CN104210793A - Cam mechanism type steerable shuttle - Google Patents
Cam mechanism type steerable shuttle Download PDFInfo
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- CN104210793A CN104210793A CN201410444804.0A CN201410444804A CN104210793A CN 104210793 A CN104210793 A CN 104210793A CN 201410444804 A CN201410444804 A CN 201410444804A CN 104210793 A CN104210793 A CN 104210793A
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Abstract
The invention discloses a cam mechanism type steerable shuttle, and is intended to provide a cam mechanism type steerable shuttle which has the advantages of reasonable structure, accurate and reliable steering control and high precision. The cam mechanism type steerable shuttle comprises a drive mechanism; the drive mechanism comprises a chain drive mechanism, gear drive mechanisms and cam mechanisms; the chain drive mechanism comprises a chain, tensioning chain wheels and four driving chain wheels, and the four driving chain wheels are arranged on body wheel seats and correspond to the positions of four wheels; the chain is engaged with the driving chain wheels and the tensioning chain wheels and arranged around the wheel seats; each gear drive mechanism comprises two first-stage gear sets and two second-stage gear sets; each cam mechanism comprises a driven roller part and a big gear, the big gear is respectively engaged with the output gears of the first-stage gear sets and the second-stage gear sets, a planar grooved cam is arranged on the end surface of the big gear, and the driven roller part is in contact with the planar grooved cam, and is eccentrically fixedly connected with the steering shaft of a driving wheel to form a swing mechanism.
Description
Technical field
The present invention relates to track shuttle technical field, especially relate to a kind of cam mechanism type and turn to shuttle.
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 shuttle (the SHUTTLE FOR AUTOMATED WAREHOUSE of company of Dematic Pty Ltd. (AU), U.S. Patent number S 2012/ 0099953 A1), 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 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, and the patent of invention (application number 201410205122.4) " a kind of shuttle with turning function " of Science and Tech. Development General Co., Kunming NO.705 Inst.'s application in 2014, the former is characterized in that the track adopted is divided into main orbit, moving sets rail and Post Orbit, track structure is complicated, be not suitable for using in the tiered warehouse facility of low cost, the latter is characterized in that stock tunnel and walking tunnel are arranged vertically, wheel pivot stud is relied on to realize switching tracks.Shuttle of the present invention still only needs to lay vertically arranged stock tunnel and walking tunnel, wheel pivot stud is relied on to realize switching tracks, but steering hardware and lifting mechanism completely different from it, all improve a lot in course changing control, elevating control, off-position control.According to looking into new data, its steering hardware of external similar products is completely different from the present invention with lifting mechanism, requires 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
Instant invention overcomes shortcoming of the prior art, provide a kind of rational in infrastructure, course changing control is accurately and reliably, precision is high, cam mechanism type turn to shuttle.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions: a kind of cam mechanism type turns to shuttle, comprise shuttle vehicle body, and the traveling mechanism be arranged on vehicle body, steering hardware, lifting mechanism, battery and charge system, electric-control 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 four wheel drive is arranged, be connected on four driving wheels of vehicle body, lifting mechanism to be fixed on bearing beam by its actuating unit and to be connected with vehicle body, battery and charge system, electric-control system, communication module is arranged on vehicle body,
Described steering hardware comprises and turns to servomotor, retarder, transmission device; Described transmission device comprises chain drive, gear drive, cam mechanism; Described chain drive comprises chain, idler sprocket and four are arranged at drive sprocket corresponding with four wheel positions on vehicle body wheel mount; Described chain engagement drive sprocket, idler sprocket are arranged one week along wheel mount; Described gear drive comprises two one-level gear clusters and two secondary gear wheels, and two one-level gear clusters and two secondary gear groups are coaxially installed with four drive sprockets respectively, described one-level gear cluster and secondary gear wheels arranged in a crossed manner; Described cam mechanism totally four groups, be in transmission connection with gear cluster respectively, described cam mechanism is made up of roller follower and big gear wheel, described big gear wheel engages with the output wheel of one-level gear cluster and secondary gear wheels respectively, the end face of described big gear wheel is provided with plane slot cam, described roller follower coordinates with plane slot cam contact, and the steering shaft bias of described roller follower and driving wheel is fixedly connected to form swinging gear; By chain drive, gear drive, motive torque is transferred in big gear wheel when turning to, while big gear wheel rotates, contacted with roller follower by the groove structure of plane slot cam, driven roller driven member swings around wheel steering shaft, thus drive wheel steering, until complete 90 degree turn to after, roller follower, by the positive and negative groove being limited in plane slot cam, realizes mechanical self-latching.
