CN106553657B - A kind of means of transportation - Google Patents

Abstract

The present invention program is a kind of means of transportation, including several platforms, several motion paths, several trolleies, several switching devices, several input units, homeposition recognition unit, control system；Under control of the control system, trolley can switch between each motion path；For at each switching, trolley is referred to as in the motion path of preceding operation in preceding path, and the motion path that trolley will be switched to is referred to as destination path；Trolley has first state and the second state, and the trolley in first state and the trolley in the second state can be parallel on same destination paths；Part trolley on control system control targe path executes taxiing procedures, so that two trolleies in parallel state mutually stagger；The present invention program has the following advantages：It is safe and reliable.

Description

A kind of means of transportation

Technical field

The present invention relates to a kind of construction applications of means of transportation.

Background technology

The means of transportation of modernization are using automobile as carrier, and after long-run development, this system exposes unsurmountable Disadvantage is main as follows：One, inefficiency, sometimes a huge automobile only carries several individuals, and automobile is in platform and crossing Also to stop, two, be easy to block, this point citizen have an intimate knowledge, and no further details are given here, three, environmental pollution it is serious, mainly by Vehicle exhaust causes, in consideration of it, it is necessary to provide a kind of means of transportation, makes it to overcome disadvantages mentioned above.I am in preceding application Application No. is the patents of invention of 201510702108.X to have made useful improvement, discloses a kind of means of transportation, including several stations Platform, several motion paths, several trolleies, several switching devices, several input units, homeposition recognition unit, control system； Being covered on motion path can be along the carrier that its path direction moves, so when trolley is incorporated on motion path, trolley energy edge Path direction movement；Each motion path is spliced into a netted transportation network, and each platform is contacted by transportation network Together, each platform is connected with the head end of at least one motion path, and the motion path that head end is connected with platform is referred to as uplink Path, each platform are connected with the tail end of at least one motion path, and the motion path that tail end is connected with platform is referred to as downlink Path, in total movement path, other motion paths in addition to uplink, downlink path are referred to as operating path, pass through switching Device, the trolley operated on each up path or operating path can cut at least one other motion paths, pass through switching Device, each downlink path or operating path can accept the trolley from least one other motion paths；Input unit with it is small Vehicle corresponds, and user represents the information of destination platform by input unit input, this information is conveyed to by input unit Control system, for homeposition recognition unit to identify trolley from which up path, homeposition identification is single Identification signal is conveyed to control system by member, and up path that control system is set out according to trolley, destination platform arrange out one Item arrives at the preset path of platform, which is spliced by several motion paths；It is carried out between motion path The position of switching is referred to as at switching, and a response position is corresponding at each switching, when trolley needs to switch at switching When, switching device must be responded in response position accordingly, and response position is corresponding with a response location identification unit, responds Location identification unit is which trolley have passed through response and position and this information is conveyed to control system to identify, when small When vehicle is by response position, control system determines whether switching device is responded according to the preset path of trolley.But this skill There is also shortcomings for art：Trolley is possible to meet with the other trolleies operated on motion path in handoff procedure, also It is to say, such means of transportation are not safe and reliable enough.

Invention content

The present invention program technical problems to be solved are the present situations for the prior art, provide it is a kind of it is efficient, safe, can The means of transportation leaned on.

