CN104555308B - Rail transporting car, rail and control method - Google Patents
Rail transporting car, rail and control method Download PDFInfo
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- CN104555308B CN104555308B CN201410723045.1A CN201410723045A CN104555308B CN 104555308 B CN104555308 B CN 104555308B CN 201410723045 A CN201410723045 A CN 201410723045A CN 104555308 B CN104555308 B CN 104555308B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007514 turning Methods 0.000 claims abstract description 55
- 230000008569 process Effects 0.000 claims abstract description 3
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- 238000005259 measurement Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000004899 motility Effects 0.000 abstract description 3
- 239000002184 metal Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention discloses a rail transporting car and belongs to the field of automatic transporting equipment. The rail transporting car comprises a car frame, and a driving steering device, a control device, an RFID (radio frequency identification devices) sensor and universal wheels which are arranged on the car frame, wherein elastic guiding wheels are arranged on the four side surfaces of the car frame and perpendicular to the car frame, the RFID sensor, a positioning sensor and a swaying sensor are electrically connected with the control device, and the control device controls the locking and running state of the driving steering device. The rail transporting car is simple in structure, can fast steer at the crossroad, and can drive along the outer side of an arc to achieve the turning of the rail transporting car, thus improving the motility and the running efficiency of the rail transporting car. The invention further provides a rail used for the rail transporting car and a control method of the rail transporting car. The rail is compact in structure and convenient to arrange, and the rail transporting car is simple in controlling process.
Description
Technical field
The present invention relates to a kind of rail-mounted vehicle, be especially a kind of for goods conveying, can be in cross rail
Shuttle rail-mounted vehicle, track and control method mobile and that can turn along arc orbit, 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 probability 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 motility 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, work 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 rail linear running formula shuttle is generally only
Can travel along the rectilinear orbit of laying it is impossible to turning or running on cross rail.In order that linear running formula shuttle
The operation needs of existing automated warehouse storage system can be met, generally using following two technical schemes in prior art: first,
Respectively a shuttle is used, this not only greatly increases the equipment cost of system, also results in shuttle in each layer, the tunnel of each row
Car utilization rate is low, idle to be wasted seriously；Second, comprehensively use lane stacker and shuttle, the horizontal movement side of piler
To, piler group by walking in a horizontal state, Lifting carrying load bed and retractable fork perpendicular with the linear movement direction of shuttle
Conjunction action is carried to shuttle and its goods, shuttle is shifted in vertical direction different warehousing layers or in level
Shift in different warehousing tunnels on direction, this undoubtedly increases the equipment expenditure of automated warehouse storage system, greatly reduces storage effect
Rate.
On September 25th, 2014, the Application No. 201410495927.7 of applicant in this case's earlier application, entitled cross is worn
In shuttle-type rail-mounted vehicle and control method application for a patent for invention, its rail-mounted vehicle includes vehicle frame, drives transfer, guiding
Lazy-tongs, control device, rfid sensor and the directive wheel along track travel；Control device, driving transfer are arranged on
On vehicle frame；Control device connects and controls driving transfer to run；Directive wheel is arranged on vehicle frame, and rfid sensor is arranged on
Electrically connect with control device on vehicle frame；Guiding lazy-tongs be fixedly mounted on vehicle frame and respectively with drive transfer, guiding
Wheel engagement connects, and drives transfer to drive rail-mounted vehicle orbiting and can control directive wheel by guiding lazy-tongs
Rotation and the anglec of rotation.This invention rail-mounted vehicle can be mutually perpendicular between track freely change movement side in the same plane
To, enhance motion mobility and the motility of rail-mounted vehicle, greatly increase the operation work efficiency of rail-mounted vehicle,
Meet the demand of automated warehousing industry.But the driving transfer of its rail-mounted vehicle and guiding lazy-tongs composition are multiple
Miscellaneous, cross steering procedure is loaded down with trivial details, equally complicated with the track structure that it uses cooperatively, and laying is difficult；Additionally, above-mentioned tracked transportation
Car cannot be turned in bend, lead to it cannot run in specific storage occasion and use.
Content of the invention
The technical problem to be solved is to overcome prior art defect, provides one kind can be in cross rail
Two orthogonal directions carry out shuttling mobile and can turn the rail-mounted vehicle running, track and controlling party along arc orbit
Method.
In order to solve above-mentioned technical problem, the rail-mounted vehicle that the present invention provides, including vehicle frame and be arranged on vehicle frame
Drive transfer, control device, rfid sensor and universal wheel；Described control device electrical connection drives transfer and controls
It runs；Described rfid sensor is 2, is symmetrically mounted on the both sides of vehicle frame and electrically connects with control device；Described vehicle frame
Surrounding side is respectively mounted the elastic guide wheel perpendicular with vehicle frame.
In the present invention, described elastic guide wheel includes bracing frame, rocking lever and side wheel；Described rocking lever and bracing frame
Between axially connect, described rocking lever can swing with respect to bracing frame around connecting axis；One end of described rocking lever is installed can
The side wheel rotating with respect to rocking lever, the other end of described rocking lever is passed through elastic hold-down mechanism and is connected with bracing frame, institute
State on bracing frame installation oscillation gauge, described oscillation gauge is contacted with elastic hold-down mechanism, described oscillation gauge and control
Device electrical connection processed.
In the present invention, the described clutch steering module driving transfer to include drive module and be connected with drive module；
Described drive module includes vertical rotation axis and horizocardia axle, and described vertical rotation axis and horizocardia axle are orthogonal to the axis of horizocardia axle
Midpoint；Described horizocardia axle two ends are respectively mounted the driving wheel of independent driving；Fixing peace on the axis midpoint of described horizocardia axle
Set level sensor, described alignment sensor is electrically connected with control device.
In the present invention, described clutch steering module includes vertical rotation axis and the measurement rotating shaft of installation parallel with vertical rotation axis；
Described vertical rotation axis drive measurement axis of rotation, the coaxially connected angular transducer of described measurement rotating shaft, described angular transducer with
Control device electrically connects；Install on described vertical rotation axis from clutch, described from clutch can along the axial movement of vertical rotation axis,
Described being co-axially mounted above clutch can contact or detached main clutch with from clutch.
Present invention also offers the track running for above-mentioned rail-mounted vehicle, including the horizontal stroke of orthogonal intersection in same plane
To track and long rails, the width of described cross track is equal with the width of rail-mounted vehicle, the width of described long rails
Equal length with rail-mounted vehicle；Described cross track and long rails are by track and the siding track group of standing on track both sides
Become；
In decussation position, the width of described cross track and long rails forms circular arc to outer arc to expansion respectively,
The catercorner length with diameter greater than vehicle frame of described circular arc, described cross track and long rails pass through between adjacent siding track circular arc
Siding track connects；In described cross track and long rails, intersecting track, siding track and circular arc siding track form crossroad；Described horizontal stroke
Anchor point is set to the point of intersection of track and long rails centrage, described anchor point surrounding is arranged symmetrically multiple rfid labels,
Described rfid label is located at centrage, the long rails/cross track centrage symmetrical two of cross track/long rails respectively
Side, and be respectively positioned on outside circular arc；The distance between described long rails/symmetrical both sides of cross track centrage are equal to vehicle frame both sides
The distance between rfid sensor；
In circular arc turning position, the turning interorbital of two orthogonal intersection is connected by arc orbit, described turning rail
Road by track and stands on the siding track of track both sides and forms, and the width of described turning track is equal to the width/length of rail-mounted vehicle
Degree；Described arc orbit includes circular arc track and the outer siding track of circular arc, and described circular arc track is connected with the track of two turning tracks,
The outer siding track of described circular arc is connected with the outer siding track of two turning tracks, and the width of described arc orbit is more than the width of rail-mounted vehicle
Degree/length, the central angle of the outer siding track of described circular arc is 90 °, the chord length of the outer siding track of described circular arc be more than the length of rail-mounted vehicle/
Width；In circular arc track with the track centrage of the junction of the track of two turning tracks/track centrage both sides are symmetrical
Setting rfid label.
