The Process Display Of HRD Trackless Four-way shuttle
The Process Display Of HRD Trackless Four-way shuttle
The current problems of traditional four-way shuttles
The current problems of traditional four-way shuttles
3. The problem of rotating the main and deputy to the top lifting structure:
It takes too much time to change direction, which seriously affects work efficiencyand due to
control mode issues, automatic correction cannot be performed when deviation occurs.
3. The problem of rotating the main and deputy to the top lifting structure:
It takes too much time to change direction, which seriously affects work efficiencyand due to
control mode issues, automatic correction cannot be performed when deviation occurs.
1. Wireless communication issue between the control panel and the four-way shuttle:
When running in the rack, a loss of signal may occur, resulting in a malfunction. The task reception and feedback of traditional four-way shuttles are carried out at fixed positions. During the task execution process, the shuttle's status is in a disconnected state for a while until the next signal-receiving point, and the information about the connected goods is unknown to the vehicle.
1. Wireless communication issue between the control panel and the four-way shuttle:
When running in the rack, a loss of signal may occur, resulting in a malfunction. The task reception and feedback of traditional four-way shuttles are carried out at fixed positions. During the task execution process, the shuttle's status is in a disconnected state for a while until the next signal-receiving point, and the information about the connected goods is unknown to the vehicle.
2. Path planning and scheduling software architecture issues:
Scheduling software algorithms have problems that affect job efficiency.
2. Path planning and scheduling software architecture issues:
Scheduling software algorithms have problems that affect job efficiency.
The position of the guide wheel is shown in the figure. When the car deviates, it will grind against the track, producing iron filings and reducing the speed of the car, otherwise, it will overturn.
The position of the guide wheel is shown in the figure. When the car deviates, it will grind against the track, producing iron filings and reducing the speed of the car, otherwise, it will overturn.
4. Accuracy issue of parking positioning in the main roadway:
The requirement for positioning accuracy is too high. If the positioning is not accurate, it will run
against the edge of the guide wheel, causing damage to the vehicle body, further reducing operating efficiency, and even leading to vehicle overturning.
4. Accuracy issue of parking positioning in the main roadway:
The requirement for positioning accuracy is too high. If the positioning is not accurate, it will run
against the edge of the guide wheel, causing damage to the vehicle body, further reducing operating efficiency, and even leading to vehicle overturning.
5. The problem with setting the spacing between rack layers (people need to enter the main and auxiliary lanes for work) is that manual labor cannot enter the aisle well to complete some necessary tasks.
5. The problem with setting the spacing between rack layers (people need to enter the main and auxiliary lanes for work) is that manual labor cannot enter the aisle well to complete some necessary tasks.
11. Collision safety measures issue:
The collision prevention measures are incomplete, and occasional
collision problems may occur.
11. Collision safety measures issue:
The collision prevention measures are incomplete, and occasional
collision problems may occur.
6. Manufacturing and installation accuracy of rack columns:
Extremely high requirements for rack manufacturing and installation accuracy;
The track structure cannot guarantee the parallelism and levelness of the main track and subtrack, nor can it guarantee a 90-degree right angle at the intersection of the main track and subtrack.
6. Manufacturing and installation accuracy of rack columns:
Extremely high requirements for rack manufacturing and installation accuracy;
The track structure cannot guarantee the parallelism and levelness of the main track and subtrack, nor can it guarantee a 90-degree right angle at the intersection of the main track and subtrack.
7. Accuracy issues in the manufacturing and installation of the main tunnel track:
Extremely high precision is required; the angle between the main orbit and the secondary orbit must be precise at 90 degrees, and if there is a deviation, significant vibration may occur, even causing the vehicle to get stuck.
7. Accuracy issues in the manufacturing and installation of the main tunnel track:
Extremely high precision is required; the angle between the main orbit and the secondary orbit must be precise at 90 degrees, and if there is a deviation, significant vibration may occur, even causing the vehicle to get stuck.
8. WMS warehouse transfer algorithm (utilization rate of customs clearance) problem:
It will cause a certain degree of waste of rack space.
8. WMS warehouse transfer algorithm (utilization rate of customs clearance) problem:
It will cause a certain degree of waste of rack space.
9. Integration of WMS location utilization rate and equipment inbound and outbound efficiency.
9. Integration of WMS location utilization rate and equipment inbound and outbound efficiency.
10. The Rule Problem of Single Machine Efficiency Calculation.
10. The Rule Problem of Single Machine Efficiency Calculation.
13. The main channel is a mesh structure, which poses a safety hazard. When manually entering the tunnel for maintenance, high-altitude operations not only have a frightening visual effect, but also have soft mesh, which can make people feel very uneasy when walking.