Technical proposal that the invention solves the above-mentioned problems is：A kind of means of transportation, including several platforms, several movement roads Diameter, several trolleies, several switching devices, several input units, homeposition recognition unit, control system；Cloth on motion path Completely can be along the carrier that its path direction moves, so when trolley is incorporated on motion path, trolley can be transported along path direction It is dynamic；Each motion path is spliced into a netted transportation network, and each platform is linked together by transportation network, each platform It is connected with the head end of at least one motion path, the motion path that head end is connected with platform is referred to as up path, each platform It is connected with the tail end of at least one motion path, the motion path that tail end is connected with platform is referred to as downlink path, in whole fortune In dynamic path, other motion paths in addition to uplink, downlink path are referred to as operating path, by switching device, operate in every Trolley on one up path or operating path can cut at least one other motion paths, by switching device, each downlink Path or operating path can accept the trolley from least one other motion paths；Input unit is corresponded with trolley, is used Family represents the information of destination platform by input unit input, this information is conveyed to control system, set out by input unit For location identification unit to identify trolley from which up path, homeposition recognition unit passes identification signal Control system is reached, up path that control system is set out according to trolley, destination platform arrange out one to arrive at station The preset path of platform, the preset path are spliced by several motion paths；The position switched between motion path is referred to as At switching, a response position is corresponding at each switching, when trolley needs switch at switching, switching device is necessary It is responded in response position accordingly, response position is corresponding with a response location identification unit, and response location identification unit is used It is which trolley have passed through response and position and this information is conveyed to control system with identification, when trolley is by response position When, control system determines whether switching device is responded according to the preset path of trolley；Running position is provided on motion path Set recognition unit, running position recognition unit is identifying position of each trolley on motion path；For at each switching, Trolley is referred to as in the motion path of preceding operation in preceding path, and the motion path that trolley will be switched to is referred to as destination path； Trolley has first state and the second state, and the trolley in first state and the trolley in the second state can be parallel same On destination path；For operating on destination path and will pass through the trolley at switching, control system controls the trolley It is maintained at first state；For it will be switched to the trolley of destination path, control system controls the trolley and switches to second State；For from the trolley for cutting destination path in preceding path, if trolley is not on parallel state, it is small that control system controls this Vehicle switches to first state；In addition to binding pattern, trolley can also use the connection type of sliding mode with destination path, work as trolley When in sliding mode, trolley is not combined with carrier, and trolley is slided with the inertia of itself on destination path；Trolley exists Taxiing procedures are referred to as using the operational process of sliding mode on one section of destination path；Portion on control system control targe path Trolley is divided to execute taxiing procedures, so that two trolleies in parallel state mutually stagger；It releases parallel state and mutually staggers Wherein one of two trolleies be in the second state, control system controls the trolley and switches to first state.In present invention side In case, trolley cuts destination path from preceding path, if not encountering other trolleies on destination path, the switching of trolley Journey smoothly completes, and control system controls the trolley and switches to first state；Trolley is in handoff procedure, if encountering on destination path Other trolleies, will not crash, the trolley in first state and trolley in the second state can exist parallel On same destination path, the part trolley on control system control targe path executes taxiing procedures, so as to be in parallel state Two trolleies mutually stagger；Compared to prior art, the means of transportation of the present invention program are more safe and reliable.For will It is switched to for the trolley of destination path, control system controls the trolley and switches to the second state, the controllable operation of control system On preceding path and the second state, the variation of certain small car state will entered by cutting the trolley of destination path at switching Also generation can be synchronized during motion switch path.In the present invention program, the portion on control system control targe path Trolley is divided to execute taxiing procedures, so that two trolleies in parallel state mutually stagger；Control system control section trolley is held Row taxiing procedures, this has a detailed description in the Chinese patent application No. is 201610662346.7, and trolley execution in part is slided Process can make the position relationship of trolley on destination path change, so that two trolleies in parallel state mutually stagger. In fact, to reach this technique effect, there are a variety of realization means；If means of transportation use such as application No. is The spacing distance of technical solution described in 201610701640.4 Chinese patent, each trolley run on destination path can compare It is more satisfactory, for two trolleies in parallel state, as long as control system controls a trolley therein and executes taxiing procedures, So that this two trolleies separate the distance of setting.It in practical applications, can also be by way of overall arrangement on destination path Small truck position make arrangements, as using data acquisition by the way of, simulation one destination path on trolley distribution scene, In, with several to parallel trolley, the position data for recording each trolley forms data one, then to the small truck position of this scene Rational overall arrangement is made, to release the parallel state of trolley, the small truck position after record layout forms data two, data One and data two be stored in control system as data group, be so repeated as many times, control system has the data group of magnanimity, i.e., The data group for having various trolley distribution scenes in control system, after an actual trolley distribution scene occurs, practical The position data for being distributed each trolley of scene is matched with each data group, if the position data of each trolley of actual distribution scene It is matched with the formation of data one in data group, then the data two in the data group can be used as the overall arrangement position of each trolley.With It trolley and constantly cuts destination path, control system constantly makes overall arrangement.In an overall arrangement, each trolley is not It has to be performed simultaneously, can also successively execute, this point has in detail in the Chinese patent application No. is 201610662346.7 Thin description.It in an overall arrangement, is also not necessarily intended to release the parallel state of all parallel trolleies, can first release part simultaneously The parallel state of row trolley, remaining parallel trolley can solve in overall arrangement next time.Generally, in simultaneously Two trolleies of row status, it should allow the trolley in first state to execute taxiing procedures, in order to avoid follow-up trolley is cut Destination path interferes.It, can be to just from switching place out parallel small when the trolley to simulated scenario makes position arrangement Vehicle is participated in taxiing procedures and is fully considered, so that the taxiing procedures to parallel trolley will not be to by cutting target at switching Other trolleies in path interfere, i.e., the distance that taxiing procedures are just participated in from the parallel trolley of switching place out should be advised rationally It draws, can show that parallel trolley participates in the distance of taxiing procedures by simulation test, such as distance of the parallel trolley at switching is 5 Rice when then parallel trolley participates in taxiing procedures, can arrange parallel trolley and the displacement of soft rope to be no more than 5 meters, it is however generally that, for Just the parallel trolley of a pair from switching place out, control system can first arrange this not execute taxiing procedures to parallel trolley, wait for it After at switching, then taxiing procedures are executed, if control system makes overall arrangement to the trolley on destination path, the target road There are 15 uniline trolleies, 5 pairs of parallel trolleies on diameter, wherein 2 pairs just come out from switching place, at 3 pairs of separate switchings, control system pair It makes arrangements the position of these trolleies, wherein 2 pairs just do not execute taxiing procedures from the trolley of switching place out, in remaining trolley Part trolley execute taxiing procedures, 3 pairs of parallel states far from the parallel trolley at switchings are released from, and work as the past period Afterwards, 2 pairs just from switching place parallel trolley out far from switching at, control system can arrange taxiing procedures again to release Its parallel state, certainly, such position arrangement are all based on pre-set simulated scenario and are unfolded.Obviously, parallel trolley Release parallel state time window it is still very abundant, after trolley forms parallel state at a switching, as long as to It completes to release parallel state before at up to next switching.It in practical applications, can also be the trolley on destination path It is divided into several sections, each section makes overall arrangements respectively, in this fragmentation procedure, each section of last position trolley is preferably made to be in non- Parallel state, and art position trolley is made to be in binding pattern, it will not influence each other between such each section of trolley.Such as to be saved at switching Trolley on destination path is divided into several sections by point.The technology of taxiing procedures is executed with various to trolley in view of control system Property, expansion does not repeat one by one below.Running position recognition unit is to identify position of each trolley on motion path, to this hair Particularly important for bright scheme, control system only knows the position of each trolley, can just control it, as control system is logical Cross running position recognition unit and identify whether two trolleies are in parallel state, running position recognition unit generally on trolley certain The position of any is accurately identified, and since trolley itself has certain length, control system identifies single according to running position The data of member input and combine trolley length that can show that the spacing distance between trolley, running position recognition unit belong to Prior art, application No. is the Chinese patent of 201510702108.X, the Chinese patent of application number 201510874759.7, Shens Please number for 201610662346.7 Chinese patent, application No. is be all described in detail in 201610662346.7 Chinese patent The technical solution of running position recognition unit.In fact, in the manufacture neighborhood of high speed motor car, need accurately to measure each compartment in-orbit Position on road, such measuring technique are equally equally applicable to the present invention program.

