CN102424253A - Automobile cart conveying system - Google Patents
Automobile cart conveying system Download PDFInfo
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- CN102424253A CN102424253A CN2011102341026A CN201110234102A CN102424253A CN 102424253 A CN102424253 A CN 102424253A CN 2011102341026 A CN2011102341026 A CN 2011102341026A CN 201110234102 A CN201110234102 A CN 201110234102A CN 102424253 A CN102424253 A CN 102424253A
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- guide rail
- automatic carriage
- track
- delivery system
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Abstract
The invention relates to an automobile cart conveying system. The automobile cart conveying system comprises a guide rail and automobile carts, wherein the automobile carts can move on the guide rail; the bottoms of the automobile carts are connected with a lifting appliance positioned on the lower part of the guide rail; the lifting appliance can move on the guide rail along with the automobile carts; one automobile cart is provided with a vehicle-mounted control unit; a position identifier in the vehicle-mounted control unit is correspondingly matched with a position identification card on the guide rail; the position identification card is connected with a cart controller in the vehicle-mounted control unit; and the output end of the cart controller is connected with a cart actuating mechanism used for driving the automobile cart to move on the guide rail. The automobile cart conveying system makes system wiring simplified, lowers cost, is convenient to debug and maintain, and has high reconfigurability; and the cart controller can autonomously control the automobile carts through programs after recognizing self positions, and a master controller is communicated with the cart controller in a wireless manner, so that a sliding contact line device used for connecting the master controller with the cart slave controller in the prior art is omitted, and the reliability of master-slave communication is improved.
Description
Technical field
The present invention relates to a kind of delivery system, especially a kind of automatic carriage delivery system belongs to the technical field of automatic material flow system.
Background technology
The automatic carriage delivery system is a kind of automated material delivery system; Be loaded on the transport trolley through the material that will produce, need to carry in the process such as storage; Controlling transport trolley then carries out lifting, conveying, carrying, amasss operations such as putting storage, automatic shunting interflow; Transport trolley can carry out automation control according to operating order according to the technological process of setting on different stations point.The automatic carriage delivery system is widely used in products such as household electrical appliance, light industry, machine manufacture, car assembling, parts assembling and organizes automated productin line.The control of early stage automatic carriage delivery system is controlled by operational relay control system manually; Along with the raising of technical development and degree of automation, PLC programmable logic controller (PLC), industrial computer have also obtained large-scale utilization in the rail type conveyer system.In the control setup of present automatic carriage delivery system at home; Occupying an leading position is the control setup that adopts the PLC programmable logic controller (PLC); This control setup is provided with the master controller of a main control PLC programmable logic controller (PLC) as system; A PLC programmable logic controller (PLC) is installed as slave controller on each transport trolley; Connect through fieldbus between the slave controller on master controller and the dolly, fieldbus and power line unification are installed on the trolley of track, and the data between transport trolley and master controller transmit to be transmitted through fieldbus and brush.The location recognition sensor of travel switch as transport trolley has been installed on many positions of track; All location recognition sensors all are wired on the master controller; Master controller is delivered to the mode of all signals with fieldbus on the transport trolley slave controller through slipping contact wire device; Under the situation of many cars operation, in order to distinguish each dolly, through many group multiple-pass switches being set to the dolly difference of encoding., bus long at conveying track walk line-spacing when big, also need increase many bus repeaters.Adopt the conveyor control device of PLC programmable logic controller (PLC) mainly to have following problem:
1, use travel switch to carry out the location and the coding difference of transport trolley; And each switch all needs two to three signal wire (SW)s, power leads to be connected with master controller; The quantity and the number of conductors of travel switch are huge, and the signal wire (SW) of a large amount of travel switches is covered with each place of railway line body, cause the wiring situation complicated; Be easy to generate fault, influence the reliability of system;
2, fieldbus and power line all are installed on the trolley of track; Because the moving contact situation is complicated, be easy to wearing and tearing, be easy to receive the greasy dirt and the contamination by dust of industry spot; Thereby cause communication disruption or mistake, further reduced the reliability of system works again;
3, used a large amount of travel switches, bus repeater, and the complicated connecting wire of enormous amount, wiring, caused that installation workload is huge, cost is higher, upgrading, the reconstruct of system are extremely difficult.
Summary of the invention
The objective of the invention is to overcome the deficiency that exists in the prior art, a kind of automatic carriage delivery system is provided, its compact conformation; Easy to install, carry accuracy of positioning high, communication connects reliable; Reduce system wiring complexity and use cost, wide accommodation, safe and reliable.
According to technical scheme provided by the invention, said automatic carriage delivery system comprises guide rail and is positioned at the automatic carriage on the said guide rail that said automatic carriage can move on guide rail; The bottom of automatic carriage links to each other with the suspender that is positioned at the guide rail below, and said suspender can be followed automatic carriage at guide rail movement; Said automatic carriage is provided with vehicular control unit, the corresponding cooperation of station location marker card on the location indentifier in the said vehicular control unit and the guide rail; Location indentifier links to each other with agv controller in the vehicular control unit, the mouth of said agv controller be used to drive the dolly actuating unit that automatic carriage moves link to each other on guide rail.
Said vehicular control unit and main control unit wireless connections.
Said main control unit comprise the said master controller of master controller through in main communication module and the vehicular control unit from communication module and agv controller wireless connections.
Said automatic carriage comprises driving trolley and the servo-actuated dolly that is positioned on the guide rail, and the bottom of said driving trolley and servo-actuated dolly all links to each other with suspender through universal-joint.
Said driving trolley comprises little kickstand, and said little kickstand is provided with trolley drive motor, on the output shaft of said trolley drive motor drive wheel is installed, the upper surface rolling touch of said drive wheel and guide rail; Little kickstand is provided with the guide-localization mechanism that is used for motion guide between drive wheel and guide rail.
