CN105984495A - Carrier, control system for carrier and control method of carrier - Google Patents
Carrier, control system for carrier and control method of carrier Download PDFInfo
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- CN105984495A CN105984495A CN201510096476.4A CN201510096476A CN105984495A CN 105984495 A CN105984495 A CN 105984495A CN 201510096476 A CN201510096476 A CN 201510096476A CN 105984495 A CN105984495 A CN 105984495A
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Abstract
Provided are a carrier, a control system for controlling the carrier and a control method of the carrier. The carrier comprises a frame, steering wheels, fixed wheels, a first driving mechanism and a steering transmission mechanism. The steering wheels are arranged on the two sides, in the carrier width direction, of the frame respectively and located at one end, in the carrier length direction, of the frame. The fixed wheels are located at the other end, in the carrier length direction, of the frame. The steering transmission mechanism is connected with the first driving mechanism. The steering wheels on the two sides of the frame are connected through the steering transmission mechanism, and the first driving mechanism is used for driving the steering transmission mechanism to move. The steering transmission mechanism is used for driving the steering wheels to steer to achieve steering of the carrier. According to the scheme, the carrier can steer to run in a roadway from the outside of the roadway and steer to run outside the roadway from the inside of the roadway, the carrier can run in the roadway and outside the roadway, and the running occasion of the carrier is not limited.
Description
Technical field
The present invention relates to a kind of haulage equipment, particularly to a kind of mover and for the control system of mover
System and the control method of mover.
Background technology
Cargo transport is the process that multiple industries such as logistics are indispensable, manually freights along with expanding economy,
Through the needs in market can not be met.The development of modern logistics industry, makes carrying logistics turn to from a dead lift
The carrying of mechanization intelligence.In the occasion such as modern logistics, flow shop, generally use intelligence mover
Realize intelligent unmanned transport operation, it is not necessary to people keeps an eye on, production efficiency can not only be obviously improved, and
Save manpower.
Existing intelligence mover travels occasion according to it and is divided in tunnel the mover travelled and in tunnel
The mover of outer traveling.The mover travelled outside tunnel, the most unrestricted owing to travelling space, right
Its control travelled does not specially requires.By contrast, tunnel is equivalent to a width and mover overall width
Essentially identical narrow lane, the mover travelled in tunnel is that the track by laying in tunnel realizes directly
Line runs, to guarantee that mover will not touch with the wall generation wiping in tunnel.
Mover owing to travelling in tunnel has particular/special requirement, and is driven into from tunnel by mover
Have the highest technology requirement in tunnel to controller, therefore prior art only exists and travels in tunnel
Mover and outside tunnel travel mover.
Summary of the invention
The problem that the present invention solves is to provide and a kind of can travel in tunnel and can travel outside tunnel again
Novel carrying vehicle.
For solving the problems referred to above, the present invention provides a kind of mover, and this mover includes: vehicle frame；
It is divided into the described vehicle frame deflecting roller along both sides, overall width direction, is positioned at described vehicle frame along vehicle commander direction
One end；
Fast pulley, is positioned at the described vehicle frame other end along vehicle commander direction；
The steering gear that first drive mechanism is connected with described first drive mechanism, described vehicle frame two
The deflecting roller of side is connected by steering gear, and described first drive mechanism turns to driver for driving
Structure moves, and described steering gear realizes turning to of mover for driving described deflecting roller to turn to.
Alternatively, described steering gear includes:
The drive link being connected with described first drive mechanism outfan；
Be positioned at the knuckle at described drive link two ends, each described knuckle connect drive link respective end,
Deflecting roller and vehicle frame, each described knuckle and vehicle frame, for being rotationally connected, are rotationally connected by this, described
Knuckle can be around being perpendicular to described vehicle commander direction and the steering axes in overall width direction and drive turns to round
To；
Described first drive mechanism is used for driving drive link to move to order about knuckle along overall width direction and rotates.
Alternatively, described drive link includes:
Drag link, described drag link is parallel to overall width direction, and described first drive mechanism is connected with drag link；
Being positioned at two connecting rods at described drag link two ends, each described connecting rod connects the corresponding of drag link respectively
End and knuckle, the axis of described drag link and connecting rod is parallel to vehicle commander and the plane of overall width direction composition.
Alternatively, two described connecting rods are relative along overall width direction, the angle between described connecting rod and drag link
For obtuse angle.
Alternatively, described first drive mechanism is motor, is used for driving described drag link along its axial direction
Mobile.
Alternatively, described motor is electric rotating machine, and the outfan of described electric rotating machine with described drag link is
Worm-drive, by described worm-drive, described electric rotating machine orders about drag link along its axis side when rotating
To motion.
Alternatively, also include: be separately mounted to the described vehicle frame two pair rollers along two ends, vehicle commander direction, often
Two rollers in one pair roller set up separately in vehicle frame both sides along overall width direction and stretch out outside vehicle frame, described roller
Axis parallel is in steering spindle, and described steering spindle is perpendicular to described vehicle commander direction and overall width direction；
When mover turns in driving process in tunnel, described roller can be touched prior to described vehicle frame
To tunnel wall and roll to limit mover and turn to.
