Three-dimensional warehousing material transfer device with inlaid guide groove for anti-collision

Abstract

The present application relates to material transfer equipment technical field, especially adopt mosaic type guide groove anti-collision three-dimensional warehouse material transfer device, including base, base is fixedly connected with two opposite conveying frame, conveying frame inside upper and lower both ends are rotatably connected with rotating shaft, rotating shaft is fixedly connected with conveying roller, the same conveying frame two conveying rollers transmission connection has conveying belt, two conveying belt surface all are fixedly connected with a plurality of support frame, both ends of support frame are rotatably connected with guide wheel, the present application is through setting laser emitter, laser receiver and controller, utilize the shielding time difference when guide wheel passes through through hole, realized two sides conveying belt relative speed difference non-contact, real-time on-line quantitative detection, through control electromagnetic slip clutch, realize fast side wait slow side's pure active closed loop correction, effectively eliminated the problem of conveying belt tilt, jamming caused by elongation wear, cargo platform.

Description

Technical Field

[0001] This invention relates to the field of material transfer equipment technology, and in particular to a three-dimensional warehouse material transfer device that uses embedded guide grooves for collision protection. Background Technology

[0002] In the field of automated warehousing and logistics, circulating elevators are core equipment for vertical material transfer. Existing circulating elevators typically employ an external guide rail and exposed guide wheels structure, driven by a single motor via a dual-axis commutator that drives the conveyor belt pulleys on both sides. However, existing technologies face the following insurmountable technical bottlenecks in practical applications:

[0003] During long-term operation, conveyor belts will undergo irreversible elastic elongation. However, the dual-shaft commutator is a rigid proportional transmission and cannot adapt to the tension changes of the conveyor belts on both sides. This results in inconsistent actual linear speeds of the conveyor belts on both sides, making the loading platform prone to tilting, jamming, and even aggravating abnormal wear of the entire drive system.

[0004] Existing equipment relies heavily on manual inspections to monitor synchronization deviations, lacking quantitative, real-time online detection methods. Once belt slippage occurs, operators are often unaware until the loading platform tilts severely or the equipment jams, forcing them to stop for repairs, which seriously impacts the efficiency of continuous logistics operations. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems existing in the prior art, and to propose a three-dimensional warehouse material transfer device with embedded guide groove anti-collision.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a three-dimensional storage material transfer device with embedded guide groove anti-collision, including a base, two oppositely arranged conveyor frames are fixedly connected on the base, and a rotating shaft is rotatably connected to both the upper and lower ends of the conveyor frame. A conveyor roller is fixedly connected to the rotating shaft, and a conveyor belt is drivingly connected between the two conveyor rollers of the same conveyor frame.

[0007] Multiple support frames are fixedly connected to the surfaces of both conveyor belts. Guide wheels are rotatably connected to both ends of the support frames, and two vertical wheels are fixedly connected to one side of the support frame. The inside of the conveyor frame has embedded guide grooves on both sides that are the same as the outline of the conveyor belt. The guide wheels are embedded in the corresponding embedded guide grooves and roll in cooperation with the embedded guide grooves. A dual-axis commutator and two single-sided commutators are fixedly installed on the base. The dual-axis commutator is located between the two single-sided commutators. A reducer and a drive motor are fixedly installed on the top of the dual-axis commutator. The input ends of the two single-sided commutators are fixedly connected to the output ends on both sides of the dual-axis commutator, respectively. An electromagnetic slip clutch is installed between the rotating shaft below and the output end of the single-sided commutator.

[0008] The conveyor frame is equipped with a laser emitter and a laser receiver, located on the inner and outer sides of the conveyor frame, respectively. The conveyor frame and the embedded guide groove are respectively provided with through holes for the laser to pass through. The conveyor frame is equipped with U-shaped brackets on both sides, and a sliding bar is provided in the U-shaped bracket. One end of the sliding bar passes through the conveyor frame and the embedded guide groove, and the other end is fixedly connected to a metal part. An electromagnet is fixedly provided in the U-shaped bracket. An elastic reset component for driving the sliding bar to reset is provided between the sliding bar and the conveyor frame.

[0009] It also includes a controller, which is electrically connected to the drive motor, electromagnetic slip clutch, laser emitter, laser receiver and electromagnet.

