Goods shelf practical training system suitable for automatic control

Abstract

The utility model relates to a goods shelf training system suitable for automatic control, which comprises a goods shelf and a goods conveying system, the goods conveying system is arranged on the front side of the goods shelf and comprises a transverse track, a longitudinal track, a vertical track and a goods grabbing mechanism, the vertical track is in sliding fit with the transverse track, the longitudinal track is in sliding fit with the vertical track, and the goods grabbing mechanism is arranged on the goods shelf. The goods grabbing mechanism is in sliding fit with the longitudinal track, the vertical track and the longitudinal track are each provided with a position sensing system, each position sensing system comprises a datum plate and a plurality of probes, the probes are sequentially arranged on the track in the movement direction of the corresponding track, and each probe is provided with a sensing signal output end. The datum plate is arranged on the advancing path of the corresponding track and provided with a front side edge and a rear side edge, and the front side edge and the rear side edge of the datum plate are located in the sensing path of each probe. According to the utility model, the continuous step-by-step speed regulation of the movement speed of the corresponding track can be realized by intermittently acquiring signals, the movement control is accurate, and the system construction and maintenance cost is low.

Description

Technical Field

[0001] The utility model relates to a shelf training system suitable for automatic control, belonging to the technical field of training teaching equipment. Background Art

[0002] The practical training system is a comprehensive teaching system that allows students to practice in a virtual environment by simulating actual work scenarios, thereby improving the practicality and interest of learning and cultivating practical work skills. Its functions include practical training simulation, teaching management, interactive teaching, learning resource management, and data analysis and evaluation. Through practical training, it helps to improve students' learning interest, cultivate practical skills, enhance teaching effectiveness, enrich learning resources, and be convenient and flexible.

[0003] Existing training systems for storing and retrieving goods from shelves rely on different shelf configurations and storage and retrieval systems used in practice. Depending on the requirements of the storage and retrieval process, the actuators are required to be capable of movement in three directions: lateral (left-right, or along the shelf's extension), longitudinal (front-to-back, or perpendicular to the shelf's front), and vertical (perpendicular to the horizontal plane), with position control for each direction of motion. For example, utility model patent publication number CN213877282U discloses a training device for automated material storage. One specific embodiment of this training device includes a workbench, an electrical control component, a transport component, a palletizing component, and shelves. The transport component is used to transport materials; the palletizing component includes guide rails and a manipulator assembly slidably connected to the rails, which is used to grab materials and place them on the shelves; the shelves include multi-layer storage units for placing materials; and the electrical control component controls the operation of the transport and palletizing components. In this embodiment, materials are transported through the transport component, simulating the dynamic behavior of materials. Under the control of the electrical control component, the palletizing component moves materials from the transport component and places them on the shelves. The palletizing component can simulate the various logical actions of a palletizer in handling and placing materials. This enriches the functionality of the training device and better improves the technical level of learners. For example, the utility model patent with publication number CN214226189U discloses a new stereoscopic warehouse training platform for teaching, which includes a laboratory table; a stereoscopic warehouse is installed on the middle and rear side of the top table of the laboratory table; an industrial PAD client and a display are placed directly in front of the stereoscopic warehouse; a keyboard and mouse are placed directly in front of the display; an industrial network switch is placed to the right and rear of the display; a wireless router is placed to the left of the industrial PAD client; an electrical cabinet is set on the lower left side of the front end of the laboratory table; a computer host is placed on the lower right side of the front end of the laboratory table; the industrial PAD client communicates wirelessly via a wireless router; and a power module is installed inside the electrical cabinet. This utility model not only strengthens the practice of stereoscopic warehouse construction operations, but also, while focusing on basic exercises such as single-machine control, strengthens the application of network communication and components, effectively improving students' engineering practice ability and employment competitiveness. For example, the utility model patents with publication numbers CN114759855A and CN114654467A both disclose motion control methods associated with a training system for storing and retrieving goods from shelves.However, in terms of motion control, especially end point position control, these existing technologies either use a single position sensor to determine the end point position and apply braking when the corresponding device moves to or approaches the end point, or use continuous signals to continuously identify the distance to the end point of movement and continuously adjust the movement speed based on the distance. The former solution is likely to cause large impact and vibration during the braking process and may cause the carried goods to shift or fall off. The latter solution requires complex equipment and complex algorithms due to the large number of position signals required. The increase in the complexity of the equipment and algorithms itself is a factor that affects the efficiency and accuracy of object motion control, and both have application limitations. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides a shelf training system suitable for automated control. The sensing system of the cargo grabbing mechanism is simple, the control method is simple, the data processing volume is small and the stability is good, which can realize automatic storage and retrieval of cargo.

