Gravity center self-balance device for high-order picking truck

Abstract

The invention discloses a gravity center self-balance device for a high-order picking truck. The gravity center self-balance device comprises a movable counterweight mechanism and a control system, wherein the movable counterweight mechanism comprises a counter weight mechanism base, a longitudinal movement mechanism, a transverse movement mechanism and a counter weight device; the control system comprises a plurality of pressure sensors and a controller; and the controller comprises a counter weight moving control unit and a vehicle running state control unit. The gravity center self-balance device detects a load signal of each wheel of a vehicle through the pressure sensors and transmits the load signals to the controller; when a load ratio of the wheels exceeds a set standard, the controller starts a stepping motor to correspondingly move a counter weight box of the vehicle; and when a balance requirement on the gravity center of the whole vehicle cannot be met after the counter weight box reaches an ultimate position, the controller adjusts the speed, the acceleration and the steering angle of the vehicle so as to guarantee the running stability and the running safety of the vehicle. By the gravity center self-balance device, the problems of overweight static balance, overlarge volume, lower stability and the like of the conventional high-order picking truck are solved.

Description

technical field [0001] The invention relates to an autonomous center of gravity balancing technology of a high-position sorting vehicle, which includes a movable counterweight mechanism and a control system. Background technique [0002] With the increasing shortage of land resources, centralized high-level three-dimensional warehouses continue to increase. The high-level picking vehicle is an indispensable handling vehicle for manual picking and stacking of goods in the three-dimensional warehouse. The maximum lifting height of the high-level picking vehicle can reach 9-10 meters. Due to its high operating efficiency and low cost, it is more and more used in the picking operation of the three-dimensional warehouse. [0003] In most cases, the high-level picking vehicles drive in the narrow lanes between the shelves of the three-dimensional warehouse, so the vehicles should have good maneuverability, that is, the vehicles have a relatively small turning radius, and can free...

AI Technical Summary

Problems solved by technology

This directly leads to the huge structure of the car body, which affects the mobility of the vehicle.

In addition, the increase in vehicle weight leads to an increase in energy consumption

At present, the research on self-balancing technology of the center of gravity at home and abroad is limited to two-wheeled robots, such as: using closed-loop pole configuration and adaptive control algorithms, etc., designing two main and auxiliary controllers to realize the motion control of a flexible two-wheeled self-balancing robot system ; Use infrared sensing to replace the traditional three instruments (inclinometer, accelerometer, gyroscope) for attitude detection, use incremental PID control DSP control algorithm to realize self-balancing control of two-wheeled upright robots, etc., on the high-position picking vehicle There is also a lack of research and application of the corresponding self-balancing technology of the center of gravity

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