When the three-dimensional storage robot moves to the positioning piece position, the two positioning light spots are blocked by the positioning piece at the same time. At this time, when the first positioning sensor is in a signal state, it can be determined that the three-dimensional storage robot is in / reaches the accurate positioning position.

[0069] The size of the positioning piece, the size of the light spot, and the light spot occlusion ratio are all important factors that affect positioning accuracy. If the length of the positioning piece is larger than the distance between the two light spots, the sensor will generate a signal within a certain range; if the occlusion ratio of the two light spots needs to reach more than 50%, the sensor will generate a signal. At this time, the warehouse robot must be kept in a precise position with the positioning piece to achieve precise positioning. Those skilled in the art should understand that the relationship between the three is set according to actual needs. Different positioning accuracy requirements, different types of warehouse robots, different positioning piece size selections, etc. will all affect the final track gauge setting.

[0070] The three-dimensional storage robot includes a body, a controller 24, a driver 23, a travel drive device, and travel wheels; the driver receives instructions from the controller and converts them into drive signals for the travel drive device.

[0071] The running wheels include a mother rail running wheel 121 and a sub-rail running wheel 111; when the three-dimensional storage robot is located on the mother rail, the mother rail running wheel 121 is used; when the three-dimensional storage robot is located on the sub-rail, the sub-rail running wheel 111 is used.

[0072] like Figure 1-4 As shown, this embodiment provides a method for setting the track gauge of a three-dimensional storage robot, and the steps are as follows:

[0073] A three-dimensional storage robot is selected, wherein the three-dimensional storage robot includes a body, and a positioning sensor is provided under the body; the positioning sensor includes at least two first positioning sensors, and the at least two first positioning sensors are arranged at intervals along the track direction where the positioning piece is located;

[0074] As a preferred technical solution, at least two second positioning sensors are provided under the vehicle body; the first positioning sensors are arranged at intervals along the running direction of the sub-rail, and correspondingly, a first positioning piece is provided on the sub-rail; the second positioning sensors are arranged at intervals along the running direction of the main rail, and correspondingly, a second positioning piece is provided on the main rail.

[0075] The three-dimensional storage robot is provided with sub-rail running wheels and main-rail running wheels;

[0076] The running track includes a sub-track and a main track, and the sub-track and the main track are arranged to intersect vertically;

[0077] Set the initial track gauge d track The current running track is a sub-track or a mother track, and the initial track gauge of the sub-track or the initial track gauge of the mother track is d track_c or track_m ,; The initial sub-rail gauge and the main rail gauge are selected according to the size of the sub-rail running wheels and the main rail running wheels of the three-dimensional storage robot.

[0078] The final track moment setting method is as follows:

[0079] (1) Determine the maximum on-track deflection angle θ of the three-dimensional storage robot when guided by the wheel rim based on the initial track gauge, track radius, outer dimensions of the running wheels, and the arrangement position of the running wheels relative to the three-dimensional storage robot;

[0080] (2) According to the body size of the storage robot, the size of the positioning sensor and the positioning piece, and the maximum on-track deflection angle θ, the maximum offset bias of the storage robot running on the track is determined;

[0081] (3) According to the size of the running wheel after track change and the maximum offset, determine the distance between the characteristic point on the running wheel after track change and the inner edge of the corresponding track after track change. judge ;

[0082] According to value judge The value of is used to determine whether the track gauge after track replacement meets the requirements.

[0083] When the three-dimensional storage robot is running on the track, a certain gap is maintained between the running wheel and the track, so the storage robot will produce a certain angle of deflection during operation. The maximum deflection angle θ is related to multiple factors. In this embodiment, the maximum on-track deflection angle θ of the three-dimensional storage robot when guided by the wheel rim is determined by the initial track gauge in the current running track direction, the track radius, the external dimensions of the current running running wheel, and the layout position of the running wheel relative to the three-dimensional storage robot. The maximum on-track deflection angle θ can be determined by selecting the storage robot and the initial track gauge in the current running track direction.

[0084] Preferably, in this implementation, according to the above track moment setting method, by setting screening conditions, a final sub-rail gauge data table or a final mother rail gauge data table that meets the conditions can be screened out; the final sub-rail gauge or the final mother rail gauge needs to meet the following requirements:

[0085] value judge >0.

