CN102424253B - Automobile cart conveying system - Google Patents
Automobile cart conveying system Download PDFInfo
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- CN102424253B CN102424253B CN2011102341026A CN201110234102A CN102424253B CN 102424253 B CN102424253 B CN 102424253B CN 2011102341026 A CN2011102341026 A CN 2011102341026A CN 201110234102 A CN201110234102 A CN 201110234102A CN 102424253 B CN102424253 B CN 102424253B
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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 automobile cart conveying system, belong to the technical field of automatic Material Handling System.
Background technology
Automobile cart conveying system is a kind of automated material delivery system, need the material of carrying to be loaded on transport trolley by will produce, in the process such as storage, then control the operations such as transport trolley carries out lifting, conveying, carries, accumulates storage, automatic shunt interflow, transport trolley can according to the technological process of setting on different work station points, carry out automation according to operating order and control.Automobile cart conveying system is widely used in the products such as household electrical appliance, light industry, machine manufacture, car assembling, parts assembling and organizes automated productin line.The control of early stage automobile cart conveying 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 mounted conveyer system.in the control setup of present automobile cart conveying system at home, occupying an leading position is the control setup that adopts the PLC programmable logic controller (PLC), this control setup arranges the master controller of a main control PLC programmable logic controller (PLC) as system, a PLC programmable logic controller (PLC) conduct is installed from controller on each transport trolley, from between controller, by fieldbus, connecting on master controller and dolly, fieldbus and power line unification are arranged on the trolley of track, data between transport trolley and master controller transmit to be transmitted by fieldbus and brush.The location identification sensor of travel switch as transport trolley has been installed on many positions of track, all location identification sensors all are wired on master controller, master controller, the mode of all signals with fieldbus, is delivered to transport trolley from controller through slipping contact wire device; In the situation that the operation of many cars, in order to distinguish each dolly, by many group multiple-pass switches being set to the dolly difference of encoding., bus long at conveying track walk line-spacing when larger, also need to 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 location and the coding difference of transport trolley, and each switch needs two to three signal wire (SW)s, power leads to be connected with master controller, quantity and the number of conductors of travel switch are huge, 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, easily produce fault, affect the reliability of system;
2, fieldbus and power line all are arranged on the trolley of track, because the moving contact situation is complicated, be easy to wearing and tearing, be easy to be subjected to greasy dirt and the contamination by dust of industry spot, thereby cause communication disruption or mistake, further reduced again the reliability of system works;
3, used a large amount of travel switches, bus repeater, and the connection wire of enormous amount, wiring complexity, 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 deficiencies in the prior art, a kind of automobile cart conveying system is provided, its compact conformation, easy to install, carry positioning precision high, communication connection is reliable, reduce system wiring complexity and use cost, wide accommodation, safe and reliable.
According to technical scheme provided by the invention, described automobile cart conveying system comprises guide rail and is positioned at automatic carriage on described guide rail that described automatic carriage can move on guide rail; The bottom of automatic carriage is connected with the suspender that is positioned at the guide rail below, and described suspender can be followed automatic carriage at guide rail movement; Described automatic carriage is provided with vehicular control unit, the corresponding cooperation of station location marker card on the location indentifier in described vehicular control unit and guide rail; Location indentifier is connected with the agv controller in vehicular control unit, and the mouth of described agv controller is connected with the dolly actuating unit that moves on guide rail for the driving automatic carriage.
Described vehicular control unit and main control unit wireless connections.
Described main control unit comprise the described master controller of master controller by in main communication module and vehicular control unit from communication module and agv controller wireless connections.
Described automatic carriage comprises driving dolly and the follow-up trolley that is positioned on guide rail, and the bottom of described driving dolly and follow-up trolley all is connected with suspender by universal-joint.
Described driving dolly comprises little kickstand, and described little kickstand is provided with trolley drive motor, on the output shaft of described trolley drive motor, drive wheel is installed, and described drive wheel rolls and contacts with the upper surface of guide rail; Little kickstand is provided with for the guide-localization mechanism to motion guide between drive wheel and guide rail.
