CN209525595U - Ceramic Production workshop self-navigation transfer cart - Google Patents

Abstract

A kind of Ceramic Production workshop self-navigation transfer cart, including being equipped with driven carriage from motor vehicles bodies, the layer frame for placing ceramic product being equipped with above driven carriage from motor vehicles bodies, driven vehicle bottom is equipped with driven wheel, and driven carriage is equipped with the vertical guide hole in two groups of front and back；It is additionally provided with active car body, active car body is equipped with active vehicle frame, and active vehicle frame is fixed with the vertical guide rod in two groups of front and back, and each group of vertical guide rod of active vehicle frame can be inserted in one group of vertical guide hole of correspondence of driven carriage with sliding vertically；The bottom of active car body is equipped with two groups of front and back Hall sensor, active car body is additionally provided with two active fronts and two Active Rears, one group of front Hall sensor is connected to front-wheel steer power mechanism by signal wire, and the rear set Hall sensor is connected to rear-axle steering power mechanism by signal wire.The route running that the utility model can be guided according to the navigation magnetic stripe of workshop, and steering power mechanism can easily make wheel steering in real time.

Description

Ceramic Production workshop self-navigation transfer cart

Technical field

The utility model belongs to the technical field more particularly to a kind of self-navigation of Ceramic Production workshop of Transporting equipment Transfer cart.

Background technique

During Ceramic Production, need to fire by roll forming, drying, deburring, dedusting, glazing, high temperature etc. Process, each process are carried out in different stations, so ceramic needs carry out between the different stations of workshop Transmission.Since ceramic is usually to produce in enormous quantities, thus transmission of the ceramic in workshop is generally using transport The ceramic quantity of vehicle, each vehicle generally reaches several hundred.

On the other hand, although using the self-navigation transfer robot of navigation magnetic stripe and Hall element control track route The places such as automatic dish dining room are successfully applied to, it can be kept straight on and be turned according to the guiding of navigation magnetic stripe inside dining room Curved, turning is flexible.The ground in above-mentioned automatic dish dining room is equipped with navigation magnetic stripe, and the bottom of self-navigation transfer robot is equipped with suddenly That sensor and wheel, and it is equipped with the driving dynamics mechanism of driving wheel traveling, the steering power mechanism that driving wheel turns to.Row During sailing, Hall sensor constantly detects the Distribution of Magnetic Field on its periphery, so that it is determined that the phase of Hall sensor and navigation magnetic stripe To position, and then determine whether Hall sensor deviates the surface of navigation magnetic stripe, if Hall sensor deviates navigation magnetic stripe Surface, then there is deviation in the travel route of the dynamic navigation transfer robot of explanation, and then steering power mechanism acts immediately, and When correct self-navigation transfer robot driving direction.Uninterrupted detection through the above way, correction, flexibly fine tuning and anti- Feedback, it is ensured that self-navigation transfer robot can travel inside dining room according to the guided path of navigation magnetic stripe, and it is flexible to turn.

But above-mentioned self-navigation transfer robot is but not directly applicable transport ceramic, this is because each The ceramic quantity of vehicle generally reaches several hundred, thus when ceramic garage is walked, the weight of transfer cart carrying is very big, and weight is all It is pressed in and transports on wheel, when steering power mechanism driving wheel turns to, the go to action delay of response of wheel, lag, wheel The go to action of son is difficult to keep to form corresponding in real time coordinate with Hall sensor, it is difficult to ensure can be in time according to navigation magnetic The guiding of item carries out the fine tuning of driving direction, and Hall sensor is easy to deviate the effective magnetic field range of navigation magnetic stripe, self-navigation Effect is poor.Thus, existing Ceramic Production workshop transfer cart is pushed using manpower.

Utility model content

A kind of self-navigation fortune in Ceramic Production workshop is provided the purpose of the utility model is to overcome disadvantages mentioned above Vehicle is sent, the route running that it can be guided according to the navigation magnetic stripe of workshop, and also steering power mechanism can easily make in real time Wheel steering.