[0010] Preferably, the elastic reset assembly includes a limiting plate, limiting pins, and a spring. The limiting plate is fixedly connected to the sliding bar, and two limiting pins fixedly connected to the conveying frame are slidably inserted on the limiting plate. The spring is sleeved outside the limiting pins, and its two ends abut against the head end faces of the limiting plate and the limiting pins, respectively. When the sliding bar normally passes through the conveying frame, its end remains flush with the inner wall of the embedded guide groove.

[0011] Preferably, the controller determines the relative speed difference between the two conveyor belts based on the time difference between the signal received by the two laser receivers being blocked by the guide wheels. The controller also determines whether the current movement is upward lifting or downward transport based on the forward and reverse rotation of the drive motor. When lifting upward, the actual linear speed of the conveyor belt on the non-slip side is faster, and its corresponding guide wheel blocks the laser signal first. The controller reduces the excitation current of the electromagnetic differential clutch on that side, causing the conveyor belt on that side to slow down. When transporting downward, the actual linear speed of the conveyor belt on the slip side is faster due to gravity. Its corresponding guide wheel blocks the laser signal first, and the controller increases the excitation current of the electromagnetic differential clutch on that side, using the reverse drag torque of the drive motor to brake and slow down the conveyor belt on that side. This causes the conveyor belt on the side with the faster actual linear speed to slow down and wait for the side with the slower actual linear speed, thus achieving active synchronization compensation.

[0012] Preferably, the controller has a built-in judgment module. When the receiving time of the laser receivers on both sides is still inconsistent after three consecutive adjustments, it is determined that the conveyor belt is worn and has failed, and a maintenance alarm signal is issued and the drive motor is controlled to stop working.

[0013] Preferably, the controller has a built-in fall detection module. When the signal blockage time interval of the laser receiver is less than the set threshold, the controller determines that the conveyor belt is in an overloaded slippage and fall state, cuts off the electromagnet circuit, and the elastic reset component drives the sliding bar to quickly insert into the embedded guide groove to actively intercept and support the falling guide wheel.

[0014] Preferably, an elastic buffer plate is fixed on the base to provide final anti-collision buffer for the loading platform and goods when the sliding bar fails to support the guide wheel in time due to excessive falling speed.

[0015] Preferably, the two conveyor belts form a lifting channel on their adjacent sides. When the support frames on both sides move synchronously to the adjacent side, the loading platform and goods are lifted and lowered synchronously by the vertically arranged wheels.

[0016] Preferably, the electromagnetic slip clutch is fixedly installed between the lower rotating shaft and the output end of the single-sided commutator via a flange, and is used to receive the speed reduction command from the controller and finely adjust the moving speed of the conveyor belt on that side.

[0017] Preferably, the output end of the reducer is coaxially and fixedly connected to the input end at the top of the dual-shaft commutator, and the dual-shaft commutator synchronously converts the horizontal rotational power into two vertically upward power outputs.

[0018] Preferably, the limiting plate is vertically disposed on the sliding bar, the spring is in a compressed state, and its two ends abut against the head end faces of the limiting plate and the limiting pin, respectively, to provide the reset preload force for the sliding bar to insert into the embedded guide groove.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention, by setting up a laser emitter, a laser receiver, and a controller, utilizes the time difference in obstruction when the guide wheel passes through the through hole to achieve non-contact, real-time online quantitative detection of the relative speed difference between the two conveyor belts. The controller of this invention can determine the working condition by combining the forward and reverse rotation of the drive motor: when lifting upwards, it controls the normal fast side that is obstructed first to slow down; when transferring downwards, it controls the slip side that is obstructed first due to gravity to slow down; by controlling the electromagnetic slip clutch, it achieves pure active closed-loop correction of the fast side waiting for the slow side, effectively eliminating the problem of tilting and jamming of the loading platform caused by the elongation and wear of the conveyor belt.

[0021] 2. When the loading platform is severely overloaded, causing the conveyor belt to slip and fall, the time interval of the laser receiver will shorten drastically. The controller will instantly identify the anomaly and directly cut off the power to the electromagnet. At this time, the sliding bar, relying on the mechanical restoring force of the spring, quickly inserts into the embedded guide groove, providing multi-point effective interception and support for the falling guide wheel. This structure does not rely on the continuous power supply of the electrical control system, avoiding the risk of failure of traditional electric brakes at the moment of power failure. At the same time, the base is equipped with an elastic buffer plate as a last line of defense, minimizing damage to goods and deformation of the frame.