Preferably, 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 and roller mount, described checkered plate is fixed on the supporting plate left and right sides, and cover plate is located in the middle of supporting plate, and it is 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, and the second sensor is located at the side of supporting plate, and roller mount is fixedly connected on the lower surface of supporting plate, described actuating unit comprises servomotor, retarder, electric machine support, drive sprocket, idler sprocket, chain, bearing seat, line slideway, ball-screw screw mandrel, ball-screw nut support, ball-screw nut, slide block, hold-down arm, rotating shaft, connecting rod and roller, servomotor is connected with retarder, and be arranged on electric machine support, be arranged with two idler sprockets altogether, bearing sleeve is connected on one end of ball-screw screw mandrel, described bearing seat is fixed on bearing beam, described ball-screw nut is connected with ball-screw screw mandrel and is socketed on ball-screw nut support, described ball-screw nut support is fixed on slide block, and described slide block is connected with line slideway, and described slide block has cam path, described cam path and rotating shaft form cam mechanism, described line slideway is fixed on bearing beam, and described rotating shaft is through bearing beam, and one end is with in the cam path be placed on slide block, the other end is placed in the hole of hold-down arm, described hold-down arm is arranged on bearing beam, and described connecting rod one end is connected with hold-down arm, and the other end is connected with the roller mount on supporting plate by roller.
Preferably, 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 and cover plate, and described long limit is covered plate and minor face and 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.
Preferably, 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.
Preferably, 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.
Preferably, described traveling mechanism comprises the servomotor of four driving wheels and four driving driving wheels, and four driving wheels are connected with corresponding wheel mount respectively, and servomotor is connected with the turning cylinder of driving wheel.
Preferably, described in turn to servomotor to be horizontally disposed with, described retarder is right-angle reduction device, is transformed into turning to the output of servomotor vertical direction from horizontal direction.
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, tool of the present invention has the following advantages:
Domestic shuttle matured product 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 cam mechanism type of the present invention's design turns to shuttle, 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, and there is higher course changing control precision, elevating control precision, off-position control accuracy.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, arbitrarily tunnel, arbitrarily goods yard and carry out stock and picking operation, without the need to manpower intervention, really realize high efficiency, high density, full-automatic unmanned tiered warehouse facility.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying 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-battery and charge system, 6-electric-control system, 7-communication module;
Fig. 2 is the structural representation of shuttle vehicle body of the present invention; Wherein, plate, 10-minor face illiteracy plate, 11-bearing beam, 12-wheel mount, 13-tie-beam are covered in 8-base plate, the long limit of 9-;
Fig. 3 is the structural representation of shuttle steering hardware of the present invention; Wherein, 14-servomotor, 15-retarder, 16-drive sprocket, 17-idler sprocket, 18-chain, 19-one-level gear cluster, 20-secondary gear wheels, 21-roller follower;
Fig. 4 is the partial enlarged drawing of the plane roller disk cam mechanism of shuttle steering hardware of the present invention; Wherein, e-big gear wheel, i-plane slot cam, 21-roller follower;
Fig. 5 is the structural representation of shuttle supporting plate assembly of the present invention; Wherein, 22-supporting plate, 23-checkered plate, 24-cabinet lock, 25-cover plate, 26-hinge, 27-roller mount, 28-second sensor, 29-first sensor;