[0005] The technical solution for achieving the above-mentioned purpose of the present invention is: a shelf training system suitable for automated control, comprising a shelf and a cargo transport system, wherein the cargo transport system is arranged on the front side of the shelf, and the cargo transport system comprises a transverse track (a track in the left-right direction, or in the extension direction of the shelf), a longitudinal track (a track in the front-back direction, or in the direction perpendicular to the front of the shelf), a vertical track (a track in the direction perpendicular to the horizontal plane) and a cargo grabbing mechanism, wherein the vertical track slides with the transverse track and is provided with a transverse movement drive mechanism, the longitudinal track extends toward the shelf, the longitudinal track slides with the vertical track and is provided with a vertical movement drive mechanism, and the cargo grabbing mechanism slides with the longitudinal track A longitudinal movement drive mechanism is also provided, and both the vertical track and the longitudinal track are provided with a position sensing system, which includes a reference plate and a plurality of probes capable of sensing the reference plate. The plurality of probes are arranged in sequence along the movement direction of the corresponding track and are arranged on the corresponding track (including other parts / structures fixedly connected to / moving together with the corresponding track), with a spacing between adjacent probes, and each probe is provided with a sensing signal output end. The reference plate is provided on the travel path of the corresponding track and is provided with a front edge and a rear edge. The front edge and the rear edge of the reference plate are both straight, perpendicular to the movement direction of the corresponding track and located in the sensing path of each probe (the path that the sensing area of ​​the probe passes or may pass through when the probe moves with the corresponding track).

[0006] Preferably, the cargo grabbing mechanism is a fork, a clamp or a manipulator, or other mechanisms suitable for picking up and placing cargo in the prior art.

[0007] Preferably, the transverse rail is arranged at the bottom of the front side of the shelf or on the ground, and a gap is left between the transverse rail and the shelf for the longitudinal rail to move along the extension direction of the transverse rail.

[0008] Preferably, a guide rail may be provided on the top front side of the shelf, wherein the guide rail is parallel to the transverse rail, preferably in the same vertical plane, and the top of the vertical rail is in sliding engagement with the guide rail.

[0009] Preferably, the plurality of probes on the corresponding track are arranged in a straight line along the direction of movement thereof.

[0010] Preferably, the number of the probes on the corresponding track is not less than three, and the spacings between adjacent probes are the same or different, preferably the same.

[0011] Preferably, the probe on the corresponding track is located on one side thereof, the corresponding reference plate is arranged on one side of the travel path of the corresponding track, and the side of the probe on the corresponding track is on the same side as the side of the reference plate relative to the travel path of the corresponding track.

[0012] Preferably, the probe on the longitudinal track is arranged on a side of the longitudinal track facing the shelf, and the corresponding reference plate is arranged on the shelf.

[0013] Preferably, the probe on the vertical track is provided on a side of the vertical track facing the shelf, and the corresponding reference plate is provided on a side of the transverse track facing the shelf or on the shelf.

[0014] The probe may be a laser sensor, an infrared sensor, a proximity switch, or a camera. For example, when a laser sensor or infrared sensor is used, the probe's sensing output switches / transitions once the laser beam passes over the front or rear edge of the reference plate. When a proximity switch is used, its switching state may change based on its relative position to the reference plate. When the proximity switch passes over the front or rear edge of the reference plate, the probe's sensing output switches / transitions once.

[0015] Preferably, when the number of probes of the position sensing system is not less than three, the spacing between adjacent probes is the same, and the spacing between the front edge and the rear edge of the reference plate is not an integer multiple of the spacing between adjacent probes that is less than the number of probes.

[0016] Preferably, the distance between the front edge and the rear edge of the reference plate is n times the distance between adjacent probes, where n is the number of the probes.