Preferably, destination path includes first axle, the second axis, the soft rope that a trap is closed, driving unit, several supports Frame, sliding rail；Soft rope is wound in first axle and the second axis, and driving unit is to drive soft rope to move, and supporting rack is supporting upside Soft rope, sliding rail is arranged above soft rope, the gap of a longitudinal direction is provided in the middle part of sliding rail, has been positioned apart from soft rope several Upper protruding block is provided with left skateboard on the left of sliding rail, right slide plate is provided on the right side of sliding rail；Include first axle in preceding path, Second axis, the soft rope that a trap is closed, driving unit, several supporting racks, sliding rail (A6)；Soft rope is wound in first axle and the second axis, Driving unit is to drive soft rope to move, and supporting rack is to support the soft rope of upside, sliding rail to be arranged above soft rope, in the middle part of sliding rail It is provided with the gap of a longitudinal direction, several upper protruding blocks have been positioned apart from soft rope, left skateboard, sliding rail are provided on the left of sliding rail Right side be provided with right slide plate；Small car bottom is provided with lower protruding block, and the first driving portion and the second driving portion are provided on trolley；The For one driving portion to drive lower protruding block upward and downward to move, the first driving portion drives lower protruding block in first position, the second position, third It is switched between position；When lower protruding block is in first position, lower protruding block is plugged in gap and touches soft rope；Work as lower protruding block When in the second position, lower protruding block is plugged in gap and far from soft rope；When lower protruding block is in the third place, lower protruding block leaves Gap；Second driving portion is driving lower protruding block or so to movement；When lower protruding block is located on the right side of trolley, trolley is in the first shape State；When lower protruding block is located on the left of trolley, trolley is in the second state；First driving portion and the second driving portion are by control system control System；Switching device includes a transiting slide plate, a telescopic arm, a driving device, a baffle, a block, a bar；Transiting slide plate is set It sets at switching, the right slide plate in the left side linking objective path of transiting slide plate, the left side in preceding path is connected on the right side of transiting slide plate Slide plate；Telescopic arm is arranged on the right side of trolley；Driving device is to drive telescopic arm, so that telescopic arm realization is stretched, contracting action, driving Device is controlled by control system；At switching, baffle is located on the right side of the right slide plate in preceding path baffle plate setting；Block setting exists Car top, bar are arranged at switching, and bar is located above the right slide plate of destination path.

In the technical scheme, for operating on preceding path and will be by cutting the small of destination path at switching Vehicle, control system control the trolley and enter the second state, and lower protruding block is located on the left of trolley, and trolley travelling is in the right cunning in preceding path On plate, after trolley enters at switching, control system control lower protruding block is in the third place, then, control system control driving Device operates, and telescopic arm stretches the baffle that pushes, and trolley is slided by transiting slide plate on the right slide plate of destination path, and bar is to gear Block is stopped, to prevent trolley from further sliding to the left, control system control lower protruding block is in first position, in driving device Under the action of, telescopic arm recycling, trolley travelling is on the right slide plate of destination path, i.e., trolley is in the second state, even if trolley Other trolleies on destination path are met in handoff procedure, two trolleies can also be in parallel state without mutually colliding.When So, the transformation of small car state is also not necessarily intended to complete on preceding path, and trolley completion status variation in handoff procedure is also Can with, at switching, trolley travelling on the left skateboard in preceding path, control system control lower protruding block be in the third place Afterwards, the second driving portion can drive lower protruding block to move downward, meanwhile, telescopic arm stretches the baffle that pushes, so in the mistake of toggle path Cheng Zhong, the conversion of trolley completion status.When lower protruding block is in first position, trolley is in binding pattern, when lower protruding block is in When the second position, trolley is in sliding mode.

Preferably, destination path includes first axle, the second axis, the soft rope that a trap is closed, driving unit, several supporting racks； Soft rope is wound in first axle and the second axis, and driving unit is to drive soft rope to move, and supporting rack is supporting the soft rope of upside； Preceding path includes first axle, the second axis, the soft rope that a trap is closed, driving unit, several supporting racks；Soft rope is wound on first axle and On two axis, driving unit is to drive soft rope to move, and supporting rack is supporting the soft rope of upside；Switching device is two machineries Arm, each mechanical arm is by upper arm, underarm, hook, clamping bar, the first driving unit, the second driving unit, third driving unit group At；Underarm tail end is rotatablely connected car top center, and upper arm tail end is rotatablely connected underarm head end, and hook tail end connection upper arm is first End, clamping bar tail end are rotatablely connected upper arm head end；First driving unit setting car top center, the first driving unit to turn Dynamic underarm；The setting of second driving unit is in underarm head end, and the second driving unit is rotating upper arm；The setting of third driving unit exists Upper arm head end, third driving unit is rotating clamping bar；First driving unit, the second driving unit, third driving unit are controlled System control processed；When trolley is in first state, the equal vertical characteristics of upper and lower arms；When trolley is in the second state, on Arm vertical characteristics, the distribution of underarm horizontal direction, underarm are located on the right side of upper arm；Third driving unit drives clamping bar in release position, closes It closes and switches between position, clamped position；When clamping bar is in release position, clamping bar head end is far from hook head end；When clamping bar is in When closed position, clamping bar head end touches hook head end；When clamping bar is in clamped position, clamping bar clamps soft rope with hook；Hook Cross section be circle, the cross section of clamping bar is circle, upper arm high resilience.In the technical scheme, when trolley travelling When on preceding path, the hook and clamping bar of a mechanical arm of trolley clamp soft rope corresponding in preceding path, this root mechanical arm is referred to as To run mechanical arm, another mechanical arm of trolley is in idle state, this root mechanical arm is referred to as idle mechanical arm, and leave unused machine Tool arm is in vertical storing state, and when trolley travelling is at switching and will cut destination path, control system control is idle Second driving unit of mechanical arm operates, and the upper arm of idle mechanical arm turns right to horizontal direction, and then control system control is not busy The first driving unit running of mechanical arm is set, the underarm of idle mechanical arm turns left to horizontal direction, drive of the upper arm in underarm Under move downward, the hook being arranged in upper arm head end is affiliated on the corresponding soft rope of destination path, control system control third drive Moving cell operates, so that clamping bar soft rope corresponding with hook clamping destination path, later, control system control operation mechanical arm Clamping bar is in release position so that operation mechanical arm is detached from the corresponding soft rope in preceding path, as long as the upper arm of operation mechanical arm to Right-hand rotation makes a movement, and hook leaves soft rope, and after being located remotely from each other in preceding path and destination path, upper arm restores vertical state again； Handoff procedure is completed, and trolley is switched to destination path, and trolley is in the second state, even if trolley meets with mesh in handoff procedure Other trolleies on path are marked, two trolleies can also be in parallel state without mutually colliding.Trolley passes through in the process of running Switching device constantly changes operating path, and two mechanical arms are used alternatingly, it is clear that after the completion of handoff procedure, original operation machine Tool arm is evolved into idle mechanical arm, and original idle mechanical arm is evolved into operation mechanical arm.In the technical scheme, hook Cross section is circle, and the cross section of clamping bar is circle, upper arm high resilience.After being arranged in this way, trolley is not busy in handoff procedure The hook for setting mechanical arm is moved to the corresponding soft rope of destination path, even if the hook of idle mechanical arm encounters other trolleies on soft rope The hook of corresponding hook, idle mechanical arm can also be come by exclusion, and the hook for not influencing idle mechanical arm is affiliated on soft rope. When parallel trolley need to participate in taxiing procedures, the trolley of hook position rearward should be arranged to participate in taxiing procedures.At clamping bar At release position, hook can leave soft rope, and when clamping bar is in detent position, trolley is in sliding mode, when clamping bar is in When clamped position, trolley is in binding pattern.

