CN104210794B - The track shuttle that a kind of electric cylinder drive-type turns to - Google Patents
The track shuttle that a kind of electric cylinder drive-type turns to Download PDFInfo
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- CN104210794B CN104210794B CN201410444808.9A CN201410444808A CN104210794B CN 104210794 B CN104210794 B CN 104210794B CN 201410444808 A CN201410444808 A CN 201410444808A CN 104210794 B CN104210794 B CN 104210794B
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Abstract
The invention discloses the track shuttle that a kind of electric cylinder drive-type turns to, aim to provide that a kind of wheel steering precision is high, locate the track shuttle that failure-free electric cylinder drive-type turns to after wheel steering.It comprises shuttle vehicle body, and is arranged on traveling mechanism, steering hardware, lifting mechanism, battery and charge system on shuttle vehicle body, communication module, electric-control system; Described steering hardware is two covers, connects the steering shaft of shuttle both sides wheel respectively, often overlaps described steering hardware and include electric cylinder motor, retarder, electric cylinder and transmission device; Described transmission device comprises switching push rod, connects push pedal, long connecting rod, short connecting rod and two spline rings; Two described spline rings are fixedly connected with the steering shaft of two wheels in shuttle the same side respectively and two spline rings are symmetrical arranged; During described electric cylinder action, two spline rings of the same side rotate backward, when the other end of the position-limited trough of spline ring contacts with backing pin, and the steering shaft half-twist of wheel.
Description
Technical field
The present invention relates to track shuttle technical field, especially relate to the track shuttle that a kind of electric cylinder drive-type turns to.
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 US2012/0099953A1), 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 track shuttle possessing both direction traveling only has two at present, patent of invention (patent No. 201010216047.3) " an a kind of automatic track exchanging trolley " being Kunshan HuaHeng engineering Technology Center Co., Ltd and applying for for 2010, 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.Another family is Science and Tech. Development General Co., Kunming NO.705 Inst.'s application in 2014, by the patent of invention (application number 201410205122.4) " a kind of shuttle with turning function " accepted, it is characterized in that only needing to lay the walking tunnel vertical with original tunnel, wheel is relied on to turn to realization to switch tracks, in addition its steering hardware adopts the steering hardware of belt-bevel drive, the weak point of this type steering hardware is: (1) belt-bevel drive is Flexible Transmission, the assemblage gap error effect of finishing bevel gear cuter, what be difficult to guarantee four wheels turns to precision, simultaneously, in steering procedure, vehicle body torsion skew is larger, easily cause clamping stagnation, (2) steering hardware itself fails to realize self-locking, in shuttle driving process, because wheel and orbiting collision cause wobbling of wheels and break-in, is difficult to control to travel precision.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 that a kind of wheel steering precision is high, locate the track shuttle that failure-free electric cylinder drive-type turns to after wheel steering.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions: the track shuttle that a kind of electric cylinder drive-type turns to, comprise shuttle vehicle body, and be arranged on traveling mechanism, steering hardware, lifting mechanism, battery and charge system on shuttle vehicle body, communication module, electric-control system;
Described steering hardware is two covers, connects the steering shaft of shuttle both sides wheel respectively, often overlaps described steering hardware and include electric cylinder motor, the first retarder, electric cylinder and transmission device; Described transmission device comprises switching push rod, connects push pedal, long connecting rod, short connecting rod and two spline rings; Two described spline rings are fixedly connected with the steering shaft of two wheels in shuttle the same side respectively and two spline rings are symmetrical arranged; Described electric cylinder motor is connected with the first retarder, and the mouth of described first retarder is connected with electric cylinder, and the mouth of described electric cylinder is connected with short connecting rod one end, the other end of described short connecting rod and the hinged formation crank mechanism of the end face of spline ring; Described switching push rod is at least two, and one end is fixedly connected with the first retarder, the other end be connected push pedal end face and be fixedly connected with; The end face of described connection push pedal is fixedly connected with long connecting rod one end, the other end of described long connecting rod and the hinged formation crank mechanism of the end face of another spline ring; Described long connecting rod, short connecting rod are positioned on same axis, form four-bar linkage with spline ring; Described spline ring end face offers position-limited trough, is 90 ° by the rotating range of the backing pin restriction spline ring be fixedly installed; When described electric cylinder is not operating, one end of the position-limited trough of described spline ring contacts with backing pin; During described electric cylinder action, two spline rings of the same side rotate backward, and when the other end of the position-limited trough of spline ring contacts with backing pin, the steering shaft half-twist of wheel, electric cylinder stops.