[0086] By pre-setting up the final sub-track gauge data table or the final mother track gauge data table, during the subsequent track setting, the selected sub-track data or mother track data can be quickly determined by directly looking up the table.

[0087] After the maximum on-track deflection angle θ is determined, the maximum offset bias is determined in combination with the positional relationship between the positioning sensor and the positioning piece. In this embodiment, the maximum offset bias is calculated as follows:

[0088] The spot diameter of the photoelectric sensor for positioning the current running track direction on the three-dimensional warehouse robot is set to D s, the light spot occlusion ratio when the signal is triggered is δ, and the distance between the center of the light spot and the left and right midline of the vehicle body is u s The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s , the center distance between the two light spots is l s ; The length of the positioning piece on the sub-rail is l p The distance between the center line of the current running track of the positioning piece and the symmetry line of the two tracks after the reversal is v p ;

[0089] Where: The light spot occlusion ratio when the trigger signal is δ c It depends on the actual situation.

[0090] Under the condition of selecting the current running track, when the three-dimensional storage robot is positioned on the current running track with the maximum on-track deflection angle θ, the deviation of the three-dimensional storage robot center relative to the two track symmetry lines after the reversal is divided into four cases, namely, the three-dimensional storage robot is positioned on the sub-current running track from the front and rear directions, and is deflected in two directions respectively, Figure 6-9 There are four cases where the track of the three-dimensional storage robot deviates, namely, the maximum on-track deflection angle θ of the left side c When moving forward and backward, and the maximum on-track deflection angle θ to the right c When moving forward and backward.

[0091] The offset is calculated as follows:

[0092]

[0093] The maximum absolute value of the deviation in the four cases is taken as the deviation measurement value bias after track change:

[0094] bias=max{|bias 1 |,|bias 2 |,|bias 3 |,|bias 4 |}.

[0095] Assume that the distance between the outer edges of the wheel rims on both sides of the track after reversing is d flange_i , the maximum track width of the running wheel after track change is c, then the initial track width after track change is selected as d track Under the condition of , the distance between the characteristic point on the running wheel after track change and the inner edge of the track after track change is:

[0096]

[0097] value judgeIf the value of is positive, there is no risk of "derailment", and the larger it is, the more it means that there is no risk of "derailment" for the mother rail running wheel, otherwise there is a risk of "derailment".

[0098] Through this method, you can judge The value can be used to determine whether the track gauge parameters after track replacement meet the requirements, that is, whether the track data after track replacement can match the three-dimensional storage robot and positioning piece, and there will be no risk of derailment during operation.

[0099] According to this method, as shown in 3-5, if the current running track is a sub-track, the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , we can calculate the distance between the feature point of the mother rail's running wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail. judge_m ; According to value judge_m The value of is positive to determine whether the mother rail gauge meets the requirements, thereby determining the final mother rail gauge; the characteristic point of the mother rail running wheel is the lowest point on the outer edge of the wheel rim of the mother rail running wheel.

[0100] The spot diameter of the photoelectric sensor for positioning the sub-track on the three-dimensional storage robot is D s_c , the light spot occlusion ratio when the trigger signal is δ c , the distance between the center of the light spot and the left and right midline of the vehicle body is u s_c The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s_c , the center distance between the two light spots is l s_c ; The length of the positioning piece on the sub-rail is l p_c The distance between the center line of the positioning piece track direction and the symmetry line of the two mother rails is v p_c ;

[0101] In the selected initial sub-track gauge d track_c Under the condition of c During positioning, the offset of the center of the three-dimensional storage robot relative to the symmetry lines of the two mother rails is divided into four cases, namely, the three-dimensional storage robot is positioned on the sub-rail from the front and rear directions of travel, and is deflected in two directions respectively. The offset calculation method is as follows:

[0102]

[0103] Take the maximum absolute value of the four cases as the sub-track positioning offset measurement value bias c :

[0104] bias c =max{|bias1_c |,|bias 2_c |,|bias 3_c |,|bias 4_c |}.

[0105] Assume that the distance between the outer edges of the wheel rims on both sides of the mother rail is d flange_i_m The maximum wheelbase of the mother rail running wheel is c m , then when the initial mother rail gauge d is selected track_m Under the condition of , the distance between the characteristic point on the mother rail running wheel and the inner edge of the corresponding mother rail is:

[0106]

[0107] value judge_m If the value of is positive, there is no risk of "going off track". It means that the selected mother rail gauge is compatible with the storage robot and can be used as the final track gauge parameter.