13. The main channel is a mesh structure, which poses a safety hazard. When manually entering the tunnel for maintenance, high-altitude operations not only have a frightening visual effect, but also have soft mesh, which can make people feel very uneasy when walking.
12. Application problems in scenarios with high metal content:
Seriously affecting communication, causing loss of vehicle signals, requiring manual entry to find and drag out the small shuttle.
12. Application problems in scenarios with high metal content:
Seriously affecting communication, causing loss of vehicle signals, requiring manual entry to find and drag out the small shuttle.
14. There is a gap between the contact between the chain hoist and the chain conveyor, and the pallet may experience jamming and vibration when passing through.
14. There is a gap between the contact between the chain hoist and the chain conveyor, and the pallet may experience jamming and vibration when passing through.
17. The small car relies on driving to enter the elevator car for floor changing, which has low efficiency and poor safety.
17. The small car relies on driving to enter the elevator car for floor changing, which has low efficiency and poor safety.
15. The wheels are made of polyurethane. Due to the weight of the storage location and the vehicle itself, the polyurethane wheels may deform to a certain extent, causing the vehicle to gradually deviate during operation. In addition, the longitudinal and transverse wheel sets of the small shuttle cannot be guaranteed to be completely vertical during manufacturing, further increasing the guiding pressure and reducing the speed. When the deviation reaches a certain degree and the guidance is no longer able to correct it, a rollover may occur.
15. The wheels are made of polyurethane. Due to the weight of the storage location and the vehicle itself, the polyurethane wheels may deform to a certain extent, causing the vehicle to gradually deviate during operation. In addition, the longitudinal and transverse wheel sets of the small shuttle cannot be guaranteed to be completely vertical during manufacturing, further increasing the guiding pressure and reducing the speed. When the deviation reaches a certain degree and the guidance is no longer able to correct it, a rollover may occur.
16. During the operation of a traditional four-way shuttle, only the edge wheels are used for guidance. With no load, the shuttle weighs only 300kg and can be quickly guided during operation. In the case of a heavy load, the shuttle's weight plus cargo weight is approximately 1800kg. At this time, relying solely on the edge wheels for guidance will slow down the speed. If the speed is still increased, it will cause the car to derail, get stuck, or even fall off. To avoid the risk of getting stuck or falling off, the only way is to reduce the operating speed. Therefore, the traditional single vehicle efficiency is about 12-15 pallets/hour.
16. During the operation of a traditional four-way shuttle, only the edge wheels are used for guidance. With no load, the shuttle weighs only 300kg and can be quickly guided during operation. In the case of a heavy load, the shuttle's weight plus cargo weight is approximately 1800kg. At this time, relying solely on the edge wheels for guidance will slow down the speed. If the speed is still increased, it will cause the car to derail, get stuck, or even fall off. To avoid the risk of getting stuck or falling off, the only way is to reduce the operating speed. Therefore, the traditional single vehicle efficiency is about 12-15 pallets/hour.
Composition & Principle Of
Trackless four-way shuttle
Composition & Principle Of
Trackless four-way shuttle
The trackless four-way shuttle walking control system consists of a controller, guidance sensors, status indicator lights, obstacle avoidance sensors, photoelectric control signal sensors, DC servo drive unit, guidance QR code, power supply, etc.
The trackless four-way shuttle walking control system consists of a controller, guidance sensors, status indicator lights, obstacle avoidance sensors, photoelectric control signal sensors, DC servo drive unit, guidance QR code, power supply, etc.
1. Composition of trackless four-way shuttle
1. Composition of trackless four-way shuttle
2. The principle of trackless four-way shuttle
2. The principle of trackless four-way shuttle
The Huaruide trackless four-way shuttle adopts QR code positioning navigation technology and motion control technology.
The working principle of trackless four-way shuttle navigation: Based on the scanning of the QR code sensor, the position of the ground laid QR code image coordinate system is obtained, and the collected QR code image coordinate position information is transmitted to the four-way shuttle controller. The controller calculates the coordinate data provided by the image sensor to determine its position on the map;
The Huaruide trackless four-way shuttle adopts QR code positioning navigation technology and motion control technology.