Said guide-localization mechanism comprises the support locating plate that is symmetrically distributed on the little kickstand, and said support locating plate is provided with the last track adjusting wheel of symmetrical distribution, and the last track adjusting wheel on the support locating plate is positioned at the both sides of guide rail, and goes up track adjusting wheel and guide rail rolling touch.
Said guide-localization mechanism comprises the support base plate that is positioned on the little kickstand, and said support base plate is positioned at the below of guide rail bottom; Be provided with the following track adjusting wheel of symmetrical distribution on the support base plate corresponding to the both sides of guide rail, said track adjusting wheel and guide rail rolling touch down.
Said support base plate is provided with the following contact roller of symmetrical distribution, said down contact roller be positioned at guide rail under, and the lower surface rolling touch of contact roller and guide rail down.
Said drive wheel is installed on the output shaft of trolley drive motor through latch segment locking.
Some well-distributed hanger brackets on the said guide rail, an end of said hanger bracket is captiveed joint with guide rail.Said hanger bracket is curved.
Be equipped with on said guide rail and the automatic carriage and be used for power supply bonded assembly power supply bindiny mechanism being provided automatic carriage.
Said power supply bindiny mechanism comprises the trolley that is positioned on the guide rail, and said trolley is positioned at the side of guide rail, and corresponding with the shape of guide rail; Automatic carriage is provided with the carbon brush with the corresponding cooperation of trolley; Trolley is electrically connected with automatic carriage through carbon brush.
Said power supply bindiny mechanism comprises the primary cable support that is positioned on the guide rail, and said primary cable support is provided with primary cable, and said primary cable support and primary cable are positioned at the side of guide rail, and corresponding with the shape of guide rail; Automatic carriage is provided with the electricity pickup with the corresponding cooperation of primary cable, and said primary cable is electrically connected with automatic carriage through electricity pickup.
Said guide rail comprises the rise and fall track, and the cooresponding rise and fall track of said guide rail top is provided with synchronous chain drive wheel and synchronous chain flower wheel, links to each other through synchronization chain between said synchronous chain drive wheel and synchronous chain flower wheel; Synchronization chain and chain drive wheel and the corresponding cooperation of synchronous chain flower wheel synchronously, and the shape of the shape of synchronization chain and guide rail and rise and fall track is consistent; The synchronization chain outer ledge is provided with some well-distributed synchronization chain pusher arms; Said synchronization chain pusher arms is followed synchronization chain when moving, and can contact with the synchronous push rod on the automatic carriage.
Said rise and fall track top is provided with chain track, and the shape of the shape of chain track and rise and fall track is consistent; Synchronization chain is positioned at said chain track, so that the shape of the shape of synchronization chain and guide rail and rise and fall track is consistent.
Said synchronous chain drive wheel is provided with drive wheel bracket; Be provided with the drive wheel pressure spring in the said drive wheel bracket; Said drive wheel pressure spring is distributed in the drive wheel bracket along drive wheel bracket axial length direction, and the axis normal of the axis of drive wheel pressure spring and synchronous chain drive wheel.
Said drive wheel bracket is provided with the spring pressure adjust bar, and an end of said spring pressure adjust bar links to each other with the drive wheel pressure spring after passing drive wheel bracket, and the spring pressure adjust bar can move in drive wheel bracket.
Said guide rail is provided with and is used for the path switching mechanism that switch in the dolly path.
Said path switching mechanism comprises the track switch support, is provided with the translation support in the said track switch support, and said translation support can move in the track switch support; The translation support is provided with the first branch road transition phase track and the second branch road transition phase track, said first branch road transition phase track and the corresponding cooperation with guide rail of the second branch road transition phase track; The track switch support is provided with and is used to drive the support that the translation support moves and moves driver train.
Said support moves driver train and comprises the ball-screw that is positioned on the track switch support, and said ball-screw can rotate in the track switch support; Ball-screw is provided with the feed screw nut with the corresponding cooperation of ball-screw, and said feed screw nut is captiveed joint with the translation support; The output shaft of leading screw drive motor links to each other on ball-screw and the track switch support.
Said translation support is installed in the track switch support through ball slide rail.
The said first branch road transition phase track and the second branch road transition phase track all are installed on the translation support through branch road track hanger bracket.
Said agv controller adopts PLC, micro controller system, ARM, DSP or FPGA.Said guide rail is I shape.
Be equipped with carbon brush on said driving trolley and the servo-actuated dolly, said carbon brush be positioned at the trolley corresponding matching on the guide rail side, said trolley is electrically connected with driving trolley through carbon brush.
Be equipped with electricity pickup on said driving trolley and the servo-actuated dolly, said electricity pickup be positioned at the primary cable corresponding matching on the guide rail side, primary cable is installed on the guide rail through the primary cable support; Primary cable is electrically connected with driving trolley through electricity pickup.
The output shaft of said trolley drive motor is installed on the little kickstand through bearing and bearing cap shim.Said station location marker cartoon is crossed wireless radio frequency mode and is connected with location indentifier.
Advantage of the present invention: through installation site recognizer on automatic carriage, installation site, the relevant position tag card on guide rail is in the time of these positions of automatic carriage process; Location indentifier is the recognizing site tag card rapidly; Thereby judge the position of automatic carriage, make automatic carriage have the ability of autonomous classification position like this, avoided being used in the prior art a large amount of travel switches and a large amount of leads that are connected these travel switches of transport trolley location; System wiring is simplified; Cost reduces, and debugging maintenance is convenient, and reconstruct property is high; Behind the position of agv controller identification oneself; Can the Autonomous Control automatic carriage through program; Between master controller and agv controller, adopt wireless mode communication, avoided connecting in the prior art slipping contact wire device of master controller and dolly slave controller, improved the reliability of master-slave communication.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of driving trolley of the present invention.
Fig. 3 is supply power a kind of structural representation of bindiny mechanism of the present invention.
Fig. 4 is the supply power another kind of structural representation of bindiny mechanism of the present invention.
