Full-automatic storage cabinet gear and incremental rotary encoder closed-loop type control positioning equipment

Abstract

The invention relates to the technical field of storage cabinet conveying positioning, in particular to full-automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning equipment which is used for conveying positioning of storage cabinet conveying equipment and comprises a transverse guide rod, a longitudinal guide rod, a transverse feeding system and a longitudinal feeding system, the transverse feeding system comprises a transverse motor group, a transverse displacement sensor and a transverse positioning rod; the longitudinal feeding system comprises a storage box, a bracket, a longitudinal positioning rod and a longitudinal displacement sensor. Two-way positioning from encoder soft positioning to mechanical hard locking is completed through insertion matching of the transverse positioning rod and the longitudinal positioning rod and the positioning groove, the technical effects of reducing motor self-locking energy consumption and eliminating positioning deviation caused by long-term load are achieved, redundancy check and dynamic deviation correction are completed through two-way data fusion of the incremental encoder and the displacement sensor, and the reliability of the motor is improved. The technical effect of improving the transverse and longitudinal positioning precision is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of storage cabinet conveying and positioning, and particularly to a closed-loop control positioning device for a gear and an incremental rotary encoder of a fully automatic storage cabinet. Background Art

[0002] A fully automatic storage cabinet is a main device for modern warehousing, realizing automatic operation of the warehouse. It is mainly divided into vertical circulation cabinets, vertical lifting cabinets, horizontal circulation cabinets, etc.

[0003] Application No. CN202121768040.2 discloses a closed-loop control positioning device for a gear and an incremental rotary encoder of a storage cabinet, including a load-bearing component and a motor. The motor is fixedly installed above the load-bearing component, and a driving gear is installed at the bottom of the motor. A driven gear meshing with the driving gear is fixedly installed inside the load-bearing component. An encoder is fixedly connected below the driven gear through a flat plate, and a closed-loop motor encoder is installed near the top of the motor. By measuring the rotational speed data of the driven gear and the driving gear respectively through the encoder and the closed-loop motor encoder, and through comparison, the precise positions of the two gears can be obtained, realizing two-way positioning, accurately positioning the fault occurrence point in time, and facilitating maintenance.

[0004] The traditional storage cabinet positioning system mostly relies on the closed-loop control of the motor and the encoder, and maintains the position through the self-locking of the motor. However, during long-term operation, the self-locking of the motor is prone to positioning deviation due to gear wear, current fluctuation or mechanical backlash, and the continuous self-locking has high energy consumption and serious motor heating. In addition, the horizontal conveying distance of goods is limited by the mechanical structure and it is difficult to adapt to deep-position storage cabinets. Summary of the Invention

[0005] In order to overcome the defects in the prior art, the purpose of the present invention is to provide a closed-loop control positioning device for a gear and an incremental rotary encoder of a fully automatic storage cabinet. By integrating encoder closed-loop control, displacement sensor redundancy verification and mechanical clamping and locking, combined with modular transmission design, it realizes all-directional positioning and long-distance conveying with high precision, low energy consumption and anti-failure to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides a closed-loop control positioning device for a gear and an incremental rotary encoder of a fully automatic storage cabinet, used for the conveying and positioning of a storage cabinet conveying device, including a transverse guide rod for guiding the lateral displacement of the gear, a longitudinal guide rod for guiding the longitudinal displacement of the gear, a transverse feeding system installed on the side of the transverse guide rod, and a longitudinal feeding system installed on the side of the longitudinal guide rod; The transverse feed system includes a transverse motor group, a transverse displacement sensor pointing to the top surface of the transverse guide rod, and a transverse positioning rod inserted at the top of the transverse guide rod. The transverse displacement sensor is used to measure the transverse displacement and trigger the positioning of the transverse positioning rod. The transverse motor group consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor is connected to the gear through a speed reducer, and the gear meshes with a rack on the rear side of the top surface of the transverse guide rod. The top plate is located on the top surface of the transverse guide rod, and a transverse sliding plate welded to the front end of the top plate is slidably clamped to the transverse guide rod. The transverse sliding plate is vertically arranged on the front side of the transverse guide rod and fixedly connected to the longitudinal guide rod; The longitudinal feed system includes a storage box, a bracket for supporting the sliding of the storage box, and a longitudinal motor group suspended below the bracket for driving the vertical movement of the bracket. A longitudinal positioning rod inserted and positioned with the longitudinal guide rod is arranged on one side of the longitudinal motor group. A longitudinal displacement sensor is installed at the rear end of the bracket and near the longitudinal guide rod for measuring the vertical displacement and triggering the positioning of the longitudinal positioning rod.

