CN104326230B - Crisscrossed rail for rail conveying car and layout method - Google Patents

Abstract

The invention discloses a crisscrossed rail for a rail conveying car, and belongs to the field of automatic conveying equipment. The crisscrossed rail comprises a plurality of transverse rails and longitudinal rails, wherein the transverse rails and the longitudinal rails realize the mutual orthogonal intersection in the same plane, a carrying rail surface formed by two mutually parallel groove-shaped ground rails is respectively arranged on the transverse rails and the longitudinal rails, and in the crisscrossing positions, the four groove-shaped ground rails arranged on the two orthogonal intersection rails are respectively provided with four integral fixing type crossings or separated rotating type crossings used for the rail conveying car to steer in crossed parts. The crisscrossed rail for the rail conveying car has the advantages that the rail conveying car can freely convert the moving directions between two mutually vertical rails in the same plane, the moving maneuverability and the flexibility of the rail conveying car are enhanced, the operation work efficiency of the rail conveying car is improved, and the requirements of automatic warehousing industry can be met. The invention also discloses a layout method used for the crisscrossed rail for the rail conveying car.

Description

Cross rail for rail-mounted vehicle and layout method

Technical field

The present invention relates to a kind of cross rail and layout method, it is especially orthogonal at two for rail-mounted vehicle Direction carries out a kind of cross rail and the layout method of shuttle movement, belongs to Automatic Conveying equipment field.

Background technology

Traditional warehousing system adopts manual type to access goods, and truck driver is driven fork truck and sailed in shelf tunnel, by Narrow and small in lane space, fork truck is difficult to flexibly travel wherein.Collide the possibility of guide rail in order to reduce fork truck, wall scroll shelf are not Allow long.These deficiencies seriously constrain the access efficiency of goods and the space availability ratio in warehouse.

Through frequently with lane stacker in automated warehouse storage system, its be a kind of in the narrow of High Level Rack back and forth Shuttle and run, carry out the crane of access operation, the goods positioned at access adit can be stored in goods lattice, or by the goods in goods lattice Take out and be transported to access adit.The stem height of lane stacker is directly proportional to pallet height, and High Level Rack makes tunnel stacking The excessive height of machine, huge structure are heavy, walking flexibility and less stable, are suitable only for that batch is big, kind is few, Turnover Box The simple storage pattern that casing specification is basically identical, turnover is slow.On the other hand, the high rack warehouse including multiple rows of shelf generally uses Multiple stage piler or use bend aisle and turning piler, then between every two row's shelf, a tunnel just need to be set, no Only cause the serious waste of memory space, and conveying equipment cost increases, system coordination controls complexity, operating efficiency is relatively low.

With the development of the business models such as ecommerce, chain operation, goods access is gradually little, wide in variety, all to batch Turn fast flexible storage Mode change.Existing rail linear running formula shuttle is preferably more flexible than lane stacker has because of it Property and adaptability, have obtained extensive utilization in automated warehouse storage system.But existing rectilinear orbit can only meet rail straight line fortune Line shuttle travels it is impossible to cooperation rail linear running formula shuttle is realized turning or handed over along the rectilinear orbit of laying track Free-running operation on fork track.In order that linear running formula shuttle can meet the operation needs of existing automated warehouse storage system, existing Have in technology and generally adopt following two technical schemes：First, each layer, the tunnel of each row respectively use a shuttle Car, this not only greatly increases the equipment cost of system, also results in low, the idle waste of shuttle utilization rate serious；Second, comprehensive Using lane stacker and shuttle, the horizontal movement direction of piler is perpendicular with the linear movement direction of shuttle, stacking Machine is carried to shuttle and its goods by the combinative movement of walking in a horizontal state, Lifting carrying load bed and retractable fork, will Shuttle shifts to different warehousing layers in vertical direction or shifts in the horizontal direction in different warehousing tunnels, and this undoubtedly increases The equipment expenditure of automated warehouse storage system, greatly reduces storage efficiency.

In other tracked transportation technical fields, in order that tracked transportation device runs on cross rail, existing Technology mainly adopts following two methods：First, adopt rail-changer equipment in orbiting vane crossover location：May 26 in 2010 Day, Chinese utility model patent CN201485759U, disclose a kind of crossing turnout for tracks, including two retaining rail intersected Road, base, trapped orbit infall is the rotating disk with crosspoint as the center of circle, and rotating disk is provided with the active rail by the rotating disk center of circle Road, the length of movable rail is the diameter of rotating disk, and rotating shaft is fixed on the rotating disk centre point below rotating disk.This utility model solves Track switch conveys the right-angled intersection problem of middle orbit.Second, in the unique guide rail structure of orbiting vane crossover location design, make Can guide when rail waggon passes through and not move interference：On March 7th, 2007, Chinese utility model patent CN2875895Y discloses a kind of transport vehicle running on cross rail, and it has two pairs of driving wheels in vehicle body, its In first pair of driving wheel through decelerator and motor connection, second pair of driving wheel is connected with first pair of capstan drive.Simultaneously in-orbit Following arrangement is made on road：Track is in that right-angled intersection is arranged, a pair of tracks is successive, another a pair of tracks a pair of tracks before leap When disconnect certain distance, and the tread of another a pair of tracks exceeds certain distance than front a pair of tracks.Have an advantage in that structure is simple, Stable performance.However, above two method is only capable of not occurring when making tracked transportation device along another track of a track crossing Movement interference, can not make it be switched to another track in crossover location from a track and run, therefore, also cannot solve to wear Shuttle car is mutually perpendicular to the problem of conversion operation between tunnel in the same plane.

Content of the invention

The technical problem to be solved is to overcome prior art defect, provides one kind to be easy to rail-mounted vehicle and exists It is mutually perpendicular to the cross rail of free conversion operation and layout method between track in same plane.

In order to solve above-mentioned technical problem, provided by the present invention for rail-mounted vehicle cross rail include a plurality of Cross track and long rails, cross track and long rails are mutually orthogonal in the same plane, described cross track and longitudinal direction The bearing track face that two groove type tracks being parallel to each other are formed all is included on track；In non-right-angled intersection position, transverse rails In road the air line distance between the groove center line of two groove type tracks and the front or rear directive wheel center of rail-mounted vehicle two it Between air line distance equal, the air line distance between the groove center line of two groove type tracks and rail-mounted vehicle in long rails Air line distance between the front jockey wheel of the same side and rear directive wheel center is equal；In right-angled intersection position, mutually orthogonal horizontal stroke It is respectively equipped with four entirety for rail-mounted vehicle steering to four groove type track intersections on track and long rails Fixed crossroad or the rotary crossroad of separation.

In the present invention, the fixed crossroad of described entirety is the groove being located at right-angled intersection position in two orthogonal trajectory The recess width of shape track becomes larger along 45° angle direction, fade away in bearing track face and converge being aligned, composition with cross Centered on crossing center, the length of side be more than rail-mounted vehicle bilateral wing wheel in main wheel diameter square crossing bottom land；Described recessed The base track bottom of flute profile track gradually rises until crossing bottom land is bilateral to rail-mounted vehicle to the height between the bottom land of crossing Distance between wing wheel axis is equal to or less than the main wheel radius of bilateral wing wheel.

In the present invention, the rotary crossroad of described separation includes crossing rotating disk, crossing index dial and rotation control mechanism； Described crossing rotating disk is truncated cone-shaped structure, and the upper surface of described crossing rotating disk is contour with bearing track face, on the rotating disk of described crossing End face be provided with two orthogonal and with track identical groove type track, and can dock with the groove type track of track；Described road Mouth rotating disk lower surface and crossing index dial are connected, and crossing index dial is bearing on guide rail ground, can be relative between guide rail ground Rotate；On the rotating disk of crossing, the spaced of two groove type track indications is the side of crossing index dial on 90 ° of four direction Face is cam curved surface, the maximum radius of described cam curved surface and the crossing of the ascending change of four sections of radiuses corresponding with its position The radius of rotating disk is identical, cam curved surface to central angle be less than 90 °；Described rotation control mechanism is fixed on guide rail ground, Rotation control mechanism is provided with an expansion end, and described expansion end is contacted with the side elastic of crossing index dial.