Alternatively, mover also includes that carrying mechanism, described carrying mechanism include:
First elevating mechanism and the second elevating mechanism, be oppositely arranged along vehicle commander direction and be installed on vehicle frame；
Between first and second elevating mechanism and be supported on the fork mechanism on first and second elevating mechanism,
For arrangement of goods；
For driving the second drive mechanism of described first elevating mechanism lifting, for driving described second liter
3rd drive mechanism of descending mechanism lifting；
First and second elevating mechanism synchronization lifting, it is possible to drive fork mechanism lifting.
Alternatively, in first and second elevating mechanism, each elevating mechanism includes: the first mechanism and
Two mechanisms；
Described first mechanism is fixedly arranged on vehicle frame, and described second mechanism is connected with the first mechanism slips, passes through
Described being slidably connected, described second mechanism can the lifting of relative first mechanism；
Described second mechanism connects with corresponding drive mechanism；
Described fork mechanism and two described second mechanisms connect.
Alternatively, second and third drive mechanism is hydraulic drive mechanism or air pressure drive mechanism.
Alternatively, described fork mechanism is connected by pulley with described first mechanism.
Alternatively, described mover also includes: angular transducer, for monitoring turning to of described deflecting roller
Angle.
Alternatively, described mover also includes: displacement transducer, is used for monitoring described first elevating mechanism
Adjustable height with the second elevating mechanism.
Alternatively, described mover also includes control system；
Described control system, for after receiving steering order, is transported by controlling described first drive mechanism
Exercise described mover to turn to；
Described control system is additionally operable to, after receiving craspedodrome instruction, control described mover and keep straight on, and control
Make described first drive mechanism to close.
Alternatively, described control system includes: the first control unit, is used for receiving described steering order,
Control described deflecting roller to turn to；
Second control unit, is used for receiving described instruction of keeping straight on, controls described mover and keep straight on.
Alternatively, described first control unit can also control the steering angle of described deflecting roller.
Alternatively, described first control unit includes:
Receive unit, be used for receiving described steering order；
Angle-unit, for receiving the steering angle signal of described deflecting roller；
Command unit, for after the steering order receiving described reception unit, according to described angle list
The steering angle signal that unit receives sends operating instruction to described first drive mechanism, turns to described in control
Take turns and turned to.
Alternatively, described first control unit includes:
Receiving unit, be used for receiving described steering order, described steering order includes treating of described deflecting roller
Steering angle；
Memory element, for storing steering angle and the operating rate of the first drive mechanism of described deflecting roller
Relation with the time of operation；
Command unit, for, after the described steering order receiving described reception unit, turning to according to described
Steering angle and the operating rate of the first drive mechanism of wheel and the relation of operation time, drive to described first
Motivation structure send operating rate and run the time operating instruction, control described deflecting roller turn over described in wait turn
To angle.
The present invention also provides for a kind of control system for any of the above-described described mover, and this control system is used
In after receiving steering order, described deflecting roller is made to turn to by controlling described first drive mechanism operation；
It is additionally operable to, after receiving craspedodrome instruction, control described mover and keep straight on, and control described first and drive
Motivation structure is closed.
Alternatively, control system includes: the first control unit, is used for receiving described steering order, controls
Described mover turns to；
Second control unit, is used for receiving described instruction of keeping straight on, controls described mover and keep straight on.
Alternatively, described first control unit can also control the steering angle of described deflecting roller.
Alternatively, described first control unit includes:
Receive unit, be used for receiving described steering order；
Angle-unit, for receiving the steering angle signal of described deflecting roller；
Command unit, is used for after the steering order receiving described reception unit, and according to described angle
The steering angle signal that unit receives sends operating instruction to described first drive mechanism, controls described turning
Complete to turn to wheel.
Alternatively, described first control unit includes:
Receiving unit, be used for receiving described steering order, described steering order includes treating of described deflecting roller
Steering angle；
Memory element, for storing steering angle and the operating rate of the first drive mechanism of described deflecting roller
Relation with the time of operation；
Command unit, for receiving the described steering order that described reception unit receives, and according to described
The relation of the steering angle of deflecting roller and the operating rate of the first drive mechanism and the time of operation, to described the
One drive mechanism sends operating rate and the operating instruction of the time of operation, controls described deflecting roller and turns over described
Angle to be diverted.
The present invention also provides for the control method of a kind of above-mentioned mover, and this control method includes: receiving
After steering order, control described first drive mechanism operation and make described mover turn to；
After receiving craspedodrome instruction, control described mover and keep straight on and control described first drive mechanism pass
Close.
Alternatively, the steering angle of described mover is also controlled.
Compared with prior art, technical scheme has the advantage that
First, drive steering gear by the first drive mechanism, to drive two steered wheel rotation, make
Obtain in mover can turn to tunnel from tunnel to travel and turn in tunnel and travel tunnel, it is achieved remove
Fortune car can travel in tunnel and also can travel outside tunnel, and the operation occasion of mover is unrestricted.
