CN109051565B - Aerial shuttle - Google Patents
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- CN109051565B CN109051565B CN201811050128.3A CN201811050128A CN109051565B CN 109051565 B CN109051565 B CN 109051565B CN 201811050128 A CN201811050128 A CN 201811050128A CN 109051565 B CN109051565 B CN 109051565B
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- 238000004804 winding Methods 0.000 claims abstract description 129
- 230000007246 mechanism Effects 0.000 claims abstract description 107
- 239000000463 material Substances 0.000 claims abstract description 71
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000009826 distribution Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 11
- 239000010959 steel Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000000903 blocking effect Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
- B65G25/065—Reciprocating floor conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses an aerial shuttle which comprises an I-shaped track, a travelling mechanism arranged on the I-shaped track, a winding mechanism arranged under the I-shaped track and a material taking mechanism arranged under the winding mechanism, wherein the travelling mechanism is arranged on the I-shaped track; the travelling mechanism travels along the I-shaped track and drives the winding mechanism and the material taking mechanism to move, and the winding mechanism drives the material taking mechanism to move up and down. The aerial shuttle disclosed by the invention is simple and small in structure, can be used for light-load transportation, can perfectly meet the material distribution requirement of an SMT workshop, and simultaneously provides a foundation for the suspended crane; the aerial shuttle disclosed by the invention is optimized and innovated based on an aerial logistics transmission concept, and the precise aerial material transmission track is adopted, so that the space problem during transportation is greatly saved.
Description
Technical Field
The invention relates to logistics transportation equipment, in particular to an aerial shuttle.
Background
At present, in a production workshop, logistics transportation equipment mainly comprises an AGV and an RGV, wherein AGV (Automated Guided Vehicle) is an automatic guided vehicle, also called a mobile robot, and is a transportation trolley which uses electric energy as power and runs to a designated place along a preset path under the condition of unmanned control through an electromagnetic or optical non-contact automatic guiding device, so that functions of automatic transfer, carrying and the like are realized.
RGV (Rail Guided Vehicle) is a rail guided vehicle, also called a rail shuttle, which is a rail pallet truck consisting of a running mechanism and a chain or edit conveyor, and is responsible for distributing goods to a specified location. The AGV does not need a fixed track, and the RGV runs along the fixed track. Compared with AGVs, RGVs occupy a huge market share in the logistics industry by virtue of excellent cost performance, and the RGVs have the main advantages of high speed and acceleration, fixed track, stable walking, accurate parking position, high reliability, low cost and convenience in popularization and application. However, the current market RGV for SMT (surface mount technology Surface Mount Technology) shop material delivery still has the following drawbacks:
(1) At present, RGVs are mainly used for heavy load or medium load transportation, and small RGVs aiming at SMT trays are not yet available, and the carrying capacity is only required to be below 10 kg;
(2) At present, RGV tracks are arranged on the ground and occupy the ground space;
(3) At present, RGV tracks are all round or one-way reciprocating, the flexibility is poor, and an SMT workshop is formed by crossing a plurality of logistics loops.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing SMT workshop is insufficient in material distribution and carrying capacity, and an aerial shuttle is provided.
The invention solves the technical problems through the following technical scheme that the invention comprises an I-shaped track, a travelling mechanism arranged on the I-shaped track, a winding mechanism arranged under the I-shaped track and a material taking mechanism arranged under the winding mechanism; the travelling mechanism travels along the I-shaped track and drives the winding mechanism and the material taking mechanism to move, and the winding mechanism drives the material taking mechanism to move up and down; the travelling mechanism comprises a travelling driving piece, a transmission piece, shuttle wheels, a horizontal guide piece, a vertical guide piece, a steering piece and an adjusting piece, wherein the travelling driving piece drives the transmission piece to drive the shuttle wheels to rotate, the horizontal guide piece is arranged above the shuttle wheels and is perpendicular to the plane where the shuttle wheels are located, the shuttle wheels are symmetrically distributed on two sides of the vertical surface of the I-shaped track and are in contact with the inner horizontal surface of the bottom of the I-shaped track, the vertical guide piece is arranged on the outer horizontal surface of the bottom of the I-shaped track and is parallel to the plane where the shuttle wheels are located, the steering piece is located below the vertical guide piece, the adjusting piece is perpendicular to the lower portion of the steering piece, and the adjusting piece is connected to the winding mechanism.