Present invention also offers the layout method of the above-mentioned cross rail for rail-mounted vehicle, including individual layer warehouse Layout and crossroad positioning layout, described individual layer warehouse layout is：

1), N × M shelf are connected by cross rail and constitute a kind of individual layer warehouse of N row M row；

2) in shelf, it is uniformly arranged several storing grids；

Described crossroad positioning layout is：When each track is before converging formation right-angled intersection position, horizontal Arrange a RFID label tag on the longitudinal centre line of track, be arranged symmetrically two in the both sides of the cross central line of long rails RFID label tag, the orthogonal path number of four tracks of described RFID label tag record storage and topological relation；In right-angled intersection position One centre spot of the center arrangement put, and it is arranged symmetrically four gateway anchor points in center surrounding, it is located at laterally respectively On the cross central line of the longitudinal centre line of track and long rails.

In the present invention, also include tiered warehouse facility integral layout：

1), a kind of three-dimensional storehouse of N row M row H layer is constituted by the High Level Rack that cross rail connects N × M H layer Storehouse, N bar cross track correspond to N number of High Level Rack and respectively constitutes M row shelf, and M bar long rails correspond to M High Level Rack and divide Gou Cheng not N crudely-made articles frame；

2), it is uniformly arranged several storing grids in each layer of High Level Rack；

3), first or the last item cross track and any one long rails or first or the last item longitudinal direction rail Outside setting lowering or hoisting gear, the carrying end face of lowering or hoisting gear and the longitudinal direction of the right-angled intersection position of road and any one cross track The bearing track face of track and cross track is contour, and the described end face that carries has two parallel and long rails or cross tracks Identical groove type track, and dock with the groove type track of long rails or cross track.

The beneficial effects of the present invention is：（1）, cross rail of the present invention pass through overall fixing in crossover location setting Formula crossroad or the rotary crossroad of separation, make rail-mounted vehicle be mutually perpendicular in the same plane between track freely Conversion moving direction, enhances motion mobility and the flexibility of rail-mounted vehicle, improves the operation work of rail-mounted vehicle Efficiency, meets the demand of automated warehousing industry；（2）, the cross rail of the present invention and rail-mounted vehicle use cooperatively, Compared with prior art, respectively need not use a shuttle in each row's track, reduce the equipment cost of automated warehousing, Decrease malfunctioning node, improve the business efficiency of automated warehousing industry；（3）, the present invention is arranged in tiered warehouse facility, just Quickly run in different interlayers in rail-mounted vehicle, lane stacker need not be adopted, improve the space availability ratio of tiered warehouse facility, Decrease the equipment expenditure in tiered warehouse facility.

Brief description

Fig. 1 is the structural representation of the rail-mounted vehicle running on cross rail of the present invention；

Fig. 2 is the front view driving transfer in rail-mounted vehicle；

Fig. 3 is the side view driving transfer in rail-mounted vehicle；

Fig. 4 is the top view driving transfer in rail-mounted vehicle；

Fig. 5 is the front view of directive wheel in rail-mounted vehicle；

Fig. 6 is the side view of directive wheel in rail-mounted vehicle；

Fig. 7 is the upward view of directive wheel in rail-mounted vehicle；

Fig. 8 is the transmission schematic diagram guiding lazy-tongs in rail-mounted vehicle；

Fig. 9 is the scheme of installation guiding lazy-tongs in rail-mounted vehicle；

Figure 10 is single track schematic diagram of the present invention；

Figure 11 is the structural representation of the overall fixed cross rail of the present invention；

Figure 12 is the top view of the overall fixed crossroad of the present invention；

Figure 13 is the sectional view of the overall fixed crossroad of the present invention；

Figure 14 is the structural representation that the present invention separates rotary cross rail；

Figure 15 is the top view that the present invention separates rotary crossroad；

Figure 16 is the schematic diagram that the present invention separates rotary crossroad rotary index；

Figure 17 is the sectional view that the present invention separates rotary crossroad；

Figure 18 is the top view of cross rail of the present invention integral layout in tiered warehouse facility；

Figure 19 is the side view of cross rail of the present invention integral layout in tiered warehouse facility；

Figure 20 is the top view in right-angled intersection location layout for the cross rail of the present invention；

Figure 21 is the control flow chart that rail-mounted vehicle turns at cross rail crossing；

In figure：0- rail-mounted vehicle, 1- vehicle frame, storing bin before 1A-, front storing bin after 1B-, 2- drives transfer, 3- Guiding lazy-tongs, 4- power battery pack, 5- control device, 6-RFID sensor, 7- directive wheel, 8- drive module, 9- turns to Measurement module, 10- clutch transmission module, 11- chassis, 12- vertical rotation axis, 13- horizocardia axle, 14- left driving wheel, 15- left from Movable sprocket, 16- revolver bearing, 17- revolver end cap, the left drive sprocket of 18-, 19- revolver chain, 20- left driving motor, 21- is right Driving wheel, the right driven sprocket of 22-, 23- right wheel bearing, 24- right wheel end cap, the right drive sprocket of 25-, 26- right wheel chain, 27- is right Motor, 28- alignment sensor support, 29- alignment sensor, plate in 30- carrying, 31- clutch shaft bearing, 32- clutch shaft bearing End cap, 33- first roller gear, 34- clutch installing plate, 35- main clutch, 36- measures rotating shaft, 37, second bearing, 38, Second bearing end cap, the 39, second roller gear, 40, angular transducer support, 41- angular transducer, 42- carries upper plate, 43- Drive shaft, 44- 3rd bearing, 45- 3rd bearing end cap, 46- is from clutch, 47- output bevel gear wheel, 48- loading plate, 49- Support rotating shaft, 50- spindle nut, 51- inputs bevel gear, 52- wheeling supporting frame, 53- rocking lever, 54- lever bolt, 55- thick stick Stem nut, the bilateral wing wheel of 56-, 57- wing wheel bolt, 58- wing wheel nut, 59- wing wheel bearing, 60- Shock-proof bolt, 61- damping bullet Spring, 62- damping nut, 63- left gear semiaxis, 64- right gear semiaxis, 65- left transition wheel shaft, 66- right transition wheel shaft, before 67- Power transmission shaft, 68- inter-axle shaft, 69- first left bearing, 70- first left shaft holder, 71- first left angular wheel, the left master of 72- first Movable belt pulley, 73- first right bearing, 74- the first right axle bearing, the right bevel gear of 75- first, the right driving pulley of 76- first, 77- Two left bearings, 78- second left shaft holder, the left driven pulley of 79- first, the left driving pulley of 80- second, the left Timing Belt of 81- first, 82- second right bearing, 83- the second right axle bearing, the right driven pulley of 84- first, the right driving pulley of 85- second, 86- first is right same Step band, 87- the 3rd right bearing, 88- the 3rd right axle bearing, the right driven pulley of 89- second, the right Timing Belt of 90- second, 91- is left front Steering bevel gear, 92- right front steering bevel gear, 93- the 3rd left bearing, 94- the 3rd left shaft holder, the left driven pulley of 95- second, The left Timing Belt of 96- second, 97- left back steering bevel gear, 98- right rear steering bevel gear, 99- track, 99A- cross track, 99B- Long rails, 100- groove type track, 101- base track bottom, 102- track side, 103- bearing track face, 104- integrally fixes Formula crossroad, 105- crossing bottom land, the rotary crossroad of 106- separation, 107- crossing rotating disk, 108- crossing index dial, 109- index dial bearing, 110- cam follower, 111- push rod spring, 112- push rod bearing, 113- guide rail ground, 114- high level goods Frame, 115- lowering or hoisting gear, 116- storing grid, 117- storage tank, 118-RFID label, 119- anchor point, 119A- centralized positioning Point, 119B- gateway anchor point.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention is described in further detail.