Its purpose can be realized by following scheme: a kind of Ceramic Production workshop self-navigation transfer cart, including be used for The slave motor vehicles bodies for delivering ceramic are equipped with driven carriage from motor vehicles bodies, are equipped with above driven carriage and are used for placing ceramic product Layer frame, driven vehicle bottom be equipped with driven wheel, be carried on driven wheel, be mainly characterized by from motor vehicles bodies, it is described Driven wheel is universal wheel；Driven carriage is equipped with the vertical guide hole in two groups of front and back；It is additionally provided with active car body, active car body is equipped with actively Vehicle frame, active vehicle frame are fixed with the vertical guide rod in two groups of front and back, and each group of vertical guide rod of active vehicle frame can be inserted with sliding vertically In one group of vertical guide hole of correspondence of driven carriage；The bottom of active car body is equipped with two groups of front and back Hall sensor, active vehicle Body is additionally provided with two active fronts and two Active Rears, and active car body is carried on two active fronts and two Active Rears On；Active car body is additionally provided with the driving dynamics mechanism of two active fronts of driving and two Active Rears traveling, and is equipped with and drives The front-wheel steer power mechanism of dynamic two active front wheel steerings, the rear-axle steering power mechanism for driving two active rear steers； One group of front Hall sensor is connected to the front-wheel steer power mechanism by signal wire, and the rear set Hall passes Sensor is connected to the rear-axle steering power mechanism by signal wire；The rear and front end of active car body is equipped with for detecting barrier Infrared sensor；The rear and front end of active car body is additionally provided with lateral touch article, and every lateral touch article is additionally provided with touch-pressure switch；It is described Touch-pressure switch and infrared sensor pass through signal wire respectively and are connected to the driving dynamics mechanism.

The utility model has the following advantages that and effect:

One, the utility model is applied to be laid with the Ceramic Production workshop of navigation magnetic stripe, in transfer cart driving process, From two groups of the front and back of motor vehicles bodies, Hall sensor constantly detects the Distribution of Magnetic Field on its periphery, so that it is determined that two groups of front and back hall sensing The relative position of device and navigation magnetic stripe, and then determine whether the two groups of Hall sensors in front and back deviate the surface of navigation magnetic stripe, such as One group or rear set Hall sensor deviate the surface of navigation magnetic stripe before fruit, then corresponding front-wheel steer power mechanism or Rear-axle steering power mechanism acts immediately, the driving direction of timely correction active car body, it is ensured that two groups of front and back Hall sensor position In the surface of navigation magnetic stripe, and active car body is inserted in driven carriage using two groups of vertical guide rods, determines one according to two o'clock Straight line principle, active car body are remained unchanged with from the floor projection positional relationship of motor vehicles bodies between the two, thus from motor vehicles bodies The driving direction that driving direction is followed by active car body is adjusted, through the above way it is uninterrupted correction, flexibly fine tuning and Feedback, it is ensured that transfer cart (including from motor vehicles bodies) can be travelled in either inside according to the guided path of navigation magnetic stripe, turning spirit It is living.On the other hand, it can be slid vertically between vertical guide rod and vertical guide hole, thus the weight of ceramic is only pressed in driven wheel Son, without transmitting and being pressed on active front or Active Rear, thus active front and Active Rear are skittish, be quick on the draw and When, it is ensured that the go to action of active front keeps corresponding with the testing result of the one group of Hall sensor in front at any time, it is ensured that actively The go to action of rear-wheel keeps corresponding with the testing result of rear set Hall sensor at any time, is suitable for frequent, continual Directional trim, it is ensured that transfer cart driving direction is rectified a deviation in time.

Two, in transfer cart driving process, if infrared sensor, which detects in front of driving direction, has barrier in certain distance Hinder object, then the stopping immediately of driving dynamics mechanism acts, transfer cart pause；When barrier is removed, then transfer cart walks on.If Just in case infrared sensor fails, there is a barrier in front and trolley when still running and touching barrier, then lateral touch article will Barrier is touched, the touch-pressure switch of lateral touch article acts and issues signal, acts the stopping immediately of driving dynamics mechanism, transfer cart It stops immediately, by above-mentioned measure, avoids bulky transfer cart collision obstacle, frangible ceramic is also avoided to topple over and break It is broken.

Detailed description of the invention

Fig. 1 is a kind of longitudinal profile structure schematic of specific embodiment of the utility model in a state of use.

Fig. 2 is the partial schematic diagram of structure shown in Fig. 1.

Fig. 3 is the decomposition diagram of structure shown in Fig. 2.

Fig. 4 is the schematic side view of structure shown in Fig. 2.

Fig. 5 is A-A the schematic diagram of the section structure in Fig. 4.

Fig. 6 is B-B the schematic diagram of the section structure in Fig. 4.

Fig. 7 is the floor projection positional diagram of the main component in structure shown in Fig. 2.

