CN120694492A - Trackless navigation compact shelving and trackless navigation translation movement control method thereof - Google Patents
Trackless navigation compact shelving and trackless navigation translation movement control method thereofInfo
- Publication number
- CN120694492A CN120694492A CN202510776727.7A CN202510776727A CN120694492A CN 120694492 A CN120694492 A CN 120694492A CN 202510776727 A CN202510776727 A CN 202510776727A CN 120694492 A CN120694492 A CN 120694492A
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- compact shelving
- chassis
- column
- compact
- moving
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Abstract
The invention discloses a trackless navigation compact shelf and a trackless navigation translational movement control method thereof.A compact moving column is provided with at least two laser ranging sensors or laser radars at the side surface of a compact shelf moving column chassis facing to a compact shelf fixed column or a front moving column direction, the compact shelf moving column chassis is provided with a plurality of driving motors, and a chassis roller is arranged on a driving output shaft of each motor; the at least two laser ranging sensors are used for detecting and detecting the moving distance between the movable rack and the movable rack fixed row or the movable rack moving row adjacent to the movable rack fixed row, and feeding back the detected moving distance to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of the plurality of driving motors according to the moving distance feedback data, so that the rotating speeds of the plurality of driving motors are kept consistent, and the movable rack moving row keeps track-free navigation and translational movement. Can avoid derailment, has more stable operation, simple structure, convenient ground sanitation and cleaning and safe use.
Description
Technical Field
The invention relates to a compact shelf, in particular to a trackless navigation compact shelf without a ground track and a trackless navigation translational movement control method thereof.
Background
The compact shelf has higher storage capacity and more effective storage space saving effect than the traditional bookshelf, shelf or archive shelf, and is widely applied to the compact storage management of books, archives, finance, samples and other articles in institutions such as institutions, enterprises and institutions. The existing electric compact shelf is usually a high-density storage warehouse which is formed by placing several groups of steel rails on the ground, combining one or more fixed shelves and several groups of movable shelves into a combined compact shelf row, rolling and moving the rows on the steel rail tracks through steel wheels arranged at the bottom of the shelves, opening channels between adjacent rows of the electric compact shelf, finally opening the movable rows required to be opened, and manually entering the channels by a manager or a user to store or search articles.
However, the existing movable racks are required to be built under the condition of laying ground tracks, so that the moving direction of the movable racks can only move along the length direction of the tracks, each movable rack can be pushed or pulled to move along the length direction of the tracks according to the requirements, one or more movable racks in the same group are further closed or separated, the movable opening or closing of the movable racks is highly dependent on the guiding and limiting of the ground tracks, the phenomenon of derailment potential safety hazards is likely to exist due to the guiding and limiting of the ground tracks, meanwhile, due to the adoption of the form of laying ground tracks, the existence of the ground tracks can bring some potential safety hazards, the personnel are likely to be blocked or stumbled with the potential safety hazards, meanwhile, due to the fact that the ground tracks are additionally laid on the ground, the whole tidy ground of the place where the movable racks are stored is also affected, the sanitation cleaning is extremely inconvenient, the track structure is complex, the cost is high, the defect that the installation and the movement is troublesome, the phenomenon of dead clamping stagnation phenomenon is likely to exist, even the potential safety hazards such as the guide tracks are likely to be deformed, and the normal potential safety hazards cannot occur. In addition, in order to improve the storage capacity of the compact shelving, the lengths of the movable row and the fixed row of the compact shelving are usually longer, so that in order to improve the stable moving stability of the movable row of the compact shelving with longer length in the process of moving to open or close the compact shelving channel, more ground tracks are paved on the ground at the movable area of the movable row of the compact shelving, and the problem phenomenon caused by the mode of paving the ground tracks is more easily caused.
The utility model discloses an integrated trackless dense cabinet rack with a bulletin day of 2022, 4 and 1, and relates to the technical field of dense cabinets, and the integrated trackless dense cabinet rack comprises a cabinet rack main body, wherein a roller shaft is arranged at the lower surface of the cabinet rack main body, a crank is connected at a chain clamping position of the roller shaft in a transmission way, control buttons are arranged on the left side and the right side of the cabinet rack main body, a top plate is arranged above the upper surface of the cabinet rack main body, a fixing plate is fixedly connected at the center of the upper surface of the top plate, the fixing plate is fixed with a wall surface above the top plate, a movable screw rod is arranged in a space between the cabinet rack main body and the top plate, a movable sleeve ring is sleeved at the center of the movable screw rod, a transverse movable shaft is fixedly connected in a groove formed in the lower surface of the top plate, a bottom surface rail is omitted, a set of transverse and longitudinal sliding rails are designed in the air, the upper space is fully utilized, and the movement aspect of the cabinet rack main body is diversified. Although the ground track is cancelled, the scheme solves the possible problems of some ground tracks, due to the adoption of an air track structure scheme, the scheme has the possible problems of some track structures, such as derailment, relatively complex structure, high cost, troublesome installation, change and movement and the like, and also has the problems of relatively large running noise, insufficient running stability, high installation difficulty and the like, and due to the adoption of an air track structure scheme, the requirement on the stability of the air track structure and the bearing capacity thereof is extremely high.