As shown in figure 1, the cross shuttle type rail-mounted vehicle of the present invention, including vehicle frame 1, drive transfer 2, guiding same Step mechanism 3, power battery pack 4, control device 5, RFID sensor 6 and four directive wheels 7.Wherein, vehicle frame 1 is one " mountain " shape frame Frame structure, respectively has a convex framework, front end convex framework and middle convex framework, middle convex framework in middle and rear and front end Be respectively provided with and the convex framework of rear end between install goods transfer mechanism platform, formed rail-mounted vehicle front storing bin 1A and Storing bin 1B afterwards, for placing the storage tank 117 of dimensional standard（In figure does not show）；In driving transfer 2 to be fixedly installed in Between convex framework underface, drive the center superposition of center and the rail-mounted vehicle 0 of transfer 2；Four directive wheels 7 are uniform It is arranged in the down either side of rear and front end convex framework and be connected, can be in the track travel setting；Guiding lazy-tongs 3 and vehicle frame 1 is connected and is connected with driving 2, four directive wheels 7 of transfer respectively by gear engagement system；RFID sensor 6 is two Individual, it is fixedly installed in the underface of rear and front end convex framework respectively, RFID sensor 6 is electrically connected with control device 5；Control dress Put 5 inside being fixedly installed in rear end convex framework, control device 5 memory storage rail-mounted vehicle 0 runs the electricity in depot area Sub- map and aiming station, control device 5 connects driving transfer 2, and control device 5 controls driving transfer 2 to drive to be had The operation of rail waggon 0；Power battery pack 4 is fixedly installed in the inside of front end convex framework.

As shown in Fig. 2,3 and 4, transfer 2 is driven to include steering measurement module 9 and in the drive module 8 of lower floor, middle level The clutch transmission module 10 on upper strata.Drive module 8 includes chassis 11, vertical rotation axis 12, horizocardia axle 13, left driving wheel 14, a left side Driven sprocket 15, revolver bearing 16, revolver end cap 17, left drive sprocket 18, revolver chain 19, left driving motor 20, right driving Wheel 21, right driven sprocket 22, right wheel bearing 23, right wheel end cap 24, right drive sprocket 25, right wheel chain 26, right driving motor 27, Alignment sensor support 28 and alignment sensor 29.Chassis 11 is one " C " shape bending structure, and vertical rotation axis 12 pass through chassis 11 Upper surface center and with screw be connected, horizocardia axle 13 pass through chassis 11 two sides center, the stage casing ladder of horizocardia axle 13 Axle between the two sides on chassis 11 and its cylindrical on be cased with a sleeve, horizocardia axle 13 respectively has one section in stage casing multidiameter both sides Threaded multidiameter, with two nuts, horizocardia axle 13 is fixed on chassis 11 outside the two sides on chassis 11 respectively. Vertical rotation axis 12 and horizocardia axle 13 are orthogonal to the axis midpoint of horizocardia axle 13, and this point is drive module 8 and drives steering The center of device 2.Left driving wheel 14 is supported on left section of axle journal, left driving wheel 14 and the water of horizocardia axle 13 by revolver bearing 16 Can relatively rotate between axle 13 according to one's conscience, and axially position is carried out using jump ring and sleeve, left driven sprocket 15 passes through revolver end cap 17th, screw and left driving wheel 14 are co-axially mounted and are connected.Right driving wheel 21 is supported on horizocardia axle 13 by right wheel bearing 23 Right section of axle journal, can relatively rotate between right driving wheel 21 and horizocardia axle 13, and carries out axially position using jump ring and sleeve, right Driven sprocket 22 passes through right wheel end cap 24, screw and right driving wheel 21 and is co-axially mounted and is connected.Left driving motor 20 is fixed on bottom The left surface of disk 11 is anterior, and right driving motor 27 is fixed on the right flank rear portion on chassis 11, left driving motor 20 and right driving electricity The installation site of machine 27 is symmetrical with the axis centre of vertical rotation axis 12.Left drive sprocket 18 is led to the output shaft of left driving motor 20 Cross keying even, the left driving wheel 14 being connected with left driven sprocket 15 is driven by revolver chain 19.Right drive sprocket 25 and right drive The output shaft of dynamic motor 27 by keying even, drives, by right wheel chain 26, the right driving wheel 21 being connected with right driven sprocket 22. Alignment sensor support 28 is one " L " shape bending structure, is fixed on the lower surface of horizocardia axle 13 axis midpoint；Orientation sensing Device 29 is fixedly installed in the axis midpoint of horizocardia axle 13 by alignment sensor support 28, i.e. the center of drive module 8, and its Signal emission port is perpendicularly oriented to ground.

Turn to plate 30, vertical rotation axis 12, clutch shaft bearing 31, clutch shaft bearing end cap 32, first during measurement module 9 includes carrying Roller gear 33, measurement rotating shaft 36, second bearing 37, second bearing end cap 38, the second roller gear 39, angular transducer support 40 and angular transducer 41.Wherein, in carrying plate 30 be one be inverted "" shape bending structure, vertical rotation axis 12 plate through in carry 30 lower surface center, the stage casing axle journal of vertical rotation axis 12 is set with clutch shaft bearing 31, and clutch shaft bearing 31 is arranged on clutch shaft bearing In end cap 32, clutch shaft bearing end cap 32 is fixed on plate 30 in carrying, can relative turn between vertical rotation axis 12 and plate 30 in carrying Dynamic.Measurement rotating shaft 36 passes through in carrying the lower surface of plate 30 and parallel with vertical rotation axis 12, and measurement rotating shaft 36 is set with the second axle Hold 37, second bearing 37 is arranged in second bearing end cap 38, second bearing end cap 38 is fixed on plate 30 in carrying, measurement turns Can relatively rotate between plate 30 in axle 36 and carrying.The rotating shaft of angular transducer 41 is by marking closely screw and measuring the upper of rotating shaft 36 End-face central hole is coaxially connected, and during the shell of angular transducer 41 passes through angular transducer support 40 and carries, plate 30 is connected, angle The rotating shaft of degree sensor 41 can rotate with respect to plate 30 in carrying with measurement rotating shaft 36.First roller gear 33 is solid by key suit It is scheduled on the middle part of vertical rotation axis 12, the second roller gear 39 is fixed on the middle part of measurement rotating shaft 36, the first cylinder by key suit Engage each other between gear 33 and the second roller gear 39, the rotary motion of vertical rotation axis 12 can be passed to measurement rotating shaft 36, and The corner φ that vertical rotation axis 12 are with respect to plate 30 in carrying, angular transducer 41 and control device 5 are measured by angular transducer 41 Electrical connection.

Clutch transmission module 10 include clutch installing plate 34, main clutch 35, from clutch 46, carry upper plate 42, pass Dynamic rotating shaft 43,3rd bearing 44,3rd bearing end cap 45 and output bevel gear wheel 47.Carry upper plate 42 be "" shape bending structure, It is connected in opposite directions with plate 30 in carrying and forms a closing structure, turn to measurement module 9 and clutch transmission module 10 passes through carrying upper plate 42 are fixed on vehicle frame 1.Therefore, vertical rotation axis 12 are drive module 8 with respect to vehicle frame 1 with respect to the corner φ of plate 30 in carrying Corner.Drive shaft 43 passes through the upper surface center carrying upper plate 42, and the stage casing axle journal of drive shaft 43 is set with the 3rd axle Hold 44,3rd bearing 44 is arranged in 3rd bearing end cap 45,3rd bearing end cap 45 is fixed on carrying upper plate 42, and transmission turns Can relatively rotate between axle 43 and carrying upper plate 42.Clutch installing plate 34 is fixed on the upper of vertical rotation axis 12 by key suit Portion, main clutch 35 is passed through screw and is co-axially mounted with clutch installing plate 34 and is connected.It is sleeved on drive shaft from clutch 46 43 hypomere multidiameter, is carried out radially fixed by key, but can move axially along hypomere multidiameter.From clutch 46 End face is contacted with the upper surface of main clutch 35, and is co-axially mounted with main clutch 35 from clutch 46.Output bevel gear wheel 47 leads to Cross the top that key suit is fixed on drive shaft 43.When the coil electricity of main clutch 35, in the presence of electromagnetic attraction from Clutch 46 is close to main clutch 35 and with its synchronous axial system, the rotary motion of vertical rotation axis 12 can be passed to drive shaft 43, drive shaft 43 drives output bevel gear wheel 47 to rotate.When the coil blackout of main clutch 35, from clutch 46 and main clutch Device 35 is in released state, relatively can slide along contact end face, the rotary motion of vertical rotation axis 12 is unrelated with drive shaft 43.