The structural representation that Fig. 5 cooperates with the station location marker card for location indentifier on the automatic carriage of the present invention.
Fig. 6 reprints the structural representation of chain synchronously for automatic carriage of the present invention.
Fig. 7 is the structural representation of automatic carriage path switching mechanism of the present invention.
The structural representation that Fig. 8 cooperates with guide rail for path switching mechanism of the present invention.
Fig. 9 is the control structure block diagram of automatic carriage of the present invention.
Description of reference numerals: 1A-main control unit; The 2A-vehicular control unit; The 11-hanger bracket; The 11A-master controller; 11B-master's communication module; The 12-guide rail; The 21-driving trolley; The 21A-agv controller; 21B-is from communication module; 21C-dolly actuating unit; 22-servo-actuated dolly; The 23-suspender; The 24-universal-joint; The 31-primary cable; 32-primary cable support; The 33-electricity pickup; The 41-trolley; The 42-carbon brush; 51-station location marker card; The 52-location indentifier; 111-branch road track hanger bracket; 122-rise and fall track; The synchronous chain drive wheel of 131a-; The synchronous chain flower wheel of 131b-; The 132-chain track; The 133-synchronization chain; 134-synchronization chain pusher arms; The 135-drive wheel bracket; 136-drive wheel pressure spring; 137-spring pressure adjust bar; 141-track switch support; The 142a-first branch road transition phase track; The 142b-second branch road transition phase track; 143-translation support; The 144-ball slide rail; 145-leading screw drive motor; The 146-ball-screw; The 147-feed screw nut; The 211-trolley drive motor; The 212-drive wheel; The 212a-bearing cap shim; The 212b-latch segment; The little kickstand of 213-; Contact roller under the 214-; Track adjusting wheel under the 215-; The last track adjusting wheel of 216-; The synchronous push rod of 217-; 218-support base plate and 219-support locating plate.
The specific embodiment
Below in conjunction with concrete accompanying drawing and embodiment the present invention is described further.
As shown in Figure 1: in order to realize the transportation of material, guide rail 12 is provided with automatic carriage, and automatic carriage can be in 12 motions of guide rail 12 upper edge guide rails; The below of guide rail 12 is provided with suspender 23, and said suspender 23 is installed on the bottom of automatic carriage through universal-joint 24, and suspender 23 can be followed automatic carriage and on guide rail 12, moved, and realizes the transportation of material.Universal-joint 24 can guarantee automatic carriage can travel on flexibly curved rail, straight rail, on stretch on rail and the Downward Trendline.Guide rail 12 is provided with some well-distributed hanger brackets 11; Guide rail 12 is I shape, and hanger bracket 11 is circular arc, and an end of hanger bracket 11 is captiveed joint with guide rail 12; The other end of hanger bracket 11 can link to each other with installation support beam equivalent-load mechanism, thereby makes things convenient for installing and fixing of guide rail 12.
As shown in Figure 9: in existing automatic carriage delivery system, wiring is complicated, and communication countermeasures is big, the defective that reliability is low, and said automatic carriage is provided with vehicular control unit 2A, said vehicular control unit 2A and main control unit 1A wireless connections.Vehicular control unit 2A is installed on the automatic carriage, and main control unit 1A is installed in the control cabin, can carry out signal transmission and control to automatic carriages all on the track 12 through main control unit 1A.In order accurately to locate to automatic carriage, guarantee the safe and reliable of automatic carriage transportation, automatic carriage is provided with location indentifier 52, and station location marker card on said location indentifier 52 and the track 12 51 is connected through less radio-frequency.Said position recognizing card 51 can be installed on the hanger bracket 11; Also can be installed on corresponding position on the guide rail 12; Location indentifier 52 is with after position recognizing card 51 is connected through wireless radio frequency mode, and the wiring complexity in the time of can reducing the automatic carriage location improves locating accuracy.When needs change the position location, only need to change the position of position recognizing card 51 on guide rail 12, Installation and Debugging are convenient.Location indentifier 52 links to each other with agv controller 21A in the vehicular control unit 2A, can locating information be input in the agv controller 21A, and the mouth of agv controller 21A links to each other with dolly actuating unit 21C; Said dolly actuating unit 21C can drive automatic carriage and on guide rail 12, move, goes up and down or motion such as rotation.Receive the locating information of location indentifier 52 as agv controller 21A after, agv controller 21A can drive automatic carriage through dolly actuating unit 21C and carry out corresponding action.Agv controller 21A is through main communication module 11B and master controller 11A wireless connections in communication module 21B and main control unit 1A; Agv controller 21A is with after master controller 11A communicates by letter through wireless connections; Avoid the complexity of wiring, improved communication bonded assembly reliability.Said agv controller 21A can adopt PLC (Programmable Logic Controller), micro controller system, ARM (Advanced RISC Machines), DSP (digital signal processor), FPGA (Field-Programmable Gate Array) or other microprocessors, and master controller 11A can adopt upper computer or other control conveniences.Master controller 11A can drive automatic carriage through agv controller 21A and dolly actuating unit 21C and carry out corresponding material transportation.