In the travelling mechanism, two groups of shuttle wheels are arranged, one group comprises a driving wheel and a first driven wheel which are symmetrically arranged on two sides of the I-shaped track, the other group comprises a second driven wheel and a third driven wheel which are symmetrically arranged on two sides of the I-shaped track, and each of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel is provided with a horizontal guide piece respectively, and each horizontal guide piece comprises two horizontal guide wheels which are contacted with the vertical surface of the I-shaped track.
The at least four vertical guide members are respectively arranged below the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel and are clung to the outer horizontal plane of the bottom of the I-shaped track.
The transmission piece comprises a main transmission wheel, a transmission belt, a driving rotating shaft and a driven transmission wheel, wherein the main transmission wheel is connected to the output end of the walking driving piece, the transmission belt is respectively sleeved with the main transmission wheel and the driven transmission wheel, the driving rotating shaft is driven by the driven transmission wheel, and the driving wheel is connected with the driving rotating shaft.
The winding mechanism comprises a winding driving piece, a winding drum, a winding screw rod, a guide shaft, a plurality of winding ropes and a plurality of guide wheel assemblies; one ends of the winding ropes are respectively fixed and wound on the winding drums, the other ends of the winding ropes penetrate through the corresponding guide wheel assemblies and then hoist the material taking mechanisms, the winding driving piece drives the winding drums to rotate, the winding screw rods are arranged at the centers of the winding drums, and the guide shafts are arranged on two sides of the winding screw rods along the axial direction of the winding drums.
The winding drum is fixed on the winding base through a winding support, the winding mechanism further comprises at least two pressing wheels, the end parts of the pressing wheels are connected to the winding support, and the pressing wheels are pressed on the winding drum.
Each guide wheel assembly comprises at least two U-shaped groove rollers, the adjacent U-shaped groove rollers are arranged perpendicular to each other along the axis of each U-shaped groove roller, and the U-shaped groove rollers are fixed on the winding base through roller supports.
The winding mechanism further comprises a tensioning detection mechanism, wherein the tensioning detection mechanism comprises a tensioning detection wheel, a movable sliding block, a contact switch and a tensioning wheel; the tension detection wheel is connected with the movable sliding block, the movable sliding block is connected with the contact switch, the tension wheel and the tension detection wheel are oppositely arranged, and the winding rope sequentially passes through the tension wheel and the tension detection wheel and then is connected to the guide wheel assembly.
The material taking mechanism comprises a material taking base, a material taking through hole matched with the shape of the object to be grabbed is formed in the material taking base, and a material taking driving piece, at least three synchronous pulleys, a synchronous belt and a gripper are respectively arranged along the periphery of the material taking through hole; the material taking driving piece is connected with one synchronous pulley, synchronous transmission is realized through synchronous belt connection between adjacent synchronous pulleys, the number of the grippers is matched with that of the synchronous pulleys, one end of each gripper is coaxially assembled with the synchronous pulley, the other end of each gripper is suspended, and the suspended end of each gripper rotates to the position above the material taking through hole to form a clamping space for clamping.
The top of the shuttle is provided with an automatic charging mechanism, and the automatic charging mechanism comprises a charging track, a charging seat, a charging driving piece, a charging push rod, a lifting rod, a compression piece and a charging column; the charging seat is clamped on the charging track and slides along the charging track, the charging driving piece is fixed on the charging seat and drives the charging push rod to move up and down, the lifting rod is fixed at the top of the charging push rod, two ends of the lifting rod are connected with the head end of the charging column through the compression piece, and the tail end of the charging column passes through the charging seat and then is connected with the interface to be charged through the electrode.