[0017] The reference plate is in the shape of a rectangular plate, with its major surface parallel to the direction of motion of the object. Typically, its long side is aligned with the direction of motion of the object, and if necessary, its short side may also be aligned with the direction of motion of the object. Its front and rear edges (front and rear edges) intersecting the travel path of the corresponding probe's detection area are used as or provided with (depending on the probe's detection requirements) sensing locations (which may be referred to as sensing points or sensing terminals) compatible with the probe. If necessary, based on the probe's characteristics, special sensing points or sensing terminals (for example, a signal reflecting device suitable for reflecting signals emitted by a probe such as a laser sensor; another example, a metal or magnetic device made of a different material from the reference plate suitable for sensing by a proximity switch probe; another example, a device made of a material or color significantly different from the reference plate suitable for image acquisition by an image acquisition probe such as a camera) may be provided on the front and rear edges of the reference plate for sensing by the probe. Alternatively, no sensing points or sensing terminals are provided on the reference plate, and specific locations of the reference plate may be used as sensing points, such as the front and / or rear edges of the reference plate along the direction of motion of the corresponding base (or the corresponding probe).

[0018] Depending on actual needs, the reference plate may also be trapezoidal (e.g., an isosceles trapezoid) or other suitable shapes. When a trapezoidal shape is employed, the base of the trapezoid is preferably aligned with the direction of motion of the corresponding base (or the corresponding probe). This allows the sensing position of the probe (e.g., the position of the laser beam on the front and rear edges of the trapezoid) to be changed / adjusted by changing the position of the probe in the height direction of the trapezoid.

[0019] Preferably, the sensing signal output end of the probe is connected to the control end of the mobile driving mechanism of the corresponding track by wireless signal.

[0020] Preferably, the shelf is a multi-layer frame structure, provided with a plurality of cargo storage spaces regularly arranged horizontally and vertically, the position sensing system of the vertical track is provided with a plurality of reference plates, the number of the reference plates is the same as the number of vertical columns of the cargo storage space and is arranged in a one-to-one correspondence, the position sensing system of the longitudinal track is provided with a plurality of reference plates, the number of the reference plates is the same as the number of the cargo storage spaces and is arranged in a one-to-one correspondence, and the upper and lower positions of the reference plates corresponding to each cargo storage space in each column of cargo storage space correspond to each other, that is, the probes of each position sensing system correspond to multiple reference plates.

[0021] Preferably, the bottom plate of each cargo storage space is a movable bottom plate, provided with a height adjustment mechanism, and the reference plate arranged in a one-to-one correspondence with each cargo storage space is vertically fixed on the bottom surface of the bottom plate of the corresponding cargo storage space.

[0022] Each position sensing system can be provided with a control device to uniformly control the activation of each probe and / or the issuance of control instructions to the corresponding mobile drive mechanism, so that according to the actual needs of storing and retrieving goods (positions), each probe is controlled to only sense the target reference plate or to issue a control instruction only after sensing the target reference plate, while other reference plates on the travel path are not sensed or no control instruction is issued when sensing. For example, the target position for storing and retrieving goods is the third column of cargo storage space on the shelf. During the movement of the vertical track along the horizontal track, the probe on the vertical track does not sense the reference plates corresponding to the first and second columns of cargo storage spaces or no control instruction is issued when sensing. However, after the vertical track passes over the second column of cargo storage space, the probe on the vertical track senses the reference plates corresponding to the third column of cargo storage space. The reference plate corresponding to the row of cargo storage spaces generates induction or only generates induction with the reference plate corresponding to the third row of cargo storage spaces before issuing a control instruction. For another example, the target location for storing and retrieving cargo is the third layer of the third row of cargo storage spaces on the shelf. After the vertical track moves to the third row of cargo storage spaces, during the movement of the longitudinal track along the vertical track (usually upward), the probe on the longitudinal track does not generate induction with the reference plates corresponding to the first and second layers of the third row of cargo storage spaces, or generates induction without generating a control instruction. However, after the longitudinal track passes the second layer, it generates induction with the reference plate corresponding to the third layer of cargo storage spaces, or only generates induction with the reference plate corresponding to the third layer of cargo storage spaces before issuing a control instruction. The speed regulation rules can be preset in the control device, and the control device can adopt any control device in the prior art that is suitable for generating different control instructions based on different collected signals, such as a PLC programmable controller or a chip integrating corresponding control functions.

