CN103950673B - A kind of shuttle with turning function - Google Patents
A kind of shuttle with turning function Download PDFInfo
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- CN103950673B CN103950673B CN201410205122.4A CN201410205122A CN103950673B CN 103950673 B CN103950673 B CN 103950673B CN 201410205122 A CN201410205122 A CN 201410205122A CN 103950673 B CN103950673 B CN 103950673B
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Abstract
The invention discloses a kind of novel track shuttle with turning function.It comprises shuttle vehicle body, and be arranged on traveling mechanism, steering hardware, lifting mechanism, electric-control system, battery and charge system on vehicle body, communication module seven parts, the while of steering hardware drive four-wheel, 90 degree turn to, and can realize all around four direction in same orbit plane and travel.Steering hardware is fixed by screws on vehicle body wheel mount, and wheel mount is fixed on tie-beam and bearing beam by screw, and when turning to, the bevel pinion of bevel drive 35 drives the bevel gear wheel transmission being installed on wheel steering shaft, and wheel is embedded in below wheel mount.Traveling mechanism is connected on cornerwise two driving wheels of vehicle body, and lifting mechanism is fixed on vehicle body bearing beam.Shuttle can assist without the need to fork truck or piler the stock tunnel independently can sailing different lines in tiered warehouse facility, then can sail any goods yard of tiered warehouse facility after changing layer by gig into, really realize high efficiency, high density, full-automatic unmanned tiered warehouse facility.
Description
Technical field
The present invention relates to a kind of track shuttle with turning function, belong to rail travel equipment technical field 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 determines the storage density in warehouse, throughput speed and automatization level.The access arrangement of current use mainly comprises lane stacker and track shuttle, lane stacker needs to configure special traveling tunnel on inventory storage shelves side, and the piler access goods on each traveling tunnel is limited, and shuttle is without the need to travelling tunnel, can storage density be increased substantially, become tiered warehouse facility automatic access equipment development direction of new generation gradually.Shuttle major part domestic at present only possesses advances or retreats both direction driving functions, as the shuttle (SHUTTLEFORAUTOMATEDWAREHOUSE of company of Dematic Pty Ltd. (AU), U.S. Patent number S2012/0099953A1), this class shuttle can only travel front and back in same stock tunnel, must could arrive the work of other stock tunnels by fork truck is auxiliary, change layer and also complete mainly through fork truck.
The domestic rail vehicle possessing both direction traveling only has patent of invention (patent No. 201010216047.3) " a kind of automatic track exchanging trolley " of Kunshan HuaHeng engineering Technology Center Co., Ltd's application in 2010 at present, it is characterized in that the track adopted is divided into main orbit, moving sets rail and Post Orbit, track structure is complicated, is not suitable for using in the tiered warehouse facility of low cost.The present invention passes shuttle then only to be needed 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 with type of drive according to looking into its steering hardware of new data, require higher to track.Therefore, how overcoming the deficiencies in the prior art is problems that current rail travel equipment technical field needs solution badly.
Summary of the invention
The object of the invention is 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 also synchronously turns to by four wheels 90 degree, left with to right travel, thus can achieve four direction motion in same orbit plane.When accessing goods in the layer stereo warehouse possessing orthogonal walking tunnel and stock tunnel, by travelling in walking tunnel and the commutation of stock tunnel crossover location, independently can sail the stock tunnel of different lines into, any goods yard of tiered warehouse facility then can be sailed into after changing layer by gig, thus the storage density of the existing tiered warehouse facility of significant increase, the degree of automation of comprehensive raising tiered warehouse facility, the unmanned of real Implementation repository.
The technical solution used in the present invention is as follows:
A kind of shuttle with turning function, it comprises shuttle vehicle body, and the traveling mechanism be arranged on vehicle body, steering hardware, lifting mechanism, electric-control system, battery and charge system, communication module seven parts, steering hardware is fixed by screws on vehicle body wheel mount, on the tie-beam that wheel mount is fixed on vehicle body by screw and bearing beam, wheel is embedded in below wheel mount, 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 by the bearing seat on its actuating unit and is connected with vehicle body, 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, and transmission resistance is apart from limiting 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, first driving wheel and the second driving wheel are connected with the wheel mount of two in base plate diagonal positions respectively, first flower wheel and the second flower wheel are connected with two other wheel mount on base plate respectively, 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 while be connected with supporting plate by hinge, the edge of opposite side is provided with cabinet lock, first sensor is located at the top of supporting plate, second sensor is located at the side of supporting plate, and roller and pilot bar are fixedly connected on the upper surface of supporting plate respectively, 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, 3rd servomotor is connected with retarder, and be arranged on retarder mount pad, be arranged with two altogether to the axle connected 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 is connected by chain, described tension wheel is located at below described chain and chain contact, tension wheel is arranged on tension wheel mount pad, tension wheel mount pad and being fixedly linked with bearing beam.