Disclosure of Invention
The trackless navigation compact shelf and the trackless navigation translational movement control method thereof are provided for solving the current situations that the whole cleanliness of the ground of the place where the compact shelf is stored is affected due to the existence of the ground track, the sanitation and the cleaning are very inconvenient, the track structure is complex, the cost is high, the installation, the change and the movement are troublesome, the blocking and the clamping stagnation are possibly generated, the potential safety hazard problems such as incapability of normal movement caused by bending and deformation of the guide track are easy to occur, and the like, and can avoid derailment, more stable operation, simple structure, very convenient ground sanitation and cleaning, safe use.
The trackless movable rack comprises a movable rack fixed row and a movable rack movable row, and is characterized in that the movable rack is provided with at least two laser ranging sensors or laser radars at the side of a movable rack movable row chassis facing the movable rack fixed row or the movable rack movable row, the chassis of the movable rack movable row is provided with a plurality of driving motors and motor driving output shafts, each motor driving output shaft is provided with a chassis rolling bearing or a chassis roller, the at least two laser ranging sensors are used for detecting and detecting the moving distance between the movable rack movable row and the movable rack fixed row or the movable rack movable row adjacent to the movable rack fixed row, the detected moving distance is fed back to a driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of the driving motors according to the moving distance feedback data, so that the movable rack movable row keeps trackless navigation and translational movement. The scheme of removing paved ground tracks is that a laser sensor is used for detecting and detecting the moving change distance of a movable row of the compact shelving, the moving change distance is used for feeding back and controlling the rotation speeds of a plurality of driving motors to be consistent, and the driving output shafts of the motors and corresponding chassis rolling bearings or chassis rollers are matched, so that the movable row of the compact shelving can be effectively controlled to keep stable moving speed, the task of opening or closing a compact shelving channel through trackless navigation movement of the movable row of the compact shelving can be effectively realized, the problem of derailment of the movable row of the compact shelving due to adoption of paved ground tracks can be effectively avoided, the operation is more stable, the structure is simple, sanitary cleaning of the ground of a chassis of the movable row of the compact shelving is also convenient, and the movable use of the compact shelving is safe and effective.
Preferably, the chassis of the movable column of the compact shelf is provided with 2 or more than 2 driving motors, each driving motor is correspondingly connected with a motor driving output shaft, chassis rollers or chassis rolling bearings are arranged on the motor driving output shafts, and the central axes of the motor driving output shafts of the driving motors are positioned on the same central axis. The stationary translation effectiveness of the movable track-free navigation opening or closing closed compact shelf channel of the movable row of the compact shelf is improved.
Preferably, a side top laser ranging sensor is arranged at the top of the outer side surface of the short side of the dense moving column at the same side surface of the short side direction of each dense moving column, and the side top laser ranging sensor is used for detecting and detecting the distance between the short side surface of the dense moving column and the side surface of the frame body facing the wall body or the reference baffle plate, and the distance between the short side surface of the dense moving column and the side surface of the frame body facing the wall body or the reference baffle plate is kept unchanged by feedback control and adjustment. The stability and effectiveness of the movable row of the compact shelf in the length direction are improved when the movable track of the compact shelf is used for opening or closing a channel of the compact shelf in a track-free navigation manner.
Preferably, the chassis roller adopts a steel material structure, the chassis roller is provided with radial rolling bodies perpendicular to the central axis of the motor driving output shaft, and the radial rolling bodies are columnar rolling bodies with flat outer rolling peripheral surfaces. The effective guarantee of stable translation of chassis rollers in the movable row of the compact shelf without rail navigation movement for opening or closing the closed compact shelf channel is improved.
Preferably, the movable column chassis of the compact shelf is provided with a side driving motor and a side motor driving output shaft, side chassis rollers are arranged on the side motor driving output shaft, a side top laser ranging sensor is connected with a side driving motor detection feedback control, and a driving motor control circuit timely controls and adjusts the rotation speed of the side driving motor and the working direction of the motor according to side distance feedback data. The stability and effectiveness of the movable row of the movable rack in the length direction are improved when the movable row of the movable rack is guided to move to open or close the channel of the movable rack.