Compared with the prior art, the invention has the following advantages:
(1) The aerial shuttle disclosed by the invention is simple and small in structure, can be used for light-load transportation, can perfectly meet the material distribution requirement of an SMT workshop, and simultaneously provides a foundation for the suspended crane;
(2) The aerial shuttle disclosed by the invention is optimized and innovated based on an aerial logistics transmission concept, and a precise aerial material transmission track is adopted, so that the space problem during transportation is greatly saved;
(3) According to the aerial shuttle disclosed by the invention, by arranging the horizontal guide device, the vertical guide device, the steering device and the adjusting device, even in uneven rails and turning positions, the travelling mechanism of the aerial shuttle can be enabled to be always tightly attached to the rails for travelling, and the requirement of crossing a plurality of logistics loops in an SMT workshop can be met;
(4) According to the aerial shuttle disclosed by the invention, the transmission device in the travelling mechanism selects the synchronous belt for transmission, so that the stability of the movement of the travelling mechanism of the aerial shuttle is further improved, and the stable operation of the aerial shuttle is realized;
(5) According to the aerial shuttle disclosed by the invention, the shuttle is suspended on the single-I-shaped track for running, so that the space above the ground in logistics transportation is fully utilized, and the requirement of double tracks on high precision is overcome;
(6) According to the aerial shuttle disclosed by the invention, the proximity switch is added in the travelling mechanism, so that the position of the shuttle can be monitored in real time, the shuttle is prevented from being jammed together, meanwhile, the speed of the shuttle can be conveniently controlled, and the running stability of the aerial shuttle is enhanced;
(7) The invention eliminates the traditional hydraulic, chain and eccentric wheel mechanisms, realizes the lifting of the shuttle through the winding drum, the steel wire and the steel wire tensioning and detecting device, and ensures that the steel wire at the winding and unwinding end is always tangent with the winding drum by the steel wire compression wheel, so that the winding and unwinding of the steel wire are stable and consistent when the shuttle is lifted;
(8) According to the aerial shuttle disclosed by the invention, the automatic charging device matched with the aerial shuttle can ensure that the aerial shuttle can be automatically charged in the running process, so that the full automation of logistics operation is realized.
Drawings
FIG. 1 is a schematic diagram of an aerial shuttle of the present invention;
FIG. 2 is a schematic illustration of the structure of the hollow shuttle of FIG. 1 taking material;
FIG. 3 is a schematic perspective view of the running gear;
FIG. 4 is a schematic perspective view of the travel mechanism of FIG. 3 from a relative perspective;
FIG. 5 is a schematic perspective view of the running gear rotated clockwise by a certain angle in FIG. 4;
FIG. 6 is a schematic perspective view of the winding mechanism;
FIG. 7 is a schematic structural view of the tension detecting mechanism;
FIG. 8 is a top view of the take off mechanism;
FIG. 9 is a schematic perspective view of the take off mechanism when not activated;
FIG. 10 is a schematic perspective view of the take off mechanism during movement;
FIG. 11 is a schematic perspective view of the take off mechanism after movement is complete;
fig. 12 is a schematic view of an automatic charging device.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
As shown in fig. 1, the aerial shuttle of the present embodiment includes an i-shaped rail 5, a traveling mechanism 1 provided on the i-shaped rail 5, a winding mechanism 2 provided under the i-shaped rail 5, and a take-up mechanism 3 provided under the winding mechanism 2; the travelling mechanism 1 travels along the I-shaped track 5 and drives the winding mechanism 2 and the material taking mechanism 3 to move, the winding mechanism 2 drives the material taking mechanism 3 to move up and down, and an automatic charging mechanism 4 is arranged at the top of the shuttle.
When the aerial shuttle walks, the winding mechanism 2 is connected with the material taking mechanism 3, as shown in fig. 1, and when the aerial shuttle needs to take materials, as shown in fig. 2, the winding mechanism 2 acts to separate the material taking mechanism 3 from the aerial shuttle so as to take materials, and after the material taking action is completed, the aerial shuttle resumes the state shown in fig. 1 again, and the circulation is performed to achieve the grabbing and the separating of the materials.
