CN115557180A - Annular shuttle with unbalance loading prevention mechanism and control method thereof - Google Patents
Annular shuttle with unbalance loading prevention mechanism and control method thereof Download PDFInfo
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- CN115557180A CN115557180A CN202211258074.6A CN202211258074A CN115557180A CN 115557180 A CN115557180 A CN 115557180A CN 202211258074 A CN202211258074 A CN 202211258074A CN 115557180 A CN115557180 A CN 115557180A
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- wheel set
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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Abstract
The invention provides an annular shuttle with an anti-unbalance loading mechanism and a control method thereof. The annular shuttle vehicle is used for traveling on a first annular track and a second annular track laid on a conveying surface, and comprises a vehicle body and a driving traveling assembly connected to the vehicle body, wherein the driving traveling assembly comprises a driving wheel set, a driven wheel set and an anti-deviation wheel set, the driving wheel set and the anti-deviation wheel set are positioned on the same side of the vehicle body, and the anti-deviation wheel set is positioned on the side part of the driving wheel set and is used for traveling on the first annular track; the driven wheel set is positioned on the other side of the vehicle body and used for traveling on the second annular track, and the driving wheel set drives the anti-deflection wheel set and/or the driven wheel set to respectively move along the first annular track; and/or the driving wheel set drives the anti-deflection wheel set and/or the driven wheel set to move along the second annular track respectively, so that the anti-deflection capacity of the whole vehicle is improved, the safety of the whole vehicle is improved, the effect of double-wheel driving is achieved, and the manufacturing cost and the using cost of the whole vehicle are reduced.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to an annular shuttle vehicle with an anti-unbalance loading mechanism and a control method thereof.
Background
In recent years, with the rapid development of the logistics industry, the annular shuttle car is widely applied to the automatic stereoscopic warehouse and workshop logistics systems in various industries such as food, medicine and fiber manufacturing, and gradually obtains the approval of the broad masses of users according to the characteristics of flexibility, accuracy and strong adaptability.
The circular shuttle vehicle is developed from a reciprocating shuttle vehicle, the reciprocating shuttle vehicle traditionally travels back and forth along a straight track, and the circular shuttle vehicle can travel along a circular track in a closed loop. Compared with a reciprocating shuttle vehicle, the annular shuttle vehicle has the advantages of stronger conveying capacity, higher conveying efficiency and compact overall layout of the conveying line, and is more suitable for a workshop production type automatic logistics system.
The existing annular shuttle vehicle is widely applied to the practical application of small turning radius, but the driving scheme has certain instability, and particularly in the application scene of load deviation, the safety problem of rollover easily occurs.
Disclosure of Invention
In order to solve the problems, the invention provides an annular shuttle vehicle with an anti-unbalance loading mechanism and a control method thereof, which can ensure that the side turning situation can not occur under the unbalance loading situation and increase the safety of the whole vehicle.
The invention relates to an annular shuttle with an anti-unbalance loading mechanism, which is used for walking on a first annular track and a second annular track laid on a conveying surface, and is characterized in that: the device comprises a vehicle body and a driving walking assembly connected to the vehicle body, wherein the driving walking assembly comprises a driving wheel set, a driven wheel set and an anti-deviation wheel set, the driving wheel set and the anti-deviation wheel set are positioned on the same side of the vehicle body, and the anti-deviation wheel set is positioned on the side part of the driving wheel set and is used for walking on the first annular track; the driven wheel set is positioned on the other side of the vehicle body and used for walking on the second annular track, and the driving wheel set drives the anti-deviation wheel set and/or the driven wheel set to respectively move along the first annular track; and/or
The driving wheel set drives the anti-deviation wheel set and/or the driven wheel set to move along the second annular track respectively.
As a further optimization of the invention, the driving wheel set comprises a driving member and a driving wheel driven by the driving member, and the driving wheel runs on the first endless track.
As a further optimization of the present invention, the number of the driving wheels is at least one, and the at least one driving wheel is located at the vehicle body bottom middle position.
As a further optimization of the invention, the driven wheel set comprises at least two driven wheels, and the at least two driven wheels are located at the other side bottom position of the vehicle body and run on the second endless track.
As a further refinement of the invention, the at least two driven wheels and the at least one drive wheel form a triangle.
As a further optimization of the invention, the anti-deviation wheel set comprises a plurality of anti-deviation wheels, and the plurality of anti-deviation wheels are connected to the bottom of the vehicle body.
As a further optimization of the invention, the number of the anti-deviation wheels is at least two, and the at least two anti-deviation wheels are symmetrically arranged on the front side and the rear side of the driving wheel set.
As a further optimization of the invention, the anti-deviation wheel is made of a nylon material.
