CN105984495B - Carrier and for the control system of carrier and the control method of carrier - Google Patents
Carrier and for the control system of carrier and the control method of carrier Download PDFInfo
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- CN105984495B CN105984495B CN201510096476.4A CN201510096476A CN105984495B CN 105984495 B CN105984495 B CN 105984495B CN 201510096476 A CN201510096476 A CN 201510096476A CN 105984495 B CN105984495 B CN 105984495B
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Abstract
A kind of control method of carrier and control system and carrier for controlling carrier, wherein carrier include：Vehicle frame；Vehicle frame is divided into along the deflecting roller of vehicle width direction two sides, positioned at vehicle frame along the one end in vehicle commander direction；Fast pulley, positioned at vehicle frame along the other end in vehicle commander direction；First driving mechanism, the steering gear being connect with the first driving mechanism, the deflecting roller of vehicle frame two sides is connected by steering gear, first driving mechanism is for driving steering gear to move, and steering gear is for driving deflecting roller to turn to realize the steering of carrier.Using this programme carrier, it can be achieved that carrier can be turned to outside tunnel in tunnel travels and turns to out of tunnel and travel outside tunnel, realization carrier can be travelled in tunnel and can also be travelled outside tunnel, and the operation occasion of carrier is unrestricted.
Description
Technical field
The present invention relates to a kind of haulage equipment, in particular to a kind of carrier and control system and carrying for carrier
The control method of vehicle.
Background technique
Cargo transport is the indispensable process of multiple industries such as logistics, and artificial cargo transport with the development of economy, cannot expire
The needs in sufficient market.The development of modern logistics industry makes carrying logistics turn to mechanization from manual handling and intelligently carries.Existing
For occasions such as logistics, flow shops, intelligent unmanned transport operation is realized usually using intelligence carrier, is kept an eye on without people,
It can not only be obviously improved production efficiency, and also save manpower.
Existing intelligence carrier is divided into the carrier travelled in tunnel according to its traveling occasion and travels outside tunnel
Carrier.The carrier travelled outside tunnel, since traveling space is substantially unrestricted, the control travelled to it is not special
It is required that.In contrast, tunnel is equivalent to a width and the essentially identical narrow lane of carrier vehicle width, and what is travelled in tunnel removes
Fortune vehicle is to realize linear running by the track being laid in tunnel, is touched with ensuring that carrier will not occur to wipe with the wall in tunnel.
Since the carrier that travels in tunnel has particular/special requirement, and carrier driven into outside tunnel it is right in tunnel
Controller has very high technical requirements, therefore the prior art is there is only the carrier travelled in tunnel and in tunnel layman
The carrier sailed.
Summary of the invention
Problems solved by the invention is to provide a kind of can travel in tunnel and but also what is travelled outside tunnel novel remove
Transport vehicle.
To solve the above problems, the present invention provides a kind of carrier, which includes：Vehicle frame；
The vehicle frame is divided into along the deflecting roller of vehicle width direction two sides, positioned at the vehicle frame along the one end in vehicle commander direction；
Fast pulley, positioned at the vehicle frame along the other end in vehicle commander direction；
First driving mechanism, the steering gear being connect with first driving mechanism, the steering of the vehicle frame two sides
Wheel is connected by steering gear, and first driving mechanism is for driving steering gear to move, the steering transmission
The steering that mechanism is used to that the deflecting roller to be driven to turn to realize carrier.
Optionally, the steering gear includes：
The drive rod being connect with the first driving mechanism output end；
Knuckle positioned at the drive rod both ends, the respective end of each knuckle connection drive rod, deflecting roller and
Vehicle frame, each knuckle and vehicle frame are rotation connection, and by the rotation connection, the knuckle can be around perpendicular to described
The steering axes of vehicle commander direction and vehicle width direction simultaneously drive deflecting roller to turn to；
First driving mechanism is for driving drive rod to move along vehicle width direction to drive knuckle to rotate.
Optionally, the drive rod includes：
Drag link, the drag link are parallel to vehicle width direction, and first driving mechanism is connect with drag link；
Two connecting rods positioned at the drag link both ends, each connecting rod are separately connected the respective end and steering of drag link
The axis of section, the drag link and connecting rod is parallel to the plane of vehicle commander and vehicle width direction composition.
Optionally, two connecting rods are opposite along vehicle width direction, and the angle between the connecting rod and drag link is obtuse angle.
Optionally, first driving mechanism is motor, for driving the drag link to move along its axial direction.
Optionally, the motor is rotating electric machine, and the output end of the rotating electric machine and the drag link are worm-drive,
By the worm-drive, the rotating electric machine drives drag link to move along its axis direction when rotating.
Optionally, further include：Two pair idler wheels of the vehicle frame along vehicle commander direction both ends are separately mounted to, in every a pair of idler wheel
Two idler wheels set up separately along vehicle width direction in vehicle frame two sides and stretch out outside vehicle frame, the axis parallel of the idler wheel is in steering shaft, institute
Steering shaft is stated perpendicular to the vehicle commander direction and vehicle width direction；
When carrier turns in driving process in tunnel, the idler wheel can touch tunnel wall prior to the vehicle frame
Wall is simultaneously rolled to limit carrier steering.
Optionally, carrier further includes carrying mechanism, and the carrying mechanism includes：
First elevating mechanism and the second elevating mechanism, are oppositely arranged along vehicle commander direction and are installed on vehicle frame；
Between the first and second elevating mechanism and the fork mechanism that is supported on the first and second elevating mechanism, for placing goods
Object；
For driving the second driving mechanism of the first elevating mechanism lifting, for driving the second elevating mechanism liter
The third driving mechanism of drop；
First and second elevating mechanism synchronization lifting is able to drive fork mechanism lifting.
