CN217807018U - Curved crashproof structure is crossed to RGV conveying system - Google Patents

Abstract

The utility model provides a bending collision avoidance structure of an RGV transportation system, which monitors and feeds back whether a trolley carrying front is in a bending state or not in real time through a detection piece-radar sensor in the transportation process of a rail trolley carrying long box-like carrying objects, and monitors and feeds back the distance between the tail part of the carrying object and a wall surface and an obstacle in the steering process; the balance sensors are arranged on the goods in a matched manner for monitoring the balance values of the front side and the rear side during adjustment, so that the long-box over-bending transportation can be safely and automatically carried out in an indoor storage logistics system, and the loss caused by impact in the over-bending trend process is avoided; meanwhile, when the vehicle passes through a curve, the front wheel set and the rear wheel set are not on the same horizontal line, the wheel sets are bound to float, steering floating adapting to the curve is completed through the bridge, and the curve adjusting function of the transportation system is further realized; through the floating difference of the roller wheel limit and the height limit seats on the two sides of the bridge, the function of micro autorotation can be generated according to the bottom guide rail.

Description

Curved crashproof structure is crossed to RGV conveying system

Technical Field

The utility model belongs to the technical field of the RGV dolly technique and specifically relates to a curved crashproof structure is crossed to RGV conveying system.

Background

The RGV trolley is called a rail shuttle trolley, can be used for warehouses with various high-density storage modes, can be designed to be arbitrarily long in a trolley passage, can improve the storage capacity of the whole warehouse, and does not need a forklift to drive into a roadway during operation, so that the safety of the rail shuttle trolley is higher.

The existing RGV trolley is limited in indoor limited storage space when the goods with long box bodies as transportation carriers are bent, and the length direction of the goods far exceeds the length of the carrying plane of the trolley, so that the transportation work is severely restricted by relatively small logistics storage space when the large-bend curve is turned, and the phenomenon that the tail section of the goods is seriously turned to impact the wall or an obstacle is caused, thereby causing the problems of a series of goods loss, equipment damage and potential safety hazards.

SUMMERY OF THE UTILITY MODEL

This application is to the shortcoming among the above-mentioned prior production technology, provides a rational in infrastructure's an RGV conveying system and crosses curved crashproof structure to satisfy the problem that turns to in the transportation of conventional commodity circulation work, provide high stability, convenience and security for long box class freight.

The utility model discloses the technical scheme who adopts as follows:

an RGV transportation system overbend collision avoidance structure, comprising:

a frame for forming a dolly body;

the anti-collision adjusting mechanism is arranged above the frame and comprises a plurality of rows of rolling assemblies arranged side by side, and the rolling assemblies are linked in series through transmission parts;

the detection piece is arranged on the advancing side of the frame body and is used for detecting whether the vehicle enters the curved track or not;

the chassis assembly is arranged at the bottom of the frame body and used for controlling the trolley to walk and turn in a self-adaptive manner under servo control;

and the rollover prevention assembly is arranged between the chassis assembly and the frame and used for establishing flexible connection between the frame and the chassis below and preventing the side of the upper object from being forced to rollover.

Furthermore, each row of rolling assemblies comprises first bearing seats symmetrically arranged on two sides of the frame, rollers are rotatably arranged in the first bearing seats, a protective cover is arranged at the upper edge of one side linked by the transmission part, a first servo motor is fixedly arranged at the bottom of the frame, and the first servo motor is in transmission connection with the transmission part.

Furthermore, the detection piece is a radar detector, and the radar detector is in signal connection with the servo controller.

Furthermore, the rollover prevention assembly comprises a second bearing seat and a second rotating shaft, wherein the second bearing seat and the second rotating shaft are fixedly arranged in the middle of the frame, one end of the second rotating shaft is rotatably arranged in the second bearing seat, and the other end of the second rotating shaft is fixedly connected to the corresponding central position of the chassis.

Furthermore, the chassis assembly comprises a trolley chassis which is rotatably arranged below the frame through a second rotating shaft, and the front part and the rear part of the trolley chassis are symmetrically provided with self-adaptive turning wheel sets.

