CN103171851B - Intelligent four-direction shuttling vehicle with climbing function - Google Patents

Intelligent four-direction shuttling vehicle with climbing function Download PDF

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Publication number
CN103171851B
CN103171851B CN201310116107.8A CN201310116107A CN103171851B CN 103171851 B CN103171851 B CN 103171851B CN 201310116107 A CN201310116107 A CN 201310116107A CN 103171851 B CN103171851 B CN 103171851B
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CN
China
Prior art keywords
drive shaft
control
axle drive
intelligent
supporting plate
Prior art date
Application number
CN201310116107.8A
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Chinese (zh)
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CN103171851A (en
Inventor
许庆波
仲梁维
李敬彬
李达
李小伟
钱佳
汤如陂
郝明国
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上海速锐信息技术有限公司
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Priority to CN201310116107.8A priority Critical patent/CN103171851B/en
Publication of CN103171851A publication Critical patent/CN103171851A/en
Application granted granted Critical
Publication of CN103171851B publication Critical patent/CN103171851B/en

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Abstract

The invention discloses an intelligent four-direction shuttling vehicle with a climbing function. The intelligent four-direction shutting vehicle comprises a vehicle body (1), a lifting device, a driving device and a control system (8). The lifting device, the driving device and the control system (8) are fixed on the vehicle body (1). Eight wheels are adopted to achieve the aims that the shuttling vehicle can run along four directions, can achieve any one point on a plane and has running capability on a slope track which is not less than a 15-degree angle. Simultaneous driving of the wheels on two sides ensures that the shuttling vehicle can not generate deflection, and can run on a three-dimensional rack along a longitudinal track and a transverse track, and goods taking and storing of a forklift do not need manual operation. A three-dimensional warehouse which adopts the shuttling vehicle just needs to leave a few of inlets and outlets so as to provide goods entering and exiting. Persons and the forklift do not need to enter the warehouse and the goods can enter and exit the warehouse. Goods storing and taking efficiency and space utilization rate of the warehouse are improved.