Specific embodiment

Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of Ceramic Production workshop self-navigation transfer cart shown in Fig. 7, Including the slave motor vehicles bodies 1 for delivering ceramic, it is equipped with driven carriage 11 from motor vehicles bodies 1, driven carriage 11 is equipped with uses above In the layer frame 14 of placing ceramic product, it is equipped with driven wheel 13 from 1 bottom of motor vehicles bodies, utilizes branch from four ends of motor vehicles bodies 11 Support component 12 is carried on respectively on a driven wheel 13, thus entirely from the weight of motor vehicles bodies 11 (including layer frame 14 and ceramics The weight of product) it is all carried on four driven wheels 13, the driven wheel 13 is universal wheel；Driven carriage 11 is equipped with front and back Two groups of vertical guide holes 10.It is additionally provided with active car body 2, active car body 2 is equipped with active vehicle frame 21, and active vehicle frame 21 is fixed with front and back Two groups of vertical guide rods 20, the vertical guide rod 20 of each group of active vehicle frame 21 can be inserted in the correspondence one of driven carriage 11 with sliding vertically In the vertical guide hole 10 of group；The bottom of active car body 2 is equipped with two groups of front and back Hall sensor 3, and active car body 1 is additionally provided with two masters Dynamic front-wheel 23 and two Active Rears 24, active car body 1 are carried in two active fronts 23 and two Active Rears 24, and whole A weight (weight including layer frame 14 and ceramic) from motor vehicles bodies 11 will not then be carried on two active fronts 23 and two On a Active Rear 24, active car body 1 is additionally provided with two active fronts 23 of driving and the traveling of two Active Rears 24 traveling is dynamic Force mechanisms are further provided with two front-wheel steer power mechanism, driving Active Rears 24 that two active fronts 23 of driving turn to The rear-axle steering power mechanism of steering；One group of front Hall sensor 3 is connected to the front-wheel steer by signal wire and moves Force mechanisms, the signal of the one group of Hall sensor 3 in front are transmitted to the front-wheel steer power mechanism, and the front-wheel steer is dynamic Force mechanisms adjust front-wheel steer according to the signal of one group of front Hall sensor 3, and the rear set Hall sensor 3 passes through letter Number line is connected to the rear-axle steering power mechanism, the signal of the rear set Hall sensor 3 be transmitted to it is described after rotation To power mechanism, rear-axle steering power mechanism adjusts rear-axle steering according to the signal of rear set Hall sensor 3.

Shown in Fig. 1, Fig. 2, Fig. 7, the rear and front end of active car body 2 is equipped with the infrared sensor 4 for detecting barrier, main The rear and front end of motor vehicles bodies 2 is additionally provided with lateral touch article 5, and lateral touch article 5 is coated with rubber layer, and every lateral touch article 5 is also Equipped with touch-pressure switch；The touch-pressure switch and infrared sensor pass through signal wire respectively and are connected to the driving dynamics mechanism, institute The signal of the signal and infrared sensor of stating touch-pressure switch is transmitted to the driving dynamics mechanism.

When utility model works, ceramic body 8 is placed on from the layer frame 14 of motor vehicles bodies 1, from motor vehicles bodies 1 and active vehicle Body 2 is located on the ground 61 of Ceramic Production mill floor workshop, and ground 61 is laid with navigation magnetic stripe 6, active car body 2 Two groups of front and back Hall sensor 3 be respectively positioned on navigation magnetic stripe 6 surface, as shown in Figure 1 and Figure 2.

Claims (1)

1. a kind of Ceramic Production workshop self-navigation transfer cart, driven including the slave motor vehicles bodies for delivering ceramic Car body is equipped with driven carriage, and the layer frame for placing ceramic product is equipped with above driven carriage, and driven vehicle bottom is equipped with driven Wheel is carried on driven wheel from motor vehicles bodies, it is characterised in that: the driven wheel is universal wheel；Before driven carriage is equipped with Two groups of vertical guide holes afterwards；It is additionally provided with active car body, active car body is equipped with active vehicle frame, and it is perpendicular that active vehicle frame is fixed with two groups of front and back To guide rod, each group of vertical guide rod of active vehicle frame can be inserted in one group of vertical guide hole of correspondence of driven carriage with sliding vertically； The bottom of active car body is equipped with two groups of front and back Hall sensor, after active car body is additionally provided with two active fronts and two actives Wheel, active car body are carried in two active fronts and two Active Rears；Active car body is additionally provided with two active fronts of driving With the driving dynamics mechanism of two Active Rears traveling, and the front-wheel steer engine equipped with two active front wheel steerings of driving Structure, the rear-axle steering power mechanism for driving two active rear steers；One group of front Hall sensor is connected by signal wire It is connected to the front-wheel steer power mechanism, the rear set Hall sensor is connected to the rear-axle steering by signal wire and moves Force mechanisms；The rear and front end of active car body is equipped with the infrared sensor for detecting barrier；The rear and front end of active car body is also Equipped with lateral touch article, every lateral touch article is additionally provided with touch-pressure switch；The touch-pressure switch and infrared sensor pass through signal respectively Line is connected to the driving dynamics mechanism.