As shown in fig. 3, 4 and 5, the travelling mechanism 1 includes a travelling driving member 101, a transmission member 102, a shuttle wheel, a horizontal guiding member 104, a vertical guiding member 105, a steering member 106 and an adjusting member 107, wherein the travelling driving member 101 drives the transmission member 102 to drive the shuttle wheel to rotate, the horizontal guiding member 104 is disposed above the shuttle wheel and is perpendicular to a plane where the shuttle wheel is located, the shuttle wheel is symmetrically distributed on two sides of an upright surface of the i-shaped track 5 and is in contact with an inner horizontal plane of the bottom of the i-shaped track 5, the vertical guiding member 105 is disposed on an outer horizontal plane of the bottom of the i-shaped track 5 and is parallel to the plane where the shuttle wheel is located, the steering member 106 is disposed below the vertical guiding member 105, the adjusting member 107 is perpendicular to a lower side of the steering member 106, and the adjusting member 107 is connected to the winding mechanism 2.
The horizontal guide piece 104 and the vertical guide piece 105 ensure that the wheels of the aerial shuttle can be always attached to the I-shaped track 5 in the running process of the aerial shuttle, the stability of the moving process is ensured, the steering piece 106 and the adjusting piece 107 ensure that the wheels of the aerial shuttle can be always attached to the I-shaped track 5 in the turning process of the aerial shuttle, and the stability of the moving process is further ensured. Adopts a single-I-shaped track 5, and suspends the shuttle car on the single-I-shaped track 5 for running, thereby fully utilizing the space above the ground in logistics transportation and overcoming the requirement of double tracks on high precision.
In the running mechanism 1, two groups of shuttle wheels are provided, one group comprises a driving wheel 103 and a first driven wheel 109 which are symmetrically arranged on two sides of the I-shaped track 5, the other group comprises a second driven wheel 110 and a third driven wheel 111 which are symmetrically arranged on two sides of the I-shaped track 5, and a horizontal guide piece 104 is respectively arranged on the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and the third driven wheel 111, and each horizontal guide piece 104 comprises two horizontal guide wheels which are contacted with the vertical surface of the I-shaped track 5.
The driving wheel 103 and the first driven wheel 109 form a first rolling group, the second driven wheel 110 and the third driven wheel 111 form a second rolling group, the steering piece 106 is a vertical rotating shaft, and the two vertical rotating shafts are symmetrically distributed below the first rolling group and the second rolling group.
The adjusting piece 107 comprises a horizontal rotating shaft, a bearing and a bearing seat, wherein two ends of the horizontal rotating shaft are connected in the bearing seat through shaft seats, and the vertical rotating shaft is connected to the bearing seat of the adjusting piece 107. During turning, the I-shaped track 5 presses two groups of horizontal guide pieces 104 on one side of the track, the steering piece 106 drives the bogie to turn, and the vertical rotating shaft of the steering piece 106 is driven to finely adjust, so that the turning of the shuttle wheels is realized. If the track is uneven in turning, the outer side of the lower end surface of the track presses the vertical guide piece 105 to drive the two rolling groups to conduct fine adjustment along the horizontal rotating shaft, so that the shuttle wheels can be always attached to the I-shaped track 5.
The bottom of the adjusting member 107 is connected to the winding mechanism 2 via a connecting member 112.
At least four vertical guides 105 are respectively arranged below the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and the third driven wheel 111, and are clung to the outer horizontal surface of the bottom of the I-shaped track 5.
The transmission member 102 comprises a main transmission wheel 1021, a transmission belt 1022, a driving rotating shaft 1023 and a driven transmission wheel 1024, wherein the main transmission wheel 1021 is connected to the output end of the walking driving member 101, the transmission belt 1022 is respectively sleeved with the main transmission wheel 1021 and the driven transmission wheel 1024, the driving rotating shaft 1023 is driven by the driven transmission wheel 1024, and the driving wheel 103 is connected with the driving rotating shaft 1023. The device has the advantages of accuracy of gear transmission and long distance of belt transmission, simple structure and high standardization.
The walking driving piece 101 is a walking driving motor, and an output shaft of the driving motor is connected with a main driving wheel 1021.
