Vibration excitation module for looseness detection of goods shelf of four-way shuttle vehicle

Abstract

The utility model provides a shock excitation module for detecting the looseness of a goods shelf of a four-way shuttle vehicle, the four-way shuttle vehicle is movably arranged on the goods shelf, and the four-way shuttle vehicle is provided with a sound wave instrument for collecting vibration signals, a master control and the shock excitation module for detecting the looseness of the goods shelf of the four-way shuttle vehicle, the shock excitation module for looseness detection of the goods shelf of the four-way shuttle vehicle structurally comprises a main control board, the input end of the main control board is connected with a main controller on the four-way shuttle vehicle, the output end of the main control board is connected with a power source used for driving a shock excitation transmission device, and the power source is rotationally connected with the shock excitation transmission device; a vibration excitation hammer is arranged below the vibration excitation transmission device, and the main control board comprises a core control chip and a motor driving chip. Belongs to the technical field of shelf fault detection. According to the vibration excitation module for looseness detection of the goods shelf of the four-way shuttle vehicle, the problems of complex and huge structure of the goods shelf, tedious manual collection work and low efficiency in manual detection are avoided; and workers are difficult to arrive at any position to carry out excitation.

Description

TECHNICAL FIELD

[0001] The utility model relates to a four -way shuttle vehicle goods shelf loosening detects and uses excitation module and belongs to goods shelf fault detection technical field. BACKGROUND

[0002] Due to the great richness of social material, the rapid development of express delivery logistics industry and further market demand of personalization and customization, the scale of logistics center becomes more and more huge, and its operation type is more diversified and complex, thereby higher requirements are put forward for integration, automation and high density of logistics system. In view of this situation, four-way shuttle vehicle emerges as the times require, and because of its high work flexibility, high fault compatibility and high site applicability, it has attracted widespread attention.

[0003] The stereoscopic warehouse goods shelf plays an important role in the four-way shuttle vehicle stereoscopic warehouse, and simultaneously plays two roles of goods storage support and four-way shuttle vehicle running track. The stereoscopic warehouse goods shelf can greatly improve the space utilization rate of the warehouse while saving land resources, and has good economic benefits.

[0004] With the passage of time, the past built stereoscopic warehouse goods shelves will have more and more safety hazards. Compared with the whole abandoned shelf reaching a certain service life, it is very economic and social to periodically evaluate the health of the shelf and replace the local optimization.

[0005] Common shelf failures include three categories of structural damage, structural corrosion and structural loosening. Among them, structural damage and structural corrosion can be distinguished by visual identification method, while structural loosening failure is difficult to be distinguished by visual method because the detection size is small and the difference is not obvious. For this kind of failure, the vibration signal collection method is often used for identification.

[0006] However, manual vibration signal collection has many problems, such as complex and huge shelf structure, tedious and low-efficiency manual collection, random manual excitation force, inaccurate manual excitation position, and manual difficulty in reaching any position for excitation due to the multiple longitudinal structure of the shelf.

[0007] Therefore, there is an urgent need in the art for a structure that can excite the four-way shuttle vehicle goods shelf. SUMMARY

[0008] The utility model aims at solving the technical problem that there is no structure for exciting the four-way shuttle vehicle goods shelf in the prior art.

[0009] In order to achieve the purpose of solving the above problems, the technical scheme adopted by the utility model is to provide a four-way shuttle vehicle rack loosening detection excitation module, the four-way shuttle vehicle is movably arranged on the rack, the four-way shuttle vehicle is provided with an acoustic apparatus for collecting vibration signals, a main control and a four-way shuttle vehicle rack loosening detection excitation module for testing loosening; the structure of the four-way shuttle vehicle rack loosening detection excitation module comprises a main control board, the input end of the main control board is connected with the main control on the four-way shuttle vehicle, and the main control board outputs a power source for driving the excitation transmission device; the excitation transmission device drives the excitation hammer to work under the control of the power source;

[0010] The signal connection path is that the main control on the four-way shuttle vehicle is connected with the input end of the main control board on the four-way shuttle vehicle rack loosening detection excitation module, vibration frequency and starting signals are input to the input end, the output control signal of the main control board is to the power source, the power source drives the excitation hammer to knock the rack through the excitation transmission device, vibration signals are generated, the four-way shuttle vehicle carrying the acoustic apparatus collects the vibration signals at the specified point, and the vibration signals are stored in the acoustic apparatus and used for loosening detection.