As depicted in figs. 1 and 2: in the present embodiment; Automatic carriage on the guide rail 12 comprises driving trolley 21 and servo-actuated dolly 22; The bottom of driving trolley 21 and servo-actuated dolly 22 all links to each other with suspender 23, and driving trolley 21 can drive servo-actuated dolly 22 and suspender 23 moves on guide rail 12; When driving suspender 23 motions, can improve the stationarity that suspender 23 moves through driving trolley 21 and servo-actuated dolly 22.Driving trolley 21 comprises dolly support 213; Said dolly support 213 is provided with trolley drive motor 211; The output shaft of said trolley drive motor 211 is provided with drive wheel 212, and said drive wheel 212 is positioned at the upper surface of guide rail 12, and drive wheel 212 and guide rail 12 rolling touch.Particularly, the output shaft of trolley drive motor 211 is installed on the side plate of dolly support 213 through bearing and bearing cap shim 212a, and the end of drive wheel 212 is through on the fastening output shaft that is installed on trolley drive motor 211 of latch segment 212b and jam nut.Latch segment 212b is embedded in the drive wheel 212, can guarantee drive wheel 212 and 211 interaxle connections of output of trolley drive motor.Steady for what driving trolley 21 was moved on guide rail 12, dolly support 213 is provided with guide-localization mechanism.Said guide-localization mechanism comprises the support locating plate 219 that is positioned on the dolly support 213, and said support locating plate 219 is symmetrically distributed in the both sides of drive wheel 212.Said support locating plate 219 is provided with the last track adjusting wheel 216 that is symmetrically distributed in; The said track adjusting wheel 216 that goes up is installed on the support locating plate 219 through last track adjusting wheel installation shaft and jam nut; And last track adjusting wheel 216 is positioned at the both sides of guide rail 12, and last track adjusting wheel 216 has four.Dolly support 213 is provided with support base plate 218, and said support base plate 218 is positioned at the below of guide rail 12 and stretches out outside the guide rail 12.Support base plate 218 is provided with the following track adjusting wheel 215 of symmetrical distribution; Said track adjusting wheel 215 down is through track adjusting wheel installation shaft and jam nut are installed on the support base plate 218 down; Following track adjusting wheel 215 is positioned at the both sides of guide rail 12; And following track adjusting wheel 215 and guide rail 12 rolling touch, following track adjusting wheel 215 also is four.Following track adjusting wheel 215 is positioned at the bottom of guide rail 12, and following track adjusting wheel 215 is corresponding with the position of last track adjusting wheel 216.In order further to position guiding, support base plate 218 is provided with down contact roller 214, and said contact roller 214 down is installed on the support base plate 218 through following contact roller installation shaft, and contact roller 214 support base plate 218 rotations relatively down.Following contact roller 214 be positioned at guide rail 12 bottom faces under, and down contact roller 214 and guide rail 12 rolling touch.Drive wheel 212 and down contact roller 214 lay respectively on two end faces up and down of guide rail 12, constitute a triangular structure; Through last track adjusting wheel 216, track adjusting wheel 215 and after contact roller 214 carries out guide-localization down down, can guarantee that driving trolley 21 can parallel operation in guide rail 12 all the time.The structure of servo-actuated dolly 22 is identical with the structure of driving trolley 21, but does not need trolley drive motor 211 on the servo-actuated dolly 22, and servo-actuated dolly 22 drives and realizes at driving trolley 21 and the suspender 23 that move through of guide rail 12.Dolly actuating unit 21C of the present invention is a trolley drive motor 211.
It is as shown in Figure 3: for the present invention provides working power and the structural representation of communicating by letter for driving trolley 21.In order to reduce driving trolley 21 power supply bonded assembly reliability and complexities, guide rail 12 and automatic carriage are provided with power supply bindiny mechanism.Said guide rail 12 is provided with trolley 41, said trolley 41 be positioned at guide rail 12 corresponding to another side that hanger bracket 11 links to each other on, and trolley 41 is corresponding with the shape of guide rail 12.Be equipped with carbon brush 42 on the dolly support 213 of driving trolley 21 and servo-actuated dolly 22, said carbon brush 42 is electrically connected with the trolley drive motor 211 of driving trolley 21.Trolley 41 links to each other with external power supply, after carbon brush 42 and trolley 41 corresponding matching, can working power be provided for trolley drive motor 211, can reduce driving trolley 21 power supply bonded assembly complexity.In order to ensure the bonded assembly reliability; Carbon brush 42 on the servo-actuated dolly 22 also is electrically connected with trolley drive motor 211; Carbon brush 42 on the servo-actuated dolly 22 links to each other with trolley drive motor 211 with carbon brush 42 parallel connections on the driving trolley 21 are back; As one group of carbon brush 42 bad contact and another group carbon brush 42 can normally contact the time can be guaranteed the reliability of cart transport system power supply.Trolley quantity can be adjusted according to actual needs in the trolley 41, and four groups of three phase supply trolleys and two groups of bus communication trolleys are generally arranged.
Like Fig. 4 and shown in Figure 5: the another kind of structural representation that is power supply bindiny mechanism in the embodiment of the invention.Said power supply bindiny mechanism comprises the primary cable support 32 that is installed on the guide rail 12, said primary cable support 32 be positioned at guide rail 12 corresponding to another side that hanger bracket 11 links to each other on.Primary cable support 32 is provided with primary cable 31 corresponding to the other end that links to each other with guide rail 12, and said primary cable 31 links to each other with external power supply, and the shape of the shape of primary cable 31 and guide rail 12 is consistent.Driving trolley 21 and servo-actuated dolly 22 are provided with electricity pickup 33, and said electricity pickup 33 is positioned on the dolly support 213, and electricity pickup 33 is electrically connected with primary cable 31.Electricity pickup 33 parallel connection back trolley drive motors 211 on driving trolley 21 and the servo-actuated dolly 22 are electrically connected, and can guarantee the reliability to trolley drive motor 211 power supplies.It is the electricity pickup of PU22 that electricity pickup 33 can adopt German vahle company production model, also can adopt other electricity pickup type.The structural representation of also having represented position recognizing card 51 and location indentifier 52 corresponding cooperations among Fig. 5.Position recognizing card 51 is installed on the hanger bracket 11.