The travelling mechanism 1 further comprises a position detector 108, wherein the position detector 108 is a proximity switch, and the proximity switch is arranged on the outer side of the travelling mechanism 1. The position of the shuttle is monitored in real time, so that the shuttle is prevented from being jammed together, meanwhile, the speed of the shuttle can be conveniently controlled, and the running stability of the shuttle is enhanced.
The traveling mechanism 1 of the aerial shuttle is driven by a traveling driving motor, torque is transmitted to a driving wheel 103 through a driving motor output shaft by a transmission member 102, and the driving wheel 103 drives a first driven wheel 109, a second driven wheel 110 and a third driven wheel 111; the horizontal guide 104 is arranged above the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and the third driven wheel 111, clings to two sides of the straight surface of the I-shaped track 5, the vertical guide 105 is arranged on the outer horizontal surface below the I-shaped track 5, clings to the outer horizontal surface below the I-shaped track 5, and the horizontal guide 104 and the vertical guide 105 ensure that the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and the third driven wheel 111 can always cling to the I-shaped track 5 no matter the speed reasons or the track is uneven. The steering part 106 is arranged below the first rolling group and the second rolling group, so that the running mechanism of the shuttle can smoothly turn at the turning position of the I-shaped track 5 to change the running direction, the adjusting part comprises a horizontal rotating shaft, a bearing and a bearing support which are horizontally arranged, the steering part is vertically arranged below the vertical rotating shaft, when the running mechanism 1 turns, the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and the third driven wheel 111 can deviate from the inner horizontal plane below the I-shaped track 5 by a small extent, the running of the shuttle is unstable, the adjusting part 107 can well adjust the deviation distance, and the driving wheel 103, the first driven wheel 109, the second driven wheel 110, the third driven wheel 111 and the inner horizontal plane below the I-shaped track 5 can be always contacted, so that the running stability of the shuttle is maintained.
As shown in fig. 6 and 7, the winding mechanism 2 of the present embodiment includes a winding drive 201, a winding drum 202, a winding screw 203, a guide shaft 204, four winding ropes 212, and four guide wheel assemblies 205; one ends of the four winding ropes 212 are respectively fixed and wound on the winding drums 202, the other ends of the four winding ropes penetrate through the corresponding guide wheel assemblies 205 and then hoist the material taking mechanism 3, the winding driving piece 201 drives the winding drums 202 to rotate, the winding screw 203 is arranged in the center of the winding drums 202, and the guide shafts 204 are arranged on two sides of the winding screw 203 along the axial direction of the winding drums 202.
The winding mechanism 2 further comprises a winding base 206 and a frame 207, the frame 207 being connected to the winding base 206 by fasteners 208 to form a space for housing the winding drive 201, the winding drum 202, the winding screw 203, the guide shaft 204, the plurality of winding ropes 212 and the plurality of guide wheel assemblies 205.
The winding cylinder 202 is fixed to the winding base 206 by a winding support 209.
The winding mechanism 2 further comprises two pinch rollers 210, wherein the ends of the pinch rollers 210 are connected to the winding support 209, and the pinch rollers 210 are pressed on the winding drum 202. It is possible to ensure that the winding and unwinding of the winding rope 212 are smooth and orderly.
Each guide wheel assembly 205 includes two U-shaped channel rollers, adjacent U-shaped channel rollers being disposed perpendicular to each other along their axes, the U-shaped channel rollers being secured to the winding base 206 by roller mounts. The winding rope 212 can pass the wire in the U-shaped groove, and meanwhile, the adjacent rollers of the U-shaped groove are mutually perpendicular, so that the wire passing is ensured to be more stable.
The outer surface of the winding drum 202 is provided with wire grooves matching the number of the winding ropes 212 in the axial direction thereof. In this embodiment, there are four trunking, which can ensure that four winding ropes 212 can be effectively suspended from four corners of the winding base 206, so as to realize stable winding and suspension of the lower feeding mechanism 3. More winding ropes 212 can be designed according to actual working conditions and other components are corresponding to the winding ropes, so that stability of the shuttle in the lifting process is improved.