[0023] The present invention has the following advantages: based on the intermittent sensing signals of each probe or part of the probes of each position sensing system against the corresponding reference plate, the present invention determines the position reached by the corresponding track on the travel path, and adjusts the movement speed according to the position of the corresponding track, thereby realizing automatic step-by-step speed regulation of the movement speed of the corresponding track, so that the cargo grabbing mechanism can accurately and slowly reach the target position on the shelf and complete the storage and retrieval operation. Compared with the prior art, the present invention avoids the impact, vibration and possible displacement or falling of the carried cargo caused by using a single position sensor to control the speed of the cargo grabbing mechanism to adjust to the target speed at one time (such as sudden stop or sudden acceleration), and also avoids the complex equipment and complex algorithms required for continuous signal acquisition and control. The position sensing system of the present invention has a simple structure, a simple control method, a low data processing volume, a high degree of automation, can realize continuous step-by-step speed regulation of the movement speed of the corresponding track through intermittent signal acquisition, has accurate motion control, and has low requirements on the hardware system including the structural strength of the cargo transportation system itself, and has low construction and maintenance costs. It is suitable for both practical training system simulation teaching and application in industrial intelligent warehousing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of an embodiment of the present utility model;

[0025] Figure 2 It is a principle diagram of the position sensing system of the utility model. DETAILED DESCRIPTION

[0026] All directional indications (such as up, down, front, back, left, right, etc.) in the embodiments of the present invention are only used to explain the relative position relationship and movement of the various components in a certain specific posture (as shown in the accompanying drawings) and do not constitute a limitation on the actual use direction. If the specific posture changes, the directional indication will also change accordingly.

[0027] See also Figure 1 and Figure 2The present invention discloses a robotic shelf storage and retrieval training system, comprising a shelf 1 and a cargo transport system. The cargo transport system is located on the front side of the shelf (the front side of the shelf front). The cargo transport system includes a transverse track (a track in the left-right direction, or in the direction in which the shelf extends) 2, a longitudinal track (a track in the front-to-back direction, or in the direction perpendicular to the shelf front) 3, a vertical track (a track in the direction perpendicular to the horizontal plane) 4, and a cargo grabbing mechanism 5. The vertical track slides with the transverse track via a vertical track base 6 and is provided with a transverse motion drive mechanism, allowing the vertical track to move left and right along the transverse track. The longitudinal track extends toward the shelf and slides with the vertical track via a longitudinal track base 7 and is provided with a vertical motion drive mechanism, allowing the longitudinal track to move up and down along the vertical track. The cargo grabbing mechanism slides with the longitudinal track and is provided with a longitudinal motion drive mechanism, allowing the cargo grabbing system to move forward and backward along the longitudinal track. The cargo grabbing mechanism can be a fork, a gripper, a manipulator, or other conventional mechanism suitable for picking up and placing goods. Any suitable sliding guide matching method in the prior art can be adopted between the vertical track base and the transverse track, between the longitudinal track base and the vertical track, and between the cargo grabbing mechanism and the longitudinal track, such as a groove rail matching method or a wheel rail matching method. A spacing suitable for the movement of the longitudinal track (including the cargo grabbing mechanism thereon) is left between the cargo transport system and the shelf. Both the vertical track and the longitudinal track are equipped with a position sensing system, which includes a reference plate (or sensing plate or plate to be sensed) 8 and a plurality of probes 9 ( Figure 1(not shown in the figure), the plurality of probes of each position sensing system are sequentially arranged along the movement direction of the corresponding track and are provided on the corresponding track (including other parts / structures fixedly connected to / moving together with the corresponding track). The plurality of probes are preferably arranged in a straight line along the movement direction of the corresponding track, with a spacing between adjacent probes. Each probe is provided with a sensing signal output end, and the sensing signal output of each probe (sensing the signal output of the corresponding reference plate) is connected to the control end (e.g., motor controller) of the moving drive mechanism (e.g., motor) of the corresponding track, that is, the sensing signal output of each probe on the vertical track is connected to the control end of the horizontal moving drive mechanism, and the sensing signal output of each probe on the longitudinal track is connected to the control end of the vertical moving drive mechanism. The reference plate of each position sensing system is arranged on the travel path of the corresponding track (on the travel path within the travel range), that is, the reference plate of the position sensing system of the vertical track is arranged on the travel path of the vertical track and can be arranged along the transverse track; the reference plate of the position sensing system of the longitudinal track is arranged on the travel path of the longitudinal track after the vertical track moves to the target position and can be arranged along the vertical track (after the vertical track moves to the target position); the reference plate is provided with a front edge and a rear edge, and the front edge and the rear edge of the reference plate are both straight, perpendicular to the movement direction of the corresponding track and located in the sensing path of each probe (the path that the sensing area of ​​the probe passes or may pass through when the probe moves with the corresponding track). The present invention determines the position reached by the corresponding track on the travel path based on the sensing signal of each probe or some of the probes (when not all of the probes are activated) in response to the corresponding reference plate, and adjusts the movement speed according to the position of the corresponding track, thereby achieving step-by-step speed regulation of the movement speed of the corresponding track, so that the cargo grabbing mechanism can accurately and slowly reach the target position on the shelf to complete the storage and retrieval operation. In actual application, the vertical track can be first controlled to move to the target position on the horizontal track. After the vertical track stops moving, the longitudinal track can be controlled to move to the target position on the vertical track. After the longitudinal track stops moving, the cargo grabbing mechanism can be controlled to move on the longitudinal track to complete the retrieval and placement of the cargo at the target position on the shelf.