Secondly, when mover straight-line travelling, steering gear relative frame stop motion, two turn
To wheel limited by steering gear and on steering direction relative frame static, now deflecting roller and
Fast pulley realizes mover straight-line travelling jointly, it is to avoid mover is turned when straight-line travelling.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the mover of the specific embodiment of the invention；
When Fig. 2 is the mover holding straight line moving state of Fig. 1, there is the vehicle frame of deflecting roller and fast pulley
Schematic diagram, wherein this schematic diagram is that the direction of vehicle frame viewed from above obtains；
Fig. 3 be the mover of Fig. 1 when right-hand bend state, there is vehicle frame flat of deflecting roller and fast pulley
Face view, wherein this plan view is the plan view in direction of vehicle frame viewed from above；
Fig. 4 be the mover of Fig. 1 when left-hand bend state, there is vehicle frame flat of deflecting roller and fast pulley
Face view, wherein this plan view is the plan view in direction of vehicle frame viewed from above；
Fig. 5 is in the mover of Fig. 1, the floor map of carrying mechanism, and this floor map is along car
Cross direction is seen and is obtained to carrying mechanism；
Fig. 6 is in carrying mechanism shown in Fig. 5, for driving the second driving machine of the first elevating mechanism lifting
The schematic diagram of structure；
Fig. 7 is in the carrying mechanism of Fig. 5, the top view of fork mechanism, and this top view is viewed from above
The view obtained to fork mechanism；
Fig. 8 is the Fig. 7 profile along CC direction, and its middle section is perpendicular to the plane in vehicle commander direction；
Fig. 9 is the control system schematic diagram for mover shown in Fig. 1；
Figure 10 is in the control system of mover shown in Fig. 1, the structural representation of the first control unit.
Detailed description of the invention
Understandable, below in conjunction with the accompanying drawings for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from
The specific embodiment of the present invention is described in detail.
With reference to Fig. 1, Fig. 2, the present embodiment provides a kind of intelligence mover, and this intelligence mover includes:
Vehicle frame 1；
It is divided into the vehicle frame 1 two deflecting rollers 10 along BB both sides, overall width direction, is positioned at vehicle frame 1 along vehicle commander
One end of direction AA；
Two fast pulleys 11, are positioned at the vehicle frame 1 other end along vehicle commander direction AA；
The steering gear 5 that first drive mechanism 4 is connected with the first drive mechanism 4, two deflecting rollers
10 are connected by steering gear 5, and the first drive mechanism 4 is used for driving steering gear 5 to move,
Steering gear 5, for driving two deflecting rollers 10 to turn to realize turning to of mover, wherein turns to
The steering spindle of wheel 10 is perpendicular to vehicle commander direction AA and overall width direction BB.When mover straight-line travelling,
First drive mechanism 4 is out of service, so that steering gear 5 stop motion, deflecting roller 10 is turned to
The restriction of drive mechanism 5 and advance along vehicle commander direction AA, will not turn to, whole mover can
Straight-line travelling.
Compared with prior art, the mover of the present embodiment has the advantage that
First, drive steering gear 5 by the first drive mechanism 4, to drive two deflecting roller 10 turns
It is dynamic so that mover travels in can turning to tunnel from tunnel and turns in tunnel and travels tunnel,
Realizing mover to travel in tunnel and also can travel outside tunnel, the operation occasion of mover is unrestricted
System.
Secondly, when mover straight-line travelling, two deflecting rollers 10 are by static the turning to of relative frame 1
The restriction of drive mechanism 5 and keep fixing on steering direction, now deflecting roller 10 and fast pulley 11 are altogether
With realizing mover straight-line travelling, it is to avoid mover is turned when straight-line travelling.
It should be noted that two deflecting rollers 10 can as front-wheel, correspondingly two fast pulleys 11 as after
Wheel；Or, two deflecting rollers 10 can be as trailing wheel, and correspondingly two fast pulleys 11 are as front-wheel.It addition,
It is 1 that the quantity of the deflecting roller 10 of the every side of vehicle frame 1 should not limit, and can select as required.Gu
The quantity of fixed wheel 11 is two, and in other examples, the quantity of fast pulley can select as required,
It can be 1 or more than 2, to maintain the riding stability of mover.
In FIG, mover also includes: be separately mounted to vehicle frame 1 along the two of AA two ends, vehicle commander direction
Pair roller 12, two rollers 12 in each pair roller 12 set up separately vehicle frame 1 liang along overall width direction BB
Side is also stretched out outside vehicle frame 1, and the axis parallel of roller 12 is used in the steering spindle of deflecting roller 10, roller 12
Linearly walk in tunnel in preferably limiting mover.If mover is in tunnel during straight-line travelling
Turn to, or mover from tunnel, be redirected into tunnel in deflecting roller 10 the most do not turn round, on mover
Roller 10 contact with tunnel wall and rolled by wall friction, now roller 12 limits mover
Along crooked-running, the direct of travel of deflecting roller 10 can be corrected afterwards further, it is achieved mover is in tunnel
Straight line moving.
With reference to Fig. 2, steering gear 5 includes:
Drive link, drive link includes being parallel to the drag link 51 of overall width direction BB, being positioned at drag link 51 liang
End and two connecting rods 52 being connected with drag link 51, drag link 51 and connecting rod 52 are parallel to by overall width direction
In the plane of BB and vehicle commander direction AA composition, wherein drag link 51 and the output of the first drive mechanism 4
End 40 connection, the first drive mechanism 4 is used for driving drag link 51 to move along its axis；
It is positioned at the knuckle 53 at drive link two ends.Knuckle 53 connect drag link 51 respective end connecting rod 52,
Deflecting roller 10 and vehicle frame 1, for transmitting moving axially of drive link, to drive deflecting roller 10 relative frame
1 turns to.