Described guide-localization mechanism comprises the support locating plate that is symmetrically distributed on little kickstand, and described support locating plate is provided with symmetrical upper track adjusting wheel, and the upper track adjusting wheel on the support locating plate is positioned at the both sides of guide rail, and upper track adjusting wheel contacts with the guide rail rolling.
Described guide-localization mechanism comprises the support base plate that is positioned on little kickstand, and described support base plate is positioned at the below of guide rail bottom; Both sides corresponding to guide rail on the support base plate are provided with symmetrical lower track adjusting wheel, and described lower track adjusting wheel is rolled and contacted with guide rail.
Described support base plate is provided with symmetrical lower contact roller, described lower contact roller be positioned at guide rail under, and lower contact roller contacts with the lower surface rolling of guide rail.
Described drive wheel is locked on the output shaft that is installed on trolley drive motor by latch segment.
Some well-distributed hanger brackets on described guide rail, an end of described hanger bracket is fixedly connected with guide rail.Described hanger bracket is curved.
Be equipped with on described guide rail and automatic carriage for automatic carriage is provided power supply is connected for electrical connection mechanism.
The described electrical connection mechanism that supplies comprises the trolley that is positioned on guide rail, and described 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 to automatic carriage by carbon brush.
The described electrical connection mechanism that supplies comprises the primary cable support that is positioned on guide rail, and described primary cable support is provided with primary cable, and described 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 described primary cable is electrically connected to automatic carriage by electricity pickup.
Described guide rail comprises the rise and fall track, and the rise and fall track top that described guide rail is corresponding is provided with synchronous chain drive wheel and synchronous chain flower wheel, is connected by synchronization chain between described synchronous chain drive wheel and synchronous chain flower wheel; Synchronization chain and synchronous chain drive wheel and the corresponding cooperation of synchronous chain flower wheel, and the shape of synchronization chain is consistent with the shape of guide rail and rise and fall track; The synchronization chain outer ledge is provided with some well-distributed synchronization chain pusher arms; Described synchronization chain pusher arms is followed synchronization chain while moving, can with automatic carriage on the push rod of synchronizeing contact.
Described rise and fall track top is provided with chain track, and the shape of chain track is consistent with the shape of rise and fall track; Synchronization chain is positioned at described chain track, so that the shape of synchronization chain is consistent with the shape of guide rail and rise and fall track.
Described synchronous chain drive wheel is provided with drive wheel bracket, be provided with the drive wheel pressure spring in described drive wheel bracket, described drive wheel pressure spring is distributed in drive wheel bracket along drive wheel bracket axial length direction, and the axis of drive wheel pressure spring is with to synchronize the axis of chain drive wheel vertical.
Described drive wheel bracket is provided with the spring pressure adjust bar, and an end of described spring pressure adjust bar is connected with the drive wheel pressure spring after passing drive wheel bracket, and the spring pressure adjust bar can move in drive wheel bracket.
Described guide rail is provided with the path switching mechanism for the switching of dolly path.
Described path switching mechanism comprises the track switch support, is provided with the translation support in described track switch support, and described 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, described the first branch road transition phase track and the second branch road transition phase track cooperation corresponding with guide rail; The track switch support is provided with for the support-moving driver train that drives the translation support-moving.
Described support-moving driver train comprises the ball-screw that is positioned on the track switch support, and described 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 described feed screw nut is fixedly connected with the translation support; On ball-screw and track switch support, the output shaft of leading screw drive motor is connected.
Described translation support is installed in the track switch support by ball slide rail.
Described the first branch road transition phase track and the second branch road transition phase track all are installed on the translation support by branch road track hanger bracket.
Described agv controller adopts PLC, micro controller system, ARM, DSP or FPGA.Described guide rail is I shape.
Be equipped with carbon brush on described driving dolly and follow-up trolley, described carbon brush and the trolley corresponding matching that is positioned on the guide rail side, described trolley is electrically connected to the driving dolly by carbon brush.
Be equipped with electricity pickup on described driving dolly and follow-up trolley, described electricity pickup and the primary cable corresponding matching that is positioned on the guide rail side, primary cable is installed on guide rail by the primary cable support; Primary cable is electrically connected to the driving dolly by electricity pickup.
