CN103950673A - Rail guide vehicle with steering function - Google Patents

Rail guide vehicle with steering function Download PDF

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Publication number
CN103950673A
CN103950673A CN201410205122.4A CN201410205122A CN103950673A CN 103950673 A CN103950673 A CN 103950673A CN 201410205122 A CN201410205122 A CN 201410205122A CN 103950673 A CN103950673 A CN 103950673A
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China
Prior art keywords
wheel
plate
bearing
shuttle
vehicle
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CN201410205122.4A
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CN103950673B (en
Inventor
刘明
何力
程欣
张天米
孙明山
雷升杰
杨江南
李欣
巩伟
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Kunming 705 science and technology development limited liability company
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KUNMING 705 INSTITUTE TECHNOLOGY DEVELOPMENT GENERAL Co Ltd
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Publication of CN103950673A publication Critical patent/CN103950673A/en
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Publication of CN103950673B publication Critical patent/CN103950673B/en
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Abstract

The invention discloses a novel rail guide vehicle with a steering function. The rail guide vehicle comprises a rail guide vehicle body, and a traveling mechanism, steering mechanisms, a lifting mechanism, an electric control system, a battery, a charging system and a communication module which are installed on the rail guide vehicle body, wherein the steering mechanism drives four wheels to perform steering at 90 degrees simultaneously, and traveling in front, rear, left and right directions on an identical rail can be realized. The steering mechanisms are fixed on wheel bases of the rail guide vehicle body through screws; the wheel bases are fixed on a connecting beam and a bearing beam through screws; a bevel pinion of a bevel gear transmission device 35 drives a bevel gear wheel transmission device installed on a wheel steering shaft; the wheels are embedded below the wheel bases. The traveling mechanism is connected with two driving wheels on the diagonal line of the rail guide vehicle body, and the lifting mechanism is fixed and installed on the bearing beam of the rail guide vehicle body. The rail guide vehicle can be automatically driven into different storage roadways without the helping of a forklift or a stocker, can be driven into different goods positions after being lifted to different layers through an elevator, and really realizes a high-efficiency, high-density and completely automatic unattended stereoscopic warehouse.

Description

A kind of shuttle with turning function
Technical field
The present invention relates to a kind of track shuttle with turning function, belong to rail equipment technology field of transport in automation logistic warehousing and storaging.
Background technology
In Modern Logistics Technology, automatic stereowarehouse can improve storage density greatly, because the goods on tray in tiered warehouse facility weighs hundreds of kilograms sometimes, goods access must rely on automated machine equipment to complete, and warehouse access arrangement has determined storage density, throughput speed and the automatization level in warehouse.The access arrangement using at present mainly comprises lane stacker and track shuttle, lane stacker need to be in the special tunnel of travelling of configuration, stock shelf side, and each piler access goods travelling on tunnel is limited, and shuttle is without travelling tunnel, can increase substantially storage density, become gradually tiered warehouse facility automatic access equipment development direction of new generation.Current domestic shuttle major part only possesses advances or retreats both direction driving functions, as the shuttle of company of Dematic Pty Ltd. (AU) (SHUTTLE FOR AUTOMATED WAREHOUSE, U.S. Patent number S 2012/ 0099953 A1), this class shuttle can only travel front and back in same stock tunnel, must assist and could arrive other stock tunnel work by fork truck, change layer and also mainly complete by fork truck.
The domestic patent of invention (patent No. 201010216047.3) " a kind of automatic track exchanging trolley " that possesses rail vehicle that both direction travels and only have at present Kunshan HuaHeng engineering Technology Center Co., Ltd's application in 2010, it is characterized in that the track adopting is divided into main orbit, moving sets rail and Post Orbit, track structure complexity, is not suitable for using in tiered warehouse facility cheaply.The present invention passes shuttle only needs to lay the walking tunnel vertical with original tunnel, relies on wheel to turn to realization to switch tracks.There are similar products abroad, and completely different from the present invention according to looking into its steering hardware of new data and type of drive, track is had relatively high expectations.Therefore, how overcoming the deficiencies in the prior art is problems that current rail equipment technology field of transport is needed solution badly.