[0007] The above settings, based on the existing horizontal and vertical transportation of goods, add a transverse displacement sensor to measure the transverse displacement and trigger positioning. Combining with the original incremental rotary encoder to monitor the number of rotations of the motor gear, triggering the motor to self-lock for two-way positioning, and transporting the goods horizontally to the preset target position of the system, realizing the dual fixation from the "soft positioning" relying on motor control to the "hard locking" of mechanical fixation, reducing the energy consumption of motor self-locking and preventing the positioning deviation caused by the long-term pressure on the motor self-locking mechanism, significantly improving the reliability and lifespan of the storage cabinet positioning system.

[0008] As a further improvement of this technical solution, a number of transverse positioning grooves are equally spaced and opened on the rear side of the top surface of the transverse guide rod, and the transverse positioning rod is inserted and matched with the transverse positioning grooves correspondingly.

[0009] This setting is the positioning rod and transverse positioning groove insertion technology adopted for mechanical fixation.

[0010] As a further improvement of this technical solution, roller wheels are rotatably embedded at the corners of the transverse sliding plate facing the side surface of the transverse guide rod, and the upper and lower layers of roller wheels clamp the convex strips on the upper and lower surfaces of the transverse guide rod and roll horizontally.

[0011] This setting uses the transverse sliding plate combined with roller wheels to roll and clamp the transverse guide rod in a fixed direction as a platform for transverse conveying movement.

[0012] As a further improvement of this technical solution, a servo electric cylinder is coaxially installed at one end of the transverse positioning rod and the longitudinal positioning rod for driving the telescopic movement of the transverse positioning rod and the longitudinal positioning rod.

[0013] This setting triggers the positioning of the positioning rod instantaneously by the servo electric cylinder receiving the sensor signal.

[0014] As a further improvement of the technical solution, feed rods are fixedly connected to the left and right sides of the longitudinal guide rod. A number of longitudinal positioning grooves are equidistantly formed in the side wall of the feed rod. The longitudinal positioning rod is correspondingly inserted and matched with the longitudinal positioning grooves. A longitudinal sliding plate for guiding the telescopic movement of the longitudinal positioning rod is vertically welded to the bottom surface of the bracket. Rollers are rotatably embedded at the corners of the side wall of the longitudinal sliding plate facing the longitudinal guide rod. Each pair of rollers on the left and right sides is in clamping and rolling connection with the feed rod.

[0015] This setting uses the longitudinal sliding plate combined with the rollers to perform directional rolling clamping with the longitudinal guide rod, serving as a platform for longitudinal conveying movement.

[0016] As a further improvement of the technical solution, a driving frame is slidably clamped below the storage box. The driving frame is slidably clamped inside the top of the bracket. A pair of pull ropes are wound around the front and rear ends of the driving frame in an up-and-down manner, and the pair of pull ropes are symmetrically arranged in opposite directions. A servo motor for driving the horizontal movement of the driving frame is installed at the bottom of the front end of the bracket. An incremental rotary encoder is installed at the end of the servo motor. Horizontal displacement sensors are embedded in the side walls of the front and rear ends of the bracket, used to measure the displacement of the driving frame and trigger the self-locking positioning of the servo motor.

[0017] As a further improvement of the technical solution, the longitudinal motor group consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor is connected to the gear through a speed reducer, and this gear meshes with the rack on the front part of the side of the longitudinal guide rod, used to drive the up-and-down movement of the storage box.

[0018] The above setting completes the positioning of horizontally conveyed goods through the bidirectional data fusion of the incremental encoder and the displacement sensor.

[0019] As a further improvement of the technical solution, a sprocket is coaxially sleeved at the output shaft end of the servo motor, and a sprocket is installed at the rear end of the bracket. A chain meshes between the two sprockets. Clamping columns are provided at the side ends of adjacent pins of the chain. Push rods are inserted into the bottom surfaces of the front and rear ends of the driving frame, and the two clamping columns are in biting transmission with the lower half of the push rods.