Obviously, can also there are more technical solutions in preceding path and destination path, correspondingly, the of switching device, trolley One state, the second state of trolley can also have more set-up modes, and two trolleies can be parallel on same path, can realize this The tactic pattern of one function is obviously very more, and two trolleies can be made to be mutually staggered in different height, can also make two trolleies Live apart path both sides to achieve the purpose that harmonious coexistence.

Further technology further includes several acceleration paths, several deceleration paths；The head end of acceleration path and up path Be connected, acceleration path to accelerate to trolley, so when trolley reach up path head end when, the speed of trolley with it is upper The speed of service of carrier is consistent on walking along the street diameter；Deceleration path is connected with the tail end of downlink path, and deceleration path is to small Vehicle slows down.It is special in the China application No. is 201610289874.2 about the technical solution of acceleration path and deceleration path It has a detailed description in profit, does not repeat one by one here.

Further technology is provided with a no less than migration path on each platform；The tail end connection of migration path subtracts Fast path, such migration path can accept the trolley from deceleration path；The head end of migration path connects acceleration path, such mistake The trolley crossed on path can cut into acceleration path.About the technical solution of migration path, application No. is 201610680030.0 Chinese patent in have a detailed description, do not repeat one by one here.

Compared with prior art, the present invention program is a kind of means of transportation, including several platforms, several motion paths, if Dry trolley, several switching devices, several input units, homeposition recognition unit, control system；In the control of control system Under, trolley can switch between each motion path；For at each switching, trolley is referred to as in the motion path of preceding operation preceding Path, the motion path that trolley will be switched to are referred to as destination path；Trolley has first state and the second state, in the The trolley of one state and trolley in the second state can be parallel on same destination paths；On control system control targe path Part trolley execute taxiing procedures so that two trolleies in parallel state mutually stagger；The present invention program has following Advantage：It is safe and reliable.

Description of the drawings

Fig. 1 is the embodiment of the present invention 1, the overall structure diagram of embodiment 2；

Fig. 2 is the structural schematic diagram of destination path in the embodiment of the present invention 1；

Fig. 3 is the structural schematic diagram in preceding path in the embodiment of the present invention 1；

Fig. 4 is destination path in the embodiment of the present invention 1, the overall structure be combineding with each other in preceding path, trolley, switching device Schematic diagram；

Fig. 5 is the structural schematic diagram of destination path in the embodiment of the present invention 2；

Fig. 6 is the structural schematic diagram in preceding path in the embodiment of the present invention 2；

Fig. 7 is destination path in the embodiment of the present invention 1, the overall structure be combineding with each other in preceding path, trolley, switching device Schematic diagram.

Specific implementation mode

The present invention program is described in further detail with reference to embodiments：

Embodiment 1

A kind of means of transportation, it is characterised in that：Including several platform Z, several motion paths 1, several trolleies 2 are several to cut Changing device 3, several input units 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along its path side To the carrier of movement, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each movement road Diameter 1 is spliced into a netted transportation network W, and each platform is linked together by transportation network W, each platform and at least one The head end of motion path 1 is connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least The tail end of one motion path 1 is connected, and the motion path 1 that tail end is connected with platform is referred to as downlink path, on total movement road In diameter 1, other motion paths in addition to uplink, downlink path are referred to as operating path, by switching device 3, operate in each Trolley 2 on up path or operating path can cut at least one other motion paths 1, by switching device 3, each downlink Path or operating path can accept the trolley 2 from least one other motion paths 1；Input unit 5 is a pair of with trolley 2 one It answers, user inputs the information for representing destination platform by input unit 5, this information is conveyed to control system by input unit 5 System 7, homeposition recognition unit 6 is identifying trolley 2 from which up path, homeposition recognition unit 6 Identification signal is conveyed to control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one Item arrives at the preset path of platform, which is spliced by several motion paths 1；Between motion path 1 into Row switching position be referred to as Q at switching, Q is corresponding with a response position X at each switching, when trolley 2 need at switching Q into When row switching, switching device 3 must be responded in response position X accordingly, and response position X is corresponding with response position identification Unit X1, response location identification unit X1 are which trolley 2 have passed through response and position X and convey this information to identify To control system 7, when trolley 2 is by response position X, control system 7 determines switching device 3 according to the preset path of trolley 2 Whether responded；Running position recognition unit R is provided on motion path 1, running position recognition unit R is each small to identify Position of the vehicle 2 on motion path 1；For Q at each switching, trolley 2 is referred to as in the motion path 1 of preceding operation in Qian Lu Diameter, the motion path 1 that trolley 2 will be switched to are referred to as destination path；Trolley 2 has first state and the second state, is in The trolley 2 of first state and the trolley 2 in the second state can be parallel on same destination paths；For operating in destination path Above and it will pass through at switching for the trolley 2 of Q, control system 7 controls the trolley 2 and is maintained at first state；For that will cut It changes to for the trolley 2 of destination path, control system 7 controls the trolley 2 and switches to the second state；For being cut from preceding path The trolley of destination path, if trolley is not on parallel state, control system 7 controls the trolley 2 and switches to first state；Except knot Outside syntype, trolley 2 can also use the connection type of sliding mode, when trolley 2 is in sliding mode, trolley with destination path 2 are not combined with carrier, and trolley 2 is slided with the inertia of itself on destination path；Trolley 2 is adopted on one section of destination path It is referred to as taxiing procedures with the operational process of sliding mode；Part trolley execution on 7 control targe path of control system is slided Process, so that two trolleies in parallel state mutually stagger；Release its of parallel state and two trolleies mutually staggering In one be in the second state, control system 7 control the trolley 2 switch to first state.