Optionally, in the first and second elevating mechanism, each elevating mechanism includes：First mechanism and the second mechanism；
First mechanism is fixedly arranged on vehicle frame, and second mechanism is connect with the first mechanism slips, passes through the sliding
Connection, second mechanism can be gone up and down with respect to the first mechanism；
Second mechanism is connected with corresponding driving mechanism；
The fork mechanism is connect with two second mechanisms.
Optionally, second and third driving mechanism is hydraulic drive mechanism or air pressure driving mechanism.
Optionally, the fork mechanism is connect with first mechanism by pulley.
Optionally, the carrier further includes：Angular transducer, for monitoring the steering angle of the deflecting roller.
Optionally, the carrier further includes：Displacement sensor, for monitoring first elevating mechanism and the second lifting
The adjustable height of mechanism.
Optionally, the carrier further includes control system；
The control system is used for after receiving steering order, is made by control the first driving mechanism operation described
Carrier turns to；
The control system is also used to after receiving straight trip instruction, controls carrier straight trip, and controls described the
One driving mechanism is closed.
Optionally, the control system includes：First control unit, for receiving the steering order, control is described to be turned
To rotation to；
Second control unit controls the carrier straight trip for receiving the straight trip instruction.
Optionally, the first control unit can also control the steering angle of the deflecting roller.
Optionally, the first control unit includes：
Receiving unit, for receiving the steering order；
Angle-unit, for receiving the steering angle signal of the deflecting roller；
Command unit, for being received according to the angle-unit after the steering order for receiving the receiving unit
Steering angle signal send operating instruction to first driving mechanism, control the deflecting roller and complete to turn to.
Optionally, the first control unit includes：
Receiving unit, for receiving the steering order, the steering order includes the angle to be diverted of the deflecting roller；
Storage unit, for store the deflecting roller steering angle and the first driving mechanism operating rate and operation when
Between relationship；
Command unit, for after the steering order for receiving the receiving unit, according to the steering of the deflecting roller
Angle and the operating rate of the first driving mechanism and the relationship of runing time, to first driving mechanism send operating rate and
The operating instruction of runing time controls the deflecting roller and turns over the angle to be diverted.
The present invention also provides a kind of control system for any of the above-described carrier, the control system is for receiving
To after steering order, turn to the deflecting roller by controlling the first driving mechanism operation；
It is also used to after receiving straight trip instruction, controls the carrier straight trip, and control first driving mechanism and close
It closes.
Optionally, control system includes：First control unit controls the carrier for receiving the steering order
It turns to；
Second control unit controls the carrier straight trip for receiving the straight trip instruction.
Optionally, the first control unit can also control the steering angle of the deflecting roller.
Optionally, the first control unit includes：
Receiving unit, for receiving the steering order；
Angle-unit, for receiving the steering angle signal of the deflecting roller；
Command unit, for being received after the steering order for receiving the receiving unit, and according to the angle-unit
The steering angle signal arrived sends operating instruction to first driving mechanism, controls the deflecting roller and completes to turn to.
Optionally, the first control unit includes：
Receiving unit, for receiving the steering order, the steering order includes the angle to be diverted of the deflecting roller；
Storage unit, for store the deflecting roller steering angle and the first driving mechanism operating rate and operation when
Between relationship；
Command unit, the steering order received for receiving the receiving unit, and according to the deflecting roller
The relationship of the operating rate and runing time of steering angle and the first driving mechanism sends operation speed to first driving mechanism
The operating instruction of rate and runing time controls the deflecting roller and turns over the angle to be diverted.
The present invention also provides a kind of control method of above-mentioned carrier, which includes：Receiving steering order
Afterwards, controlling the first driving mechanism operation turns to the carrier；
After receiving straight trip instruction, controls the carrier straight trip and control first driving mechanism and close.
Optionally, the steering angle of the carrier is also controlled.
Compared with prior art, technical solution of the present invention has the following advantages that：
Firstly, driving steering gear, to drive two steered wheel rotations, enable carrier by the first driving mechanism
It enough turns to travel and turn to out of tunnel in tunnel outside tunnel and be travelled outside tunnel, realize that carrier can travel in tunnel
It can be travelled outside tunnel, the operation occasion of carrier is unrestricted.
Secondly, in carrier straight-line travelling, steering gear relative frame stop motion, two deflecting rollers are by turning
To the limitation of transmission mechanism, relative frame is static on steering direction, and deflecting roller and fast pulley realize that carrier is straight jointly at this time
Line traveling, avoids carrier turning in straight-line travelling.