[0020] As a further improvement of the technical solution, a pair of ring blocks are embedded at different sides of the front and rear ends of the driving frame. A pulley is rotatably connected between each pair of ring blocks. The pull ropes are correspondingly sleeved with the pulleys, and pull blocks are tightly sleeved on the upper and lower ends of the pull ropes. The pull block located above is fixedly connected to the bottom surface of the storage box, and the pull block located below is fixedly connected to the bottom surface of the driving frame.

[0021] As a further improvement of the technical solution, a slide bar is fixedly connected to the inner side of the bottom of the storage box, a slide bar is fixedly connected to the inner side of the top of the bracket, and slide sleeve rods are fixedly connected to the outer walls on both sides of the active frame in the up-and-down direction. The slide sleeve rod located above is slidably inserted into the slide bar on the storage box, and the slide sleeve rod located below is slidably inserted into the slide bar on the bracket.

[0022] The above settings complete the doubling of the horizontal extension distance of the storage box through the composite drive design of the chain, clamping column, pull rope and pulley, achieving the technical effects of adapting to deep storage cabinets and reducing the floor area of the equipment.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The closed-loop control positioning device of the gear and incremental rotary encoder of the full-automatic storage cabinet completes the two-way positioning from "encoder soft positioning" to "mechanical hard locking" through the insertion and cooperation of the horizontal and vertical positioning rods and the positioning grooves, achieving the technical effects of reducing the self-locking energy consumption of the motor and eliminating the positioning deviation caused by long-term load. Through the two-way data fusion of the incremental encoder and the displacement sensor, redundant verification and dynamic deviation correction are completed, achieving the technical effect of improving the horizontal and vertical positioning accuracy.

[0024] 2. The closed-loop control positioning device of the gear and incremental rotary encoder of the full-automatic storage cabinet completes the doubling of the horizontal extension distance of the storage box through the composite drive design of the chain, clamping column, pull rope and pulley, achieving the technical effects of adapting to deep storage cabinets and reducing the floor area of the equipment.

[0025] 3. The closed-loop control positioning device of the gear and incremental rotary encoder of the full-automatic storage cabinet completes the rapid disassembly, assembly and maintenance of the equipment through the modular separation design of the horizontal and vertical feed systems, achieving the technical effects of shortening the fault repair time and being compatible with the transformation of multi-specification storage cabinets. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention disclosure in any way. Additionally, the shapes and proportional dimensions of the components in the drawings are only schematic and are used to assist in understanding the present invention, rather than specifically limiting the shapes and proportional dimensions of the components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions according to specific circumstances to implement the present invention under the teaching of the present invention.

[0027] Figure 1 It is a schematic diagram of the overall assembly structure of the storage cabinet conveying equipment of the present invention; Figure 2 It is a schematic diagram of the assembly structure of the horizontal feed system of the present invention; Figure 3 It is a schematic diagram of the assembly structure of the vertical feed system of the present invention; Figure 4Side view of the longitudinal feed system of the present invention; Figure 5 Front view of the longitudinal feed system of the present invention; Figure 6 Schematic diagram of the assembly structure of the longitudinal feed system of the present invention from the bottom-up perspective; Figure 7 Exploded view of the assembly of the longitudinal feed system of the present invention; The meanings of the various reference numerals in the figure are as follows: 100, transverse guide rod; 101, transverse positioning groove; 110, longitudinal guide rod; 111, feed rod; 112, longitudinal positioning groove; 113, longitudinal slide plate; 114, longitudinal motor group; 115, longitudinal positioning rod; 120, transverse slide plate; 121, roller; 200, transverse feed system; 210, transverse motor group; 220, transverse displacement sensor; 230, servo cylinder; 240, transverse positioning rod; 300, longitudinal feed system; 310, storage box; 311, slide rod; 320, active frame; 321, push rod; 322, ring block; 323, sliding sleeve rod; 330, bracket; 340, pull rope; 341, pull block; 342, pulley; 350, servo motor; 351, chain; 352, clamping column; 360, longitudinal displacement sensor. Detailed implementation manners

[0028] Combined with the description of the specific implementation manners of the present invention and the accompanying drawings, the details of the present invention can be more clearly understood. However, the specific implementation manners of the present invention described herein are only for the purpose of explaining the present invention and should not be construed in any way as a limitation of the present invention. Under the teaching of the present invention, the concepts of those skilled in the art based on any possible variations of the present invention should be regarded as belonging to the scope of the present invention. The terms "installation" and "connection" should be understood in a broad sense, which can be directly connected or indirectly connected through an intermediate medium.

