WO2022012458A1 - 轨道导引车和输送系统 - Google Patents

轨道导引车和输送系统 Download PDF

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Publication number
WO2022012458A1
WO2022012458A1 PCT/CN2021/105697 CN2021105697W WO2022012458A1 WO 2022012458 A1 WO2022012458 A1 WO 2022012458A1 CN 2021105697 W CN2021105697 W CN 2021105697W WO 2022012458 A1 WO2022012458 A1 WO 2022012458A1
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WO
WIPO (PCT)
Prior art keywords
rail
guided vehicle
track
vehicle body
motor
Prior art date
Application number
PCT/CN2021/105697
Other languages
English (en)
French (fr)
Inventor
唐红兵
陈泽宽
Original Assignee
阿里巴巴集团控股有限公司
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Publication of WO2022012458A1 publication Critical patent/WO2022012458A1/zh

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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
    • 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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Definitions

  • the present disclosure relates to the field of logistics conveying equipment, and more particularly, to a rail guided vehicle and a conveying system.
  • a suspension chain is a chain that uses ball bearings as chain rollers, which is suspended at a high place and the goods to be sorted are hung below it. Due to the continuous rotation of the ball bearing on it, the chain can be continuously driven along the conveying direction to achieve the purpose of conveying goods.
  • the suspension chain can turn and climb at will, and can adapt to various geographical conditions.
  • the general process of the transportation and sorting of the hanging chain is that the picker picks the goods according to the product list after obtaining the picking task, and hangs the shopping bag after picking on the elevator under the hanging chain. After lifting, the shopping bag is lifted by the hanging chain. Transfer to the back field and converge in the same crossing in batches. After all the shopping bags in the same batch are ready, the packing staff starts to pack, and the packaged delivery boxes are delivered to the delivery staff.
  • the present disclosure aims to improve the conveying efficiency in logistics conveying and realize flexible control over the conveying of objects.
  • a rail-guided vehicle comprising a vehicle body and an object holding portion for holding objects conveyed by the rail-guided vehicle, wherein the vehicle body is provided with an interior for the rail to pass through.
  • the rail cavity is provided with a driving wheel above the rail cavity, and the vehicle body includes a controller, a motor driver, a motor, and a reversing drive mechanism, and the controller controls the motor driver to pass through the motor and all the The reversing driving mechanism applies a driving force to the driving wheel, so that the rail guided vehicle travels along the rail direction.
  • the object holding portion includes a suspension portion located at a lower portion of the vehicle body.
  • the object holding part includes a loading part located on the upper part of the vehicle body.
  • the reversing drive structure includes a drive sprocket, a driven sprocket, and a helical gear set meshed in sequence, the drive sprocket is mounted on the motor, and the helical gear set is mounted on the drive wheel On the upper side, the motor drives the driving sprocket, the driven sprocket and the helical gear group to rotate in turn, so that the driving wheel rotates, so that the rail guide vehicle runs along the rail direction.
  • a guide wheel whose axis is perpendicular to the axis of the drive wheel is further arranged above the track cavity, and is used to hold the track in a direction perpendicular to the axis of the drive wheel when the track enters the track cavity.
  • the lower surface of the track cavity is provided with a pulley whose axis is consistent with the axis of the drive wheel and is used to contact the lower part of the track when the track enters the track cavity.
  • driving wheels there are four driving wheels, there are four corresponding helical gear sets installed on the driving wheels, and there are two each of the motor, the driving sprocket, and the driven sprocket , wherein a motor controls a corresponding drive sprocket, and a corresponding driven sprocket drives the corresponding two helical gear sets to rotate.
  • opposite extending rods are provided above the driving wheels of the vehicle body, and positioning signal transmitters and positioning signal sensors are respectively provided on the opposite surfaces of the extending rods.
  • a code scanner is provided on the side wall of the vehicle body parallel to the track, which is used to scan the code on the code rod protruding from the track to obtain the positioning information represented by the code.
  • an obstacle sensor is provided on the front wall of the vehicle body along the running direction of the track, for detecting obstacles in front of the vehicle body.
  • the vehicle body includes a power supply for supplying power to the controller, the motor driver, and the motor.
  • a charging contact is provided above the vehicle body, and the charging contact is electrically connected to the power source and is used for contacting the charging post hanging down from the charging post extending from the track, so as to provide the power supply. powered by.
  • the hanging part is a retractable hook, which is controlled by the controller to extend to hang the object, and shorten to lift the object.
  • the power source includes a lithium battery or a super capacitor.
  • the code includes a two-dimensional code or a barcode.
  • the track includes at least one of an I-shaped track, an H-shaped track, a T-shaped track, and a U-shaped track.
  • the positioning signal transmitter includes an infrared positioning signal transmitter
  • the positioning signal sensor includes an infrared positioning signal sensor
  • a conveying system comprising a track-guided vehicle as described above, and the track, wherein the track-guided vehicle holds the article for conveyance along the track.
  • the controller drives the driving wheel to travel on the track through the motor driver, the motor and the reversing drive mechanism, so that each track guided vehicle is powered and driven independently, and its transmission speed is higher than that of the unified power supply and drive in the prior art. It is faster, and the interior of each track-guided vehicle can be controlled individually, which is more flexible and provides a better customer experience.
  • FIG. 1 shows a front view of a rail-guided vehicle according to one embodiment of the present disclosure.
  • FIG. 2 shows a side view of a track-guided vehicle according to one embodiment of the present disclosure.
  • FIG 3 shows a top view of a rail-guided vehicle according to one embodiment of the present disclosure.
  • FIG. 4 shows a side view of the overhead conveyor system with the rail-guided vehicle mounted on the rail according to one embodiment of the present disclosure.
  • FIG. 5 illustrates a cross-sectional view of a rail-guided vehicle showing a transmission mechanism according to one embodiment of the present disclosure.