Preferably, the compact movable column is provided with at least two laser ranging sensors or laser radars at the outer side surface of the interlayer partition plate of the same row of the compact movable column on one side of the compact movable column facing the compact fixed column or the movable column facing the former row, the at least two laser ranging sensors are used for detecting and detecting the moving distance of the compact movable column or the movable column of the adjacent former row, the detected moving distance is fed back to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of the driving motors according to the moving distance feedback data and keeps the rotating speeds of the driving motors consistent. The stationary translation effectiveness of the movable row of the compact shelf for opening or closing the closed compact shelf channel in a trackless navigation movement manner is improved.
Preferably, the laser ranging sensor is a laser ranging sensor with an RS232 interface, an RS485 interface or a TTL interface. The network transmission control effectiveness of detection control data detected by the laser ranging sensor is improved, the network transmission control effectiveness of the movable rack when the movable rack moves to open or close the closed movable rack channel is improved, and the Internet of things interconnection control effectiveness of the movable rack when the movable rack moves to open or close the closed movable rack channel in a trackless navigation mode is improved.
Preferably, each of the plurality of driving motors correspondingly drives 2 or 3 compact shelf chassis rolling bearings or compact shelf chassis rollers, when the 2 compact shelf chassis rolling bearings or compact shelf chassis rollers are adopted, the central connecting line of the 2 compact shelf chassis rolling bearings or compact shelf chassis rollers is of a vertical distribution structure or a diagonal distribution structure with a certain dislocation spacing space distance relative to the length direction of a movable column of the compact shelf, and when the 3 compact shelf chassis rolling bearings or compact shelf chassis rollers are adopted, the 3 compact shelf chassis rolling bearings or compact shelf chassis rollers integrally adopt a position distribution structure which is isosceles triangle or common triangle along the length direction of the movable column of the compact shelf. The support points of the support bearing force of the movable row of the compact shelving in the length direction can be better dispersed, the requirement of the support bearing force of the chassis roller of the compact shelving in the length direction can be reduced, the support strength of the chassis of the movable row of the compact shelving in the length direction can be reduced, the stability and reliability of the support bearing force of the chassis roller of the compact shelving or the chassis rolling bearing of the compact shelving in the whole length direction of the movable row of the compact shelving can be improved, and the use support effect of the movable row of the compact shelving can be improved.
Preferably, at least two in-place switches are arranged on the side surface of the chassis of the movable row of the compact shelving, which is positioned on the side of the movable row of the compact shelving facing the fixed row of the compact shelving or the direction of the movable row facing the previous row of the compact shelving, the in-place switch is used for detecting a closed in-place signal of the movable column of the compact shelf and feeding back the detected in-place signal to the driving motor control circuit. The safety anti-collision performance of the movable row of the compact shelf during closure and sealing is improved, and the safety and reliability of the movable row of the compact shelf in use of trackless navigation are improved.
Another object of the present invention is to provide a method for controlling translational movement of a trackless compact shelving, which is characterized in that the trackless compact shelving adopting one of the above technical schemes performs the following translational movement control modes:
A1. According to the operation management requirement of the compact shelf, determining that the compact shelf trackless navigation channel needs to be opened or closed and the designated compact shelf trackless navigation channel needs to be closed;
A2. When a designated compact shelf channel needs to be opened, a plurality of driving motors arranged on a compact shelf moving column chassis receive a command for opening the compact shelf channel, the driving motors execute starting work, the driving motors drive output shafts to synchronously rotate, chassis rollers or chassis rolling bearings arranged on the driving output shafts of the driving motors drive chassis rollers or chassis rolling bearings to roll in the direction of opening the compact shelf channel to open the compact shelf channel, and meanwhile, the driving motors synchronously receive detection feedback control of corresponding laser ranging sensors or laser radars;
A3. In the step A2, in the process that the plurality of driving motors roll to the direction of opening the compact shelf channel to open the compact shelf channel by driving the chassis rollers or the chassis rolling bearings, at least two laser ranging sensors or laser radars arranged on the side surface of the chassis of the movable row of the compact shelf or the outer side surface of the interlayer clapboard of the same row which is moving to be opened detect the moving distance of the movable row of the compact shelf to be opened with the fixed row of the compact shelf or the movable row of the compact shelf adjacent to the fixed row of the movable row of the compact shelf, the moving distances detected by the at least two laser ranging sensors are fed back to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of 2 or more than 2 driving motors according to the moving distance feedback data of each laser ranging sensor, so that the rotating speeds of the driving motors of 2 or more than 2 driving motors are always kept consistent, and the movable row of the compact shelf is always kept in a trackless navigation translation moving state to open the compact shelf channel;