[0022] 3. The present invention uses a built-in judgment module in the controller. When the blocking time of the laser receiver is still inconsistent after three consecutive adjustments, it can accurately determine that the conveyor belt has suffered irreversible severe wear. Then, it will actively issue a maintenance alarm signal and cut off the power supply to the drive motor, which significantly improves the maintainability and unmanned operation level of the equipment. Attached Figure Description

[0023] Figure 1This is a schematic diagram of the first structure of the present invention;

[0024] Figure 2 For the present invention Figure 1 Enlarged structural diagram at point A;

[0025] Figure 3 For the present invention Figure 1 Enlarged structural diagram at point B;

[0026] Figure 4 This is a schematic diagram of the second structure of the present invention;

[0027] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point C.

[0028] In the diagram: 1. Base; 2. Conveying frame; 3. Rotating shaft; 4. Conveying roller; 5. Conveying belt; 6. Support frame; 7. Guide wheel; 8. Vertical wheel; 9. Embedded guide groove; 10. Dual-axis commutator; 11. Single-sided commutator; 12. Reducer; 13. Drive motor; 14. Electromagnetic slip clutch; 15. Laser emitter; 16. Laser receiver; 17. Through hole; 18. U-shaped bracket; 19. Sliding bar; 20. Metal part; 21. Electromagnet; 22. Limiting plate; 23. Limiting pin; 24. Spring; 25. Elastic buffer plate. Detailed Implementation

[0029] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0030] like Figures 1 to 5 The three-dimensional storage material transfer device shown uses embedded guide grooves for anti-collision, including a base 1. Two oppositely arranged conveyor frames 2 are fixedly connected to the base 1. The upper and lower ends of each conveyor frame 2 are rotatably connected to a rotating shaft 3, and a conveyor roller 4 is fixedly connected to the rotating shaft 3. A conveyor belt 5 is connected between the two conveyor rollers 4 on the same conveyor frame 2.

[0031] Multiple support frames 6 are fixedly connected to the surfaces of the two conveyor belts 5. Guide wheels 7 are rotatably connected to both ends of the support frame 6. Two vertical wheels 8 are fixedly connected to one side of the support frame 6. Inlaid guide grooves 9 with the same outline as the conveyor belts 5 are opened on both sides inside the conveyor frame 2. The guide wheels 7 are embedded in the corresponding inlaid guide grooves 9 and roll in cooperation with the inlaid guide grooves 9.

[0032] A dual-axis commutator 10 and two single-sided commutators 11 are fixedly installed on the base 1. The dual-axis commutator 10 is located between the two single-sided commutators 11. A reducer 12 and a drive motor 13 are fixedly installed on the top of the dual-axis commutator 10. The output end of the reducer 12 is coaxially and fixedly connected to the input end on the top of the dual-axis commutator 10. The dual-axis commutator 10 distributes the power output from the reducer 12 into two synchronous and opposite horizontal outputs, which are transmitted to the rotating shafts 3 on both sides below through the two single-sided commutators 11. The input ends of the two single-sided commutators 11 are fixedly connected to the output ends on both sides of the dual-axis commutator 10. An electromagnetic slip clutch 14 is fixedly installed between the rotating shaft 3 below and the output end of the single-sided commutator 11 through a flange. It is used to receive the speed reduction command from the controller and finely adjust the moving speed of the conveyor belt 5 on that side.

[0033] The conveying frame 2 is equipped with a laser emitter 15 and a laser receiver 16, which are located on the inner and outer sides of the conveying frame 2, respectively. The conveying frame 2 and the embedded guide groove 9 are respectively provided with through holes 17 for the laser to pass through.

[0034] The conveying frame 2 has U-shaped brackets 18 on both sides, and a sliding bar 19 is provided inside the U-shaped bracket 18. One end of the sliding bar 19 passes through the conveying frame 2 and the embedded guide groove 9, and the other end is fixedly connected to a metal part 20. An electromagnet 21 is fixedly provided inside the U-shaped bracket 18. An elastic reset component for driving the sliding bar 19 to reset is provided between the sliding bar 19 and the conveying frame 2.