On the one hand, knuckle 53 is connected with the wheel hub of deflecting roller 10, at deflecting roller 10 time rotational, turns to
Save 53 relative frame 1 static, it is to avoid both form interference.On the other hand, knuckle 53 is with corresponding
Connecting rod 52 connects and with vehicle frame 1 for being rotationally connected, and this rotary shaft being rotationally connected is parallel to deflecting roller 10
Steering spindle.When drag link 51 moves axially, move axially to be converted into by this by connecting rod 52 and turn to
The rotation of joint 53, drives deflecting roller 10 to turn to when knuckle 53 rotates.
With reference to Fig. 2, the first drive mechanism 4 with the fit system of steering gear 5 is:
First drive mechanism 4 is electric rotating machine, is installed on vehicle frame 1, the outfan of electric rotating machine 40 with
Drag link 51 is worm-drive, and by worm-drive mode, the torque of electric rotating machine output is converted into horizontal drawing
Bar 51 is along the linear motion of its axis direction.Worm-drive mode is: the outfan 40 of electric rotating machine is even
Being connected to gear, and drag link 51 is provided with the some sawtooth being in axial direction distributed, gear keeps with sawtooth
Engagement, electric rotating machine when rotated, transport by the straight line that gear torque is converted into drag link 51 by gear engagement
Dynamic.By changing the direction of rotation of electric rotating machine, the linear movement direction of adjustable drag link 51, and then
Realize deflecting roller 10 along directional steering to be diverted.
The steering principle of the present embodiment deflecting roller 10 is:
With reference to Fig. 2 and Fig. 3, when the outfan 40 of electric rotating machine rotates counterclockwise, drag link 51 is along car
Cross direction BB moves right, and by the knuckle 53 on the right side of connecting rod 52 promotion on right side and deflecting roller
10 relative ground turn to clockwise, and pass through the knuckle 52 on the left of connecting rod 52 tractive in left side and turn to
Wheel 10 relative ground turn to clockwise, it is achieved mover right turn；
With reference to Fig. 2 and Fig. 4, when the outfan of electric rotating machine turns clockwise, drag link 51 is along overall width
Direction BB is moved to the left, by the knuckle 53 on the right side of connecting rod 52 tractive on right side and deflecting roller 10 phase
Ground is turned to counterclockwise, by the knuckle 52 on the left of connecting rod 52 promotion in left side and deflecting roller 10 phase
Ground is turned to counterclockwise, it is achieved mover left steering.
Therefore, rotated and reverse by first drive mechanism 4 of this example, it is possible to realize mover and turn to
And turn round after turning to.As variation, the first drive mechanism can also is that linear electric motors, straight-line electric function
Enough electric energy is converted into linear motion so that it is secondary can move along a straight line in primary.By drag link
Secondary with linear electric motors is connected, or the secondary of linear electric motors is designed directly to drag link.
With reference to Fig. 3, Fig. 4, two deflecting rollers 10 need to meet steering trapezium principle in steering procedure: two
Connecting rod 52 is relative along overall width direction BB, and connecting rod 52 is equivalent to tie rod arm, connecting rod 52 and drag link 51
Between angle be obtuse angle, and make the axis of two deflecting rollers 10 intersect with the axis of two fast pulleys 11
In a bit.This can realize deflecting roller 10 also can keep pure rolling, to avoid deflecting roller 10 in steering procedure
Tire skid on the ground.
With reference to Fig. 1, the mover of this example also includes that carrying mechanism 2, carrying mechanism 2 are used for transporting goods.
Specifically, with reference to Fig. 5, carrying mechanism 2 includes:
The first elevating mechanism 21 and the second elevating mechanism 22 being installed on vehicle frame 1, two elevating mechanism edges
Vehicle commander direction AA is oppositely arranged；
Fork mechanism 20, supports 201 including pallet fork, is supported on pallet fork and supports the first pallet fork 202 on 201
With the second pallet fork 203, pallet fork supports 201 and is supported on two elevating mechanisms, and keeps level, and first and second
Pallet fork is oppositely arranged along vehicle commander direction AA and can stretch out to pick and place goods along overall width direction BB；
The second drive mechanism 6 being fixedly arranged on vehicle frame 1, is positioned at the first elevating mechanism 21 along vehicle commander direction AA
The opposite side relative with the second elevating mechanism 22, for driving the first elevating mechanism 21 to lift；
The 3rd drive mechanism 7 being fixedly arranged on vehicle frame 1, is positioned at the second elevating mechanism 22 along vehicle commander direction AA
The opposite side relative with the first elevating mechanism 21, for driving the second elevating mechanism 22 to lift.Specifically
In application, two elevating mechanisms can drive pallet fork to support 201 synchronization liftings when lifting, needs synchronization lifting,
Flatly lift to drive pallet fork to support 201 holdings.
The carrying mechanism of this example includes two elevating mechanisms.As variation, also can be only in carrying mechanism
It is provided with 1 elevating mechanism to drive fork mechanism.By comparison, the present embodiment is provided with two elevating mechanisms
Support fork mechanism 20, it is possible to preferably maintain pallet fork to support 201 balances, it is to avoid goods is in carrying
Car driving process rocks landing, fork mechanism 20 and the good stability of goods.And, two elevator
Structure supports fork mechanism 20 and also relatively increases the weight capacity of pallet fork support 201 so that it is can once remove
Fortune greater weight goods, promotes the handling efficiency of mover.
