A three-dimensional shelf based on track beam deformation online monitoring
Patent Information
- Application Number
- CN202522402755.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-12
- Publication Date
- 2026-10-20
- Estimated Expiration
- 2035-11-12
AI Technical Summary
[0003]储粮时，粮食储存在储粮箱中，单个装满粮食的储粮箱的重量就至少有1.75吨，穿梭车携带储粮箱移动过程中，会对轨道梁产生很大的负载，若轨道梁变形量过大，将影响穿梭车的正常运行，而且还可能存在安全隐患，因此，需要实时监测轨道梁各处的变形情况，但由于轨道梁很长，其上仅需要间隔很长距离设置传感器进行监测，而传统布线方式不仅电线用量大、施工作业量大，而且由于穿梭车携带货物频繁在其上移动，若在轨道梁上布设电线，也存在安全问题
[0010]本技术方案的有益效果：基于轨道梁变形量在线监测的立体货架在使用时，监测单元安装在轨道梁的设定位置处独立工作，振弦应变计实时检测轨道梁变形情况并通过5G通讯模块及时反馈，并通过电池模块独立供电，避免布设电线而导致成本高、操作繁琐费事、存在安全隐患，但由于立体货架占地面积大、轨道梁很多，所安装的监测单元更多，若通过人工方式更换电池，一方面十分费时费力，另一方面人工操作不仅占用立体货架的正常使用时间，使立体货架不得不停机，至少是穿梭车需要停止使用以供人员操作，而且人工操作存在坠物、掉落等安全风险，本申请通过在穿梭车上设置充电臂，并通过对监测模块的改进，使得穿梭车在空闲时间可以定期为各个监测模块的电池模块充电，从而解决以上问题。
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Figure CN224869111U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a three-dimensional shelving system based on online monitoring of track beam deformation. Background Technology
[0002] In the grain storage sector, automated storage and retrieval systems (AS / RS) are currently gaining popularity. Also known as shuttle racking systems, these are high-density intelligent warehousing systems. Their core component is a shuttle vehicle equipped with four-way mobility, allowing it to move freely in all four directions (forward, backward, left, and right) along the racking tracks to deliver goods in and out. Existing shuttle racking technology includes uprights, vertical braces, track beams, connecting beams, and shuttle vehicles moving on them. The track beams have an L-shaped cross-section and are arranged in symmetrical pairs. Connecting beams are spaced along the length of the track beams to provide support. The shuttle vehicles move along the track beams using wheels, carrying goods.
[0003] When storing grain, the grain is stored in grain storage boxes. A single grain storage box filled with grain weighs at least 1.75 tons. When the shuttle car carries the grain storage boxes, it will put a lot of load on the track beam. If the deformation of the track beam is too large, it will affect the normal operation of the shuttle car and may also pose a safety hazard. Therefore, it is necessary to monitor the deformation of various parts of the track beam in real time. However, since the track beam is very long, sensors need to be installed at long intervals on it for monitoring. Traditional wiring methods not only require a large amount of wires and a large amount of construction work, but also pose safety problems if wires are laid on the track beam because the shuttle car carries goods and moves on it frequently. Utility Model Content
[0004] The purpose of this invention is to provide a three-dimensional rack based on online monitoring of track beam deformation that requires less wiring, involves less construction work, and is safe and reliable. It can periodically charge the vibrating wire strain gauges and corresponding 5G communication modules installed at intervals on the track beams via a shuttle car, eliminating the need for wiring and transmitting monitoring data in real time through the 5G communication modules.
[0005] The technical solution of this utility model is as follows: a three-dimensional shelving system based on online monitoring of track beam deformation, comprising: There is a pair of track beams, arranged symmetrically. There are multiple monitoring units, which are spaced apart along the length of the track beam and installed on the lower surface of the track beam. Each monitoring unit includes a vibrating wire strain gauge, a 5G communication module and a battery module. The battery module supplies power to the vibrating wire strain gauge and the 5G communication module. The battery module has charging contacts that are oriented towards the middle of the two track beams. The shuttle includes a vehicle body containing an onboard battery and a controller. Charging arms are located on the left and right sides of the vehicle body. One end of each charging arm is rotatably mounted to the bottom of the vehicle body via a pivot. A drive motor connected to the pivot is located inside the vehicle body to drive the charging arm to rotate. The other end of the charging arm has charging plates corresponding to the charging contacts. A charging cable is located inside the charging arm, with one end connected to the charging plates and the other end connected to the onboard battery. During rotation, the charging arm has a charging position where the charging plates align with the charging contacts and a folding position where the charging arm retracts into the vehicle body. The charging arm is in a folded and retracted state during shuttle movement to avoid collision and interference with the connecting beam.