Described vehicle body comprises base plate, plate is covered on long limit, minor face covers plate, bearing beam, wheel mount and tie-beam, described bearing beam and tie-beam are 90 degree and arrange, and bearing beam and tie-beam right angle joint 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 to long limit illiteracy plate, described long limit is covered plate and minor face and is covered plate and be 90 degree and arrange, and described long limit illiteracy plate and bearing beam be arranged in parallel; Plate is covered on described long limit and minor face covers the surrounding that plate is fixed on base plate, and described bearing beam, wheel mount are fixedly connected with base plate respectively with tie-beam.
Described electric-control system comprises computer for controlling, described computer for controlling comprises the nucleus module of the microprocessor based on ARM kernel, interface board module and power module and forms, control software design is embedded in computer for controlling ARM microprocessor, to realize full car motion control and intelligent anticollision warning.
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 cooperation control scheduling of multiple stage shuttle 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 stock tunnel of shelf with gig, different layers completes goods outbound and warehouse-in task;
Shuttle can accept the control of upper computer, under the scheduling of control station, can carry out work by multiple stage shuttle simultaneously;
Shuttle operationally, can to upper computer uploading position, speed, electricity, have out of stock, the information such as fault, service condition;
Shuttle has long-range remote control function, manually can be finished the work by remote controller;
Shuttle has to be deposited, picks goods function, can issue work order or remote command complete the picking of goods, move, deposit according to management imformation system;
Shuttle has fault alarm prompt facility, self mechanism malfunction, as lifting mechanism or traveling gear et out of order, can send light warning, and to upper computer reported failures information;
Shuttle has parking warning function, when shuttle carries out in access operation process in tunnel, if due to abnormal condition, as the goods on pallet cave in make the event of the impact such as tunnel blocking safety and cause non-normal stop time, 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: when capacity of cell is inadequate, and after upper computer sends charging instruction, shuttle can charge to shelf charging zone by automatic moving 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 the stock in stock tunnel and picking.The novel track shuttle of the band turning function of the present invention's design, not only can move forward and backward, synchronously turned to by four wheels 90 degree, can left with to right travel, thus achieve four direction motion in same orbit plane, when accessing goods in the layer stereo warehouse of multiple lines and multiple rows orthogonal trajectory, automatically the stock tunnel of different lines can be sailed into layer, any goods yard of tiered warehouse facility then can be sailed into after changing layer by gig, thus the storage density of the existing tiered warehouse facility of significant increase, the degree of automation of comprehensive raising tiered warehouse facility, under upper information system scheduling, multiple stage shuttle can arrive tiered warehouse facility random layer, any tunnel, stock and picking operation are carried out in any goods yard, without the need to manpower intervention, really realize high efficiency, high density, full-automatic unmanned tiered warehouse facility.
Accompanying drawing explanation
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-computer for controlling;
Fig. 2 is the structural representation of shuttle vehicle body of the present invention; Wherein, plate, 13-minor face illiteracy plate, 14-bearing beam, 15-wheel mount, 16-tie-beam are covered in 11-base plate, the long limit of 12-;
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-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 computer for controlling 8, shuttle is provided with traveling mechanism, steering hardware, lifting mechanism, electric-control system, battery and charge system, communication module 7 parts 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 below wheel mount when turning to.Traveling mechanism diagonal angle Dual Drive is arranged, be connected on cornerwise two wheels of vehicle body, when turning to, four-wheel turns to together, and is positioned on base plate 11 fan section, and being conducive to turning 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, realizes the connection 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 motor direct-drive, two driving wheels, drive shuttle is walked, steering hardware 3 realizes four wheels 90 degree and synchronously turns under Serve Motor Control, lifting mechanism 4 is for lifting and put down pallet, electric-control system 5 comprises vehicle body 1 circuit, computer for controlling, realize the functions such as full car motion control and intelligent anticollision warning together, 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 base plate 11, plate 12 is covered on 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 arranged in 90 degree with tie-beam 16, and bearing beam 14 and tie-beam 16 right angle joint are provided with wheel mount 15, described tie-beam 16 arranged outside has minor face to cover plate 13, the two ends that described minor face covers plate 13 are connected to long limit illiteracy plate 12, described long limit illiteracy plate 12 covers plate 13 with minor face and arranges in 90 degree, and plate 12 is covered on described long limit and bearing beam 14 be arranged in parallel; Described long limit is covered plate 12 and is covered with minor face the surrounding that plate 12 is fixed on base plate 11, and described bearing beam 14, wheel mount 15 are fixedly connected with base plate respectively with tie-beam 16.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 adopts machine to add and ensures location, setting accuracy requirement; Seam is connected 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 realizes transmission of power, inside and outside tightening device 36,37 is convenient to regulate tightness of synchronous belt degree, drives steered wheel rotation, automatic locking after pivot stud 90 ° while bevel drive 35 slows down.