  • logistics enterprises mainly use hanging chains as the main tool for cargo transportation and sorting.
  • the suspension chain adopts the ball bearing as the chain wheel, which is suspended at a high place.
  • the ball bearing on the suspension chain keeps rotating, so that the chain can move forward along the conveying direction to achieve the purpose of conveying the suspended goods.
  • the picker will carry out the picking operation according to the product list after obtaining the picking task, and hang the shopping bag after picking on the elevator under the hanging chain. After lifting, the shopping bag will be transported to the After the field, and in accordance with the batch confluence at the same crossing. After all the shopping bags in the same batch are ready, the packing staff starts to pack, and the packaged delivery boxes are delivered to the delivery staff. Since the entire suspension chain is driven by one motor, the conveying speed is slow and the conveying speed of each item cannot be flexibly controlled, the maintenance is complicated, and the customer experience is not good.
  • the embodiment of the present disclosure replaces the traditional integrated control chain method by using the rail-guided vehicle and the track to cooperate, and installs different rail-guided vehicles on each track, and each rail-guided vehicle can suspend different goods.
  • each rail guided vehicle it is powered and driven separately, and the controller drives the drive wheels to travel on the track through the motor driver, motor, and reversing drive mechanism, that is, each rail guided vehicle is powered and driven independently, so Its transmission speed is faster than the unified power supply and drive of the existing technology, and the interior of each track-guided vehicle can be controlled independently, which is more flexible, facilitates dynamic expansion, improves sorting efficiency, and provides better customer experience.
  • a rail-guided vehicle may include a vehicle body 20 and a suspension portion 11 at a lower portion of the vehicle body 20 for suspending objects conveyed by the rail-guided vehicle.
  • Objects are goods to be transported.
  • At different positions of the track 16 there are different track-guided vehicles, and there are hanging parts 11 below.
  • the tally workers here hang objects on the hanging parts 11, so that the objects in a unified batch are transferred to the same gate for packing. When hanging objects, it is only necessary to hang the objects on the hanging part 11 .
  • the hanging portion 11 may be a retractable hook.
  • the retractable hook is controlled by the controller 12 to extend to hang the object and shorten to lift the object.
  • a tally worker at a certain rail-guided vehicle has a need to deliver goods, he can send a request for goods delivery to the general server (not shown) through a special application (APP) or a special terminal of the mobile phone, and the general server receives the request, Obtain the terminal identification of the tally worker, thereby obtaining the identification of the rail-guided vehicle bound to the terminal, and send a control signal to the controller 12 of the rail-guided vehicle through the bus, and the controller 12 controls the extension of the retractable hook, Enables tally workers to mount items that need to be transported, then shorten to lift and transport the goods.
  • APP special application
  • the hanging portion 11 is a retractable hook, but it is understood by those skilled in the art that it can also be in other forms such as a lift table, a cargo pallet, a crane, and a magnetic adsorption device.
  • the suspension part 11 is placed at the lower part of the vehicle body 20 to make the vehicle body 20 centrally accommodate the controller 12 , the motor driver 14 , the motor 6 , the reversing drive mechanism 5 , 8 , 13 , 17 , 18 and other components, and the structure is more compact, Reduce device size.
  • the goods are transported by the way of hanging under the package, and the loading of goods is more efficient.
  • the suspension part 11 for suspending the objects conveyed by the rail-guided vehicle may not be provided at the lower part of the vehicle body 20, but a loading part (not shown), such as an empty loading carriage, may be arranged at the upper part of the vehicle body 20 .
  • This embodiment can be used for ground transportation within a warehouse. The tally worker directly places the objects to be transported into the loading section, such as the loading compartment, and then guides the vehicle in each track, the controller 12 passes through the motor driver 14, the motor 6, the reversing drive mechanism 5, 8, 13, 17,18 Drive the driving wheel 1 to travel on the track, so as to achieve the purpose of transporting goods.
  • This embodiment is different from the suspension type transportation, and adopts the loading carriage, which is suitable for the ground transportation scene of the storage warehouse.
  • a rail cavity 19 for the rail 16 to pass through is provided inside the vehicle body 20 , and the driving wheel 1 is provided above the rail cavity 19 .
  • the driving wheel 1 just abuts on the rail cavity 19 . If a driving force is applied thereto, the rail-guided vehicle can be made to travel in the direction of the rail 16 .
  • the reason why the rail 16 is inserted into the rail cavity 19 inside the vehicle body 20 instead of the rail 16 being placed under the vehicle body 20 is to make room for the lower hanging portion 11 .
  • the vehicle body 20 includes a controller 12 , a motor driver 14 , a motor 6 , and a reversing drive mechanism 5 , 8 , 13 , 17 , and 18 .
  • the controller 12 controls the motor driver 14 in sequence. Driving force is applied to the driving wheel 1 through the motor 6 and the reversing driving mechanisms 5 , 8 , 13 , 7 , 18 , so that the rail guided vehicle travels in the direction of the rail 16 .
  • the reason why these components are placed below the track 16 in the vehicle body 20 is to prevent the upper weight from being too large and the track friction force to affect the speed too much, and on the other hand, the controller 12, the motor 6 and other components can be effectively protected.
  • the motor 6 is a device that provides the kinetic energy required to drive the driving wheel 1 to rotate.
  • the motor 6 is a servo motor.
  • Servo motor refers to the engine that controls the operation of mechanical components in the servo system, and is an auxiliary motor indirect speed change device. The servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into torque and speed to drive the control object.
  • the motor 6 itself needs to be driven by the motor driver 14, so the motor driver 14 is required.
  • the controller 12 controls the motor driver 14, and the motor driver 14 drives the motor 6 to operate.
  • the motor 6 is installed under the track 16 and can only provide upward driving force, while the driving driving wheel 1 needs a horizontal driving force. Therefore, the reversing driving structure 5, 8, 13, 17, 18 is adopted.