As shown in Fig. 5,6 and 7, directive wheel 7 includes loading plate 48, supports rotating shaft 49, spindle nut 50, input bevel gear 51st, wheeling supporting frame 52, rocking lever 53, lever bolt 54, lever nut 55, bilateral wing wheel 56, wing wheel bolt 57, wing wheel nut 58th, wing wheel bearing 59, Shock-proof bolt 60, damping spring 61 and damping nut 62.There is a band centre bore lower surface of loading plate 48 Round boss, there is an annular groove upper surface of hypomere multidiameter supporting rotating shaft 49, the centre bore suit of loading plate 48 In the hypomere axle journal supporting rotating shaft 49, the round boss of loading plate 48 is nested in the annular groove supporting rotating shaft 49, and described circle Carried by a circle ball stress between the lower surface of shape boss and the upper surface of annular groove.Spindle nut 50 is by loading plate 48 Round boss and support the annular groove of rotating shaft 49 to carry out axial compression, constitute the bearing arrangement of a closure, support rotating shaft 49 Can relatively rotate and loading plate 48 between.Input bevel gear 51 is fixed on, by key suit, the epimere axle journal supporting rotating shaft 49.Wheel Screw is connected with supporting rotating shaft 49 to pass through for bracing frame 52, and the upper surface of wheeling supporting frame 52 is centrally located on the axis supporting rotating shaft 49 And can rotate with support rotating shaft 49.

Two lever bolts 54 are each passed through the coaxial inner of the middle part left and right side of wheeling supporting frame 52 and rocking lever 53, By lever bolt 54 and lever nut 55 axial restraint, rocking lever 53 can support with respect to wheel around the axis of lever bolt 54 Frame 52 swings.Two Shock-proof bolts 60, parallel across the endoporus of the rear portion upper and lower end face of wheeling supporting frame 52 and rocking lever 53, lead to Cross damping nut 62 compression damping spring 61 in the upper surface of wheeling supporting frame 52.Wing wheel bolt 57 passes through rocking lever 53 anterior left The coaxial inner of right flank, by wing wheel nut 58 axial restraint, bilateral wing wheel 56 is supported on wing wheel spiral shell by wing wheel bearing 59 The axle journal of bolt 57.Bilateral wing wheel 56 includes the metal materials such as major diameter main wheel and the iron and steel of the non-metallic materials such as polyurethane or rubber Minor diameter wing wheel, major diameter main wheel is in an intermediate position, symmetrically has two coaxial minor diameter wings around in both ends of the surface Wheel.When the holding power that bilateral wing wheel 56 is subject to ground is more than the thrust that damping spring 61 provides, rocking lever 53 is clockwise Rotate, damping spring 61 is compressed further to provide bigger thrust balance ground holding power.When bilateral wing wheel 56 is subject to To ground holding power be less than damping spring 61 provide thrust when, rocking lever 53 rotates counterclockwise, and damping spring 61 exists Elastic-restoring force effect is lower to be extended, and reduces the thrust providing.It can be seen that, the directive wheel 7 with rocking lever 53 and damping spring 61 To uneven ground, there is cushioning effect.

As shown in FIG. 8 and 9, guiding lazy-tongs 3 include left gear semiaxis 63 assembly, right gear semiaxis 64 assembly, left mistake Ferry boat axle 65 assembly, right transition wheel shaft 66 assembly, front propeller shaft 67 assembly, inter-axle shaft 68 assembly, said modules are passed through multigroup Bearing and bearing block are installed on middle frame, forward frame and the rear frame of vehicle frame 1.By left transition wheel shaft 65 assembly and the right side The rotary motion of drive shaft 43 is passed to front propeller shaft 67 assembly and inter-axle shaft 68 assembly, purpose by transition wheel shaft 66 assembly It is to reduce guiding setting height(from bottom) in vehicle frame 1 for the lazy-tongs 3, be front storing bin 1A and rear storing bin 1B installation goods transfer machine Structure retains requisite space.

Left gear semiaxis 63 assembly includes left gear semiaxis 63, the first left bearing 69, the first left shaft holder 70, the first left cone Gear 71 and the first left driving pulley 72.First left shaft holder 70 is fixed on the top left hand of vehicle frame 1 middle frame, left gear half Axle 63 is supported on the first left shaft holder 70 by the first left bearing 69, can relatively rotate between left gear semiaxis 63 and vehicle frame 1.The One left angular wheel 71 is fixed on the right-hand member of left gear semiaxis 63, the first left angular wheel 71 and driving transfer 2 by key suit Output bevel gear wheel 47 between engage each other, the rotary motion of drive shaft 43 can be passed to left gear semiaxis 63.First left master Movable belt pulley 72 is fixed on the left end of left gear semiaxis 63 by key suit.

Right gear semiaxis 64 assembly includes right gear semiaxis 64, the first right bearing 73, the first right axle bearing 74, the first right cone Gear 75 and the first right driving pulley 76.First right axle bearing 74 is fixed on the right side of the top of vehicle frame 1 middle frame, right gear half Axle 64 is supported on the first right axle bearing 74 by the first right bearing 73, can relatively rotate between right gear semiaxis 64 and vehicle carriage 1. First right bevel gear 75 is fixed on the left end of right gear semiaxis 64, the first right bevel gear 75 and driving transfer by key suit Engage each other between 2 output bevel gear wheel 47, the rotary motion of drive shaft 43 can be passed to right gear semiaxis 64.First right master Movable belt pulley 76 is fixed on the right-hand member of right gear semiaxis 64 by key suit.

Left transition wheel shaft 65 assembly include left transition wheel shaft 65, the second left bearing 77, the second left shaft holder 78, first left side from Movable belt pulley 79, the second left driving pulley 80 and the first left Timing Belt 81.Second left shaft holder 78 is fixed on vehicle frame 1 middle frame On the left of bottom, left transition wheel shaft 65 is supported on the second left shaft holder 78, left transition wheel shaft 65 and vehicle frame 1 by the second left bearing 77 Between can relatively rotate.First left driven pulley 79 is fixed on the right-hand member of left transition wheel shaft 65 by key suit, and first is left driven Belt wheel 79 is engaged by the first left Timing Belt 81 with the first left driving pulley 72 and is connected, can be by the rotary motion of left gear semiaxis 63 Pass to left transition wheel shaft 65.Second left driving pulley 80 is fixed on the left end of left transition wheel shaft 65 by key suit.

Right transition wheel shaft 66 assembly include right transition wheel shaft 66, the second right bearing 82, the second right axle bearing 83, first right side from Movable belt pulley 84, the second right driving pulley 85 and the first right Timing Belt 86.Second right axle bearing 83 is fixed on vehicle frame 1 middle frame On the right side of bottom, right transition wheel shaft 66 is supported on the second right axle bearing 83, right transition wheel shaft 66 and vehicle frame 1 by the second right bearing 82 Between can relatively rotate.First right driven pulley 84 is fixed on the left end of right transition wheel shaft 66 by key suit, and first is right driven Belt wheel 84 is engaged by the first right Timing Belt 86 with the first right driving pulley 76 and is connected, can be by the rotary motion of right gear semiaxis 64 Pass to right transition wheel shaft 66.Second right driving pulley 85 is fixed on the right-hand member of right transition wheel shaft 66 by key suit.