A4. When a closed compact shelf channel is required to be closed, a plurality of driving motors arranged on a compact shelf movable column chassis receive a command for closing the closed compact shelf channel, the driving motors execute starting work, the driving motors drive output shafts to synchronously rotate, chassis rollers or chassis rolling bearings arranged on the driving output shafts of the driving motors roll towards the direction of the closed compact shelf channel to close the closed compact shelf channel in a trackless navigation translational movement state, and meanwhile, the driving motors synchronously receive detection feedback control of corresponding laser ranging sensors or laser radars;
A5. In the step A4, the plurality of driving motors also detect and detect the moving distance between the driving motors and the movable rack fixed row or the movable rack row adjacent to the driving motors and the movable rack fixed row simultaneously when the driving motors drive the chassis rollers or the chassis rolling bearings to roll and fold the closed movable rack channel towards the direction of folding the closed movable rack channel, the moving distance of the opening channel obtained by detection of each laser ranging sensor is fed back to a driving motor control circuit, and the driving motor control circuit timely controls and adjusts 2 or more driving motor rotating speeds according to the moving distance feedback data of each laser ranging sensor, and controls to keep the 2 or more driving motor rotating speeds consistent all the time, so that the movable row of the compact shelf is always kept in a trackless navigation translational movement state to fold and close the compact shelf channel;
A6. In the step A2-A5, when the motor drives the output shaft to be provided with the chassis rolling bearing or the chassis roller, as the chassis of the movable row of the compact shelving is provided with 2 or more than 2 driving motors, under the mutual influence of the width dimension of the bearing rolling surface of the chassis rolling bearing or the flat outer rolling peripheral surface of the chassis roller, the trackless navigation of the chassis of the movable row of the compact shelving is effectively ensured to stably move without the offset of the length direction of the movable row of the compact shelving;
A7. in the step A2 to the step A5, in the process that the driving motor drives the chassis roller to open or close the compact shelving channel, the side top laser ranging sensor simultaneously detects and detects the side distance between the movable row of the compact shelving and the wall body or the reference baffle to which the side face of the shelf body faces, and feeds back the detected side distance to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotation direction of the side driving motor according to the side distance feedback data, so that the side distance between the movable row of the compact shelving and the wall body or the reference baffle to which the side face of the shelf body faces is always kept unchanged and the side face is kept parallel;
A8. In the step A7, under the condition that the lateral distance detected by the lateral top laser ranging sensor is kept unchanged, the lateral driving motor does not execute starting work.
Preferably, in the step A2 to the step A8, when the movable rack column performs the task of closing the movable rack channel by trackless navigation, at least two in-place switches arranged at the side of the chassis of the movable rack column detect the closing in-place signal of the movable rack column and feed the detected in-place signal back to the driving motor control circuit, and the driving motor control circuit performs the task of stopping the driving motor, so that impact force generated when the movable rack column closes the movable rack channel by trackless navigation is avoided.
The invention has the advantages that the scheme of removing paved ground tracks is changed to detect the moving change distance of the movable columns of the movable racks by adopting the laser sensor, the rotating speeds of a plurality of driving motors are controlled to be consistent by feeding back the moving change distance, each laser ranging sensor correspondingly feeds back one driving motor, and the driving motor is matched with the driving output shaft of the motor and the corresponding chassis rolling bearing or chassis roller, so that the movable columns of the movable racks can be effectively controlled to keep stable moving speed to realize the trackless navigation movement of the movable columns of the movable racks to open or close the movable rack channel, thereby effectively avoiding the problem of derailment by adopting paved ground tracks, ensuring that the operation is more stable, the structure is simple, the sanitary cleaning of the ground of the movable racks under the chassis of the movable columns of the movable racks is also convenient, and the movable racks of the movable racks are safe and effective. The influence of the ground sliding rail on pedestrians is avoided, so that the ground is smoother, collision is avoided, and the use efficiency is improved. The support points of the support bearing force of the movable row of the compact shelving in the length direction can be better dispersed, the requirement of the support bearing force of the chassis roller of the compact shelving in the length direction can be reduced, the support strength of the chassis of the movable row of the compact shelving in the length direction can be reduced, the stability and reliability of the support bearing force of the chassis roller of the compact shelving or the chassis rolling bearing of the compact shelving in the whole length direction of the movable row of the compact shelving can be improved, and the use support effect of the movable row of the compact shelving can be improved.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of the trackless navigation compact shelf and the trackless navigation translational movement control method thereof.