  • the reversing drive structures 5 , 8 , 13 , 17 , 18 include drive sprockets 8 , 13 , driven sprockets 5 , and helical gear sets 17 , 18 that mesh in sequence.
  • the drive sprockets 8 , 13 are mounted on the motor 6 . When the motor 6 is running, the driving sprockets 8 and 13 are driven to rotate.
  • the driven sprocket 5 Since the driven sprocket 5 is engaged with the driving sprockets 8, 13, the driven sprocket 5 is driven.
  • the helical gear sets 17, 18 mesh with the driven link 5, so that the helical gear sets 17, 18 are driven.
  • the helical gear sets 17 , 18 are mounted on the driving wheel 1 , thereby driving the driving wheel 1 to rotate, so that the rail guided vehicle travels in the direction of the rail 16 .
  • the driving force in the vertical direction is skillfully converted into the driving force in the horizontal direction, so as to avoid the bulkiness of the motor 6 in the horizontal direction of the rail 16 .
  • the combined transmission scheme of sprocket and helical gear set is adopted, which greatly compresses the space occupied by the transmission mechanism of the whole vehicle.
  • an axis perpendicular to the axis of the driving wheel 1 is also provided above the rail cavity 19 , for when the rail 16 enters the rail cavity 19 , the axis is perpendicular to the axis of the driving wheel 1 .
  • the guide wheel 2 of the track 16 is held in the direction of . Since the axis of the guide wheel 2 is perpendicular to the axis of the drive wheel 1, the rim of the guide wheel 2 just abuts the inner side wall of the track 16, so that the track 16 is held, and the drive wheel 1 can just run on the upper surface of the track 16.
  • the guide wheel 2 plays the role of making the rail 16 difficult to deviate from the normal position.
  • the lower surface of the track cavity 19 may be provided with a pulley whose axis is consistent with the axis of the driving wheel 1 and is used to contact the lower part of the track 16 when the track 16 enters the track cavity 19 7.
  • the rim of the drive wheel 1 abuts the upper surface of the rail 16 . If the lower surface of the track 16 directly contacts the lower surface of the track cavity 19, the generated sliding friction force is large. If there is a gap between the lower surface of the track 16 and the lower surface of the track cavity 19, it is easy to be unstable and inclined. Therefore, a pulley 7 is arranged between the lower surface of the track 16 and the lower surface of the track cavity 19 to change the sliding friction. For rolling friction, the friction force when driving is reduced.
  • the motor 6, the driving sprockets 8, 13, and the driven sprocket 5 each have 2.
  • one motor 6 may be provided at the front and the rear in the direction of travel.
  • the front motor 6 controls a front drive sprocket 8, 13, and a front driven sprocket 5 drives the front left and right helical gear sets 17, 18 to rotate, and drives the front left and right drive wheels 1 to rotate.
  • the rear motor 6 controls a rear drive sprocket 8, 13, and a rear driven sprocket 5 drives the rear left and right helical gear sets 17, 18 to rotate, and drives the rear left and right drive wheels 1 to rotate.
  • the above-mentioned two-motor four-wheel drive structure improves the driving power and improves the efficiency of cargo transportation. Its fastest speed can reach 2.5m/s, which is suitable for high-speed conveying system.
  • a positioning signal transmitter 31 and a positioning signal sensor 32 are respectively arranged on the opposite surfaces of the extension rod 21 .
  • the positioning signal transmitter 31 transmits a positioning signal to the positioning information sensor 32
  • the positioning signal sensor 32 is just opposite to the positioning signal sensor 32 during normal driving, and can sense the positioning signal emitted by the positioning information sensor 32 .
  • the positioning signal of the signal sensor 32 prevents the positioning signal from being sensed, so that it is sensed that the rail guided vehicle travels to a fixed distance.
  • the positioning signal may be infrared, and in this case, the positioning signal transmitter 31 is an infrared positioning signal transmitter, and the positioning signal sensor 32 is an infrared positioning signal sensor.
  • the positioning signal may be a laser, in which case the positioning signal transmitter 31 is a laser transmitter, and the positioning signal sensor 32 is a laser sensor. Those skilled in the art can also contemplate other forms of positioning signals.
  • the above-mentioned positioning signal transmitter 31 and positioning signal sensor 32 can only detect that the rail-guided vehicle travels to a fixed distance, but it is difficult to detect which specific position it travels to.
  • a positioning rod is set every 5 meters on the track. If it is detected that the positioning signal is blocked, it means that the rail guided vehicle travels to a position 0, 5, 10, 15... meters away from the starting point, but it is 0 meters in the end. Still 5 meters, or 10 meters... I still can't know. Therefore, it is possible to distinguish driving to different locations by setting different codes at fixed distances and scanning the codes with a code scanner.
  • a barcode scanner 15 is provided on the side wall of the vehicle body 20 that is parallel to the track 16 (for example, the left or right side wall of the vehicle body in the driving direction) for scanning the barcodes protruding from the track 16
  • the code on the rod to obtain the positioning information represented by the code.
  • the codes on the code rods set at every fixed distance are different, which ensures that the driving position can be distinguished.
  • the code can be a two-dimensional code, a barcode, or other identification codes known to those skilled in the art or that may appear in the future.
  • the embodiment of the present disclosure adopts a positioning solution combining a positioning signal transmitter 31, a positioning signal sensor 32, and a code scanner to achieve highly reliable motion control and precise positioning.
  • an obstacle sensor 10 may also be provided on the front wall of the vehicle body 20 along the running direction of the rail 16 for detecting obstacles in front of the vehicle body 20 .
  • the obstacle sensor 10 may take the form of a laser sensor.