The output shaft of described trolley drive motor is installed on little kickstand by bearing and bearing cap shim.Described station location marker cartoon is crossed wireless radio frequency mode and is connected with location indentifier.
Advantage of the present invention: by installation site recognizer on automatic carriage, installation site, relevant position tag card on guide rail, in the time of these positions of automatic carriage process, location indentifier is the recognizing site tag card rapidly, thereby the position of judgement automatic carriage, make like this automatic carriage have the ability of autonomous classification position, a large amount of travel switches and a large amount of wires that are connected these travel switches of locating for delivery of dolly in the prior art have been avoided, system wiring is simplified, cost, debugging maintenance is convenient, and reconstruct is high; Behind the position of agv controller identification oneself, can be from the master control automatic carriage by program, adopt wireless mode communication between master controller and agv controller, avoided connecting in the prior art master controller and the dolly slipping contact wire device from controller, improved the reliability of master-slave communication.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation that the present invention drives dolly.
Fig. 3 is a kind of structural representation of the present invention for electrical connection mechanism.
Fig. 4 is the another kind of structural representation of the present invention for electrical connection mechanism.
Fig. 5 is the structural representation that on automatic carriage of the present invention, location indentifier coordinates with the station location marker card.
Fig. 6 is the structural representation that automatic carriage of the present invention is synchronously reprinted chain.
Fig. 7 is the structural representation of automatic carriage path switching mechanism of the present invention.
Fig. 8 is the structural representation that path switching mechanism of the present invention coordinates with guide rail.
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, 21-drives dolly, the 21A-agv controller, 21B-is from communication module, 21C-dolly actuating unit, the 22-follow-up trolley, 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, 142a-the first branch road transition phase track, 142b-the 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 214-, track adjusting wheel under 215-, the upper track adjusting wheel of 216-, the synchronous push rod of 217-, 218-support base plate and 219-support locating plate.
The specific embodiment
The invention will be further described below in conjunction with concrete drawings and Examples.
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 move along guide rail 12 on guide rail 12; The below of guide rail 12 is provided with suspender 23, and described suspender 23 is installed on the bottom of automatic carriage by universal-joint 24, and suspender 23 can be followed automatic carriage and be moved on guide rail 12, 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 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 fixedly connected with guide rail 12, the other end of hanger bracket 11 can be connected with installation support beam equivalent-load mechanism, thereby facilitates the installation of guide rail 12 to fix.
As shown in Figure 9: in existing automobile cart conveying system, wiring is complicated, and communication countermeasures is large, the defect that reliability is low, and described automatic carriage is provided with vehicular control unit 2A, described vehicular control unit 2A and main control unit 1A wireless connections.Vehicular control unit 2A is installed on automatic carriage, and main control unit 1A is installed in control cabin, by main control unit 1A, can carry out the signal transmission and control automatic carriages all on track 12.In order accurately to locate automatic carriage, guarantee the safe and reliable of automatic carriage transportation, automatic carriage is provided with location indentifier 52, and described location indentifier 52 is connected by less radio-frequency with the station location marker card 51 on track 12.Described position recognizing card 51 can be installed on hanger bracket 11, also can be installed on corresponding position on guide rail 12, after location indentifier 52 was connected by wireless radio frequency mode with position recognizing card 51, the wiring complexity in the time of can reducing the automatic carriage location, improved the precision of location.When needs change 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 is connected with the agv controller 21A in vehicular control unit 2A, locating information can be input in agv controller 21A, and the mouth of agv controller 21A is connected with dolly actuating unit 21C; The motions such as described dolly actuating unit 21C can drive that automatic carriage moves on guide rail 12, lifting or rotation.Receive the locating information of location indentifier 52 as agv controller 21A after, agv controller 21A can drive automatic carriage by dolly actuating unit 21C and move accordingly.Agv controller 21A is by main communication module 11B and master controller 11A wireless connections in communication module 21B and main control unit 1A, after agv controller 21A communicates by letter by wireless connections with master controller 11A, avoid the complexity of wiring, improved the reliability of communication connection.Described 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, master controller 11A can adopt upper computer or other control conveniences.Master controller 11A can drive automatic carriage by agv controller 21A and dolly actuating unit 21C and carry out corresponding material transportation process.