In the present invention, described arc orbit includes siding track in circular arc, and in described circular arc, siding track and two turning tracks is interior
Transition siding track is connected, in described circular arc, the central angle of siding track is 90 °, in described circular arc, the radius of siding track is defeated more than rail between siding track
Send the width/height of car, described transition siding track is connected in v shape with the interior siding track of siding track in circular arc and turning track.
Present invention also offers the control method of above-mentioned rail-mounted vehicle, run control model, crossroad including single track
Control model and circular arc Servo Control pattern；
Described single track runs control model:
11), when rail-mounted vehicle enters a certain bar track, rfid sensor reads the rfid label in track, identification
Current track information, control device determines rail-mounted vehicle traffic direction in orbit, releases to drive module and vehicle frame phase
To the locking rotating, then keep the thrust of vehicle frame two-side elastic directive wheel equal by the differential control of driving wheel and drive is provided
Power；
12) if rail-mounted vehicle needs to run in rightabout in orbit, rail-mounted vehicle first stops, and controls
The locking that device releasing relatively rotates to drive module and vehicle frame, then by the differential control of driving wheel, make drive module original place
180 ° of rotation, drives rail-mounted vehicle to travel along contrary traffic direction and keep vehicle frame two by the differential control of driving wheel afterwards
The thrust of side elastic guide wheel is equal；
Described crossroad control model is:
21), when rail-mounted vehicle is close to some crossroad, rfid sensor reads the rfid mark at crossroad
Sign, the information of four orthogonal tracks of identification front；Control device determines rail-mounted vehicle operational mode at the parting of the ways, institute
State operational mode to include straight trip, turn left and turn right；First pass through the differential control of driving wheel by the corner between drive module and vehicle frame
φ eliminates zero, relocks relatively rotating of drive module and vehicle frame, makes drive module keep overlapping with vehicle frame, passes through driving afterwards
The differential control of wheel keeps the thrust of vehicle frame two-side elastic directive wheel (3) equal and provides driving force；
22), when the elastic guide wheel of the front both sides of rail-mounted vehicle direction of advance and siding track disengage, control dress
Put relatively rotating of first locking drive module and vehicle frame, then by the synchronized control offer driving force of driving wheel；
23), when alignment sensor detects anchor point:
If the operational mode of rail-mounted vehicle is straight trip, original kinestate is kept to continue to run with；
If the operational mode of rail-mounted vehicle is to turn left or turn right, rail-mounted vehicle first stops and is positioned anchor point；
Control device releases the locking that drive module and vehicle frame are relatively rotated again, makes drive module by the differential control of driving wheel afterwards
Rotate in place -90 ° counterclockwise or rotate in place 90 ° clockwise；
24) before, the elastic guide wheel in the front both sides of rail-mounted vehicle direction of advance is contacted again with siding track:
If the operational mode of rail-mounted vehicle is straight trip, original kinestate is kept to continue to run with；
If the operational mode of rail-mounted vehicle is to turn left or turn right, control device first locks the phase of drive module and vehicle frame
To rotation, then rail-mounted vehicle is restarted along the orthogonal track operation in left/right side by the synchronized control of driving wheel；
25), when the elastic guide wheel of the front both sides of rail-mounted vehicle direction of advance is contacted again with siding track, control dress
Put and first release the locking that drive module and vehicle frame are relatively rotated, then keep the pressure of vehicle frame both sides by the differential control of driving wheel
Clamp force is equal and drives rail-mounted vehicle along rail running.
In the present invention, described circular arc Servo Control pattern is:
31), when rail-mounted vehicle enters a certain bar turning track, rfid sensor reads the rfid label in track,
The orthogonal path number of two turning tracks in identification front and the radius of the outer siding track of circular arc, control device determines rail-mounted vehicle
Radius of turn r on arc orbit；Corner φ between drive module and vehicle frame is eliminated by the differential control first passing through driving wheel
To zero, relock relatively rotating of drive module and vehicle frame, make drive module keep overlapping with vehicle frame, afterwards by the difference of driving wheel
Speed controls the thrust of holding vehicle frame two-side elastic directive wheel equal and provides driving force；
32), when, the elastic guide wheel inside the front of rail-mounted vehicle direction of advance and siding track disengage, control dress
Put relatively rotating of first locking drive module and vehicle frame, then rail-mounted vehicle is made along outside circular arc by the differential control of driving wheel
Rail turning driving；
33), when the elastic guide wheel of the front both sides of rail-mounted vehicle direction of advance is contacted again with siding track, control dress
Put and first release the locking that drive module and vehicle frame are relatively rotated, then keep the pressure of vehicle frame both sides by the differential control of driving wheel
Clamp force is equal and drives rail-mounted vehicle along turning rail running.
In the present invention, described step 32) middle control rail-mounted vehicle specifically controlling along the outer siding track turning driving of circular arc
Cheng Wei:
If the travel speed of rail-mounted vehicle is v, the air line distance between driving wheel is w, and the speed difference δ v of driving wheel is:
R is radius of turn on arc orbit for the rail-mounted vehicle (0)；
When the elastic guide wheel of frame outside is more than the balance of elastic guide wheel and siding track with the thrust of the outer siding track of circular arc
Thrust f0When, then increase the speed difference δ v between driving wheel, make rail-mounted vehicle produce offset movement to inner side；When outside vehicle frame
The elastic guide wheel of side is less than balance thrust f with the thrust of the outer siding track of circular arc0When, then reduce the speed difference δ between driving wheel
V, makes rail-mounted vehicle produce offset movement laterally.
The beneficial effects of the present invention is: (1), rail-mounted vehicle of the present invention and the track structure letter using cooperatively with it
Single, arrangement is convenient, can rapidly turn in right-angled intersection；While realizing right-angled intersection steering, using car
The elastic guide wheel of frame side is coordinated with the siding track of track both sides, by the left driving wheel of drive module and the differential of right driving wheel
Control and so that rail-mounted vehicle is travelled along arc orbit, realize the turning of rail-mounted vehicle, substantially increase the machine of rail-mounted vehicle
Dynamic property, improves rail-mounted vehicle and transports efficiency and range of application；(2), the rail-mounted vehicle of the present invention, because of compact conformation, is being transported
Decrease malfunctioning node during row, reduce the equipment cost of automated warehousing, improve the economy of automated warehousing industry
Efficiency；(3), pass through the elastic guide wheel of vehicle frame side and the siding track cooperation of track both sides facilitating implementation cross steering and turning
While, improve the stability of rail-mounted vehicle operation, prevent rail-mounted vehicle from derailing from track；(4), pass through in circular arc
Siding track in setting circular arc on track, can prevent rail-mounted vehicle from skidding off it is ensured that rail from arc orbit during turning
The operation safety of waggon.