[0029] The orientation or positional relationship indicated by the terms "central axis", "vertical", "horizontal", "front", "rear", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. used herein is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, in the description of the present invention, the meaning of "several" is two or more, unless otherwise specifically defined.

[0030] Please refer to Figure 1 - Figure 2As shown in the figure, the present invention provides a closed-loop control positioning device for the gears and incremental rotary encoders of a fully automatic storage cabinet, which is used for the conveying and positioning of the storage cabinet conveying equipment to ensure that goods are transported into the storage cabinet. It includes a lateral guide rod 100 for guiding the lateral displacement of the gear, a longitudinal guide rod 110 for guiding the longitudinal displacement of the gear, a lateral feeding system 200 installed on the side of the lateral guide rod 100, and a longitudinal feeding system 300 installed on the side of the longitudinal guide rod 110. The longitudinal guide rod 110 is driven by the lateral feeding system 200 to move laterally along the lateral guide rod 100, and the goods are driven by the longitudinal feeding system 300 to move vertically along the longitudinal guide rod 110, so as to send the goods into the storage cabinet on one side of the storage cabinet entrance. This is the prior art and will not be elaborated here.

[0031] Specifically, the lateral feeding system 200 includes a lateral motor group 210, a lateral displacement sensor 220 pointing to the top surface of the lateral guide rod 100, and a lateral positioning rod 240 inserted into the top of the lateral guide rod 100. The lateral displacement sensor 220 is used to measure the lateral displacement and trigger the positioning of the lateral positioning rod 240. The lateral motor group 210 is composed of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor and the gear are connected through a speed reducer, and the gear meshes with the rack at the rear side of the top surface of the lateral guide rod 100. By monitoring the number of rotations of the motor gear through the incremental rotary encoder, preliminary positioning is performed, and the motor is triggered to lock itself. Then, combined with the displacement measured by the lateral displacement sensor 220, two-way positioning is formed to transport the goods laterally to the preset target position of the system, such as the access point of the storage cabinet. A number of lateral positioning slots 101 are equally spaced at the rear side of the top surface of the lateral guide rod 100, and the lateral positioning rod 240 is inserted and matched with the lateral positioning slots 101 correspondingly. Each lateral positioning slot 101 corresponds to a row of each access point. By triggering the lateral positioning rod 240 to be positioned in the lateral positioning slot 101 outside a certain access point through the lateral displacement sensor 220, the dual fixation from the "soft positioning" relying on motor control to the "hard locking" of mechanical fixation is realized, reducing the energy consumption of the motor self-locking and preventing the positioning deviation caused by the long-term pressure on the motor self-locking mechanism, and significantly improving the reliability and service life of the storage cabinet positioning system.

[0032] Furthermore, the top plate is located on the top surface of the lateral guide rod 100, and a lateral sliding plate 120 that is slidably clamped with the lateral guide rod 100 is welded at the front end of the top plate. Roller wheels 121 are rotatably embedded at the corners of the lateral sliding plate 120 facing the side of the lateral guide rod 100. The upper and lower layers of roller wheels 121 clamp the upper and lower ridges of the lateral guide rod 100 and roll laterally. By rolling the lateral sliding plate 120, the top plate, and the motor gear on the lateral guide rod 100, a stable lateral movement platform is formed. Specifically, as Figure 3 - Figure 7As shown in the figure, the longitudinal feed system 300 includes a storage box 310, a bracket 330 for supporting the sliding of the storage box 310, and a longitudinal motor set 114 suspended below the bracket 330 for driving the vertical movement of the bracket 330. A longitudinal positioning rod 115 positioned and inserted into the longitudinal guide rod 110 is arranged on one side of the longitudinal motor set 114. A longitudinal displacement sensor 360 is installed at the rear end of the bracket 330 and near the longitudinal guide rod 110 for measuring the vertical displacement and triggering the positioning of the longitudinal positioning rod 115. The longitudinal motor set 114 is composed of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor is connected to the gear through a reduction box, and this gear meshes with the rack on the front part of the side of the longitudinal guide rod 110 for driving the up and down movement of the storage box 310. The transverse slide plate 120 is vertically arranged on the front side of the transverse guide rod 100 and fixedly connected to the longitudinal guide rod 110, thereby driving the transverse movement of the longitudinal guide rod 110.