As shown in Figure 6: according to different transportation environments, can have rise and fall track 122 on the guide rail 12, between the horizontal rail of said rise and fall track 122 and guide rail 12 through the tangent line transition, so that automatic carriage is more smooth and easy when passing through.When guide rail 12 has rise and fall track 122; In order to improve the automatic carriage delivery reliability; Guide rail 12 is provided with synchronous chain drive wheel 131a and synchronous chain flower wheel 131b corresponding to the top that forms rise and fall track 122, and said synchronous chain drive wheel 131a and synchronous chain flower wheel 131b all are installed on the corresponding support through corresponding installation shaft and installation bearing.Link to each other through synchronization chain 133 between chain drive wheel 131a and synchronous chain flower wheel 131b synchronously; Synchronization chain 133 and chain drive wheel 131a and the corresponding cooperation of synchronous chain flower wheel 131b synchronously, and synchronization chain 133 is with chain drive wheel 131a, synchronous chain flower wheel 131b constitute closed link chain mechanism synchronously.The outer ledge of said synchronization chain 133 is provided with some well-distributed synchronization chain pusher arms 134; Said synchronization chain pusher arms 134 stretches out on synchronization chain 133; When synchronization chain pusher arms 134 is followed synchronization chain 133 rotations; Synchronization chain pusher arms 134 can contact with the synchronous push rod 217 on the driving trolley 21, through the synchronization chain pusher arms 134 and the synchronous application force of 217 of push rods, can improve the steady reliability that automatic carriage moves on guide rail 12.The shape of the shape of synchronization chain 133 and guide rail 12 and rise and fall track 122 is consistent.Consistent for the shape of the shape that reaches synchronization chain 133 and rise and fall track 122, said rise and fall track 122 tops are provided with the chain track 132 of symmetrical distribution, and the shape of the shape of said chain track 132 and rise and fall track 122 is consistent; Thereby when synchronization chain 133 is installed on rise and fall track 122 tops through chain track 132, can reach the shape of synchronization chain 133 and the consistent property of shape of guide rail 12 and rise and fall track 122.When automatic carriage drives to horizontal rail and rise and fall track 122 junctions of guide rail 12; The friction force that the drive wheel 212 of automatic carriage self produces has been difficult to promote automatic carriage and has risen or descend along rise and fall track 122; At this moment; Through synchronization chain 133 and synchronization chain pusher arms 134 are set,, automatic carriage starts synchronization chain 133 before being about to get into gradient track, stop automatic carriage; Wait for the arrival of synchronization chain pusher arms 134.Behind the synchronous push rod 217 of synchronization chain pusher arms 124 near automatic carriage, pneumatic automatic carriage under synchronization chain 133 drives, can make automatic carriage with close speed, accomplishes the rising and the decline function of automatic carriage.For chain drive wheel 131a synchronously regulates; The installation shaft of chain drive wheel 131a is provided with drive wheel bracket 135 synchronously; Be provided with drive wheel pressure spring 136 in the said drive wheel bracket 135, said drive wheel pressure spring 136 distributes along the axis direction of drive wheel bracket 135.Drive wheel bracket 135 is provided with spring pressure adjust bar 137, and the end that an end of said spring pressure adjust bar 137 passes drive wheel bracket 135 back language drive wheel pressure springs 136 links to each other, and spring pressure adjust bar 137 can move in drive wheel bracket 135.When spring pressure adjust bar 137 moves, can regulate the position of synchronous chain drive wheel 131a and the elasticity of synchronization chain 133 in drive wheel bracket 135.
Like Fig. 7 with shown in Figure 8: need in order on guide rail 12, to adapt to different operations, guide rail 12 is provided with path switching mechanism.Said path switching mechanism comprises track switch support 141, through ball slide rail 144 translation support 143 is installed in the said track switch support 141, and said translation support 143 can move in track switch support 141 through ball slide rail 144.Translation support 143 is provided with the first branch road transition phase track 142a and the second branch road transition phase track 142b; The said first branch road transition phase track 142a and the second branch road transition phase track 142b all are installed on the translation support 143 through branch road track hanger bracket 111; Branch road track hanger bracket 111 is circular-arc, and branch road track suspension and 111 can be adopted the structure identical with hanger bracket 111.In order to drive translation support 143 moving in track switch support 141, track switch support 141 is provided with support and moves driver train.Said support moves driver train and comprises the ball-screw 146 that is positioned on the track switch support 141; Ball-screw 146 can rotate on track switch support 141; Said ball-screw 146 is provided with the feed screw nut 147 of corresponding matching, and said feed screw nut 147 is captiveed joint with translation support 143.Ball-screw 146 links to each other with the output shaft of leading screw drive motor 145; When leading screw drive motor 145 drives ball-screw 146 rotations; Said feed screw nut 147 relatively moves with ball-screw 146, moves in track switch support 141 thereby feed screw nut 147 can drive translation support 143.When translation support 143 moves in track switch support 141; Moving of the first branch road transition phase track 142a and the second branch road transition phase track 142b can be realized, the corresponding matching of the first branch road transition phase track 142a, the second branch road transition phase track 142b and guide rail 12 can be arrived.Particularly; The end of guide rail 12 is provided with straight shape track and arc track; When needs change the running orbit of automatic carriage, start screw mandrel drive motor 145, after leading screw drive motor 145 rotates; Can the first branch road transition phase track 142a and the second branch road transition phase track 142b be combined and corresponding matching with guide rail 12, can make automatic carriage continue to move ahead or turn.Said track switch support 141 is fixedly installed in the top of guide rail 12, thereby the first branch road transition phase track 142a and the second branch road transition phase track 142b are combined and corresponding matching with guide rail 12.