As a further optimization of the invention, the vehicle body deviation detection device further comprises a deviation prevention detection assembly, wherein the deviation prevention detection assembly comprises a mechanical sensor, and the mechanical sensor is positioned at the rear side of the deviation prevention wheel set and is used for detecting the deviation amount of the vehicle body.
As a further optimization of the invention, the device also comprises a control assembly, wherein the control assembly is electrically connected with the walking driving assembly and the deviation prevention detection assembly and is used for controlling the working states of the walking driving assembly and the deviation prevention detection assembly.
A control method of a circular shuttle with an anti-unbalance loading mechanism comprises the following steps:
acquiring the unbalance loading amount of the vehicle body;
when the unbalance loading amount exceeds a preset value, sending out alarm information;
and controlling the driving walking assembly to stop moving according to the alarm information.
As a further refinement of the invention, a step of providing a position of the center of gravity of the load is also included.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the annular shuttle vehicle, the anti-deflection wheels are additionally arranged, so that the anti-deflection capacity of the whole vehicle is improved, and the safety of the whole vehicle is improved.
2. According to the annular shuttle vehicle, the mechanical sensor is additionally arranged, so that the unbalance loading amount is automatically detected, the annular shuttle vehicle stops working after the unbalance loading amount reaches a specified value, unbalance loading information is fed back to workers, and the efficiency and the safety of problem processing are improved.
3. The annular shuttle vehicle disclosed by the invention is driven by a single wheel, so that the manufacturing cost and the use cost of the whole vehicle are reduced, and meanwhile, the stability of the whole vehicle is improved by matching with the anti-deviation wheel, so that the performance of the whole vehicle achieves the effect of double-wheel driving.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of an endless shuttle vehicle having an anti-unbalance mechanism according to the present invention;
FIG. 2 is a schematic side view of an annular shuttle vehicle having an anti-unbalance loading mechanism according to the present invention;
fig. 3 is a flowchart of a method for controlling an endless shuttle vehicle with an anti-unbalance loading mechanism according to the present invention.
In the above figures, 1, a first circular orbit; 2. a second endless track; 3. a vehicle body; 4. a driving wheel set; 5. a driven wheel set; 6. an anti-deviation wheel set; 7. prevent inclined to one side detection module.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1-2, the present invention provides an endless shuttle with an anti-unbalance mechanism, which is used for traveling on a first endless track 1 and a second endless track 2 laid on a conveying surface, and comprises a vehicle body 3, and a driving traveling assembly connected to the vehicle body 3, wherein the driving traveling assembly comprises a driving wheel set 4, a driven wheel set 5 and an anti-unbalance wheel set 6, the driving wheel set 4 and the anti-unbalance wheel set 6 are located on the same side of the vehicle body 3, and the anti-unbalance wheel set 6 is located on the side of the driving wheel set 4 and is used for traveling on the first endless track 1; the driven wheel set 5 is positioned at the other side of the vehicle body 3 and is used for walking on the second annular track 2, and the driving wheel set 4 drives the anti-deviation wheel set 6 and the movable wheel set 5 to respectively follow the first annular track 1; or the driving wheel group 4 drives the anti-deflection wheel group 6 and the movable wheel group 5 to respectively move along the second annular track 2, so that the anti-deflection capacity of the whole vehicle is improved, the safety of the whole vehicle is further improved, the effect of double-wheel driving is achieved, and the manufacturing cost and the using cost of the whole vehicle can be reduced.
In this embodiment, the driving wheel set 4, the driven wheel set 5 and the anti-deviation wheel set 6 cooperate with the annular shuttle vehicle to ensure that the annular shuttle vehicle travels stably and balancedly on the annular track.
As another embodiment of the present invention, different from the above embodiments, the driving wheel set 4 in this embodiment includes a driving member and a driving wheel driven by the driving member, and the driving wheel travels on the first endless track 1. The driving member is, for example, a driving motor, which provides power for the driving wheel to travel on the first endless track, thereby driving the vehicle body and the upper member thereof to convey along the first endless track
In order to reduce the manufacturing cost and the use cost of the endless shuttle, the number of the driving wheels in the embodiment is one, and one driving wheel is located at the middle position of the bottom of the vehicle body 3. Therefore, the turning radius of the whole vehicle is further reduced, the passing capacity is improved, and the design of the whole vehicle is more compact.
As another embodiment of the present invention, different from the above embodiments, the driven wheel set 5 in this embodiment includes at least two driven wheels, and the at least two driven wheels are located at the bottom position of the other side of the vehicle body and travel on the second annular rail, so as to provide a supporting effect for the load of the entire vehicle.
As another embodiment of the present invention, different from the above-mentioned embodiments, the at least two driven wheels and the at least one driving wheel in this embodiment form a triangle with each other. Therefore, the driven wheel is driven by the single wheel to drive the vehicle body to run, and the production cost of the vehicle body is effectively reduced.