[0035] Specifically, the elastic reset assembly includes a limiting plate 22, limiting pins 23, and a spring 24. The limiting plate 22 is vertically fixedly connected to the sliding bar 19. Two limiting pins 23, which are fixedly connected to the conveying frame 2, are slidably inserted into the limiting plate 22. The spring 24 is sleeved on the outside of the limiting pins 23 and is in a compressed state, with its two ends abutting against the head end faces of the limiting plate 22 and the limiting pins 23, respectively. Under normal conditions, after the sliding bar 19 passes through the conveying frame 2, its end remains flush with the inner wall of the embedded guide groove 9 to ensure that the guide wheel 7 passes through normally without obstruction.

[0036] An elastic buffer plate 25 is also fixed on the base 1 for final anti-collision buffer when the falling speed is too fast.

[0037] This embodiment also includes a controller, which is electrically connected to the drive motor 13, the electromagnetic slip clutch 14, the laser emitter 15, the laser receiver 16, and the electromagnet 21.

[0038] When transferring stored materials, the two conveyor belts 5 form a lifting channel on their adjacent sides, and the loading platform is placed on top of the vertical wheels 8 arranged opposite each other in the channel. The drive motor 13 works, and after being reduced in speed by the reducer 12, it drives the dual-shaft commutator 10 to rotate. The dual-shaft commutator 10 distributes the power to the two single-sided commutators 11, and the single-sided commutators 11 transmit the power to the electromagnetic slip clutch 14, which in turn drives the rotating shaft 3 and the conveying roller 4 below to rotate, so that the two conveyor belts 5 operate synchronously and the conveying direction on their adjacent sides is the same, thereby driving the loading platform to rise and fall.

[0039] Specifically, the rotation axis of the vertical wheel 8 is set horizontally and perpendicular to the running direction of the conveyor belt 5; the bottom of both sides of the loading platform along the length direction respectively overlaps the top of the vertical wheel 8 on one side of the support frame 6 set opposite to each other on the two conveyor belts 5. The weight of the loading platform and the goods is transmitted to the conveyor belt 5 through the vertical wheel 8 and the support frame 6, and is jointly borne by the two conveyor belts 5. The loading platform is driven to rise and fall synchronously with the operation of the conveyor belt 5.

[0040] As the conveyor belt 5 moves, the guide wheel 7 moves along the embedded guide groove 9. When the guide wheel 7 moves to the position of the through hole 17, it will block the laser signal between the laser emitter 15 and the laser receiver 16.

[0041] Specifically, the controller has pre-stored geometric parameters for calculating the linear velocity: Let the duration of the guide wheel 7 blocking the laser signal be t, the diameter of the guide wheel 7 along the conveying direction be d, and the width of the through hole 17 along the conveying direction be w, then the actual linear velocity of the conveyor belt 5 on this side is v = (d + w) / t; the controller calculates the actual linear velocities v1 and v2 of the two conveyor belts 5 according to the above formula, and obtains the relative speed difference Δv = |v1 - v2| between the two conveyor belts 5; the controller compares Δv with the allowable deviation v0, and when Δv is greater than v0, it starts the closed-loop adjustment of the electromagnetic slip clutch 14 on the side with the faster actual linear velocity. In this embodiment, v0 is taken as 2% to 5% of the rated linear velocity of the conveyor belt 5.

[0042] The controller determines the relative speed difference between the two conveyor belts 5 based on the time difference between the signals received by the two laser receivers 16 being blocked by the guide wheel 7; simultaneously, the controller determines whether the current operation is upward lifting or downward transfer based on the forward and reverse rotation of the drive motor 13.

[0043] When the conveyor belt is lifted upwards, the actual linear speed of the non-slipping normal side conveyor belt 5 is faster, and its corresponding guide wheel 7 blocks the laser signal first. The controller reduces the excitation current of the electromagnetic differential clutch 14 on that side, causing the conveyor belt 5 on that side to slow down. When the conveyor belt is transported downwards, the actual linear speed of the slipping side conveyor belt 5 is faster due to gravity. Its corresponding guide wheel 7 blocks the laser signal first, and the controller increases the excitation current of the electromagnetic differential clutch 14 on that side. The reverse drag torque of the drive motor 13 is used to brake and slow down the conveyor belt 5 on that side. Through the above logic, the conveyor belt 5 on the side with a faster actual linear speed slows down to wait for the side with a slower actual linear speed, thus achieving active synchronization compensation.