[0033] The number of rotations of the motor gear is monitored by the incremental rotary encoder for preliminary positioning, triggering the motor to lock itself. Then, combined with the displacement measured by the longitudinal displacement sensor 360, two-way positioning is formed to convey the goods longitudinally to the preset target position of the system, such as the access point of the storage cabinet.

[0034] Furthermore, feed rods 111 are fixedly connected to the left and right sides of the longitudinal guide rod 110. A number of longitudinal positioning grooves 112 are equidistantly arranged on the side walls of the feed rods 111 corresponding to a number of access point positions in a column. The longitudinal positioning rod 115 is correspondingly inserted and matched with the longitudinal positioning grooves 112. A longitudinal slide plate 113 for guiding the telescopic movement of the longitudinal positioning rod 115 is vertically welded to the bottom surface of the bracket 330. The longitudinal positioning rod 115 penetrates through the longitudinal slide plate 113. Roller wheels 121 are rotatably embedded at the corners of the longitudinal slide plate 113 facing the side wall of the longitudinal guide rod 110. Each pair of roller wheels 121 on the left and right sides is in clamping and rolling connection with the feed rod 111, so that the longitudinal motor set 114 is stably installed between a pair of longitudinal slide plates 113 to jointly support the vertical movement of the storage box 310. A servo cylinder 230 is coaxially installed at one end of the transverse positioning rod 240 and the longitudinal positioning rod 115 for driving the telescopic movement of the transverse positioning rod 240 and the longitudinal positioning rod 115. The two servo cylinders 230 are fixedly connected to the top plate and the longitudinal slide plate 113 through bolts respectively.

[0035] In addition, in order to extend the distance of the storage box 310 horizontally to send goods into the storage cabinet, a driving frame 320 is slidably clamped below the storage box 310. The driving frame 320 is slidably clamped inside the top of the bracket 330. A pair of pulling ropes 340 are wound around the front and rear ends of the driving frame 320 in an up-and-down manner, and the pair of pulling ropes 340 are symmetrically arranged in the reverse direction. The pulling ropes 340 are made of steel stranded wires to improve their tensile strength and are durable. A servo motor 350 for driving the driving frame 320 to move horizontally is installed at the bottom of the front end of the bracket 330. An incremental rotary encoder is installed at the end of the servo motor 350. Lateral displacement sensors 220 are embedded in the side walls of the front and rear ends of the bracket 330 for measuring the displacement of the driving frame 320 and triggering the servo motor 350 to lock and position itself. Through the two-way positioning of the incremental rotary encoder and the lateral displacement sensor 220, the horizontal displacement of the storage box 310 is determined, and the goods are accurately sent into the storage cabinet.

[0036] Furthermore, a sprocket is coaxially sleeved at the output shaft end of the servo motor 350, and a sprocket is installed at the rear end of the bracket 330. A chain 351 is engaged between the two sprockets. Clamping posts 352 are provided at the side ends of adjacent pins of the chain 351. Push rods 321 are inserted into the bottom surfaces of the front and rear ends of the driving frame 320. The two clamping posts 352 are engaged and driven with the lower half of the push rods 321. When the servo motor 350 is started to drive the chain 351 to move in a cycle, the push rods 321 are clamped by the pair of clamping posts 352 to drive the driving frame 320 to move synchronously, and then the storage box 310 is pulled by the pulling ropes 340 to translate relative to the bracket 330 to convey the goods.