The structural principle of first and second elevating mechanism is identical, illustrates below and rise as a example by the first elevating mechanism 21
The lifting principle of descending mechanism.First elevating mechanism 21 includes: the first mechanism 211 and the second mechanism 212；
First mechanism 211 is fixedly arranged on vehicle frame 1, for the company of slip between the second mechanism 212 and the first mechanism 211
Connect, make the second mechanism 212 relative first mechanism 211 can raise or decline；Second drive mechanism 6 with
The second corresponding mechanism 212 connects, for drive the second mechanism 212 in the first mechanism 211 slidably
Rise or fall.
As example, the first mechanism 211 is connected for slide rail with being slidably connected of the second mechanism 212,
Being provided with the line slide rail extended along lifting direction in the side of one mechanism 211, the second mechanism 212 is slidably
It is arranged on this line slide rail, and can linearly move by guide rail.
In addition to the elevating mechanism of above example, first and second elevating mechanism can also be fork type elevator (as
Fixing fork type elevator, movable elevator), Telescopic cylindrical lift, the lifting of aluminium alloy (column) formula
Machine, articulated arm lift (update of folding-jib), oil cylinder direct ejection formula lowering or hoisting gear, guide rail chain-type
Elevator (elevator, Cargo Lift), cable hydraulic lifting device etc..
In the present embodiment, with reference to Fig. 5 and Fig. 6, the second drive mechanism 6 is hydraulic drive mechanism, including:
Pump source system 60, pump source system 60 includes fuel tank 601 and is positioned at the oil pump 602 of fuel tank 601, using
Electric motor driven oil pump 602 pump oil is with output hydraulic pressure oil；
The hydraulic cylinder 61 being connected with oil pump 602, hydraulic cylinder 61 include having hydraulic fluid chamber cylinder body 610,
Being positioned at the piston 611 of hydraulic fluid chamber, piston 611 is connected with the second mechanism 212 by piston rod 612,
Illustrate only hydraulic cylinder 61 in Figure 5, the axial direction of piston rod 612 is parallel to the second mechanism 212
Lifting direction；
Hydraulic lock 62 between hydraulic cylinder 61 and oil pump 602, hydraulic lock 62 is by two hydraulic control lists
Forming to valve, its effect is the hydraulic oil circuit pinning hydraulic cylinder 61 when the second mechanism 212 is static, no
Hydraulic oil liquid is allowed to be flowed by loop, so that piston 611 remains to keep quiet under the second mechanism 212 weight
Only, mover stability of cargo thereon in carrying driving process is kept；
Proportional direction valve 63 between oil pump 602 and hydraulic lock 62, proportional direction valve 63 is direction
The one of valve, for being proportionally controlled the hydraulic oil flow flowing to hydraulic cylinder 61 or flowing out from hydraulic cylinder 61
Amount.
The operation principle of second drive mechanism 6 of the present embodiment is:
When needs elevated forks mechanism 20, control oil pump 602 pump oil, hydraulic oil passing ratio direction valve
63 and hydraulic lock 62 enter the oil pocket of hydraulic cylinder 61, along with in oil pocket, hydraulic pressure oil mass increases, piston 611
Risen by lasting hydraulic oil pressure effect, and promote the second mechanism 212 to hold by piston rod 612
Continuous rising, until desired height, in desired height pallet fork picking or unloading from shelf；
In uphill process, also control the output oil mass of proportional direction valve 63, regulate the second mechanism 212
Increase rate；
When needs reduce fork mechanism 20, control oil pump 602 fuel cut-off, and control hydraulic lock 62
Loop is opened so that hydraulic oil draining in hydraulic cylinder 61, and along with hydraulic pressure oil mass reduces, piston 611 declines,
Second mechanism 212 drops to shelf mechanism 20 to desired height, takes from shelf at this desired height pallet fork
Goods or unloading；
During declining, also control the draining flow of proportional direction valve 63, regulate the second mechanism 212
Fall off rate；
When the second mechanism 212 is maintained at desired height, controls hydraulic lock 62 and lock returning of hydraulic cylinder 61
Oil oil circuit, the second mechanism 212 is maintained at desired height and has higher stability.
Compared with the example being not provided with proportional direction valve 63, proportional direction valve 63 achieves to hydraulic cylinder 61
The accurate control of oil transportation flow so that fork mechanism 20 raises or the accurate control of fall off rate, Jin Erke
Realize pallet fork and can accurately stop at desired height.
The type of aforementioned proportion direction valve is only a kind of example, as variation, it be also possible to use other flows
Control valve regulates oil-feed flow and the draining flow of hydraulic cylinder.
Second and third drive mechanism of this example is hydraulic drive mechanism, and as variation, second and third drives
Motivation structure can be also air pressure drive mechanism or electrodynamic type drive mechanism.
Further, with reference to Fig. 6, between pallet fork support 201 and the first mechanism 211 by pulley 23 even
Connect.Specifically, pulley 23 is fixed on the second mechanism 212 top, and flexible cable 231 strides across pulley 23, flexible cable
The two ends of 231 connect the first mechanism 211 respectively and pallet fork supports 201.On the one hand, pallet fork support 201 is led to
Cross flexible cable 231 to be supported in the second mechanism 212.On the other hand, pulley 23 is movable pulley, at the second machine
When structure 212 lifts, pulley 23 synchronization lifting, flexible cable 231 is propped up from transferring drive pallet fork by pulley 23
Support 201 lifting.Wherein, pallet fork supports 201 and can be slidably mounted in the second mechanism 212, sliding by this
Dynamic installation, pallet fork supports 201 and can lift along the second mechanism 212.