Fig. 6 is the structural representation of shuttle actuating unit of the present invention; Wherein, 30-servomotor, 31-retarder, 32-drive sprocket, 33-electric machine support, 34-idler sprocket, 35-chain, 36-bearing seat, 37-line slideway, 38-ball-screw leading screw, 39-ball-screw nut, 40-ball-screw nut support, 41-slide block, 42-hold-down arm, 43-rotating shaft, 44-connecting rod, 45-roller.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not paying the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in figures 1 to 6, shuttle of the present invention comprises vehicle body 1, traveling mechanism 2, steering hardware 3, lifting mechanism 4, battery and charge system 5, electric-control system 6 and communication module 7, shuttle vehicle body is provided with traveling mechanism, steering hardware, lifting mechanism, battery and charge system, electric-control system, communication module 6 parts, described steering hardware is fixed by screws on vehicle body wheel mount 12, wheel mount is fixedly connected with tie-beam 13 with bearing beam 11 by screw, drives the wheel steering below wheel mount when turning to.Traveling mechanism four wheel drive is arranged, be connected on four wheels, when turning to, four-wheel turns to together, and is positioned on base plate 8 fan section, and being conducive to turning to rear electric-control system to adjust shuttle is straight-line travelling.Lifting mechanism to be fixed on bearing beam 11 by its actuating unit and to be 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 four motor direct-drive, four 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, battery and charge system 5 are responsible for full car power supply and Charge Management, electric-control system 6 comprises vehicle body 1 circuit, computer for controlling, realize the functions such as full car motion control and intelligent anticollision warning together, 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 comprises base plate 8, plate 9 is covered on long limit, minor face covers plate 10, bearing beam 11, wheel mount 12 and tie-beam 13, as shown in Figure 2.Described bearing beam 11 is arranged in 90 degree with tie-beam 13, and bearing beam 11 and tie-beam 13 right angle joint are provided with wheel mount 12, described tie-beam 13 arranged outside has minor face to cover plate 10, the two ends that described minor face covers plate 10 are connected to long limit illiteracy plate 9, described long limit illiteracy plate 9 covers plate 10 with minor face and arranges in 90 degree, and plate 9 is covered on described long limit and bearing beam 11 be arranged in parallel; Described long limit is covered plate 9 and is covered with minor face the surrounding that plate 10 is fixed on base plate 8, and described bearing beam 11, wheel mount 12 are fixedly connected with base plate respectively with tie-beam 13.Tie-beam 13, bearing beam 11 form main body of vehicle frame with wheel mount 12.Tie-beam 13, bearing beam 11 adopt Plate Welding mode to shape, the benchmark that tie-beam 13, bearing beam 11 and wheel mount 12 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 locating dowel pin and screw M10 × 15 behind location, ensures that axletree is apart from meeting design requirement.Vehicle body 1 base plate 8 adopts steel plate bending to be shaped.
Steering hardware 3 on shuttle vehicle body comprises and turns to servomotor 14, retarder 15, transmission device; Described transmission device comprises chain drive, gear drive, cam mechanism; Described chain drive comprises chain 18, idler sprocket 17 and four are arranged at drive sprocket corresponding with four wheel positions on vehicle body wheel mount; Described chain 18 engages drive sprocket 16, idler sprocket 17 is arranged one week along wheel mount; Described gear drive comprises two one-level gear clusters 19 and two secondary gear wheels, 20, two one-level gear clusters 19 and two secondary gear wheels 20 and coaxially installs with four drive sprockets 16 respectively, described one-level gear cluster 19 and secondary gear wheels 20 arranged in a crossed manner; Described cam mechanism totally four groups, be in transmission connection with gear cluster respectively, described cam mechanism is made up of roller follower 21 and big gear wheel e, described big gear wheel e engages with the output wheel of one-level gear cluster 19 and secondary gear wheels 20 respectively, the end face of described big gear wheel e is provided with plane slot cam i, described roller follower 21 contacts with plane slot cam i and coordinates, and described roller follower 21 is fixedly connected to form swinging gear with the steering shaft bias of driving wheel; By chain drive, gear drive, motive torque is transferred on big gear wheel e when turning to, while big gear wheel e rotates, contacted with roller follower 21 by the groove structure of plane slot cam i, driven roller driven member 21 swings around wheel steering shaft, thus drive wheel steering, until complete 90 degree turn to after, roller follower 21, by the positive and negative groove being limited in plane slot cam i, realizes mechanical self-latching.Described one-level gear cluster comprises a gear, described secondary gear wheels comprise two gears, by one-level gear cluster and secondary gear wheels form arranged in a crossed manner, the direction of rotation of adjacent wheels when shuttle is turned to, the each component of the wheel of rear shuttle is turned to again to form symmetry, guarantee weight distribution is even, center of gravity held stationary, ensures the balance after turning to further and travels precision.Obviously also can increase one-level gear cluster and secondary gear wheels comprise the quantity of gear, to realize when shuttle turns to adjacent wheel steering on the contrary.