Detailed description of the invention
Fig. 1 is the perspective view of the carrier of the specific embodiment of the invention；
When Fig. 2 is that the carrier of Fig. 1 keeps straight line walking states, the schematic diagram of the vehicle frame with deflecting roller and fast pulley,
Wherein the schematic diagram is that the direction of vehicle frame viewed from above obtains；
Fig. 3 is the carrier of Fig. 1 in right-hand bend state, the plan view of the vehicle frame with deflecting roller and fast pulley,
In the plan view be vehicle frame viewed from above direction plan view；
Fig. 4 is the carrier of Fig. 1 in left-hand bend state, the plan view of the vehicle frame with deflecting roller and fast pulley,
In the plan view be vehicle frame viewed from above direction plan view；
Fig. 5 is the floor map of carrying mechanism in the carrier of Fig. 1, the floor map be seen along vehicle width direction to
Carrying mechanism and obtain；
Fig. 6 is the signal of the second driving mechanism in carrying mechanism shown in Fig. 5, for driving the first elevating mechanism to go up and down
Figure；
Fig. 7 is the top view of fork mechanism in the carrying mechanism of Fig. 5, which is viewed from above to fork mechanism
Obtained view；
Fig. 8 is sectional view of the Fig. 7 along the direction CC, and middle section is perpendicular to the plane in vehicle commander direction；
Fig. 9 is the control system schematic diagram for carrier shown in Fig. 1；
Figure 10 is the structural schematic diagram of first control unit in the control system for carrier shown in Fig. 1.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Referring to Fig.1, Fig. 2, the present embodiment provides a kind of intelligent carrier, which includes：
Vehicle frame 1；
Two deflecting rollers 10 of the vehicle frame 1 along the two sides vehicle width direction BB are divided into, positioned at vehicle frame 1 along the one of vehicle commander direction AA
End；
Two fast pulleys 11, positioned at vehicle frame 1 along the other end of vehicle commander direction AA；
First driving mechanism 4, the steering gear 5 connecting with the first driving mechanism 4, two deflecting rollers 10 pass through steering
Transmission mechanism 5 connects, and the first driving mechanism 4 is for driving steering gear 5 to move, and steering gear 5 is for driving two
A deflecting roller 10 turns to the steering to realize carrier, and wherein the steering shaft of deflecting roller 10 is perpendicular to vehicle commander direction AA and vehicle width side
To BB.In carrier straight-line travelling, the first driving mechanism 4 is out of service, so that 5 stop motion of steering gear, turns to
Wheel 10 is limited by steering gear 5 and is advanced along vehicle commander direction AA, will not be turned to, entire carrier being capable of linear rows
It sails.
Compared with prior art, the carrier of the present embodiment has the advantage that：
Firstly, steering gear 5 is driven by the first driving mechanism 4, to drive the rotation of two deflecting rollers 10, so that carrying
Vehicle can be turned to travel and turn to out of tunnel in tunnel outside tunnel and be travelled outside tunnel, realize that carrier can be in tunnel expert
Sailing can also travel outside tunnel, and the operation occasion of carrier is unrestricted.
Secondly, in carrier straight-line travelling, two deflecting rollers 10 steering gear 5 static by relative frame 1
Limitation and be kept fixed on steering direction, deflecting roller 10 and fast pulley 11 realize carrier straight-line travelling jointly at this time, keep away
Exempt from carrier turning in straight-line travelling.
It should be noted that two deflecting rollers 10 can be used as front-wheel, correspondingly two fast pulleys 11 are used as rear-wheel；Alternatively, two
Deflecting roller 10 can be used as rear-wheel, and correspondingly two fast pulleys 11 are used as front-wheel.In addition, the number of the deflecting roller 10 of the every side of vehicle frame 1
It is 1 that amount, which should not limit, can be selected as needed.The quantity of fast pulley 11 is two, in other examples, fast pulley
Quantity can be selected as needed, can be 1 or 2 or more, to maintain the riding stability of carrier.
In Fig. 1, carrier further includes：Two pair idler wheels 12 of the vehicle frame 1 along the vehicle commander direction both ends AA are separately mounted to, it is each
Two idler wheels 12 in idler wheel 12 are set up separately in 1 two sides of vehicle frame and stretched out outside vehicle frame 1, the central axes of idler wheel 12 along vehicle width direction BB
It is parallel to the steering shaft of deflecting roller 10, idler wheel 12 is walked in tunnel along straight line for preferably limiting carrier.If carried
Vehicle turns to when straight-line travelling in tunnel or carrier is redirected into deflecting roller 10 in tunnel outside tunnel and turns round not yet,
Idler wheel 10 on carrier is contacted with tunnel wall and is rolled by wall friction, and idler wheel 12 limits carrier along detour at this time
Traveling can further correct the direction of travel of deflecting roller 10 later, realize that carrier straight line in tunnel is walked.
Referring to Fig. 2, steering gear 5 includes：
Drive rod, drive rod include the drag link 51 for being parallel to vehicle width direction BB, be located at 51 both ends of drag link and with horizontal drawing
Two connecting rods 52 that bar 51 connects, drag link 51 and connecting rod 52 are parallel to the plane being made of vehicle width direction BB and vehicle commander direction AA
On, wherein drag link 51 is connect with the output end 40 of the first driving mechanism 4, and the first driving mechanism 4 is for driving 51 edge of drag link
It is moved axially；
Knuckle 53 positioned at drive rod both ends.Connecting rod 52, the deflecting roller 10 of connection 51 respective end of drag link of knuckle 53
With vehicle frame 1, for transmitting the axial movement of drive rod, with drive 10 relative frame 1 of deflecting roller turn to.
On the one hand, knuckle 53 is connect with the wheel hub of deflecting roller 10, in 10 rotation of deflecting roller, 53 relative frame of knuckle
1 is static, and the two is avoided to form interference.On the other hand, knuckle 53 connects with corresponding connecting rod 52 and connects with vehicle frame 1 for rotation
It connects, the rotary shaft of the rotation connection is parallel to the steering shaft of deflecting roller 10.It, will by connecting rod 52 when drag link 51 moves axially
The axial movement is converted into the rotation of knuckle 53, drives deflecting roller 10 to turn to when knuckle 53 rotates.