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, first driving wheel and the second driving wheel are connected with two wheel mounts 15 in base plate 11 diagonal positions respectively, first flower wheel and the second flower wheel are connected with two other wheel mount 15 on base plate 11 respectively, first servomotor is connected with the turning cylinder of the first driving wheel, first flower wheel is servo-actuated, 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, 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 while be connected with supporting plate 41 by hinge 45, and the edge of opposite side is provided with cabinet lock 43, first sensor 46 is located at the top of supporting plate 41, second sensor 47 is located at the side of supporting plate 41, roller 48 and pilot bar 49 are fixedly connected on the upper surface of supporting plate 41 respectively.
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, 3rd servomotor 50 is connected with retarder 51, and be arranged on retarder mount pad 58, be arranged with two altogether to the axle 53 connected by fast coupling 52, 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 is connected 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 and bearing beam 14 are fixedly linked, by maximum working load Gmax=1000kg, maximum lifting time 2s, the servomotor 50 selected, retarder 51 meet the requirement of lifting mechanism work.Eccentric wheel 57 eccentric throw 15mm ± 0.1mm meets adjustable height requirement, selects the machinework of 40Cr material, and improves superficial hardness by modifier treatment.40Cr materials processing selected by sprocket wheel 55, and improve tooth face hardness by heat treatment.Wherein, driven sprocket adopts clamped-in style structure installment 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 not be 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 computer for controlling, servomotor, various sensor, vehicle circuitry formation.Computer for controlling comprises the nucleus module of the microprocessor based on ARM kernel, interface board module and power module and forms, control software design is embedded in computer for controlling ARM microprocessor, realize the functions such as full car motion control and intelligent anticollision warning, be responsible for battery and Charge Management simultaneously.Full car 4 servomotors are electric-control system actuating units, complete walking, turn to, elevating function, and four electric machine controllers are by CAN or the networking of 485 buses and computer for controlling 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 after receiving charge command, charging plug on vehicle body 1 is plugged into automatically with the charging socket installed on charging goods yard, 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, time division multiple access method is adopted to set up cordless communication network, be responsible between shuttle and upper computer, radio communication between shuttle and remote controller, can realize the cooperation control scheduling of multiple stage shuttle 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, the shuttle path of automatically planning from current location along upper computer drives to respectively by transverse direction or long rails the entrance goods yard that tiered warehouse facility specifies and picks goods, if need to change layer, then automatic running is to gig position, gig is entered under upper computer scheduling, after arriving designated layer, leave gig, drive to entrance goods yard and pick goods.Obtain and to continue after goods to reach the inventory location arrangement of goods of specifying according to the path of upper computer planning respectively by transverse direction or long rails, gig.
If receive outbound instruction, the shuttle path of automatically planning from current location along upper computer drives to respectively by transverse direction or long rails the inventory location that tiered warehouse facility specifies and picks goods, if need to change layer, then automatic running is to gig position, gig is entered under upper computer scheduling, after arriving designated layer, leave gig, drive to inventory location and pick goods.Obtain and to continue after goods to reach respectively by transverse direction or long rails, gig the outlet goods yard arrangement of goods that tiered warehouse facility is specified according to the path of upper computer planning.
If need mobile cargo in tiered warehouse facility, then according to upper computer instruction, along path planning, respectively by transverse direction or long rails after picking goods to a certain goods yard, gig drives to assigned address arrangement of goods.
The information such as real-time report self-position, voltage, electric current in shuttle driving process, if battery electric quantity is lower than specified value, then automatically enters and specifies charge position to charge, continue to put into operation after charging complete.
In shuttle driving process, find self mechanism malfunction, light warning can be sent immediately, and to upper computer reported failures information; When shuttle carries out in goods access operation process in tunnel, if due to abnormal condition, make the event of the impact such as tunnel blocking safety as the goods on pallet caves in, and when causing non-normal stop, shuttle also can send light warning, and to upper computer report alarm message; Shuttle also has urgent collision prevention function, when front in shuttle driving process occurs that obstacle can stop by automatic emergency, reports alarm message simultaneously, waits pending.