Summary of the invention
The object of the invention is in order to solve the deficiencies in the prior art, a kind of track shuttle with turning function is provided.It not only can move forward and backward, and can also be spent synchronously and be turned to by four wheels 90, can be left and to right travel, thus realize four direction motion in same orbit plane.In the layer stereo warehouse that possesses orthogonal walking tunnel and stock tunnel when access goods, by travelling in walking tunnel and the commutation of stock tunnel crossover location, can independently sail the stock tunnel of different lines into, change any goods yard that can sail tiered warehouse facility into after layer by gig, thereby greatly promote the storage density of existing tiered warehouse facility, improve the degree of automation of tiered warehouse facility, the unmanned of real Implementation repository comprehensively.
The technical solution used in the present invention is as follows:
A kind of shuttle with turning function, it comprises shuttle vehicle body, and be arranged on the traveling mechanism on vehicle body, steering hardware, lifting mechanism, electric-control system, battery and charge system, seven parts of communication module, steering hardware is fixed by screws on vehicle body wheel mount, wheel mount is fixed on by screw on the tie-beam and bearing beam of vehicle body, wheel is embedded in wheel mount below, traveling mechanism diagonal angle Dual Drive is arranged, be connected on cornerwise two driving wheels of vehicle body, lifting mechanism is fixed on vehicle body bearing beam and is connected with vehicle body by the bearing seat on its actuating unit, electric-control system, battery and charge system, communication module is contained on vehicle body.
Described steering hardware comprises servomotor, retarder, transmission device, described transmission device comprises synchronous belt pulley transmission, bevel drive, described synchronous belt pulley transmission comprises long Timing Belt, short Timing Belt, interior tightening device and outer tightening device, the bottom of described long synchronous pulley is provided with interior tightening device, the top of long synchronous pulley is connected with one end of bevel drive, the other end of described finishing bevel gear cuter is connected with one end of short synchronous pulley, the other end of described short synchronous pulley is provided with retarder, and the opposite side of described retarder is provided with servomotor in turn; Described short synchronous pulley is connected with outer tightening device (90 degree turn in place rear mechanical position limitation, the locking of reversing sense servomotor, transmission resistance is apart from can limit the reciprocal rotation of four-wheel) by drive link.
Described traveling mechanism comprises the first driving wheel, the second driving wheel, the first flower wheel, the second flower wheel, the first servomotor, the second servomotor, the first driving wheel is connected with two wheel mounts in base plate diagonal positions respectively with the second driving wheel, the first flower wheel is connected with two other wheel mount on base plate respectively with the second flower wheel, and first and second servomotor is connected with the turning cylinder of first and second driving wheel respectively.
Described lifting mechanism comprises supporting plate assembly and actuating unit, supporting plate assembly comprises supporting plate, checkered plate, cabinet lock, cover plate, hinge, first sensor, the second sensor, roller and pilot bar, described checkered plate is fixed on the supporting plate left and right sides, cover plate is located in the middle of supporting plate, it is connected with supporting plate by hinge on one side, the edge of opposite side is provided with cabinet lock, first sensor is located at the top of supporting plate, the second sensor is located at the side of supporting plate, and roller and pilot bar are fixedly connected on respectively the upper surface of supporting plate, described actuating unit comprises the 3rd servomotor, retarder, fast coupling, axle, bearing seat, sprocket wheel, tension wheel, eccentric wheel, retarder mount pad, chain and tension wheel mount pad, the 3rd servomotor is connected with retarder, and be arranged on retarder mount pad, be arranged with altogether two pairs of axles that connect by fast coupling, bearing sleeve is connected on the two ends of axle, and be connected with bearing beam, axle two ends are respectively connected with sprocket wheel and eccentric wheel successively, the sprocket wheel of two axle same side connects by chain, described tension wheel is located at below described chain and is contacted with chain, tension wheel is arranged on tension wheel mount pad, tension wheel mount pad and being fixedly linked with bearing beam.
Described vehicle body comprises that plate is covered on base plate, long limit, minor face covers plate, bearing beam, wheel mount and tie-beam, described bearing beam and tie-beam are 90 degree settings, and bearing beam and junction, tie-beam right angle are provided with wheel mount, described tie-beam arranged outside has minor face to cover plate, the two ends that described minor face covers plate are connected with respectively long limit illiteracy plate, plate is covered on described long limit and minor face illiteracy plate is 90 degree settings, and plate is covered on described long limit and bearing beam be arranged in parallel; Described long limit illiteracy plate and minor face illiteracy plate are fixed on the surrounding of base plate, and described bearing beam, wheel mount and tie-beam are fixedly connected with base plate respectively.