Referring to Fig. 2, the first driving mechanism 4 and the fit system of steering gear 5 are：
First driving mechanism 4 is rotating electric machine, is installed on vehicle frame 1, output end 40 and the drag link 51 of rotating electric machine are
Worm-drive, by worm-drive mode, the torque of rotating electric machine output is converted into drag link 51 along the straight line of its axis direction
Movement.Worm-drive mode is：The output end 40 of rotating electric machine is connected with gear, and drag link 51 is equipped with and in axial direction divides
Several sawtooth of cloth, gear are engaged with sawtooth holding, and when rotated, gear torque is converted into cross by gear engagement to rotating electric machine
The linear motion of pull rod 51.By changing the direction of rotation of rotating electric machine, the linear movement direction of drag link 51 can adjust, in turn
Realize deflecting roller 10 along directional steering to be diverted.
The steering principle of the present embodiment deflecting roller 10 is：
Referring to Fig. 2 and Fig. 3, when the output end 40 of rotating electric machine rotates counterclockwise, drag link 51 along vehicle width direction BB to
It moves right, and pushes the knuckle 53 on right side and the opposite ground of deflecting roller 10 to turn to clockwise by the connecting rod 52 on right side, and logical
The knuckle 52 and deflecting roller 10 for crossing the drawing of connecting rod 52 left side in left side turn to clockwise with respect to ground, realize that carrier is turned right
To；
Referring to Fig. 2 and Fig. 4, when the output end of rotating electric machine rotates clockwise, drag link 51 along vehicle width direction BB to the left
It is mobile, it is turned to counterclockwise by the knuckle 53 and deflecting roller 10 on the drawing of connecting rod 52 right side on right side with respect to ground, passes through left side
Connecting rod 52 push the knuckle 52 in left side and deflecting roller 10 to be turned to counterclockwise with respect to ground, realize carrier left steering.
Therefore, it is rotated and reverse by this exemplary first driving mechanism 4, can be realized carrier and turn to and returned after turning to
Turn.As variation, the first driving mechanism can also be that electric energy can be converted into straight line fortune by linear motor, linear motor
It is dynamic, so that its secondary is moved along a straight line in primary.Secondary by drag link and linear motor connects, or by linear motor
Secondary is designed directly to drag link.
Referring to Fig. 3, Fig. 4, two deflecting rollers 10 need to meet steering trapezium principle in steering procedure：Two connecting rods 52 are along vehicle width
Direction BB is opposite, and connecting rod 52 is equivalent to tie rod arm, and the angle between connecting rod 52 and drag link 51 is obtuse angle, and makes two deflecting rollers 10
Central axes and the central axes of two fast pulleys 11 intersect at a point.This be able to achieve deflecting roller 10 be also able to maintain in steering procedure it is pure
It rolls, the tire to avoid deflecting roller 10 skids on the ground.
Referring to Fig.1, this exemplary carrier further includes carrying mechanism 2, and carrying mechanism 2 is for transporting goods.Specifically, join
According 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 mechanisms are along vehicle commander direction
AA is oppositely arranged；
Fork mechanism 20, including pallet fork support 201, the first pallet fork 202 and the second pallet fork that are supported in pallet fork support 201
203, pallet fork support 201 is supported on two elevating mechanisms, and keeps horizontal, and the first and second pallet fork is oppositely arranged along vehicle commander direction AA
And it can stretch out along vehicle width direction BB to pick and place cargo；
The second driving mechanism 6 being fixedly arranged on vehicle frame 1 is located at the first elevating mechanism 21 and goes up and down along vehicle commander direction AA and second
The opposite other side of mechanism 22, for driving the lifting of the first elevating mechanism 21；
The third driving mechanism 7 being fixedly arranged on vehicle frame 1 is located at the second elevating mechanism 22 and goes up and down along vehicle commander direction AA and first
The opposite other side of mechanism 21, for driving the lifting of the second elevating mechanism 22.In a particular application, two elevating mechanisms are in lifting
It is able to drive pallet fork and supports 201 synchronization liftings, need synchronization lifting, to drive pallet fork support 201 to keep horizontally going up and down.
This exemplary carrying mechanism includes two elevating mechanisms.1 can also be provided only with as variation, in carrying mechanism to rise
Descending mechanism drives fork mechanism.In contrast, the present embodiment is set, there are two elevating mechanisms to support fork mechanism 20, Neng Gougeng
201 balance of pallet fork support is maintained well, is avoided cargo and is shaken landing, fork mechanism 20 and cargo in carrier driving process
Stability it is good.Moreover, two elevating mechanism support fork mechanisms 20 also relatively increase the load-bearing capacity of pallet fork support 201,
Greater weight cargo can be once carried, the handling efficiency of carrier is promoted.
The structural principle of first and second elevating mechanism is identical, illustrates elevating mechanism by taking the first elevating mechanism 21 as an example below
Go up and down principle.First elevating mechanism 21 includes：First mechanism 211 and the second mechanism 212；First mechanism 211 is fixedly arranged on vehicle frame 1
On, it is slidably connected between the second mechanism 212 and the first mechanism 211, enables opposite 211 liters of first mechanism of the second mechanism 212
High or decline；Second driving mechanism 6 is connected with corresponding second mechanism 212, for driving the second mechanism 212 in the first mechanism
It is slidably risen or fallen on 211.
As an example, the first mechanism 211 is connect with the second being slidably connected for mechanism 212 for sliding rail, in the first mechanism 211
The line slide rail extended along lifting direction is equipped in side, the second mechanism 212 is slidably mounted on the line slide rail, and can edge
Linear guide is mobile.