Front propeller shaft 67 assembly includes front propeller shaft 67, the 3rd right bearing 87, the 3rd right axle bearing 88, the second right driven belt Wheel the 89, second right Timing Belt 90, left front steering bevel gear 91 and right front steering bevel gear 92.3rd right axle bearing 88 is fixed on car The bottom both sides of frame 1 forward frame, front propeller shaft 67 is supported on the 3rd right axle bearing 88, front propeller shaft by the 3rd right bearing 87 Can relatively rotate between 67 and vehicle frame 1.Second right driven pulley 89 is fixed on the low order end of front propeller shaft 67 by key suit, the Two right driven pulleys 89 are engaged by the second right Timing Belt 90 with the second right driving pulley 85 and are connected, can be by right transition wheel shaft 66 Rotary motion passes to front propeller shaft 67.Left front steering bevel gear 91 is fixed on the left end of front propeller shaft 67 by key suit, left Engage each other between the input bevel gear 51 of the directive wheel 7 of front steering bevel gear 91 and left front, can be by the rotation of front propeller shaft 67 Motion passes to the support rotating shaft 49 of the directive wheel 7 of left front.Right front steering bevel gear 92 is fixed on driving front by key suit The right-hand member of axle 67, engages each other between the input bevel gear 51 of the directive wheel 7 of right front steering bevel gear 92 and right front, can be by forward pass The rotary motion of moving axis 67 passes to the support rotating shaft 49 of the directive wheel 7 of right front.Left front steering bevel gear 91, right front steering cone Installation direction on axle for the gear 92 with the first right bevel gear 75 identical it is ensured that the support rotating shaft 49 of two directive wheels 7 in front Direction of rotation is identical with the drive shaft 43 driving transfer 2.

Inter-axle shaft 68 assembly includes inter-axle shaft 68, the 3rd left bearing 93, the 3rd left shaft holder 94, the second left driven belt Wheel the 95, second left Timing Belt 96, left back steering bevel gear 97 and right rear steering bevel gear 98.3rd left shaft holder 94 is fixed on car The bottom both sides of frame 1 rear frame, inter-axle shaft 68 is supported on the 3rd left shaft holder 94, inter-axle shaft by the 3rd left bearing 93 Can relatively rotate between 68 and vehicle frame 1.Second left driven pulley 95 is fixed on the high order end of inter-axle shaft 68 by key suit, the Two left driven pulleys 95 are engaged by the second left Timing Belt 96 with the second left driving pulley 80 and are connected, can be by left transition wheel shaft 65 Rotary motion passes to inter-axle shaft 68.Left back steering bevel gear 97 is fixed on the left end of inter-axle shaft 68 by key suit, left Engage each other between the input bevel gear 51 of the directive wheel 7 of rear steering bevel gear 97 and left back, can be by the rotation of inter-axle shaft 68 Motion passes to the support rotating shaft 49 of the directive wheel 7 of left back.Right rear steering bevel gear 98 is driven after being fixed on by key suit The right-hand member of axle 68, engages each other between the input bevel gear 51 of the directive wheel 7 of right rear steering bevel gear 98 and right back, can be by rear biography The rotary motion of moving axis 68 passes to the support rotating shaft 49 of the directive wheel 7 of right back.Left back steering bevel gear 97, right rear steering cone Installation direction on axle for the gear 98 identical with the first left angular wheel 71 it is ensured that the support rotating shaft 49 of two directive wheels 7 in rear Direction of rotation is identical with the drive shaft 43 driving transfer 2.

As shown in Figure 10,11 and 14, cross rail 99 includes cross track 99A orthogonal in the same plane and indulges The carrying of two groove type tracks 100 being parallel to each other is included respectively on track 99B, cross track 99A and long rails 99B Orbital plane 103, the recess width of groove type track 100 keeps constant.In non-right-angled intersection position, the width of cross track 99A It is adapted with the width of rail-mounted vehicle 0, that is, straight between the groove center line of two groove type tracks 100 in cross track 99A Air line distance between directive wheel 7 center is equal between 0 two front jockey wheels 7 of linear distance and rail-mounted vehicle or after two； The width of long rails 99B is adapted with the length of described rail-mounted vehicle 0, i.e. two groove type tracks in long rails 99B The front jockey wheel 7 of the air line distance between 100 two groove center lines and rail-mounted vehicle 0 the same side and rear directive wheel 7 center it Between air line distance equal.The axis of bilateral wing wheel 56 is more than the main wheel half of bilateral wing wheel 56 to the distance between base track bottom 101 Footpath, the main wheel of bilateral wing wheel 56 rolls guiding in groove type track 100 but described main wheel is not contacted with base track bottom 101, double The axis of side wing wheel 56 is equal to the wing wheel radius of bilateral wing wheel 56, the wing of bilateral wing wheel 56 to the distance between bearing track face 103 Wheel rolls on bearing track face 103 and carries.In the present invention, the director element of bilateral wing wheel 56 and track 99 and load-carrying unit phase Separate, advantageously reduce the abrasion of director element, extend the working life of rail-mounted vehicle.Drive the left side in transfer 2 The axis of driving wheel 14 and right driving wheel 21 is equal to left driving wheel 14 and right driving wheel 21 to the distance between bearing track face 103 Radius, left driving wheel 14 and right driving wheel 21 actively roll on bearing track face 103 and provide driving force.

As shown in figure 11, in right-angled intersection position, on two orthogonal cross track 99A and long rails 99B four Groove type track 100 intersection is respectively equipped with the fixed crossroad 104 of four entirety.As shown in figure 12, groove type track 100 Recess width become larger until the track side 102 of two orthogonal groove type tracks 100 pools one along 45° angle direction Line, bearing track face 103 disappears, and forms one kind centered on right-angled intersection center, the main wheel that the length of side is more than bilateral wing wheel 56 is straight The square crossing bottom land 105 in footpath.As shown in figure 13, base track bottom 101 is during crossing bottom land 105, base track The height at bottom 101 gradually rises, until crossing bottom land 105 is contacted with the main wheel of bilateral wing wheel 56, the main wheel of bilateral wing wheel 56 Crossing bottom land 105 rolls and carries but no guide effect, the wing wheel of bilateral wing wheel 56 is contactless with bearing track face 103.As Shown in Figure 11,12 and 13, the track side 102 of groove type track 100 disappear and bilateral wing wheel 56 main wheel and crossing bottom land 105 contact, and this structure is conducive to directive wheel 7 rotating in place in overall fixed crossroad 104, now crossroad 104 is fixed.The axis of left driving wheel 14 and right driving wheel 21 is equal to left driving to the distance between bearing track face 103 Wheel 14 and the radius of right driving wheel 21, left driving wheel 14 and right driving wheel 21 actively roll on bearing track face 103 and provide Driving force.

As shown in figure 14, in right-angled intersection position, on two orthogonal cross track 99A and long rails 99B four Groove type track 100 intersection is respectively equipped with the rotary crossroad 106 of four separation.As shown in Figure 15 and 17, separate and rotate Formula crossroad 106 includes crossing rotating disk 107, crossing index dial 108, index dial bearing 109, cam follower 110, push rod spring 111 and push rod bearing 112.Crossing rotating disk 107 is a truncated cone-shaped structure, the carrying of the upper surface of crossing rotating disk 107 and track 99 Orbital plane 103 has identical height, and upper surface has two orthogonal and track 99 identical groove type tracks 100, and can be with The groove type track 100 of track 99 is accurately docked.Therefore, directive wheel 7 carries shape in the rolling separating rotary crossroad 106 State is identical with single track 99, and the main wheel of bilateral wing wheel 56 is embedded in groove type track 100 and rolls guiding, the wing of bilateral wing wheel 56 Wheel rolls on bearing track face 103 and carries.

