CN217946424U

CN217946424U - Rail shuttle

Info

Publication number: CN217946424U
Application number: CN202222026227.6U
Authority: CN
Inventors: 陆利新; 牛炜霖; 孔冬冬
Original assignee: Zhejiang Zunyou Intelligent Equipment Co ltd
Current assignee: Zhejiang Zunyou Intelligent Equipment Co ltd
Priority date: 2021-12-06
Filing date: 2022-08-01
Publication date: 2022-12-02
Anticipated expiration: 2032-08-01

Abstract

The rail shuttle vehicle is characterized in that a traveling device can move on a rail, and a centering device is arranged on the traveling device; the centering device comprises a first translation mechanism for transverse movement and a second translation mechanism for longitudinal movement; at least one pair of distance measuring units are arranged at two ends of the walking device along the longitudinal direction; the workpiece is placed on the centering device, transversely moved into the measuring range of the distance measuring unit through the first translation mechanism, and longitudinally moved by the second translation mechanism until the workpiece is located at the center position. The positions of the workpieces are adjusted in two freedom degree directions through the two translation mechanisms, the centering correction is completed through the distance measuring unit, the positions of the workpieces can be adjusted in the transportation process of the rail shuttle vehicle, the grabbing parts in the next place can directly grab the goods and put in storage, the goods can be grabbed without being positioned again, the operation is more convenient and more convenient, the walking position is more accurate, and the time and the labor are saved.

Description

Rail shuttle

Technical Field

The utility model belongs to the technical field of storage logistics mechanical equipment and specifically relates to a can realize track shuttle that transported goods centering detected.

Background

At present, storage shelves and storage and taking equipment are mostly adopted in warehouse logistics to finish the warehousing and ex-warehouse of goods/workpieces. Track connections are typically provided between a plurality of different racks, warehouses, or machinery and rail shuttles are used to transport goods.

In the process that the rail shuttle vehicle acquires the goods and conveys the goods to the next place, the goods are usually placed on the rail shuttle vehicle at random at the beginning, so that the position of the goods is inaccurate or the precision of the goods is insufficient, and the goods cannot completely correspond to the grabbing component of the next place when the rail shuttle vehicle reaches the preset position. In order to solve this problem, additional position correction is usually required after placement and before transportation, or after arriving at the next location, the position of the goods is determined again by the grabbing device, and then the goods are grabbed, which not only wastes time and manpower, but also increases additional mechanical devices, which increases the time and manufacturing cost of storage and logistics. Therefore, a nonstandard rail shuttle structure needs to be designed to complete position adjustment in the conveying process, realize high-precision positioning and meet the application of various scenes.

Disclosure of Invention

The utility model discloses a solve current problem, aim at providing a track shuttle.

In order to achieve the purpose, the utility model adopts the technical proposal that the device comprises a walking device and a centering device; wherein: the walking device can move on the track, and a centering device is arranged on the walking device; the centering device comprises a first translation mechanism and a second translation mechanism, wherein the first translation mechanism and the second translation mechanism are mutually overlapped and used for transverse movement; and at least one pair of distance measuring units arranged at two ends of the walking device along the longitudinal direction.

The workpiece is placed on the centering device, and is transversely moved into the measuring range of the distance measuring unit through the first translation mechanism, and then is longitudinally moved through the second translation mechanism until the distance measuring unit displays that the workpiece is in the central position. Furthermore, the first translation mechanism comprises a telescopic base erected on the second translation mechanism and a telescopic arm arranged along the transverse direction; the telescopic arm is provided with a rack, the first driving component drives a gear meshed with the rack to rotate, or the first driving component drives the gear to rotate through a driving gear on an output shaft of the first driving component, and then the telescopic arm is driven to extend out or retract towards the side along the transverse direction.

Furthermore, the lower end face of the telescopic arm is provided with a transverse groove, and the horizontal rack is arranged at the bottom of the groove and meshed with the vertically arranged gear.

Furthermore, the telescopic base is formed by folding two vertically arranged vertical plates, and the gear is arranged in an interlayer between the two vertical plates.

Furthermore, the side of the vertical plate is provided with a plurality of bearings, and the bearings are in contact with the bottom of the groove of the telescopic arm.

Further, the upper end of the telescopic arm is provided with a bracket for placing a workpiece.

Furthermore, the first translation mechanism is two, and the first driving assembly drives the two gears to rotate through a polish rod which is longitudinally arranged.

Further, the second translation mechanism comprises a support piece for supporting the first translation mechanism, and the support piece can slide in a sliding groove which is arranged in the longitudinal direction through a sliding block; the supporting piece is movably connected with the centering lead screw through a threaded sleeve; the second driving unit drives the centering screw to rotate, and drives the supporting piece to move along the longitudinal direction.