Brief description
Fig. 1 is the overall structure diagram of rail-mounted vehicle in the present invention；
Fig. 2 is the front view driving transfer in the present invention；
Fig. 3 is the side view driving transfer in the present invention；
Fig. 4 is the top view driving transfer in the present invention；
Fig. 5 is the structural representation of elastic directive wheel in the present invention；
Fig. 6 is the side view of elastic directive wheel in the present invention；
Fig. 7 is the top view of cross rail in the present invention；
Fig. 8 is operation schematic diagram in single track for the rail-mounted vehicle in the present invention；
Fig. 9 is operation schematic diagram on cross rail for the rail-mounted vehicle in the present invention；
Figure 10 is operation schematic diagram on circular arc turning track for the rail-mounted vehicle in the present invention；
In figure: 0- rail-mounted vehicle, 1- vehicle frame, 2- drives transfer, 3- directive wheel, 4- universal wheel, and 5-rfid senses
Device, 6- power-supply system, 7- control device, 8- drive module, 9- clutch steering module, 10- chassis, 11- vertical rotation axis, 12- water
Axle according to one's conscience, 13- left driving wheel, the left driven sprocket of 14-, 15- revolver bearing, 16- revolver end cap, the left drive sprocket of 17-, 18- is left
Wheel chain, 19- left driving motor, 20- right driving wheel, the right driven sprocket of 21-, 22- right wheel bearing, 23- right wheel end cap, 24- is right
Drive sprocket, 25- right wheel chain, 26- right driving motor, 27- alignment sensor support, 28- alignment sensor, during 29- carries
Plate, 30- clutch shaft bearing, 31- clutch shaft bearing end cap, 32- first roller gear, from clutch, 34- main clutch, 35- holds 33-
Carry upper plate, 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- bracing frame, 43- rocking lever, 44- lever bolt, 45- lever nut, 46- side wheel, 47-
Side wheel bolt, 48- side wheel nut, 49- side wheel bearing, 50- hold-down bolt, 51- holddown spring, 52- clamp nut, 53- swings
Sensor stand, 54- oscillation gauge, 55- cross track, 56- long rails, 57-rfid label, 58- anchor point, 59- ground
Rail, 60- siding track, 61- circular arc siding track, 62- crossroad, 63- turning track, 64- circular arc track, the outer siding track of 65- circular arc, 66-
Siding track in circular arc, 67- transition siding track.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
As shown in figure 1, the rail-mounted vehicle 0 of the present invention can shuttle on cross rail and realize circular arc turning, bag
Include vehicle frame 1, drive transfer 2, directive wheel 3, universal wheel 4, rfid sensor 5, power-supply system 6 and control device 7.Wherein,
Vehicle frame 1 is a spill frame structure, and middle concave structure is used for installing the platform of goods transfer mechanism, access dimensional standard
Storage tank (not shown).Transfer 2 is driven to be fixedly mounted on immediately below the center of vehicle frame 1, its driving wheel can be along track
59 actively roll and provide driving force for rail-mounted vehicle 0.Four universal wheels 4 are evenly arranged in the down either side in front and back of vehicle frame 1
And be connected, can roll along track 59 and carry.On the surrounding framework of vehicle frame 1, every side is respectively mounted two directive wheels 3, totally eight, right
Answer that directive wheel 3 installation site on side is symmetrical, directive wheel 3 is all perpendicular with vehicle frame 1, and directive wheel 3 can be along track both sides
Siding track 60 rolls guiding, also can be according to compression its pose of degree Automatic adjusument with siding track 60.Two rfid sensors 5 are symmetrical
It is fixedly installed in the down either side in front and back of vehicle frame 1, and electrically connect with control device 7.Control device 7 is fixedly installed in vehicle frame 1
Rear end convex framework, control device 7 memory storage rail-mounted vehicle 0 runs electronic chart and aiming station in depot area, control
Device 7 processed connects driving transfer 2, and control device 7 controls the operation driving transfer 2 to drive rail-mounted vehicle 0.Power supply
System 6 is fixedly installed in the front end convex framework of vehicle frame 1.
As shown in Fig. 2,3 and 4, transfer 2 is driven to include the drive module 8 of lower floor and the clutch steering module 9 on upper strata.
Drive module 8 include chassis 10, vertical rotation axis 11, horizocardia axle 12, left driving wheel 13, left driven sprocket 14, revolver bearing 15,
Revolver end cap 16, left drive sprocket 17, revolver chain 18, left driving motor 19, right driving wheel 20, right driven sprocket 21, right wheel
Bearing 22, right wheel end cap 23, right drive sprocket 24, right wheel chain 25, right driving motor 26, alignment sensor support 27 and positioning
Sensor 28.Chassis 10 is one " c " shape bending structure, and vertical rotation axis 11 pass through the upper surface center on chassis 10 and consolidated with screw
Even, horizocardia axle 12 passes through the two sides center on chassis 10, the stage casing multidiameter of horizocardia axle 12 the two sides on chassis 10 it
Between and its cylindrical on be cased with a sleeve, horizocardia axle 12 respectively has one section of threaded multidiameter in stage casing multidiameter both sides, the bottom of at
With two nuts, horizocardia axle 12 is fixed on chassis 10 respectively outside the two sides of disk 10.Vertical rotation axis 11 and horizocardia axle
The 12 axis midpoints being orthogonal to horizocardia axle 12, this point is drive module 8 and the center driving transfer 2.Left driving wheel
13 are supported on left section of axle journal of horizocardia axle 12 by revolver bearing 15, can relative turn between left driving wheel 13 and horizocardia axle 12
Dynamic, and axially position is carried out using jump ring and sleeve, it is same that left driven sprocket 14 passes through revolver end cap 16, screw and left driving wheel 13
Axle is installed and is connected.Right driving wheel 20 is supported on right section of axle journal of horizocardia axle 12 by right wheel bearing 22, right driving wheel 20 with
Can relatively rotate between horizocardia axle 12, and axially position is carried out using jump ring and sleeve, right driven sprocket 21 passes through right wheel end
Lid 23, screw and right driving wheel 20 are co-axially mounted and are connected.The left surface that left driving motor 19 is fixed on chassis 10 is anterior, right drive
Galvanic electricity machine 26 is fixed on the right flank rear portion on chassis 10, and the installation site of left driving motor 19 and right driving motor 26 is turned with vertical
The axis centre of axle 11 is symmetrical.Left drive sprocket 17 is connected by keying with the output shaft of left driving motor 19, by revolver chain
18 drive the left driving wheel 13 being connected with left driven sprocket 14.Right drive sprocket 24 passes through key with the output shaft of right driving motor 26
It is connected, the right driving wheel 20 being connected with right driven sprocket 21 is driven by right wheel chain 25.Alignment sensor support 27 is one " l "
Shape bending structure, is fixed on the lower surface of horizocardia axle 12 axis midpoint；Alignment sensor 28 passes through alignment sensor support
The 27 axis midpoints being fixedly installed in horizocardia axle 12, i.e. the center of drive module 8, and its signal emission port is perpendicularly oriented to ground
Face.
