CN104210793B - A kind of cam mechanism type turns to shuttle - Google Patents
A kind of cam mechanism type turns to shuttle Download PDFInfo
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- CN104210793B CN104210793B CN201410444804.0A CN201410444804A CN104210793B CN 104210793 B CN104210793 B CN 104210793B CN 201410444804 A CN201410444804 A CN 201410444804A CN 104210793 B CN104210793 B CN 104210793B
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Abstract
The invention discloses a kind of cam mechanism type and turn to shuttle, it is desirable to provide a kind of rational in infrastructure, the cam mechanism type that course changing control is accurately and reliably, precision is high turns to shuttle.It includes drive mechanism；Described drive mechanism includes chain-drive mechanism, gear drive, cam mechanism；Described chain-drive mechanism includes that chain, tightener sprocket and four are arranged at drive sprocket corresponding with four drivewheel positions on vehicle body wheel mount；Described chain engagement drive sprocket, tightener sprocket are arranged one week along wheel mount；Described gear drive includes two one-stage gear groups and two secondary gear wheels；Described cam mechanism is made up of roller follower and gear wheel, described gear wheel output wheel with one-stage gear group and secondary gear wheels respectively engages, plane slot cam it is provided with on the end face of described gear wheel, described roller follower coordinates with plane slot cam contact, and described roller follower is fixedly connected to form swing mechanism with the steering spindle bias of drivewheel.
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 is greatly improved storage density, owing to 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 memory density in warehouse, throughput speed and automatization level.Currently used access arrangement mainly includes lane stacker and track shuttle, lane stacker needs to configure special traveling tunnel on stock shelf side, and the piler access goods on each traveling tunnel is limited, and shuttle is without travelling tunnel, memory density can be increased substantially, be increasingly becoming tiered warehouse facility automatic access equipment development direction of new generation.The most domestic shuttle major part only possesses advance or retreats both direction driving functions, such as shuttle (the SHUTTLE FOR AUTOMATED of company of Dematic Pty Ltd. (AU)
WAREHOUSE, U.S. Patent number US 2012/ 0099953
A1), this class shuttle front and back can only travel in same stock tunnel, it is necessary to could arrive other stock tunnels by fork truck auxiliary and work, change layer and mainly completed by fork truck.
The domestic railcar possessing both direction traveling has the 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) " shuttle of a kind of band 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 used 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 the most only needs to lay vertically arranged stock tunnel and walking tunnel, relies on wheel pivot stud to realize switching tracks, but steering mechanism and elevating mechanism are entirely different with it, all improve a lot in terms of course changing control, elevating control, off-position control.According to looking into new data, its steering mechanism of external similar products and elevating mechanism are entirely different with the present invention, require higher to track.Therefore, how overcoming the deficiencies in the prior art is the problem that current rail travel equipment technical field needs solution badly.
Summary of the invention
Instant invention overcomes shortcoming of the prior art, it is provided that a kind of rational in infrastructure, course changing control accurately and reliably, precision high, cam mechanism type turn to shuttle.
In order to solve above-mentioned technical problem, the present invention is achieved by the following technical solutions: a kind of cam mechanism type turns to shuttle, including shuttle vehicle body, and the traveling mechanism being arranged on vehicle body, steering mechanism, elevating mechanism, battery and charging system, electric-control system, seven parts of communication module, steering mechanism is fixed by screws on vehicle body wheel mount, wheel mount is fixed on tie-beam and the spandrel girder of vehicle body by screw, drivewheel is embedded in below wheel mount, traveling mechanism four-wheel drive is arranged, it is connected on four drivewheels of vehicle body, elevating mechanism is fixed on spandrel girder by its actuator and is connected with vehicle body, battery and charging system, electric-control system, communication module is arranged on vehicle body；
Described steering mechanism includes turning to servomotor, decelerator, drive mechanism；Described drive mechanism includes chain-drive mechanism, gear drive, cam mechanism；Described chain-drive mechanism includes that chain, tightener sprocket and four are arranged at drive sprocket corresponding with four drivewheel positions on vehicle body wheel mount；Described chain engagement drive sprocket, tightener sprocket are arranged one week along wheel mount；Described gear drive includes that two one-stage gear groups and two secondary gear wheels, two one-stage gear groups and two secondary gear groups are co-axially mounted with four drive sprockets respectively, and described one-stage gear group and secondary gear wheels are arranged in a crossed manner；Described cam mechanism totally four groups, it is in transmission connection with gear train respectively, described cam mechanism is made up of roller follower and gear wheel, described gear wheel output wheel with one-stage gear group and secondary gear wheels respectively engages, plane slot cam it is provided with on the end face of described gear wheel, described roller follower coordinates with plane slot cam contact, and described roller follower is fixedly connected to form swing mechanism with the steering spindle bias of drivewheel；By chain-drive mechanism, gear drive, motive torque is transferred on gear wheel when turning to, while gear wheel rotates, contacted with roller follower by the groove structure of plane slot cam, driven roller driven member swings around drivewheel steering spindle, thus drive drivewheel to turn to, until complete 90 degree turn to after, roller follower is by the positive and negative groove being limited in plane slot cam, it is achieved mechanical self-latching.