[0006] Based on the above solution, the following improvements are made: a storage slot is provided at the bottom of the vehicle body corresponding to the charging arm, and the charging arm is placed in the storage slot when it is in the folded position.
[0007] Based on the above scheme, the following improvements are made: the charging arm is shaped like a "Z".
[0008] Based on the above scheme, further improvements are made as follows: the two track beams are supported by multiple connecting beams evenly spaced along the length of the track beams; the monitoring unit is located at the midpoint of the line connecting two adjacent connecting beams; and the charging arm is located in the middle of the vehicle body in the front-rear direction. This method facilitates better docking between the shuttle's charging arm and the monitoring unit.
[0009] Based on the above solution, further improvements are made as follows: Hall sensors are installed in the monitoring units corresponding to the track beams, and permanent magnets are installed at the four corners of the vehicle body. The Hall sensors are connected to the 5G communication module and battery module of the corresponding monitoring unit via wires. The 5G communication module communicates with the wireless communication module of the controller. This design allows for more convenient and precise docking between the charging arm and the monitoring module.
[0010] The beneficial effects of this technical solution are as follows: When using an automated racking system based on online monitoring of track beam deformation, the monitoring units are installed at designated positions on the track beams and operate independently. Vibrating wire strain gauges detect track beam deformation in real time and provide timely feedback via a 5G communication module. Power is supplied independently by battery modules, avoiding the high costs, cumbersome operation, and safety hazards associated with laying electrical wires. However, due to the large footprint of the automated racking system, the numerous track beams, and the large number of monitoring units installed, manually replacing batteries is extremely time-consuming and labor-intensive. Furthermore, manual operation not only occupies the normal operating time of the automated racking system, forcing it to shut down, or at least requiring the shuttle to be taken out of service for personnel operation, but also poses safety risks such as falling objects and other hazards. This application solves these problems by installing a charging arm on the shuttle and improving the monitoring modules, allowing the shuttle to periodically charge the battery modules of each monitoring module during idle time. Attached Figure Description
[0011] Figure 1 This is a structural schematic diagram of a specific embodiment of the three-dimensional shelving system based on online monitoring of track beam deformation according to this utility model; Figure 2 for Figure 1 A magnified view of a section at point A (the charging arm is in the charging position). Figure 3 This is a schematic diagram showing the charging arm in the folded position. In the diagram: 1-Column, 3-Railway beam, 4-Connecting beam, 5-Shuttle car, 51-Car body, 52-Onboard battery, 53-Charging arm, 531-Charging electrode, 532-Charging cable, 54-Rotating shaft, 55-Drive motor, 6-Monitoring unit, 61-Vibrating wire strain gauge, 62-5G communication module, 63-Battery module, 631-Charging contact. Detailed Implementation
[0012] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model; that is, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The components of the embodiments of the present utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0013] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0014] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0015] The features and performance of this utility model will be further described in detail below with reference to the embodiments.
[0016] A specific embodiment of this utility model of an automated shelving system based on online monitoring of track beam deformation is as follows: Figure 1-3 As shown, the automated racking system based on online monitoring of track beam deformation includes uprights, vertical braces, track beams 3, connecting beams 4, and shuttle cars 5 moving on them.
[0017] There is a pair of track beams 3 arranged symmetrically. The two track beams 3 are supported by multiple connecting beams 4 that are equally spaced along the length of the track beams 3. The monitoring unit 6 is located at the midpoint of the line connecting two adjacent connecting beams 4, and the charging arm 53 is located in the middle of the front-rear direction of the vehicle body 51. This arrangement allows for better docking between the charging arm 53 of the shuttle vehicle 5 and the monitoring unit 6.
[0018] There are multiple monitoring units 6, which are spaced apart along the length of the track beam 3 and installed on the lower surface of the track beam 3. The monitoring unit 6 includes a vibrating wire strain gauge 61, a 5G communication module 62 and a battery module 63. The battery module 63 supplies power to the vibrating wire strain gauge 61 and the 5G communication module 62. The battery module 63 has a charging contact 631, which is oriented towards the middle of the two track beams 3.