Clutch steering module 9 include carry in plate 29, clutch shaft bearing 30, clutch shaft bearing end cap 31, the first roller gear 32,
From clutch 33, main clutch 34, carry upper plate 35, measurement rotating shaft 36, second bearing 37, second bearing end cap 38, second circle
Stud wheel 39, angular transducer support 40, angular transducer 41.In carrying, plate 29 is inversion " ω " shape bending structure, vertically
Rotating shaft 11 passes through the lower surface center of plate 29 in carrying, and the stage casing axle journal of vertical rotation axis 11 is set with clutch shaft bearing 30, first axle
Hold 30 to be arranged in clutch shaft bearing end cap 31, clutch shaft bearing end cap 31 is fixed on plate 29 in carrying, vertical rotation axis 11 with carry
Can relatively rotate between middle plate 29.Measurement rotating shaft 36 passes through the lower surface of plate 29 and, measurement parallel with vertical rotation axis 11 in carrying
Second bearing 37 is set with rotating shaft 36, second bearing 37 is arranged in second bearing end cap 38, and second bearing end cap 38 is fixed on
On plate 29 in carrying, can relatively rotate between plate 29 in measurement rotating shaft 36 and carrying.The rotating shaft of angular transducer 41 is passed through to mark closely
Screw is coaxially connected with the upper surface centre bore of measurement rotating shaft 36, and the shell of angular transducer 41 passes through angular transducer support 40
It is connected with plate 29 in carrying, the rotating shaft of angular transducer 41 can rotate with respect to plate 29 in carrying with measurement rotating shaft 36.First circle
Stud wheel 32 is fixed on the middle part of vertical rotation axis 11 by key suit, and the second roller gear 39 is fixed on measurement by key suit and turns
The middle part of axle 36, engages each other between the first roller gear 32 and the second roller gear 39, can be by the rotary motion of vertical rotation axis 11
Pass to measurement rotating shaft 36, and the corner φ that vertical rotation axis 11 are with respect to plate 29 in carrying, angle are measured by angular transducer 41
Sensor 41 is electrically connected with control device 7.In carrying upper plate 35 and carrying, plate 29 is connected and forms a closing structure, and clutch turns to mould
Block 9 passes through carrying upper plate 35 and is fixed on vehicle frame 1.Therefore, vertical rotation axis 11 are with respect to the corner φ of plate 29 in carrying and drive
Module 8 is with respect to the corner of vehicle frame 1.Main clutch 34 is fixed on carrying upper plate 35 by screw, is sleeved on vertical from clutch 33
The epimere multidiameter of straight rotating shaft 11, is carried out by key radially fixed, but can move axially along epimere multidiameter.Main clutch
34 lower surface contacts with from the upper surface of clutch 33, and is co-axially mounted with main clutch 34 from clutch 33.When main clutch
During the coil electricity of device 34, in the presence of electromagnetic attraction from clutch 33 be close to main clutch 34 and with its keep lock, drive
Dynamic model block 8 is fixing with respect to vehicle frame 1.When the coil blackout of main clutch 34, it is in point from clutch 33 and main clutch 34
From state, relatively can slide along contact end face, drive module 8 can be freely rotatable with respect to vehicle frame 1.
As it can be seen in figures 5 and 6, directive wheel 3 includes bracing frame 42, rocking lever 43, lever bolt 44, lever nut 45, side
Wheel 46, side wheel bolt 47, side wheel nut 48, side wheel bearing 49, hold-down bolt 50, holddown spring 51, clamp nut 52, swing pass
Sensor bracket 53 and oscillation gauge 54.Bracing frame 42 and vehicle frame 1 pass through screw and are connected, and bracing frame 42 is perpendicular with vehicle frame 1, and two
Individual lever bolt 44 is each passed through the coaxial inner of the middle part left and right side of bracing frame 42 and rocking lever 43, by lever bolt
44 and lever nut 45 axial restraint, rocking lever 43 can swing with respect to bracing frame 42 around the axis of lever bolt 44.Two
Hold-down bolt 50, parallel across the endoporus of the rear portion upper and lower end face of bracing frame 42 and rocking lever 43, will be pressed by clamp nut 52
Tight spring 51 is pressed in the upper surface of bracing frame 42, constitutes elastic hold-down mechanism.Side wheel bolt 47 passes through rocking lever 43 anterior
The coaxial inner of left and right side, by side wheel nut 48 axial restraint, side wheel 46 is supported on side wheel bolt by side wheel bearing 49
47 axle journal.Oscillation gauge 54 is fixedly mounted on the base plate lower surface of bracing frame 42 by oscillation gauge support 53, swings
The metal spring leaf of sensor 54 keeps contacting with hold-down bolt 50, and oscillation gauge 54 is electrically connected with control device 7.Work as side wheel
During the thrust that 46 are provided more than holddown spring 51 by the holding power of siding track 60, rocking lever 43 rotates clockwise, and compresses bullet
Spring 51 is compressed to provide bigger compression dynamic balance siding track holding power further, and the metal spring leaf of oscillation gauge 54 is pressed
Tight bolt 50 discharges and length elongation, and its metal spring leaf length is measured by control device 7 and calculates the pressure suffered by side wheel 46 accordingly
Clamp force.When the holding power that side wheel 46 is subject to siding track 60 is less than the thrust that holddown spring 51 provides, rocking lever 43 is counterclockwise
Rotate, holddown spring 61 extends under elastic-restoring force effect, reduces the thrust providing, the metal spring leaf of oscillation gauge 54
Compacted bolt 50 compresses and contraction in length, and its metal spring leaf length is measured and calculated accordingly suffered by side wheel 46 by control device 7
Thrust.It can be seen that, directive wheel 3 can according to the compression degree of side wheel 46 and siding track 60 pass through rocking lever 43 Automatic adjusument its
Pose.
As shown in FIG. 7 and 8, cross rail is by the cross track 55 of orthogonal intersection in the same plane and long rails
56 compositions.In non-decussation position, the width of cross track 55 is equal with the width of rail-mounted vehicle 0, long rails 56
Width and the equal length of rail-mounted vehicle 0.Every track includes one and rolls, for driving wheel and universal wheel 4, the track carrying
59 and two be used for the siding tracks 60 that directive wheel 3 rolls guiding, two siding tracks 60 stand on the both sides of track 59, and siding track 60 is higher than to lead
Setting height(from bottom) to wheel 3.The driving wheel driving transfer 2 actively rolls along track 59 and provides driving for rail-mounted vehicle 0
Power, before and after vehicle frame 1, four universal wheels 4 of down either side roll along track 59 and carry.The directive wheel 3 of vehicle frame 1 both sides passes through respectively
Elastic hold-down mechanism makes the side wheel 46 of rocking lever 43 other end keep contacting with the spigot surface of siding track 60, compacted side wheel 46
Along siding track 60 roll when for rail-mounted vehicle 0 operation provide guiding.
In decussation position, the width of adjacent cross track 55 and long rails 56 becomes larger to outer arc to expansion
Form circular arc, the catercorner length with diameter greater than vehicle frame 1 of circular arc, intersected, by 8 siding tracks 60, the 4 sections of arc positions intercepting in circular arc
Install and be equipped with 4 sections of circular arc siding tracks 61, circular arc siding track 61 connects the siding track on adjacent cross track 55 and long rails 56.Laterally
In track 55 and long rails 56, intersecting track 59, siding track 60 and circular arc siding track 61 form crossroad 62.Due to circular arc side
The catercorner length with diameter greater than vehicle frame 1 of rail 61,62 centers can freely rotate in place rail-mounted vehicle 0 at the parting of the ways.
In the intersection point setting anchor point 58 of track 59 centrage of cross track 55 and long rails 56, as in crossroad 62
The heart, is arranged symmetrically rfid label 57 in anchor point 58 surrounding, including respectively on the centrage of the track 59 of cross track 55
B1, b2 and d1 of the symmetrical both sides of centrage of the track 59 of a, c and long rails 56, d2, above-mentioned rfid label 57 is respectively positioned on
Outside above-mentioned circular arc, two rfid labels that the track 59 of long rails 56 is arranged symmetrically are between b1 and b2, d1 and d2
Distance equal to the distance between former and later two rfid sensors 5 on rail-mounted vehicle 0, rfid label 57 record storage orthogonal four
The path number of bar track and topological relation.When rail-mounted vehicle 0 enters or leaves crossroad 62, rfid sensor 5 can
Read the rfid label 57 in porch or exit.