As shown in FIG. 16 and 17, crossing index dial 108 is the truncated cone-shaped structure of one side strap cam curved surface, crossing index dial There is a center round platform 108 upper surface, and there is a center hole lower surface.The center hole coaxial sleeve of crossing rotating disk 107 lower surface It is loaded on the center round platform of crossing index dial 108 and be connected by screw.Crossing index dial 108 is supported by index dial bearing 109 On the round platform of guide rail ground 113, can relatively rotate between crossing index dial 108 and guide rail ground 113.Push rod bearing 112 exists One ladder centre bore is had on length direction, the bottom surface of push rod bearing 112 is fixed on the guide rail ground 113 immediately below track 99, Axis that is parallel with track 99 and pointing to crossing index dial 108.Cam follower 110 is a multidiameter, and left section of big axle is nested in In the central major aperture of push rod bearing 112, can move axially along central major aperture, between big axial end and central major aperture bottom surface, compress one Push rod spring 111, in the presence of push rod spring 111 thrust, right section of little axle passes through the central small hole of push rod bearing 112, And little axial end is pressed in the side of crossing index dial 108 and keeps contacting.

As shown in Figure 15,16 and 17, it is 90 ° in the spaced of two groove type track 100 indications of crossing rotating disk 107 Four direction on, the side of crossing index dial 108 has the cam curved surface of the ascending change of one section of radius, cam curved surface respectively Maximum radius identical with the radius of crossing rotating disk 107, cam curved surface to central angle be less than 90 °, between four sections of cam curved surfaces It is connected by the face of cylinder of maximum radius.When the groove type track 100 of crossing rotating disk 107 and the groove type track 100 of track 99 are right Qi Shi, in the presence of push rod spring 111 thrust, in the little axial end of cam follower 110 and crossing index dial 108 side The cam curved surface of minor radius contacts, and now crossing rotating disk 107 cannot rotate clockwise.When crossing rotating disk 107 rotates counterclockwise When, the radius of cam curved surface changes from small to big, and under the promotion of cam curved surface, cam follower 110 is retracted along push rod bearing 112, top Bar spring 111 is compressed further.Because two groove type tracks 100 are orthogonal, the central angle between four sections of cam curved surfaces is 90 °, When the integral multiple of 90 ° of crossing rotating disk 107 rotate counterclockwise, the groove type track 100 of crossing rotating disk 107 and the groove of track 99 Shape track 100 total energy keeps alignment, and the little axial end of cam follower 110 is slided 90 ° along cam curved surface and its connected face of cylinder Afterwards, in the presence of push rod spring 111 thrust, can insert at the least radius of next section of cam curved surface again.

In the present invention, the rail layout method of cross rail includes individual layer warehouse layout, crossroad positioning layout With tiered warehouse facility integral layout.As shown in figure 18, individual layer warehouse layout is：N × M shelf structure is connected by cross rail Become a kind of individual layer warehouse of N row M row；It is uniformly arranged several storing grids 116 in shelf, in each storing grid 116 The storage tank 117 of a dimensional standard can be placed, storage tank 117 can be placed into rail-mounted vehicle 0 by goods transfer mechanism Front storing bin 1A or rear storing bin 1B, or it is placed into storing grid 116 from rail-mounted vehicle 0.

As shown in Figures 18 and 19, tiered warehouse facility integral layout is：Connect the high level of N × M H layer by cross rail Shelf 114 may make up a kind of tiered warehouse facility of N row M row H layer, and N bar cross track 99A correspond to N number of High Level Rack 114 structure respectively Become M row shelf, M bar long rails 99B correspond to M High Level Rack 114 and respectively constitutes N crudely-made articles frame.Every in High Level Rack 114 It is uniformly arranged several storing grids 116 in one layer, the storage tank of a dimensional standard in each storing grid 116, can be placed 117, storage tank 117 can be placed into the front storing bin 1A or rear storing bin 1B of rail-mounted vehicle 0 by goods transfer mechanism, or from Rail-mounted vehicle 0 is placed into storing grid 116.Right-angled intersection position in the first cross track 99A and first longitudinal direction track 99B Front be provided with a lowering or hoisting gear 115, the end face that carries of lowering or hoisting gear 115 is had with the bearing track face 103 of long rails 99B There is an identical height, carrying end face has two parallel and long rails 99B identical groove type tracks 100, and can be with longitudinal rail The groove type track 100 of road 99B is accurately docked.Therefore, directive wheel 7 carries in the rolling carrying on end face of lowering or hoisting gear 115 State is identical with long rails 99B, and rail-mounted vehicle 0 can be directly entered lowering or hoisting gear 115 by long rails 99B.In reality In application process, the set location of lowering or hoisting gear 115 can be adjusted according to field layout.

As shown in figure 20, the feature of crossroad positioning layout is：Each track 99 is converging formation right-angled intersection position Before putting, the longitudinal centre line of cross track 99A arranges a RFID label tag 118, in the transverse center of long rails 99B The both sides of line are arranged symmetrically two RFID label tag 118, A, the C1 on long rails 99B on cross track 99A in such as Figure 20 and C2.RFID label tag 118 records path number and the topological relation of orthogonal four track 99, can be the crossing of rail-mounted vehicle 0 Course changing control provides foundation.Point o in one centre spot 119A of center arrangement of right-angled intersection position, such as Figure 20, and It is arranged symmetrically four gateway anchor point 119B in center surrounding, be located at longitudinal centre line and the longitudinal direction of cross track 99A respectively Point a, b, c, d on the cross central line of track 99B, in such as Figure 20.When rail-mounted vehicle 0 passes through ten along a certain bar track 99 During word crossover location, rail-mounted vehicle 0 central lower alignment sensor 29 can centering entry fix 119B, center be fixed successively Site 119A and exit fix 119B, as shown in figure 20, when rail-mounted vehicle 0 passes through cross along left side cross track 99A During crossover location, alignment sensor 29 can centering entry fix a, centre spot o and exit fix b successively.Work as positioning During sensor 29 centering entry fix 119B, rail-mounted vehicle 0 be located at front and back directive wheel 7 will simultaneously enter whole The fixed crossroad of body 104 or the position separating rotary crossroad 106, as shown in figure 20, when alignment sensor 29 is looked for During positive entry fix a, directive wheel will simultaneously enter square crossing bottom land.When alignment sensor 29 centering centre spot During 119A, rail-mounted vehicle 0 is located at the center of right-angled intersection position, and the directive wheel 7 of front and back is also located at four crossway simultaneously The center of mouth, as shown in figure 20, as alignment sensor centering centre spot o, directive wheel is located at square crossing groove simultaneously The center at bottom.As alignment sensor 29 centering exit fix 119B, rail-mounted vehicle 0 is located at the directive wheel of front and back 7 positions that will simultaneously leave crossroad, as shown in figure 20, as alignment sensor centering exit fix b, directive wheel is Square crossing bottom land will be left simultaneously.

In the present invention, the control method of rail-mounted vehicle automatic running on cross rail, run control including single track System, crossing course changing control and interlayer transfer control Three models.As shown in figs. 18, single track runs control model detailed process For：

1), when rail-mounted vehicle 0 enters a certain bar track 99, right-angled intersection position is read by RFID sensor 6 and goes out RFID label tag 118 at mouthful, the path number of identification current orbit 99, control device 5 is according to built-in electronic chart and target Station, determines the traffic direction in rail-mounted vehicle 0 in rail 99, and by power battery pack 4 for driving transfer 2 to provide electricity Can, drive rail-mounted vehicle 0 to travel along track 99.Drive the main clutch 35 of transfer 2 and be in separation from clutch 46 State, the direction of motion of directive wheel 7 is constrained by track 99, unrelated with drive module 8, and directive wheel 7 and drive module 8 are in asynchronous State of a control.The main wheel of bilateral wing wheel 56 is embedded in groove type track 100 and rolls guiding, and the wing wheel of bilateral wing wheel 56 is in bearing rail Roll on road face 103 and carry, control left driving wheel 14 identical with the velocity attitude of right driving wheel 21, equal in magnitude, controlled with synchronized Mode processed actively rolls on bearing track face 103 and provides driving force.