Description

A kind of intelligent four-way shuttle with climbing function
Technical field
The present invention relates to a kind of transportation device, especially relate to a kind of intelligent four-way shuttle with climbing function.
Background technology
Patent 201120108586.5 discloses a kind of shuttle, it is characterized in that: comprise vehicle frame, supporting plate, lifting mechanism, driver train and wheel, with user to for benchmark, supporting plate longitudinally can slide and be positioned above vehicle frame, lifting mechanism and driver train are fixedly arranged in vehicle frame, at least four wheels can rotation-symmetric to be positioned about vehicle frame on two relative sidewalls, and described lifting mechanism can drive supporting plate longitudinal movement, and driver train can drive vehicle wheel rotation.
Current, the Main Patterns of shuttle has craspedodrome shuttle and annular shuttle these two kinds.For craspedodrome shuttle (patent 201120108586.5), run owing to being arranged on a track, which limits the direction of conveying articles, it can only move back and forth on one section of rectilinear orbit, and the shuttle traffic capacity of this pattern is limited.And for annular shuttle (number of patent application 200920156077.2), its drive wheel is installed on the same side of car body, opposite side is unpowered device, shuttle is easily caused to deflect in traveling process, and most its track of annular shuttle is planar arranged in closed loop, shuttle is along track unidirectional operation, this circular orbit can run multiple stage shuttle simultaneously, but too much shuttle runs in a closed loop tracks also will cause traffic jam, cause shuttle service efficiency not high, form the waste of shuttle transport power.When being especially applied to layer stereo high rack warehouse, shuttle cannot change voluntarily and change layer, needs to rely on external device, as the equipment such as fork truck, piler realizes, therefore can cause the problems such as efficiency is low, investment is high.
Summary of the invention
For shuttle Problems existing in existing logistic industry high-density memory system, in order to meet the requirement of current products storage circulation system to goods load transfer device, in order to improve warehouse space degree of utilization, the object of this invention is to provide a kind of multidirectional traveling, bilateral wheel drives and have the intelligent four-way shuttle of climbing function, thus four-way traveling all around can be realized, rely in stereoscopic multi-layer shelf magazine and self can realize changing and changing layer.
To achieve these goals, the technical solution used in the present invention is as follows:
The invention provides a kind of intelligent four-way shuttle with climbing function, comprise car body, jacking system, actuating device and control system; Jacking system, actuating device and control system are fixed on car body.
Preferably, the middle position of described car body is provided with battery pack, and battery pack is connected with Air compressor and servomotor respectively by wire.
Preferably, described jacking system comprises Air compressor, storage tank, electromagnetic valve integrated box, lifting wheel cylinder, lifting supporting plate cylinder, cylinder piston, linkwork and supporting plate, Air compressor is connected with storage tank by tracheae, storage tank is connected with electromagnetic valve integrated box by tracheae, electromagnetic valve integrated box by tracheae respectively with lifting wheel cylinder be elevated supporting plate cylinder and be connected, lifting wheel cylinder and lifting supporting plate cylinder are respectively equipped with four, four lifting supporting plate cylinders are fixed in substrate four angles of car body, four lifting wheel cylinders are fixed in four angles below the top board of car body, supporting plate is provided with two, lay respectively at the both upper ends thereof of car body, cylinder piston arranges and is positioned on lifting supporting plate cylinder and lifting wheel cylinder, be provided with eight altogether, cylinder piston is connected with supporting plate and lift drive shaft by linkwork.
Preferably, described linkwork is spherical hinging mechanism.
Preferably, described actuating device comprises servomotor, retarder, deflector, chain, fixed length axle drive shaft, short axle drive shaft, lift drive shaft, deflector output shaft and wheel, servomotor, retarder and deflector are fixed in substrate in the middle part of car body, four wheels are positioned on short axle drive shaft, another four wheels are fixed on lift drive shaft, servomotor is connected with retarder by coupler, retarder is connected with deflector by chain, sprocket wheel is fixed on deflector output shaft, deflector output shaft is provided with two, deflector output shaft is connected with fixed length axle drive shaft and lift drive shaft respectively by chain, the two ends of fixed length axle drive shaft are connected with short axle drive shaft by chain, short axle drive shaft is provided with four altogether, four short axle drive shafts are fixed in the two ends of the curb girder of car body, fixed length axle drive shaft and short axle drive shaft layering are laid, fixed length axle drive shaft is positioned at upper strata, short axle drive shaft is positioned at lower floor, lift drive shaft is positioned at degree of one-tenth angle arranged crosswise below fixed length axle drive shaft.
Preferably, described retarder is planetary reduction gear.
Preferably, described control system comprises control apparatus and control software design, and control apparatus and electromagnetic valve integrated box are connected by signal wire (SW) and realize air operated control, to be connected through signal wire (SW) with the actuator of servomotor realize driving, locate, braking controls.
Preferably, described control apparatus comprises industrial computer, relay, voltage transformer, coder, actuator and level indicator, industrial computer is connected with relay by Serial Port Line, and relay is connected with level indicator, coder and actuator respectively by data line, and voltage transformer is connected with industrial computer by COM serial port.
Preferably, described control software design comprise Pneumatic control module, control module for servo motor, locating module, brake module and, upper computer control module.
Preferably, described control module for servo motor comprises rate control module and position control module.
Preferably, described car body is provided with position transduser.
The present invention compared with the existing technology, has the following advantages and beneficial effect:
1, the present invention adopts 8 wheels to realize shuttle to travel along four direction, any one point in plane can be arrived, driven by both sides wheel simultaneously and ensure that shuttle does not deflect, can travel, without the need to manual operation fork truck picking and stock with cross track along the longitudinal on stereo storage rack; And adopt the tiered warehouse facility of this shuttle only need reserve several gangway for goods turnover, and without the need to personnel and fork truck enter reservoir area can realize goods turnover warehouse, improve the space availability ratio in goods access efficiency and warehouse.
2, control system of the present invention realizes supporting plate leveling by level indicator, possesses certain angle climbing function (being not less than 15 degree of angles), thus can self realize changing layer work, save other kind shuttles and changed the fork truck and piler that layer needs, thus improve efficiency, saved investment.
3, control system of the present invention realizes Based Intelligent Control, car load work has full automaticity and S. A. two kinds of patterns, more existing remote controller MANUAL CONTROL mode has clear superiority, adopt shuttle of the present invention to carry out storage design of memory systems scheme to travel relative to the storage of existing shuttle, there is operating efficiency, reserves can improve 50%, 40% respectively, and overall investment can save about 30%.
Accompanying drawing explanation
Fig. 1 is the structural representation of intelligent four-way shuttle.
Fig. 2 is the structural representation of intelligent four-way shuttle jacking system.
Fig. 3 is the structural representation of intelligent four-way shuttle actuating device.
Fig. 4 is the structural representation that supporting plate is connected with cylinder piston.
Fig. 5 is control system logic relation picture.
Fig. 6 is Long-distance Control diagram of circuit.
Fig. 7 is servomotor working mode figure.
Fig. 8 is supporting plate automatic leveling diagram of circuit.
Wherein: 1 is car body, 2 is supporting plate, and 3 is retarder, and 4 is deflector, 5 is fixed length axle drive shaft, and 6 is lifting wheel cylinder, and 7 is chain, and 8 is control system, 9 is battery pack, and 10 is Air compressor, and 11 is storage tank, 12 is servomotor, and 13 is wheel, and 14 is lift drive shaft, 15 is lifting supporting plate cylinder, and 16 is short axle drive shaft, and 17 is deflector output shaft, 18 is linkwork, and 19 is cylinder piston, and 20 is electromagnetic valve integrated box.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
Embodiment
As shown in figures 1-4, Fig. 1 is the structural representation of intelligent four-way shuttle, and Fig. 2 is the structural representation of intelligent four-way shuttle jacking system, and Fig. 3 is the structural representation of intelligent four-way shuttle actuating device, and Fig. 4 is supporting plate and cylinder piston connection diagram.
There is an intelligent four-way shuttle for climbing function, comprise car body 1, jacking system, actuating device and control system 8; Jacking system, actuating device and control system 8 is fixed on car body 1.
The middle position of car body 1 is provided with battery pack 9, and battery pack 9 is connected with Air compressor 10 and servomotor 12 respectively by wire.
In the present embodiment, jacking system comprises Air compressor 10, storage tank 11, electromagnetic valve integrated box 20, lifting wheel cylinder 6, lifting supporting plate cylinder 15, cylinder piston 19, linkwork 18 and supporting plate 2, Air compressor 10 is connected with storage tank 11 by tracheae, storage tank 11 is connected with electromagnetic valve integrated box 20 by tracheae, electromagnetic valve integrated box 20 by tracheae respectively with lifting wheel cylinder 6 be elevated supporting plate cylinder 15 and be connected, lifting wheel cylinder 6 and lifting supporting plate cylinder 15 are respectively equipped with four, four lifting supporting plate cylinders 15 are fixed in substrate four angles of car body 1, four lifting wheel cylinders 6 are fixed in four angles below the top board of car body 1, supporting plate 2 is provided with two, lay respectively at the both upper ends thereof of car body 1, cylinder piston 19 arranges and is positioned on lifting supporting plate cylinder 15 and lifting wheel cylinder 6, be provided with eight altogether, cylinder piston 19 is connected with supporting plate 2 and lift drive shaft 14 by linkwork 18, wherein: linkwork 18 is spherical hinging mechanism.
In the present embodiment, actuating device comprises servomotor 12, retarder 3, deflector 4, chain 7, fixed length axle drive shaft 5, short axle drive shaft 16, lift drive shaft 14, deflector output shaft 17 and wheel 13, servomotor 12, retarder 3 and deflector 4 are fixed in substrate in the middle part of car body 1, four wheels 13 are positioned on short axle drive shaft 16, another four wheels 13 are fixed on lift drive shaft 14, servomotor 12 is connected with retarder 3 by coupler, retarder 3 is connected with deflector 4 by chain 7, sprocket wheel is fixed on deflector output shaft 17, deflector output shaft 17 is provided with two, deflector output shaft 17 is connected with fixed length axle drive shaft 5 and lift drive shaft 14 respectively by chain 7, the two ends of fixed length axle drive shaft 5 are connected with short axle drive shaft 16 by chain 7, short axle drive shaft 16 is provided with four altogether, four short axle drive shafts 16 are fixed in the two ends of the curb girder of car body 1, fixed length axle drive shaft 5 and the layering of short axle drive shaft 16 are laid, fixed length axle drive shaft 5 is positioned at upper strata, short axle drive shaft 16 is positioned at lower floor, lift drive shaft 14 is positioned at below fixed length axle drive shaft 5 and becomes an angle of 90 degrees arranged crosswise, wherein: retarder 3 is planetary reduction gear.
In the present embodiment, control system 8 comprises control apparatus and control software design, and control apparatus and electromagnetic valve integrated box 20 are connected by signal wire (SW) and realize air operated control, to be connected through signal wire (SW) with the actuator of servomotor 12 realize driving, locate, braking controls; Wherein: control apparatus comprises industrial computer, relay, voltage transformer, coder, actuator and level indicator, industrial computer is connected with relay by Serial Port Line, relay is connected with level indicator, coder and actuator respectively by data line, and voltage transformer is connected with industrial computer by COM serial port; Control software design comprises Pneumatic control module, control module for servo motor, locating module, brake module and upper computer control module; Control module for servo motor comprises rate control module and position control module; Car body 1 is the supporting body of all the other various parts, and surrounding is provided with position transduser.The work of control system 8 accessory drive realizes car load and travels, and the work of control jacking system realizes car body 1 and supporting plate 2 is elevated.