Wherein, destination path includes first axle A1, the second axis A2, soft rope A3, the driving unit A5 that a trap is closed, if The Heavenly Stems and Earthly Branches support A10, sliding rail A6；Soft rope A3 is wound on first axle A1 and the second axis A2, and driving unit A5 is driving soft rope A3 to transport Dynamic, supporting rack A10 is provided with one to support the soft rope A3 of upside, sliding rail A6 to be arranged above soft rope A3 in the middle part of sliding rail A6 Several upper protruding block A31 have been positioned apart from longitudinal gap A61, soft rope A3, left skateboard A62 is provided on the left of sliding rail A6, Right slide plate A63 is provided on the right side of sliding rail A6；Include first axle A1, the second axis A2, the soft rope that a trap is closed in preceding path A3, driving unit A5, several supporting rack A10, sliding rail A6；Soft rope A3 is wound on first axle A1 and the second axis A2, driving unit A5 To drive soft rope A3 to move, supporting rack A10 is to support the soft rope A3 of upside, sliding rail A6 to be arranged above soft rope A3, sliding rail It is provided with the gap A61 of a longitudinal direction in the middle part of A6, several upper protruding block A31, the left side of sliding rail A6 have been positioned apart from soft rope A3 It is provided with left skateboard A62, right slide plate A63 is provided on the right side of sliding rail A6；2 bottom of trolley is provided with lower protruding block 21, is set on trolley 2 It is equipped with the first driving portion B1 and the second driving portion B2；To drive 21 upward and downward of lower protruding block to move, first drives first driving portion B1 Dynamic portion B1 drivings lower protruding block 21 switches between first position, the second position, the third place；When lower protruding block 21 is in first When position, lower protruding block 21 is plugged in the A61 of gap and touches soft rope A3；When lower protruding block 21 is in the second position, lower protruding block 21 It is plugged in the A61 of gap and far from soft rope A3；When lower protruding block 21 is in the third place, lower protruding block 21 leaves gap A61；Second Driving portion B2 is driving lower protruding block 21 or so to movement；When lower protruding block 21 is located at 2 right side of trolley, trolley 2 is in first state； When lower protruding block 21 is located at 2 left side of trolley, trolley 2 is in the second state；First driving portion B1 and the second driving portion B2 are by control 7 control of system；Switching device 3 includes transiting slide plate D1, telescopic arm D2, driving device D3, baffle D5, a block D6, One bar D7；Q, the right slide plate A63 in the left side linking objective path of transiting slide plate D1, transition at switching is arranged in transiting slide plate D1 The left skateboard A62 in preceding path is connected on the right side of slide plate D1；Telescopic arm D2 settings are on 2 right side of trolley；Driving device D3 is driving Dynamic telescopic arm D2, so that telescopic arm D2 realizations are stretched, contracting action, driving device D3 is controlled by control system 7；Baffle D5 settings are being cut Place Q is changed, baffle D5 is located on the right side of the right slide plate A63 in preceding path；Block D6 settings exist in 2 top of trolley, bar D7 settings Q at switching, bar D7 are located above the right slide plate A63 of destination path.

Wherein, further include several acceleration path K1, several deceleration path K2；The head end phase of acceleration path K1 and up path Connection, acceleration path K1 is to accelerate trolley 2, so when trolley 2 reaches up path head end, the speed of trolley 2 It is consistent with the speed of service of carrier on up path；Deceleration path K2 is connected with the tail end of downlink path, deceleration path K2 To slow down to trolley 2.

Wherein, a no less than migration path G is provided on each platform Z；The tail end connection deceleration path of migration path G K2, such migration path G can accept the trolley from deceleration path K2；The head end of migration path G connects acceleration path K1, so Trolley on migration path G can cut into acceleration path K1.

What the present invention program was realized in：In the present invention program, trolley 2 cuts destination path from preceding path, if Other trolleies 2 on destination path are not encountered, then the handoff procedure of trolley 2 smoothly completes, and control system 7 controls the trolley 2 Switch to first state；Trolley 2 is in handoff procedure, if encountering other trolleies 2 on destination path, will not collide thing Therefore the trolley 2 in first state and the trolley 2 in the second state can be parallel on same destination paths, control system 7 is controlled Part trolley 2 on destination path processed executes taxiing procedures, so that two trolleies 2 in parallel state mutually stagger；It compares It is more safe and reliable in the means of transportation of prior art, the present invention program.In the technical scheme, for operating in Qian Lu On diameter and it will control the trolley 2 by the trolley 2 of Q incisions destination path at switching, control system 7 and enter the second state, under Convex block 21 is located at 2 left side of trolley, and trolley 2 operates on the right slide plate A63 in preceding path, after trolley 2 enters Q at switching, control System 7 processed controls lower protruding block 21 and is in the third place, and then, control system 7 controls the driving device D3 runnings, telescopic arm D2 stretching, extensions Push baffle D5, and trolley 2 is slided by transiting slide plate D1 on the right slide plate A63 of destination path, and bar D7 carries out block D6 Blocking, to prevent trolley 2 from further sliding to the left, control system 7 controls lower protruding block 21 and is in first position, in driving device D3 Under the action of, telescopic arm D2 recycling, trolley 2 operates on the right slide plate A63 of destination path, i.e., trolley 2 is in the second state, i.e., Trolley 2 is set to meet with other trolleies 2 on destination path in handoff procedure, two trolleies can also be in parallel state without mutual Collision.