With reference to Fig. 7, in fork mechanism 20, the first pallet fork 202 and the second pallet fork 203 support with pallet fork
201 have multiple installation site along vehicle commander direction AA, and each pallet fork supports with pallet fork in each installation site
201 removably connect.In the application, according to cargo size to be installed, regulate the installation site of two pallet forks to change
Become spacing between two pallet forks, make spacing between two pallet forks just meet the size of goods to be installed, goods to be installed
Stably it is supported between two pallet forks.
Specifically, with reference to Fig. 7, pallet fork supports 201 two supports including being oppositely arranged along overall width direction BB
Seat 210, each support seat 210 be provided with along vehicle commander direction AA arrange some installing holes 213, two
Installing hole 213 on support seat 200 is the most relative along overall width direction BB.In each installation site, first or
Second pallet fork supports by being arranged on pallet fork along one or more pairs of installing holes 213 that overall width direction BB is relative
201, the first and second pallet forks and pallet fork support and 201 are connected for bolt, sell and connect or other removably connect
Mode.
With reference to Fig. 7 and Fig. 8, first and second pallet fork is telescoping mechanism, it is possible to along overall width direction BB elongation or
Shorten, it is achieved regulate first and second pallet fork size along overall width direction BB according to the size of different goods.
The flexible principle of first and second pallet fork is identical, and its flexible principle below will be described as a example by the first pallet fork 202.
First pallet fork 202 includes being installed in pallet fork and supports determining mechanism 220, be positioned at and determine in mechanism 220 on 201
Motivation structure 221, by driving motivation structure 221 to move, with reality along overall width direction BB relative to determining mechanism 220
Existing first pallet fork 202 stretches.Such as, when motivation structure 221 moves up, the first pallet fork 202 extends；
When motivation structure 221 moves down, the first pallet fork 202 shortens.
With reference to Fig. 8, the type of drive of motivation structure 221 is: arranges power transmission shaft 24 and wears along vehicle commander direction AA
Guo Ding mechanism 220, power transmission shaft 24 and motivation structure 221 are worm-drive towards the bottom surface determining mechanism 220,
By worm-drive, power transmission shaft 24 is determining mechanism 220 relatively around own axes time rotational, orders about motivation structure
221 move along overall width direction BB.Specifically, worm-drive mode is: be provided with week on power transmission shaft 24
To distribution some first sawtooth (not shown)s, motivation structure 221 with determine the bottom surface that mechanism 220 contacts
It is provided with the some second sawtooth (not shown)s along overall width direction BB distribution, the first sawtooth and the second saw
Tooth engages.
In fig. 8, power transmission shaft 24 determines mechanism 220 through two pallet forks, and with two motivation structures 221
Being connected by worm-drive, such power transmission shaft 24 can drive two motivation structure 221 synchronization telescopes simultaneously.For
Realize power transmission shaft 24 to rotate, the 4th drive mechanism can be set on vehicle frame, such as electric rotating machine, come for transmission
Axle 24 rotates provides torque.
This case also provides for a kind of control system turned to for mover, utilizes this control system, it is possible to real
The Based Intelligent Control that existing mover runs, especially can realize mover in above-mentioned example and turn to and linear rows
The Based Intelligent Control walked.
With reference to Fig. 1, the vehicle frame 1 of mover is provided with electric mechanism 3, electric mechanism 3 is integrated with control
System processed.This control system is capable of following functions:
First, this control system, for after receiving steering order, controls the first drive mechanism and runs,
Driving force is provided, it is achieved deflecting roller 10 turns to for steering gear motion；
Control system is additionally operable to, after receiving craspedodrome instruction, control mover and perform and the first drive mechanism
Close.First drive mechanism is closed, and the power being transferred to steering gear disappears, steering gear
Relative frame 1 is static, deflecting roller 10 limited by steering gear and on steering direction relative car
Frame 1 is static, and deflecting roller 10 keeps going straight ahead.
It addition, when needs turn to, control system can also be controlled according to the direction to be diverted of deflecting roller 10
Make the traffic direction of the first drive mechanism, move along respective direction ordering about steering gear, it is achieved turn
Rotate along direction to be diverted to wheel 10.Wherein the steering direction of deflecting roller 10 includes counterclockwise and suitable
Clockwise, the traffic direction one_to_one corresponding of the two steering direction and the first drive mechanism, can be according to answering
As relative set.
Therefore, intelligence that the control system of this example can realize turning to deflecting roller 10, accurately control, this
Sample is on the premise of unmanned, and mover can be in various application scenarios such as logistics workshop and manufacturing shops
In, unimpeded traveling in tunnel and outside tunnel, improve goods handling efficiency.
For realizing above-mentioned functions, in conjunction with reference to Fig. 9, this control system 30 includes: the first control unit 31,
For receiving steering order, control deflecting roller 10 and turn to；
Second control unit 32, is used for receiving craspedodrome instruction, controls mover and keep straight on.
Further, the first control unit is additionally operable to control the steering angle of deflecting roller 10, controls the in real time
One drive mechanism operation completes to turn to deflecting roller 10.For realizing this function, the first control unit 31 is wrapped
Include: receive unit 310, be used for receiving steering order；
Angle-unit 311, for receiving the steering angle signal of deflecting roller 10, now can be on mover
Arranging angular transducer, angular transducer electrically connects with angle-unit 311, and angular transducer is monitored in real time
The steering angle of deflecting roller 10, and the steering angle signal recorded is sent to angle-unit 311；
Command unit 312, for after receiving the steering order receiving unit 310, according to described angle
The steering angle signal that unit 311 receives sends operating instruction to the first drive mechanism, controls deflecting roller
Complete to turn to.