[0044] It should be noted that the controller's speed reduction control of the electromagnetic slip clutch 14 is implemented in two physical ways depending on the working conditions. When lifting upwards, gravity hinders the movement, and the controller reduces the excitation current to weaken the driving torque, causing the fast-side conveyor belt 5 to passively slow down under the resistance of gravity. When transferring downwards, gravity drags the movement, and the slip side is in an overspeed falling state. The controller increases the excitation current to enhance the magnetic field's anti-drag braking torque on the driven end, actively suppressing overspeed and causing the fast-side conveyor belt 5 to slow down. Through this closed-loop regulation of excitation current in opposite directions, it is possible to accurately control the side with the faster actual linear speed to wait for the slower side, whether lifting or lowering.

[0045] The torque transmission path of the electromagnetic slip clutch 14 under two working conditions is as follows: In the upward lifting condition, the output end of the single-sided commutator 11 is the driving end of the electromagnetic slip clutch 14, and the lower rotating shaft 3 is the driven end. The electromagnetic slip clutch 14 transmits driving torque in the forward direction along the power transmission direction. At this time, the controller reduces the excitation current, the magnetic coupling strength between the driving end and the driven end weakens, and the driving torque transmitted to the rotating shaft 3 decreases. The faster side conveyor belt 5 is passively decelerated under the action of the gravity resistance torque of the loading platform and the goods. In the downward transfer condition, the gravity of the loading platform and the goods drags the rotating shaft 3 in the opposite direction through the conveyor belt 5 and the conveyor roller 4, so that the speed of the driven end of the electromagnetic slip clutch 14 tends to exceed that of the driving end. The electromagnetic slip clutch 14 turns to transmit braking torque in the reverse direction. At this time, the controller increases the excitation current, the magnetic coupling strength is enhanced, and the holding torque transmitted from the drive motor 13 through the reducer 12, the dual-shaft commutator 10 and the single-sided commutator 11 is applied to the rotating shaft 3 through the electromagnetic slip clutch 14, forming a reverse drag braking on the faster side conveyor belt 5. That is, under both operating conditions, the magnitude of the excitation current and the torque transmitted by the electromagnetic slip clutch 14 are always positively correlated: when the excitation current increases, the transmitted torque increases, and when the excitation current decreases, the transmitted torque decreases. The correspondence between the direction of increase or decrease of the excitation current and the speed reduction effect is uniquely determined by the current operating condition, and those skilled in the art can implement the above control without ambiguity.

[0046] In this embodiment, the controller adopts incremental closed-loop control to adjust the excitation current of the electromagnetic slip clutch 14: the controller collects signals from two laser receivers 16 at a fixed sampling period Ts and calculates Δv according to the above formula, where Ts is preferably 20ms to 50ms; the adjustment step size of the excitation current in each adjustment period is 5% to 10% of the rated excitation current of the electromagnetic slip clutch 14, and the adjustment direction is determined according to the above working condition logic; after adjustment, the controller recalculates Δv in the next sampling period. If Δv is still greater than v0, it continues to adjust by one step in the same direction until Δv is no greater than v0, at which point the current excitation current remains unchanged.

[0047] The controller has a built-in judgment module. When the receiving time of the laser receivers 16 on both sides is still inconsistent after three consecutive adjustments, it is determined that the conveyor belt 5 is worn and has failed, and a maintenance alarm signal is issued and the drive motor 13 is controlled to stop working.

[0048] It should be noted that each adjustment in the above "three consecutive adjustments" refers to a complete adjustment cycle in which the controller completes one signal sampling, speed difference calculation and outputs excitation current according to the adjustment step size. The single adjustment cycle is no more than 100ms. When the adjustment of three consecutive adjustment cycles is completed, if the blocking time of the signals received by the laser receivers 16 on both sides is still inconsistent, that is, Δv is still greater than v0, it indicates that the elongation or wear of the conveyor belt 5 has exceeded the compensation range of the electromagnetic slip clutch 14. Based on this, the controller determines that the conveyor belt 5 is worn and has failed.