  • the obstacle sensor 10 itself emits laser light, and the laser light is reflected back when encountering an obstacle and detected by the obstacle sensor 10 . If an obstacle is detected, it means that there are other track-guided vehicles ahead and should slow down or stop in time. Because in the embodiment of the present disclosure, there may be multiple rail-guided vehicles running on the same track 16, and each rail-guided vehicle is controlled by its own controller and motor to run independently, and its speed may be different. When the speed is too high, it may collide with the track-guided vehicle ahead. Therefore, the obstacle sensor 10 needs to detect the dangerous situation in time to improve the safety.
  • the vehicle body 20 may include a power supply 9 for supplying power to the controller 12 , the motor driver 14 , and the motor 6 . Since the operation of the controller 12, the motor driver 14, and the motor 6 all require the power supply 9, the embodiment of the present disclosure does not adopt the method of rail power supply, but puts the power supply 9 in the vehicle body 20, which overcomes the low safety of rail power supply. , The disadvantages of complex track design, high production and installation costs.
  • the power source 9 may use a lithium battery.
  • the use of lithium batteries for power supply can avoid the potential risk of electrification of the track, and the safety is more guaranteed.
  • the charging speed of lithium batteries is slower and the charging time is long.
  • the power supply 9 may use a super capacitor. Using the characteristics of fast charging of supercapacitors, the charging speed can be increased, which is more advantageous in high-load work scenarios.
  • a charging contact 4 is provided above the vehicle body 20 , and the charging contact 4 is electrically connected to the power supply 9 for protruding from the rail 16 .
  • the charging post (not shown) hangs in contact with the charging post, so as to supply power to the power supply 9 .
  • a charging pile may be arranged on the track 16 at a certain distance.
  • the charging pile can be T-shaped or It includes a lower pile part and an upper horizontal rod perpendicular to the pile part.
  • a charging pole can be vertically extended from the horizontal pole. 9 Charge.
  • the controller 12 is connected to the power source 9, and monitors the remaining power of the power source 9.
  • the controller 12 sends a charging request to the main server, which determines to be guided from the track.
  • the controller 12 sends a charging end request to the main server, and the main server controls the charging pile to retract the charging pole.
  • the track-guided vehicle continued to drive.
  • the track 16 may be an I-beam.
  • the I-shaped track is a track with a structure that looks like the word "I".