In addition to such scheme, with reference to Figure 10, as variation, the first control unit 33 includes:
Receiving unit 330, be used for receiving steering order, this steering order includes the angle to be diverted of deflecting roller；
Memory element 331, for store the operating rate of the steering angle of deflecting roller and the first drive mechanism with
The relation of operation time；
Command unit 332, for after receiving the steering order that reception unit 330 receives, according to turning
To the relation of the operating rate of the steering angle taken turns and the first drive mechanism with the time of operation, drive to first
Mechanism sends operating rate and the operating instruction of the time of operation, controls deflecting roller and turns over angle to be diverted.This
Sample, control system can control the operating rate of the first drive mechanism according to the angle to be diverted of deflecting roller
And the operation time is to realize the angle to be diverted that steered wheel rotation is preset, it is achieved accurately turn to.
In addition to controlling mover deflecting roller and turning to, this case control system may also be able to for controlling second and third
Drive mechanism is run to realize first and second elevating mechanism synchronization lifting, by arranging displacement on mover
Sensor, makes displacement transducer electrically connect with the corresponding units of control system, and control system can be according to position
The height of first and second elevating mechanism that displacement sensor records, control second and third drive mechanism run so that
First and second elevating mechanism liter is down to institute's desired height；
Flexible to realize first and second pallet fork with for controlling the 4th drive mechanism operation.
The control system of this case can be programmable logic controller (PLC) (Programmable Logic Controller,
PLC), PLC is a kind of digital electronic device with microprocessor, for the Digital Logic of Automated condtrol
Controller, can store in control instruction loads internal memory at any time and perform.PLC and first, second and third,
Four drive mechanisms are interconnected by the international total agreement of CanBus communication, and PLC sends control instruction
Control the work of above-mentioned drive mechanism.
Although present disclosure is as above, but the present invention is not limited to this.Any those skilled in the art,
Without departing from the spirit and scope of the present invention, all can make various changes or modifications, therefore the guarantor of the present invention
The scope of protecting should be as the criterion with claim limited range.
Claims (25)
1. a mover, it is characterised in that including: vehicle frame；
It is divided into the described vehicle frame deflecting roller along both sides, overall width direction, is positioned at described vehicle frame along vehicle commander direction
One end；
Fast pulley, is positioned at the described vehicle frame other end along vehicle commander direction；
The steering gear that first drive mechanism is connected with described first drive mechanism, described vehicle frame two
The deflecting roller of side is connected by steering gear, and described first drive mechanism turns to driver for driving
Structure moves, and described steering gear realizes turning to of mover for driving described deflecting roller to turn to.
2. mover as claimed in claim 1, it is characterised in that described steering gear includes:
The drive link being connected with described first drive mechanism outfan；
Be positioned at the knuckle at described drive link two ends, each described knuckle connect drive link respective end,
Deflecting roller and vehicle frame, each described knuckle and vehicle frame, for being rotationally connected, are rotationally connected by this, described
Knuckle can be around being perpendicular to described vehicle commander direction and the steering axes in overall width direction and drive turns to round
To；
Described first drive mechanism is used for driving drive link to move to order about knuckle along overall width direction and rotates.
3. mover as claimed in claim 2, it is characterised in that described drive link includes:
Drag link, described drag link is parallel to overall width direction, and described first drive mechanism is connected with drag link；
Being positioned at two connecting rods at described drag link two ends, each described connecting rod connects the corresponding of drag link respectively
End and knuckle, the axis of described drag link and connecting rod is parallel to vehicle commander and the plane of overall width direction composition.
4. mover as claimed in claim 3, it is characterised in that two described connecting rods are relative along overall width direction,
Angle between described connecting rod and drag link is obtuse angle.
5. mover as claimed in claim 3, it is characterised in that described first drive mechanism is motor, uses
Move along its axial direction in driving described drag link.
6. mover as claimed in claim 5, it is characterised in that described motor is electric rotating machine, described rotation
The outfan of rotating motor and described drag link are worm-drive, by described worm-drive, described rotation
Order about drag link during electric machine rotation to move along its axis direction.
7. mover as claimed in claim 1, it is characterised in that also include: be separately mounted to described vehicle frame
Along two pair rollers at two ends, vehicle commander direction, two rollers in each pair roller set up separately at car along overall width direction
Frame both sides are also stretched out outside vehicle frame, and the axis parallel of described roller is in steering spindle, and described steering spindle is vertical
In described vehicle commander direction and overall width direction；
When mover turns in driving process in tunnel, described roller can be touched prior to described vehicle frame
To tunnel wall and roll to limit mover and turn to.
8. mover as claimed in claim 1, it is characterised in that also include carrying mechanism, described carrying implement
Structure includes:
First elevating mechanism and the second elevating mechanism, be oppositely arranged along vehicle commander direction and be installed on vehicle frame；
Between first and second elevating mechanism and be supported on the fork mechanism on first and second elevating mechanism,
For arrangement of goods；
For driving the second drive mechanism of described first elevating mechanism lifting, for driving described second liter
3rd drive mechanism of descending mechanism lifting；
First and second elevating mechanism synchronization lifting, it is possible to drive fork mechanism lifting.