[0108] In another embodiment of the present invention, when the current running track is the mother track, the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judge_c ; According to value judge_c The value of is positive to determine whether the sub-rail gauge meets the requirements, thereby determining the final sub-rail gauge; the characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel.

[0109] The spot diameter of the photoelectric sensor for positioning the mother rail on the three-dimensional storage robot is D s_m , the light spot occlusion ratio when the trigger signal is δ m , the distance between the center of the light spot and the center line of the vehicle body in the front and rear direction is u s_m The distance between the midpoint of the line connecting the two light spots and the left-right center line of the vehicle body is v s_m , the center distance between the two light spots is l s_m The length of the positioning piece on the mother rail is l p_m The distance between the center line of the positioning piece track and the symmetry line of the two sub-tracks is v p_m ;

[0110] When the initial parent rail gauge d is selected track_m Under the condition of m During positioning, the offset of the center of the three-dimensional storage robot relative to the symmetry lines of the two sub-tracks is divided into four cases, namely, the three-dimensional storage robot is positioned on the mother track from the front and rear directions of travel, and is deflected in two directions respectively. The offset calculation method is as follows:

[0111]

[0112] Take the maximum absolute value of the four cases as the bias of the parent track. m :

[0113] bias m =max{|bias 1_m |,|bias 2_m |,|bias 3_m |,|bias 4_m |}.

[0114] Assume that the distance between the outer edges of the wheel rims on both sides of the sub-rail is d flange_i_c , the maximum wheelbase of the sub-rail running wheel is c c , then when selecting the initial sub-track gauge d track_c Under the condition of , the distance between the characteristic point on the sub-rail running wheel and the inner edge of the corresponding sub-rail is:

[0115]

[0116] value judge_c If the value of is positive, there is no risk of "off-track", which means that the selected sub-track gauge is compatible with the storage robot and can be used as the final track gauge parameter.

[0117] Therefore, at a given initial sub-track gauge (d track_c ) and the parent rail gauge (d track_m ) under the condition of, we can get the value of the operation effect of the three-dimensional storage robot switching from the sub-track to the main track. judge_m Similarly, it is also possible to use the given initial mother rail gauge d track_m ) and sub-track gauge (d track_c ) under the condition of the above, the operation effect value of the three-dimensional storage robot switching from the mother rail to the sub-rail is obtained. judge_c .

[0118] According to the present invention, by giving some basic parameters of the three-dimensional storage robot, parameters of the positioning piece and the initial track gauge of the sub-track or the mother track, the final required track gauge can be judged and obtained through calculation.

[0119] The confirmation of the track gauge is obtained by relatively accurate calculation, which can be quantitatively given according to the structural dimensions of the track and the three-dimensional storage robot. When certain structural dimensions are adjusted, the setting value of the track gauge can be quickly given, saving labor tooling and time costs;

[0120] The track gauge is derived from an explicit formula, which can further determine the degree of influence of certain dimensions on the effect of switching tracks, so as to optimize the coordination between the three-dimensional storage robot and the track.

[0121] According to the present invention, another embodiment is provided.

[0122] The initial track gauge of the sub-track or the initial track gauge of the mother track is d track_c or track_m .

[0123] When the current running track is a sub-track, the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , calculate the distance value between the feature point of the mother rail walking wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail judge_m ; According to value judge_m The value is used to judge whether the sub-rail gauge meets the requirements; the characteristic point of the mother rail running wheel is the lowest point on the outer edge of the wheel rim of the mother rail running wheel;

[0124] When the current running track is the mother track, the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judg_c ; According to value judge_m The value is used to judge whether the sub-rail gauge meets the requirements; the characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel;

[0125] like Figure 10-11 As shown, according to different settings of the initial gauge of the sub-rail and the initial gauge of the mother rail, the final mother rail gauge data table and the final sub-rail data table that meet the requirements after the track change can be obtained.

[0126] Among them, bias c 、bias m and value judge_m 、value judge_c The calculation method of has been given in the above embodiment and will not be repeated here.

[0127] By setting the screening conditions, the final sub-rail gauge and final mother rail gauge data table that meet the conditions are screened out; the final sub-rail gauge and final mother rail gauge need to meet the following requirements:

[0128] value judge_m >0,

[0129] valuejudge_c >0,

[0130] |value judge_m -value judge_c |≤value Δ

[0131] where value Δ Set according to actual site needs.