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, 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, retarder mount pad, chain and tension wheel mount pad, 3rd servomotor is connected with the second 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.
Preferably, described eccentric eccentric throw is 15mm ± 0.1mm.
Preferably, described vehicle body comprises base plate, bearing beam, wheel mount, tie-beam, minor face covers plate and plate is covered on long limit, described bearing beam and tie-beam are 90 ° 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 ° 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 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.
Preferably, 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.
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 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, the steering hardware of this type shuttle adopts electric cylinder type driver train, the most outstanding advantage of this steering hardware is: (1) adopts the action respectively of two electric cylinders, drives two groups of wheels to turn to respectively, improves and turns to precision; (2) can realize the mechanical position limitation of four wheels after having turned to, in shuttle driving process, even if wheel and track collide, wheel also can not swing and change direction, ensure that the traveling precision of shuttle.This type shuttle not only can move forward and backward, turned to by four wheels 90 °, 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
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-communication module, 7-electric-control system, 8-computer for controlling;
Fig. 2 is the structural representation of shuttle vehicle body of the present invention; Wherein, 9-base plate, 10-bearing beam, 11-wheel mount, 12-tie-beam, 13-minor face cover plate, 14-long limit illiteracy plate;
Fig. 3 is the structural representation of shuttle steering hardware of the present invention; Wherein, 15-electric cylinder motor, 16-first retarder, 17-electric cylinder, 18-short connecting rod, 19-switching push rod, 20-connect push pedal, 21-long connecting rod, 22-wheel steering shaft, 23-spline ring, 24-backing pin, 25-key, 26-pin;
Fig. 4 is the partial enlarged drawing of steering hardware knuckle section of the present invention; Wherein transfer push rod, 20-of 15-electric cylinder motor, 19-connects push pedal, 21-long connecting rod, circumferential groove, 24-backing pin, 25-key, 26-pin on pin-and-hole, 23c-spline ring on pin-and-hole, 23-spline ring, 23a-keyway, 23b-spline ring on 21a-long connecting rod;
Change layout circle till Fig. 5; Wherein 21-long connecting rod, 23-spline ring, 24-backing pin;
Fig. 6 is the structural representation of shuttle supporting plate assembly of the present invention; Wherein, 27-supporting plate, 28-checkered plate, 29-cabinet lock, 30-cover plate, 31-hinge, 32-first sensor, 33-second sensor, 34-roller, 35-pilot bar;
Fig. 7 is the structural representation of shuttle of the present invention lifting actuating unit; Wherein, 36-the 3rd servomotor, 37-second retarder, 38-fast coupling, 39-axle, 40-bearing seat, 41-sprocket wheel, 42-tension wheel, 43-eccentric wheel, 44-retarder mount pad, 45-chain, 46-tension wheel mount pad.
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 figs. 1-7, shuttle of the present invention comprises vehicle body 1, traveling mechanism 2, steering hardware 3, lifting mechanism 4, battery and charge system 5, communication module 6, electric-control system 7 and computer for controlling 8, shuttle is provided with traveling mechanism, steering hardware, lifting mechanism, battery and charge system, communication module, electric-control system seven parts with it, described steering hardware is fixed by screws on vehicle body wheel mount 11, wheel mount is fixed on tie-beam 12 and bearing beam 10 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, complete and turn to, and be positioned on base plate 9 fan section together with wheel, 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 10 by the bearing seat 40 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 ° by electric cylinder driving and turns to, 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, communication module 6 is responsible between shuttle and upper computer, electric-control system 7 comprises circuit on vehicle body 1 and computer for controlling, realize the functions such as full car motion control and intelligent anticollision warning together, 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;
As shown in Figure 2, vehicle body 1 comprises base plate 9, bearing beam 10, wheel mount 11, tie-beam 12, minor face covers plate 13 and plate 14 is covered on long limit, described bearing beam 10 is arranged in 90 ° with tie-beam 12, and bearing beam 10 and tie-beam 12 right angle joint are provided with wheel mount 11, described tie-beam 12 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 14, described long limit illiteracy plate 14 covers plate 13 with minor face and arranges in 90 °, and plate 14 is covered on described long limit and bearing beam 10 be arranged in parallel; Described long limit is covered plate 14 and is covered with minor face the surrounding that plate 13 is fixed on base plate 11, and described bearing beam 10, wheel mount 11 are fixedly connected with base plate respectively with tie-beam 12.Tie-beam 12, bearing beam 10 form main body of vehicle frame with wheel mount 11.Tie-beam 12, bearing beam 10 adopt Plate Welding mode to shape, the benchmark that tie-beam 12, bearing beam 10 and wheel mount 11 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 9 adopts steel plate bending to be shaped.