  • the simple I-shaped track is used as the running track, which greatly compresses the space occupied by the track, which is suitable for scenes with narrow space.
  • the track 16 may also be an H-shaped track, a T-shaped track, a U-shaped track, or the like.
  • An H-type orbital is a type of orbital whose structure looks like an "H”.
  • a T-track is a track with a structure that looks like a "T”.
  • a U-shaped track is a track with a structure that looks like a "U”.
  • the general sorting process of the conveying system is as follows: after the picker obtains the picking task, the picking operation is carried out according to the product list, and the shopping bag after picking is hung on the hanging part 11 of the rail-guided vehicle. The hanging part 11 The shopping bag is lifted, or the picker places the shopping bag in the loading bay.
  • the track-guided vehicle travels on the track 16, transports the shopping bags to the backyard, and converges at the same crossing in batches. After all the shopping bags in the same batch are ready, the packing staff starts to pack, and the packaged delivery boxes are delivered to the delivery staff.
  • each rail-guided vehicle is powered and driven separately, and is passed through by the controller.
  • the motor driver, the motor and the reversing drive mechanism drive the driving wheel to travel on the track, which improves the conveying speed, and the speed of each track guide vehicle can be controlled independently, with strong flexibility.
  • modules or elements described or illustrated herein as separate may be combined into a single module or element, and modules or elements described or illustrated herein as a single module or element may be split into multiple modules or elements.

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Abstract

一种轨道导引车和输送系统，该轨道导引车包括车体（20）和保持轨道导引车输送的物件的物件保持部，车体（20）内部设有用于供轨道（16）穿过的轨道腔（19），轨道腔（19）的上方设置有驱动轮（1），车体（20）中包含控制器（12）、电机驱动器（14）、电机（6）、换向驱动机构（5,8,13,17,18），控制器（12）控制电机驱动器（14）依次通过电机（6）和换向驱动机构（5,8,13,17,18）向驱动轮（1）施加驱动力，使轨道导引车沿轨道（16）方向行驶。该技术方案提高了物流输送效率，并实现对物件输送的灵活控制。

Description

轨道导引车和输送系统
本申请要求2020年07月17日递交的申请号为202010690447.1、发明名称为“轨道导引车和输送系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及物流输送器械领域，更具体而言，涉及一种轨道导引车和输送系统。
背景技术
目前，物流企业主要采用悬挂链作为货物输送分拣的主要工具。悬挂链是一条采用滚珠轴承作为链条走轮的链，其悬挂在高处，将要分拣的货物挂在其下面。由于其上面的滚珠轴承不停转动，使得该链能沿输送方向一直传动，达到传送货物的目的。悬挂链能随意转弯、爬升，能适应各种地理环境条件。悬挂链的输送分拣大致流程是，拣货人员获得拣货任务后按照商品列表进行拣货作业，把拣货完成的购物袋挂上悬挂链下面的提升机，提升后由悬挂链把购物袋传输到后场，并按照批次汇合在同一个道口。同一批次的全部购物袋到齐后，打包人员开始打包，打包完成的配送箱交由配送员进行配送。
由于整个悬挂链由一个电机带动，因此，传送速度较慢且各货物的输送速度不能灵活控制，维护复杂，顾客体验不佳。期望能够提升传送速度和分拣效率，提高调度灵活性。
发明内容
有鉴于此，本公开旨在提高物流输送中的输送效率，并实现对物件输送的灵活控制。
根据本公开的一方面，提供了一种轨道导引车，包括车体和和保持所述轨道导引车输送的物件的物件保持部，所述车体内部设有用于供所述轨道穿过的轨道腔，所述轨道腔的上方设置有驱动轮，所述车体中包含控制器、电机驱动器、电机、换向驱动机构，所述控制器控制所述电机驱动器依次通过所述电机和所述换向驱动机构向所述驱动轮施加驱动力，使所述轨道导引车沿轨道方向行驶。
可选地，所述物件保持部包括位于车体下部的悬挂部。
可选地，所述物件保持部包括位于车体上部的装载部。
可选地，所述换向驱动结构包括依次啮合的驱动链轮、从动链轮、斜齿轮组，所述驱动链轮安装在所述电机上，所述斜齿轮组安装在所述驱动轮上，所述电机依次带动驱动链轮、从动链轮、斜齿轮组转动，从而使所述驱动轮转动，使所述轨道导引车沿轨道方向行驶。