Shuttle running rail layer is divided into horizontal and vertical track.During use, be placed on cross track by intelligent four-way shuttle, four cylinder pistons 19 in jacking system rise jack-up supporting plate 2, and pallet is separated with shelf.Now be road wheel with four wheels 13 of guide rail contact, all the other four wheels 13 are unsettled, corresponding actuating device work, drive shuttle to advance.When shuttle arrive in length and breadth track intersection time, four wheels 13 not contacting track, under all the other four cylinder pistons 19 push up the effect of power, to decline certain altitude, make the wheel 13 that contacted unsettled.Because four wheel 13 direction of travel of different directions are orthogonal, now, the just wheel 13 of contact track, its corresponding actuating device work, band motor car wheel 13 rotates, and the direction of travel of shuttle the change of an angle of 90 degrees will occur.When behind arrival destination, cylinder piston 19 declines and drives supporting plate 2 to decline, and goods on supporting plate 2 is contacted with supporting body (as shelf), by goods unloading, and then controls shuttle and exits, achieve the carrying action of goods.
Shuttle provided by the invention can not only do four-way travel operation on straight track, can also travel on the track with certain slope.Each action details of shuttle is monitored by industrial computer and controls, and has full automaticity, S. A. two kinds of mode of operations.
As shown in Figure 5, each is shuttle independently, and car is loaded with a set of control system all separately.This cover control system can realize automation leveling supporting plate, the account of the history that record shuttle runs.By using the Web communication technology, various control command being sent to each shuttle, thus achieves the Long-distance Control to shuttle.Client can inquire about the running condition of the current or history of shuttle, the convenient tracking to shuttle and management.The record of shuttle history run situation is recorded by the vehicle-mounted data storehouse of on program industrial computer.When shuttle runs, when electric current and voltage and other parameters are read in timing, and other parameters etc. of being correlated with of power consumption that the parameter value calculation that can measure according to these uses.By the Web communication technology, can easily in the account of the history of client query to appointment shuttle.
As shown in Figure 6, can carry out to each shuttle the spotlight that Long-distance Control is this shuttle in client.Each shuttle is all furnished with the IP of each self-retaining, by the Web communication technology, can to the shuttle transmit operation instruction of assigned ip, and shuttle just can perform corresponding action after receiving operating order.Like this, network technology is utilized just can to realize the Long-distance Control to shuttle.Owing to not using remote controller one to one, it also avoid the situation that the shuttle that causes because of this operation error of remote controller with other shuttles wrong is out of control.
This shuttle provides electricity by battery pack 9, battery pack 9 is undertaken charging and controlling by intelligent transformer, voltage transformer is connected with industrial computer by COM serial port, can realize alternately to the setting of output voltage electric current and other parameters with to other the real-time monitoring of parameter such as voltage, electric current and charge volume then by industrial computer and voltage transformer, and can by checking to historic records the electric quantity consumption etc. understanding certain period.By the power supply of battery pack 9 can allow shuttle stable be operated in the environment of low-voltage safety under.
Staff is by sending to the industrial computer of control system 8 running that instruction controls servomotor as shown in Figure 7, is then driven the motion of shuttle by servomotor.Servomotor can be controlled with the running of different mode of operations, reach the object accurately controlling shuttle operational factor.Servomotor 12 mode of operation comprises speed control mode and position control mode.Speed control mode can allow shuttle remain in a constant speed and run, and to reach the effect of fast and stable, and position control mode can calibrate the position of shuttle, is used for realizing accurate positioning work.
Concrete operations flow process is:
Control apparatus can allow shuttle stop on the slope, enhances the adding of this device the braking function of servomotor 12 itself, more ensure that shuttle can stopping promptly and accurately.
Level indicator is used for monitoring the balance of supporting plate 2, can be arranged the balance of balance parameters and accurate monitoring supporting plate 2 by industrial computer.Coordinate the jacking function of cylinder to carry out leveling shuttle supporting plate 2 to be horizontal all the time, with ensure shuttle run stop, upward slope descending time supporting plate 2 balance, ensure that goods can not topple and collapse.The realization of supporting plate leveling automation, be measure current angular by supporting plate being placed level indicator, industrial computer reads current angular slope value by level indicator.When angle exceedes default leveling angular range, cylinder is started working, and rises or decline according to actual conditions, until leaning angle is less than the angle that default leveling stops, thus the angle of inclination controlling supporting plate is less than certain scope all the time, as shown in Figure 8.
The realization of cylinder jacking is the solenoid control by 3 position-5 way, and the switch of electromagnetic valve is controlled by intelligent relay, by using the cooperation of two relay switches can realize cylinder ascending, descending and hold mode function, relay also can be controlled by industrial computer.
Above-mentioned is can understand and apply the invention for ease of those skilled in the art to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the invention is not restricted to embodiment here, those skilled in the art, according to announcement of the present invention, do not depart from improvement that scope makes and amendment all should within protection scope of the present invention.