In the embodiment, two driven wheels and one driving wheel are generally directly acted on the track during actual work to provide supporting force of the whole vehicle, wherein the driving wheel mainly provides driving force of the whole vehicle while providing the supporting force, so that normal work tasks are completed. In order to ensure that the vehicle body does not roll over under the condition of unbalanced loading, the embodiment is provided with an anti-deviation wheel set 6, wherein the anti-deviation wheel set 6 comprises a plurality of anti-deviation wheels, and the anti-deviation wheels are connected to the bottom of the vehicle body 3. Therefore, the unbalance loading resistance of the whole vehicle is improved, and the safety of the whole vehicle is improved.
As another embodiment of the present invention, different from the above embodiments, the number of the anti-deviation wheels in this embodiment is at least two, and the at least two anti-deviation wheels are symmetrically arranged on the front and rear sides of the driving wheel set 4. Therefore, when the annular shuttle car runs, turning action can be realized, the possibility of side turning of the car can be realized due to certain instability of single-side single-wheel drive, and the anti-deviation wheels can be contacted with the track to play a supporting role at the moment.
The anti-deviation wheel that this embodiment set up simultaneously, through the mode that increases the inclined plane backing plate in anti-deviation wheel below when the dolly drive wheel produces the trouble and needs the maintenance, can wholly raise annular shuttle drive side, makes things convenient for the manual work to dismantle the drive wheel.
As another embodiment of the present invention, unlike the above embodiments, the anti-deviation wheel in this embodiment is made of a nylon material. Therefore, the nylon design has the shock absorption effect, the impact force on the track is further reduced while the noise is reduced, the instant impact load on the track is eliminated, and the track is protected to a certain extent.
As another embodiment of the present invention, different from the above embodiment, the circular shuttle car in this embodiment further includes an anti-deviation detection assembly 7, and the deviation detection assembly 7 includes a mechanical sensor, and the mechanical sensor is located at the rear side of the anti-deviation wheel set 6 and is used for detecting the deviation amount of the car body. Therefore, when the deflection capacity of the trolley exceeds a certain value, the normal running capacity of the trolley is exceeded, the mechanical sensors on the two deflection prevention wheels are in contact with the rail to perform safety alarm, an alarm signal is transmitted to the control end, the control end performs parking alarm, the alarm information is displayed at the central control end, and workers are guided to adjust the center of gravity of the load. However, the mechanical sensor of the present application is not limited thereto, and it may also be able to determine an obstacle in advance.
Because of the dolly functioning speed is very fast, the load has the orbital risk of dropping, if the clearance to the object on the track is untimely, there is very big derailment risk when the dolly passes through at a high speed. The mechanical sensor is additionally arranged, so that the barrier can be judged in advance, a certain safe deceleration distance is given to the trolley, and the trolley is prevented from derailing.
As another embodiment of the present invention, different from the above embodiment, the endless shuttle car in this embodiment further includes a control component, and the control component is electrically connected to the walking driving component and the deviation-preventing detection component 7, and is used for controlling the working states of the walking driving component and the deviation-preventing detection component. From this, when annular shuttle car has the action of turning when moving, because there is certain instability in unilateral single wheel drive, the dolly has the possibility of turning on one's side, prevent that the wheel also can play the supporting role with the track contact this moment, mechanical sensor can send alarm information, the control assembly of this embodiment for example the controller can control the dolly according to the degree of turning on one's side and carry out the deceleration or park, and send alarm information to well accuse end, wait for actions such as staff's processing, realize the intelligent control of annular shuttle car, the staff's management and control of being convenient for, and reduce staff's working strength.
As shown in fig. 3, a method for controlling an endless shuttle vehicle having an anti-unbalance mechanism includes the steps of:
s1, acquiring the deflection amount of a vehicle body;
s2, when the unbalance loading exceeds a preset value, sending alarm information;
and S3, controlling the driving walking assembly to stop moving according to the alarm information.
In actual work, the annular shuttle vehicle is generally directly acted on a track by two driven wheels and a driving wheel to provide supporting force for the whole vehicle, wherein the driving wheel mainly provides driving force for the whole vehicle while providing the supporting force to complete normal work tasks, and when loads are uniformly distributed on the whole vehicle, the trolley stably runs.
When the load is unbalanced, the trolley has the risk of side turning, and when the side turning exceeds a certain amount, the anti-deviation wheels on the trolley are in contact with the rails, so that a certain supporting effect is achieved, and the stability of the whole trolley is improved.
When the trolley turns over and continues to be weighted, the normal running capability of the trolley is exceeded, the mechanical sensors on the two anti-deviation wheels are in contact with the track, the sensors give a safety alarm, an alarm signal is transmitted to the control end, and the control end gives a parking alarm.