Traveling mechanism on shuttle vehicle body comprises the first driving wheel c, the second driving wheel g, the first flower wheel d, the second flower wheel h, the first servomotor a, the second servomotor e, the first retarder b and the second retarder f; First driving wheel c and the second driving wheel g are connected with two wheel mounts 11 in base plate 9 diagonal positions respectively, first flower wheel d and the second flower wheel h are connected with two other wheel mount 11 on base plate 9 respectively, first servomotor a is connected with the turning cylinder of the first driving wheel c by the first retarder b, first flower wheel d is servo-actuated, second servomotor e is connected with the turning cylinder of the second driving wheel g by the second retarder f, and the second flower wheel h is servo-actuated.
Described steering hardware 3 is two covers, connects the steering shaft of shuttle both sides wheel respectively, often overlaps described steering hardware 3 and include electric cylinder motor 15, first retarder 16, electric cylinder 17 and transmission device; Described transmission device comprises switching push rod 19, connects push pedal 20, long connecting rod 21, short connecting rod 18 and two spline rings 23; Two described spline rings 23 are fixedly connected with the steering shaft 22 of two wheels in shuttle the same side respectively and two spline rings 23 are symmetrical arranged; Described electric cylinder 17 motor 15 is connected with the first retarder 16, the mouth of described first retarder 16 is connected with electric cylinder 17, the mouth of described electric cylinder 17 is connected with short connecting rod 18 one end, the other end of described short connecting rod 18 and the hinged formation crank mechanism of the end face of spline ring 23; Described switching push rod 19 is at least two, and one end is fixedly connected with the first retarder 16, the other end be connected push pedal 20 end face and be fixedly connected with; The end face of described connection push pedal 20 is fixedly connected with long connecting rod 21 one end, the other end of described long connecting rod 21 and the hinged formation crank mechanism of the end face of another spline ring 23; Described long connecting rod 21, short connecting rod 18 are positioned on same axis, form four-bar linkage with spline ring 23; Described spline ring 23 end face offers position-limited trough, is 90 ° by the rotating range of the backing pin restriction spline ring 23 be fixedly installed; When described electric cylinder 17 is not operating, one end of the position-limited trough of described spline ring 23 contacts with backing pin; During described electric cylinder 17 action, two spline rings 23 of the same side rotate backward, and when the other end of the position-limited trough of spline ring 23 contacts with backing pin, steering shaft 22 half-twist of wheel, electric cylinder 17 stops.
Wherein, described short connecting rod 18 has hole 21a, described spline ring has hole 23b, described short connecting rod 18 is by the hole 21a on it, pin 26 is connected with spline ring 23 with hole 23b, short connecting rod 18 snaps in circumferential groove 23c that spline ring 23 is opened, described spline ring 23 has keyway 23a, described spline ring 23 is connected by key 24 with the wheel steering shaft 22 on wheel mount 11, described switching push rod 19 one end is connected by screw with the first retarder 16, the other end be connected push pedal 20 by screw be connected, described connection push pedal 20 is connected with the screw thread on long connecting rod 21 by nut, described long connecting rod 21 has hole 21a, described spline ring has hole 23b, described long connecting rod 21 is by the hole 21a on it, pin 26 is connected with spline ring 23 with hole 23b, long connecting rod 21 snaps in circumferential groove 23c that spline ring 23 is opened, described spline ring 23 is by being coaxially connected by key 24 with the wheel steering shaft 22 on wheel mount 11, be illustrated in figure 3 the assembly drowing of steering hardware, as the partial enlarged drawing that Fig. 4 is steering hardware knuckle section, as change layout circle till Fig. 5.Electric cylinder motor 15, first retarder 16 and electric cylinder 17 provide power, switching push rod 19, connection push pedal 20, long connecting rod 21, short connecting rod 18, spline ring 23 and backing pin 24 realize transmission of power, drive-type steered wheel rotation during electric cylinder 17 action, by the antagonistic force automatic locking of the application force of electric cylinder 17, spline ring 23 and backing pin 24 after pivot stud 90 °, realize mechanical position limitation.The direction of rotation of adjacent wheels when the present invention makes shuttle turn to by the action of electric cylinder, the each component of the wheel of rear shuttle is turned to again to form symmetry, guarantee weight distribution is even, center held stationary, ensures the balance after turning to further and travels precision.