In addition to the above exemplary elevating mechanism, the first and second elevating mechanism can also be fork type elevator (such as fixed scissor-type
Elevator, movable elevator), Telescopic cylindrical lift, aluminium alloy (column) formula elevator, articulated arm lift (folding-jib
Update), oil cylinder direct ejection formula lifting device, guide rail chain-type elevator (elevator, Cargo Lift), cable hydraulic lifting device
Deng.
In the present embodiment, referring to figure 5 and figure 6, the second driving mechanism 6 is hydraulic drive mechanism, including：Pump source system 60,
Pump source system 60 includes fuel tank 601 and the oil pump 602 in fuel tank 601, using 602 pump oil of electric motor driven oil pump to export
Hydraulic oil；
The hydraulic cylinder 61 connecting with oil pump 602, hydraulic cylinder 61 include the cylinder body 610 with hydraulic fluid chamber, are located at hydraulic oil
Intracavitary piston 611, piston 611 are connect by piston rod 612 with the second mechanism 212, and hydraulic cylinder 61 is illustrated only in Fig. 5,
The axial direction of piston rod 612 is parallel to the lifting direction of the second mechanism 212；
Hydraulic lock 62 between hydraulic cylinder 61 and oil pump 602, hydraulic lock 62 are made of two hydraulic control one-way valves,
Effect is the hydraulic oil circuit that hydraulic cylinder 61 is lockked when the second mechanism 212 is static, does not allow hydraulic oil liquid by circuit flowing, with
Make piston 611 remain to remain stationary under 212 weight of the second mechanism, keeps the cargo of carrier in carrying driving process thereon
Stability；
Proportional direction valve 63 between oil pump 602 and hydraulic lock 62, proportional direction valve 63 are one kind of direction valve, are used
In be proportionally controlled flow to hydraulic cylinder 61 or from hydraulic cylinder 61 flow out hydraulic fluid flow rate.
The working principle of second driving mechanism 6 of the present embodiment is：
When needing elevated forks mechanism 20,602 pump oil of control oil pump, hydraulic oil passes through proportional direction valve 63 and hydraulic lock
62 enter the oil pocket of hydraulic cylinders 61, as The hydraulic oil increases in oil pocket, piston 611 by lasting hydraulic oil pressure effect and
Rise, and push the second mechanism 212 persistently to rise by piston rod 612, until desired height, in desired height pallet fork from shelf
Upper picking or unloading；
In uphill process, the output oil mass of proportional direction valve 63 is also controlled, to adjust the raising speed of the second mechanism 212
Rate；
When needing reduces fork mechanism 20,602 fuel cut-off of control oil pump, and control 62 circuit of hydraulic lock open so that
Hydraulic oil draining in hydraulic cylinder 61, as The hydraulic oil is reduced, piston 611 declines, and the second mechanism 212 drops to shelf mechanism
20 to desired height, picking or unloading from shelf in the desired height pallet fork；
During decline, the draining flow of proportional direction valve 63 is controlled, also to adjust the lower reduction of speed of the second mechanism 212
Rate；
When the second mechanism 212 is maintained at desired height, the oil return circuit of the control locking hydraulic cylinder 61 of hydraulic lock 62, second
Mechanism 212 is maintained at desired height and has higher stability.
Compared with the example for being not provided with proportional direction valve 63, proportional direction valve 63 is realized to 61 oil transportation flow of hydraulic cylinder
Accurate control so that fork mechanism 20 increases or the accurate control of fall off rate, and then can realize that pallet fork can accurately stop at institute
Need height.
The type of aforementioned proportion direction valve is only a kind of example, as variation, other flow control valves also can be used
Adjust the oil inlet flow and draining flow of hydraulic cylinder.
This second and third exemplary driving mechanism is hydraulic drive mechanism, and as variation, second and third driving mechanism may be used also
For air pressure driving mechanism or electrodynamic type driving mechanism.
Further, it referring to Fig. 6, is connected between pallet fork support 201 and the first mechanism 211 by pulley 23.Specifically, sliding
Wheel 23 is fixed on 212 top of the second mechanism, and for flexible cable 231 across pulley 23, the both ends of flexible cable 231 are separately connected the first mechanism 211
With pallet fork support 201.On the one hand, pallet fork support 201 is supported in the second mechanism 212 by flexible cable 231.On the other hand, pulley
23 be movable pulley, and in the lifting of the second mechanism 212,23 synchronization lifting of pulley, flexible cable 231 transfers drive pallet fork by pulley 23 certainly
201 lifting of support.Wherein, pallet fork support 201 can be slidably mounted in the second mechanism 212, is slidably installed by this, pallet fork support
201 can go up and down along the second mechanism 212.
Referring to Fig. 7, in fork mechanism 20, the first pallet fork 202 and the second pallet fork 203 and pallet fork support 201 are along vehicle commander side
There are multiple installation sites to AA, each pallet fork is detachably connected in each installation site and pallet fork support 201.In the application,
According to cargo size to be installed, the installation site of two pallet forks is adjusted to change spacing between two pallet forks, keeps spacing between two pallet forks proper
Meet the size of cargo to be installed well, cargo stabilization to be installed is supported between two pallet forks.
Specifically, referring to Fig. 7, pallet fork support 201 includes two support bases 210 being oppositely arranged along vehicle width direction BB, each
Support base 210 is equipped with several mounting holes 213 being arranged along vehicle commander direction AA, and the mounting hole 213 on two support bases 200 is along vehicle width
Direction BB is opposite one by one.In each installation site, first or second pallet fork passes through along opposite one or more pairs of of vehicle width direction BB
Mounting hole 213 be mounted on pallet fork support 201, the first and second pallet forks and pallet fork support 201 for be bolted, pin connection or other
Detachable connection method.