In order to facilitate the staff to quickly handle the abnormality, as another embodiment of the present invention, unlike the above-mentioned embodiment, the control method in this embodiment further includes a step of providing the position of the center of gravity of the load, thereby helping the staff to quickly perform the adjustment of the center of gravity of the load. The control end displays the alarm information at the central control end to guide workers to adjust the center of gravity of the load.
In conclusion, the invention adopts a mode of single-side single-wheel driving and matching with the anti-deviation wheel and the mechanical sensor, thereby improving the stability of the whole vehicle and reducing the manufacturing cost and the use cost of the whole vehicle. The driving wheel is arranged in the middle, so that the turning radius of the whole vehicle is further reduced, the passing capacity is improved, and the design of the whole vehicle is more compact.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (12)
1. The utility model provides an annular shuttle with anti unbalance loading mechanism which is used for walking on laying first annular track and the second annular track on the plane of delivery, its characterized in that: the device comprises a vehicle body and a driving walking assembly connected to the vehicle body, wherein the driving walking assembly comprises a driving wheel set, a driven wheel set and an anti-deviation wheel set, the driving wheel set and the anti-deviation wheel set are positioned on the same side of the vehicle body, and the anti-deviation wheel set is positioned on the side part of the driving wheel set and is used for walking on the first annular track; the driven wheel set is positioned on the other side of the vehicle body and used for walking on the second annular track, and the driving wheel set drives the deviation preventing wheel set and/or the driven wheel set to respectively move along the first annular track; and/or
The driving wheel set drives the deviation-preventing wheel set and/or the driven wheel set to move along the second annular rail respectively.
2. The endless shuttle vehicle with an anti-unbalance mechanism as recited in claim 1, wherein: the driving wheel set comprises a driving piece and a driving wheel driven by the driving piece, and the driving wheel runs on the first annular track.
3. The endless shuttle vehicle with an anti-unbalanced loading mechanism of claim 2, wherein: the number of the driving wheels is at least one, and the at least one driving wheel is located in the middle position of the bottom of the vehicle body.
4. The endless shuttle vehicle with an anti-unbalance mechanism according to claim 2 or 3, characterized in that: the driven wheel set comprises at least two driven wheels, and the at least two driven wheels are located at the bottom of the other side of the vehicle body and walk on the second annular track.
5. The endless shuttle vehicle with an anti-unbalanced loading mechanism of claim 4, wherein: the at least two driven wheels and the at least one driving wheel form a triangle.
6. The endless shuttle vehicle with an anti-unbalanced mechanism of any of claims 1-3, wherein: the anti-deviation wheel set comprises a plurality of anti-deviation wheels, and the anti-deviation wheels are connected to the bottom of the vehicle body.
7. The endless shuttle vehicle with an anti-unbalanced loading mechanism of claim 6, wherein: the number of the anti-deviation wheels is at least two, and the at least two anti-deviation wheels are symmetrically arranged on the front side and the rear side of the driving wheel set.
8. The endless shuttle vehicle with an anti-unbalanced loading mechanism of claim 6, wherein: the anti-deviation wheel is made of a nylon material.
9. The endless shuttle vehicle with an anti-unbalanced mechanism of any of claims 1-3, wherein: still include and prevent inclined to one side determine module, inclined to one side determine module includes mechanical sensor, mechanical sensor is located prevent the rear side of inclined to one side wheelset, be used for detecting the partial loading volume of automobile body.
10. The endless shuttle vehicle with an anti-unbalanced loading mechanism of claim 9, wherein: the control assembly is electrically connected with the walking driving assembly and the deviation prevention detection assembly and used for controlling the working states of the walking driving assembly and the deviation prevention detection assembly.
11. A control method of an annular shuttle vehicle with an anti-unbalance loading mechanism is characterized by comprising the following steps:
acquiring the unbalance loading amount of the vehicle body;
when the unbalance loading amount exceeds a preset value, sending out alarm information;
and controlling the driving walking assembly to stop moving according to the alarm information.
12. The method of controlling a circular shuttle vehicle having an anti-unbalanced loading mechanism as set forth in claim 11, wherein: further comprising the step of providing a position of the center of gravity of the load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211258074.6A CN115557180A (en) | 2022-10-13 | 2022-10-13 | Annular shuttle with unbalance loading prevention mechanism and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211258074.6A CN115557180A (en) | 2022-10-13 | 2022-10-13 | Annular shuttle with unbalance loading prevention mechanism and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115557180A true CN115557180A (en) | 2023-01-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211258074.6A Pending CN115557180A (en) | 2022-10-13 | 2022-10-13 | Annular shuttle with unbalance loading prevention mechanism and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115557180A (en) |
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2022
- 2022-10-13 CN CN202211258074.6A patent/CN115557180A/en active Pending
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