[0028] The horizontal moving drive mechanism and the vertical moving drive mechanism are preferably preset with corresponding speed control rules (the speed control rules can be set at the control end of the moving drive mechanism according to the existing technology, such as inputting speed control instructions). During the movement of the corresponding track, each of the probes or part of the probes thereon sequentially passes through the signal sensing points on the corresponding reference plate, respectively generating sensing signals and transmitting them to the control end of the corresponding moving drive mechanism. After receiving the corresponding sensing signals, the control end of the corresponding moving drive mechanism controls the operation of the moving drive mechanism according to the preset speed control rules to achieve speed adjustment of the corresponding track. The preset speed control rules include deceleration and braking, and may also include acceleration when necessary. Accordingly, the step-by-step adjustment of the moving speed of the corresponding track includes step-by-step deceleration until braking, and may include step-by-step acceleration, step-by-step acceleration followed by step-by-step deceleration, or step-by-step deceleration followed by step-by-step acceleration when necessary, until the target speed is reached. The position sensing system of the utility model has a simple structure, a simple control method, and a small amount of data processing. It can realize continuous step-by-step speed regulation of the corresponding track movement speed through intermittent signal acquisition. The motion control is precise and the requirements for the hardware system, including the structural strength of the cargo transportation system itself, are not high. The construction and maintenance costs are low. It is suitable for simulation teaching as a practical training system and for application in industrial intelligent warehousing systems.

[0029] The transverse track is preferably arranged at the bottom of the front side of the shelf or on the ground, with a spacing between the longitudinal track (including the cargo grabbing mechanism thereon) allowing the longitudinal track (including the cargo grabbing mechanism thereon) to move along the extension direction of the transverse track.

[0030] A guide rail 10 (which can be set by a bracket) can be provided on the top front side of the shelf. The guide rail is parallel to the transverse rail, preferably in the same vertical plane, and the top of the vertical rail slides with the guide rail to improve the stability of the vertical rail when moving along the transverse rail.

[0031] The number of probes on a corresponding track can be two or more. When the number of probes is not less than three, the spacing between adjacent probes can be the same or different, preferably the same. In this way, the time interval between each probe sensing the reference plate is the same, making the step-by-step speed regulation more uniform and stable.

[0032] The probe on the corresponding track is typically located on one side thereof, and the corresponding reference plate is located on one side of the travel path of the corresponding track. The probe is located on the same side of the track as the reference plate relative to the travel path of the corresponding track. Thus, when the corresponding track moves to the reference plate during travel, the corresponding probe can successfully sense the corresponding reference plate and emit a sensing signal.

[0033] The probe on the longitudinal track is preferably located on the side of the longitudinal track facing the shelf, and the corresponding reference plate is located on the shelf. The probe on the vertical track is preferably located on the side of the vertical track facing the shelf, and the corresponding reference plate is located on the side of the transverse track facing the shelf or on the shelf.

[0034] The probe on the longitudinal track can be arranged on the end of the longitudinal track facing the shelf, or can be arranged on the longitudinal track base. The probe on the vertical track can be arranged on the vertical track base.