Fig. 2 is a schematic structural view of a chassis rolling bearing or chassis roller driven by a driving motor in the trackless navigation compact shelf and the trackless navigation translational movement control method of the invention.
Fig. 3 is a schematic structural diagram of chassis rollers in the trackless navigation compact shelf and the trackless navigation translational movement control method of the invention.
Fig. 4 is a schematic diagram of an application site structure of the trackless navigation compact shelf and the trackless navigation translational movement control method thereof.
Detailed Description
Example 1:
In the embodiments shown in fig. 1, fig. 2, fig. 3 and fig. 4, a trackless navigation compact shelf comprises a compact shelf fixed column 10 and a compact shelf movable column 20, the compact shelf movable column 20 is provided with at least two laser ranging sensors 30 or laser radars at a compact shelf movable column chassis side 21 facing the compact shelf fixed column 10 or the compact shelf movable column 10 direction, a compact shelf movable column chassis is provided with a plurality of driving motors 40 and motor driving output shafts 41, each motor driving output shaft 41 is provided with a chassis rolling bearing or chassis roller 42, at least two laser ranging sensors 30 are used for detecting and detecting a moving distance A between the compact shelf fixed column 10 or the compact shelf movable column 20 adjacent to the compact shelf fixed column and feeding back the detected moving distance A to a driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotation speeds of the plurality of driving motors according to the moving distance feedback data, so that the rotation speeds of the compact shelf movable column keeps consistent, and the compact shelf movable column keeps trackless navigation. Thereby the movable row of the compact shelf stably translates to open or translate to close the compact shelf channel. The drive motor control circuit may refer to the drive motor control circuit in the prior art, and is not described in detail herein. Because the scheme of laying the track on the ground is effectively canceled, the whole consistency of the ground surface of the foundation below the chassis of the compact shelving and the ground surface 60 (see figure 4) is maintained, the derailment can be avoided, the running is more stable, the structure is simple, the sanitary cleaning of the ground surface 60 (see figure 4) and the ground surface of the foundation below the chassis of the movable column of the compact shelving is extremely convenient, and the use is safer
The chassis of the movable column of the compact shelf is provided with 2 or more than 2 driving motors 40, each driving motor 40 is correspondingly provided with a motor driving output shaft 41 in an output connection manner, chassis rollers or chassis rolling bearings 42 are fixedly arranged on the motor driving output shafts 41 in a connection manner, and the central axes of the motor driving output shafts 41 of each driving motor 40 are positioned on the same central axis. When 2 driving motors 40 are adopted, the 2 driving motors are respectively arranged at the two end regions close to the length direction of the movable row of the compact shelving (although the chassis rolling bearing or the chassis roller 42 shown in fig. 1 is positioned at the outer end of the movable row of the compact shelving relative to the driving motor 40, the driving motor 40 can also be arranged at the outer end of the movable row of the compact shelving relative to the chassis rolling bearing or the chassis roller 42 in an opposite direction shown in fig. 1), so that the translational stability of the movable row of the compact shelving during movement can be ensured to a greater extent. When more than 2 driving motors 40 are used, the other driving motors 40 are disposed in an even distribution in the region between the 2 driving motors, except that the 2 driving motors are disposed in the regions near the two ends of the movable row of the compact shelving in the longitudinal direction.
Each driving motor correspondingly drives 2 or 3 compact shelving chassis rolling bearings or compact shelving chassis rollers, when the 2 compact shelving chassis rolling bearings or compact shelving chassis rollers are adopted, the central connecting line of the 2 compact shelving chassis rolling bearings or compact shelving chassis rollers is of a vertical distribution structure or a diagonal distribution structure with a certain dislocation spacing space distance relative to the length direction of a movable row of the compact shelving, and when the 3 compact shelving chassis rolling bearings or compact shelving chassis rollers are adopted, the 3 compact shelving chassis rolling bearings or compact shelving chassis rollers are integrally of an isosceles triangle or a common triangle position distribution structure along the length direction of a movable row of the compact shelving. More specific technical schemes are described in the following.