As preferred mode, described in turn to servomotor 14 to be horizontally disposed with, described retarder 15 adopts right-angle reduction device, is transformed into turning to the output of servomotor 14 vertical direction from horizontal direction.
Traveling mechanism on shuttle vehicle body comprises the servomotor b of four driving wheels a, c, d, g and four driving driving wheels, and driving wheel is connected with respective wheel mount 12 respectively, and servomotor is connected with the turning cylinder of driving wheel.
Lifting mechanism 4 on shuttle vehicle body is made up of supporting plate assembly and actuating unit, wherein supporting plate assembly comprises supporting plate 22, checkered plate 23, cabinet lock 24, cover plate 25, hinge 26, roller mount 27, second sensor 28 and first sensor 29, as shown in Figure 5, described checkered plate 23 is fixed on supporting plate 22 left and right sides, cover plate 25 is located in the middle of supporting plate 22, cover plate 25 is while be connected with supporting plate 22 by hinge 26, and the edge of opposite side is provided with cabinet lock 24, roller mount 27 is fixedly connected on the lower surface of supporting plate 22, first sensor 29 is located at the top of supporting plate 22, second sensor 28 is located at the side of supporting plate 22.
Actuating unit comprises servomotor 30, retarder 31, drive sprocket 32, electric machine support 33, idler sprocket 34, chain 35, bearing seat 36, line slideway 37, ball-screw screw mandrel 38, ball-screw nut support 39, ball-screw nut 40, slide block 41, hold-down arm 42, rotating shaft 43, connecting rod 44 and roller 45, as shown in Figure 6, servomotor 30 is connected with retarder 31, and be arranged on electric machine support 33, be arranged with two idler sprockets 34 altogether, bearing seat 36 is socketed in one end of ball-screw screw mandrel 38, described bearing seat 36 is fixed on bearing beam 11, described ball-screw feed screw nut 40 is connected with ball-screw screw mandrel 38 and is socketed on ball-screw nut support 39, described ball-screw nut support 39 is fixed on slide block 41, described slide block 41 is connected with line slideway 37, described slide block 41 has cam path, described cam path and rotating shaft 43 form cam mechanism, described line slideway 37 is fixed on bearing beam 11, described rotating shaft 43 is through bearing beam 11, one end is with in the cam path be placed on slide block 41, the other end is placed in the hole of hold-down arm 42, described hold-down arm 42 is arranged on bearing beam 11, described connecting rod 44 one end is connected with hold-down arm 42, the other end is connected with the roller mount 27 on supporting plate 22 by roller 45.Concrete course of action is as follows: chain 35 drives ball-screw screw mandrel 38 to rotate, thus drive slide block 41 traverse motion be connected with ball-screw nut, cam path compressing rotating shaft 43 on slide block 41 pumps, thus drive hold-down arm 42 crank motion, and connecting rod 44 one end is connected with hold-down arm 42, the other end is connected with supporting plate 22, finally realizes the lifting action of supporting plate.By maximum working load Gmax=1000kg, maximum lifting time 3s, the servomotor 30 selected, retarder 31 meet the requirement of lifting mechanism work.The distance that hold-down arm 42 swings up and down meets adjustable height requirement, selects the machinework of 40Cr material, and improves superficial hardness by modifier treatment.40Cr materials processing selected by sprocket wheel, and improve tooth face hardness by heat treatment.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.
Battery and charge system 5 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.
Shuttle electric-control system 6 comprises computer for controlling, servomotor, various sensor, vehicle circuitry.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 6 servomotors are electric-control system actuating units, complete walking, turn to, elevating function, and six electric machine controllers are by CAN or the networking of 485 buses and computer for controlling real-time Communication for Power.
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; Shuttle adopts four wheel drive.
When turning to, turn to driven by servomotor retarder, reducer power is delivered to one-level gear cluster and secondary gear wheels by chain, and one-level gear cluster and secondary gear group drive each self-corresponding cam mechanism respectively, thus drives wheel steering.Change vehicle wheel rotation direction by one-level gear cluster and secondary gear wheels, thus realize the handling maneuver of adjacent wheel retrograde rotation (wheel is clickwise, then another wheel is left-hand revolution).
Lifting mechanism course of action: drive drive sprocket, chain to rotate by servomotor in actuating unit and form messenger chain, drive ball screw framework action, thus drive cam mechanism action, the connecting rod mechanism action that further drive is connected with cam mechanism, and connecting rod mechanism is connected with supporting plate assembly, finally realize the lifting action of supporting plate.