As shown in Figure 10, circular arc turning track is by the two turning track 63 of orthogonal intersection and connections in the same plane
Article two, the arc orbit composition of turning track 63.The width of turning track 63 is equal with the width of rail-mounted vehicle 0.Turning track
63 include one rolls the track 59 carrying and two sides being used for directive wheel 3 rolling guiding for driving wheel and universal wheel 4
Rail 60, two siding tracks 60 stand on the both sides of track 59 respectively, and siding track 60 is higher than the setting height(from bottom) of directive wheel 3.Directive wheel 3 passes through bullet
Property hold-down mechanism make the side wheel 46 of rocking lever 43 other end keep contacting with the spigot surface of siding track 60.Arc orbit includes circular arc
Track 64 and siding track 66, the outer siding track 65 of circular arc in the circular arc standing on inside and outside circular arc track 64.The width of arc orbit is more than
The width of rail-mounted vehicle 0, the side wheel 46 of rail-mounted vehicle 0 both sides when circular arc is turned cannot be with siding track 65, circular arc outside circular arc
Interior siding track 66 contacts simultaneously.In the outer siding track 65 of circular arc and circular arc siding track 66 to central angle be 90 °, rail-mounted vehicle 0 is being justified
Arc needs to turn over 90 ° of central angle when turning.The outer siding track 65 of circular arc guiding side when circular arc is turned as rail-mounted vehicle 0
Rail, its chord length be more than rail-mounted vehicle 0 length it is ensured that two side wheels 46 in rail-mounted vehicle 0 outside with circular arc outer siding track 65
During contact, the outside of vehicle frame 1 outer siding track 65 will not be interfered with circular arc.In circular arc, siding track 66 is being justified as rail-mounted vehicle 0
Arc turn when protection siding track, its radius be more than rail-mounted vehicle 0 width, rail-mounted vehicle 0 when normal circular arc is turned, its
Two side wheels 46 of inner side are not contacted with siding track in circular arc 66；If there is unexpected, circular arc when circular arc is turned in rail-mounted vehicle 0
Interior siding track 66 can stop rail-mounted vehicle 0 from skidding off outside track from circular arc track 64, has safeguard protection effect.Siding track in circular arc
It is provided with a v shape transition siding track 67 between 66 and siding track 60, when rail-mounted vehicle 0 enters straight line track 59 from circular arc track 64, v shape
Transition siding track 67 has the guide effect helping the side wheel 46 of vehicle frame 1 both sides simultaneously to contact with siding track 60.Transition siding track 67 with
The point of intersection of siding track 60 makees a vertical line, in point of intersection (i.e. circular arc track 64 and two turnings of vertical line and the centrage of track 59
The junction of the track 59 of track 63) arrangement rfid label 57, two orthogonal turning tracks 63 of rfid label 57 record storage
Path number and the outer siding track 65 of circular arc radius.When rail-mounted vehicle 0 enters or leaves circular arc track 64, rfid sensor
The 5 rfid labels 57 that can read porch or exit.
In the present invention, the progress control method of rail-mounted vehicle includes the single track on cross track 55 or long rails 56
Run control model, turn in the crossing steering control mode on cross rail and the circular arc on circular arc turning track and control
Molding formula.
As shown in figure 8, the single track of rail-mounted vehicle runs control model being:
11), when rail-mounted vehicle 0 enters a certain bar cross track 55 or long rails 56, rfid sensor 5 reads ground
Rfid label 57 on rail 59, the path number of identification current orbit, control device 7 determines that rail-mounted vehicle 0 is in orbit
Traffic direction, and by power-supply system 6 for driving transfer 2 to provide electric energy, drive rail-mounted vehicle 0 along rail running.Drive
The main clutch 34 of transfer 2 and separating from clutch 33, releases locking that drive module 8 is relatively rotated with vehicle frame 1.Lead
Make side wheel 46 keep contacting with siding track 60 to wheel 3 by elastic hold-down mechanism, realize directive wheel 3 and roll guiding along siding track 60, make
Rail-mounted vehicle 0 runs along the direction of track defined, unrelated with drive module 8.The thrust that side wheel 46 is contacted with siding track 60
By the metal spring leaf linear measure longimetry of oscillation gauge 54, and compression force signal is gathered by control device 7.If 1 liang of avris of vehicle frame
The thrust of wheel 46 is equal, if two lateral balance thrusts are f0, then control device 7 control left driving wheel 13 and right driving wheel 20
Velocity attitude is identical, equal in magnitude, makes rail-mounted vehicle 0 keep straight-line travelling with synchronized control mode.If vehicle frame 1 both sides side wheel
46 thrust, then control device 7 control left driving wheel 13 identical with the velocity attitude of right driving wheel 20, differ in size,
Drive module 8 is made to drive rail-mounted vehicle 0 to be partial to the little lateral movement of side wheel 46 thrust in differential control mode, then this side
Side wheel 46 increases to the thrust of siding track 60, and the side wheel 46 of opposite side reduces to the thrust of siding track 60, and the thrust of both sides becomes
To balance thrust f0.
12) if rail-mounted vehicle 0 needs to run in rightabout in orbit, rail-mounted vehicle 0 first stops.Main
Clutch 34 and separating from clutch 33, releases locking that drive module 8 is relatively rotated with vehicle frame 1.Control device 7 controls a left side
The velocity attitude of driving wheel 13 and right driving wheel 20 is contrary, equal in magnitude, so that drive module 8 original place is revolved in differential control mode
Turn, the corner φ between drive module 8 and vehicle frame 1 is measured in real time by angular transducer 41, stop when corner φ changes 180 °
The rotary motion of drive module 8, then rail-mounted vehicle is restarted by the differential control of left driving wheel 13 and right driving wheel 20
0, then rail-mounted vehicle 0 along travel with originally contrary traffic direction and keep vehicle frame both sides directive wheel thrust equal.
As shown in figure 9, the crossing steering control mode of rail-mounted vehicle is:
21), when rail-mounted vehicle 0 is close to some crossroad 62, rfid sensor 5 reads crossroad 62 entrance
The rfid label 57 at place, the orthogonal path number of four tracks in identification front and topological relation.Control device 7 is according to built-in
Electronic chart and aiming station, determine rail-mounted vehicle 0 at the parting of the ways 62 operational mode, described operational mode includes directly
Row, left-hand rotation and right-hand rotation.As shown in figure 9, rail-mounted vehicle 0 along left side cross track 55 close to crossroad 62 when, by entering
Rfid label a at mouthful understands that the path number of current orbit is a, and the path topology relation of crossroad 62 is a-d- counterclockwise
c-b.Assume that next paths determining through online path planning are track b, then rail-mounted vehicle 0 at the parting of the ways 62 should
Turn left.
22), the side wheel 46 of the directive wheel 3 in the front both sides of rail-mounted vehicle 0 direction of advance and siding track 60 disengage
Before, the corner φ between drive module 8 and vehicle frame 1 is detected by angular transducer 41.If corner φ is not zero, main clutch 34
Separate with from clutch 33, release the locking that drive module 8 is relatively rotated with vehicle frame 1.The direction of motion of rail-mounted vehicle 0 by
Siding track 60 constrains, unrelated with drive module 8.Control device 7 control left driving wheel 13 identical with the velocity attitude of right driving wheel 20,
Differ in size, corner φ is constantly eliminated by differential control.If corner φ is zero, main clutch 34 and tying from clutch 33
Close, locking drive module 8 is relatively rotated with vehicle frame 1, so that drive module 8 keeps overlapping with vehicle frame 1, rail-mounted vehicle 0
The direction of motion controlled by drive module 8.Control device 7 control left driving wheel 13 identical with the velocity attitude of right driving wheel 20,
Differ in size, keep the thrust of vehicle frame 1 both sides directive wheel 3 equal by differential control and driving force is provided.