Referring to Fig. 7 and Fig. 8, the first and second pallet fork is telescoping mechanism, can be elongated or shortened along vehicle width direction BB, realizes root
The first and second pallet fork is adjusted according to the size of different cargos along the size of vehicle width direction BB.The flexible principle phase of first and second pallet fork
Together, it will illustrate its flexible principle by taking the first pallet fork 202 as an example below.First pallet fork 202 includes being installed in pallet fork support 201
Mechanism 220 is determined, positioned at the motivation structure 221 determined in mechanism 220, by driving motivation structure 221 to determine mechanism 220 relatively along vehicle width direction
BB is mobile, to realize that the first pallet fork 202 is flexible.For example, when motivation structure 221 moves up, the elongation of the first pallet fork 202；When dynamic
When mechanism 221 moves down, the first pallet fork 202 shortens.
Referring to Fig. 8, the driving method of motivation structure 221 is：Setting transmission shaft 24 is passed through along vehicle commander direction AA determines mechanism 220,
Transmission shaft 24 is worm-drive towards the bottom surface for determining mechanism 220 with motivation structure 221, and by worm-drive, transmission shaft 24 is opposite
When determining mechanism 220 around own axes rotation, motivation structure 221 is driven to move along vehicle width direction BB.Specifically, worm-drive mode
For：Circumferentially distributed several first sawtooth (not shown)s are equipped on transmission shaft 24, motivation structure 221 connects with mechanism 220 is determined
The bottom surface of touching is equipped with several second sawtooth (not shown)s being distributed along vehicle width direction BB, and the first sawtooth and the second sawtooth are nibbled
It closes.
In fig. 8, what transmission shaft 24 passed through two pallet forks determines mechanism 220, and passes through worm-drive with two motivation structures 221
Connection, such transmission shaft 24 can drive two motivation structures, 221 synchronization telescope simultaneously.It, can be in vehicle frame to realize that transmission shaft 24 rotates
The 4th driving mechanism of upper setting, such as rotating electric machine, to provide torque for the rotation of transmission shaft 24.
This case also provide it is a kind of for carrier turn to control system can be realized carrier using the control system
The intelligent control of operation especially can be achieved on the intelligent control that carrier turns in above-mentioned example and straight line is walked.
Referring to Fig.1, it is equipped with electric mechanism 3 on the vehicle frame of carrier 1, is integrated with control system in electric mechanism 3.This control
System processed can be realized following functions：
Firstly, this control system is used for after receiving steering order, control the first driving mechanism operation, to turn to transmission
Mechanism kinematic provides driving force, realizes that deflecting roller 10 turns to；
Control system is also used to after receiving straight trip instruction, and control carrier executes and the first driving mechanism is closed.The
One driving mechanism is closed, and the power for being transferred to steering gear disappears, and steering gear relative frame 1 is static, deflecting roller
10 are limited and relative frame 1 is static on steering direction by steering gear, and deflecting roller 10 keeps going straight ahead.
In addition, control system can also control the first driving according to the direction to be diverted of deflecting roller 10 when needing to turn to
The traffic direction of mechanism realizes that deflecting roller 10 is rotated along direction to be diverted to drive steering gear to move along respective direction.
Wherein the steering direction of deflecting roller 10 includes counter clockwise direction and clockwise direction, the two steering directions and the first driving mechanism
Traffic direction correspond, corresponding setting can be made according to application.
Therefore, this exemplary control system can realize intelligent, the accurate control turned to deflecting roller 10, drive in this way at nobody
Under the premise of sailing, carrier can be smooth in tunnel and outside tunnel in the various applications such as logistics workshop and manufacturing shop
Passage is sailed, and cargo handling efficiency is improved.
To realize above-mentioned function, in conjunction with reference Fig. 9, this control system 30 includes：First control unit 31 turns for receiving
To instruction, controls deflecting roller 10 and turn to；
Second control unit 32, for receiving straight trip instruction, control carrier straight trip.
Further, first control unit is also used to control the steering angle of deflecting roller 10, the first driving machine of real-time control
Structure runs to deflecting roller 10 and completes to turn to.To realize that the function, first control unit 31 include：Receiving unit 310, for receiving
Steering order；
Angle biography can be arranged for receiving the steering angle signal of deflecting roller 10 in angle-unit 311 on carrier at this time
Sensor, angular transducer are electrically connected with angle-unit 311, the steering angle of angular transducer real-time monitoring deflecting roller 10, and will
The steering angle signal measured is sent to angle-unit 311；
Command unit 312, for being connect according to the angle-unit 311 after the steering order for receiving receiving unit 310
The steering angle signal received sends operating instruction to the first driving mechanism, and control deflecting roller is completed to turn to.
In addition to above scheme, referring to Fig.1 0, as variation, first control unit 33 includes：
Receiving unit 330, for receiving steering order, which includes the angle to be diverted of deflecting roller；
Storage unit 331, for store deflecting roller steering angle and the first driving mechanism operating rate and operation when
Between relationship；
Command unit 332, for after receiving the steering order that receiving unit 330 receives, according to turning for deflecting roller
To the relationship of the operating rate and runing time of angle and the first driving mechanism, operating rate and fortune are sent to the first driving mechanism
The operating instruction of row time, control deflecting roller turn over angle to be diverted.In this way, control system can be according to the to be diverted of deflecting roller
Angle, the operating rate for controlling the first driving mechanism and runing time are real to realize the preset angle to be diverted of steered wheel rotation
It is now accurate to turn to.