[0049] The controller has a built-in fall detection module. When the loading platform is overloaded, causing the conveyor belt 5 to slip and fall, the guide wheel 7 quickly passes between the laser emitter 15 and the laser receiver 16. The time interval between the laser receiver 16 receiving the laser signal and it being blocked, and then receiving the laser signal again, will be much shorter than the time interval during normal conveying. When this interval is less than a set threshold, the controller determines that the conveyor belt 5 is in an overloaded slipping and falling state and cuts off the electromagnet 21 circuit. The electromagnet 21 releases its attraction to the metal part 20, and the sliding bar 19 quickly inserts into the embedded guide groove 9 under the reset thrust of the spring 24, supporting and intercepting the rapidly falling guide wheel 7 to prevent the loading platform from falling directly.

[0050] Specifically, the threshold is determined based on the diameter d of the guide wheel 7 along the conveying direction, the width w of the through hole 17 along the conveying direction, and the normal operating linear speed vN of the conveyor belt 5, i.e., T_threshold = λ·(d+w) / vN, where λ is a safety factor, which is 0.3 to 0.6, preferably 0.5. For example, when d = 60mm, w = 10mm, and vN = 0.5m / s, the signal blocking time interval of the laser receiver 16 during normal conveying is approximately 140ms, and the threshold is set to 70ms. When the measured blocking time interval is less than 70ms, it indicates that the speed of the guide wheel 7 passing through the through hole 17 has exceeded twice the normal operating speed, and the controller determines that the conveyor belt 5 is in an overloaded slipping and falling state. To avoid misjudgment caused by speed fluctuations during the start and stop of the drive motor 13, the controller blocks the judgment output of the fall detection module within a set delay time (1s in this embodiment) after each start of the drive motor 13.

[0051] If the falling speed is too fast and the sliding bar 19 does not have enough time to effectively support the guide wheel 7, the loading platform and goods will fall onto the elastic buffer plate 25 on the base 1, which will absorb the impact through elastic deformation to achieve the final anti-collision protection.

[0052] In this embodiment, the width of the embedded guide groove 9 is 0.5mm to 1.5mm larger than the diameter of the guide wheel 7, which ensures smooth rolling of the guide wheel 7 while restricting its lateral movement; the width of the end face of the sliding bar 19 is greater than the diameter of the guide wheel 7 to ensure an effective interception area for the falling guide wheel 7; the metal part 20 is made of ferromagnetic metal material, such as low carbon steel; the elastic buffer plate 25 includes a steel plate base and a polyurethane rubber buffer layer fixedly connected to the upper surface of the steel plate base; the preload of the spring 24 is configured such that the action time of the sliding bar 19 from the de-energization of the electromagnet 21 to its complete insertion into the embedded guide groove 9 is no more than 50ms.

[0053] The following verification was conducted using a prototype with a rated load of 500kg and a normal operating linear speed of vN=0.5m / s: The controller's response time to the relative speed difference between the two conveyor belts 5 is no more than 100ms. After closed-loop adjustment, the actual linear speed difference between the two conveyor belts 5 converges to within 2% of the rated linear speed. When the conveyor belt 5 fails due to wear, the controller can issue a maintenance alarm signal and control the drive motor 13 to stop within three consecutive adjustment cycles. Under overload slippage and fall conditions, the total response time from the time interval between blocking and the completion of the interception action by the sliding bar 19 is no more than 100ms. Compared with existing circulating elevators that rely on manual inspection to detect synchronization deviations, this embodiment improves the detection method of synchronization deviations from hourly manual inspections to millisecond-level real-time online quantitative detection. After detecting an anomaly, it automatically completes synchronization compensation or fall interception without human intervention.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A three-dimensional warehouse material transfer device with embedded guide grooves for collision prevention, including a base, characterized in that, Two oppositely arranged conveyor frames are fixedly connected to the base. Rotating shafts are rotatably connected to the upper and lower ends of the conveyor frames. Conveyor rollers are fixedly connected to the rotating shafts. A conveyor belt is connected between the two conveyor rollers of the same conveyor frame. Multiple support frames are fixedly connected to the surfaces of both conveyor belts. Guide wheels are rotatably connected to both ends of the support frames, and two vertical wheels are fixedly connected to one side of the support frame. The inside of the conveyor frame has embedded guide grooves on both sides that are the same as the outline of the conveyor belt. The guide wheels are embedded in the corresponding embedded guide grooves and roll in cooperation with the embedded guide grooves. A dual-axis commutator and two single-sided commutators are fixedly installed on the base. The dual-axis commutator is located between the two single-sided commutators. A reducer and a drive motor are fixedly installed on the top of the dual-axis commutator. The input ends of the two single-sided commutators are fixedly connected to the output ends on both sides of the dual-axis commutator, respectively. An electromagnetic slip clutch is installed between the rotating shaft below and the output end of the single-sided commutator. The conveyor frame is equipped with a laser emitter and a laser receiver, located on the inner and outer sides of the conveyor frame, respectively. The conveyor frame and the embedded guide groove are respectively provided with through holes for the laser to pass through. The conveyor frame is equipped with U-shaped brackets on both sides, and a sliding bar is provided in the U-shaped bracket. One end of the sliding bar passes through the conveyor frame and the embedded guide groove, and the other end is fixedly connected to a metal part. An electromagnet is fixedly provided in the U-shaped bracket. An elastic reset component for driving the sliding bar to reset is provided between the sliding bar and the conveyor frame. It also includes a controller, which is electrically connected to the drive motor, electromagnetic slip clutch, laser emitter, laser receiver and electromagnet.

2. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, The elastic reset assembly includes a limiting plate, limiting pins, and a spring. The limiting plate is fixedly connected to the sliding bar. Two limiting pins, which are fixedly connected to the conveying frame, are slidably inserted on the limiting plate. The spring is sleeved on the outside of the limiting pins, and its two ends abut against the head end faces of the limiting plate and the limiting pins, respectively. When the sliding bar normally passes through the conveying frame, its end is flush with the inner wall of the embedded guide groove.

3. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, The controller determines the relative speed difference between the two conveyor belts based on the time difference between the signal received by the two laser receivers being blocked by the guide wheels. The controller also determines whether the current movement is upward lifting or downward transport based on the forward and reverse rotation of the drive motor. When lifting upward, the actual linear speed of the conveyor belt on the normal side that has not slipped is faster, and its corresponding guide wheel blocks the laser signal first. The controller reduces the excitation current of the electromagnetic differential clutch on that side, causing the conveyor belt on that side to slow down. When transporting downward, the actual linear speed of the conveyor belt on the slipped side is faster due to gravity. Its corresponding guide wheel blocks the laser signal first, and the controller increases the excitation current of the electromagnetic differential clutch on that side, using the reverse drag torque of the drive motor to brake and slow down the conveyor belt on that side. In this way, the conveyor belt on the side with the faster actual linear speed slows down to wait for the side with the slower actual linear speed, thus achieving active synchronization compensation.

4. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 3, characterized in that, The controller has a built-in judgment module. If the receiving time of the laser receivers on both sides is still inconsistent after three consecutive adjustments, it will determine that the conveyor belt is worn and has failed, issue a maintenance alarm signal, and control the drive motor to stop working.

5. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 2, characterized in that, The controller has a built-in fall detection module. When the signal blockage time interval of the laser receiver is less than the set threshold, the controller determines that the conveyor belt is in an overloaded slippage and fall state, and cuts off the electromagnet circuit. The elastic reset component drives the sliding bar to quickly insert into the embedded guide groove to actively intercept and support the falling guide wheel.

6. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, An elastic buffer plate is fixed on the base to provide final anti-collision buffer for the loading platform and goods when the sliding bar fails to support the guide wheel in time due to excessive falling speed.

7. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, The two conveyor belts form a lifting channel on their adjacent sides. When the support frames on both sides move synchronously to the adjacent side, the loading platform and goods are lifted and lowered synchronously by the vertically arranged wheels.

8. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, The electromagnetic slip clutch is fixedly installed between the lower rotating shaft and the output end of the single-sided commutator via a flange. It is used to receive the speed reduction command from the controller and fine-tune the moving speed of the conveyor belt on that side.

9. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 1, characterized in that, The output end of the reducer is coaxially and fixedly connected to the input end at the top of the dual-shaft commutator. The dual-shaft commutator synchronously converts the horizontal rotational power into two vertically upward power outputs.

10. The three-dimensional storage material transfer device with embedded guide groove anti-collision as described in claim 2, characterized in that, The limiting plate is vertically mounted on the sliding bar, and the spring is in a compressed state. Both ends abut against the head end faces of the limiting plate and the limiting pin, respectively, to provide the reset preload force for the sliding bar to insert into the embedded guide groove.

Images