Furthermore, each self-adaptive turning wheel set comprises two groups of guide wheel assemblies, the two groups of guide wheel assemblies are mutually connected in a front-back mode through a bridge, and the middle of the bridge is rotatably connected with the trolley chassis through a third rotating shaft; the middle part of the bridge is in a hollow design, the positions of the bridge symmetrical to the two sides of the third rotating shaft are provided with roller seats, rollers are arranged in the roller seats in a rolling mode, rolling plates are arranged below the chassis of the trolley corresponding to the positions of the rollers, and the rolling plates are attached to and abutted against the rollers.

Furthermore, height limiting seats are arranged between the end parts of the two sides of the bridge frame and the trolley chassis, one end of each height limiting seat is fixedly arranged at the end part of the bridge frame, and a gap is reserved between the other end of each height limiting seat and the trolley chassis.

Furthermore, any one group of self-adaptive turning wheel sets is driven by arranging a driving assembly, and the driving assembly is in signal connection with the servo controller.

The utility model has the advantages as follows:

1. by combining the over-bending anti-collision structure of the utility model, in the process of transporting the rail trolley for carrying long box-like objects, the distance sensor and the balance sensor monitor and feed back whether the front of the trolley object is in a bending state or not in real time through the detection piece-radar sensor, and the steering trend of the periphery of the tail part of the object carrying object and the distance monitoring and feedback of the wall surface and the barrier in the steering process; when the front and rear positions of the object carrying device need to be adjusted, the balance values of the front and rear sides of the balance sensor are monitored, so that long box type over-bending transportation can be safely and automatically carried out in an indoor storage logistics system, the loss caused by impact in the process of over-bending trend is avoided, and the high efficiency and stability of the operation of the logistics system are improved.

2. The utility model provides a RGV transportation system crosses curved crashproof structure, the front and back walking end, through the crane span structure series connection two sets of guide pulley group form unilateral four-wheel walking structure, improved the whole load-bearing of dolly and the stability of walking greatly; displacement deviation exists between the front wheel part and the rear wheel part when the front wheel part and the rear wheel part are bent, and the displacement deviation can be converted into force to be applied to each wheel set; when the vehicle passes through a curve, the front wheel set and the rear wheel set are not on the same horizontal line, the wheel sets are forced to float, steering floating adapting to the curve is completed through the bridge, and the curve adjusting function of the transportation system is further realized; meanwhile, the function of micro autorotation can be generated according to the lower guide rail through the roller limiting and the floating difference of the height limiting seats on the two sides of the bridge.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a perspective view of a midsole module of the present invention;

fig. 4 is a cross-sectional structure view of the bridge frame of the present invention;

fig. 5 is a schematic view of an application scenario of the present invention;

fig. 6 is a hardware schematic diagram of a control method for the RGV transit system over-curve collision avoidance.

Wherein: 1. a frame; 2. an anti-collision adjusting mechanism; 3. a detection member; 4. a chassis assembly; 5. an anti-rollover assembly; 20. a rolling assembly; 21. a transmission member; 201. a first bearing housing; 202. a drum; 203. a protective cover; 204. a first servo motor; 51. a second bearing housing; 52. a second rotating shaft; 40; a trolley chassis; 41. a self-adaptive turning wheel group; 42. a drive assembly; 410. a guide wheel assembly; 411. a bridge frame; 412. a third rotating shaft; 413. a roller seat; 414. a roller; 415. a rolling plate; 416. a height limiting seat; 6. a distance sensor; 7. a balance sensor.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

Example 1:

referring to fig. 1-6, the present invention provides a technical solution: an RGV transportation system overbending bumper structure, comprising:

a frame 1 for forming a trolley body;

the anti-collision adjusting mechanism 2 is arranged above the vehicle frame 1 and comprises a plurality of rows of rolling assemblies 20 arranged side by side, the rolling assemblies 20 are linked in series through a transmission piece 21, each row of rolling assemblies 20 comprises first bearing seats 201 symmetrically arranged on two sides of the vehicle frame 1, a roller 202 can be rotatably arranged in each first bearing seat 201, a protective cover 203 is arranged on the upper edge of one side linked by the transmission piece 21, a first servo motor 204 is fixedly arranged at the bottom of the vehicle frame 1, and the first servo motor 204 is in transmission connection with the transmission piece 21.