Lifting mechanism 4 on shuttle vehicle body is made up of supporting plate assembly and actuating unit, wherein supporting plate assembly comprises supporting plate 27, checkered plate 28, cabinet lock 29, cover plate 30, hinge 31, first sensor 32, second sensor 32, roller 34 and pilot bar 35, as shown in Figure 6, described checkered plate 28 is fixed on supporting plate 27 left and right sides, cover plate 30 is located in the middle of supporting plate 27, cover plate 30 is while be connected with supporting plate 27 by hinge 31, and the edge of opposite side is provided with cabinet lock 29, first sensor 32 is located at the top of supporting plate 27, second sensor 33 is located at the side of supporting plate 27, roller 34 and pilot bar 35 are fixedly connected on the lower surface of supporting plate 27 respectively.
Lifting actuating unit comprises the 3rd servomotor 36, second retarder 37, fast coupling 38, axle 39, bearing seat 40, sprocket wheel 41, tension wheel 42, eccentric wheel 43, retarder mount pad 44, chain 45 and tension wheel mount pad 46, as shown in Figure 7, 3rd servomotor 36 is connected with the second retarder 37, and be arranged on retarder mount pad 44, be arranged with two altogether to the axle 39 connected by fast coupling 38, bearing seat 40 is socketed on the two ends of axle 39, and be connected with bearing beam 10, axle 39 two ends are respectively connected with sprocket wheel 41 and eccentric wheel 43 successively, the sprocket wheel 41 of two axle 39 same side is connected by chain 45, described tension wheel 42 is located at below described chain 45 and is contacted with chain 45, tension wheel 42 is arranged on tension wheel mount pad 46, tension wheel mount pad 46 and bearing beam 10 are fixedly linked, by maximum working load
g max=1000kg, maximum lifting time 2s, servomotor 36, second retarder 37 selected meets the requirement of lifting mechanism work.Eccentric wheel 43 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 41, 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 35, 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.
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.
Communication module 6 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.
Electric-control system 7 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.
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, electric cylinder motor drives the first retarder, first retarder outputting power drives electric cylinder, first wheel steering shaft is delivered to by Poewr transmission mechanism, because each wheel is different from the friction force of orbital plane, during two wheel steerings driven by same electric cylinder, the elder generation that the friction force of wheel and orbital plane is less is complete in 90 °ly to be turned to, afterwards under the antagonistic force of backing pin, another wheel is made to complete handling maneuver.The actions respectively of two electric cylinders, after one group of wheel that electric cylinder drives completes handling maneuver, another electric cylinder just starts action, drives another to organize wheel and completes and turn to.The handling maneuver of adjacent wheel retrograde rotation (as: wheel is clickwise, then another wheel is left-hand revolution).
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 6, 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 (8)
1. the track shuttle that turns to of electric cylinder drive-type, comprises shuttle vehicle body, and is arranged on traveling mechanism, steering hardware, lifting mechanism, battery and charge system on shuttle vehicle body, communication module, electric-control system; It is characterized in that:
Described steering hardware is two covers, connects the steering shaft of shuttle both sides wheel respectively, often overlaps described steering hardware and include electric cylinder motor, the first retarder, electric cylinder and transmission device; Described transmission device comprises switching push rod, connects push pedal, long connecting rod, short connecting rod and two spline rings; Two described spline rings are fixedly connected with the steering shaft of two wheels in shuttle the same side respectively and two spline rings are symmetrical arranged; Described electric cylinder motor is connected with the first retarder, and the mouth of described first retarder is connected with electric cylinder, and the mouth of described electric cylinder is connected with short connecting rod one end, the other end of described short connecting rod and the hinged formation crank mechanism of the end face of spline ring; Described switching push rod is at least two, and one end is fixedly connected with the first retarder, the other end be connected push pedal end face and be fixedly connected with; The end face of described connection push pedal is fixedly connected with long connecting rod one end, the other end of described long connecting rod and the hinged formation crank mechanism of the end face of another spline ring; Described long connecting rod, short connecting rod are positioned on same axis, form four-bar linkage with spline ring; Described spline ring end face offers position-limited trough, is 90 ° by the rotating range of the backing pin restriction spline ring be fixedly installed; When described electric cylinder is not operating, one end of the position-limited trough of described spline ring contacts with backing pin; During described electric cylinder action, two spline rings of the same side rotate backward, and when the other end of the position-limited trough of spline ring contacts with backing pin, the steering shaft half-twist of wheel, electric cylinder stops.