Preferably, described elevating mechanism includes supporting plate assembly and actuator, supporting plate assembly includes supporting plate, antiskid plate, cabinet lock, cover plate, hinge, first sensor, the second sensor and roller mount, described antiskid 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 side of supporting plate is located at by the second sensor, and roller mount is fixedly connected on the lower surface of supporting plate；nullDescribed actuator includes servomotor、Decelerator、Electric machine support、Drive sprocket、Tightener sprocket、Chain、Bearing block、Line slideway、Ball-screw screw mandrel、Ball-screw nut support、Ball-screw nut、Slide block、Support arm、Rotating shaft、Connecting rod and roller，Servomotor is connected with decelerator，And be arranged on electric machine support，It is arranged with two tightener sprockets altogether，Bearing sleeve is connected on one end of ball-screw screw mandrel，Described bearing block is fixed on spandrel girder，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，Described slide block is connected with line slideway，Cam path is had on described slide block，Described cam path constitutes cam mechanism with rotating shaft，Described line slideway is fixed on spandrel girder，Described rotating shaft passes spandrel girder，One end be placed in the cam path on slide block，The other end is placed in the hole of support arm，Described support arm is arranged on spandrel girder，Described connecting rod one end is connected with support arm，The other end is connected with the roller mount on supporting plate by roller.
Preferably, described vehicle body includes base plate, long limit mask, minor face mask, spandrel girder, wheel mount and tie-beam, described spandrel girder and tie-beam are 90 degree of settings, and spandrel girder is provided with wheel mount with tie-beam right angle joint, minor face mask it is provided with outside described tie-beam, the two ends of described minor face mask are connected to long limit mask, and described long limit mask and minor face mask are 90 degree of settings, and described long limit mask be arranged in parallel with spandrel girder；Described long limit mask and minor face mask are fixed on the surrounding of base plate, and described spandrel girder and tie-beam are fixing with base plate respectively to be connected.
Preferably, described battery and charging system include 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, uses time division multiple access method to set up cordless communication network, it is achieved the coordination of multiple stage shuttle and host computer controls scheduling.
Preferably, described traveling mechanism includes four drivewheels and four servomotors driving drivewheel, and four drivewheels are connected with corresponding wheel mount respectively, and servomotor is connected with the rotary shaft of drivewheel.
Preferably, described in turn to servomotor to be horizontally disposed with, described decelerator is right-angle reduction device, the output turning to servomotor is transformed into vertical direction from horizontal direction.
The shuttle of the present invention possesses following functions:
Shuttle has pivot stud function, according to mission requirements, completes goods outbound and warehouse-in task by walking tunnel with elevator entrance shelf different stock tunnel, different layers；
Shuttle can accept the control of host computer, under the scheduling of control station, can be operated with multiple stage shuttle simultaneously；
Shuttle operationally, can to host computer uploading position, speed, electricity, have the information such as out of stock, fault, working condition；
Shuttle has long-range remote control function, can manually complete task by remote controller；
Shuttle has to be deposited, picks goods function, can issue work order according to information management system or remote command completes the picking of goods, moves, deposits；
Shuttle has fault alarm prompt facility, self mechanism malfunction, as elevating mechanism or walking mechanism break down, can send light warning, and report fault message to host computer；
Shuttle has parking warning function, during shuttle carries out access operation in tunnel, if owing to abnormal conditions, as the goods on pallet cave in make the event of the impact safety such as tunnel blocking cause non-normal stop time, shuttle can send light warning, and reports warning message to host computer；
Shuttle has urgent collision prevention function, when in shuttle driving process, front occurs that barrier can stop in emergency；
Shuttle has automatic charging function: when battery capacity is inadequate, and after host computer sends charging instruction, shuttle can be charged to shelf charging zone by automatic moving voluntarily, and reports host computer by information about power.