In the embodiment, as shown in fig. 1, 9 rows of rolling assemblies 20 are preferred, and optionally, the transmission modes such as a rack and pinion, a sprocket chain set, and the like can be used to perform serial synchronous linkage on each row of transmission assemblies, and the same output is performed by the first servo motor 204 below the frame 1; if necessary, the rotation speed and torque can be controlled to be constant in cooperation with the speed reducer.

The detecting element 3 is arranged on the advancing side of the frame 1 body and used for detecting whether the vehicle enters a curved track or not, the detecting element 3 in the embodiment preferably uses a radar sensor as a signal sensor for detecting whether the vehicle enters a curve or not in front of the frame 1, and the radar detector is in signal connection with the servo controller.

Those skilled in the art can optionally select radar sensors of types such as WTR-510/WTR-511, WTR-510, and WTR-511 as the detection element 3, and can detect various types of obstacles and barriers in the detection areas of 150m and 80m, respectively; even motor vehicles and non-motor vehicles in non-warehouse use scenes carry out all-weather long-distance detection; consider the utility model discloses an application scene is mostly indoor environment such as large-scale storage workshop, consequently can be selected or can use the detection function of taking motor-driven, non-motor-driven motion thing to radar sensor's lectotype indiscriminately.

The chassis component 4 is arranged at the bottom of the frame 1 body and is used for controlling the trolley to walk and turn in a self-adaptive manner under servo control;

the rollover prevention assembly 5 is arranged between the chassis assembly 4 and the frame 1, and comprises a second bearing seat 51 fixedly arranged in the middle of the frame 1 and a rotating shaft, one end of the rotating shaft is rotatably arranged in the second bearing seat 51, and the other end of the rotating shaft is fixedly connected to the corresponding central position of the chassis; the flexible connection is established between the frame 1 and a chassis below the frame, so that the upper loading side is prevented from being forced to turn over laterally; the working principle of the rollover prevention assembly 5 in this embodiment is as follows: the upper frame 1 and the carrying objects on the frame 1 are taken as a carrying object whole, the lower chassis assembly 4 is taken as a walking whole, the second bearing seat 51 is embedded in the central part of the frame 1, and the third rotating shaft 412 is arranged in the central part in a rotating manner, the third rotating shaft 412 is preferably a damping rotating shaft in the embodiment, the type selection of the damping value is determined according to the load carried on the frame 1 of the carrying objects, and the damping value is ensured not to be opposite to the lower chassis assembly 4 when the upper carrying object whole normally walks on the track; the rollover prevention mechanism of the trolley is determined by the fact that when the trolley travels, the whole length direction is long due to the fact that the carrying object on the trolley is long cabinet type goods, and the tail part of the trolley is blocked in the peripheral tail flicking process during turning, so that rollover is caused, and unnecessary loss is caused; the arrangement of the damping rotating shaft can avoid rigid impact caused by collision between the tail part of the object carrying and obstacles and the wall surface; can turn into flexible impact with this type of rigid impact, and the whole flexible rotation in-process of carrying the thing of top, the inequilibrium phenomenon can appear inevitably to can in time feedback signal to the end of manual aid seeks help.

The chassis assembly 4 includes a trolley chassis 40 rotatably disposed below the frame 1 via a second rotating shaft 52, and the front and rear portions of the trolley chassis 40 are symmetrically provided with adaptive turning wheel sets 41.

Each self-adaptive turning wheel group 41 comprises two groups of guide wheel assemblies 410, the two groups of guide wheel assemblies 410 are mutually connected in a front-back mode through a bridge 411, and the middle of the bridge 411 is rotatably connected with the trolley chassis 40 through a third rotating shaft 412; the middle part of the bridge frame 411 is designed to be hollow, a roller seat 413 is arranged at the bridge frame 411 at the symmetrical position corresponding to the two sides of the third rotating shaft 412, a roller 414 is arranged in the roller seat 413 in a rolling manner, a rolling plate 415 is arranged below the trolley chassis 40 corresponding to the roller 414, and the rolling plate 415 is attached to and abutted against the roller 414.