23), when the side wheel 46 of the directive wheel 3 of the front both sides of rail-mounted vehicle 0 direction of advance is disengaged with siding track 60
When, main clutch 34 and combining from clutch 33, locking drive module 8 is relatively rotated with vehicle frame 1, the fortune of rail-mounted vehicle 0
Dynamic direction is controlled by drive module 8.The side wheel 46 of front directive wheel 3 is contactless with siding track 60, and the guiding of rail-mounted vehicle 0 relies on
Inertia.Control device 7 controls left driving wheel 13 identical with the velocity attitude of right driving wheel 20, equal in magnitude, is controlled by synchronized
Driving force is provided.
24), when alignment sensor 28 detects centre spot 58:
If the operational mode of rail-mounted vehicle 0 is straight trip, original kinestate is kept to continue to run with.
If the operational mode of rail-mounted vehicle 0 is to turn left or turn right, rail-mounted vehicle 0 first stops and is centrally positioned
Site 58.Main clutch 34 and separating from clutch 33, releases locking that drive module 8 is relatively rotated with vehicle frame 1, controls and fill
Put 7 control left driving wheels 13 and the velocity attitude of right driving wheel 20 is contrary, equal in magnitude, drive module 8 is made by differential control
Rotate in place clockwise or counterclockwise.Because circular arc siding track 61 is with diameter greater than the catercorner length of vehicle frame 1, rail-mounted vehicle 0
During 62 center, the side wheel 46 of all directive wheels 3 is contactless with siding track 60 at the parting of the ways, and vehicle frame 1 transfixion simultaneously keeps attitude
Constant.Corner φ between drive module 8 and vehicle frame 1 is measured in real time by angular transducer 41, if the operation of rail-mounted vehicle 0
Pattern is to turn left, then when drive module 8 rotates counterclockwise to stop the rotary motion of drive module 8 when corner φ changes -90 °；
If the operational mode of rail-mounted vehicle 0 is to turn right, stop when drive module 8 is rotated clockwise to when corner φ changes 90 °
The rotary motion of drive module 8.
25), the side wheel 46 on the directive wheel 3 of the front both sides of rail-mounted vehicle 0 direction of advance and siding track 60 connect again
Before touching:
If the operational mode of rail-mounted vehicle 0 is straight trip, original kinestate is kept to continue to run with.
If the operational mode of rail-mounted vehicle 0 is to turn left or turn right, main clutch 34 and combining from clutch 33, locking
Drive module 8 is relatively rotated with vehicle frame 1, and the direction of motion of rail-mounted vehicle 0 is controlled by drive module 8.All directive wheels 3
Side wheel 46 is contactless with siding track 60, and the guiding of rail-mounted vehicle 0 relies on inertia.Control device 7 controls left driving wheel 13 and right drive
The velocity attitude of driving wheel 20 is identical, equal in magnitude, provides driving force by synchronized control, restart rail-mounted vehicle 0 along left/
The orthogonal track in right side runs.
26), when the side wheel 46 of the directive wheel 3 of the front both sides of rail-mounted vehicle 0 direction of advance is contacted again with siding track 60
When, main clutch 34 and separating from clutch 33, release locking that drive module 8 is relatively rotated, rail-mounted vehicle with vehicle frame 1
0 direction of motion is unrelated with drive module 8.Circular arc siding track 61 and siding track 60 form one " v " shape guide frame, and vehicle frame 1 is along this " v "
Shape guide frame enters next track, and the direction of motion of rail-mounted vehicle 0 is constrained by siding track 60.The directive wheel 3 of vehicle frame 1 both sides
On side wheel 46 and the thrust between siding track 60 detected by oscillation gauge 54, control device 7 pass through left driving wheel 13 and right drive
The differential control of driving wheel 20, in the case that the thrust keeping vehicle frame 1 both sides is equal, drives rail-mounted vehicle 0 along track row
Sail.As shown in figure 9, when rail-mounted vehicle 0 travels along cross track 55, the directive wheel 3 in vehicle frame 1 direction of advance passes through bullet
Property hold-down mechanism make side wheel 46 and siding track 60 keep contacting.After rail-mounted vehicle 0 turns left and enters long rails 56, due to vehicle frame
1 attitude keeps constant, and the side wheel 46 of the directive wheel 3 on length direction is contactless with siding track 60, the directive wheel 3 on width
Side wheel 46 keeps contacting with siding track 60, and the guiding of rail-mounted vehicle 0 is turned on width by directive wheel 3 change on length direction
Directive wheel 3.
As shown in Figure 10, the circular arc Servo Control pattern of rail-mounted vehicle is:
31), when rail-mounted vehicle 0 enters a certain bar turning track 63, rfid sensor 5 reads the rfid in track 59
Label 57, the radius of the orthogonal path number of two turning tracks 63 in identification front and the outer siding track 65 of circular arc, control device 7
According to built-in electronic chart and aiming station, determine radius of turn r on arc orbit for the rail-mounted vehicle 0.In tracked transportation
Before side wheel 46 and the siding track 60 of the directive wheel 3 inside the front of car 0 direction of advance disengage, between drive module 8 and vehicle frame 1
Corner φ detected by angular transducer 41.If corner φ is not zero, main clutch 34 and from clutch 33 separate, release right
The locking that drive module 8 is relatively rotated with vehicle frame 1.The direction of motion of rail-mounted vehicle 0 is constrained by siding track 60, with drive module 8
Unrelated.Control device 7 control left driving wheel 13 identical with the velocity attitude of right driving wheel 20, differ in size, by differential control
Constantly eliminate corner φ.If corner φ is zero, main clutch 34 and combining from clutch 33, locking drive module 8 and vehicle frame 1
Relatively rotate so that drive module 8 and vehicle frame 1 keep overlapping, the direction of motion of rail-mounted vehicle 0 is controlled by drive module 8
System.Control device 7 control left driving wheel 13 identical with the velocity attitude of right driving wheel 20, differ in size, protected by differential control
The thrust holding vehicle frame 1 both sides directive wheel 3 is equal and provide driving force.
32), the side wheel 46 on the directive wheel 3 inside the front of rail-mounted vehicle 0 direction of advance is departed from siding track 60 and connects
When tactile, main clutch 34 and combining from clutch 33, locking drive module 8 is relatively rotated with vehicle frame 1, rail-mounted vehicle 0
The direction of motion is controlled by drive module 8.If the travel speed of rail-mounted vehicle 0 is v, between left driving wheel 13 and right driving wheel 20
Air line distance is w, and control device 7 passes through the differential control of left driving wheel 13 and right driving wheel 20, makes rail-mounted vehicle 0 along circular arc
Outer siding track 65 turning driving, the speed difference δ v of left driving wheel 13 and right driving wheel 20 is
When the side wheel 46 of the directive wheel 3 in vehicle frame 1 outside is more than balance thrust f with the thrust of the outer siding track 65 of circular arc0When,
Then increase the speed difference δ v of left driving wheel 13 and right driving wheel 20, make rail-mounted vehicle 0 produce offset movement to inner side.Work as car
The side wheel 46 of directive wheel 3 in frame 1 outside is less than balance thrust f with the thrust of the outer siding track 65 of circular arc0, then reduce left driving wheel
13 and the speed difference δ v of right driving wheel 20, make rail-mounted vehicle 0 produce offset movement laterally.In the process, tracked transportation
The guiding of car 0 relies on and keeps suitable thrust (big between the side wheel 46 of directive wheel 3 in vehicle frame 1 outside and the outer siding track 65 of circular arc
Little equal to f0)；The side wheel 46 of the directive wheel 3 of vehicle frame 1 inner side is contactless with siding track in circular arc 66, and in circular arc, siding track 66 no guides work
With only having the safety protection function preventing rail-mounted vehicle 0 unexpected derailing on arc orbit.