As depicted in figs. 1 and 2: in the present embodiment, automatic carriage on guide rail 12 comprises driving dolly 21 and follow-up trolley 22, the bottom that drives dolly 21 and follow-up trolley 22 all is connected with suspender 23, and driving dolly 21 can drive follow-up trolley 22 and suspender 23 moves on guide rail 12; While by driving dolly 21, with follow-up trolley 22, driving suspender 23 motion, can improve the stationarity that suspender 23 moves.Drive dolly 21 and comprise dolly support 213, described dolly support 213 is provided with trolley drive motor 211, the output shaft of described trolley drive motor 211 is provided with drive wheel 212, and described drive wheel 212 is positioned at the upper surface of guide rail 12, and drive wheel 212 rolls and contacts with guide rail 12.Particularly, the output shaft of trolley drive motor 211 is installed on the side plate of dolly support 213 by bearing and bearing cap shim 212a, and the end of drive wheel 212 is by on latch segment 212b and the fastening output shaft that is installed on trolley drive motor 211 of jam nut.Latch segment 212b is embedded in drive wheel 212, can guarantee being connected between drive wheel 212 and trolley drive motor 211 output shafts.Drive in order to make dolly 21 moves on guide rail 12 steady, dolly support 213 is provided with guide-localization mechanism.Described guide-localization mechanism comprises the support locating plate 219 that is positioned on dolly support 213, and described support locating plate 219 is symmetrically distributed in the both sides of drive wheel 212.Described support locating plate 219 is provided with the upper track adjusting wheel 216 that is symmetrically distributed in, described upper track adjusting wheel 216 is installed on support locating plate 219 by upper track adjusting wheel installation shaft and jam nut, and upper track adjusting wheel 216 is positioned at the both sides of guide rail 12, and upper track adjusting wheel 216 has four.Dolly support 213 is provided with support base plate 218, and described support base plate 218 is positioned at the below of guide rail 12 and stretches out outside guide rail 12.Support base plate 218 is provided with symmetrical lower track adjusting wheel 215, described lower track adjusting wheel 215 is installed on support base plate 218 by lower track adjusting wheel installation shaft and jam nut, lower track adjusting wheel 215 is positioned at the both sides of guide rail 12, and lower track adjusting wheel 215 is rolled and is contacted with guide rail 12, and lower track adjusting wheel 215 is also four.Lower track adjusting wheel 215 is positioned at the bottom of guide rail 12, and lower track adjusting wheel 215 is corresponding with the position of upper track adjusting wheel 216.In order further to position guiding, support base plate 218 is provided with lower contact roller 214, and described lower contact roller 214 is installed on support base plate 218 by lower contact roller installation shaft, and lower contact roller 214 can rotate relative to support base plate 218.Lower contact roller 214 be positioned at guide rail 12 bottom faces under, and lower contact roller 214 contacts with guide rail 12 rollings.Drive wheel 212 and lower contact roller 214 lay respectively on two end faces up and down of guide rail 12, form a triangular structure; After carrying out guide-localization by upper track adjusting wheel 216, lower track adjusting wheel 215 and lower contact roller 214, can guarantee to drive dolly 21 and can parallel operation in guide rail 12 all the time.The structure of follow-up trolley 22 is identical with the structure that drives dolly 21, but does not need trolley drive motor 211 on follow-up trolley 22, and follow-up trolley 22 drives dolly 21 and suspender 23 driving realizations moving through of guide rail 12.Dolly actuating unit 21C of the present invention is trolley drive motor 211.