[0011] Preferably, the excitation transmission device is a set of crank slider mechanisms, the power source is a direct current brushless motor, and the rotating connection mode is that the output shaft of the direct current motor is connected with the rotating shaft of the crank of the excitation transmission device through a shaft coupling; wherein the crank slider mechanism comprises a vertically arranged guide rod, the upper end of the guide rod is rotationally connected with one end of the crank, the other end of the crank is movably connected with one end of a connecting rod, a slider is slidably connected to the guide rod through a groove and movably connected with the other end of the connecting rod, and the crank and the connecting rod are symmetrically distributed on the left and right sides of the guide rod.

[0012] When the direct current motor drives the crank to make a circular motion around the fixed shaft as the power source, the rotation of the crank drives the connecting rod to move through the connecting rod connected with the slider, the connecting rod further drives the slider to make reciprocating linear motion on the linear guide rail, the slider is provided with the excitation hammer below, and the slider drives the excitation hammer to reciprocate when the slider moves, so that the excitation hammer knocks the loosening part to be detected.

[0013] Preferably, the main control board comprises a core control chip and a motor driving chip, the core control chip is selected from STM32F103C8T6, supports I2C, SPI, CAN, USART communication, also contains a GPIO port, and is used for communication with the main control of the four-way shuttle vehicle.

[0014] Preferably, the motor driving chip uses AS4950 (technical parameters: wide voltage power supply 8V-40V, 3.6A peak current driving output, 2A continuous current output capability), supports 2A continuous current output and 8V-38V voltage output, and is suitable for driving the direct current brushless motor required by the excitation module.

[0015] Preferably, the four-way shuttle is connected to the main control unit, the vibration module for detecting looseness of the four-way shuttle rack, and the acoustic instrument via interfaces and wires. The interfaces include mechanical interfaces for providing mechanical connections, power interfaces required by the vibration module, and various communication interfaces for communication with the main control board.

[0016] Preferably, the vibratory hammer includes four types of hammerheads: rubber, nylon, aluminum, or steel, which can be interchanged as needed during module installation.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The vibration module for detecting looseness of a four-way shuttle rack in this utility model avoids the problems of manual inspection, such as the complex and large rack structure, tedious manual data collection, low efficiency, randomness of manual vibration force, inaccurate manual vibration position, and difficulty for manual personnel to reach any position for vibration due to the many longitudinal structures of the rack. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the vibration module for detecting looseness of the four-way shuttle rack of this utility model;

[0020] Reference numerals in the attached diagram: 1. Main control board; 2. Vibration transmission device; 3. DC brushless motor; 4. Vibration hammer; 5. Interface. Detailed Implementation

[0021] To make this utility model more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings:

[0022] like Figure 1 As shown, this utility model provides a vibration module for detecting looseness in a four-way shuttle rack. The specific working process is as follows: First, the vibration excitation point and vibration signal measurement point are determined through simulation or other methods. The four-way shuttle controller then controls the shuttle to reach the designated point. The four-way shuttle carries a looseness detection vibration transmission device 2, a main controller, and an acoustic wave instrument. The main controller is connected to the input terminal of the main control board 1 of the vibration transmission device, and the output terminal of the main control board 1 of the vibration module is connected to a DC brushless motor 3.

[0023] After the four-way shuttle arrives at the designated position, the main control of the four-way shuttle sends the arrival signal and the required excitation frequency signal to the input terminal of the main control board 1 of the excitation transmission device 2.

[0024] When the main control board 1 of the excitation vibration device 2 receives the signal, the output end thereof outputs according to the vibration frequency of the input signal, controls the DC brushless motor 3 to rotate at a specified speed for a period of time, thereby driving the crank to reciprocate, the reciprocating speed of the slider is controlled by controlling the rotating speed of the crank, thereby changing the excitation frequency, and further controlling the excitation hammer 4 below to knock the shelf, and the four-way shuttle vehicle carrying the sound wave instrument collects the vibration signal at the specified point and stores it in the sound wave instrument; the above process is repeated until the whole test process is completed, the test result is obtained and analyzed, and it is judged whether the shelf is loose.

[0025] The main control, the excitation vibration device 2 and the sound wave instrument are connected through the power supply and the interface 5, and the output shaft of the DC brushless motor 3 is connected with the crankshaft of the excitation vibration device through a shaft coupling.

[0026] The core control chip uses STM32F103C8T6 (technical parameters: main frequency: 72MHz; GPIO: 37; power supply voltage: 2-3.6V), which supports I2C, SPI, CAN, USART communication and also contains a GPIO port, and can communicate with the main control of the four-way shuttle vehicle.