Each driving motor 40 is provided with a speed reducer or a speed reducer (the speed reducer or the speed reducer is not drawn in the figure, the installation arrangement scheme of the speed reducer or the speed reducer and the driving motor in the prior art can be referred to or used), a synchronous transmission chain wheel is arranged on the basis of the speed reducer or the speed reducer, the synchronous transmission chain wheel is used for transmitting and linking with a rolling bearing of a compact shelf chassis or a rolling wheel 42 of the compact shelf chassis, each driving motor 40 synchronously drives and links with the rolling bearing of the compact shelf chassis or the rolling wheel 42 of the compact shelf (see fig. 2A and 2B), or three synchronous driving and links with the rolling bearing of the compact shelf chassis or the rolling wheel 42 of the compact shelf (see fig. 2C and 2D), each synchronous transmission chain wheel of the driving motor 40 comprises 2 synchronous transmission chains 43 and 2 synchronous transmission output shafts 44, 2 driving output shaft driving chain wheels are installed and connected on the motor driving output shafts 41, the 2 driving output shaft driving chain wheels are respectively connected with the driving output driven chain wheels through corresponding synchronous transmission chains 43, the driving output driven chain wheels are connected with the rolling bearings of the compact shelf chassis or the rolling wheels 44, and the driving output driven chain wheels are connected with the rolling bearings of the compact shelf chassis or the compact shelf chassis through the synchronous transmission output shafts 44, and the synchronous transmission chains are arranged on the driving output shafts 42. When each driving motor 40 synchronously drives and links two compact shelf chassis rolling bearings or compact shelf chassis rollers 42, the spatial distribution positions of the two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 adopt two schemes that the radial center faces of the two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 are positioned on the same vertical center face (see fig. 2A, namely, positioned at the same position along the length direction of a compact shelf moving column), or the radial center faces of the two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 are mutually staggered along the length direction of the compact shelf moving column and have a certain space distance (see fig. 2B), so that the compact shelf chassis support stability and the compact shelf moving column translation stability during the trackless navigation of the compact shelf moving column can be better met.
When each driving motor 40 synchronously drives and links three compact shelf chassis rolling bearings or compact shelf chassis rollers 42, the spatial distribution position of the three compact shelf chassis rolling bearings or compact shelf chassis rollers 42 adopts two schemes that two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 are respectively connected with 2 synchronous transmission output shafts 44 through 2 synchronous transmission chains 43 and 2 synchronous transmission output shafts 44, a third compact shelf chassis rolling bearing or compact shelf chassis rollers 42 are connected with the motor driving output shafts 41, the radial central surfaces of the two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 are positioned on the same vertical central surface (see figure 2C, namely positioned at the same position in the moving row length direction of the compact shelf), the radial central surfaces of the third compact shelf chassis rolling bearings or compact shelf chassis rollers 42 and the two compact shelf chassis rolling bearings or compact shelf chassis rollers 42 are mutually staggered along the moving row length direction of the compact shelf and have a certain space distance (see figure 2C) along the moving row length direction of the compact shelf, three isosceles-shaped rolling bearings or compact shelf chassis rollers 42 are formed, the radial central surfaces of the three isosceles-shaped rolling bearings or compact shelf chassis rollers 42 are respectively arranged along the moving row length direction of the compact shelf chassis 2 (see figure 2C, the synchronous transmission output shafts 44 are positioned along the moving row length direction of the compact shelf chassis or the compact shelf chassis rolling bearings 42), the radial center surfaces of the two movable rack chassis rolling bearings or movable rack chassis rolling wheels 42 are mutually staggered along the length direction of the movable rack row and have a certain space distance (see fig. 2D), and the third movable rack chassis rolling bearing or movable rack chassis rolling wheel 42 is installed and connected on a motor driving output shaft 41, the radial center surfaces of the third movable rack chassis rolling bearing or movable rack chassis rolling wheel 42 and the two movable rack chassis rolling bearings or movable rack chassis rolling wheels 42 are mutually staggered along the length direction of the movable rack and have a certain space distance (see fig. 2D), so that a position distribution structure (see fig. 2D) of the three movable rack chassis rolling bearings or movable rack chassis rolling wheels 42 in a triangle along the length direction of the movable rack row is formed, and the movable rack chassis supporting stability and the movable rack moving row translational stability of the movable rack can be better met when the movable rack is in a trackless navigation way, and the movable rack chassis rolling bearing or movable rack chassis rolling wheel 42 of each driving motor is better in a shared mode, and the movable rack chassis rolling bearing or movable rack chassis rolling wheel 42 of the movable rack is better in a sliding way, and the movable rack is more stable in a linear direction, and the linear guide way, and the movable rack is suitable for the requirement of the movable rack is longer in a linear guide way.