As shown in Figure 3: for the present invention provides working power and the structural representation of communicating by letter for driving dolly 21.Drive in order to reduce reliability and the complexity that dolly 21 power supplys connect, guide rail 12 and automatic carriage are provided with for electrical connection mechanism.Described guide rail 12 is provided with trolley 41, and described trolley 41 is positioned at guide rail 12 corresponding on the another side with hanger bracket 11 is connected, 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 dolly 21 and follow-up trolley 22, described carbon brush 42 is electrically connected to the trolley drive motor 211 that drives dolly 21.Trolley 41 is connected with external power supply, after carbon brush 42 and trolley 41 corresponding matching, can provide working power for trolley drive motor 211, can reduce and drive the complexity that dolly 21 power supplys connect.In order to ensure the reliability that connects, carbon brush 42 on follow-up trolley 22 also is electrically connected to trolley drive motor 211, carbon brush 42 on follow-up trolley 22 is connected with trolley drive motor 211 with carbon brush 42 parallel connections on driving dolly 21 are rear, when another group carbon brush 42 can normally contact when one group of carbon brush 42 bad contact is arranged, can guarantee the reliability of cart transport system power supply.In trolley 41, trolley quantity can be adjusted according to actual needs, and four groups of three phase supply trolleys and two groups of bus communication trolleys are generally arranged.
As shown in Figure 4 and Figure 5: for supplying the another kind of structural representation of electrical connection mechanism in the embodiment of the present invention.The described electrical connection mechanism that supplies comprises the primary cable support 32 that is installed on guide rail 12, and described primary cable support 32 is positioned at guide rail 12 corresponding on the another side with hanger bracket 11 is connected.Primary cable support 32 is provided with primary cable 31 corresponding to the other end that is connected with guide rail 12, and described primary cable 31 is connected with external power supply, and the shape of primary cable 31 is consistent with the shape of guide rail 12.Drive dolly 21 and follow-up trolley 22 and be provided with electricity pickup 33, described electricity pickup 33 is positioned on dolly support 213, and electricity pickup 33 is electrically connected to primary cable 31.The electricity pickup 33 rear trolley drive motor 211 in parallel that drives on dolly 21 and follow-up trolley 22 is electrically connected to, 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 that has also represented position recognizing card 51 and location indentifier 52 corresponding cooperations in Fig. 5.Position recognizing card 51 is installed on hanger bracket 11.
As shown in Figure 6:, according to different transportation environments, can have rise and fall track 122 on guide rail 12, between the horizontal rail of described rise and fall track 122 and guide rail 12 by 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, the reliability of carrying in order to improve automatic carriage, 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 described synchronous chain drive wheel 131a and synchronous chain flower wheel 131b all are installed on corresponding support by corresponding installation shaft and installation bearing.Be connected by synchronization chain 133 between synchronous chain drive wheel 131a and synchronous chain flower wheel 131b, synchronization chain 133 and synchronous chain drive wheel 131a and the corresponding cooperation of synchronous chain flower wheel 131b, and synchronization chain 133 with synchronize the link chain mechanism of chain drive wheel 131a, synchronous chain flower wheel 131b formation closure.The outer ledge of described synchronization chain 133 is provided with some well-distributed synchronization chain pusher arms 134, described synchronization chain pusher arms 134 stretches out on synchronization chain 133, when synchronization chain pusher arms 134 is followed synchronization chain 133 rotation, synchronization chain pusher arms 134 can with drive dolly 21 on the push rod 217 of synchronizeing contact, by synchronization chain pusher arms 134 with synchronize the application force of 217 of push rods, can improve automatic carriage moves on guide rail 12 steady reliability.The shape of synchronization chain 133 is consistent with the shape of guide rail 12 and rise and fall track 122.Consistent with the shape of rise and fall track 122 for the shape that reaches synchronization chain 133, described rise and fall track 122 tops are provided with symmetrical chain track 132, and the shape of described chain track 132 is consistent with the shape of rise and fall track 122; Thereby when synchronization chain 133 is installed on rise and fall track 122 top by chain track 132, can reach the shape and the consistent property of the shape of guide rail 12 and rise and fall track 122 of synchronization chain 133.When automatic carriage drives to the horizontal rail of guide rail 12 and rise and fall track 122 junction, 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, by synchronization chain 133 and synchronization chain pusher arms 134 are set, start synchronization chain 133 before automatic carriage is about to enter gradient track, stops automatic carriage; Wait for the arrival of synchronization chain pusher arms 134.Near after the synchronous push rod 217 of automatic carriage, pneumatic automatic carriage, under synchronization chain 133 drives, can make automatic carriage travel with close speed, completes rising and the decline function of automatic carriage in synchronization chain pusher arms 124.For synchronous chain drive wheel 131a regulates, the installation shaft of synchronous chain drive wheel 131a is provided with drive wheel bracket 135, be provided with drive wheel pressure spring 136 in described drive wheel bracket 135, described 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 described spring pressure adjust bar 137 passes the rear language drive wheel of drive wheel bracket 135 pressure spring 136 is connected, and spring pressure adjust bar 137 can be in the interior movement of drive wheel bracket 135.Interior when mobile in drive wheel bracket 135 when spring pressure adjust bar 137, can regulate the position of synchronous chain drive wheel 131a and the elasticity of synchronization chain 133.