Compared with prior art, present invention have the advantage that
Domestic same type shuttle matured product only possesses the both direction driving functions of moving forward and backward, it is necessary to coordinate with fork truck or piler could realize tiered warehouse facility the stock in stock tunnel and picking.The cam mechanism type of present invention design turns to shuttle, it is possible not only to move forward and backward, turned to by 90 degree of synchronizations of four wheels, can be to the left with to right travel, it is achieved thereby that 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, the stock tunnel of different lines can be automatically sailed into layer, any goods yard of tiered warehouse facility then can be sailed into after changing layer by elevator, thus the memory density of the existing tiered warehouse facility of significant increase, improve the automaticity of tiered warehouse facility comprehensively, under upper information system is dispatched, multiple stage shuttle can arrive tiered warehouse facility random layer, any tunnel, any goods yard carries out stock and picking operates, without manpower intervention, really realize high efficiency, high density, full-automatic unmanned tiered warehouse facility.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing 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 mechanism, 4-elevating mechanism, 5-battery and charging system, 6-electric-control system, 7-communication module；
Fig. 2 is the structural representation of shuttle vehicle body of the present invention；Wherein, 8-base plate, 9-long limit mask, 10-minor face mask, 11-spandrel girder, 12-wheel mount, 13-tie-beam；
Fig. 3 is the structural representation of shuttle steering mechanism of the present invention；Wherein, 14-servomotor, 15-decelerator, 16-drive sprocket, 17-tightener sprocket, 18-chain, 19-one-stage gear group, 20-secondary gear wheels, 21-roller follower；
Fig. 4 is the partial enlarged drawing of the plane roller disk cam mechanism of shuttle steering mechanism of the present invention；Wherein, e-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-antiskid plate, 24-cabinet lock, 25-cover plate, 26-hinge, 27-roller mount, 28-the second sensor, 29-first sensor；
Fig. 6 is the structural representation of shuttle actuator of the present invention；Wherein, 30-servomotor, 31-decelerator, 32-drive sprocket, 33-electric machine support, 34-tightener sprocket, 35-chain, 36-bearing block, 37-line slideway, 38-ball-screw leading screw, 39-ball-screw nut, 40-ball-screw nut support, 41-slide block, 42-support 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, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not paying creative work premise, broadly fall into the scope of protection of the invention.
As shown in figures 1 to 6, the shuttle of the present invention includes vehicle body 1, traveling mechanism 2, steering mechanism 3, elevating mechanism 4, battery and charging system 5, electric-control system 6 and communication module 7, shuttle vehicle body is provided with traveling mechanism, steering mechanism, elevating mechanism, battery and charging system, electric-control system, 6 parts of communication module, described steering mechanism is fixed by screws on vehicle body wheel mount 12, wheel mount is fixed by screw be connected with spandrel girder 11 and tie-beam 13, drives the drivewheel below wheel mount to turn to when turning to.Traveling mechanism four-wheel drive is arranged, is connected on four wheels, and 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.Elevating mechanism is fixed on spandrel girder 11 by its actuator and is connected with vehicle body.
Vehicle body 1 is shuttle basic framework and shell, carry all systems and goods, traveling mechanism 2 uses the type of drive of four drivewheels of four motor direct-drive, drive shuttle is walked, steering mechanism 3 realizes 90 degree of synchronizations of four wheels under Serve Motor Control and turns to, elevating mechanism 4 is used for lifting and putting down cargo pallet, battery and charging system 5 are responsible for full car power supply and Charge Management, electric-control system 6 includes vehicle body 1 circuit, control computer, realize the functions such as full car motor control and intelligent anticollision warning together, communication module 7 is responsible between shuttle and host computer, radio communication between shuttle and remote controller.