Described electric-control system comprises control computing machine, described control computing machine comprises that nucleus module, interface board module and the power module of the microprocessor based on ARM kernel form, control software and be embedded in control computer A RM microprocessor, report to the police to realize full car motion control and intelligent anticollision.
Described battery and charge system comprise Ni-MH power cell, charging plug and charging cable, and Ni-MH power cell is connected with charging plug by charging cable.
Described communication module is wireless data transmission module, adopts time division multiple access method to set up cordless communication network, realizes the coordination Control and Schedule of many shuttles and upper computer.
Described eccentric eccentric throw is 15mm ± 0.1mm.
Shuttle of the present invention possesses following functions:
Shuttle has pivot stud function, and according to mission requirements, by walking, tunnel enters the different stocks of shelf tunnel with gig, different layers completes goods outbound and warehouse-in task;
Shuttle can be accepted the control of upper computer, under the scheduling of control station, can carry out work by many shuttles simultaneously;
Shuttle is in when work, can be to upper computer uploading position, speed, electric weight, have the information such as out of stock, fault, service condition;
Shuttle has long-range remote control function, can manually finish the work by remote controller;
Shuttle has deposits, picks goods function, can issue work order or remote command completes picking, move, depositing of goods according to management imformation system;
Shuttle has fault alarm prompt facility, and self mechanism's et out of order, as lifting mechanism or traveling gear et out of order, can send light warning, and to upper computer report failure message;
Shuttle has parking warning function, when shuttle carries out in access operation process in tunnel, if due to abnormal condition, when caving in the safe event such as the impact that makes tunnel obstruction and cause non-normal stop as the goods on pallet, shuttle can send light warning, and to upper computer report alarm message;
Shuttle has urgent collision prevention function, when obstacle meeting sudden stop appears in front in shuttle driving process;
Shuttle has automatic charging function: in the time that capacity of cell is inadequate, after upper computer sends charging instruction, shuttle can charge automatic moving to shelf charging zone voluntarily, and reports upper computer by information about power.
compared with prior art, its beneficial effect is in the present invention:domestic shuttle of the same type only possesses the both direction driving functions of moving forward and backward, must coordinate with fork truck or piler could realize tiered warehouse facility stock and the picking in stock tunnel.The novel track shuttle with turning function of the present invention's design, not only can move forward and backward, spend synchronously and turn to by four wheels 90, can be left and to right travel, thereby realize four direction motion in same orbit plane, in the layer stereo warehouse of the orthogonal track of multiple lines and multiple rows when access goods, can automatically sail the stock tunnel of different lines into layer, change any goods yard that can sail tiered warehouse facility into after layer by gig, thereby greatly promote the storage density of existing tiered warehouse facility, improve the degree of automation of tiered warehouse facility comprehensively, under upper information system scheduling, many shuttles can arrive tiered warehouse facility random layer, tunnel arbitrarily, stock and picking operation are carried out in goods yard arbitrarily, without manpower intervention, really realize high efficiency, high density, full-automatic unmanned tiered warehouse facility.
Brief description of the drawings
Fig. 1 is the structural representation of shuttle of the present invention; Wherein, 1-vehicle body, 2-traveling mechanism, 3-steering hardware, 4-lifting mechanism, 5-electric-control system, 6-battery and charge system, 7-communication module, 8-controls computing machine;
Fig. 2 is the structural representation of shuttle vehicle body of the present invention; Wherein, plate is covered on 11-base plate, the long limit of 12-, 13-minor face covers plate, 14-bearing beam, 15-wheel mount, 16-tie-beam;
Fig. 3 is the structural representation of shuttle steering hardware of the present invention; Wherein, tightening device, the outer tightening device of 37-in 31-servomotor, 32-retarder, the long synchronous pulley of 33-, the short synchronous pulley of 34-, 35-bevel drive, 36-;
Fig. 4 is the structural representation of shuttle supporting plate assembly of the present invention; Wherein, 41-supporting plate, 42-checkered plate, 43-cabinet lock, 44-cover plate, 45-hinge, 46-first sensor, 47-the second sensor, 48-roller, 49-pilot bar;
Fig. 5 is the structural representation of shuttle actuating unit of the present invention; Wherein, 50-the 3rd servomotor, 51-retarder, 52-fast coupling, 53-axle, 54-bearing seat, 55-sprocket wheel, 56-tension wheel, 57-eccentric wheel, 58-retarder mount pad, 59-chain, 60-tension wheel mount pad.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, shuttle of the present invention comprises vehicle body 1, traveling mechanism 2, steering hardware 3, lifting mechanism 4, electric-control system 5, battery and charge system 6 and communication module 7 and controls computing machine 8, shuttle is provided with traveling mechanism, steering hardware, lifting mechanism, electric-control system, battery and charge system, 7 parts of communication module with it, described steering hardware is fixed by screws on vehicle body wheel mount 15, wheel mount is fixed on tie-beam 16 and bearing beam 14 by screw, drives the wheel steering of wheel mount below while turning to.Traveling mechanism diagonal angle Dual Drive layout, is connected on cornerwise two wheels of vehicle body, and while turning to, four-wheel turns to together, and is positioned on base plate 11 fan sections, and being conducive to turn to rear electric-control system to adjust shuttle is straight-line travelling.Lifting mechanism is fixed on vehicle body bearing beam 14 by the bearing seat 54 on its actuating unit, and realization is connected with vehicle body.