可选地，所述轨道腔的上方还设置有轴线与驱动轮的轴线垂直、用于在所述轨道进入所述轨道腔时在与驱动轮的轴线垂直的方向上保持住所述轨道的导向轮。
可选地，所述轨道腔的下表面设置有轴线与驱动轮的轴线一致、用于在所述轨道进入所述轨道腔时接触所述轨道的下部的滑轮。
可选地，所述驱动轮有四个，相对应的安装在所述驱动轮上的斜齿轮组有四个，所 述电机、所述驱动链轮、所述从动链轮各自有2个，其中，一个电机控制对应的一个驱动链轮、对应的一个从动链轮带动对应的两个斜齿轮组转动。
可选地，在车体的所述驱动轮上方设置有相对的延伸杆，在所述延伸杆的相对的表面分别设置定位信号发射器和定位信号传感器。
可选地，在车体的与所述轨道平行的侧壁设置有扫码器，用于扫描轨道上伸出的码杆上的码，获得该码表示的定位信息。
可选地，在车体的沿所述轨道行驶方向的前壁设置有障碍物传感器，用于检测所述车体前方的障碍物。
可选地，所述车体中包含有为所述控制器、所述电机驱动器、所述电机供电的电源。
可选地，所述车体上方设置有充电触点，所述充电触点电气连接到所述电源，用于与所述轨道上伸出的充电桩所垂下的充电柱接触，以为所述电源供电。
可选地，所述悬挂部是可伸缩挂钩，所述可伸缩挂钩受所述控制器控制，以伸长从而挂载所述物件，并缩短以将所述物件提起。
可选地，所述电源包括锂电池或超级电容。
可选地，所述码包括二维码或条形码。
可选地，所述轨道包括工字轨、H型轨道、T型轨道、U型轨道中的至少一个。
可选地，所述定位信号发射器包括红外定位信号发射器，和定位信号传感器包括红外定位信号传感器。
根据本公开的一方面，提供了一种输送系统，包括如上所述的轨道导引车、和所述轨道，其中，所述轨道导引车保持所述物件以沿所述轨道输送。
本公开实施例中，区别于现有技术的整个输送线由统一的电源供电和驱动，它改为在轨道上安装不同的轨道导引车的方式，在每个轨道导引车内单独供电和驱动，由控制器经过电机驱动器、电机、换向驱动机构驱动驱动轮在轨道上行驶，这样，每个轨道导引车各自单独供电和单独驱动，其传送速度比现有技术的统一供电和驱动要快，且各轨道导引车内部可以单独进行控制，更加灵活，顾客体验更好。
附图说明
通过参考以下附图对本公开实施例的描述，本公开的上述以及其它目的、特征和优点将更为清楚，在附图中：
图1示出根据本公开的一个实施例的轨道导引车的前视图。
图2示出根据本公开的一个实施例的轨道导引车的侧视图。
图3示出根据本公开的一个实施例的轨道导引车的俯视图。
图4示出根据本公开的一个实施例的轨道导引车安装在轨道上后的悬挂输送系统的侧视图。
图5示出根据本公开的一个实施例的轨道导引车的剖视图，其中示出了传动机构。
具体实施方式
以下基于实施例对本公开进行描述，但是本公开并不仅仅限于这些实施例。在下文对本公开的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本公开。为了避免混淆本公开的实质，公知的方法、过程、流程没有详细叙述。另外附图不一定是按比例绘制的。
物流企业目前主要采用悬挂链作为货物输送分拣的主要工具。悬挂链采用滚珠轴承作为链条走轮，悬挂在高处，其上面的滚珠轴承不停转动，使得该链能沿输送方向一直前进，达到传送其悬挂的货物的目的。在用悬挂链输送货物时，拣货人员获得拣货任务后按照商品列表进行拣货作业，把拣货完成的购物袋挂上悬挂链下面的提升机，提升后由悬挂链把购物袋传输到后场，并按照批次汇合在同一个道口。同一批次的全部购物袋到齐后，打包人员开始打包，打包完成的配送箱交由配送员进行配送。由于整个悬挂链由一个电机带动，因此，传送速度较慢且各货物的输送速度不能灵活控制，维护复杂，顾客体验不佳。
本公开实施例利用轨道导引车和轨道配合的方式取代了传统的整体的管控链的方式，在每个轨道上安装不同的轨道导引车，每个轨道导引车可以悬挂不同的货物，在每个轨道导引车内单独供电和驱动，由控制器经过电机驱动器、电机、换向驱动机构驱动驱动轮在轨道上行驶，即，每个轨道导引车各自单独供电和单独驱动，因此其传送速度比现有技术的统一供电和驱动要快，且各轨道导引车内部可以单独进行控制，更加灵活，便于动态扩容，提高分拣效率，顾客体验更好。
如图1、图2和图3所示，根据本公开一个实施例的轨道导引车可以包括车体20和车体20下部的、悬挂所述轨道导引车输送的物件的悬挂部11。物件即要输送的货物。在轨道16的不同位置，有不同轨道导引车，下面有悬挂部11，该处的理货工人向悬挂部11上悬挂物件，从而让统一批次的这些物件传送到同一道口进行打包。悬挂物件时只需要将物件悬挂在悬挂部11上。
图1和图2中，悬挂部11可以是可伸缩挂钩。该可伸缩挂钩受控制器12控制，以伸长从而挂载所述物件，并缩短以将所述物件提起。当某一轨道导引车处的理货工人有输送货物的需求时，其可以通过手机的专门应用(APP)或专用终端向总服务器(未示)发送货物输送请求，总服务器接收该请求，获取该理货工人的终端标识，从而获取该终端绑定的轨道导引车的标识，通过总线发送控制信号给该轨道导引车的控制器12，控制器12控制该可伸缩挂钩伸长，使理货工人能够挂载需要输送的物件，然后缩短以将货物提起并输送。虽然图1、图2中，悬挂部11是可伸缩挂钩，但本领域技术理解，其也可以是升降台、货物托盘、吊车、磁力吸附装置等其它形式。
将悬挂部11放置在车体20的下部是为了使车体20集中容纳控制器12、电机驱动器14、电机6、换向驱动机构5,8,13,17,18等部件，结构更加紧凑，减小设备体积。采用 包裹下挂方式运输货物，货物装载更高效。
在另一个实施例中，可以不在车体20下部设置悬挂所述轨道导引车输送的物件的悬挂部11，而是在车体20上部设置装载部(未示)，例如一个空的装载车厢。该实施例可以用于仓储仓库内的地面运输。理货工人直接将要运输的物件放置到装载部，例如装载车厢内，然后在每个轨道导引车内，由控制器12经过电机驱动器14、电机6、换向驱动机构5,8,13,17,18驱动驱动轮1在轨道上行驶，从而达到运输货物的目的。该实施例与悬挂式运输不同，采用装载车厢，适合于仓储仓库的地面运输场景。
除了上述悬挂部11和装载部，本领域技术人员还可以构想出其它用于保持所述轨道导引车输送的物件的物件保持部，不再赘述。
如图1、图2、图3和图4所示，车体20内部设有用于供轨道16穿过的轨道腔19，所述轨道腔19的上方设置有驱动轮1。这样，将轨道16安插进轨道腔19后，驱动轮1正好抵在轨道腔19上。如果向其施加驱动力，就可以使所述轨道导引车沿轨道16方向行驶。之所以将轨道16安插进车体20内部的轨道腔19，而不是让轨道16置于车体20的下方是为了，给下面的悬挂部11让出空间。