Furthermore, the supporting piece is a plurality of square pipes transversely arranged, and the top of each square pipe is provided with a connecting block for supporting the first translation mechanism.

Furthermore, a plurality of longitudinal reinforced pipes are connected between the square pipes.

Furthermore, the slider is arranged at the bottom of the square pipe.

Further, the sliding groove is a dovetail groove.

Furthermore, the bottom of the supporting piece is fixedly connected with the threaded sleeve through an upper supporting seat.

Furthermore, the second driving unit drives one end of the centering screw rod, and the other end of the centering screw rod is rotatably connected with the tailstock for fixing through a tailstock bearing.

Furthermore, the walking device comprises an underframe and a plurality of walking wheels, and the walking wheels are rotatably connected with the underframe through wheel shafts.

Further, the motor drives the wheel shaft to rotate through the speed reducer, so that the movement of the walking device is realized.

Furthermore, the underframe is formed by connecting longitudinal beams on two sides through a plurality of cross beams.

Furthermore, the centering device is arranged on one side of the underframe, and the battery box is arranged on the other side of the underframe and is used as a balance weight.

Furthermore, a distance measuring module for positioning the walking position is further arranged on the bottom frame.

Compared with the prior art, the utility model discloses a position of work piece is adjusted in two degree of freedom directions to two translation mechanisms to accomplish the centering by ranging unit and rectify, can adjust the work piece position in the transportation of track shuttle, make the part of snatching in next place can directly snatch the goods, put in storage, need not to fix a position the goods once more and can snatch, it is more convenient to operate, walks to position more accurately, and saved time and manpower.

Drawings

FIG. 1 is a block diagram of a rail shuttle configuration;

FIG. 2 is a schematic view of the walking device;

FIG. 3 is a schematic structural view of the first translation mechanism

Fig. 4 is a sectional view of the first translation mechanism;

fig. 5 is a schematic structural view of the second translation mechanism;

FIG. 6 is a schematic illustration of the use of the rail shuttle;

referring to the attached drawings, the traveling wheel 1, the underframe 2, the mounting bracket 3, the telescopic arm 4, the first driving assembly 5, the telescopic base 6, the battery box 7, the laser ranging sensor 8, the laser ranging module 9, the motor 10, the speed reducer 11, the dovetail groove 12, the second driving assembly 13, the polished rod 14, the centering screw rod 15, the support 16, the driving gear 17, the rack 18, the bearing 19 and the gear 20 are arranged on the frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1 to 6, fig. 1 to 6 show an embodiment of the present invention, which mainly includes a walking device for horizontal walking of the whole mechanism and a centering device for centering the mechanism after loading cargo. The running gear can move on a track connecting the two storage shelves/equipment, and the running gear is provided with a centering device. For convenience of explanation, the traveling direction of the traveling device along the rail is referred to as a longitudinal direction, and a direction perpendicular thereto is referred to as a lateral direction.

The centering device comprises a first translation mechanism, a second translation mechanism and a distance measuring unit, wherein the first translation mechanism, the second translation mechanism and the distance measuring unit are arranged in a mutually overlapped mode and can be used for transverse movement. After the two translation mechanisms are overlapped in the vertical direction, the workpiece can be moved and adjusted in two horizontal degrees of freedom. In this embodiment, a set of two distance measuring units are longitudinally arranged in the centers of the two ends of the walking device, and the space between the connecting lines of the two distance measuring units is the measurable range of the distance measuring units. Referring to fig. 1, the distance measuring unit includes a mounting bracket and a laser distance measuring sensor, wherein the mounting bracket is a straight rod and is erected at two longitudinal ends of the traveling device. The laser ranging sensor is arranged on the upper section of the mounting bracket, and the setting height of the laser ranging sensor is adapted to a workpiece to be adjusted. The distance measuring units are arranged on two sides of the workpiece simultaneously, so that the distances between two ends of the workpiece and the distance measuring units can be detected respectively, and high-precision centering detection can be realized. In addition, the number of groups and the installation position of the distance measuring units can be adjusted adaptively according to the modeling characteristics of the transported workpieces and the requirements of the grabbing parts at the next place so as to meet various position requirements.

Referring to fig. 3, the first translation mechanism includes two sets of telescopic bases erected on the second translation mechanism, and corresponding telescopic arms arranged along the transverse direction. The lower end surface of the telescopic arm is provided with a groove which is arranged along the transverse direction, and the cross section of the groove is in an inverted U shape. The rack with the downward tooth surface is also horizontally arranged at the U-shaped bottom of the groove along the transverse direction and is meshed with the gear with the vertically arranged wheel surface, so that high-precision transmission is realized. The first driving assembly (servo motor) drives the driving gear on the output shaft of the first driving assembly to rotate in the forward direction/the reverse direction, the driving gear drives the gear to rotate passively, and the gear teeth of the gear drive the telescopic arm to extend out/retract towards the side in the transverse direction by poking the rack.