[0037] Specifically, a pair of ring blocks 322 are embedded at the front and rear ends of the driving frame 320 and at different sides. A pulley 342 is rotatably connected between each pair of ring blocks 322. The pulling ropes 340 are correspondingly sleeved with the pulleys 342. Pulling blocks 341 are tightly sleeved on the upper and lower ends of the pulling ropes 340. The pulling block 341 located above is fixedly connected to the bottom surface of the storage box 310, and the pulling block 341 located below is fixedly connected to the bottom surface of the driving frame 320. When the servo motor 350 rotates forward and backward, it can drive the driving frame 320 to move forward or backward. Then, the storage box 310 is driven to move synchronously by the sliding of the pulley 342 in front or behind and the pulling rope 340 corresponding to its position. For example, when the driving frame 320 moves forward, the upper layer of the pulling rope 340 is pushed to become shorter by the pulley 342 in front, and the storage box 310 is pulled forward to achieve a longer conveying distance.

[0038] Further, a sliding rod 311 is fixedly connected to the inner side of the bottom of the storage box 310, a sliding rod 311 is fixedly connected to the inner side of the top of the bracket 330, and sliding sleeve rods 323 are fixedly connected to the outer walls on both sides of the active frame 320 in the up and down direction. The sliding sleeve rod 323 located above is slidably inserted into the sliding rod 311 on the storage box 310, and the sliding sleeve rod 323 located below is slidably inserted into the sliding rod 311 on the bracket 330, so that the storage box 310 and the active frame 320 slide relatively stably under the support of the bracket 330.

[0039] When the gear and incremental rotary encoder closed-loop control positioning device of the full-automatic storage cabinet of the present invention is working, it includes three stages: horizontal, vertical, and horizontal positioning and transportation. When performing horizontal positioning and lifting, the horizontal motor group 210 is started, and the longitudinal guide rod 110 is driven to move horizontally by the gear meshing with the rack on the top surface of the horizontal guide rod 100; the incremental rotary encoder monitors the number of rotation circles of the motor gear, and triggers the motor to self-lock after initially positioning near the target access point. The horizontal displacement sensor 220 detects the actual displacement in real time. If the error is within the threshold, it triggers the servo cylinder 230 to push the horizontal positioning rod 240 into the corresponding horizontal positioning groove 101 to mechanically lock the position. The longitudinal guide rod 110 drives the bracket 330 and the storage box 310 to complete horizontal precise positioning; when performing vertical positioning and lifting, the longitudinal motor group 114 drives the gear to mesh with the side rack of the longitudinal guide rod 110, driving the bracket 330 and the storage box 310 to move vertically; after the encoder initially positions, it self-locks, and the vertical displacement sensor 360 detects the vertical displacement, triggering the servo cylinder 230 to push the vertical positioning rod 115 into the vertical positioning groove 112 to lock the vertical position; at this point, the storage box 310 reaches the position corresponding to the access point of the storage cabinet. When horizontally transporting goods, the servo motor 350 is started, and the clamping column 352 is driven by the sprocket chain 351 to drive the push rod 321 of the active frame 320 to translate; the active frame 320 is linked with the pulley 342 through the pull rope 340, pulling the storage box 310 to extend horizontally along the sliding rod 311; the encoder and the horizontal displacement sensor 220 bidirectionally verify the displacement of the storage box 310, triggering the motor to self-lock to ensure that the goods are accurately sent into the storage cabinet.

[0040] It should be noted that the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A closed-loop control positioning device for the gears and incremental rotary encoders of a fully automatic storage cabinet, which is used for the conveying and positioning of the storage cabinet conveying equipment, and is characterized in that: It includes a lateral guide rod for guiding the lateral displacement of the guide gear, a longitudinal guide rod for guiding the longitudinal displacement of the guide gear, a lateral feed system installed on the side of the lateral guide rod, and a longitudinal feed system installed on the side of the longitudinal guide rod; The lateral feed system includes a lateral motor set, a lateral displacement sensor pointing to the top surface of the lateral guide rod, and a lateral positioning rod inserted into the top of the lateral guide rod. The lateral displacement sensor is used to measure the lateral displacement and trigger the positioning of the lateral positioning rod. The lateral motor set consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor is connected to the gear through a speed reducer, and the gear meshes with the rack at the rear side of the top surface of the lateral guide rod. The top plate is located on the top surface of the lateral guide rod, and a lateral sliding plate that is slidably clamped to the lateral guide rod is welded at the front end of the top plate. The lateral sliding plate is vertically arranged on the front side of the lateral guide rod and is fixedly connected to the longitudinal guide rod; The longitudinal feed system includes a storage box, a bracket for supporting the sliding of the storage box, and a longitudinal motor set suspended below the bracket for driving the vertical movement of the bracket. A longitudinal positioning rod that is inserted and positioned with the longitudinal guide rod is arranged on one side of the longitudinal motor set. A longitudinal displacement sensor is installed at the rear end of the bracket and near the longitudinal guide rod for measuring the vertical displacement and triggering the positioning of the longitudinal positioning rod.