Embodiment 2

A kind of means of transportation, it is characterised in that：Including several platform Z, several motion paths 1, several trolleies 2 are several to cut Changing device 3, several input units 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along its path side To the carrier of movement, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each movement road Diameter 1 is spliced into a netted transportation network W, and each platform is linked together by transportation network W, each platform and at least one The head end of motion path 1 is connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least The tail end of one motion path 1 is connected, and the motion path 1 that tail end is connected with platform is referred to as downlink path, on total movement road In diameter 1, other motion paths in addition to uplink, downlink path are referred to as operating path, by switching device 3, operate in each Trolley 2 on up path or operating path can cut at least one other motion paths 1, by switching device 3, each downlink Path or operating path can accept the trolley 2 from least one other motion paths 1；Input unit 5 is a pair of with trolley 2 one It answers, user inputs the information for representing destination platform by input unit 5, this information is conveyed to control system by input unit 5 System 7, homeposition recognition unit 6 is identifying trolley 2 from which up path, homeposition recognition unit 6 Identification signal is conveyed to control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one Item arrives at the preset path of platform, which is spliced by several motion paths 1；Between motion path 1 into Row switching position be referred to as Q at switching, Q is corresponding with a response position X at each switching, when trolley 2 need at switching Q into When row switching, switching device 3 must be responded in response position X accordingly, and response position X is corresponding with response position identification Unit X1, response location identification unit X1 are which trolley 2 have passed through response and position X and convey this information to identify To control system 7, when trolley 2 is by response position X, control system 7 determines switching device 3 according to the preset path of trolley 2 Whether responded；Running position recognition unit R is provided on motion path 1, running position recognition unit R is each small to identify Position of the vehicle 2 on motion path 1；For Q at each switching, trolley 2 is referred to as in the motion path 1 of preceding operation in Qian Lu Diameter, the motion path 1 that trolley 2 will be switched to are referred to as destination path；Trolley 2 has first state and the second state, is in The trolley 2 of first state and the trolley 2 in the second state can be parallel on same destination paths；For operating in destination path Above and it will pass through at switching for the trolley 2 of Q, control system 7 controls the trolley 2 and is maintained at first state；For that will cut It changes to for the trolley 2 of destination path, control system 7 controls the trolley 2 and switches to the second state；For being cut from preceding path The trolley of destination path, if trolley is not on parallel state, control system 7 controls the trolley 2 and switches to first state；Except knot Outside syntype, trolley 2 can also use the connection type of sliding mode, when trolley 2 is in sliding mode, trolley with destination path 2 are not combined with carrier, and trolley 2 is slided with the inertia of itself on destination path；Trolley 2 is adopted on one section of destination path It is referred to as taxiing procedures with the operational process of sliding mode；Part trolley execution on 7 control targe path of control system is slided Process, so that two trolleies in parallel state mutually stagger；Release its of parallel state and two trolleies mutually staggering In one be in the second state, control system 7 control the trolley 2 switch to first state.

Wherein, destination path includes first axle A1, the second axis A2, the soft rope A3 that a trap is closed, driving unit A5, several Support A10；Soft rope A3 is wound on first axle A1 and the second axis A2, and driving unit A5 is to drive soft rope A3 to move, supporting rack A10 To support the soft rope A3 of upside；Include first axle A1, the second axis A2, the soft rope A3 that a trap is closed, driving unit in preceding path A5, several supporting rack A10；Soft rope A3 is wound on first axle A1 and the second axis A2, driving unit A5 to drive soft rope A3 to move, Supporting rack A10 to support upside soft rope A3；Switching device 3 is two mechanical arms, and each mechanical arm is by upper arm V1, underarm V2, hook V3, clamping bar V5, the first driving unit V6, the second driving unit V7, third driving unit V8 compositions；Underarm V2 tail ends It is rotatablely connected 2 center of top of trolley, upper arm V1 tail ends are rotatablely connected underarm V2 head ends, and hook V3 tail ends connect upper arm V1 head ends, Clamping bar V5 tail ends are rotatablely connected upper arm V1 head ends；First driving unit V6 is arranged in 2 center of top of trolley, the first driving unit V6 To rotate underarm V2；Second driving unit V7 setting is in underarm V2 head ends, and the second driving unit V7 is rotating upper arm V1；The Three driving unit V8 settings are in upper arm V1 head ends, and third driving unit V8 is rotating clamping bar V5；First driving unit V6, second Driving unit V7, third driving unit V8 are controlled by control system 7；When trolley 2 is in first state, upper arm V1 and underarm V2 Equal vertical characteristics；When trolley 2 is in the second state, upper arm V1 vertical characteristics, the distribution of underarm V2 horizontal directions, underarm V2 is located at upper On the right side of arm V1；Third driving unit V8 drivings clamping bar V5 switches between release position, closed position, clamped position；Work as clamping bar When V5 is in release position, clamping bar V5 head ends are far from hook V3 head ends；When clamping bar V5 is in the close position, clamping bar V5 head ends touch Connect hook V3 head ends；When clamping bar V5 is in clamped position, clamping bar V5 clamps soft rope A3 with hook V3；The cross section of hook V3 is The cross section of circle, clamping bar V5 is circle, upper arm V1 high resiliences.

Wherein, further include several acceleration path K1, several deceleration path K2；The head end phase of acceleration path K1 and up path Connection, acceleration path K1 is to accelerate trolley 2, so when trolley 2 reaches up path head end, the speed of trolley 2 It is consistent with the speed of service of carrier on up path；Deceleration path K2 is connected with the tail end of downlink path, deceleration path K2 To slow down to trolley 2.

Wherein, a no less than migration path G is provided on each platform Z；The tail end connection deceleration path of migration path G K2, such migration path G can accept the trolley from deceleration path K2；The head end of migration path G connects acceleration path K1, so Trolley on migration path G can cut into acceleration path K1.