Shuttle basic technical indicator is as follows:
Overall dimensions: (length × width × height min～max) 1000mm × 1200mm × (260mm～290mm)；
Maximum load-carrying capacity: 1000kg；
Compatible pallet dimension:
1200mm × 800mm (European standard)；
1200mm×1000mm；
1200mm×1200mm。
Elevating mechanism actuating length >=30mm；
Deadhead operation speed: 1m/s；
Positioning precision ± 5mm；
Supply voltage: 48V；
Vehicle body 1 includes base plate 8, long limit mask 9, minor face mask 10, spandrel girder 11, wheel mount 12 and tie-beam 13, as shown in Figure 2.Described spandrel girder 11 and tie-beam 13 are in 90 degree of settings, and spandrel girder 11 is provided with wheel mount 12 with tie-beam 13 right angle joint, it is provided with minor face mask 10 outside described tie-beam 13, the two ends of described minor face mask 10 are connected to long limit mask 9, described long limit mask 9 and minor face mask 10 are in 90 degree of settings, and described long limit mask 9 be arranged in parallel with spandrel girder 11；Described long limit mask 9 and minor face mask 10 are fixed on the surrounding of base plate 8, and described spandrel girder 11, wheel mount 12 and tie-beam 13 is fixing with base plate respectively to be connected.Tie-beam 13, spandrel girder 11 constitute main body of vehicle frame with wheel mount 12.Tie-beam 13, spandrel girder 11 use Plate Welding mode to shape, and tie-beam 13, spandrel girder 11 and wheel mount 12 add guarantee location, installation accuracy requirement as the benchmark connected of installing of shuttle, stop portion employing machine；Seam is coupled with wheel mount by alignment pin and screw M10 × 15 behind location, it is ensured that drive sprocket axle is away from satisfied design requirement.Vehicle body 1 base plate 8 uses steel plate bending to shape.
Steering mechanism 3 on shuttle vehicle body includes turning to servomotor 14, decelerator 15, drive mechanism；Described drive mechanism includes chain-drive mechanism, gear drive, cam mechanism；Described chain-drive mechanism includes that chain 18, tightener sprocket 17 and four are arranged at drive sprocket corresponding with four drivewheel positions on vehicle body wheel mount；Described chain 18 engagement drive sprocket 16, tightener sprocket 17 are arranged one week along wheel mount；Described gear drive includes that two one-stage gear groups 19 and two secondary gear wheels 20, two one-stage gear groups 19 and two secondary gear wheels 20 are co-axially mounted with four drive sprockets 16 respectively, and described one-stage gear group 19 and secondary gear wheels 20 are arranged in a crossed manner；Described cam mechanism totally four groups, it is in transmission connection with gear train respectively, described cam mechanism is made up of roller follower 21 and gear wheel e, described gear wheel e output wheel with one-stage gear group 19 and secondary gear wheels 20 respectively engages, plane slot cam i it is provided with on the end face of described gear wheel e, described roller follower 21 contacts cooperation with plane slot cam i, and described roller follower 21 is fixedly connected to form swing mechanism with the steering spindle bias of drivewheel；By chain-drive mechanism, gear drive, motive torque is transferred on gear wheel e when turning to, while 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 drivewheel steering spindle, thus drive drivewheel to turn to, until complete 90 degree turn to after, roller follower 21 is by the positive and negative groove being limited in plane slot cam i, it is achieved mechanical self-latching.Described one-stage gear group comprises a gear, described secondary gear wheels comprise two gears, by the form that one-stage gear group and secondary gear wheels are arranged in a crossed manner, when making shuttle turn to, the rotation direction of adjacent drivewheel is contrary, the each component of drivewheel turning to rear shuttle forms symmetry again, ensure that weight distribution is uniform, center of gravity held stationary, it is further ensured that the balance after turning to and travels precision.Obviously one-stage gear group and the quantity of the comprised gear of secondary gear wheels can also be increased, it is achieved when shuttle turns to, adjacent drivewheel turns on the contrary.
As preferred mode, described in turn to servomotor 14 to be horizontally disposed with, described decelerator 15 uses right-angle reduction device, the output turning to servomotor 14 is transformed into vertical direction from horizontal direction.
Traveling mechanism on shuttle vehicle body includes four drivewheels a, c, d, g and four servomotor b driving drivewheel, and drivewheel is connected with respective wheel mount 12 respectively, and servomotor is connected with the rotary shaft of drivewheel.