9. mover as claimed in claim 8, it is characterised in that in first and second elevating mechanism, each
Individual elevating mechanism includes: the first mechanism and the second mechanism；
Described first mechanism is fixedly arranged on vehicle frame, and described second mechanism is connected with the first mechanism slips, passes through
Described being slidably connected, described second mechanism can the lifting of relative first mechanism；
Described second mechanism connects with corresponding drive mechanism；
Described fork mechanism and two described second mechanisms connect.
10. mover as claimed in claim 9, it is characterised in that second and third drive mechanism is hydraulic-driven
Mechanism or air pressure drive mechanism.
11. movers as claimed in claim 8, it is characterised in that described fork mechanism and described first mechanism
Connected by pulley.
12. movers as claimed in claim 1, it is characterised in that also include: angular transducer, be used for supervising
Survey the steering angle of described deflecting roller.
13. movers as claimed in claim 8, it is characterised in that also include: displacement transducer, be used for supervising
Survey described first elevating mechanism and the adjustable height of the second elevating mechanism.
14. movers as claimed in claim 1, it is characterised in that also include control system；
Described control system, for after receiving steering order, is transported by controlling described first drive mechanism
Exercise described mover to turn to；
Described control system is additionally operable to, after receiving craspedodrome instruction, control described mover and keep straight on, and control
Make described first drive mechanism to close.
15. movers as claimed in claim 14, it is characterised in that described control system includes: first controls
Unit, is used for receiving described steering order, controls described deflecting roller and turns to；
Second control unit, is used for receiving described instruction of keeping straight on, controls described mover and keep straight on.
16. movers as claimed in claim 15, it is characterised in that described first control unit can also control
The steering angle of described deflecting roller.
17. movers as claimed in claim 16, it is characterised in that described first control unit includes:
Receive unit, be used for receiving described steering order；
Angle-unit, for receiving the steering angle signal of described deflecting roller；
Command unit, for after the steering order receiving described reception unit, according to described angle list
The steering angle signal that unit receives sends operating instruction to described first drive mechanism, turns to described in control
Take turns and turned to.
18. movers as claimed in claim 16, it is characterised in that described first control unit includes:
Receiving unit, be used for receiving described steering order, described steering order includes treating of described deflecting roller
Steering angle；
Memory element, for storing steering angle and the operating rate of the first drive mechanism of described deflecting roller
Relation with the time of operation；
Command unit, for, after the described steering order receiving described reception unit, turning to according to described
Steering angle and the operating rate of the first drive mechanism of wheel and the relation of operation time, drive to described first
Motivation structure send operating rate and run the time operating instruction, control described deflecting roller turn over described in wait turn
To angle.
19. 1 kinds of control systems for mover described in claim 1, it is characterised in that for receiving
After steering order, described deflecting roller is made to turn to by controlling described first drive mechanism operation；
It is additionally operable to, after receiving craspedodrome instruction, control described mover and keep straight on, and control described first and drive
Motivation structure is closed.
20. control systems as claimed in claim 19, it is characterised in that including: the first control unit, be used for
Receive described steering order, control described mover and turn to；
Second control unit, is used for receiving described instruction of keeping straight on, controls described mover and keep straight on.
21. control systems as claimed in claim 20, it is characterised in that described first control unit can also be controlled
Make the steering angle of described deflecting roller.
22. control systems as claimed in claim 21, it is characterised in that described first control unit includes:
Receive unit, be used for receiving described steering order；
Angle-unit, for receiving the steering angle signal of described deflecting roller；
Command unit, for after the steering order receiving described reception unit, according to described angle list
The steering angle signal that unit receives sends operating instruction to described first drive mechanism, turns to described in control
Take turns and turned to.
23. control systems as claimed in claim 21, it is characterised in that described first control unit includes:
Receiving unit, be used for receiving described steering order, described steering order includes treating of described deflecting roller
Steering angle；
Memory element, for storing steering angle and the operating rate of the first drive mechanism of described deflecting roller
Relation with the time of operation；
Command unit, for receiving the described steering order that described reception unit receives, and according to described
The relation of the steering angle of deflecting roller and the operating rate of the first drive mechanism and the time of operation, to described the
One drive mechanism sends operating rate and the operating instruction of the time of operation, controls described deflecting roller and turns over described
Angle to be diverted.
The control method of the mover described in 24. 1 kinds of claim 1, it is characterised in that including:
After receiving steering order, control described first drive mechanism operation and make described mover turn to；
After receiving craspedodrome instruction, control described mover and keep straight on and control described first drive mechanism pass
Close.
25. control methods as claimed in claim 24, it is characterised in that also control the steering angle of described mover
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096476.4A CN105984495B (en) | 2015-03-04 | 2015-03-04 | Carrier and for the control system of carrier and the control method of carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096476.4A CN105984495B (en) | 2015-03-04 | 2015-03-04 | Carrier and for the control system of carrier and the control method of carrier |
Publications (2)
| Publication Number | Publication Date |
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| CN105984495A true CN105984495A (en) | 2016-10-05 |
| CN105984495B CN105984495B (en) | 2018-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510096476.4A Active CN105984495B (en) | 2015-03-04 | 2015-03-04 | Carrier and for the control system of carrier and the control method of carrier |
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| CN (1) | CN105984495B (en) |
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| Publication number | Publication date |
|---|---|
| CN105984495B (en) | 2018-11-27 |
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