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.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a cam mechanism type turns to shuttle, it comprises shuttle vehicle body, and the traveling mechanism be arranged on vehicle body, steering hardware, lifting mechanism, battery and charge system, electric-control 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 four wheel drive is arranged, be connected on four driving wheels of vehicle body, lifting mechanism to be fixed on bearing beam by its actuating unit and to be connected with vehicle body, battery and charge system, electric-control system, communication module is arranged on vehicle body, it is characterized in that:
Described steering hardware comprises and turns to servomotor, retarder, transmission device; Described transmission device comprises chain drive, gear drive, cam mechanism; Described chain drive comprises chain, idler sprocket and four are arranged at drive sprocket corresponding with four wheel positions on vehicle body wheel mount; Described chain engagement drive sprocket, idler sprocket are arranged one week along wheel mount; Described gear drive comprises two one-level gear clusters and two secondary gear wheels, and two one-level gear clusters and two secondary gear groups are coaxially installed with four drive sprockets respectively, described one-level gear cluster and secondary gear wheels arranged in a crossed manner; Described cam mechanism totally four groups, be in transmission connection with gear cluster respectively, described cam mechanism is made up of roller follower and big gear wheel, described big gear wheel engages with the output wheel of one-level gear cluster and secondary gear wheels respectively, the end face of described big gear wheel is provided with plane slot cam, described roller follower coordinates with plane slot cam contact, and the steering shaft bias of described roller follower and driving wheel is fixedly connected to form swinging gear; By chain drive, gear drive, motive torque is transferred in big gear wheel when turning to, while big gear wheel rotates, contacted with roller follower by the groove structure of plane slot cam, driven roller driven member swings around wheel steering shaft, thus drive wheel steering, until complete 90 degree turn to after, roller follower, by the positive and negative groove being limited in plane slot cam, realizes mechanical self-latching.
2. the shuttle of band turning function according to claim 1, it is characterized in that: described lifting mechanism comprises supporting plate assembly and actuating unit, supporting plate assembly comprises supporting plate, checkered plate, cabinet is locked, cover plate, hinge, first sensor, second sensor and roller mount, 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, roller mount is fixedly connected on the lower surface of supporting plate, described actuating unit comprises servomotor, retarder, electric machine support, drive sprocket, idler sprocket, chain, bearing seat, line slideway, ball-screw screw mandrel, ball-screw nut support, ball-screw nut, slide block, hold-down arm, rotating shaft, connecting rod and roller, servomotor is connected with retarder, and be arranged on electric machine support, be arranged with two idler sprockets altogether, bearing sleeve is connected on one end of ball-screw screw mandrel, described bearing seat is fixed on bearing beam, described ball-screw nut is connected with ball-screw screw mandrel and is socketed on ball-screw nut support, described ball-screw nut support is fixed on slide block, and described slide block is connected with line slideway, and described slide block has cam path, described cam path and rotating shaft form cam mechanism, described line slideway is fixed on bearing beam, and described rotating shaft is through bearing beam, and one end is with in the cam path be placed on slide block, the other end is placed in the hole of hold-down arm, described hold-down arm is arranged on bearing beam, and described connecting rod one end is connected with hold-down arm, and the other end is connected with the roller mount on supporting plate by roller.
3. the shuttle with turning function according to claim 1 or 2, 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.
4. the shuttle of band turning function according to claim 1 and 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.
5. the shuttle with turning function according to claim 1 or 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.
6. the shuttle with turning function according to claim 1 or 2, it is characterized in that: described traveling mechanism comprises the servomotor of four driving wheels and four driving driving wheels, four driving wheels are connected with corresponding wheel mount respectively, and servomotor is connected with the turning cylinder of driving wheel.
7. the shuttle with turning function according to claim 1 or 2, is characterized in that: described in turn to servomotor to be horizontally disposed with, described retarder is right-angle reduction device, is transformed into turning to the output of servomotor vertical direction from horizontal direction.