Vehicle body 1 is shuttle basic framework and shell, carry all systems and goods, traveling mechanism 2 adopts the type of drive of two driving wheels of two motor direct-drive, the walking of drive shuttle, steering hardware 3 is realized four wheels 90 and is spent synchronously and turn under servomotor control, lifting mechanism 4 is for lifting and put down pallet, electric-control system 5 comprises vehicle body 1 circuit, control computing machine, realize together the functions such as full car motion control and intelligent anticollision warning, battery and charge system 6 are responsible for full car power supply and Charge Management, communication module 7 is responsible between shuttle and upper computer, radio communication between shuttle and remote controller.
Shuttle basic technical indicator is as follows:
Oad: (length × wide × high min~max) 1000mm × 1200mm × (260mm~290mm);
Maximum load-carrying capacity: 1000kg;
Compatible pallet dimension:
1200mm × 800mm (European standard);
1200mm×1000mm;
1200mm×1200mm。
Lifting mechanism actuating length >=30mm;
Deadhead operation speed: 1m/s;
Positioning precision ± 5mm;
Power supply voltage: 48V;
Vehicle body 1 is shuttle basic framework, is the main body of carrying miscellaneous part, and it comprises that plate 12 is covered on base plate 11, long limit, minor face covers plate 13, bearing beam 14, wheel mount 15 and tie-beam 16, as shown in Figure 2.Described bearing beam 14 is 90 degree settings with tie-beam 16, and bearing beam 14 is provided with wheel mount 15 with tie-beam 16 junctions, right angle, described tie-beam 16 arranged outside have minor face to cover plate 13, the two ends that described minor face covers plate 13 are connected with respectively long limit illiteracy plate 12, described long limit is covered plate 12 and is 90 degree settings with minor face illiteracy plate 13, and plate 12 is covered on described long limit and bearing beam 14 be arranged in parallel; Described long limit illiteracy plate 12 and minor face illiteracy plate 12 are fixed on the surrounding of base plate 11, and described bearing beam 14, wheel mount 15 and tie-beam 16 are fixedly connected with base plate respectively.Tie-beam 16, bearing beam 14 form main body of vehicle frame with wheel mount 15.Tie-beam 16, bearing beam 14 adopt Plate Welding mode to shape, the benchmark that tie-beam 16, bearing beam 14 and wheel mount 15 are connected as the installation of shuttle, and stop portion employing machine adds guarantee location, setting accuracy requirement; Seam connects with wheel mount by screw M5 × 10 and bolt M8 × 30 behind location, ensures that axletree is apart from meeting design requirement.Vehicle body 1 base plate 11 adopts steel plate bending to be shaped.
Steering hardware 3 on shuttle vehicle body comprises servomotor 31, retarder 32, transmission device, described transmission device comprises synchronous belt pulley transmission, bevel drive 35, described synchronous belt pulley transmission comprises long Timing Belt 33, short Timing Belt 34, interior tightening device 36 and outer tightening device 37, , the bottom of described long synchronous pulley 33 is provided with interior tightening device 36, the top of long synchronous pulley 33 is connected with one end of finishing bevel gear cuter 35, the other end of described finishing bevel gear cuter 35 is connected with one end of short synchronous pulley 34, the other end of described short synchronous pulley 34 is provided with retarder 32, the opposite side of described retarder 32 is provided with servomotor 31 in turn, described short synchronous pulley 34 is connected with outer tightening device 37 by drive link, as shown in Figure 3.Servomotor 31 and retarder 32 provide power, long and short synchronous belt pulley transmission 33,34 is realized transmission of power, inside and outside tightening device 36,37 is convenient to regulate tightness of synchronous belt degree, and bevel drive 35 drives wheel flutter to rotate when deceleration, automatic locking after 90 ° of pivot studs.