[0027] The motor driving chip uses AS4950 (technical parameters: wide voltage power supply 8V-40V, 3.6A peak current driving output, 2A continuous current output capability), which supports 2A continuous current output and 8V-38V voltage output, and is suitable for driving the DC brushless motor required by the excitation module.

[0028] The interface 5 includes the power supply interface required by the excitation module, and various communication interface packages of the main control board.

[0029] The excitation hammer includes four kinds of hammer heads made of rubber, nylon, aluminum or steel, which can be replaced as needed during module installation.

[0030] The specific working principle of judging whether loosening occurs according to the vibration signal is that the sound wave instrument is arranged on the four-way shuttle vehicle, and after the vibration signal is collected, if loosening occurs, the following changes will occur:

[0031] Amplitude change: loosening will reduce the connection stiffness, and the vibration amplitude will usually increase. If the amplitude of the collected vibration signal is obviously higher than the amplitude during normal operation and exceeds the normal fluctuation range, loosening may exist.

[0032] Waveform characteristics: the normal vibration signal waveform is relatively stable and regular, and when loosening occurs, irregular phenomena such as waveform distortion, top cutting or burr may occur.

[0033] By comparing the characteristics of the transmission signal and the standard signal waveform, it is judged whether loosening occurs at the place.

[0034] The application only protects the specific structure of the excitation module for detecting the loosening of the four-way shuttle vehicle shelf, and the principle is not the protection range of the application.

[0035] The above is only the preferred embodiment of the present application, and is not any form and substantial limitation of the present application. It should be pointed out that, for ordinary skilled persons in the art, without departing from the present application, a number of improvements and supplements can be made, and these improvements and supplements should also be considered as the protection range of the present application. For those skilled in the art, without departing from the spirit and scope of the present application, some changes, modifications and equivalent changes made by using the above disclosed technical content are equivalent embodiments of the present application; at the same time, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present application are still within the scope of the technical scheme of the present application.

Claims

1. A four-way shuttle vehicle shelf loosening detection excitation module, characterized in that, The four-way shuttle vehicle is movably arranged on the shelf, and the four-way shuttle vehicle is provided with an acoustic instrument for collecting vibration signals, a main control and a vibration excitation module for testing looseness of the four-way shuttle vehicle shelf looseness detection. The signal connection path is that the main control of the four-way shuttle vehicle is connected to the input end of the main control board of the vibration excitation module for testing looseness of the four-way shuttle vehicle shelf, vibration frequency and start signals are input to the input end, the output control signal of the main control board is to the power source, the power source drives the vibration hammer to knock the shelf through the vibration transmission device to generate vibration signals, the four-way shuttle vehicle carrying the acoustic instrument collects the vibration signals at the specified point and stores them in the acoustic instrument for looseness detection.

2. The excitation module for pallet jack looseness detection of the four-way shuttle vehicle of claim 1, wherein, The vibration transmission device is a set of crank slider mechanisms, the power source is a direct current brushless motor, and the rotating connection mode is that the output shaft of the direct current motor is connected to the rotating shaft of the crank of the vibration transmission device through a shaft coupling. When the direct current motor drives the crank to make circular motion around the fixed shaft, the rotation of the crank drives the connecting rod to move through the connecting rod and the slider, and the connecting rod drives the slider to make reciprocating linear motion on the linear guide rail.

3. The excitation module for pallet jack looseness detection of the four-way shuttle vehicle of claim 2, wherein, The main control board includes a core control chip and a motor drive chip, the core control chip is selected from STM32F103C8T6, supports I2C, SPI, CAN, USART communication, and also contains a GPIO port for communication with the main control of the four-way shuttle vehicle.

4. The excitation module for pallet jack looseness detection of the four-way shuttle vehicle of claim 3, wherein, The motor drive chip uses AS4950, supports 2A continuous current output and 8V-38V voltage output, and is suitable for driving the direct current brushless motor selected by the vibration excitation module.

5. The excitation module for pallet racking looseness detection of a four-way shuttle vehicle of claim 1, wherein, The four-way shuttle vehicle, the main control, the vibration excitation module for testing looseness of the four-way shuttle vehicle shelf and the acoustic instrument are connected through interfaces and wires, the interfaces include mechanical interfaces for providing mechanical connection, power interfaces required by the vibration excitation module and various communication interface packages for communication of the main control board.

6. The excitation module for pallet jack looseness detection of a four-way shuttle vehicle of claim 1, wherein, The vibration hammer includes four types of hammer heads made of rubber, nylon, aluminum or steel, which can be replaced according to needs during module installation.

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