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| CN104773494A (en) * | 2015-04-15 | 2015-07-15 | 昆山华恒工程技术中心有限公司 | Track transferring shuttle car |
| CN105217258A (en) * | 2015-10-22 | 2016-01-06 | 江苏高科物流科技股份有限公司 | A kind of RGV dolly |
| CN106144377A (en) * | 2016-09-08 | 2016-11-23 | 山东洛杰斯特物流科技有限公司 | A kind of adjustable shock-absorbing shuttle |
| CN107140395A (en) * | 2017-06-01 | 2017-09-08 | 长春理工大学 | A kind of four-wheel synchronously switches tracks welding material transfer vehicle |
| 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 |
| CN108706270A (en) * | 2018-08-24 | 2018-10-26 | 吴强 | A kind of shuttle picking and placeing cargo in intensive warehouse |
| CN110065759A (en) * | 2019-06-03 | 2019-07-30 | 湖北三丰小松自动化仓储设备有限公司 | A kind of 4 wheel driven four-bar linkage sleeve type four-way shuttle robot |
| CN111320112A (en) * | 2020-04-15 | 2020-06-23 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
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| CN111762080A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Telescopic clamping device and AGV thereof |
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| CN112849869A (en) * | 2020-12-24 | 2021-05-28 | 江苏新冠亿科技有限公司 | Stereoscopic warehouse shuttle |
| CN112978183A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN113135375A (en) * | 2021-04-20 | 2021-07-20 | 昆明欧迈科技有限公司 | Novel four-way shuttle |
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| CN104773494A (en) * | 2015-04-15 | 2015-07-15 | 昆山华恒工程技术中心有限公司 | Track transferring shuttle car |
| CN104773494B (en) * | 2015-04-15 | 2017-02-22 | 昆山华恒工程技术中心有限公司 | Track transferring shuttle car |
| CN105217258A (en) * | 2015-10-22 | 2016-01-06 | 江苏高科物流科技股份有限公司 | A kind of RGV dolly |
| CN105217258B (en) * | 2015-10-22 | 2018-01-05 | 江苏高科物流科技股份有限公司 | A kind of RGV dollies |
| CN106144377A (en) * | 2016-09-08 | 2016-11-23 | 山东洛杰斯特物流科技有限公司 | A kind of adjustable shock-absorbing shuttle |
| CN107140395A (en) * | 2017-06-01 | 2017-09-08 | 长春理工大学 | A kind of four-wheel synchronously switches tracks welding material transfer vehicle |
| 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 |
| CN114789868A (en) * | 2018-04-25 | 2022-07-26 | 自动存储科技股份有限公司 | Container handling carrier and automated storage and retrieval system including same |
| CN108706270A (en) * | 2018-08-24 | 2018-10-26 | 吴强 | A kind of shuttle picking and placeing cargo in intensive warehouse |
| CN111517046A (en) * | 2019-02-03 | 2020-08-11 | 北京京东乾石科技有限公司 | Transport vehicle and wheel assembly thereof |
| CN111762080A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Telescopic clamping device and AGV thereof |
| CN111762080B (en) * | 2019-04-02 | 2023-10-27 | 广东远能机器人有限公司 | Telescopic clamping device and AGV thereof |
| CN110065759A (en) * | 2019-06-03 | 2019-07-30 | 湖北三丰小松自动化仓储设备有限公司 | A kind of 4 wheel driven four-bar linkage sleeve type four-way shuttle robot |
| CN110065759B (en) * | 2019-06-03 | 2024-02-06 | 湖北三丰小松物流技术有限公司 | Four-wheel drive four-link rod sleeved type four-way shuttle robot |
| CN111320112A (en) * | 2020-04-15 | 2020-06-23 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
| CN111320112B (en) * | 2020-04-15 | 2023-09-19 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
| CN112158773A (en) * | 2020-09-27 | 2021-01-01 | 苏州品超智能设备有限公司 | Mobile loading robot and use method |
| CN112849869A (en) * | 2020-12-24 | 2021-05-28 | 江苏新冠亿科技有限公司 | Stereoscopic warehouse shuttle |
| CN112978183A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN113135375A (en) * | 2021-04-20 | 2021-07-20 | 昆明欧迈科技有限公司 | Novel four-way shuttle |
| EP4116236A1 (en) * | 2021-07-06 | 2023-01-11 | Intelligrated Headquarters LLC | Modular vertical lift system |
| US11724878B2 (en) | 2021-07-06 | 2023-08-15 | Intelligrated Headquarters, Llc | Modular vertical lift system |
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