Elevating mechanism 4 on shuttle vehicle body is made up of supporting plate assembly and actuator, wherein supporting plate assembly includes supporting plate 22, antiskid 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 antiskid 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 being 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, the side of supporting plate 22 is located at by second sensor 28.
nullActuator includes servomotor 30、Decelerator 31、Drive sprocket 32、Electric machine support 33、Tightener sprocket 34、Chain 35、Bearing block 36、Line slideway 37、Ball-screw screw mandrel 38、Ball-screw nut support 39、Ball-screw nut 40、Slide block 41、Support arm 42、Rotating shaft 43、Connecting rod 44 and roller 45，As shown in Figure 6，Servomotor 30 is connected with decelerator 31，And be arranged on electric machine support 33，It is arranged with two tightener sprockets 34 altogether，Bearing block 36 is socketed in one end of ball-screw screw mandrel 38，Described bearing block 36 is fixed on spandrel girder 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，Cam path is had on described slide block 41，Described cam path and rotating shaft 43 constitute cam mechanism，Described line slideway 37 is fixed on spandrel girder 11，Described rotating shaft 43 is through spandrel girder 11，One end with in the cam path being placed on slide block 41，The other end is placed in the hole of support arm 42，Described support arm 42 is arranged on spandrel girder 11，Described connecting rod 44 one end is connected with support 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 being connected with ball-screw nut, cam path compressing rotating shaft 43 on slide block 41 pumps, thus drive support arm 42 to move back and forth, and connecting rod 44 one end is connected with support 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 of selection, decelerator 31 meet the requirement of elevating mechanism work.The distance that support arm 42 swings up and down meets adjustable height requirement, selects the machining of 40Cr material, and improves case hardness by modifier treatment.40Cr materials processing selected by sprocket wheel, and improves tooth face hardness by heat treatment.Supporting plate uses 4mm steel plate bending to be welded, and antiskid plate aluminium and aluminum alloy checkered plate (GB/T3618-2006) rivet with supporting plate.
Battery and charging system 5 include 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 after receiving charge command into, charging plug on vehicle body 1 is plugged into automatically with the charging socket of installation on charging goods yard, charger automatically powers on and starts to charge up, charging process charger monitoring charging current voltage, automatically powering off after reaching full state, shuttle sails out of charge position and puts into operation.
Shuttle electric-control system 6 includes controlling computer, servomotor, various sensor, vehicle circuitry.Control computer and include that the nucleus module of microprocessor based on ARM kernel, interface board module and power module are constituted, control software to be embedded in control computer ARM microprocessor, realize the functions such as full car motor control and intelligent anticollision warning, be responsible for battery and Charge Management simultaneously.Complete 6 servomotors of car are electric-control system actuators, complete walk, turn to, elevating function, and six electric machine controllers are by CAN or the networking of 485 buses and control computer real-time Communication for Power.
Communication module 7 is wireless data transmission module, uses general 460MHz digital transmission module, simultaneously, time division multiple access method is used to set up cordless communication network, being responsible between shuttle and host computer, the radio communication between shuttle and remote controller, the coordination that can realize multiple stage shuttle and host computer controls scheduling.
After shuttle powers on, first set up radio communication with host computer and be connected, enter the wireless network that host computer is set up, be acquired simultaneously from body initial position message, then wait outbound or the warehouse-in instruction of host computer.
If receiving warehouse-in instruction, the entrance goods yard that shuttle is specified by laterally or longitudinally rail running to tiered warehouse facility along the path that host computer is planned respectively from current location automatically picks goods, if needing to change layer, then automatic running is to elevator position, elevator is entered under host computer is dispatched, after arriving designated layer, leave elevator, drive to entrance goods yard and pick goods.The inventory location arrangement of goods that the path according to host computer planning reaches to specify respectively is continued by laterally or longitudinally track, elevator after obtaining goods.
If receiving outbound instruction, shuttle picks goods automatically at the inventory location that current location is specified by laterally or longitudinally rail running to tiered warehouse facility respectively along the path that host computer is planned, if needing to change layer, then automatic running is to elevator position, elevator is entered under host computer is dispatched, after arriving designated layer, leave elevator, drive to inventory location and pick goods.Continue the path according to host computer planning after obtaining goods and reach, by laterally or longitudinally track, elevator, the outlet goods yard arrangement of goods that tiered warehouse facility is specified respectively.