The winding mechanism 2 further includes a tension detecting mechanism 211, the tension detecting mechanism 211 including a tension detecting wheel 2111, a moving slider 2112, a contact switch 2113, and a tension wheel 2114; the tension detecting wheel 2111 is connected with the moving sliding block 2112, the moving sliding block 2112 is connected with the contact switch 2113, the tension wheel 2114 and the tension detecting wheel 2111 are arranged oppositely, and the winding rope 212 sequentially passes through the tension wheel 2114 and the tension detecting wheel 2111 and then is connected to the guide wheel assembly 205. When the tensioning wheel 2114 is tensioned, the winding rope 212 pushes the tension detection wheel 2111, the tension detection wheel 2111 drives the movable sliding block 2112 to move, the contact switch 2113 is pressed, the power supply of the winding driving piece 201 is connected, and the winding mechanism 2 works; when the winding rope 212 is broken or loosened, the tension detection wheel 2111 is reset, and the power supply of the winding driving piece 201 is disconnected, so that the winding mechanism 2 can be braked emergently when accidents happen, and the safety of the shuttle in the lifting process is improved.
The winding rope 212 of the present embodiment is a steel wire. The winding drive 201 is a winding drive motor.
The winding mechanism 2 of the embodiment eliminates the traditional hydraulic, chain and eccentric wheel mechanisms, realizes the lifting of the shuttle through the winding drum 202, the steel wire and the tensioning detection mechanism 211, and ensures that the steel wire at the winding and unwinding end is always tangent with the winding drum 202 by the hold-down wheel 210, so that the winding and unwinding of the steel wire are stable and consistent when the shuttle is lifted.
When the aerial shuttle needs to take materials, the winding mechanism 2 loosens the material taking mechanism 3 to the vicinity of the materials through loosening the steel wires, and after the material taking mechanism 3 finishes taking the materials, the winding mechanism 2 resets the material taking mechanism 3 through tightening the steel wires, and the material taking process is similar to that of the materials.
As shown in fig. 8, 9, 10 and 11, the material taking mechanism 3 of the present embodiment includes a material taking base 301, a material taking through hole 302 matching the shape of the object to be grabbed is formed in the material taking base 301, and a material taking driving member 303, three synchronous pulleys 304, a synchronous belt 305 and a gripper 306 are respectively disposed along the periphery of the material taking through hole 302; the material taking driving piece 303 is connected with one synchronous pulley 304, adjacent synchronous pulleys 304 are connected through a synchronous belt 305 to realize synchronous transmission, the number of the grippers 306 is matched with that of the synchronous pulleys 304, one ends of the grippers 306 are coaxially assembled with the synchronous pulleys 304, the other ends of the grippers 306 are suspended, and the suspended ends of the grippers 306 rotate to the position above the material taking through holes 302 to form a clamping space for clamping.
In this embodiment, three synchronous pulleys 304 are provided, and in actual operation, the synchronous pulleys 304 may be provided in four, five, six or other different numbers; the number of the grippers 306 is consistent with that of the synchronous pulleys 304, and one end of each gripper 306 and each synchronous pulley 304 are coaxially assembled on the material taking base 301; the timing belt and timing pulley 304 cooperate.
The synchronous pulleys 304 are annularly distributed on the material taking base 301 with the center of the material taking through hole 302 as an origin.
The material taking through hole 302 is a circular through hole. The shape of the through holes can be set to be corresponding according to the shape of the materials to be grabbed.
A side stop post 307 for position limitation is arranged on the hanging end of the grip 306.
The side dam posts 307 contact the material and directly constrain the material. The material is rotated by the tongs 306 driving the side blocking upright posts 307, the plurality of side blocking upright posts 307 form clamping spaces for clamping, and the tongs 306 are controlled to stop rotating through force feedback signals after the side blocking upright posts 307 contact the material boundary. The lower surface of the outer contour of the material is flush with or above the upper surface of the grip 306.
The material taking driving member 303 is a material taking driving motor.