2) if needing in rail-mounted vehicle 0 in rail 99 to change traffic direction, rail-mounted vehicle 0 first stops, main clutch Device 35 and separating from clutch 46, directive wheel 7 and drive module 8 are in asynchronous controlling state.Control left driving wheel 14 and right drive The velocity attitude of driving wheel 21 is contrary, equal in magnitude, in differential control mode, drive module 8 is rotated in place.Passed by angle Sensor 41 measures the corner φ between drive module 8 and vehicle frame 1 in real time, stops the former of drive module 8 when corner φ changes 180 ° Ground rotation.Again rail-mounted vehicle 0 is restarted by the synchronized control of left driving wheel 14 and right driving wheel 21, then rail-mounted vehicle 0 travels along with originally contrary traffic direction.

As shown in Figure 18,20 and 21, crossing steering control mode detailed process is：

1), when rail-mounted vehicle 0 is close to some right-angled intersection position, right-angled intersection is read by RFID sensor 6 The RFID label tag 118 of position porch, the orthogonal path number of four tracks 99 in identification front and topological relation, control device 5 according to built-in electronic chart and aiming station, determines the operational mode in right-angled intersection position for the rail-mounted vehicle 0, including for Straight trip, left-hand rotation and three kinds of right-hand rotation.As shown in figure 20, rail-mounted vehicle 0 along left side cross track 99A close to right-angled intersection position When, it is A by the path number that RFID label tag A of porch understands current orbit, the path topology relation of right-angled intersection position For A-D-B-C counterclockwise.Assume that next paths determining through path planning are track C, then rail-mounted vehicle is handed in cross Vent is put and be turned left.

2), after RFID sensor 6 reads the RFID label tag 118 of porch, entrance is detected to alignment sensor 29 fixed Before the 119B of site, the corner φ between drive module 8 and vehicle frame 1 is measured in real time by angular transducer 41, if corner φ is not Be zero, then drive the main clutch 35 of transfer 2 and be in released state from clutch 46, the motion state of directive wheel 7 with Drive module 8 is unrelated, control left driving wheel 14 identical with the velocity attitude of right driving wheel 21, differ in size, by differential control Constantly eliminate corner φ.If corner φ is zero, drives the main clutch 35 of transfer 2 and be in combination from clutch 46 State, the direction of motion of directive wheel 7 is identical with drive module 8, controls the velocity attitude phase of left driving wheel 14 and right driving wheel 21 Same, equal in magnitude, provide driving force by synchronized control.

3), after alignment sensor 29 detects entry fix 119B to before centre spot 119A is detected, Multiple directive wheels 7 simultaneously enter crossroad.Main clutch 35 and from clutch 46 keep combine, the direction of motion of directive wheel 7 Identical with drive module 8, directive wheel 7 and drive module 8 are in Synchronization Control state.By left driving wheel 14 and right driving wheel 21 Synchronized control driving force is provided.As shown in Figures 12 and 13, for overall fixed crossroad 104, bearing track face 103 by Fade mistake, and the height at base track bottom 101 gradually rises, and the main wheel of bilateral wing wheel 56 rolls carrying but nothing on crossing bottom land 105 Guide effect, the wing wheel of bilateral wing wheel 56 is contactless with bearing track face 103, and the guiding of rail-mounted vehicle 0 relies on inertia.As figure Shown in 15 and 17, for separating rotary crossroad 106, the upper surface of crossing rotating disk 107 and its groove type track 100 keep Constant, the main wheel of bilateral wing wheel 56 is embedded in groove type track 100 and rolls guiding, and the wing wheel of bilateral wing wheel 56 is in bearing track face Roll on 103 and carry, the guiding of rail-mounted vehicle 0 relies on track 99.

4), when alignment sensor 29 detects centre spot 119A,

If the operational mode of rail-mounted vehicle 0 is straight trip, original motion state is kept to continue to run with.

If the operational mode of rail-mounted vehicle 0 is to turn left, rail-mounted vehicle 0 stops immediately and is centrally positioned positioning Point 119A.The velocity attitude of control left driving wheel 14 and right driving wheel 21 is contrary, equal in magnitude, makes drive module 8 former counterclockwise Ground rotation, measures the corner φ between drive module 8 and vehicle frame 1 by angular transducer 41, in real time until corner φ reaches -90 ° Stop rotating in place of drive module 8.Main clutch 35 and combining from clutch 46, will drive mould by guiding lazy-tongs 3 The rotary motion of block 8 synchronously passes to four directive wheels 7.As shown in Figures 12 and 13, for overall fixed crossroad 104, Four directive wheels 7 rotate in place at the center of square crossing bottom land 105, due to the ground of groove type track 100 simultaneously counterclockwise Trackside face 102 expands and no guide effect along 45° angle direction, and overall fixed crossroad 104 maintains static.As Figure 15,16 With shown in 17, for separate rotary crossroad 106, because the main wheel of bilateral wing wheel 56 is embedded in the upper end of crossing rotating disk 107 In the groove type track 100 in face, crossing rotating disk 107 rotates with directive wheel 7 simultaneously.

If the operational mode of rail-mounted vehicle 0 is to turn right, rail-mounted vehicle 0 stops immediately and is centrally positioned positioning Point 119A, then process respectively for two kinds of situations.As shown in Figures 12 and 13, for overall fixed crossroad 104, control left The velocity attitude of driving wheel 14 and right driving wheel 21 is contrary, equal in magnitude, so that drive module 8 is rotated in place clockwise, by angle Degree sensor 41 measures corner φ between drive module 8 and vehicle frame 1 in real time, until corner φ reaches 90 °, main clutch 35 and from Clutch 46 combines, and drive module 8 is passed through to guide the synchronous right-hand rotation of lazy-tongs 3 drive directive wheel 7, overall fixed crossroad 104 maintain static.As shown in Figure 15,16 and 17, for separating rotary crossroad 106, because crossing rotating disk 107 can only be inverse Hour hands rotate, and the velocity attitude of control left driving wheel 14 and right driving wheel 21 is contrary, equal in magnitude, makes drive module 8 counterclockwise Rotate in place -270 °, main clutch 35 and combining from clutch 46, drive module 8 is passed through to guide lazy-tongs 3 and is driven directive wheel 7 rotate in place counterclockwise, and crossing rotating disk 107 rotates with directive wheel 7 simultaneously.

5), after alignment sensor 29 detects centre spot 119A to before exit fix 119B is detected, If the operational mode of rail-mounted vehicle 0 is straight trip, original motion state is kept to continue to run with；If rail-mounted vehicle (0) Operational mode is to turn left or turn right, and controls left driving wheel 14 identical with the velocity attitude of right driving wheel 21, equal in magnitude, again opens Dynamic rail-mounted vehicle 0 runs along the orthogonal track in left/right side, provides driving force by synchronized control, main clutch 35 and from from Clutch 46 combines, and directive wheel 7 and drive module 8 are in Synchronization Control state.