A height limiting seat 416 is arranged between the end parts of the two sides of the bridge 411 and the trolley chassis 40, one end of the height limiting seat 416 is fixedly arranged at the end part of the bridge 411, and a gap is reserved between the other end of the height limiting seat 416 and the trolley chassis 40.

Any one group of adaptive turning wheel sets 41 is driven by arranging a driving assembly 42, the driving assembly 42 is in signal connection with a servo controller, and the driving assembly 42 in the embodiment includes but is not limited to a servo motor matched with a speed reducer or a chain wheel and chain for transmission, so that the driving trolley travels on the track.

The over-bending anti-collision structure of the RGV transportation system disclosed by the embodiment has the advantages of compact overall structure, high vehicle body strength and high bearing stability, and is driven by two groups of four wheels and each group of four wheels to bear and walk on the track; the front and rear walking ends are connected with two groups of guide wheel sets in series through the bridge 411 to form a walking structure with four wheels on one side, so that the integral bearing load and the walking stability of the trolley are greatly improved; displacement deviation exists between the front wheel part and the rear wheel part when the front wheel part and the rear wheel part are bent, and the displacement deviation can be converted into force to be applied to each wheel set; when the vehicle passes through a curve, the front wheel set and the rear wheel set are not on the same horizontal line, the wheel sets tend to float, steering floating adapting to the curve is completed through the bridge 411, and the curve adjusting function of the transportation system is further realized; meanwhile, through the limit of the roller 414 and the floating difference of the height limit seats 416 on the two sides of the bridge frame 411, the function of micro-rotation can be generated according to the lower guide rail.

Referring to fig. 5 and 6, the method for controlling the RGV transportation system over-bending collision avoidance includes the above-mentioned RGV transportation system over-bending collision avoidance structure, and further includes the following steps:

s1: the servo controller drives a driving component 42-a motor of the trolley, the given motor rotating speed is set, so that the trolley is driven to transport on the RGV track, a radar sensor at the front end of the trolley monitors whether the front of the trolley enters a curve in advance in real time, namely, the radar sensor sends out radio wave pulses to the front of the vehicle in real time, the wireless point pulse waves rebound signals from a fixed object meter per second, and a feedback result is output to the servo controller.

S2: along the motion periphery orbit direction of dolly on the track, set up distance sensor 6 in the year thing afterbody that sets up in 2 tops of anticollision adjustment mechanism, distance sensor 6 presets safe distance numerical value, if: when the maximum allowable turning radius of the curve section of the prefabricated track arranged in the warehouse logistics chamber and the peripheral wall surface of the prefabricated track is 1m, the safety distance value is preset to be 1m in the embodiment, meanwhile, the length of the cargo body is 4 m, the length of the frame 1 is 1m, namely when the box body is arranged in the middle of the frame 1, the extending allowance of the tail part and the head part is 1.5 m; the distance between the periphery of the tail of the object carrying body and the peripheral interference object is monitored in real time through the distance sensor 6, and when the actual distance is equal to or smaller than the safety distance value, a signal is sent to the servo controller and is adjusted.

S3: after the servo controller receives the warning signal of the safe distance at the tail part of the outer periphery of the carrier in the step S2, the servo controller interrupts the movement of the driving assembly 42, so that the trolley is stopped and is static; the first servo motor 204 is driven to act, and the position of the object carrying is adjusted along the advancing direction of the trolley until the feedback data of the distance sensor 6 does not exceed the safety range and the adjustment position is stopped.

S4: the bottom parts of the front side and the rear side of an object carried by the vehicle are provided with balance sensors 7, in the step S3 position adjusting process, the balance sensors 7 at the two positions monitor the balance values at the front end and the rear end of the carried object in real time, when the balance values fed back in the process of carrying the object adjusting position are unequal, a signal is fed back to the servo controller, the first servo motor 204 stops working, and a manual help seeking signal is sent to the monitoring end of a worker.