Claims (8)

1. an intelligent four-way shuttle, comprises car body (1), jacking system, actuating device and control system (8), jacking system, actuating device and control system (8) are fixed on car body (1), it is characterized in that: described jacking system comprises Air compressor (10), storage tank (11), electromagnetic valve integrated box (20), lifting wheel cylinder (6), lifting supporting plate cylinder (15), cylinder piston (19), linkwork (18) and supporting plate (2), Air compressor (10) is connected with storage tank (11) by tracheae, storage tank (11) is connected with electromagnetic valve integrated box (20) by tracheae, electromagnetic valve integrated box (20) by tracheae respectively with lifting wheel cylinder (6) be elevated supporting plate cylinder (15) and be connected, lifting wheel cylinder (6) and lifting supporting plate cylinder (15) are respectively equipped with four, four liftings supporting plate cylinder (15) are fixed on substrate four angles of car body (1), four lifting wheel cylinders (6) are fixed in four angles below the top board of car body (1), supporting plate (2) is provided with two, lay respectively at the both upper ends thereof of car body (1), cylinder piston (19) arranges and is positioned in lifting supporting plate cylinder (15) and lifting wheel cylinder (6), be provided with eight altogether, cylinder piston (19) is connected with supporting plate (2) and lift drive shaft (14) by linkwork (18), described control system (8) comprises control apparatus and control software design, control apparatus and electromagnetic valve integrated box (20) are connected by signal wire (SW) and realize air operated control, to be connected through signal wire (SW) with the actuator of servomotor (12) realize driving, locate, braking controls.
2. intelligent four-way shuttle according to claim 1, it is characterized in that: the middle position of described car body (1) is provided with battery pack (9), and battery pack (9) is connected with Air compressor (10) and servomotor (12) respectively by wire.
3. intelligent four-way shuttle according to claim 1, is characterized in that: described linkwork (18) is spherical hinging mechanism.
4. intelligent four-way shuttle according to claim 1, is characterized in that: described actuating device comprises servomotor (12), retarder (3), deflector (4), chain (7), fixed length axle drive shaft (5), short axle drive shaft (16), lift drive shaft (14), deflector output shaft (17) and wheel (13), servomotor (12), retarder (3) and deflector (4) are fixed in car body (1) middle part substrate, four wheels (13) are positioned on short axle drive shaft (16), another four wheels (13) are fixed on lift drive shaft (14), servomotor (12) is connected with retarder (3) by coupler, retarder (3) is connected with deflector (4) by chain (7), sprocket wheel is fixed on deflector output shaft (17), deflector output shaft (17) is provided with two, deflector output shaft (17) is connected with fixed length axle drive shaft (5) and lift drive shaft (14) respectively by chain (7), the two ends of fixed length axle drive shaft (5) are connected with short axle drive shaft (16) by chain (7), short axle drive shaft (16) is provided with four altogether, four short axle drive shafts (16) are fixed in the two ends of the curb girder of car body (1), fixed length axle drive shaft (5) and short axle drive shaft (16) layering are laid, fixed length axle drive shaft (5) is positioned at upper strata, short axle drive shaft (16) is positioned at lower floor, lift drive shaft (14) is positioned at fixed length axle drive shaft (5) below and becomes an angle of 90 degrees arranged crosswise.
5. intelligent four-way shuttle according to claim 4, is characterized in that: described retarder (3) is planetary reduction gear.
6. intelligent four-way shuttle according to claim 1, it is characterized in that: described control apparatus comprises industrial computer, relay, voltage transformer, coder, actuator and level indicator, industrial computer is connected with relay by Serial Port Line, relay is connected with level indicator, coder and actuator respectively by data line, and voltage transformer is connected with industrial computer by COM serial port; Described control software design comprises Pneumatic control module, control module for servo motor, locating module, brake module and upper computer control module.
7. intelligent four-way shuttle according to claim 6, is characterized in that: described control module for servo motor comprises rate control module and position control module.
8. intelligent four-way shuttle according to claim 1, is characterized in that: (1) is provided with position transduser to described car body.
CN201310116107.8A 2013-04-03 2013-04-03 Intelligent four-direction shuttling vehicle with climbing function CN103171851B (en)

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CN103171851B true CN103171851B (en) 2015-05-27

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