Traveling mechanism on shuttle vehicle body comprises the first driving wheel, the second driving wheel, the first flower wheel, the second flower wheel, the first servomotor, the second servomotor, the first driving wheel is connected with two wheel mounts 15 in base plate 11 diagonal positions respectively with the second driving wheel, the first flower wheel is connected with two other wheel mount 15 on base plate 11 respectively with the second flower wheel, the first servomotor is connected with the turning cylinder of the first driving wheel, the first flower wheel is servo-actuated, the second servomotor is connected with the turning cylinder of the second driving wheel, and the second flower wheel is by servo-actuated.
Lifting mechanism 4 on shuttle vehicle body is made up of supporting plate assembly and actuating unit, wherein supporting plate assembly comprises supporting plate 41, checkered plate 42, cabinet lock 43, cover plate 44, hinge 45, first sensor 46, the second sensor 47, roller 48 and pilot bar 49, as shown in Figure 4, described checkered plate 42 is fixed on supporting plate 41 left and right sides, cover plate 44 is located in the middle of supporting plate 41, cover plate 44 is connected with supporting plate 41 by hinge 45 on one side, and the edge of opposite side is provided with cabinet lock 43, first sensor 46 is located at the top of supporting plate 41, the second sensor 47 is located at the side of supporting plate 41, roller 48 and pilot bar 49 are fixedly connected on respectively the upper surface of supporting plate 41.
Actuating unit comprises the 3rd servomotor 50, retarder 51, fast coupling 52, axle 53, bearing seat 54, sprocket wheel 55, tension wheel 56, eccentric wheel 57, retarder mount pad 58, chain 59 and tension wheel mount pad 60, as shown in Figure 5, the 3rd servomotor 50 is connected with retarder 51, and be arranged on retarder mount pad 58, be arranged with altogether two pairs of axles that connect by fast coupling 52 53, bearing seat 54 is socketed on the two ends of axle 53, and be connected with bearing beam 14, axle 53 two ends are respectively connected with sprocket wheel 55 and eccentric wheel 57 successively, the sprocket wheel 55 of two axle 53 same side connects by chain 59, described tension wheel 56 is located at below described chain 59 and is contacted with chain 59, tension wheel 56 is arranged on tension wheel mount pad 60, tension wheel mount pad 60 is fixedly linked with bearing beam 14, press maximum working load Gmax=1000kg, maximum lifting time 2s, the servomotor 50 of selecting, the requirement that retarder 51 meets lifting mechanism work.Eccentric wheel 57 eccentric throw 15mm ± 0.1mm meet adjustable height requirement, select the machinework of 40Cr material, and improve superficial hardness by modifier treatment.Sprocket wheel 55 is selected 40Cr materials processing, and improves tooth face hardness by heat treatment.Wherein, driven sprocket adopts clamped-in style structure to be installed on axle, is convenient to regulating mechanism zero-bit.By the directional tagging of pilot bar 48, ensure that supporting plate is smooth and easy in oscilaltion action, can be not dead by folder.Supporting plate adopts 4mm steel plate bending to be welded, and checkered plate aluminium and aluminum alloy checkered plate (GB/T3618-2006), rivet with supporting plate.
Shuttle electric-control system 5 comprises controls computing machine, servomotor, various sensor, vehicle circuitry formation.Control nucleus module, interface board module and power module formation that computing machine comprises the microprocessor based on ARM kernel, controlling software is embedded in control computer A RM microprocessor, realize the functions such as full car motion control and intelligent anticollision warning, be responsible for battery and Charge Management simultaneously.Complete 4 servomotors of car are electric-control system actuating units, complete walking, turn to, elevating function, and four electric machine controllers are by CAN bus or the networking of 485 buses and control computing machine real-time Communication for Power.
Battery and charge system 6 comprise one group of 48V Ni-MH power cell, charging plug and charging cable, and Ni-MH power cell is connected with charging plug by charging cable.Shuttle sails charging goods yard into receiving after charge command, the charging socket of installing on charging plug on vehicle body 1 and charging goods yard is plugged into automatically, battery charger automatically powers on and starts charging, process of charging battery charger monitoring charging current voltage, reach auto-breaking after full state, shuttle sails out of charge position and puts into operation.