As shown in Figure 7 and Figure 8: in order to adapt to different operation needs on guide rail 12, guide rail 12 is provided with path switching mechanism.Described path switching mechanism comprises track switch support 141, by ball slide rail 144, translation support 143 is installed in described track switch support 141, and described translation support 143 can be in the interior movement of track switch support 141 by 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, described the first branch road transition phase track 142a and the second branch road transition phase track 142b all are installed on translation support 143 by 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 the movement of translation support 143 in track switch support 141, track switch support 141 is provided with the support-moving driver train.Described support-moving driver train comprises the ball-screw 146 that is positioned on track switch support 141, ball-screw 146 can rotate on track switch support 141, described ball-screw 146 is provided with the feed screw nut 147 of corresponding matching, and described feed screw nut 147 is fixedly connected with translation support 143.Ball-screw 146 is connected with the output shaft of leading screw drive motor 145, when leading screw drive motor 145 drives ball-screw 146 rotation, described feed screw nut 147 relatively moves with ball-screw 146, thereby feed screw nut 147 can drive translation support 143 in the interior movement of track switch support 141.Translation support 143 is interior when mobile at track switch support 141, the movement 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, the first branch road transition phase track 142a and the second branch road transition phase track 142b can be combined and corresponding matching with guide rail 12, can make automatic carriage continue to move ahead or turn.Described 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.
As Fig. 1 ~ shown in Figure 9: during use, will drive dolly 21 and follow-up trolley 22 and be installed on guide rail 12, suspender 23 is installed on the bottom that drives dolly 21 and follow-up trolley 22.According to the positioning requirements to automatic carriage, some station location marker cards 51 are installed on guide rail 12, driving the location indentifier 52 that corresponding matching is installed on dolly 21 or follow-up trolley 22 simultaneously.Driving installation carbon brush 42 or electricity pickup 33 on dolly 21 and follow-up trolley 22, and trolley 41 and the primary cable 31 of corresponding matching are being installed on the corresponding side of guide rail 12.Drive agv controller 21A and master controller 11A wireless connections on dolly 21.During work, by trolley drive motor 211 power supplies of primary cable 31 or 41 pairs of driving dollies 21 of trolley.After the order accordingly of agv controller 21A wireless transmission, agv controller 21A is by the operation of the pneumatic automatic carriage of dolly actuating unit 21C on guide rail 12 as master controller 11A.When driving dolly 21 drive follow-up trolleys 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 determines to drive the state of kinematic motion of dolly 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, by the synchronization chain pusher arms 134 on synchronization chain 133 with synchronize push rod 217 corresponding matching, 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 the second branch road transition phase track 142b motion, realize coordinating 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 by installation site recognizer 52 on automatic carriage, installation site, relevant position tag card 51 on guide rail 12, 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 like this automatic carriage have the ability of autonomous classification position, a large amount of travel switches and a large amount of wires that are connected these travel switches of locating for delivery of dolly in the prior art have been avoided, system wiring is simplified, cost, debugging maintenance is convenient, and reconstruct is high; Behind the position of agv controller 21A identification oneself, can be from the master control automatic carriage by program, adopt wireless mode communication between master controller 11A and agv controller 21A, avoid in the prior art connecting master controller and the dolly slipping contact wire device from controller, improved the reliability of master-slave communication.