During 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.
When turning to, turn to driven by servomotor retarder, reducer power is delivered to short Timing Belt while being delivered to the first driving wheel by finishing bevel gear cuter mechanism, short Timing Belt by transmission of power to transmission shaft, by long Timing Belt while power is delivered to the first flower wheel by finishing bevel gear cuter mechanism by one end of transmission shaft, 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, thus (as: wheel is clickwise to realize adjacent wheel retrograde rotation, then another wheel is left-hand revolution) handling maneuver.
Lifting mechanism course of action: rotate the messenger chain formed by servomotor band movable sprocket, chain in actuating unit, the eccentric wheel be connected with sprocket coaxiality is driven to rotate, and eccentric wheel and the roller in supporting plate assembly fit tightly, by the guiding of pilot bar and spacing, thus realize lifting action.
Under the realization of warning function mainly relies on the alert if of regulation, generation alerting signal is delivered to computer for controlling and is carried out comprehensive descision by related sensor, if need sudden stop, computer for controlling sends braking commands and realizes emergency braking to servomotor, if need to report, computer for controlling sends alert data to communication module 7, reports host computer, light relative alarm indicator lamp on car simultaneously through wireless mode.
Claims (6)
1. the shuttle with turning function, it is characterized in that: it comprises shuttle vehicle body, and the traveling mechanism be arranged on vehicle body, steering hardware, lifting mechanism, electric-control system, battery and charge system, communication module six parts, steering hardware is fixed by screws on vehicle body wheel mount, on the tie-beam that wheel mount is fixed on vehicle body by screw and bearing beam, wheel is embedded in below wheel mount, 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 by the bearing seat on its actuating unit and is connected with vehicle body, electric-control system, battery and charge system, communication module is contained on vehicle body,
Described steering hardware comprises servomotor, first retarder, transmission device, described transmission device comprises synchronous belt pulley transmission, bevel drive, described synchronous belt pulley transmission comprises long synchronous pulley, short synchronous pulley, 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 bevel drive is connected with one end of short synchronous pulley, the other end of described short synchronous pulley is provided with the first retarder, 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 while be connected with supporting plate by hinge, the edge of opposite side is provided with cabinet lock, first sensor is located at the top of supporting plate, second sensor is located at the side of supporting plate, and roller and pilot bar are fixedly connected on the upper surface of supporting plate respectively, described actuating unit comprises the 3rd servomotor, second retarder, fast coupling, axle, bearing seat, sprocket wheel, tension wheel, eccentric wheel, second retarder mount pad, chain and tension wheel mount pad, 3rd servomotor is connected with the second retarder, and be arranged on the second retarder mount pad, be arranged with two altogether to the axle connected 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 is connected by chain, described tension wheel is located at below described chain and chain contact, tension wheel is arranged on tension wheel mount pad, tension wheel mount pad and being fixedly linked with bearing beam.
2. the shuttle of band turning function according to claim 1, it is characterized in that: described vehicle body comprises base plate, plate is covered on long limit, minor face covers plate, bearing beam, wheel mount and tie-beam, described bearing beam and tie-beam are 90 degree and arrange, and bearing beam and tie-beam right angle joint 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 to long limit illiteracy plate, described long limit is covered plate and minor face and is covered plate and be 90 degree and arrange, and described long limit illiteracy plate and bearing beam be arranged in parallel; Plate is covered on described long limit and minor face covers the surrounding that plate is fixed on base plate, and described bearing beam is fixedly connected with base plate respectively with tie-beam.
3. the shuttle of band 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, and Ni-MH power cell is connected with charging plug by charging cable.
4. the shuttle of band 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 cooperation control scheduling of multiple stage shuttle and upper computer.
5. the shuttle of band turning function according to claim 2, is characterized in that described eccentric eccentric throw is 15mm ± 0.1mm.
6. the shuttle of band 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, first driving wheel and the second driving wheel are connected with the wheel mount of two in base plate diagonal positions respectively, first flower wheel and the second flower wheel are connected with two other wheel mount on base plate respectively, and first and second servomotor is connected with the turning cylinder of first and second driving wheel respectively.
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| CN201410205122.4A CN103950673B (en) | 2014-05-15 | 2014-05-15 | A kind of shuttle with turning function |
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| CN201410205122.4A CN103950673B (en) | 2014-05-15 | 2014-05-15 | A kind of shuttle with turning function |
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