2. The closed-loop control and positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 1, characterized in that: A number of lateral positioning grooves are equally spaced and opened at the rear side of the top surface of the lateral guide rod, and the lateral positioning rod is inserted and matched with the lateral positioning grooves correspondingly.

3. The closed-loop control positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 2, characterized in that: Rollers are rotatably embedded at the corners of the lateral sliding plate facing the side of the lateral guide rod, and the upper and lower layers of rollers clamp the convex strips on the upper and lower surfaces of the lateral guide rod and roll horizontally.

4. The closed-loop control and positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 3, characterized in that: A servo electric cylinder is coaxially installed at one end of the lateral positioning rod and the longitudinal positioning rod for driving the telescopic movement of the lateral positioning rod and the longitudinal positioning rod.

5. The closed-loop control positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 4, wherein: Feeding rods are fixedly connected to the left and right sides of the longitudinal guide rod. A number of longitudinal positioning grooves are equally spaced and opened on the side wall of the feeding rod. The longitudinal positioning rod is inserted and matched with the longitudinal positioning grooves correspondingly. A longitudinal sliding plate for guiding the telescopic movement of the longitudinal positioning rod is vertically welded to the bottom surface of the bracket. Rollers are rotatably embedded at the corners of the longitudinal sliding plate facing the side wall of the longitudinal guide rod, and each pair of rollers on the left and right sides is in a clamping and rolling connection with the feeding rod.

6. The closed-loop control positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 5, characterized in that: A driving frame is slidably clamped below the storage box. The driving frame is slidably clamped inside the top of the bracket. A pair of pull ropes are wound around the front and rear ends of the driving frame up and down, and the pair of pull ropes are symmetrically arranged in the reverse direction. A servo motor for driving the horizontal movement of the driving frame is installed at the bottom of the front end of the bracket. An incremental rotary encoder is installed at the end of the servo motor. Lateral displacement sensors are embedded on the front and rear side walls of the bracket for measuring the displacement of the driving frame and triggering the self-locking positioning of the servo motor.

7. The closed-loop control positioning device for the gear and incremental rotary encoder of the fully automatic storage cabinet according to claim 6, characterized in that: The longitudinal motor set consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor is connected to the gear through a speed reducer, and this gear meshes with the rack at the front part of the side of the longitudinal guide rod for driving the up and down movement of the storage box.

8. The closed-loop control positioning device for the gear and incremental rotary encoder of the full-automatic storage cabinet according to claim 7, characterized in that: A sprocket is coaxially sleeved at the output shaft end of the servo motor, and a sprocket is installed at the rear end of the bracket. A chain meshes between the two sprockets. Clamping columns are arranged at the side ends of adjacent pins of the chain. Push rods are inserted into the front and rear bottom surfaces of the driving frame, and the two clamping columns are engaged and driven with the lower half of the push rods.

9. The closed-loop control positioning device for the gear and incremental rotary encoder of the full-automatic storage cabinet according to claim 8, wherein: A pair of ring blocks are embedded at the front and rear ends of the active frame and on different sides. A pulley is rotatably connected between each pair of ring blocks. The pulling rope is correspondingly sleeved on the pulley, and pulling blocks are tightly sleeved on the upper and lower ends of the pulling rope. The pulling block located above is fixedly connected to the bottom surface of the storage box, and the pulling block located below is fixedly connected to the bottom surface of the active frame.

10. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 9, characterized in that: A sliding rod is fixedly connected to the inner side of the bottom of the storage box, and a sliding rod is fixedly connected to the inner side of the top of the bracket. The outer walls on both sides of the active frame are fixedly connected with sliding sleeve rods up and down. The sliding sleeve rod located above is slidably inserted into the sliding rod on the storage box, and the sliding sleeve rod located below is slidably inserted into the sliding rod on the bracket.

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