If needing mobile cargo in tiered warehouse facility, then instructing according to host computer, along path planning, respectively by laterally or longitudinally track after picking goods to a certain goods yard, elevator drives to specific bit placement location goods.
The information such as real-time report self-position, voltage, electric current in shuttle driving process, if battery electric quantity is less than setting, then automatically into specifying charge position to be charged, continues after charging complete to put into operation.
In shuttle driving process, find self mechanism malfunction, light warning can be sent immediately, and report fault message to host computer；During shuttle carries out goods access operation in tunnel, if owing to abnormal conditions, make the event of the impact safety such as tunnel blocking as the goods on pallet caves in, and when causing non-normal stop, shuttle also can send light warning, and reports warning message to host computer；Shuttle also has urgent collision prevention function, when front occurs that barrier can stop by automatic emergency in shuttle driving process, reports warning message simultaneously, waits pending.
During walking, walking driven by servomotor decelerator provides power to be delivered to drivewheel；Shuttle uses four-wheel drive.
When turning to, turning to driven by servomotor decelerator, reducer power is delivered to one-stage gear group and secondary gear wheels, one-stage gear group and secondary gear group by chain and drives each self-corresponding cam mechanism respectively, thus drives drivewheel to turn to.Change drivewheel rotation direction by one-stage gear group and secondary gear wheels, thus realize the go to action of adjacent drivewheel counter-rotating (for turning clockwise, then another drivewheel is to rotate counterclockwise to a drivewheel).
Elevating mechanism course of action: drive drive sprocket, chain to rotate by servomotor in actuator and form driving-chain, drive ball screw framework action, thus drive cam mechanism action, it is further driven to the linkage action being connected with cam mechanism, and linkage is connected with supporting plate assembly, finally realize the lifting action of supporting plate.
The realization of warning function mainly relies under the alert if of regulation, generation alarm signal is delivered to control computer and is carried out comprehensive descision by related sensor, if needing to stop in emergency, control computer transmission braking commands and realize brake hard to servomotor, if needing to report, control computer transmission alert data, to communication module 7, reports host computer through wireless mode, lights relative alarm display lamp on car simultaneously.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
1. a cam mechanism type turns to shuttle, it includes shuttle vehicle body, and the traveling mechanism being arranged on vehicle body, steering mechanism, elevating mechanism, battery and charging system, electric-control system, seven parts of communication module, steering mechanism is fixed by screws on vehicle body wheel mount, wheel mount is fixed on tie-beam and the spandrel girder of vehicle body by screw, drivewheel is embedded in below wheel mount, traveling mechanism four-wheel drive is arranged, it is connected on four drivewheels of vehicle body, elevating mechanism is fixed on spandrel girder by its actuator and is connected with vehicle body, battery and charging system, electric-control system, communication module is arranged on vehicle body；It is characterized in that:
Described steering mechanism includes turning to servomotor, decelerator, drive mechanism；Described drive mechanism includes chain-drive mechanism, gear drive, cam mechanism；Described chain-drive mechanism includes that chain, tightener sprocket and four are arranged at drive sprocket corresponding with four drivewheel positions on vehicle body wheel mount；Described chain engagement drive sprocket, tightener sprocket are arranged one week along wheel mount；Described gear drive includes that two one-stage gear groups and two secondary gear wheels, two one-stage gear groups and two secondary gear groups are co-axially mounted with four drive sprockets respectively, and described one-stage gear group and secondary gear wheels are arranged in a crossed manner；Described cam mechanism totally four groups, it is in transmission connection with gear train respectively, described cam mechanism is made up of roller follower and gear wheel, described gear wheel output wheel with one-stage gear group and secondary gear wheels respectively engages, plane slot cam it is provided with on the end face of described gear wheel, described roller follower coordinates with plane slot cam contact, and described roller follower is fixedly connected to form swing mechanism with the steering spindle bias of drivewheel；By chain-drive mechanism, gear drive, motive torque is transferred on gear wheel when turning to, while gear wheel rotates, contacted with roller follower by the groove structure of plane slot cam, driven roller driven member swings around drivewheel steering spindle, thus drive drivewheel to turn to, until complete 90 degree turn to after, roller follower is by the positive and negative groove being limited in plane slot cam, it is achieved mechanical self-latching.