It should be noted that, in the present embodiment, the distance sensor 6 is only arranged at the tail of the object, and compared with the case that the distance sensors 6 are arranged at the front and the tail of the object, the technical effect of higher efficiency can be achieved; compared with the arrangement of two distance sensors 6, in other words, the positions need to be adjusted twice, so that the front part and the tail part of the object can respectively pass through the limiting areas; and only set up at the afterbody, can be through before the shipment, lean out the setting to the rear side with the whole of goods to satisfy the anterior smooth passage of goods at least, recombine the utility model discloses adjust the passing through of its afterbody.

The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.

Claims (8)

1. The utility model provides a curved crashproof structure is crossed to RGV conveying system which characterized in that: the method comprises the following steps:

a frame (1) for forming a trolley body;

the anti-collision adjusting mechanism (2) is arranged above the frame (1) and comprises a plurality of rows of rolling assemblies (20) which are arranged side by side, and the rolling assemblies (20) are linked in series through transmission parts (21);

the detection piece (3) is arranged on the advancing side of the frame (1) body and used for detecting whether the vehicle enters a bent track or not;

the chassis component (4) is arranged at the bottom of the frame (1) body and is used for controlling the trolley to walk and turn in a self-adaptive manner under servo control;

and the rollover prevention assembly (5) is arranged between the chassis assembly (4) and the frame (1) and is used for establishing flexible connection between the frame (1) and the chassis below and preventing the upper loading side from being forced to rollover.

2. The over-bent impact prevention structure for an RGV transportation system according to claim 1, wherein: each row of rolling assemblies (20) comprises first bearing seats (201) symmetrically arranged on two sides of the frame (1), a roller (202) can be rotatably arranged in each first bearing seat (201), a protective cover (203) is arranged on the upper edge of one side linked by a transmission piece (21), a first servo motor (204) is fixedly arranged at the bottom of the frame (1), and the first servo motor (204) is in transmission connection with the transmission piece (21).

3. The over-bent impact protection structure for an RGV transportation system as claimed in claim 1, wherein: the detection piece (3) is a radar detector, and the radar detector is in signal connection with the servo controller.

4. The over-bent impact prevention structure for an RGV transportation system according to claim 1, wherein: the rollover prevention assembly (5) comprises a second bearing seat (51) and a second rotating shaft (52), wherein the second bearing seat (51) and the second rotating shaft (52) are fixedly arranged in the middle of the frame (1), one end of the second rotating shaft (52) is rotatably arranged in the second bearing seat (51), and the other end of the second rotating shaft is fixedly connected to the corresponding central position of the chassis.

5. An RGV transit system overbend collision avoidance structure, according to claim 4, wherein: the chassis component (4) comprises a trolley chassis (40) which is rotatably arranged below the frame (1) through a second rotating shaft (52), and the front part and the rear part of the trolley chassis (40) are symmetrically provided with self-adaptive turning wheel sets (41).

6. An RGV transit system overbending bumper structure according to claim 5 wherein: each self-adaptive turning wheel group (41) comprises two groups of guide wheel assemblies (410), the two groups of guide wheel assemblies (410) are mutually connected in a front-back mode through a bridge (411), and the middle of the bridge (411) is rotatably connected with the trolley chassis (40) through a third rotating shaft (412); the middle part of crane span structure (411) is the fretwork design, and crane span structure (411) department of relative third pivot (412) bilateral symmetry position sets up gyro wheel seat (413), roll in gyro wheel seat (413) and set up gyro wheel (414), the below of dolly chassis (40) corresponds gyro wheel (414) position and sets up rolling plate (415), rolling plate (415) with gyro wheel (414) laminating top is supported.

7. An RGV transportation system overbending bumper structure as claimed in claim 6, wherein: a height limiting seat (416) is arranged between the end parts of the two sides of the bridge (411) and the trolley chassis (40), one end of the height limiting seat (416) is fixedly arranged at the end part of the bridge (411), and a gap is reserved between the other end of the height limiting seat (416) and the trolley chassis (40).

8. An RGV transportation system overbending bumper structure as claimed in claim 7, wherein: any one group of self-adaptive turning wheel sets (41) are driven by arranging a driving assembly (42), and the driving assembly (42) is in signal connection with a servo controller.

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