As shown in fig. 12, the top of the shuttle of the present embodiment is provided with an automatic charging mechanism 4, where the automatic charging mechanism 4 includes a charging track 401, a charging seat 404, a charging driving member 402, a charging push rod 403, a lifting rod 410, a compression member 405, and a charging post 406; the charging seat 404 is clamped on the charging track 401 and slides along the charging track 401, the charging driving member 402 is fixed on the charging seat 404 and drives the charging push rod 403 to move up and down, the lifting rod 410 is fixed on the top of the charging push rod 403, two ends of the lifting rod 410 are connected with the head end of the charging column 406 through the compression member 405, and the tail end of the charging column 406 passes through the charging seat 404 and then is connected with the interface to be charged through the electrode 408.
The charging seat 404 is provided with a linear bearing 407, and the charging post 406 is sleeved in the linear bearing 407.
The outer edge of the electrode 408 is wrapped with an insulating head 409. Spark generated when the motor 408 contacts the charging connector can be prevented.
The compression member 405 is a compression spring. The charging drive 402 is a charging drive motor.
When the shuttle needs to be charged, a signal is sent to the master control board, and the charging driving motor in the embodiment drives the charging push rod 403 to move downwards and compress the compression spring so as to drive the charging column 406 to move downwards along the linear bearing 407, the electrode 408 contacts with a charging port of the shuttle, charging is started, and the insulating head 409 prevents the electrode 408 from generating electric spark instantaneously when contacting with the charging port of the shuttle. When the shuttle is fully charged, the charging driving motor releases the self-locking, the compression spring resets, the charging column 406 moves upwards, and charging is finished.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The aerial shuttle is characterized by comprising an I-shaped track, a travelling mechanism arranged on the I-shaped track, a winding mechanism arranged under the I-shaped track and a material taking mechanism arranged under the winding mechanism; the travelling mechanism travels along the I-shaped track and drives the winding mechanism and the material taking mechanism to move, and the winding mechanism drives the material taking mechanism to move up and down;
the travelling mechanism comprises a travelling driving piece, a transmission piece, shuttle wheels, a horizontal guide piece, a vertical guide piece, a steering piece and an adjusting piece, wherein the travelling driving piece drives the transmission piece to drive the shuttle wheels to rotate, the horizontal guide piece is arranged above the shuttle wheels and is perpendicular to the plane where the shuttle wheels are located, the shuttle wheels are symmetrically distributed on two sides of the vertical surface of the I-shaped track and are in contact with the inner water plane of the bottom of the I-shaped track, the vertical guide piece is arranged on the outer horizontal surface of the bottom of the I-shaped track and is parallel to the plane where the shuttle wheels are located, the steering piece is positioned below the vertical guide piece, the adjusting piece is perpendicular to the lower part of the steering piece, and the adjusting piece is connected to the winding mechanism; the shuttle vehicle wheels are provided with two groups, one group comprises a driving wheel and a first driven wheel which are symmetrically arranged at two sides of the I-shaped track, the other group comprises a second driven wheel and a third driven wheel which are symmetrically arranged at two sides of the I-shaped track, and each of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel is provided with a horizontal guide piece which comprises two horizontal guide wheels contacted with the vertical surface of the I-shaped track;
the at least four vertical guide pieces are respectively arranged below the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel and are clung to the outer horizontal plane of the bottom of the I-shaped track; the transmission piece comprises a main transmission wheel, a transmission belt, a driving rotating shaft and a driven transmission wheel, wherein the main transmission wheel is connected to the output end of the walking driving piece, the transmission belt is respectively sleeved with the main transmission wheel and the driven transmission wheel, the driving rotating shaft is driven by the driven transmission wheel, and the driving wheel is connected with the driving rotating shaft;
the driving wheel and the first driven wheel form a first rolling group, the second driven wheel and the third driven wheel form a second rolling group, the steering piece is a vertical rotating shaft, and the two vertical rotating shafts are symmetrically distributed below the first rolling group and the second rolling group;
the adjusting piece comprises a horizontal rotating shaft, a bearing and a bearing seat, wherein two ends of the horizontal rotating shaft are connected into the bearing seat through shaft seats, and the vertical rotating shaft is connected onto the bearing seat of the adjusting piece.