The chassis roller 42 is made of steel, and the rolling outer Zhou Pingzheng surface of the flat outer rolling surface of the compact shelf chassis roller 42 comprises 1 flat outer rolling surface or more than 1 multi-flat outer rolling surface, and when the plurality of multi-flat outer rolling surfaces are arranged, a certain interval is arranged between each two flat outer rolling surfaces. The smooth rolling stability, flexibility, reliability and effectiveness of the chassis rollers of the compact shelving are improved when the chassis rollers of the compact shelving are matched with the track-free navigation type movable compact shelving row. The chassis roller 42 has radial rolling bodies perpendicular to the central axis of the motor drive output shaft, and the radial rolling bodies are columnar rolling bodies having a flat outer rolling peripheral surface 42E (see fig. 3A). Or a cylindrical rolling element having a double flat outer rolling peripheral surface (see fig. 3D), a flat cylindrical rolling element having a flat side surface 42A (see fig. 3A), a cylindrical rolling element having a downwardly inclined narrowed side surface 42B (see fig. 3B), or a cylindrical rolling element having an outer arc-shaped convex side surface 42C (see fig. 3C), wherein the cylindrical side surface of the cylindrical rolling element having a double flat outer rolling peripheral surface (see fig. 3D) may have a shape of the flat side surface 42A, the downwardly inclined narrowed side surface 42B, or the outer arc-shaped convex side surface 42C.
The laser ranging sensors 30 and 31 are laser ranging sensors with an RS232 interface, an RS485 interface or a TTL interface.
At least two in-place switches are arranged on the side face of the chassis of the movable rack 20 on the side of the movable rack 20 facing the movable rack fixed rack 10 or the side of the movable rack 20 facing the direction of the movable rack in the previous row, and the in-place switches are used for detecting closed in-place signals of the movable rack and feeding back the detected in-place signals to a driving motor control circuit.
Example 2:
In the embodiment shown in fig. 1, 2, 3 and 4, the compact moving column 20 is provided with at least two laser ranging sensors or laser radars 30 at the outer side surface of the interlayer partition plate of the same row of the compact moving column on the side where the compact moving column faces the fixed column of the compact shelf or the moving column of the previous column of the compact moving column faces, the at least two laser ranging sensors 30 are used for detecting and detecting the moving distance a of the compact moving column or the moving column of the compact moving column of the adjacent previous column of the compact moving column, the detected moving distance a is fed back to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of the driving motors 40 according to the moving distance feedback data and keeps the rotating speeds of the driving motors consistent, so that the compact moving column of the compact shelf stably translates to open or close the compact shelf channel.
Example 3:
In the embodiments shown in fig. 1, 2, 3 and 4, a side top laser ranging sensor 31 is installed on top of the outer side surface of the short side of the dense moving column at the same side surface 22 in the short side direction of each dense moving column, and the side top laser ranging sensor 31 is used for detecting and detecting the side surface distance B between the short side surface 22 of the dense moving column and the wall body or the reference baffle 50, and the side surface distance B between the short side surface 22 of the dense moving column and the wall body or the reference baffle 50 is kept unchanged by feedback control and adjustment.
The movable column chassis of the compact shelf is provided with a side driving motor and a side motor driving output shaft, a side chassis roller is arranged on the side motor driving output shaft, a side top laser ranging sensor is connected with a side driving motor detection feedback control, and a driving motor control circuit timely controls and adjusts the rotation speed of the side driving motor and the working direction of the motor according to side distance B feedback data.
Example 4:
In the embodiments shown in fig. 1, fig. 2, fig. 3, and fig. 4, a trackless navigation translational movement control method of a trackless navigation compact shelf adopts the trackless navigation compact shelf described in embodiment 1, and executes the following translational movement control modes:
A1. According to the operation management requirement of the compact shelf, determining that the compact shelf trackless navigation channel needs to be opened or closed and the designated compact shelf trackless navigation channel needs to be closed;
A2. When a designated compact shelf channel needs to be opened, a plurality of driving motors arranged on a compact shelf moving column chassis receive a command for opening the compact shelf channel, the driving motors execute starting work, the driving motors drive output shafts to synchronously rotate, chassis rollers or chassis rolling bearings arranged on the driving output shafts of the driving motors drive chassis rollers or chassis rolling bearings to roll in the direction of opening the compact shelf channel to open the compact shelf channel, and meanwhile, the driving motors synchronously receive detection feedback control of corresponding laser ranging sensors or laser radars;
A3. In the step A2, in the process that the plurality of driving motors roll to the direction of opening the compact shelf channel to open the compact shelf channel by driving the chassis rollers or the chassis rolling bearings, at least two laser ranging sensors or laser radars arranged on the side surface of the chassis of the movable row of the compact shelf or the outer side surface of the interlayer clapboard of the same row which is moving to be opened detect the moving distance of the movable row of the compact shelf to be opened with the fixed row of the compact shelf or the movable row of the compact shelf adjacent to the fixed row of the movable row of the compact shelf, the moving distances detected by the at least two laser ranging sensors are fed back to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotating speeds of 2 or more than 2 driving motors according to the moving distance feedback data of each laser ranging sensor, so that the rotating speeds of the driving motors of 2 or more than 2 driving motors are always kept consistent, and the movable row of the compact shelf is always kept in a trackless navigation translation moving state to open the compact shelf channel;