The working principle of trackless four-way shuttle navigation: Based on the scanning of the QR code sensor, the position of the ground laid QR code image coordinate system is obtained, and the collected QR code image coordinate position information is transmitted to the four-way shuttle controller. The controller calculates the coordinate data provided by the image sensor to determine its position on the map;
Dispatch system sends navigation path instructions to four-way shuttles; Based on the received path instructions, the trackless four-way shuttle establishes a local navigation coordinate system and calculates the initial position of the trackless four-way shuttle; The controller controls the number of rotations of two wheels through feedback from the encoder, so that the trackless four-way shuttle travels sequentially to each QR code image label in the navigation path command sequence to complete the navigation path command; At the same time, based on the deviation angle from the center position of the ground QR code, the controller automatically calculates that when reaching the next QR code position, different rotational speed values of the left and right wheels need to be given to achieve the effect of correction and reversing.
Dispatch system sends navigation path instructions to four-way shuttles; Based on the received path instructions, the trackless four-way shuttle establishes a local navigation coordinate system and calculates the initial position of the trackless four-way shuttle; The controller controls the number of rotations of two wheels through feedback from the encoder, so that the trackless four-way shuttle travels sequentially to each QR code image label in the navigation path command sequence to complete the navigation path command; At the same time, based on the deviation angle from the center position of the ground QR code, the controller automatically calculates that when reaching the next QR code position, different rotational speed values of the left and right wheels need to be given to achieve the effect of correction and reversing.
Characteristics of Huaruide’s
Trackless Four-way Shuttle
Characteristics of Huaruide’s
Trackless Four-way Shuttle
1. The four-way shuttle adopts QR code positioning and correction, the precision requirements for rack manufacturing and installation have been completely solved. And the controller of the trackless four-way shuttle controls the number of rotations of the two wheels through encoder feedback, so that the four-way shuttle sequentially travels to each QR code image label in the navigation path instruction sequence to complete the navigation path instruction; At the same time, based on the deviation angle from the center position of the ground QR code, the controller automatically calculates that when reaching the next QR code position, different speed values of the left and right wheels need to be given to achieve the effect of correction and direction change.
1. The four-way shuttle adopts QR code positioning and correction, the precision requirements for rack manufacturing and installation have been completely solved. And the controller of the trackless four-way shuttle controls the number of rotations of the two wheels through encoder feedback, so that the four-way shuttle sequentially travels to each QR code image label in the navigation path instruction sequence to complete the navigation path instruction; At the same time, based on the deviation angle from the center position of the ground QR code, the controller automatically calculates that when reaching the next QR code position, different speed values of the left and right wheels need to be given to achieve the effect of correction and direction change.
2. The position of the shuttle body's lifting plate is not only suitable for metal pallets, but also compatible with wooden and plastic pallets. It will not damage the pallet support beam structure.
(In the middle position of the traditional four-way roof standard plastic pallet secondary fork hole, when the load is equal to 1000 kg, experimental data shows that the maximum deformation of the plastic pallet T-shaped middle beam is 10 mm, the deflection value is 1/33, and the stress ratio is 1.5. The shape of the wooden pallet changes greatly.)
2. The position of the shuttle body's lifting plate is not only suitable for metal pallets, but also compatible with wooden and plastic pallets. It will not damage the pallet support beam structure.
(In the middle position of the traditional four-way roof standard plastic pallet secondary fork hole, when the load is equal to 1000 kg, experimental data shows that the maximum deformation of the plastic pallet T-shaped middle beam is 10 mm, the deflection value is 1/33, and the stress ratio is 1.5. The shape of the wooden pallet changes greatly.)
3. The standard pallet of 1200 * 1000 has a minimum aisle width of only 1500mm, which is only about 200mm wider than traditional four-way shuttle, and the number of flat shuttlego spaces is almost unaffected;
3. The standard pallet of 1200 * 1000 has a minimum aisle width of only 1500mm, which is only about 200mm wider than traditional four-way shuttle, and the number of flat shuttlego spaces is almost unaffected;
4. On the basis of meeting the requirements for use on the ground, the four-way shuttle can operate on the ground, realizing the integration of air and ground, saving vertical space and manufacturing and installation costs. It can make half a layer more (suitable for pallet storage for picking and returning to the warehouse), and in extreme cases, it can be operated directly by electric trolleys.
4. On the basis of meeting the requirements for use on the ground, the four-way shuttle can operate on the ground, realizing the integration of air and ground, saving vertical space and manufacturing and installation costs. It can make half a layer more (suitable for pallet storage for picking and returning to the warehouse), and in extreme cases, it can be operated directly by electric trolleys.
5. The inventory roadway beam features a split structure, which facilitates the passage of wireless signals, enabling real-time monitoring and communication.
5. The inventory roadway beam features a split structure, which facilitates the passage of wireless signals, enabling real-time monitoring and communication.