Cam mechanism type the most according to claim 1 turns to shuttle, it is characterized in that: described elevating mechanism includes supporting plate assembly and actuator, supporting plate assembly includes supporting plate, antiskid plate, cabinet is locked, cover plate, hinge, first sensor, second sensor and roller mount, described antiskid plate is fixed on the supporting plate left and right sides, cover plate is located in the middle of supporting plate, it is while being 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, the side of supporting plate is located at by second sensor, roller mount is fixedly connected on the lower surface of supporting plate；nullDescribed actuator includes servomotor、Decelerator、Electric machine support、Drive sprocket、Tightener sprocket、Chain、Bearing block、Line slideway、Ball-screw screw mandrel、Ball-screw nut support、Ball-screw nut、Slide block、Support arm、Rotating shaft、Connecting rod and roller，Servomotor is connected with decelerator，And be arranged on electric machine support，It is arranged with two tightener sprockets altogether，Bearing sleeve is connected on one end of ball-screw screw mandrel，Described bearing block is fixed on spandrel girder，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，Described slide block is connected with line slideway，Cam path is had on described slide block，Described cam path constitutes cam mechanism with rotating shaft，Described line slideway is fixed on spandrel girder，Described rotating shaft passes spandrel girder，One end be placed in the cam path on slide block，The other end is placed in the hole of support arm，Described support arm is arranged on spandrel girder，Described connecting rod one end is connected with support arm，The other end is connected with the roller mount on supporting plate by roller.
Cam mechanism type the most according to claim 1 or claim 2 turns to shuttle, it is characterized in that: described vehicle body includes base plate, long limit mask, minor face mask, spandrel girder, wheel mount and tie-beam, described spandrel girder and tie-beam are 90 degree of settings, and spandrel girder is provided with wheel mount with tie-beam right angle joint, minor face mask it is provided with outside described tie-beam, the two ends of described minor face mask are connected to long limit mask, described long limit mask and minor face mask are 90 degree of settings, and described long limit mask be arranged in parallel with spandrel girder；Described long limit mask and minor face mask are fixed on the surrounding of base plate, and described spandrel girder and tie-beam are fixing with base plate respectively to be connected.
Cam mechanism type the most according to claim 1 and 2 turns to shuttle, it is characterised in that: described battery and charging system include Ni-MH power cell, charging plug and charging cable, and Ni-MH power cell is connected with charging plug by charging cable.
Cam mechanism type the most according to claim 1 or claim 2 turns to shuttle, it is characterised in that: described communication module is wireless data transmission module, uses time division multiple access method to set up cordless communication network, it is achieved the coordination of multiple stage shuttle and host computer controls scheduling.
Cam mechanism type the most according to claim 1 or claim 2 turns to shuttle, it is characterized in that: described traveling mechanism includes four drivewheels and four servomotors driving drivewheel, four drivewheels are connected with corresponding wheel mount respectively, and servomotor is connected with the rotary shaft of drivewheel.
Cam mechanism type the most according to claim 1 or claim 2 turns to shuttle, it is characterised in that turn to servomotor to be horizontally disposed with described in:, and described decelerator is right-angle reduction device, the output turning to servomotor is transformed into vertical direction from horizontal direction.
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| CN201410444804.0A CN104210793B (en) | 2014-09-03 | 2014-09-03 | A kind of cam mechanism type turns to shuttle |
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| CN201410444804.0A CN104210793B (en) | 2014-09-03 | 2014-09-03 | A kind of cam mechanism type turns to shuttle |
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| CN104210793B true CN104210793B (en) | 2016-10-05 |
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| CN106144377B (en) * | 2016-09-08 | 2018-04-17 | 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 |
| CN107856695B (en) * | 2017-10-23 | 2019-06-04 | 东华大学 | A kind of annular shuttle active steering apparatus adapting to different orbit radius |
| CN112041243B (en) * | 2018-04-25 | 2022-04-19 | 自动存储科技股份有限公司 | Container handling vehicle having first and second sections and a hoist motor in the second section |
| 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 |
| 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 |
| 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 |
| 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 |
| CN112158773B (en) * | 2020-09-27 | 2022-05-27 | 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 |
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| CN103950673B (en) * | 2014-05-15 | 2015-11-11 | 昆明七零五所科技发展总公司 | A kind of shuttle with turning function |
| CN204056922U (en) * | 2014-09-03 | 2014-12-31 | 昆明七零五所科技发展总公司 | A kind of cam mechanism type turns to shuttle |
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