Communication module 7 is wireless data transmission module, adopt general 460MHz digital transmission module, simultaneously, adopt time division multiple access method to set up cordless communication network, be responsible between shuttle and upper computer, radio communication between shuttle and remote controller, can realize the coordination Control and Schedule of many shuttles and upper computer.
After shuttle powers on, first set up radio communication with upper computer and be connected, enter the wireless network that upper computer is set up, obtain self initial position message simultaneously, then wait for outbound or the warehouse-in instruction of upper computer.
If receive warehouse-in instruction, shuttle automatically from current location along upper computer planning path respectively by horizontal or long rails drive to tiered warehouse facility specify entrance goods yard pick goods, if need to change layer, automatic running is to gig position, under upper computer scheduling, enter gig, arrive after designated layer, leave gig, drive to entrance goods yard and pick goods.Obtain the path of continuing to plan according to upper computer after goods reaches respectively appointment inventory location arrangement of goods by horizontal or long rails, gig.
If receive outbound instruction, shuttle automatically from current location along upper computer planning path respectively by horizontal or long rails drive to tiered warehouse facility specify inventory location pick goods, if need to change layer, automatic running is to gig position, under upper computer scheduling, enter gig, arrive after designated layer, leave gig, drive to inventory location and pick goods.After obtaining goods, continue to reach by horizontal or long rails, gig the outlet goods yard arrangement of goods that tiered warehouse facility is specified respectively according to the path of upper computer planning.
If need to be in tiered warehouse facility mobile cargo, according to upper computer instruction, along path planning, pick to a certain goods yard after goods respectively by laterally or long rails, gig drives to assigned address arrangement of goods.
The information such as real-time report self-position, voltage, electric current in shuttle driving process, specifies charge position to charge if battery electric quantity, lower than specified value, enters automatically, after having charged, continues to put into operation.
In shuttle driving process, find self mechanism's et out of order, can send immediately light warning, and to upper computer report failure message; When shuttle carries out in goods access operation process in tunnel, if due to abnormal condition, as caving in, the goods on pallet makes the safe event of the impact such as tunnel obstruction, and while causing non-normal stop, shuttle also can send light warning, and to upper computer report alarm message; Shuttle also has urgent collision prevention function, can stop by automatic emergency when obstacle appears in front in shuttle driving process, reports alarm message simultaneously, waits pending.
When walking, walking driven by servomotor retarder provides transmission of power to driving wheel; Two driving wheels that dolly is arranged by diagonal angle drive, and flower wheel is servo-actuated.
While turning to, turn to driven by servomotor retarder, reducer power is delivered to short Timing Belt when being delivered to the first driving wheel by finishing bevel gear cuter mechanism, short Timing Belt by transmission of power to transmission shaft, when being delivered to the first flower wheel by power by finishing bevel gear cuter mechanism, one end of transmission shaft passes through long Timing Belt, finishing bevel gear cuter mechanism is passed to the second driving wheel, power is passed through long Timing Belt by the other end of transmission shaft, finishing bevel gear cuter mechanism is delivered to the second flower wheel, thereby (as: wheel is clickwise to realize adjacent wheel retrograde rotation, another wheel is left-hand revolution) handling maneuver.
Lifting mechanism course of action: by the messenger chain that in actuating unit, servomotor band movable sprocket, chain rotate to form, drive the eccentric wheel rotation being connected with sprocket coaxiality, and eccentric wheel fits tightly with the roller in supporting plate assembly, guiding by pilot bar and spacing, thus realize lifting action.
The realization of warning function is mainly to rely under the alert if of regulation, related sensor is delivered to control computing machine by generation alerting signal and is comprehensively judged, if need sudden stop, control computing machine transmission braking commands and realize emergency braking to servomotor, if need to report, control computing machine and send alert data to communication module 7, report host computer through wireless mode, light relevant warning indicator lamp on car simultaneously.