A4. When a closed compact shelf channel is required to be closed, a plurality of driving motors arranged on a compact shelf movable column chassis receive a command for closing the closed compact shelf channel, the driving motors execute starting work, the driving motors drive output shafts to synchronously rotate, chassis rollers or chassis rolling bearings arranged on the driving output shafts of the driving motors roll towards the direction of the closed compact shelf channel to close the closed compact shelf channel in a trackless navigation translational movement state, and meanwhile, the driving motors synchronously receive detection feedback control of corresponding laser ranging sensors or laser radars;
A5. In the step A4, the plurality of driving motors also detect and detect the moving distance between the driving motors and the movable rack fixed row or the movable rack row adjacent to the driving motors and the movable rack fixed row simultaneously when the driving motors drive the chassis rollers or the chassis rolling bearings to roll and fold the closed movable rack channel towards the direction of folding the closed movable rack channel, the moving distance of the opening channel obtained by detection of each laser ranging sensor is fed back to a driving motor control circuit, and the driving motor control circuit timely controls and adjusts 2 or more driving motor rotating speeds according to the moving distance feedback data of each laser ranging sensor, and controls to keep the 2 or more driving motor rotating speeds consistent all the time, so that the movable row of the compact shelf is always kept in a trackless navigation translational movement state to fold and close the compact shelf channel;
A6. In the step A2-A5, when the motor drives the output shaft to be provided with the chassis rolling bearing or the chassis roller, as the chassis of the movable row of the compact shelving is provided with 2 or more than 2 driving motors, under the mutual influence of the width dimension of the bearing rolling surface of the chassis rolling bearing or the flat outer rolling peripheral surface of the chassis roller, the trackless navigation of the chassis of the movable row of the compact shelving is effectively ensured to stably move without the offset of the length direction of the movable row of the compact shelving;
A7. in the step A2 to the step A5, in the process that the driving motor drives the chassis roller to open or close the compact shelving channel, the side top laser ranging sensor simultaneously detects and detects the side distance between the movable row of the compact shelving and the wall body or the reference baffle to which the side face of the shelf body faces, and feeds back the detected side distance to the driving motor control circuit, and the driving motor control circuit timely controls and adjusts the rotation direction of the side driving motor according to the side distance feedback data, so that the side distance between the movable row of the compact shelving and the wall body or the reference baffle to which the side face of the shelf body faces is always kept unchanged and the side face is kept parallel;
A8. In the step A7, under the condition that the lateral distance detected by the lateral top laser ranging sensor is kept unchanged, the lateral driving motor does not execute starting work.
In the step A2 to the step A8, when the movable rack column performs the task of closing the movable rack channel by trackless navigation, at least two in-place switches arranged on the side surfaces of the chassis of the movable rack column detect the closing in-place signal of the movable rack column and feed the detected in-place signal back to the driving motor control circuit, and the driving motor control circuit performs the task of stopping the driving motor, so that impact force generated when the movable rack column closes the movable rack channel by trackless navigation is avoided. Otherwise, the same as in example 1 was used.
In the description of the positional relationship of the present invention, the terms such as "inner", "outer", "upper", "lower", "left", "right", and the like, which indicate an orientation or positional relationship based on that shown in the drawings, are merely for convenience of description of the embodiments and for simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present invention.
The foregoing and construction describes the basic principles, principal features and advantages of the present invention product, as will be appreciated by those skilled in the art. The foregoing examples and description are provided to illustrate the principles of the invention and to provide various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510776727.7A CN120694492A (en) | 2025-06-11 | 2025-06-11 | Trackless navigation compact shelving and trackless navigation translation movement control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510776727.7A CN120694492A (en) | 2025-06-11 | 2025-06-11 | Trackless navigation compact shelving and trackless navigation translation movement control method thereof |
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| Publication Number | Publication Date |
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| CN120694492A true CN120694492A (en) | 2025-09-26 |
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| CN202510776727.7A Pending CN120694492A (en) | 2025-06-11 | 2025-06-11 | Trackless navigation compact shelving and trackless navigation translation movement control method thereof |
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| Country | Link |
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| CN (1) | CN120694492A (en) |
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- 2025-06-11 CN CN202510776727.7A patent/CN120694492A/en active Pending
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