[0019] The shuttle 5 includes a body 51, which contains an onboard battery 52 and a controller. Charging arms 53 are respectively provided on the left and right sides of the body 51. One end of the charging arm 53 is rotatably mounted to the bottom of the body 51 via a rotating shaft 54. A drive motor 55 is provided inside the body 51, which is connected to the rotating shaft 54 to drive the charging arm 53 to rotate. The other end of the charging arm 53 is provided with a charging electrode 531 corresponding to the charging contact 631. A charging cable 532 is provided inside the charging arm 53. One end of the charging cable 532 is connected to the charging electrode 531, and the other end is connected to the onboard battery 52. During rotation, the charging arm 53 has a charging position for aligning the charging electrode 531 with the charging contact 631 and a folding position for retracting the charging arm 53 into the body 51. The charging arm 53 is in a folded state during the movement of the shuttle 5, thereby avoiding collision and interference with the connecting beam 4. The bottom of the vehicle body 51 has a storage slot corresponding to the charging arm 53, and the charging arm 53 is placed in the storage slot when it is in the folded position. The charging arm 53 is Z-shaped.
[0020] When using the automated racking system based on online monitoring of the deformation of track beam 3, the monitoring unit 6 is installed at a set position on track beam 3 and works independently. The vibrating wire strain gauge 61 detects the deformation of track beam 3 in real time and provides timely feedback through the 5G communication module 62. It is also independently powered by the battery module 63, avoiding the high cost, cumbersome operation, and safety hazards caused by laying wires. However, since the automated racking system occupies a large area and has many track beams 3, there are even more monitoring units 6 installed. If the batteries are replaced manually, it is not only very time-consuming and labor-intensive, but also not only occupies the normal operating time of the automated racking system, forcing it to stop, or at least the shuttle 5 needs to be stopped for personnel to operate, but also poses safety risks such as falling objects and drops. This application solves the above problems by setting a charging arm 53 on the shuttle 5 and improving the monitoring module, so that the shuttle 5 can periodically charge the battery modules 63 of each monitoring module during idle time.
[0021] In other embodiments, Hall sensors are installed in the monitoring units corresponding to the track beams, and permanent magnets are installed at the four corners of the vehicle body. The Hall sensors are connected to the 5G communication module and battery module of the corresponding monitoring unit via wires. The 5G communication module is connected to the wireless communication module of the controller. This design allows for more convenient and precise docking between the charging arm and the monitoring module.
[0022] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. The patent protection scope of the present utility model shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present utility model shall also be included within the protection scope of the present utility model.
Claims
1. A three-dimensional racking system based on online monitoring of track beam deformation, comprising: There is a pair of track beams, arranged symmetrically. Its characteristic is that it further includes: There are multiple monitoring units, which are spaced apart along the length of the track beam and installed on the lower surface of the track beam. Each monitoring unit includes a vibrating wire strain gauge, a 5G communication module and a battery module. The battery module supplies power to the vibrating wire strain gauge and the 5G communication module. The battery module has charging contacts that are oriented towards the middle of the two track beams. The shuttle includes a vehicle body containing an onboard battery and a controller. Charging arms are respectively installed on the left and right sides of the vehicle body. One end of the charging arm is rotatably mounted to the bottom of the vehicle body via a rotating shaft. A drive motor connected to the rotating shaft is installed inside the vehicle body to drive the charging arm to rotate. The other end of the charging arm is provided with a charging electrode corresponding to the charging contact. A charging cable is installed inside the charging arm, with one end connected to the charging electrode and the other end connected to the onboard battery. During rotation, the charging arm has a charging position for aligning the charging electrode with the charging contact and a folding position for retracting the charging arm into the vehicle body.
2. The automated storage and retrieval system based on online monitoring of track beam deformation according to claim 1, characterized in that, The bottom of the vehicle body has a storage slot for the charging arm, which is located inside the storage slot when the charging arm is folded.
3. The automated shelving system based on online monitoring of track beam deformation according to claim 1, characterized in that, The charging arm is shaped like a "Z".
4. The automated shelving system based on online monitoring of track beam deformation according to claim 1, characterized in that, The two track beams are supported by multiple connecting beams that are equally spaced along the length of the track beams. The monitoring unit is located at the midpoint of the line connecting two adjacent connecting beams, and the charging arm is located in the middle of the front-rear direction of the vehicle body.
5. The automated shelving system based on online monitoring of track beam deformation according to claim 1, characterized in that, Hall sensors are installed in the monitoring units corresponding to the track beams, and permanent magnets are installed at the four corners of the vehicle body. The Hall sensors are connected to the 5G communication module and battery module of the corresponding monitoring unit through wires. The 5G communication module is connected to the wireless communication module of the controller.