What the present invention program was realized in：In the present invention program, trolley 2 cuts destination path from preceding path, if Other trolleies 2 on destination path are not encountered, then the handoff procedure of trolley 2 smoothly completes, and control system 7 controls the trolley 2 Switch to first state；Trolley 2 is in handoff procedure, if encountering other trolleies 2 on destination path, will not collide thing Therefore the trolley 2 in first state and the trolley 2 in the second state can be parallel on same destination paths, control system 7 is controlled Part trolley 2 on destination path processed executes taxiing procedures, so that two trolleies 2 in parallel state mutually stagger；It compares It is more safe and reliable in the means of transportation of prior art, the present invention program.In the technical scheme, when trolley 2 is operated in preceding When on path, the hook V3 and clamping bar V5 of a mechanical arm of trolley clamp soft rope A3 corresponding in preceding path, this root mechanical arm Mechanical arm is referred to as run, another mechanical arm of trolley is in idle state, this root mechanical arm is referred to as idle mechanical arm, not busy It sets mechanical arm and is in vertical storing state, when trolley 2 runs to Q at switching and will cut destination path, control system 7 is controlled Second driving unit V7 runnings of the idle mechanical arm of system, the upper arm V1 of idle mechanical arm turn right to horizontal direction, then control First driving unit V6 runnings of the idle mechanical arm of the control of system 7, the underarm V2 of idle mechanical arm turn left to horizontal direction, on Arm V1 is moved downward under the drive of underarm V2, is arranged and is affiliated to soft rope corresponding in destination path in the hook V3 of upper arm V1 head ends On A3, control system 7 controls the V8 runnings of third driving unit, so that clamping bar V5 soft ropes corresponding with hook V3 clamping destination paths A3, later, the clamping bar V5 of the control operation mechanical arm of control system 7 are in release position, so that operation mechanical arm is detached from Qian Lu The corresponding soft rope A3 of diameter, handoff procedure are completed, and trolley 2 is switched to destination path, and trolley 2 is in the second state, even if trolley 2 Other trolleies 2 on destination path are met in handoff procedure, two trolleies 2 can also be in parallel state without mutually colliding. Trolley 2 constantly changes operating path by switching device in the process of running, and two mechanical arms are used alternatingly.

Although the present invention program is described by reference to preferred embodiment, this profession ordinary skill people Member can make various change in form and details it is to be appreciated that in the range of claims.

Claims (5)

1. a kind of means of transportation, it is characterised in that：Including several platforms (Z), several motion paths (1), several trolleies (2), if Dry switching device (3), several input units (5), homeposition recognition unit (6), control system (7)；The motion path (1) On be covered with can be along the carrier that its path direction moves, so when the trolley (2) is incorporated on the motion path (1), institute Stating trolley (2) can move along path direction；Each motion path (1) is spliced into a netted transportation network (W), each Platform is linked together by the transportation network (W), the head end phase of each platform and at least one motion path (1) Even, the motion path (1) that head end is connected with platform is referred to as up path, each platform and at least one motion path (1) tail end is connected, and the motion path (1) that tail end is connected with platform is referred to as downlink path, in total movement path (1), Other motion paths in addition to uplink, downlink path are referred to as operating path, by the switching device (3), operate in each The trolley (2) on up path or operating path can cut at least one other motion paths (1), be filled by the switching It sets (3), each downlink path or operating path can accept the trolley (2) from least one other motion paths (1)；It is described defeated Enter device (5) to correspond with the trolley (2), user represents the letter of destination platform by the input unit (5) input This information is conveyed to the control system (7) by breath, the input unit (5), the homeposition recognition unit (6) to Trolley (2) is identified from which up path, identification signal is conveyed to institute by the homeposition recognition unit (6) Control system (7) is stated, up path, the destination platform that the control system (7) is set out according to trolley (2) arrange out one to arrive Up to the preset path of destination platform, which is spliced by several motion paths (1)；The motion path (1) it Between the position that switches over be referred to as at switching (Q), (Q) is corresponding with a response position (X) at each switching, when trolley (2) need Will be when (Q) be switched at switching, the switching device (3) must be responded in response position (X) accordingly, response bit It sets (X) and is corresponding with a response location identification unit (X1), the response location identification unit (X1) is which is small to identify Vehicle (2) have passed through response position (X) and this information be conveyed to the control system (7), when trolley (2) is by response position (X) when, the control system (7) determines whether the switching device (3) is responded according to the preset path of trolley (2)；Its It is characterized in that：Running position recognition unit (R) is provided on the motion path (1), the running position recognition unit (R) is used To identify position of each trolley (2) on the motion path (1)；For (Q) at each switching, trolley (2) is in preceding operation Motion path (1) be referred to as in preceding path, the motion path (1) that trolley (2) will be switched to is referred to as destination path；Trolley (2) there is first state and the second state, the trolley (2) in first state and the trolley (2) in the second state can be parallel On same destination path；For operating on destination path and will pass through at switching for the trolley (2) of (Q), the control System (7) processed controls the trolley (2) and is maintained at first state；It is described for the trolley (2) that will be switched to destination path Control system (7) controls the trolley (2) and switches to the second state；For from preceding path cut destination path trolley, if small Vehicle is not on parallel state, and the control system (7) controls the trolley (2) and switches to first state；In addition to binding pattern, institute The connection type of sliding mode can be used with the destination path by stating trolley (2) also, when the trolley (2) is in sliding mode When, the trolley (2) is not combined with the carrier, and the trolley (2) is as the inertia of itself is on the destination path It slides；The trolley (2) is referred to as taxiing procedures on one section of destination path using the operational process of sliding mode；The control System (7) controls the part trolley on the destination path and executes taxiing procedures, so that two trolley phases in parallel state Mutually it is staggered；It releases parallel state and mutually stagger wherein one of two trolleies is in the second state, the control system (7) It controls the trolley (2) and switches to first state.