Claims (6)

1. the shuttle with turning function, it is characterized in that: it comprises shuttle vehicle body, and be arranged on the traveling mechanism on vehicle body, steering hardware, lifting mechanism, electric-control system, battery and charge system, seven parts of communication module, steering hardware is fixed by screws on vehicle body wheel mount, wheel mount is fixed on by screw on the tie-beam and bearing beam of vehicle body, wheel is embedded in wheel mount below, traveling mechanism diagonal angle Dual Drive is arranged, be connected on cornerwise two driving wheels of vehicle body, lifting mechanism is fixed on vehicle body bearing beam and is connected with vehicle body by the bearing seat on its actuating unit, electric-control system, battery and charge system, communication module is contained on vehicle body,
Described steering hardware comprises servomotor, retarder, transmission device, described transmission device comprises synchronous belt pulley transmission, bevel drive, described synchronous belt pulley transmission comprises long Timing Belt, short Timing Belt, interior tightening device and outer tightening device, the bottom of described long synchronous pulley is provided with interior tightening device, the top of long synchronous pulley is connected with one end of bevel drive, the other end of described finishing bevel gear cuter is connected with one end of short synchronous pulley, the other end of described short synchronous pulley is provided with retarder, and the opposite side of described retarder is provided with servomotor in turn; Described short synchronous pulley is connected with outer tightening device by drive link;
Described lifting mechanism comprises supporting plate assembly and actuating unit, supporting plate assembly comprises supporting plate, checkered plate, cabinet lock, cover plate, hinge, first sensor, the second sensor, roller and pilot bar, described checkered plate is fixed on the supporting plate left and right sides, cover plate is located in the middle of supporting plate, it is connected with supporting plate by hinge on one side, the edge of opposite side is provided with cabinet lock, first sensor is located at the top of supporting plate, the second sensor is located at the side of supporting plate, and roller and pilot bar are fixedly connected on respectively the upper surface of supporting plate, described actuating unit comprises the 3rd servomotor, retarder, fast coupling, axle, bearing seat, sprocket wheel, tension wheel, eccentric wheel, retarder mount pad, chain and tension wheel mount pad, the 3rd servomotor is connected with retarder, and be arranged on retarder mount pad, be arranged with altogether two pairs of axles that connect by fast coupling, bearing sleeve is connected on the two ends of axle, and be connected with bearing beam, axle two ends are respectively connected with sprocket wheel and eccentric wheel successively, the sprocket wheel of two axle same side connects by chain, described tension wheel is located at below described chain and is contacted with chain, tension wheel is arranged on tension wheel mount pad, tension wheel mount pad and being fixedly linked with bearing beam.
2. the shuttle with turning function according to claim 1, it is characterized in that: described vehicle body comprises that plate is covered on base plate, long limit, minor face covers plate, bearing beam, wheel mount and tie-beam, described bearing beam and tie-beam are 90 degree settings, and bearing beam and junction, tie-beam right angle are provided with wheel mount, described tie-beam arranged outside has minor face to cover plate, the two ends that described minor face covers plate are connected with respectively long limit illiteracy plate, plate is covered on described long limit and minor face illiteracy plate is 90 degree settings, and plate is covered on described long limit and bearing beam be arranged in parallel; Described long limit illiteracy plate and minor face illiteracy plate are fixed on the surrounding of base plate, and described bearing beam is fixedly connected with base plate respectively with tie-beam.
3. the shuttle with turning function according to claim 2, is characterized in that: described battery and charge system comprise Ni-MH power cell, charging plug and charging cable, Ni-MH power cell is connected with charging plug by charging cable.
4. the shuttle with turning function according to claim 2, is characterized in that described communication module is wireless data transmission module, adopts time division multiple access method to set up cordless communication network, realizes the coordination Control and Schedule of many shuttles and upper computer.
5. the shuttle with turning function according to claim 2, is characterized in that described eccentric eccentric throw is 15mm ± 0.1mm.
6. the shuttle with turning function according to claim 2, it is characterized in that: described traveling mechanism comprises the first driving wheel, the second driving wheel, the first flower wheel, the second flower wheel, the first servomotor, the second servomotor, the first driving wheel is connected with two wheel mounts in base plate diagonal positions respectively with the second driving wheel, the first flower wheel is connected with two other wheel mount on base plate respectively with the second flower wheel, and first and second servomotor is connected with the turning cylinder of first and second driving wheel respectively.