[0132] Finally, a set of final sub-rail gauges and mother rail gauges are selected based on the contact characteristics between the running wheels and the track.

[0133] Fig.12 , 13 In this embodiment, according to the final sub-rail gauge table and the final mother rail gauge data table obtained in this embodiment, a comparison table containing both sub-rail data and mother rail data is obtained by comparison and screening, such as Fig.14 As shown, according to the comparison table, a set of final sub-rail gauges and mother rail gauges are selected.

Claims

1. A method for setting the track gauge of a three-dimensional storage robot, the steps of which are as follows: A three-dimensional storage robot is selected, wherein the three-dimensional storage robot comprises a body, and a positioning sensor is provided under the body; the positioning sensor comprises at least two first positioning sensors, and the at least two first positioning sensors are arranged at intervals along the track direction where the positioning piece is located; The running track includes a sub-track and a main track, and the sub-track and the main track are arranged to intersect vertically; The three-dimensional storage robot is provided with sub-rail running wheels and main-rail running wheels; Set the initial track gauge d track , the initial track gauge of the sub-track or the initial track gauge of the mother track is d track_c or track_m ; The final track moment setting method is as follows: (1) Determine the maximum on-track deflection angle θ of the three-dimensional storage robot when guided by the wheel rim based on the initial track gauge, track radius, outer dimensions of the running wheels, and the arrangement position of the running wheels relative to the three-dimensional storage robot; (2) Determine the maximum offset bias of the storage robot based on the size of the storage robot body, the size of the positioning sensor and the positioning piece, and the maximum on-track deflection angle θ; (3) According to the size of the running wheel after track change and the maximum offset, determine the distance between the characteristic point on the running wheel after track change and the inner edge of the corresponding track after track change. judge ; According to value judge The value of is used to determine whether the track gauge after track replacement meets the requirements.

2. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: According to the above track moment setting method, obtain the final sub-track gauge data table or the final mother track gauge data table that meets the conditions; the final sub-track gauge or the final mother track gauge needs to meet the following requirements: value judge >0。 3. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: The maximum offset is calculated as: The spot diameter of the photoelectric sensor for positioning the current running track direction on the three-dimensional warehouse robot is set to D s , the light spot occlusion ratio when the signal is triggered is δ, and the distance between the center of the light spot and the left and right midline of the vehicle body is u s The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s , the center distance between the two light spots is l s ; The length of the positioning piece on the sub-rail is l p The distance between the center line of the current running track of the positioning piece and the symmetry line of the two tracks after the reversal is v p ; The offset is calculated as follows: The maximum absolute value of the deviation in the four cases is taken as the orbit positioning deviation measurement value bias: bias=max{|bias1|,|bias2|,|bias3|,|bias4|}.

4. The method for setting the track gauge of a three-dimensional storage robot according to claim 3, characterized in that After reversing, the distance between the outer edges of the wheel rims on both sides of the track is d flange_i , the maximum track width of the running wheel after track change is c, then the initial track width after track change is selected as d track Under the condition of , the distance between the characteristic point on the running wheel after track change and the inner edge of the track after track change is: value judge If the value of is positive, there is no risk of "going off track".

5. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: The current running track is a sub-track, and the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , calculate the distance value between the feature point of the mother rail walking wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail judge_m , according to value judge_m Whether the value of is positive determines the final mother rail gauge; The characteristic point of the mother rail running wheel is the lowest point of the outer edge of the wheel rim on the mother rail running wheel.

6. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: The spot diameter of the photoelectric sensor for positioning the sub-track on the three-dimensional storage robot is D s_c , the light spot occlusion ratio when the trigger signal is δ c , the distance between the center of the light spot and the left and right midline of the vehicle body is u s_c The distance between the midpoint of the line connecting the two light spots and the centerline of the vehicle body in the front-to-back direction is v. s_c , the center distance between the two light spots is l s_c ; The length of the positioning piece on the sub-rail is l p_c The distance between the center line of the positioning piece track and the symmetry line of the two mother rails is v p_c ; The offset calculation method is as follows: Take the maximum absolute value of the four cases as the sub-track offset measurement value bias c : bias c =max{|bias 1_c |,|bias 2_c |,|bias 3_c |,|bias 4_c |}。 7. The method for setting the track gauge of a three-dimensional storage robot according to claim 6, characterized in that: Assume that the distance between the outer edges of the running wheels on both sides of the mother rail is d flange_i_m The maximum wheelbase of the mother rail running wheel is c m , then when the initial mother rail gauge d is selected track_m Under the condition of , the distance between the characteristic point on the mother rail running wheel and the inner edge of the corresponding mother rail is: value judge_m If the value of is positive, there is no risk of "going off track".

8. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: The current running track is the mother track, and the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judge_c ; According to value judge_c Whether the value is positive determines the final sub-rail gauge; the characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel.

9. The method for setting the track gauge of a three-dimensional storage robot according to claim 8, characterized in that: The spot diameter of the photoelectric sensor for positioning the mother rail on the three-dimensional storage robot is D s_m , the light spot occlusion ratio when the trigger signal is δ m , the distance between the center of the light spot and the center line of the vehicle body in the front and rear direction is u s_m The distance between the midpoint of the line connecting the two light spots and the left-right center line of the vehicle body is v s_m , the center distance between the two light spots is l s_m , the length of the positioning piece on the mother rail is l p_m The distance between the center line of the positioning piece track and the symmetry line of the two sub-tracks is v p_m ; The offset calculation method is as follows: Take the maximum value of the absolute value of the four cases as the measurement value of the parent rail positioning offset bias m : bias m =max{|bias 1_m |,|bias 2_m |,|bias 3_m |,|bias 4_m |}。 10. The method for setting the track gauge of a three-dimensional storage robot according to claim 9, characterized in that: Assume that the distance between the outer edges of the wheel rims on both sides of the sub-rail is d flange_i_c , the maximum wheelbase of the sub-rail running wheel is c c , then when selecting the initial sub-track gauge d track_c Under the condition of , the distance between the characteristic point on the sub-rail running wheel and the inner edge of the corresponding sub-rail is: value judge_c If the value of is positive, there is no risk of "going off track".

11. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: When the current running track is a sub-track, the maximum deflection angle of the three-dimensional storage robot when running on the sub-track is θ c , the maximum offset is bias c , calculate the distance value between the feature point of the mother rail walking wheel and the inner edge of the mother rail when the three-dimensional storage robot changes from the sub-rail to the mother rail judge_m ; The characteristic point of the mother rail running wheel is the lowest point on the outer edge of the wheel rim of the mother rail running wheel; When the current running track is the mother track, the maximum deflection angle of the three-dimensional storage robot when running on the mother track is θ m , the maximum offset is bias m , calculate the distance value between the feature point of the sub-track walking wheel and the inner edge of the sub-track when the three-dimensional storage robot changes tracks from the mother track to the sub-track judge_c ; The characteristic point of the sub-rail running wheel is the lowest point on the outer edge of the wheel rim of the sub-rail running wheel; According to different settings of the initial gauge of the sub-rail and the initial gauge of the mother rail, the final mother rail gauge data table and the final sub-rail data table that meet the requirements after the track change can be obtained.

12. The method for setting the track gauge of a three-dimensional storage robot according to claim 11, characterized in that: By setting the screening conditions, the final sub-rail gauge and final mother rail gauge data table that meet the conditions are screened out; the final sub-rail gauge and final mother rail gauge need to meet the following requirements: value judge_m >0, value judge_c >0, |value judge_m -value judge_c |≤value Δ where value Δ Set according to actual site needs.

13. The method for setting the track gauge of a three-dimensional storage robot according to claim 12, characterized in that: Finally, according to the contact characteristics between the running wheel and the track, a set of final sub-track gauges and mother track gauges are selected by looking up the table.

14. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: At least two second positioning sensors are arranged under the vehicle body; the first positioning sensors are arranged at intervals along the running direction of the sub-rail, and correspondingly, a first positioning piece is arranged on the sub-rail; the second positioning sensors are arranged at intervals along the running direction of the mother rail, and correspondingly, a second positioning piece is arranged on the mother rail.

15. The method for setting the track gauge of a three-dimensional storage robot according to claim 1, characterized in that: The initial sub-rail gauge and the main rail gauge are selected according to the size of the sub-rail running wheels and the main rail running wheels of the three-dimensional storage robot.

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