In addition to control carrier deflecting roller turns to, this case control system be may also be able to for controlling second and third driving mechanism
Operation is to realize the first and second elevating mechanism synchronization lifting, by the way that displacement sensor is arranged on carrier, make displacement sensor with
The corresponding units of control system are electrically connected, the height for the first and second elevating mechanism that control system can be measured according to displacement sensor
Degree controls the operation of second and third driving mechanism so that the first and second elevating mechanism is gone up and down to institute's desired height；
It runs with for controlling the 4th driving mechanism to realize that the first and second pallet fork is flexible.
The control system of this case can for programmable logic controller (PLC) (Programmable Logic Controller,
PLC), PLC is a kind of digital electronic device with microprocessor, is the digital logic controller of automation control, can be incited somebody to action
Control instruction loads storage in memory at any time and executes.PLC and the first, second, third and fourth driving mechanism pass through international
CanBus communication total agreement is interconnected, and PLC sends control instruction to control above-mentioned driving mechanism work.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (23)
1. a kind of carrier, which is characterized in that including：Vehicle frame；
The vehicle frame is divided into along the deflecting roller of vehicle width direction two sides, positioned at the vehicle frame along the one end in vehicle commander direction；
Fast pulley, positioned at the vehicle frame along the other end in vehicle commander direction；
The deflecting roller of first driving mechanism, the steering gear connecting with first driving mechanism, the vehicle frame two sides is logical
Steering gear connection is crossed, first driving mechanism is for driving steering gear to move, the steering gear
For driving the deflecting roller to turn to the steering to realize carrier；
The carrier further includes carrying mechanism, and the carrying mechanism includes elevating mechanism and fork mechanism, the elevating mechanism
Including the first mechanism and the second mechanism；Second mechanism is connect with the first mechanism slips, is slidably connected by described, and described
Two mechanisms can be gone up and down with respect to the first mechanism；
First mechanism is fixedly arranged on the vehicle frame, and the fork mechanism is slidably installed on second mechanism；It is described
The top of second mechanism is equipped with pulley, and flexible cable is across pulley, and the both ends of flexible cable are separately connected first mechanism and the goods
Pitch mechanism.
2. carrier as described in claim 1, which is characterized in that the steering gear includes：
The drive rod being connect with the first driving mechanism output end；
Knuckle positioned at the drive rod both ends, respective end, deflecting roller and the vehicle frame of each knuckle connection drive rod,
Each knuckle and vehicle frame are rotation connection, and by the rotation connection, the knuckle can be around perpendicular to the vehicle commander
The steering axes of direction and vehicle width direction simultaneously drive deflecting roller to turn to；
First driving mechanism is for driving drive rod to move along vehicle width direction to drive knuckle to rotate.
3. carrier as claimed in claim 2, which is characterized in that the drive rod includes：
Drag link, the drag link are parallel to vehicle width direction, and first driving mechanism is connect with drag link；Positioned at the horizontal drawing
Two connecting rods at bar both ends, each connecting rod are separately connected the respective end and knuckle of drag link, the drag link and connecting rod
Axis be parallel to vehicle commander and vehicle width direction composition plane.
4. carrier as claimed in claim 3, which is characterized in that two connecting rods are opposite along vehicle width direction, the connecting rod
Angle between drag link is obtuse angle.
5. carrier as claimed in claim 3, which is characterized in that first driving mechanism is motor, described for driving
Drag link is moved along its axial direction.
6. carrier as claimed in claim 5, which is characterized in that the motor be rotating electric machine, the rotating electric machine it is defeated
Outlet and the drag link are worm-drive, and by the worm-drive, the rotating electric machine drives drag link along it when rotating
Axis direction movement.
7. carrier as described in claim 1, which is characterized in that further include：The vehicle frame is separately mounted to along vehicle commander direction
Two pairs of idler wheels at both ends, it is every a pair of idler wheel in two idler wheels set up separately along vehicle width direction in vehicle frame two sides and stretch out outside vehicle frame, it is described
The axis parallel of idler wheel is in steering shaft, and the steering shaft is perpendicular to the vehicle commander direction and vehicle width direction；
When carrier turns in driving process in tunnel, the idler wheel can touch tunnel wall simultaneously prior to the vehicle frame
It rolls to limit carrier steering.
8. carrier as described in claim 1, which is characterized in that the elevating mechanism includes：First elevating mechanism and second
Elevating mechanism is oppositely arranged along vehicle commander direction and is installed on vehicle frame；The fork mechanism is between the first and second elevating mechanism
And it is supported on the first and second elevating mechanism；
The carrying mechanism further include for driving the second driving mechanism of first elevating mechanism lifting, it is described for driving
The third driving mechanism of second elevating mechanism lifting；
First and second elevating mechanism synchronization lifting is able to drive fork mechanism lifting.
9. carrier as claimed in claim 8, which is characterized in that second and third driving mechanism is hydraulic drive mechanism or air pressure
Driving mechanism.
10. carrier as described in claim 1, which is characterized in that further include：Angular transducer, for monitoring the steering
The steering angle of wheel.
11. carrier as claimed in claim 8, which is characterized in that further include：Displacement sensor, for monitoring described first
The adjustable height of elevating mechanism and the second elevating mechanism.
12. carrier as described in claim 1, which is characterized in that further include control system；
The control system is used for after receiving steering order, makes the carrying by controlling the first driving mechanism operation
Vehicle turns to；
The control system is also used to after receiving straight trip instruction, controls the carrier straight trip, and control described first and drive
Motivation structure is closed.