Like Fig. 1 ~ shown in Figure 9: during use, driving trolley 21 and servo-actuated dolly 22 are installed on the guide rail 12, suspender 23 is installed on the bottom of driving trolley 21 and servo-actuated dolly 22.According to positioning requirements to automatic carriage, some station location marker cards 51 are installed on guide rail 12, the location indentifier 52 of corresponding matching is installed on driving trolley 21 or servo-actuated dolly 22 simultaneously.Carbon brush 42 or electricity pickup 33 are installed on driving trolley 21 and servo-actuated dolly 22, and the trolley 41 and the primary cable 31 of corresponding matching are installed on guide rail 12 corresponding sides.Agv controller 21A on the driving trolley 21 and master controller 11A wireless connections.During work, through trolley drive motor 211 power supplies of primary cable 31 or 41 pairs of driving trolley 21 of trolley.When master controller 11A after the corresponding order of agv controller 21A wireless transmission, agv controller 21A is through the operation of the pneumatic automatic carriage of dolly actuating unit 21C on guide rail 12.When driving trolley 21 drive servo-actuated dollies 22 and suspender 23 move on guide rail 12; When the identified region of station location marker card 51 in-position recognizers 52; Location indentifier 52 is exported locating information in agv controller 21A, agv controller 21A confirms the state of kinematic motion of driving trolley 21 according to the locating information that receives.When guide rail 12 has rise and fall track 122; When automatic carriage moves to the joint portion of horizontal rail and rise and fall track 122; Start synchronous chain drive wheel 131a and synchronous chain flower wheel 131b; Through synchronization chain pusher arms on the synchronization chain 133 134 and push rod 217 corresponding matching synchronously, can guarantee that automatic carriage is in the reliable stationarity of rise and fall track 122.When needs change the running orbit of automatic carriage, start leading screw drive motor 145, leading screw drive motor 145 drives ball screw 146 and rotates; When feed screw nut 147 moves relative to ball-screw 146; Feed screw nut 147 drives translation support 143 and moves; Translation support 143 drives the first branch road transition phase track 142a and second branch road transition phase track 142b motion; Realize cooperating of the first branch road transition phase track 142a and the second branch road transition phase track 142b and guide rail 12, reach the purpose that changes the automatic carriage operation, improve the automatic carriage reliability of operation.
The present invention is through installation site recognizer 52 on automatic carriage, and installation site, the relevant position tag card 51 on guide rail 12 is in the time of these positions of automatic carriage process; Location indentifier 52 is recognizing site tag card 51 rapidly; Thereby differentiate the position of automatic carriage, make automatic carriage have the ability of autonomous classification position like this, avoided being used in the prior art a large amount of travel switches and a large amount of leads that are connected these travel switches of transport trolley location; System wiring is simplified; Cost reduces, and debugging maintenance is convenient, and reconstruct property is high; Behind the position of agv controller 21A identification oneself; Can the Autonomous Control automatic carriage through program; Between master controller 11A and agv controller 21A, adopt wireless mode communication; Avoid connecting in the prior art slipping contact wire device of master controller and dolly slave controller, improved the reliability of master-slave communication.
Claims (29)
1. an automatic carriage delivery system comprises guide rail (12) and is positioned at the automatic carriage on the said guide rail (12), and said automatic carriage can be gone up motion at guide rail (12); The bottom of automatic carriage links to each other with the suspender (23) that is positioned at guide rail (12) below, and said suspender (23) can be followed automatic carriage and moved at guide rail (12); It is characterized in that: said automatic carriage is provided with vehicular control unit (2A), the corresponding cooperation of station location marker card (51) on the location indentifier (52) in the said vehicular control unit (2A) and the guide rail (12); Agv controller (21A) in location indentifier (52) and the vehicular control unit (2A) links to each other, the mouth of said agv controller (21A) be used to drive the dolly actuating unit (21C) that automatic carriage moves link to each other on guide rail (12).
2. automatic carriage delivery system according to claim 1 is characterized in that: said vehicular control unit (2A) and main control unit (1A) wireless connections.
3. automatic carriage delivery system according to claim 2 is characterized in that: said main control unit (1A) comprise the said master controller of master controller (11A) (11A) through in main communication module (11B) and the vehicular control unit (2A) from communication module (21B) and agv controller (21A) wireless connections.
4. automatic carriage delivery system according to claim 1; It is characterized in that: said automatic carriage comprises driving trolley (21) and the servo-actuated dolly (22) that is positioned on the guide rail (12), and the bottom of said driving trolley (21) and servo-actuated dolly (22) all links to each other with suspender (23) through universal-joint (24).
5. automatic carriage delivery system according to claim 4; It is characterized in that: said driving trolley (21) comprises little kickstand (213); Said little kickstand (213) is provided with trolley drive motor (211); Drive wheel (212) is installed, the upper surface rolling touch of said drive wheel (212) and guide rail (12) on the output shaft of said trolley drive motor (211); Little kickstand (213) is provided with the guide-localization mechanism that is used for motion guide between drive wheel (212) and guide rail (12).
6. automatic carriage delivery system according to claim 5; It is characterized in that: said guide-localization mechanism comprises the support locating plate (219) that is symmetrically distributed on the little kickstand (213); Said support locating plate (219) is provided with the last track adjusting wheel (216) of symmetrical distribution; Last track adjusting wheel (216) on the support locating plate (219) is positioned at the both sides of guide rail (12), and goes up track adjusting wheel (216) and guide rail (12) rolling touch.
7. automatic carriage delivery system according to claim 5 is characterized in that: said guide-localization mechanism comprises the support base plate (218) that is positioned on the little kickstand (213), and said support base plate (218) is positioned at the below of guide rail (12) bottom; Support base plate (218) is gone up the following track adjusting wheel (215) that is provided with symmetrical distribution corresponding to the both sides of guide rail (12), said track adjusting wheel (215) and guide rail (12) rolling touch down.
8. automatic carriage delivery system according to claim 7; It is characterized in that: said support base plate (218) is provided with the following contact roller (214) of symmetrical distribution; Said down contact roller (214) be positioned at guide rail (12) under, and the lower surface rolling touch of contact roller (214) and guide rail (12) down.
9. automatic carriage delivery system according to claim 5 is characterized in that: said drive wheel (212) is installed on the output shaft of trolley drive motor (211) through latch segment (212b) locking.
10. automatic carriage delivery system according to claim 1 is characterized in that: said guide rail (12) is gone up some well-distributed hanger brackets (11), and an end of said hanger bracket (11) is captiveed joint with guide rail (12).