6), after alignment sensor 29 detects exit fix 119B, multiple directive wheels 7 leave four crossway simultaneously Mouthful.Main clutch 35 and separating from clutch 46, directive wheel 7 and drive module 8 are in asynchronous controlling state, by left driving wheel 14 and the synchronized control of right driving wheel 21 driving force is provided.As shown in Figures 12 and 13, for overall fixed crossroad 104, The height at base track bottom 101 is gradually lowered, and track side 102 pools new groove type track 100, groove along 45° angle direction The recess width of shape track 100 tapers into, and forms a " V " shape guide frame.The main wheel of bilateral wing wheel 56 is at square crossing When rolling carrying on bottom land 105, enter new groove type track 100, the height at base track bottom 101 along above-mentioned " V " shape guide frame Degree is gradually lowered, and the wing wheel of bilateral wing wheel 56 contacts and roll carrying with new bearing track face 103, and main wheel is embedded in groove type ground Guiding is rolled in rail 100.As shown in Figure 15 and 17, for the rotary crossroad 106 of separation, the upper surface of crossing rotating disk 107 And its groove type track 100 keeps constant, accurately dock with the groove type track 100 of new track 99, the rolling of rail-mounted vehicle 0 Dynamic loaded state is constant, and the main wheel of bilateral wing wheel 56 is embedded in groove type track 100 and rolls guiding, and the wing wheel of bilateral wing wheel 56 exists Roll on bearing track face 103 and carry.

As shown in Figures 18 and 19, the detailed process of interlayer transfer control model is：

1) the RFID mark at some storing grid 116 or right-angled intersection position gateway, is read by RFID sensor 6 Label 118, the current station information in the path number of identification current orbit 99 and cross track 99A, control device 5 is according to interior The electronic chart put, with the right-angled intersection position of the first cross track 99A and first longitudinal direction track 99B as target, plans rail The running route of waggon 0, determines traffic direction on single track 99 for the rail-mounted vehicle 0 and in right-angled intersection position Operational mode.

2), control model is run by above-mentioned single track and crossing steering control mode guides rail-mounted vehicle 0 to reach first Cross track 99A and the right-angled intersection position of first longitudinal direction track 99B, and then enter coupled lowering or hoisting gear 115.Lifting The end face that carries of device 115 has two parallel and long rails 99B identical groove type tracks 100, the master of bilateral wing wheel 56 Wheel is embedded in groove type track 100 and rolls guiding, and the wing wheel of bilateral wing wheel 56 rolls on carrying end face and carries, by left driving The synchronized control of wheel 14 and right driving wheel 21 provides driving force.Read right-angled intersection position exit in RFID sensor 6 After RFID label tag 118, during the anchor point 119 of carrying end face center of alignment sensor 29 centering lowering or hoisting gear 115, rail is defeated Car 0 is sent to stop, then rail-mounted vehicle 0 enters lowering or hoisting gear 115.

3), rail-mounted vehicle 0 is transported to the level of aiming station place tiered warehouse facility by lowering or hoisting gear 115, then passes through Lowering or hoisting gear 115 is left in the right-angled intersection position of this layer the first cross track 99A and first longitudinal direction track 99B, using single track fortune Row control model and crossing steering control mode guiding rail-mounted vehicle 0 reach aiming station.

The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's Protection domain.

Claims (5)

1. a kind of cross rail for rail-mounted vehicle it is characterised in that：Including a plurality of cross track (99A) with longitudinally Track (99B), cross track (99A) and long rails (99B) are mutually orthogonal in the same plane, described cross track (99A) With two groove type tracks (100) being parallel to each other and bearing track face (103) are all included on long rails (99B), described hold Carry orbital plane (103) to be used for carrying directive wheel (7) and the driving wheel (14,21) of rail-mounted vehicle；In non-right-angled intersection position, Air line distance between the groove center line of two groove type tracks (100) and rail-mounted vehicle (0) two in cross track (99A) Air line distance between front or rear directive wheel (7) center is equal, and in long rails (99B), two groove type tracks (100) is recessed Between the front jockey wheel (7) of the air line distance between groove center line and rail-mounted vehicle (0) the same side and rear directive wheel (7) center Air line distance is equal；Four on right-angled intersection position, mutually orthogonal cross track (99A) and long rails (99B) recessed Flute profile track (100) intersection is respectively equipped with four for the fixed crossroad of entirety (104) that rail-mounted vehicle (0) turns to Or separate rotary crossroad (106), the fixed crossroad (104) of described entirety or separate rotary crossroad (106) directive wheel (7) of rail-mounted vehicle is allowed to overcome the restriction of groove type track (100) to carry out pivot stud.

2. according to claim 1 be used for rail-mounted vehicle cross rail it is characterised in that：Described entirety is fixed Crossroad (104) is the recess width of the groove type track (100) being located at right-angled intersection position in two orthogonal trajectory (99) Become larger along 45° angle direction, bearing track face (103) fade away and converge being aligned, composition with right-angled intersection center be Center, the length of side are more than square crossing bottom land (105) of main wheel diameter in the bilateral wing wheel (56) of rail-mounted vehicle (0)；Described The base track bottom (101) of groove type track (100) gradually rises up to crossing bottom land to the height between crossing bottom land (105) (105) arrive the main wheel half that the distance between bilateral wing wheel (56) axis of rail-mounted vehicle (0) is equal to or less than bilateral wing wheel (56) Footpath.

3. according to claim 1 be used for rail-mounted vehicle cross rail it is characterised in that：Described separation is rotary Crossroad (106) includes crossing rotating disk (107), crossing index dial (108) and rotation control mechanism；Described crossing rotating disk (107) it is truncated cone-shaped structure, the upper surface at described crossing rotating disk (107) is contour with bearing track face (103), described crossing rotating disk (107) upper surface be provided with two orthogonal and with track (99) identical groove type track (100), and can be recessed with track (99) Flute profile track (100) is docked；Described crossing rotating disk (107) lower surface is connected with crossing index dial (108), crossing index dial (108) it is bearing on guide rail ground (113), can relatively rotate and guide rail ground (113) between；In crossing rotating disk (107) upper two The spaced of bar groove type track (100) indication is on 90 ° of four direction, and the side of crossing index dial (108) is four sections The cam curved surface of the ascending change of radius corresponding with its position, the maximum radius of described cam curved surface and crossing rotating disk (107) radius is identical, cam curved surface to central angle be less than 90 °；Described rotation control mechanism is fixed on guide rail ground (113) on, rotation control mechanism is provided with an expansion end, and described expansion end is connect with the side elastic of crossing index dial (108) Touch.

4. described in a kind of any one of claims 1 to 3, it is used for the layout method of the cross rail of rail-mounted vehicle, its feature It is：Including individual layer warehouse layout and crossroad positioning layout, described individual layer warehouse layout is：

1), N × M shelf are connected by cross rail (99) and constitute a kind of individual layer warehouse of N row M row；

2) in shelf, it is uniformly arranged several storing grids (116)；

Described crossroad positioning layout is：When each track (99) is before converging formation right-angled intersection position, horizontal A RFID label tag (118) is arranged, the two of the cross central line of long rails (99B) on the longitudinal centre line of track (99A) Side is arranged symmetrically two RFID label tag (118), the path of four orthogonal tracks (99) of described RFID label tag (118) record storage Numbering and topological relation；In one centre spot (119A) of center arrangement of right-angled intersection position and symmetrical in center surrounding Four gateway anchor points (119B) of arrangement, are located at the longitudinal centre line of cross track (99A) and long rails (99B) respectively On cross central line.

5. the layout method of cross rail being used for rail-mounted vehicle according to claim 4 is it is characterised in that also wrap Include tiered warehouse facility integral layout：

1), a kind of three-dimensional storehouse of N row M row H layer is constituted by the High Level Rack that cross rail (99) connects N × M H layer Storehouse, N bar cross track (99A) correspond to N number of High Level Rack and respectively constitutes M row shelf, and M bar long rails (99B) correspond to M High Level Rack respectively constitutes N crudely-made articles frame；

2), it is uniformly arranged several storing grids (116) in each layer of High Level Rack；

3), first or the last item cross track (99A) and any one long rails (99B) or first or the last item Outside setting lowering or hoisting gear (115) of the right-angled intersection position of long rails (99B) and any one cross track (99A), rises The carrying end face of falling unit (115) is contour with the bearing track face (103) of long rails (99B) and cross track (99A), described Carrying end face has two parallel and long rails (99B) or cross track (99A) identicals groove type track (100), and with Groove type track (100) docking of long rails (99B) or cross track (99A).