2. The aerial shuttle of claim 1, wherein the winding mechanism comprises a winding drive, a winding drum, a winding screw, a guide shaft, a plurality of winding ropes, and a plurality of guide wheel assemblies; one ends of the winding ropes are respectively fixed and wound on the winding drums, the other ends of the winding ropes penetrate through the corresponding guide wheel assemblies and then hoist the material taking mechanisms, the winding driving piece drives the winding drums to rotate, the winding screw rods are arranged at the centers of the winding drums, and the guide shafts are arranged on two sides of the winding screw rods along the axial direction of the winding drums.
3. The aerial shuttle of claim 2 wherein the winding barrel is secured to the winding base by a winding mount, the winding mechanism further comprising at least two pinch rollers, the pinch rollers having ends connected to the winding mount, the pinch rollers being held against the winding barrel.
4. An aerial shuttle as claimed in claim 3 wherein each guide wheel assembly includes at least two U-shaped channel rollers, adjacent U-shaped channel rollers being disposed perpendicular to each other along their axes, the U-shaped channel rollers being secured to the winding base by roller mounts.
5. The aerial shuttle of claim 2, wherein the winding mechanism further comprises a tension detection mechanism comprising a tension detection wheel, a traveling block, a contact switch, and a tensioning wheel; the tension detection wheel is connected with the movable sliding block, the movable sliding block is connected with the contact switch, the tension wheel and the tension detection wheel are oppositely arranged, and the winding rope sequentially passes through the tension wheel and the tension detection wheel and then is connected to the guide wheel assembly.
6. The aerial shuttle of claim 1, wherein the material taking mechanism comprises a material taking base, a material taking through hole matched with the shape of the object to be grabbed is formed in the material taking base, and a material taking driving piece, at least three synchronous pulleys, a synchronous belt and a gripper are respectively arranged along the periphery of the material taking through hole; the material taking driving piece is connected with one synchronous pulley, synchronous transmission is realized through synchronous belt connection between adjacent synchronous pulleys, the number of the grippers is matched with that of the synchronous pulleys, one end of each gripper is coaxially assembled with the synchronous pulley, the other end of each gripper is suspended, and the suspended end of each gripper rotates to the position above the material taking through hole to form a clamping space for clamping.
7. The aerial shuttle of claim 1, wherein an automatic charging mechanism is provided on top of the shuttle, the automatic charging mechanism comprising a charging track, a charging dock, a charging drive, a charging pushrod, a lifting rod, a compression member, a charging post; the charging seat is clamped on the charging track and slides along the charging track, the charging driving piece is fixed on the charging seat and drives the charging push rod to move up and down, the lifting rod is fixed at the top of the charging push rod, two ends of the lifting rod are connected with the head end of the charging column through the compression piece, and the tail end of the charging column passes through the charging seat and then is connected with the interface to be charged through the electrode.
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| CN201811050128.3A CN109051565B (en) | 2018-09-10 | 2018-09-10 | Aerial shuttle |
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| CN201811050128.3A CN109051565B (en) | 2018-09-10 | 2018-09-10 | Aerial shuttle |
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| CN109051565B true CN109051565B (en) | 2024-04-12 |
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| CN110000534B (en) * | 2019-04-24 | 2020-02-07 | 中国电子科技集团公司第三十八研究所 | Light rail system device capable of being assembled in 360-degree rotating mode and workpiece assembling method thereof |
| CN110949987A (en) * | 2020-01-19 | 2020-04-03 | 绍兴市浩鑫电器有限公司 | Rail-mounted logistics transport to home system |
| CN111760802A (en) * | 2020-07-08 | 2020-10-13 | 山东睿基微智能科技有限责任公司 | Rail guided trolley for logistics sorting and logistics sorting system |
| CN112429451A (en) * | 2020-11-23 | 2021-03-02 | 中国电子科技集团公司第三十八研究所 | Large-bearing intelligent vertical warehouse system in low-temperature freezing environment |
| CN112964070A (en) * | 2021-02-01 | 2021-06-15 | 中国科学院包头稀土研发中心 | Movable trolley capable of running on basis of H steel rail and automatic rare earth electrolysis feeding device |
| CN114380010A (en) * | 2022-02-18 | 2022-04-22 | 福玻斯(太仓)物联网科技有限公司 | Air transportation system |
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