11. automatic carriage delivery system according to claim 10 is characterized in that: said hanger bracket (11) is curved.
12. automatic carriage delivery system according to claim 1 is characterized in that: be equipped with on said guide rail (12) and the automatic carriage and be used for power supply bonded assembly power supply bindiny mechanism being provided to automatic carriage.
13. automatic carriage delivery system according to claim 12; It is characterized in that: said power supply bindiny mechanism comprises the trolley (41) that is positioned on the guide rail (12); Said trolley (41) is positioned at the side of guide rail (12), and corresponding with the shape of guide rail (12); Automatic carriage is provided with the carbon brush (42) with the corresponding cooperation of trolley (41); Trolley (41) is electrically connected with automatic carriage through carbon brush (42).
14. automatic carriage delivery system according to claim 12; It is characterized in that: said power supply bindiny mechanism comprises the primary cable support (32) that is positioned on the guide rail (12); Said primary cable support (32) is provided with primary cable (31); Said primary cable support (32) and primary cable (31) are positioned at the side of guide rail (12), and corresponding with the shape of guide rail (12); Automatic carriage is provided with the electricity pickup (33) with the corresponding cooperation of primary cable (31), and said primary cable (31) is electrically connected with automatic carriage through electricity pickup (33).
15. automatic carriage delivery system according to claim 1; It is characterized in that: said guide rail (12) comprises rise and fall track (122); The cooresponding rise and fall track of said guide rail (12) (122) top is provided with synchronous chain drive wheel (131a) and synchronous chain flower wheel (131b), links to each other through synchronization chain (133) between said synchronous chain drive wheel (131a) and synchronous chain flower wheel (131b); Synchronization chain (133) and chain drive wheel (131a) and the corresponding cooperation of synchronous chain flower wheel (131b) synchronously, and the shape of the shape of synchronization chain (133) and guide rail (12) and rise and fall track (122) is consistent; Synchronization chain (133) outer ledge is provided with some well-distributed synchronization chain pusher arms (134); Said synchronization chain pusher arms (134) is followed synchronization chain (133) when moving, and can contact with the synchronous push rod (217) on the automatic carriage.
16. automatic carriage delivery system according to claim 15 is characterized in that: said rise and fall track (122) top is provided with chain track (132), and the shape of the shape of chain track (132) and rise and fall track (122) is consistent; Synchronization chain (133) is positioned at said chain track (132), so that the shape of the shape of synchronization chain (133) and guide rail (12) and rise and fall track (122) is consistent.
17. automatic carriage delivery system according to claim 15; It is characterized in that: said synchronous chain drive wheel (131a) is provided with drive wheel bracket (135); Be provided with drive wheel pressure spring (136) in the said drive wheel bracket (135); Said drive wheel pressure spring (136) is distributed in the drive wheel bracket (135) along drive wheel bracket (135) axial length direction, and the axis normal of the axis of drive wheel pressure spring (136) and synchronous chain drive wheel (131a).
18. automatic carriage delivery system according to claim 17; It is characterized in that: said drive wheel bracket (135) is provided with spring pressure adjust bar (137); One end of said spring pressure adjust bar (137) passes drive wheel bracket (135) back and links to each other with drive wheel pressure spring (136), and spring pressure adjust bar (137) can move in drive wheel bracket (135).
19. automatic carriage delivery system according to claim 1 is characterized in that: said guide rail (12) is provided with and is used for the path switching mechanism that switch in the dolly path.
20. automatic carriage delivery system according to claim 19; It is characterized in that: said path switching mechanism comprises track switch support (141); Be provided with translation support (143) in the said track switch support (141), said translation support (143) can move in track switch support (141); Translation support (143) is provided with the first branch road transition phase track (142a) and the second branch road transition phase track (142b), the said first branch road transition phase track (142a) and the second branch road transition phase track (142b) and the corresponding cooperation of guide rail (12); Track switch support (141) is provided with and is used to drive the support that translation support (143) moves and moves driver train.
21. automatic carriage delivery system according to claim 20 is characterized in that: said support moves driver train and comprises the ball-screw (146) that is positioned on the track switch support (141), and said ball-screw (146) can rotate in track switch support (141); Ball-screw (146) is provided with the feed screw nut (147) with the corresponding cooperation of ball-screw (146), and said feed screw nut (147) is captiveed joint with translation support (143); Ball-screw (146) links to each other with the output shaft that track switch support (141) is gone up leading screw drive motor (145).
22. automatic carriage delivery system according to claim 20 is characterized in that: said translation support (143) is installed in the track switch support (141) through ball slide rail (144).
23. automatic carriage delivery system according to claim 20 is characterized in that: the said first branch road transition phase track (142a) all is installed on the translation support (143) through branch road track hanger bracket (111) with the second branch road transition phase track (142b).
24. automatic carriage delivery system according to claim 1 is characterized in that: said agv controller (21A) adopts PLC, micro controller system, ARM, DSP or FPGA.
25. automatic carriage delivery system according to claim 1 is characterized in that: said guide rail (12) is I shape.
26. automatic carriage delivery system according to claim 4; It is characterized in that: be equipped with carbon brush (42) on said driving trolley (21) and the servo-actuated dolly (22); Said carbon brush (42) be positioned at trolley (41) corresponding matching on guide rail (12) side, said trolley (41) is electrically connected with driving trolley (21) through carbon brush (42).
27. automatic carriage delivery system according to claim 4; It is characterized in that: be equipped with electricity pickup (33) on said driving trolley (21) and the servo-actuated dolly (22); Said electricity pickup (33) be positioned at primary cable (31) corresponding matching on guide rail (12) side, primary cable (31) is installed on the guide rail (12) through primary cable support (32); Primary cable (31) is electrically connected with driving trolley (21) through electricity pickup (33).
28. automatic carriage delivery system according to claim 5 is characterized in that: the output shaft of said trolley drive motor (211) is installed on the little kickstand (213) through bearing and bearing cap shim (212a).