[0035] The signal sensing points on the reference plate are preferably located at the front edge and / or rear edge of the reference plate along the direction of motion of the corresponding track, preferably at both the front and rear edges. This allows for the generation of twice the number of sensing signals from the probes (activated probes) on the corresponding track when the corresponding track passes over the reference plate. This also simplifies the structure of the sensing system, eliminating the need for providing sensing points or terminals on the reference plate that correspond to the probes.

[0036] The probe may be a laser sensor, an infrared sensor, a proximity switch, or a camera. For example, when a laser sensor or infrared sensor is used, the probe's sensing output switches / transitions once the laser beam passes over the front or rear edge of the reference plate. When a proximity switch is used, its switching state may change based on its relative position to the reference plate. When the proximity switch passes over the front or rear edge of the reference plate, the probe's sensing output switches / transitions once.

[0037] When the position sensing system includes at least three probes, the spacing between adjacent probes is preferably uniform, and the spacing between the front and rear edges of the reference plate is preferably not less than an integral multiple of the spacing between adjacent probes. This arrangement prevents two probes from sensing the front and rear edges of the reference plate at the same time, thereby emitting simultaneous sensing signals.

[0038] The spacing between the front and rear edges of the reference plate is preferably n times the spacing between adjacent probes, where n is the number of probes. This arrangement ensures that the time intervals between the sensing signals emitted by each probe after successively sensing the front and rear edges of the reference plate are uniform, resulting in more uniform and stable step-by-step speed regulation of the corresponding base.

[0039] The reference plate is in the shape of a plate, and its front and rear side edges (front edge and rear edge) that intersect with the travel path of the corresponding detection area of ​​the probe are used as or provided with (depending on the detection requirements of the probe) sensing parts (which may be called sensing points or sensing terminals) that match the probe. If necessary, special sensing points or sensing terminals (for example, signal reflection devices suitable for reflecting signals emitted by probes such as laser sensors; for example, metal or magnetic devices with a material different from that of the reference plate suitable for sensing by proximity switch probes; for example, devices with a material or color significantly different from that of the reference plate suitable for image acquisition probes such as cameras to capture images) can also be set on the front and rear side edges of the reference plate according to the characteristics of the probe for the probe sensing.

[0040] The reference plate may be rectangular, with front and rear side edges perpendicular to the movement direction of the corresponding track (or the corresponding probe).

[0041] Depending on actual needs, the reference plate may also be in a trapezoidal shape (e.g., an isosceles trapezoid) or other suitable shape. When a trapezoidal shape is employed, the base of the trapezoid is preferably aligned with the direction of motion of the corresponding track (or the corresponding probe). This allows the probe's sensing position (e.g., the position of the laser beam on the front and rear edges of the trapezoid) to be changed / adjusted by changing the probe's position in the height direction of the trapezoid.

[0042] When the front edge and / or rear edge of the reference plate are used as the sensing points of the probes, depending on the shape and structure of the corresponding base (when the probes are arranged on the corresponding bases), the probes may not be arranged in a straight line along their movement direction on the corresponding bases, but only need to be arranged at intervals along their projections in the movement direction of the corresponding bases, preferably at equal intervals.

[0043] The sensing signal output terminal of the probe is preferably connected to the control terminal of the corresponding track's motion drive mechanism via a wireless signal connection (e.g., Wi-Fi or Bluetooth) to simplify the wiring of the sensing system. The probes on the corresponding track can be fully or partially activated based on actual speed control needs.

[0044] The shelf is preferably a multi-layer frame structure, provided with a plurality of cargo storage spaces regularly arranged horizontally and vertically. The position sensing system of the vertical track is provided with a plurality of reference plates, the number of which is the same as the number of vertical columns of the cargo storage spaces and arranged in a one-to-one correspondence, so that the vertical track can perform step-by-step speed adjustment for each column of cargo storage spaces when moving on the horizontal track. The position sensing system of the longitudinal track is provided with a plurality of reference plates, the number of which is the same as the number of cargo storage spaces and arranged in a one-to-one correspondence, and the upper and lower positions of the reference plates corresponding to each cargo storage space in each column of cargo storage spaces correspond to each other, so that the longitudinal track can perform step-by-step speed adjustment for each cargo storage space in the vertical direction when moving on the vertical track (the probe on the longitudinal track can sense the reference plates corresponding to each cargo storage space in the vertical direction). In other words, the probe of each position sensing system corresponds to multiple reference plates.