Claims (3)
1. automobile cart conveying system comprises guide rail (12) and is positioned at automatic carriage on described guide rail (12) that described automatic carriage can be in the upper motion of guide rail (12); The bottom of automatic carriage is connected with the suspender (23) that is positioned at guide rail (12) below, and described suspender (23) can be followed automatic carriage and be moved at guide rail (12); Described automatic carriage is provided with vehicular control unit (2A), the corresponding cooperation of station location marker card (51) on the location indentifier (52) in described vehicular control unit (2A) and guide rail (12); Agv controller (21A) in location indentifier (52) and vehicular control unit (2A) is connected, the mouth of described agv controller (21A) be used for driving automatic carriage and be connected at the dolly actuating unit (21C) that guide rail (12) upward moves;
Described vehicular control unit (2A) and main control unit (1A) wireless connections;
Described main control unit (1A) comprise the described master controller of master controller (11A) (11A) by in main communication module (11B) and vehicular control unit (2A) from communication module (21B) and agv controller (21A) wireless connections;
Be equipped with on described guide rail (12) and automatic carriage for automatic carriage is provided power supply is connected for electrical connection mechanism; The described electrical connection mechanism that supplies comprises the trolley (41) that is positioned on guide rail (12), and described 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 to automatic carriage by carbon brush (42);
Described guide rail (12) is provided with the path switching mechanism for the switching of dolly path;
Described path switching mechanism comprises track switch support (141), is provided with translation support (143) in described track switch support (141), and described 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), described the 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 for driving the mobile support-moving driver train of translation support (143);
Described guide rail (12) comprises rise and fall track (122), rise and fall track (122) top that described guide rail (12) is corresponding is provided with synchronous chain drive wheel (131a) and synchronous chain flower wheel (131b), is connected by synchronization chain (133) between described synchronous chain drive wheel (131a) and synchronous chain flower wheel (131b); Synchronization chain (133) and synchronous chain drive wheel (131a) and the corresponding cooperation of synchronous chain flower wheel (131b), and the shape of synchronization chain (133) is consistent with the shape of guide rail (12) and rise and fall track (122); Synchronization chain (133) outer ledge is provided with some well-distributed synchronization chain pusher arms (134); Described synchronization chain pusher arms (134) is followed synchronization chain (133) when mobile, can with automatic carriage on the push rod (217) of synchronizeing contact;
It is characterized in that: described automatic carriage comprises driving dolly (21) and the follow-up trolley (22) that is positioned on guide rail (12), and the bottom of described driving dolly (21) and follow-up trolley (22) all is connected with suspender (23) by universal-joint (24);
Described driving dolly (21) comprises little kickstand (213), described little kickstand (213) is provided with trolley drive motor (211), drive wheel (212) is installed on the output shaft of described trolley drive motor (211), and described drive wheel (212) rolls and contacts with the upper surface of guide rail (12); Little kickstand (213) is provided with for the guide-localization mechanism to motion guide between drive wheel (212) and guide rail (12);
Described guide-localization mechanism comprises the support locating plate (219) that is symmetrically distributed on little kickstand (213), described support locating plate (219) is provided with symmetrical upper track adjusting wheel (216), upper track adjusting wheel (216) on support locating plate (219) is positioned at the both sides of guide rail (12), and upper track adjusting wheel (216) is rolled and contacted with guide rail (12).
2. automobile cart conveying system according to claim 1 is characterized in that: described rise and fall track (122) top is provided with chain track (132), and the shape of chain track (132) is consistent with the shape of rise and fall track (122); Synchronization chain (133) is positioned at described chain track (132), so that the shape of synchronization chain (133) is consistent with the shape of guide rail (12) and rise and fall track (122).
3. automobile cart conveying system according to claim 1, it is characterized in that: described support-moving driver train comprises the ball-screw (146) that is positioned on track switch support (141), described 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 described feed screw nut (147) is fixedly connected with translation support (143); Ball-screw (146) is connected with the output shaft of the upper leading screw drive motor (145) of track switch support (141).
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102424253A CN102424253A (en) | 2012-04-25 |
| CN102424253B true 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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| CN (1) | CN102424253B (en) |
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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 |