29. automatic carriage delivery system according to claim 1 is characterized in that: said station location marker card (52) is connected with location indentifier (51) through wireless radio frequency mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102341026A CN102424253B (en) | 2011-08-16 | 2011-08-16 | Automobile cart conveying system |
| PCT/CN2011/001736 WO2013023332A1 (en) | 2011-08-16 | 2011-10-18 | Automatic trolley transport system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102341026A CN102424253B (en) | 2011-08-16 | 2011-08-16 | Automobile cart conveying system |
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| CN102424253A true CN102424253A (en) | 2012-04-25 |
| CN102424253B CN102424253B (en) | 2013-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102341026A Active CN102424253B (en) | 2011-08-16 | 2011-08-16 | Automobile cart conveying system |
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| CN103523478A (en) * | 2013-10-15 | 2014-01-22 | 南京航空航天大学 | Multi-freedom-degree self-propelled trolley |
| CN105261197A (en) * | 2015-12-01 | 2016-01-20 | 西南交通大学 | Wheel induction device and system |
| CN105589449A (en) * | 2016-03-22 | 2016-05-18 | 浙江大学 | Automatic pipeline system based on mobile robot and operation control method |
| CN105692115A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | High-precision location control system for aerial self-propelled trolley |
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| CN113353570A (en) * | 2021-06-21 | 2021-09-07 | 江阴市环铭机械有限公司 | Suspension assembly for material conveying |
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| CN103523478B (en) * | 2013-10-15 | 2016-08-10 | 南京航空航天大学 | A kind of multiple degrees of freedom automatic traveling dolly |
| CN103523478A (en) * | 2013-10-15 | 2014-01-22 | 南京航空航天大学 | Multi-freedom-degree self-propelled trolley |
| CN105692115A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | High-precision location control system for aerial self-propelled trolley |
| CN105261197A (en) * | 2015-12-01 | 2016-01-20 | 西南交通大学 | Wheel induction device and system |
| CN105589449A (en) * | 2016-03-22 | 2016-05-18 | 浙江大学 | Automatic pipeline system based on mobile robot and operation control method |
| CN105589449B (en) * | 2016-03-22 | 2018-07-31 | 浙江大学 | Automatic assembly line system based on mobile robot and progress control method |
| CN107486862A (en) * | 2016-06-10 | 2017-12-19 | 张鹏 | Cable mobile robot |
| CN106527260A (en) * | 2016-10-26 | 2017-03-22 | 江苏南瑞帕威尔电气有限公司 | Mid-set assembly line trolley automatic control system |
| CN106672569A (en) * | 2016-11-28 | 2017-05-17 | 哈工大机器人集团上海有限公司 | Meal delivering device |
| CN106743261A (en) * | 2017-01-22 | 2017-05-31 | 艾马工业工程（大连）有限公司 | The aerial intelligent transport car of single track |
| CN107200202A (en) * | 2017-05-27 | 2017-09-26 | 罗斯（无锡）设备有限公司 | A kind of locomotive alignment system |
| CN107416455A (en) * | 2017-07-28 | 2017-12-01 | 象州县科学技术情报研究所 | Rope tracks automatic conveying device |
| CN109841551A (en) * | 2017-11-29 | 2019-06-04 | 台湾积体电路制造股份有限公司 | Automated material processing method and system |
| CN110316525A (en) * | 2018-03-28 | 2019-10-11 | 杨新 | For transmitting the system and method for object |
| CN109145659A (en) * | 2018-08-21 | 2019-01-04 | 深圳前海齐源信息技术有限公司 | A kind of intelligent data analysis system and method based on radio frequency discrimination RFID technology |
| WO2020047951A1 (en) * | 2018-09-06 | 2020-03-12 | 天奇自动化工程股份有限公司 | Multi-level safety redundancy control system for electrified monorail system |
| CN109179207A (en) * | 2018-10-24 | 2019-01-11 | 太原科技大学 | A kind of track obstacle avoiding type lifting transportation system |
| CN109179207B (en) * | 2018-10-24 | 2024-03-22 | 太原科技大学 | Rail obstacle avoidance type lifting conveying system |
| CN110510351A (en) * | 2019-08-30 | 2019-11-29 | 江苏金铭智能装备有限公司 | A kind of powder spraying curing one transmitting device |
| CN111071715A (en) * | 2019-12-12 | 2020-04-28 | 广东智源机器人科技有限公司 | Control method and system for switching tracks at conveying track intersection and storage medium |
| CN111377204A (en) * | 2019-12-23 | 2020-07-07 | 天行智控(成都)科技有限公司 | Side-hanging type rail trolley transportation system |
| CN111747084A (en) * | 2020-06-12 | 2020-10-09 | 浙江瑞晟智能科技股份有限公司 | Bridging structure and hanging conveying system |
| CN111747084B (en) * | 2020-06-12 | 2021-10-15 | 浙江瑞晟智能科技股份有限公司 | Bridging structure and hanging conveying system |
| CN113353570A (en) * | 2021-06-21 | 2021-09-07 | 江阴市环铭机械有限公司 | Suspension assembly for material conveying |
| CN114684558A (en) * | 2022-02-18 | 2022-07-01 | 福玻斯(太仓)物联网科技有限公司 | Air transportation system |
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Owner name: MIRACLE AUTOMATION ENGINEERING CO., LTD. Free format text: FORMER NAME: TIANQI MATERIAL FLOW SYSTEM ENGINEERING CO. LTD., JIANGSU |
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Address after: 214187 Jiangsu Province, Wuxi city Huishan District Luoshe town Lotus Luo Road No. 288 Patentee after: Miracle Automation Engineering Co., Ltd. Address before: 214171, No. 288, Luo Lotus Road, Luo Zhen Town, Huishan District, Jiangsu, Wuxi Patentee before: Tianqi Material Flow System Engineering Co., Ltd., Jiangsu |