Preferably, the telescopic base is formed by folding two vertical plates vertically arranged, and an interlayer space is arranged between the two vertical plates. The gear is arranged in the interlayer between the two vertical plates through a horizontal gear rotating shaft. Part of the wheel body at the upper end of the gear extends out of the upper end of the interlayer and is meshed with the rack, and the lower end of the gear is meshed with a driving gear driven by a first driving assembly (a servo motor). Referring to fig. 4, there are two sets of telescoping base and telescoping arm, and thus two sets of gear and rack mechanisms. The first driving assembly drives the two driving gears to rotate respectively by driving the polished rods horizontally arranged along the longitudinal direction, and the driving gears drive the two gears which rotate passively to stir the racks respectively, so that the two telescopic arms move synchronously.

As the preferred, the both sides of flexible arm are equipped with a plurality of bearings of linear arrangement, and the upper end of bearing is a little higher than telescopic base's top surface, and the upper end of bearing still contacts with telescopic arm recess's bottom, plays the guide and removes, reduces the function of wearing and tearing. In addition, the upper end surfaces of the telescopic arms are respectively provided with a bracket for placing a workpiece, and the shape of the bracket is adapted to the workpiece; and the two brackets are aligned in the longitudinal direction, so that the measurement of the distance measuring unit is facilitated.

Referring to fig. 5, the second translation mechanism includes a support for supporting the first translation mechanism. Support piece is two square pipes of horizontal setting in this embodiment, and the top at square pipe both ends is equipped with the connecting block that is used for supporting the flexible base below connecting plate of first translation mechanism. The supporting piece can slide in a sliding groove arranged longitudinally through a sliding block at the bottom of the supporting piece. The dovetail groove is preferably selected from the sliding groove, and the dovetail groove is machined from an integral plate, so that the bearing capacity of the dovetail groove can be ensured. Preferably, a plurality of sliding blocks are arranged in the dovetail groove, so that good stability and guiding effects are kept. The supporting seat on the supporting piece is fixedly connected with the threaded sleeve, and then the threaded sleeve and the centering lead screw form a movable lead screw-nut mechanism; after the second driving unit (servo motor) is started, the centering screw rod is driven to rotate, and the supporting piece is driven to move longitudinally.

Preferably, referring to fig. 5, the second driving unit drives one end of the centering screw, and the other end of the centering screw is rotatably connected with the tailstock for fixing through a tailstock bearing, so that the centering screw is kept horizontal and stable.

In this embodiment, two sets of the supporting members are provided corresponding to the two sets of the telescopic bases and the telescopic arms. Two reinforcing pipes along the longitudinal direction are preferably connected between the two groups of supporting pieces and the two square pipes of each group, and the cross sections of the reinforcing pipes are also square, so that the overall strength of the structure can be improved.

Referring to fig. 2, the walking device comprises a chassis and a plurality of walking wheels, wherein the chassis is formed by connecting longitudinal beams on two sides through three cross beams. Two wheel shafts are arranged on the underframe, and walking wheels are arranged at two ends of each wheel shaft; the wheel axle forms rotatable coupling through bearing and chassis, and the motor passes through the reduction gear increase moment of torsion, and one of them shaft of drive is rotatory to realize running gear's motion. The chassis is completely located inside the four wheel shafts, and the center of the walking device is located inside the track.

Preferably, the centering device is arranged at the rear side of the longitudinal direction of the underframe, and the battery box formed by welding plates is arranged at the front side of the longitudinal direction to be used as a counterweight, so that stability in workpiece conveying is guaranteed. Batteries in the battery box may power the components of the overall rail shuttle.

Preferably, referring to fig. 1, a laser ranging module for locating a walking position is further arranged on the chassis. When the walking device moves to the preset position, the laser ranging module receives the induction and sends a signal to the controller to stop the running of the controller.

When the centering device is used, a workpiece is placed on a bracket of the centering device through a manual boom or a mechanical arm operated manually. Referring to fig. 6, the workpiece in this embodiment is a cylinder, the carrier is disposed longitudinally, and the axis of the cylinder is disposed longitudinally when the cylinder is resting on the carrier.

Initially, the telescopic arm is extended laterally to the left. The first driving assembly is started, the first driving assembly drives the two gears to rotate through the polished rod and the driving gear respectively, then the racks of the two telescopic arms are shifted, the telescopic arms with the workpieces are moved towards the right side, and the first driving assembly stops running until the telescopic arms reach the central position (or move to other positions in a measurable range as required).