[0045] The bottom plate of each cargo storage space is preferably a movable bottom plate, provided with a height adjustment mechanism, and a reference plate corresponding to each cargo storage space is vertically fixed on the bottom surface of the bottom plate of the corresponding cargo storage space. With this arrangement, the height of the bottom plate of the corresponding cargo storage space can be flexibly adjusted according to the size of the space required for storing the cargo to be stored (i.e., the volume of the cargo storage space can be adjusted), and when the height of the bottom plate of the corresponding cargo storage space is adjusted, the reference plate corresponding thereto moves synchronously with the bottom plate (height synchronization adjustment), without affecting the sensing of the corresponding reference plate by the probe on the longitudinal track, nor affecting the step-by-step speed regulation of the longitudinal track when moving toward the target position. The height adjustment mechanism can include vertically equidistantly arranged through holes or screw holes on the vertical frames (including the front vertical frame and the rear vertical frame) on the left and right sides of the bottom plate, and vertical positioning plates on the front and rear sides of the left and right ends of the bottom plate, wherein the vertical positioning plates are vertically provided with through holes or screw holes of the same diameter and equal spacing as the through holes or screw holes on the vertical frames. When adjusting the height of the base plate, first adjust the base plate to an appropriate height so that the through holes or screw holes on the vertical positioning plate are aligned one by one with the through holes or screw holes on the corresponding side vertical frame. Then, use positioning pins or bolts to insert or screw into the aligned through holes or screw holes to achieve positioning and fixation of the base plate. The height adjustment mechanism can also adopt other suitable height adjustment mechanisms in the prior art. For example, the base plate is fixed to the vertical frame by a vertical height adjustment cylinder, and the height of the base plate is adjusted by the extension and contraction of the cylinder piston rod. For another example, the base plate is mounted on the vertical frame by a vertical height extension frame, and the height of the base plate is adjusted by the folding and extension of the height extension frame.

[0046] Each position sensing system can be provided with a control device to uniformly control the activation of each probe and / or the issuance of control instructions to the corresponding mobile drive mechanism, so that according to the actual needs of storing and retrieving goods (positions), each probe is controlled to only sense the target reference plate or to issue a control instruction only after sensing the target reference plate, while other reference plates on the travel path are not sensed or no control instruction is issued when sensing. For example, the target position for storing and retrieving goods is the third column of cargo storage space on the shelf. During the movement of the vertical track along the horizontal track, the probe on the vertical track does not sense the reference plates corresponding to the first and second columns of cargo storage spaces or no control instruction is issued when sensing. However, after the vertical track passes over the second column of cargo storage space, the probe on the vertical track senses the reference plates corresponding to the third column of cargo storage space. The reference plate corresponding to the row of cargo storage spaces generates induction or only generates induction with the reference plate corresponding to the third row of cargo storage spaces before issuing a control instruction. For another example, the target location for storing and retrieving cargo is the third layer of the third row of cargo storage spaces on the shelf. After the vertical track moves to the third row of cargo storage spaces, during the movement of the longitudinal track along the vertical track (usually upward), the probe on the longitudinal track does not generate induction with the reference plates corresponding to the first and second layers of the third row of cargo storage spaces, or generates induction without generating a control instruction. However, after the longitudinal track passes the second layer, it generates induction with the reference plate corresponding to the third layer of cargo storage spaces, or only generates induction with the reference plate corresponding to the third layer of cargo storage spaces before issuing a control instruction. The speed regulation rules can be preset in the control device, and the control device can adopt any control device in the prior art that is suitable for generating different control instructions based on different collected signals, such as a PLC programmable controller or a chip integrating corresponding control functions.

[0047] A preferred embodiment of the position sensing system of the present invention is (taking the position sensing system of the vertical track as an example):