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CN104210794A (en) * 2014-09-03 2014-12-17 昆明七零五所科技发展总公司 Electric cylinder steered rail shuttle
CN104210793A (en) * 2014-09-03 2014-12-17 昆明七零五所科技发展总公司 Cam mechanism type steerable shuttle
CN104229370A (en) * 2014-09-26 2014-12-24 昆明七零五所科技发展总公司 Positioning device and positioning method for rail guide vehicle with steering function
CN104326205A (en) * 2014-11-03 2015-02-04 陈剑伟 Intelligent shuttling car provided with 360-degree steering function
CN104444005A (en) * 2014-12-10 2015-03-25 苏州工业职业技术学院 Cold-chain logistics transportation trolley
CN104477551A (en) * 2014-12-22 2015-04-01 南京金牛机械制造股份有限公司 Three-dimensional storehouse shuttle vehicle
CN104476309A (en) * 2014-11-03 2015-04-01 宁波海天精工股份有限公司 Machine tool workbench conveying trolley
CN105083834A (en) * 2015-09-02 2015-11-25 广运机电(苏州)有限公司 Traveling mechanism on multi-layer shuttle vehicle
CN106494811A (en) * 2016-09-22 2017-03-15 南京理工大学 A kind of can comprehensive steering energy-conservation shuttle
CN106608306A (en) * 2016-07-25 2017-05-03 中科新松有限公司 Wall-climbing robot
CN107856695A (en) * 2017-10-23 2018-03-30 东华大学 A kind of annular shuttle active steering apparatus for adapting to different orbit radiuses
CN108382778A (en) * 2018-04-03 2018-08-10 上海精星仓储设备工程有限公司 A kind of annular shuttle loading platform active steering apparatus and method
CN109422056A (en) * 2017-08-30 2019-03-05 富鼎电子科技(嘉善)有限公司 Store in a warehouse robot
CN112093350A (en) * 2020-09-15 2020-12-18 隆链智能科技(上海)有限公司 Sixteen-wheel four-way shuttle
CN112173520A (en) * 2019-07-04 2021-01-05 南京苏星智能装备有限公司 Stacker with four-way walking function and control method thereof

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Cited By (18)

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CN104210793A (en) * 2014-09-03 2014-12-17 昆明七零五所科技发展总公司 Cam mechanism type steerable shuttle
CN104210794A (en) * 2014-09-03 2014-12-17 昆明七零五所科技发展总公司 Electric cylinder steered rail shuttle
CN104229370A (en) * 2014-09-26 2014-12-24 昆明七零五所科技发展总公司 Positioning device and positioning method for rail guide vehicle with steering function
CN104476309A (en) * 2014-11-03 2015-04-01 宁波海天精工股份有限公司 Machine tool workbench conveying trolley
CN104476309B (en) * 2014-11-03 2017-02-01 宁波海天精工股份有限公司 Machine tool workbench conveying trolley
CN104326205A (en) * 2014-11-03 2015-02-04 陈剑伟 Intelligent shuttling car provided with 360-degree steering function
CN104444005A (en) * 2014-12-10 2015-03-25 苏州工业职业技术学院 Cold-chain logistics transportation trolley
CN104477551A (en) * 2014-12-22 2015-04-01 南京金牛机械制造股份有限公司 Three-dimensional storehouse shuttle vehicle
CN105083834A (en) * 2015-09-02 2015-11-25 广运机电(苏州)有限公司 Traveling mechanism on multi-layer shuttle vehicle
CN106608306A (en) * 2016-07-25 2017-05-03 中科新松有限公司 Wall-climbing robot
CN106494811B (en) * 2016-09-22 2019-06-25 南京理工大学 It is a kind of can comprehensive steering energy saving shuttle
CN106494811A (en) * 2016-09-22 2017-03-15 南京理工大学 A kind of can comprehensive steering energy-conservation shuttle
CN109422056A (en) * 2017-08-30 2019-03-05 富鼎电子科技(嘉善)有限公司 Store in a warehouse robot
CN109422056B (en) * 2017-08-30 2021-09-28 富鼎电子科技(嘉善)有限公司 Storage robot
CN107856695A (en) * 2017-10-23 2018-03-30 东华大学 A kind of annular shuttle active steering apparatus for adapting to different orbit radiuses
CN108382778A (en) * 2018-04-03 2018-08-10 上海精星仓储设备工程有限公司 A kind of annular shuttle loading platform active steering apparatus and method
CN112173520A (en) * 2019-07-04 2021-01-05 南京苏星智能装备有限公司 Stacker with four-way walking function and control method thereof
CN112093350A (en) * 2020-09-15 2020-12-18 隆链智能科技(上海)有限公司 Sixteen-wheel four-way shuttle

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