6. The rotating channel adopts high-strength galvanized floor slab, which runs smoothly and has low noise (tested at 10:30 am on May 30, 2023, with a speed of 80 meters/minute, acceleration of 0.3, temperature of 28.8 degrees, humidity of 78%: lifting 60 decibels, rotating channel 73 decibels, rotating 65 decibels, inventory channel 65 decibels). Waterproof and fireproof, while also forming a safe passage for life. According to customer needs, various wear-resistant floorings can be coated on the channel to increase its aesthetic appeal.
6. The rotating channel adopts high-strength galvanized floor slab, which runs smoothly and has low noise (tested at 10:30 am on May 30, 2023, with a speed of 80 meters/minute, acceleration of 0.3, temperature of 28.8 degrees, humidity of 78%: lifting 60 decibels, rotating channel 73 decibels, rotating 65 decibels, inventory channel 65 decibels). Waterproof and fireproof, while also forming a safe passage for life. According to customer needs, various wear-resistant floorings can be coated on the channel to increase its aesthetic appeal.
7. The hoist adopts a fork for picking up pallets and a four-way shuttle for layer changing, which is safe, reliable, efficient, cost-effective, and has multiple temporary storage spaces
7. The hoist adopts a fork for picking up pallets and a four-way shuttle for layer changing, which is safe, reliable, efficient, cost-effective, and has multiple temporary storage spaces
8. Lightweight and energy-saving; Long battery life.
8. Lightweight and energy-saving; Long battery life.
9. The differential wheel adopts a split structure, which is easy to maintain and has low replacement costs; Polyurethane wheels do not have a rim and do not generate friction with metal, eliminating the production of iron filings. They are particularly suitable for use in high cleanliness scenarios.
9. The differential wheel adopts a split structure, which is easy to maintain and has low replacement costs; Polyurethane wheels do not have a rim and do not generate friction with metal, eliminating the production of iron filings. They are particularly suitable for use in high cleanliness scenarios.
10. A large number of galvanized structural components are used, with minimal welding, rapid production, and fast delivery.
10. A large number of galvanized structural components are used, with minimal welding, rapid production, and fast delivery.
11. The overall solution is flexible, adopting zoning management, with fewer intersections, and multiple shuttles running on the same floor without congestion, maximizing overall shuttle efficiency.
11. The overall solution is flexible, adopting zoning management, with fewer intersections, and multiple shuttles running on the same floor without congestion, maximizing overall shuttle efficiency.
12. WMS has powerful functions and can automatically perform one click warehouse relocation and location adjustment.
12. WMS has powerful functions and can automatically perform one click warehouse relocation and location adjustment.
13. The combination of industrial control computers and microcontrollers enables a clear division of labor, enabling correct operation even in communication blind spots.
13. The combination of industrial control computers and microcontrollers enables a clear division of labor, enabling correct operation even in communication blind spots.
14. All electrical components are domestically produced, and wireless communication adopts Huawei's solutions and products, which are independently controllable.
14. All electrical components are domestically produced, and wireless communication adopts Huawei's solutions and products, which are independently controllable.
15. For the installation accuracy of shelves, it only needs to meet the national standard requirements for stacker crane three-dimensional warehouses to operate normally, making it the preferred choice for dense warehouses over 9 meters.
15. For the installation accuracy of shelves, it only needs to meet the national standard requirements for stacker crane three-dimensional warehouses to operate normally, making it the preferred choice for dense warehouses over 9 meters.
16. Front and rear installation of laser obstacle avoidance radar and shuttlego detection photoelectric, with powerful safety functions.
16. Front and rear installation of laser obstacle avoidance radar and shuttlego detection photoelectric, with powerful safety functions.
17. After installing an RFID reader, free inventory function can be achieved.
17. After installing an RFID reader, free inventory function can be achieved.
18. For dense warehouses below 9 meters, forward-moving or other forklift-type AGVs can be used to achieve pallet transfer and four-way shuttle layer changing functions, making implementation simpler.
18. For dense warehouses below 9 meters, forward-moving or other forklift-type AGVs can be used to achieve pallet transfer and four-way shuttle layer changing functions, making implementation simpler.
19. Before leaving the factory, all four-way shuttles are tested on our company's testing platform and actual maps are downloaded, which are completely identical to the on-site usage environment.
19. Before leaving the factory, all four-way shuttles are tested on our company's testing platform and actual maps are downloaded, which are completely identical to the on-site usage environment.
20. Equipped with automatic correction function: the vehicle runs at the same speed when unloaded and fully loaded.
20. Equipped with automatic correction function: the vehicle runs at the same speed when unloaded and fully loaded.
21. Having complete patented technology and equipment CE certification
21. Having complete patented technology and equipment CE certification