13. carrier as claimed in claim 12, which is characterized in that the control system includes：First control unit is used for
The steering order is received, the deflecting roller is controlled and turns to；
Second control unit controls the carrier straight trip for receiving the straight trip instruction.
14. carrier as claimed in claim 13, which is characterized in that the first control unit can also control the steering
The steering angle of wheel.
15. carrier as claimed in claim 14, which is characterized in that the first control unit includes：
Receiving unit, for receiving the steering order；
Angle-unit, for receiving the steering angle signal of the deflecting roller；
Command unit, for being turned after the steering order for receiving the receiving unit according to what the angle-unit received
Operating instruction is sent to angle signal to first driving mechanism, the deflecting roller is controlled and completes to turn to.
16. carrier as claimed in claim 14, which is characterized in that the first control unit includes：
Receiving unit, for receiving the steering order, the steering order includes the angle to be diverted of the deflecting roller；
Storage unit, for storing the steering angle of the deflecting roller and the operating rate and runing time of first driving mechanism
Relationship；
Command unit, for after the steering order for receiving the receiving unit, according to the steering angle of the deflecting roller
With the operating rate of the first driving mechanism and the relationship of runing time, operating rate and operation are sent to first driving mechanism
The operating instruction of time controls the deflecting roller and turns over the angle to be diverted.
17. a kind of control system for carrier described in claim 1, which is characterized in that for receiving steering order
Afterwards, turn to the deflecting roller by controlling the first driving mechanism operation；
It is also used to after receiving straight trip instruction, controls the carrier straight trip, and control first driving mechanism and close.
18. control system as claimed in claim 17, which is characterized in that including：First control unit, for receiving described turn
To instruction, controls the carrier and turn to；
Second control unit controls the carrier straight trip for receiving the straight trip instruction.
19. control system as claimed in claim 18, which is characterized in that the first control unit can also control described turn
To the steering angle of wheel.
20. control system as claimed in claim 19, which is characterized in that the first control unit includes：
Receiving unit, for receiving the steering order；
Angle-unit, for receiving the steering angle signal of the deflecting roller；
Command unit, for being turned after the steering order for receiving the receiving unit according to what the angle-unit received
Operating instruction is sent to angle signal to first driving mechanism, the deflecting roller is controlled and completes to turn to.
21. control system as claimed in claim 19, which is characterized in that the first control unit includes：
Receiving unit, for receiving the steering order, the steering order includes the angle to be diverted of the deflecting roller；
Storage unit, for storing the steering angle of the deflecting roller and the operating rate and runing time of first driving mechanism
Relationship；
Command unit, the steering order received for receiving the receiving unit, and according to the steering of the deflecting roller
The relationship of the operating rate and runing time of angle and the first driving mechanism, to first driving mechanism send operating rate and
The operating instruction of runing time controls the deflecting roller and turns over the angle to be diverted.
22. a kind of control method of carrier described in claim 1, which is characterized in that including：
After receiving steering order, controlling the first driving mechanism operation turns to the carrier；
After receiving straight trip instruction, controls the carrier straight trip and control first driving mechanism and close.
23. control method as claimed in claim 22, which is characterized in that also control the steering angle of the carrier.
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 |
|---|---|
| CN105984495A CN105984495A (en) | 2016-10-05 |
| CN105984495B true 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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| Country | Link |
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| CN (1) | CN105984495B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132948A (en) * | 2017-06-27 | 2019-01-04 | 深圳市科陆智慧工业有限公司 | A kind of automatic guided vehicle |
| JP7040622B2 (en) * | 2018-09-07 | 2022-03-23 | 村田機械株式会社 | Transport vehicle |
| CN110255429B (en) * | 2019-06-20 | 2023-11-24 | 深圳市翠箓科技绿化工程有限公司 | Vertical guide rail climbing robot capable of preventing inclination |
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| CN1718491A (en) * | 2004-07-06 | 2006-01-11 | 日产自动车株式会社 | Vehicle steering control system |
| CN201445796U (en) * | 2009-07-02 | 2010-05-05 | 蔡美峰 | Toy 4-wheel driven car capable of stably turning |
| CN201882868U (en) * | 2010-12-03 | 2011-06-29 | 威仁（西安）仓储设备有限公司 | Heavy type stacker for container |
| CN203402897U (en) * | 2013-08-26 | 2014-01-22 | 山东威力天地机械股份有限公司 | Four-wheel drive forklift truck suitable for loading and unloading goods in container |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648688B (en) * | 2009-06-25 | 2012-05-23 | 上海精星仓储设备工程有限公司 | Tunnel double-column piler |
| JP2013001369A (en) * | 2011-06-22 | 2013-01-07 | Nippon Soken Inc | Steering control system |
| CN102826487A (en) * | 2012-05-15 | 2012-12-19 | 云南昆船设计研究院 | Energy-saving roadway stacker |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1718491A (en) * | 2004-07-06 | 2006-01-11 | 日产自动车株式会社 | Vehicle steering control system |
| CN201445796U (en) * | 2009-07-02 | 2010-05-05 | 蔡美峰 | Toy 4-wheel driven car capable of stably turning |
| CN201882868U (en) * | 2010-12-03 | 2011-06-29 | 威仁（西安）仓储设备有限公司 | Heavy type stacker for container |
| CN203402897U (en) * | 2013-08-26 | 2014-01-22 | 山东威力天地机械股份有限公司 | Four-wheel drive forklift truck suitable for loading and unloading goods in container |
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| CN105984495A (en) | 2016-10-05 |
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