2. the track shuttle that turns to of electric cylinder drive-type 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, 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, 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 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.
3. the track shuttle that turns to of electric cylinder drive-type according to claim 2, is characterized in that: described eccentric eccentric throw is 15mm ± 0.1mm.
4. according to the track shuttle that the arbitrary described electric cylinder drive-type of claim 1-3 turns to, it is characterized in that: described vehicle body comprises base plate, bearing beam, wheel mount, tie-beam, minor face covers plate and plate is covered on long limit, described bearing beam and tie-beam are 90 ° 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 ° 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.
5. according to the track shuttle that the arbitrary described electric cylinder drive-type of claim 1-3 turns to, it 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.
6. according to the track shuttle that the arbitrary described electric cylinder drive-type of claim 1-3 turns to, it is characterized in that: described communication module is wireless data transmission module, adopt time division multiple access method to set up cordless communication network, realize the cooperation control scheduling of multiple stage shuttle and upper computer.
7. according to the track shuttle that the arbitrary described electric cylinder drive-type of claim 1-3 turns to, 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.
8. according to the track shuttle that the arbitrary described electric cylinder drive-type of claim 1-3 turns to, it is characterized in that: 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.
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| CN201410444808.9A CN104210794B (en) | 2014-09-03 | 2014-09-03 | The track shuttle that a kind of electric cylinder drive-type turns to |
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| CN201410444808.9A CN104210794B (en) | 2014-09-03 | 2014-09-03 | The track shuttle that a kind of electric cylinder drive-type turns to |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105883316B (en) * | 2015-02-13 | 2019-09-24 | 神技保寿美株式会社 | The ambulation control method of Automatic Guided Vehicle and Automatic Guided Vehicle |
| CN104724431B (en) * | 2015-03-04 | 2017-01-18 | 东华大学 | Inner-outer-vehicle-embedded three-dimensional walking rail guided vehicle |
| CN106828519A (en) * | 2016-12-21 | 2017-06-13 | 芜湖万向新元环保科技有限公司 | A kind of intelligent wireless dolly for rubber plant's banburying shop material |
| CN107264670B (en) * | 2017-05-15 | 2020-09-04 | 上海交通大学 | Light universal mobile lifting trolley |
| 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 |
| CN109850503A (en) * | 2019-01-16 | 2019-06-07 | 安徽宇锋智能科技有限公司 | It is a kind of can multidirectional stacking intelligent guide transport lorry |
| CN112758579B (en) * | 2021-01-20 | 2024-04-16 | 上海号息智能科技有限公司 | Goods storage and taking trolley adopting external power supply and vertical warehouse |
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| DE102010026885A1 (en) * | 2010-07-07 | 2012-01-12 | Jungheinrich Aktiengesellschaft | Trolley for transporting pallets within a deep racking system |
| JP5836584B2 (en) * | 2010-11-02 | 2015-12-24 | Ntn株式会社 | Wheel bearing device |
| CN103896000B (en) * | 2012-12-28 | 2016-04-20 | 昆山光腾智能机械有限公司 | Automatically the formula that switches tracks shuttle |
| CN203781232U (en) * | 2014-02-28 | 2014-08-20 | 上海速锐物流科技有限公司 | Intelligent three-dimensional moving shuttle car |
| 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 |
| CN204056921U (en) * | 2014-09-03 | 2014-12-31 | 昆明七零五所科技发展总公司 | The track shuttle that a kind of electric cylinder drive-type turns to |
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