33), the side wheel 46 of the directive wheel 3 inside the front of rail-mounted vehicle 0 direction of advance is contacted again with siding track 60
When, main clutch 34 and separating from clutch 33, release locking that drive module 8 is relatively rotated, rail-mounted vehicle with vehicle frame 1
0 direction of motion is unrelated with drive module 8.In the outer siding track 65 of circular arc, circular arc, siding track 66 and transition siding track 67 form one " v " shape and lead
To structure, vehicle frame 1 enters next turning track 63 along this " v " shape guide frame, and the direction of motion of rail-mounted vehicle 0 is by siding track
60 constraints.The thrust that side wheel 46 is contacted with siding track 60 is detected by oscillation gauge 54, if the compression of vehicle frame 1 both sides side wheel 46
Power is equal, then make rail-mounted vehicle 0 keep straight-line travelling by the synchronized control of left driving wheel 13 and right driving wheel 20；If vehicle frame
The thrust of 1 both sides side wheel 46, then make drive module 8 drive by the differential control of left driving wheel 13 and right driving wheel 20
Rail-mounted vehicle 0 is partial to the little lateral movement of side wheel 46 thrust.
In the present invention, two rfid sensors 5 can also be fixedly installed in the lower section of the left and right sides of vehicle frame 1, with this with
When, the position of the rfid label 57 on track should be adjusted accordingly, and that is, rfid label 57 is arranged in track on cross track 55
The 59 symmetrical both sides of centrage, the distance between two rfid labels are equal to the two rfid sensors 5 in left and right on rail-mounted vehicle 0
The distance between；On long rails 56, single rfid label 57 is arranged on the centrage of track 59.
At the parting of the ways in 62, on long rails 56, single rfid label 57 is arranged in the centrage of track 59；Transverse rails
The symmetrical both sides of centrage that on road 55, two rfid labels 57 are arranged in track 59, the distance between two rfid labels are equal to be had
The distance between two rfid sensors 5 in the left and right sides on rail waggon 0；Above-mentioned rfid label 57 be respectively positioned on above-mentioned circular arc it
Outward, the orthogonal path number of four tracks of rfid label 57 record storage and topological relation.
In the present invention, in circular arc turning track, the width of turning track 63 can also be with the length phase of rail-mounted vehicle 0
Deng the width being accordingly connected to the arc orbit between turning track 63 should accordingly increase；Circular arc in circular arc track 64
The chord length of outer siding track 65 now should be greater than the width of rail-mounted vehicle 0 it is ensured that two side wheels 46 in rail-mounted vehicle 0 outside and circle
During arc outer siding track 65 contact, the outside of vehicle frame 1 outer siding track 65 will not be interfered with circular arc.In circular arc, siding track 66 is defeated as rail
Send the protection siding track when circular arc is turned for the car 0, its radius should be greater than the width of rail-mounted vehicle 0 it is ensured that rail-mounted vehicle 0 is just
When often circular arc is turned, two inside it side wheel 46 is not contacted with siding track in circular arc 66.Now, two rfid on vehicle frame 1 pass
Sensor 5 is fixedly installed in the lower section of the left and right sides of vehicle frame 1, in the company of circular arc track 64 and the track 59 of two turning tracks 63
One rfid label 57 is respectively arranged on the track centrage at the place of connecing.
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 (8)
1. a kind of rail-mounted vehicle, including vehicle frame (1) and be arranged on driving transfer (2) on vehicle frame (1), control device
(7), rfid sensor (5) and universal wheel (4)；Described control device (7) electrical connection drives transfer (2) and controls its fortune
OK；It is characterized in that: described rfid sensor (5) be 2, be symmetrically mounted on vehicle frame (1) both sides and with control device (7) electricity
Connect；The surrounding side of described vehicle frame (1) is respectively mounted and the perpendicular elastic guide wheel (3) of vehicle frame (1)；Described driving turns to dress
Put (2) and include drive module (8) and the clutch steering module (9) being connected with drive module (8)；Described drive module (8) includes
Vertical rotation axis (11) and horizocardia axle (12), described vertical rotation axis (11) and horizocardia axle (12) are orthogonal to horizocardia axle (12)
Axis midpoint；Described horizocardia axle (12) two ends are respectively mounted the driving wheel (13,20) of independent driving；Described horizocardia axle (12)
Axis midpoint on fixed installation alignment sensor (28), described alignment sensor (28) electrically connected with control device (7).
2. rail-mounted vehicle according to claim 1 it is characterised in that: described elastic guide wheel (3) includes bracing frame
(42), rocking lever (43) and side wheel (46)；Described rocking lever (43) is axially connected between bracing frame (42), described swing thick stick
Bar (43) can swing with respect to bracing frame (42) around connecting axis；One end of described rocking lever (43) is installed can be with respect to swing
The side wheel (46) that lever (43) rotates, the other end of described rocking lever (43) passes through elastic hold-down mechanism with bracing frame (42) admittedly
Even, support frame as described above (42) is upper installs oscillation gauge (54), and described oscillation gauge (54) is contacted with elastic hold-down mechanism, institute
State oscillation gauge (54) to electrically connect with control device (7).
3. rail-mounted vehicle according to claim 2 it is characterised in that: described clutch steering module (9) includes vertical turning
Axle (11) and the measurement rotating shaft (36) of installation parallel with vertical rotation axis (11)；Described vertical rotation axis (11) drive measurement rotating shaft (36)
Rotate, described measurement rotating shaft (36) coaxially connected angular transducer (41), described angular transducer (41) and control device (7) electricity
Connect；Described vertical rotation axis (11) are upper to install from clutch (33), described can be along the axle of vertical rotation axis (11) from clutch (33)
To movement, it is co-axially mounted above described (33) from clutch and can contact or detached main clutch (34) with from clutch (33).
4. be used for rail-mounted vehicle described in any one of claims 1 to 3 track, including in same plane orthogonal intersection horizontal
Track (55) and long rails (56), the width of described cross track (55) is equal with the width of rail-mounted vehicle (0), described vertical
To the width of track (56) and the equal length of rail-mounted vehicle (0)；It is characterized in that:
Described cross track (55) and long rails (56) are by track (59) and the siding track (60) that stands on track (59) both sides
Composition；
In decussation position, the width of described cross track (55) and long rails (56) forms circle to outer arc to expansion respectively
The upper phase of arc, the catercorner length with diameter greater than vehicle frame (1) of described circular arc, described cross track (55) and long rails (56)
Pass through circular arc siding track (61) between adjacent siding track (60) to connect；Intersecting track in described cross track (55) and long rails (56)
(59), siding track (60) and circular arc siding track (61) form crossroad (62)；In described cross track (55) and long rails (56)
Point of intersection setting anchor point (58) of heart line, described anchor point (58) surrounding is arranged symmetrically multiple rfid labels (57), described
Rfid label (57) is located at centrage, the long rails (56)/cross track of cross track (55)/long rails (56) respectively
(55) the symmetrical both sides of centrage, and be respectively positioned on outside circular arc；Described long rails (56)/cross track (55) centrage symmetrical two
The distance between side is equal to the distance between vehicle frame (1) both sides rfid sensor (5)；
It is connected by arc orbit between circular arc turning position, the turning track (63) of two orthogonal intersection, described turning rail
Road (63) by track (59) and stands on the siding track (60) of track (59) both sides and forms, and the width of described turning track (63) is equal to
The width/height of rail-mounted vehicle (0)；Described arc orbit includes circular arc track (64) and the outer siding track (65) of circular arc, described circle
Arc track (64) is connected with the track (59) of two turning tracks (63), siding track (65) and two turning tracks outside described circular arc
(63) outer siding track connects, and the width of described arc orbit is more than the width/height of rail-mounted vehicle (0), outside described circular arc
The central angle of rail (65) is 90 °, and the chord length of the outer siding track (65) of described circular arc is more than the length/width of rail-mounted vehicle (0)；Justifying
On the track centrage of the junction of track (59) of arc track (64) and two turning tracks (63)/track centrage both sides pair
Claim setting rfid label (57).