Secondly, a laser ranging sensor of the ranging unit receives the reflected signals at the two ends of the workpiece, reads the distance value, and automatically judges whether the reflected signals are consistent or not or judges whether the reflected signals are consistent or not by an operator. And then automatically or manually controlling the second translation mechanism to longitudinally move the workpiece according to the two distance values. And if the workpiece deviates from the centered position, starting the second driving assembly, driving the supporting piece to longitudinally move along the dovetail groove by the rotating centering lead screw, determining the moving distance according to the distance value, and closing the second driving assembly until the workpiece is positioned at the centered position (the distance readings of the reflected signals at the two ends of the workpiece are the same). When the traveling device moves to the preset position, the grabbing component at the next place can directly and accurately grab the workpiece through fixed preset action and convey the workpiece without other operations such as calibration, adjustment and the like. In addition, the operator can complete the control on the operation panel through a wireless network.

This embodiment can carry out the centering adjustment to the work piece position in the transportation of track shuttle for the part of snatching in next place can directly snatch the goods, put in storage, need not to fix a position the goods once more and can snatch, and the operation can be more convenient, walks to position more accurately, and has saved time and manpower.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A rail shuttle, its characterized in that: comprises a walking device and a centering device; wherein:

the walking device can move on the track, and a centering device is arranged on the walking device; the centering device comprises a first translation mechanism for transverse movement and a second translation mechanism for longitudinal movement; the at least one pair of distance measuring units are arranged at two ends of the walking device along the longitudinal direction;

the workpiece is placed on the centering device, and is transversely moved into the measuring range of the distance measuring unit through the first translation mechanism, and then is longitudinally moved through the second translation mechanism until the distance measuring unit displays that the workpiece is in the central position.

2. The rail shuttle of claim 1 wherein: the first translation mechanism comprises a telescopic base erected on the second translation mechanism and a telescopic arm arranged along the transverse direction; the telescopic arm is provided with a rack, the first driving component drives a gear meshed with the rack to rotate, or the first driving component drives the gear to rotate through a driving gear on an output shaft of the first driving component, and then the telescopic arm is driven to extend out or retract towards the side along the transverse direction.

3. The rail shuttle of claim 2 wherein: the lower terminal surface of flexible arm is equipped with horizontal recess, and the bottom of recess is located to the horizontal rack to with the gear engagement of vertical setting.

4. The rail shuttle of claim 2 wherein: the telescopic base is formed by folding two vertically arranged vertical plates, and the gear is arranged in an interlayer between the two vertical plates.

5. The rail shuttle of claim 4 wherein: the side of riser is equipped with a plurality of bearings, the bearing contacts with the bottom of flexible arm recess.

6. The rail shuttle of claim 2 wherein: the upper end of the telescopic arm is provided with a bracket for placing a workpiece.

7. The rail shuttle of any one of claims 2-6, wherein: the first translation mechanism is two, and the first driving assembly drives the two gears to rotate through a polish rod which is longitudinally arranged.

8. The rail shuttle of claim 1 wherein: the second translation mechanism comprises a supporting piece for supporting the first translation mechanism, and the supporting piece can slide in a sliding groove which is longitudinally arranged through a sliding block; the supporting piece is movably connected with the centering lead screw through a threaded sleeve; the second driving unit drives the centering screw to rotate, and drives the supporting piece to move along the longitudinal direction.

9. The rail shuttle of claim 8 wherein: the support piece is a plurality of square pipes that transversely set up, and the top of square pipe is equipped with the connecting block that supports first translation mechanism.

10. The rail shuttle of claim 9 wherein: a plurality of longitudinal reinforced pipes are connected between the square pipes.

11. The rail shuttle of claim 8 or 9, wherein: the slider is located the bottom of square pipe.

12. The rail shuttle of claim 8 wherein: the sliding groove is a dovetail groove.

13. The rail shuttle of any one of claims 8-10, wherein: the bottom of the supporting piece is fixedly connected with the threaded sleeve through an upper supporting seat.

14. The rail shuttle of claim 8 wherein: the second driving unit drives one end of the centering screw rod, and the other end of the centering screw rod is rotatably connected with the tailstock for fixing.

15. The rail shuttle of claim 1 wherein: the walking device comprises an underframe and a plurality of walking wheels, and the walking wheels are rotatably connected with the underframe through wheel shafts.

16. The rail shuttle of claim 15 wherein: the electric motor drives the wheel shaft to rotate through the speed reducer.

17. The rail shuttle of claim 15 wherein: the underframe is formed by connecting longitudinal beams on two sides through a plurality of cross beams.

18. The rail shuttle of claim 15 wherein: the centering device is arranged on one side of the underframe, and the battery box is arranged on the other side of the underframe and used as a balance weight.

19. The rail shuttle of claim 15 wherein: and a distance measuring module for positioning the walking position is also arranged on the bottom frame.