另外，如图5所示，车体20中包含控制器12、电机驱动器14、电机6、换向驱动机构5,8,13,17,18，所述控制器12控制所述电机驱动器14依次通过所述电机6和所述换向驱动机构5,8,13,7,18向所述驱动轮1施加驱动力，使所述轨道导引车沿轨道16方向行驶。之所以将这些部件置于车体20中轨道16的下方，一方面避免上方重量太大使轨道摩擦力太大影响速度，另一方面使得控制器12、电机6等部件得到有效的保护。
电机6是提供驱动驱动轮1转动需要的动能的装置。在一个实施例中，电机6是伺服电机。伺服电机是指在伺服系统中控制机械元件运转的发动机，是一种补助马达间接变速装置。伺服电机能够控制速度，位置精度非常准确，可以将电压信号转化为转矩和转速以驱动控制对象。
电机6本身需要电机驱动器14的驱动，因此需要电机驱动器14。控制器12控制电机驱动器14，电机驱动器14驱动电机6运转。但电机6是安装在轨道16的下面的，只能提供向上的驱动力，而驱动驱动轮1需要水平方向的驱动力，因此，采用换向驱动结构5,8,13,17,18。换向驱动结构5,8,13,17,18包括依次啮合的驱动链轮8,13、从动链轮5、斜齿轮组17,18。所述驱动链轮8,13安装在所述电机6上。当电机6运转时，带动驱动链轮8,13转动。由于从动链轮5与驱动链轮8,13啮合，从动链轮5被带动。斜齿轮组17,18与从动链路5啮合，从而斜齿轮组17,18被带动。斜齿轮组17,18安装在所述驱动轮1上，从而带动驱动轮1转动，使所述轨道导引车沿轨道16方向行驶。该实施例通过上述传动结构，巧妙地将垂直方向的驱动力转化成水平方向的驱动力，避免在轨道16的水平方向按照电机6使得体积庞大。采用链轮加斜齿轮组的组合传动方案，将整车传动机构的占用空间大大压缩。
另外，如图1、图3所示，轨道腔19的上方还设置有轴线与驱动轮1的轴线垂直、用于在所述轨道16进入所述轨道腔19时在与驱动轮1的轴线垂直的方向上保持住所述轨道16的导向轮2。由于导向轮2的轴线与驱动轮1的轴线垂直，从而导向轮2的轮缘正好抵住轨道16的内侧壁，使得轨道16被保持住，驱动轮1正好能够在轨道16的上表面行驶。导向轮2起到使得轨道16不易脱离正常位置的作用。
另外，如图1所示，可以在轨道腔19的下表面设置有轴线与驱动轮1的轴线一致、用于在所述轨道16进入所述轨道腔19时接触所述轨道16的下部的滑轮7。在轨道16进入轨道腔19后，驱动轮1的轮缘抵住轨道16的上表面。如果轨道16的下表面直接接触轨道腔19的下表面，产生的滑动摩擦力较大。如果轨道16的下表面与轨道腔19的下表面之间留有空隙，容易不稳固，产生倾斜，因此，在轨道16的下表面、轨道腔19的下表面之间设置滑轮7，变滑动摩擦为滚动摩擦，减小了行驶时的摩擦力。
所述驱动轮1有四个，相对应的安装在所述驱动轮1上的斜齿轮组17,18有四个，电机6、驱动链轮8,13、所述从动链轮5各自有2个。例如，可以在行驶方向的前后各设置一个电机6。前面的电机6控制前面的一个驱动链轮8,13、前面的一个从动链轮5带动前面的左右两个斜齿轮组17,18转动，带动前面的左右两个驱动轮1转动。后面的电机6控制后面的一个驱动链轮8,13、后面的一个从动链轮5带动后面的左右两个斜齿轮组17,18转动，带动后面的左右两个驱动轮1转动。上述二电机四驱结构提高了驱动功率，提高货物输送效率。其最快速度能达到2.5m/s，适用于高速输送系统。
另外，为了实现轨道导引车定位，即，使得总服务器获取到轨道导引车的位置，如图1、图3所示，可以在车体20的驱动轮1上方设置有相对的延伸杆21，在所述延伸杆21的相对的表面分别设置定位信号发射器31和定位信号传感器32。定位信号发射器31向定位信息化传感器32发射定位信号，正常行驶时定位信号传感器32正好在其对面，能够感测到定位信息化传感器32发射的定位信号。但轨道上每隔固定距离设置有定位杆，驱动轮1行驶到该位置时，定位杆正好阻隔在定位信号发射器31和定位信号传感器32之间，挡住，从定位信号发射器31发射给定位信号传感器32的定位信号，使定位信号不被感测到，从而感知到轨道导引车行驶到固定距离处。
在一个实施例中，定位信号可以是红外线，此时定位信号发射器31是红外定位信号发射器，定位信号传感器32是红外定位信号传感器。在另一个实施例中，定位信号可以是激光，此时定位信号发射器31是激光发射器，定位信号传感器32是激光传感器。本领域技术人员还可以构想出其它定位信号的形式。
上述定位信号发射器31和定位信号传感器32仅能检测出轨道导引车行驶到固定距离处，但具体行驶到哪一具体位置却难以检测出。例如，轨道上每隔5米设置一个定位杆，如果检测到定位信号被阻挡，则说明轨道导引车行驶到距离起点0、5、10、15……米的位置，但到底是0米，还是5米，还是10米……，还是无法获知。因此，可以通过 在每隔固定距离处设置不同的码，并通过扫码器扫码的方式来区分行驶到不同的位置。在该实施例中，在车体20的与所述轨道16平行的侧壁(例如行驶方向的左边或右边的车体壁)设置有扫码器15，用于扫描轨道16上伸出的码杆上的码，获得该码表示的定位信息。而每隔固定距离设置的码杆上的码都不同，保证了能够区分行驶到哪个位置。该码可以是二维码，也可以是条形码，还可以是本领域技术人员已知、或未来可能出现的其它识别码。
本公开实施例采用定位信号发射器31和定位信号传感器32、加上扫码器的组合的定位方案，实现高可靠的运动控制与精确定位。
另外，如图1和图3所示，还可以在车体20的沿所述轨道16行驶方向的前壁设置有障碍物传感器10，用于检测所述车体20前方的障碍物。障碍物传感器10可以采用激光传感器的形式，障碍物传感器10本身发出激光，激光遇到障碍物反射回来，被障碍物传感器10检测到。如果检测到障碍物，说明前面有其它轨道导引车，应及时减速或停止。由于本公开实施例中，在同一轨道16上可能运行着多个轨道导引车，各轨道导引车由各自的控制器和电机单独控制运行，其速度可能不相同，当一个轨道导引车速度过大时，可能出现撞上前方的轨道导引车的情况，因此，需要障碍物传感器10及时检测出危险情况，提高安全性。
另外，所述车体20中可以包含有为所述控制器12、所述电机驱动器14、所述电机6供电的电源9。由于控制器12、电机驱动器14、电机6的运行都是需要电源9，本公开实施例没有采用轨道供电的方式，而是把电源9放在车体20中，克服了轨道供电安全性较低、轨道设计复杂、生产和安装成本高的缺点。
在一个实施例中，电源9可以采用锂电池。采用锂电池供电，可以避免轨道带电的潜在风险，安全更有保障。但是锂电池的充电速度较慢，充电时间长。在高负荷工作时，如果很多轨道导引车需要充电，将影响到整个系统的调度效率，因此，在另一个实施例中，电源9可以采用超级电容。利用超级电容快速充电的特点，可以提高充电速度，在高负荷工作场景时更有优势。
在一个实施例中，如图1、图2所示，车体20上方设置有充电触点4，所述充电触点4电气连接到所述电源9，用于与所述轨道16上伸出的充电桩(未示)所垂下的充电柱接触，从而为所述电源9供电。轨道16上可以每间隔一定距离设置一个充电桩。充电桩可以成T型或