2. a kind of means of transportation according to claim 1, it is characterised in that：The destination path includes first axle (A1), the second axis (A2), the soft rope (A3) that a trap is closed, driving unit (A5), several supporting racks (A10), sliding rail (A6)；It is described Soft rope (A3) is wound in the first axle (A1) and second axis (A2), and the driving unit (A5) is driving the soft rope (A3) it moves, support frame as described above (A10) is to support the soft rope (A3) of upside, and sliding rail (A6) setting is in the soft rope (A3) Top, sliding rail (A6) middle part are provided with the gap (A61) of a longitudinal direction, have been positioned apart from the soft rope (A3) several Upper protruding block (A31) is provided with left skateboard (A62) on the left of the sliding rail (A6), right cunning is provided on the right side of the sliding rail (A6) Plate (A63)；Described in preceding path includes first axle (A1), the second axis (A2), the soft rope (A3) that a trap is closed, driving unit (A5), several supporting racks (A10), sliding rail (A6)；The soft rope (A3) is wound on the first axle (A1) and second axis (A2) On, the driving unit (A5) is to drive the soft rope (A3) to move, and support frame as described above (A10) is supporting the soft rope of upside (A3), sliding rail (A6) setting is provided with the gap of a longitudinal direction above the soft rope (A3) in the middle part of the sliding rail (A6) (A61), it has been positioned apart from several upper protruding blocks (A31) on the soft rope (A3), left cunning is provided on the left of the sliding rail (A6) Plate (A62) is provided with right slide plate (A63) on the right side of the sliding rail (A6)；Trolley (2) bottom is provided with lower protruding block (21), It is provided with the first driving portion (B1) and the second driving portion (B2) on the trolley (2)；First driving portion (B1) is driving Lower protruding block (21) the upward and downward movement, first driving portion (B1) drive the lower protruding block (21) in first position, second It is switched between position, the third place；When the lower protruding block (21) is in first position, the lower protruding block (21) is plugged on In the gap (A61) and touch the soft rope (A3)；When the lower protruding block (21) is in the second position, the lower protruding block (21) it is plugged in the gap (A61) and far from the soft rope (A3)；When the lower protruding block (21) is in the third place, institute It states lower protruding block (21) and leaves the gap (A61)；Second driving portion (B2) to drive described lower protruding block (21) left and right to Movement；When the lower protruding block (21) is located on the right side of the trolley (2), the trolley (2) is in first state；The lower protruding block (21) when being located on the left of the trolley (2), the trolley (2) is in the second state；First driving portion (B1) and described Two driving portions (B2) are controlled by the control system (7)；The switching device (3) includes a transiting slide plate (D1), a telescopic arm (D2), a driving device (D3), a baffle (D5), a block (D6), a bar (D7)；The transiting slide plate (D1) is arranged in institute It states at switching (Q), the left side of the transiting slide plate (D1) connects the right slide plate (A63) of the destination path, the transiting slide plate (D1) the right side connection left skateboard (A62) in preceding path；Telescopic arm (D2) setting is on the right side of the trolley (2)； The driving device (D3) is to drive the telescopic arm (D2), so that the telescopic arm (D2) realization is stretched, contracting action, the drive Dynamic device (D3) is controlled by the control system (7)；The baffle (D5) is arranged at the switching (Q), the baffle (D5) Positioned at the right side of the right slide plate (A63) in preceding path；Block (D6) setting is at the top of the trolley (2), the gear Bar (D7) is arranged at the switching (Q), and the bar (D7) is located above the right slide plate (A63) of the destination path.

3. a kind of means of transportation according to claim 1, it is characterised in that：The destination path includes first axle (A1), Second axis (A2), the soft rope (A3) that a trap is closed, driving unit (A5), several supporting racks (A10)；The soft rope (A3) is wound on institute It states in first axle (A1) and second axis (A2), the driving unit (A5) is described to drive the soft rope (A3) to move Supporting rack (A10) to support upside soft rope (A3)；Described in preceding path includes first axle (A1), the second axis (A2), a circle The soft rope (A3) being closed, driving unit (A5), several supporting racks (A10)；The soft rope (A3) be wound on the first axle (A1) and On second axis (A2), the driving unit (A5) to drive the soft rope (A3) to move, support frame as described above (A10) to Support the soft rope (A3) of upside；The switching device (3) be two mechanical arms, each mechanical arm by upper arm (V1), underarm (V2), Link up with (V3), clamping bar (V5), the first driving unit (V6), the second driving unit (V7), third driving unit (V8) composition；It is described Underarm (V2) tail end is rotatablely connected trolley (2) center of top, and upper arm (V1) tail end is rotatablely connected the underarm (V2) Head end, described hook (V3) tail end connect upper arm (V1) head end, and clamping bar (V5) tail end is rotatablely connected the upper arm (V1) head end；In the trolley (2) center of top, first driving unit (V6) is used for first driving unit (V6) setting To rotate the underarm (V2)；In the underarm (V2) head end, second driving is single for second driving unit (V7) setting First (V7) is rotating the upper arm (V1)；The third driving unit (V8) setting is in the upper arm (V1) head end, and described the Three driving units (V8) are rotating the clamping bar (V5)；First driving unit (V6), second driving unit (V7), The third driving unit (V8) is controlled by the control system (7)；When the trolley (2) is in first state, it is described on Arm (V1) and the underarm (V2) equal vertical characteristics；When the trolley (2) is in the second state, vertical point of the upper arm (V1) Cloth, underarm (V2) the horizontal direction distribution, the underarm (V2) are located on the right side of the upper arm (V1)；The third driving unit (V8) clamping bar (V5) is driven to switch between release position, closed position, clamped position；It is opened when the clamping bar (V5) is in When putting position, clamping bar (V5) head end is far from described hook (V3) head end；When the clamping bar (V5) is in the close position, institute It states clamping bar (V5) head end and touches described hook (V3) head end；When the clamping bar (V5) is in clamped position, the clamping bar (V5) The soft rope (A3) is clamped with the hook (V3)；It is described hook (V3) cross section be circle, the clamping bar (V5) it is transversal Face is circle, upper arm (V1) high resilience.

4. a kind of means of transportation according to claims 1 to 3 any claim, it is characterised in that：It further include several add Fast path (K1), several deceleration paths (K2)；The acceleration path (K1) is connected with the head end of the up path, described to add Fast path (K1) is to accelerate the trolley (2), so when the trolley (2) reaches the up path head end, The speed of the trolley (2) is consistent with the speed of service of carrier on the up path；The deceleration path (K2) with it is described The tail end of downlink path is connected, and the deceleration path (K2) is slowing down to the trolley (2).

5. a kind of means of transportation according to claim 4, it is characterised in that：It is provided on each platform (Z) many In a migration path (G)；The tail end of the migration path (G) connects the deceleration path (K2), as described migration path (G) trolley from the deceleration path (K2) can be accepted；The head end of the migration path (G) connects the acceleration path (K1), the trolley on as described migration path (G) can cut into the acceleration path (K1).