[0048] The vertical track is provided with three probes, which are arranged on the side of the vertical track base facing the shelf and are arranged in a straight line with equal intervals along the extension direction of the horizontal track (the extension direction of the shelf, or the left-right direction). The reference plate is in the shape of a long strip (rectangular plate) with a length three times the spacing between adjacent probes. The number is the same as the number of vertical columns of the cargo storage space of the shelf, and is arranged on the side of the shelf facing the vertical track base in a one-to-one correspondence with each column of cargo storage space. The signal sensing points on the reference plate are the front edge and the rear edge of the reference plate in the movement direction (left-right direction) along the vertical track. When the vertical track base moves along the transverse track and passes through the reference plate corresponding to the target row of cargo storage spaces, the three probes sequentially pass the front and rear edges of the reference plate, generating six position signals (respectively, the first position signal to the sixth position signal) and transmitting them to the control end of the transverse movement drive mechanism. The control end of the transverse movement drive mechanism then implements a first-stage deceleration based on the first position signal, a second-stage deceleration based on the second position signal, and so on, until braking is implemented based on the sixth position signal, thereby achieving uniform step-by-step deceleration of the vertical track until braking. The specific location of each reference plate is such that when the last probe on the vertical track base (the last probe along the direction of movement of the vertical track) senses the rear edge of each reference plate along the direction of movement of the vertical track, the vertical track is directly in front of the corresponding row of cargo storage spaces corresponding to the corresponding reference plate.

[0049] Unless otherwise specified or one preferred or optional technical means is a further limitation of another technical means, the preferred and optional technical means disclosed in the present utility model can be arbitrarily combined to form several different technical solutions.

Claims

1. The shelf training system is suitable for automated control, which is characterized by The cargo transport system comprises a shelf and a cargo transport system, wherein the cargo transport system is arranged on the front side of the shelf, the cargo transport system comprises a transverse rail, a longitudinal rail, a vertical rail and a cargo grabbing mechanism, the vertical rail slidably cooperates with the transverse rail and is provided with a transverse movement driving mechanism, the longitudinal rail extends toward the shelf, the longitudinal rail slidably cooperates with the vertical rail and is provided with a vertical movement driving mechanism, the cargo grabbing mechanism slidably cooperates with the longitudinal rail and is provided with a longitudinal movement driving mechanism, the vertical rail and the longitudinal rail are both provided with a position sensing system, the position sensing system comprises a reference plate and a plurality of probes capable of sensing the reference plate, the plurality of probes are arranged in sequence on the corresponding rails along the movement direction of the corresponding rails, a gap is left between adjacent probes, each of the probes is provided with an induction signal output end, the reference plate is provided on the travel path of the corresponding rail, and is provided with a front side edge and a rear edge, the front side edge and the rear edge of the reference plate are both straight, perpendicular to the movement direction of the corresponding rail and located in the sensing path of each probe 2. The shelf training system adapted to automated control according to claim 1 is characterized in that The plurality of probes on the corresponding track are arranged in a straight line along the direction of movement thereof.

3. The shelf training system adapted to automated control according to claim 1 is characterized in that The number of the probes on the corresponding track is not less than three.

4. The shelf training system adapted to automated control according to claim 3 is characterized in that The intervals between adjacent probes are the same or different.

5. The shelf training system adapted to automated control according to claim 1 is characterized in that The probe on the corresponding track is located on one side thereof, and the corresponding reference plate is arranged on one side of the travel path of the corresponding track, and the side of the probe on the corresponding track is the same side as the side of the reference plate relative to the travel path of the corresponding track.

6. The shelf training system adapted to automated control according to claim 5 is characterized in that The probe on the longitudinal track is arranged on a side of the longitudinal track facing the shelf, and the corresponding reference plate is arranged on the shelf.

7. The shelf training system adapted to automated control according to claim 1 is characterized in that The probe is a laser sensor, an infrared sensor, a proximity switch or a camera.

8. The shelf training system adapted to automated control according to claim 1 is characterized in that The sensing signal output end of the probe is connected to the control end of the mobile driving mechanism of the corresponding track by wireless signal.

9. The shelf training system adapted to automated control according to claim 1, characterized in that The shelf is a multi-layer frame structure, and is provided with a plurality of cargo storage spaces arranged regularly in the horizontal and vertical directions. The position sensing system of the vertical track is provided with a plurality of reference plates, the number of which is the same as the number of vertical columns of the cargo storage space and is arranged in a one-to-one correspondence. The position sensing system of the longitudinal track is provided with a plurality of reference plates, the number of which is the same as the number of vertical columns of the cargo storage space and is arranged in a one-to-one correspondence.

10. The shelf training system adapted to automated control according to claim 9, characterized in that The bottom plate of each cargo storage space is a movable bottom plate, which is provided with a height adjustment mechanism. The reference plate arranged in a one-to-one correspondence with each cargo storage space is vertically fixed on the bottom surface of the bottom plate of the corresponding cargo storage space.

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