Figure PCTCN2021105697-appb-000001
型，其包括下部的桩部和上面的垂直于所述桩部的水平杆，水平杆下可以垂直伸出充电柱，该充电柱与充电触点接触，且轨道导引车停止，实现与电源9充电。如上所述，控制器12连接到电源9，监测电源9的剩余电量，当电源9的剩余电量小于预定电量阈值时，控制器12向总服务器发出充电请求，由总服务器确定离该轨道导引车最近的下一个充电桩的位置，并根据下一个充电桩的位置、充电请求中上报的轨道导引车当前位置和轨道导引车当前速度，确定轨道导引车达到下一个充电桩的时间，并 在确定的时间控制所述充电桩垂下所述充电柱。当电源9的剩余电量符合要求时，控制器12向总服务器发出充电结束请求，由总服务器控制所述充电桩收回所述充电柱。轨道导引车继续行驶。通过上述实施例，实现了行驶过程中轨道导引车的自动充电。
轨道16可以是工字轨。工字轨是结构外观像“工”字的一种轨道。采用简洁的工字轨作为运行轨道，将轨道占用空间大大压缩，适用于空间狭窄的场景。轨道16也可以是H型轨道、T型轨道、U型轨道等。H型轨道是结构外观像“H”的一种轨道。T型轨道是结构外观像“T”的一种轨道。U型轨道是结构外观像“U”的一种轨道。
本公开实施例的输送系统的分拣大致流程是，拣货人员获得拣货任务后按照商品列表进行拣货作业，把拣货完成的购物袋挂上轨道导引车的悬挂部11，悬挂部11将购物袋提起，或者拣货人员将购物袋放进装载部。轨道导引车在轨道16上行驶，把购物袋传输到后场，并按照批次汇合在同一个道口。同一批次的全部购物袋到齐后，打包人员开始打包，打包完成的配送箱交由配送员进行配送。区别于现有技术的整个输送线由统一的电源供电和驱动，它改为在轨道上安装不同的轨道导引车的方式，在每个轨道导引车内单独供电和驱动，由控制器经过电机驱动器、电机、换向驱动机构驱动驱动轮在轨道上行驶，提高了传送速度，且各轨道导引车速度可以单独进行控制，灵活性强。
需要领会，以上所述仅为本公开的优选实施例，并不用于限制本发明的范围，对于本领域技术人员而言，本说明书的实施例存在许多变型。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
应该理解，本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同或相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
应该理解，上述对本说明书特定实施例进行了描述。其它实施例在权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
应该理解，本文用单数形式描述或者在附图中仅显示一个的元件并不代表将该元件的数量限于一个。此外，本文中被描述或示出为分开的模块或元件可被组合为单个模块或元件，且本文中被描述或示出为单个的模块或元件可被拆分为多个模块或元件。
还应理解，本文采用的术语和表述方式只是用于描述，本说明书的一个或多个实施例并不应局限于这些术语和表述。使用这些术语和表述并不意味着排除任何示意和描述(或其中部分)的等效特征，应认识到可能存在的各种修改也应包含在权利要求范围内。其他修改、变化和替换也可能存在。相应的，权利要求应视为覆盖所有这些等效物。

Claims (18)

  1. 一种轨道导引车，包括车体和保持所述轨道导引车输送的物件的物件保持部，所述车体内部设有用于供所述轨道穿过的轨道腔，所述轨道腔的上方设置有驱动轮，所述车体中包含控制器、电机驱动器、电机、换向驱动机构，所述控制器控制所述电机驱动器依次通过所述电机和所述换向驱动机构向所述驱动轮施加驱动力，使所述轨道导引车沿轨道方向行驶。
  2. 根据权利要求1所述的轨道导引车，其中，所述物件保持部包括位于车体下部的悬挂部。
  3. 根据权利要求1所述的轨道导引车，其中，所述物件保持部包括位于车体上部的装载部。
  4. 根据权利要求1所述的轨道导引车，其中，所述换向驱动结构包括依次啮合的驱动链轮、从动链轮、斜齿轮组，所述驱动链轮安装在所述电机上，所述斜齿轮组安装在所述驱动轮上，
    所述电机依次带动驱动链轮、从动链轮、斜齿轮组转动，从而使所述驱动轮转动，使所述轨道导引车沿轨道方向行驶。
  5. 根据权利要求1所述的轨道导引车，其中，所述轨道腔的上方还设置有轴线与驱动轮的轴线垂直、用于在所述轨道进入所述轨道腔时在与驱动轮的轴线垂直的方向上保持住所述轨道的导向轮。
  6. 根据权利要求1所述的轨道导引车，其中，所述轨道腔的下表面设置有轴线与驱动轮的轴线一致、用于在所述轨道进入所述轨道腔时接触所述轨道的下部的滑轮。
  7. 根据权利要求4所述的轨道导引车，其中，所述驱动轮有四个，相对应的安装在所述驱动轮上的斜齿轮组有四个，所述电机、所述驱动链轮、所述从动链轮各自有2个，其中，一个电机控制对应的一个驱动链轮、对应的一个从动链轮带动对应的两个斜齿轮组转动。
  8. 根据权利要求1所述的轨道导引车，其中，在车体的所述驱动轮上方设置有相对的延伸杆，在所述延伸杆的相对的表面分别设置定位信号发射器和定位信号传感器。
  9. 根据权利要求1所述的轨道导引车，其中，在车体的与所述轨道平行的侧壁设置有扫码器，用于扫描轨道上伸出的码杆上的码，获得该码表示的定位信息。
  10. 根据权利要求1所述的轨道导引车，其中，在车体的沿所述轨道行驶方向的前壁设置有障碍物传感器，用于检测所述车体前方的障碍物。
  11. 根据权利要求1所述的轨道导引车，其中，所述车体中包含有为所述控制器、所述电机驱动器、所述电机供电的电源。
  12. 根据权利要求11所述的轨道导引车，其中，所述车体上方设置有充电触点，所述充电触点电气连接到所述电源，用于与所述轨道上伸出的充电桩所垂下的充电柱接触，以为所述电源供电。
  13. 根据权利要求2所述的轨道导引车，其中，所述悬挂部是可伸缩挂钩，所述可伸缩挂钩受所述控制器控制，以伸长从而挂载所述物件，并缩短以将所述物件提起。
  14. 根据权利要求11所述的轨道导引车，其中，所述电源包括锂电池或超级电容。
  15. 根据权利要求9所述的轨道导引车，其中，所述码包括二维码或条形码。
  16. 根据权利要求1所述的轨道导引车，其中，所述轨道包括工字轨、H型轨道、T型轨道、U型轨道中的至少一个。
  17. 根据权利要求8所述的轨道导引车，其中，所述定位信号发射器包括红外定位信号发射器，和定位信号传感器包括红外定位信号传感器。
  18. 一种输送系统，包括根据权利要求1-17中任一个所述的轨道导引车、和所述轨道，其中，所述轨道导引车保持所述物件以沿所述轨道输送。
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