5. according to claim 4 be used for rail-mounted vehicle track it is characterised in that: described arc orbit is included in circular arc
Siding track (66), is connected transition siding track (67) between siding track (66) and the interior siding track of two turning tracks (63) in described circular arc, described
In circular arc the central angle of siding track (66) be 90 °, in described circular arc the radius of siding track (66) be more than rail-mounted vehicle (0) width/
Length, described transition siding track (67) is connected in v shape with the interior siding track of siding track in circular arc (66) and turning track (63).
6. rail-mounted vehicle described in any one of claims 1 to 3 control method it is characterised in that: include single track run control
Pattern, crossroad control model and circular arc Servo Control pattern；
Described single track runs control model:
11), when rail-mounted vehicle (0) enters a certain bar track (55,56,63), rfid sensor (5) reads in track (59)
Rfid label (57), identify current track information, control device (7) determines rail-mounted vehicle (0) in rail (55,56,63)
On traffic direction, release the locking that drive module (8) and vehicle frame (1) are relatively rotated, then by the difference of driving wheel (13,20)
Speed controls the thrust of holding vehicle frame (1) two-side elastic directive wheel (3) equal and provides driving force；
12) if need to run in rightabout in rail-mounted vehicle (0) in rail (55,56,63), then rail-mounted vehicle (0)
First stop, control device (7) releases the locking that drive module (8) and vehicle frame (1) are relatively rotated, then by driving wheel (13,
20) differential control, makes drive module (8) rotate in place 180 °, drives rail by the differential control of driving wheel (13,20) afterwards
Waggon (0) travel along contrary traffic direction and keep vehicle frame (1) two-side elastic directive wheel (3) thrust equal；
Described crossroad control model is:
21), when rail-mounted vehicle (0) close to some crossroad (62) when, rfid sensor (5) read crossroad at
Rfid label (57), the information of four orthogonal tracks of identification front；Control device (7) determines rail-mounted vehicle (0) in cross
The operational mode at crossing (62), described operational mode includes straight trip, turns left and turn right；First pass through the differential of driving wheel (13,20)
Control and the corner φ between drive module (8) and vehicle frame (1) is eliminated to zero, relock drive module (8) relative with vehicle frame (1)
Rotate, make drive module (8) keep overlapping with vehicle frame (1), afterwards vehicle frame (1) is kept by the differential control of driving wheel (13,20)
The thrust of two-side elastic directive wheel (3) is equal and provides driving force；
22), when the elastic guide wheel (3) of the front both sides of rail-mounted vehicle (0) direction of advance is disengaged with siding track (60),
Control device (7) first locks relatively rotating of drive module (8) and vehicle frame (1), then by the synchronized control of driving wheel (13,20)
Driving force is provided；
23), when alignment sensor (28) detects anchor point (58):
If the operational mode of rail-mounted vehicle (0) is straight trip, original kinestate is kept to continue to run with；
If the operational mode of rail-mounted vehicle (0) is to turn left or turn right, rail-mounted vehicle (0) first stops and is positioned anchor point
(58)；Control device (7) releases the locking that drive module (8) and vehicle frame (1) are relatively rotated again, pass through afterwards driving wheel (13,
20) differential control makes drive module (8) rotate in place -90 ° counterclockwise or rotate in place 90 ° clockwise；
24), the elastic guide wheel (3) in the front both sides of rail-mounted vehicle (0) direction of advance contacts it again with siding track (60)
Before:
If the operational mode of rail-mounted vehicle (0) is straight trip, original kinestate is kept to continue to run with；
If the operational mode of rail-mounted vehicle (0) is to turn left or turn right, control device (7) first locks drive module (8) and car
The relatively rotating of frame (1), then rail-mounted vehicle (0) along left/right side is just being restarted by the synchronized control of driving wheel (13,20)
The track handed over runs；
25), when the elastic guide wheel (3) of the front both sides of rail-mounted vehicle (0) direction of advance is contacted again with siding track (60)
When, control device (7) first releases the locking that drive module (8) and vehicle frame (1) are relatively rotated, then passes through driving wheel (13,20)
Differential control keep vehicle frame (1) both sides thrust equal and drive rail-mounted vehicle (0) along track (55,56) travel.
7. according to claim 6 rail-mounted vehicle control method it is characterised in that: described circular arc Servo Control pattern
For:
31), when rail-mounted vehicle (0) enters a certain bar turning track (63), rfid sensor (5) reads in track (59)
Rfid label (57), the radius of the orthogonal path number of two turning tracks (63) in identification front and the outer siding track (65) of circular arc,
Control device (7) determines radius of turn r on arc orbit for the rail-mounted vehicle (0)；First pass through the differential of driving wheel (13,20)
Control and the corner φ between drive module (8) and vehicle frame (1) is eliminated to zero, relock drive module (8) relative with vehicle frame (1)
Rotate, make drive module (8) keep overlapping with vehicle frame (1), afterwards vehicle frame (1) is kept by the differential control of driving wheel (13,20)
The thrust of two-side elastic directive wheel (3) is equal and provides driving force；
32) when, the elastic guide wheel (3) inside the front of rail-mounted vehicle (0) direction of advance and siding track (60) disengage,
Control device (7) first locks relatively rotating of drive module (8) and vehicle frame (1), then by the differential control of driving wheel (13,20)
Make rail-mounted vehicle (0) along outer siding track (65) turning driving of circular arc；
33), when the elastic guide wheel (3) of the front both sides of rail-mounted vehicle (0) direction of advance is contacted again with siding track (60),
Control device (7) first releases the locking that drive module (8) and vehicle frame (1) are relatively rotated, then by the difference of driving wheel (13,20)
Speed controls the thrust of holding vehicle frame (1) both sides equal and drives rail-mounted vehicle (0) to travel along turning track (63).
8. according to claim 7 rail-mounted vehicle control method it is characterised in that: described step 32) in control rail
Waggon (0) along the concrete control process of outer siding track (65) turning driving of circular arc is:
If the travel speed of rail-mounted vehicle (0) is v, the air line distance between driving wheel (13,20) is w, driving wheel (13,20)
Speed difference δ v is:
R is radius of turn on arc orbit for the rail-mounted vehicle (0)；
Elastic guide wheel (3) outside vehicle frame (1) is more than elastic guide wheel (3) and side with the thrust of the outer siding track (65) of circular arc
Balance thrust f of rail (60)0When, then increase the speed difference δ v between driving wheel (13,20), make rail-mounted vehicle (0) to inner side
Produce offset movement；Elastic guide wheel (3) outside vehicle frame (1) is less than balance compression with the thrust of the outer siding track (65) of circular arc
Power f0When, then reduce the speed difference δ v between driving wheel (13,20), make rail-mounted vehicle (0) produce offset movement laterally.
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