CN108382778A - A kind of annular shuttle loading platform active steering apparatus and method - Google Patents
A kind of annular shuttle loading platform active steering apparatus and method Download PDFInfo
- Publication number
- CN108382778A CN108382778A CN201810292794.1A CN201810292794A CN108382778A CN 108382778 A CN108382778 A CN 108382778A CN 201810292794 A CN201810292794 A CN 201810292794A CN 108382778 A CN108382778 A CN 108382778A
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- China
- Prior art keywords
- loading platform
- vehicle frame
- annular shuttle
- active steering
- annular
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a kind of annular shuttle loading platform active steering apparatus, rotatable loading platform is set to above vehicle frame, the rotary shaft of rotatable loading platform passes through vehicle frame and is connect with big synchronous pulley, small synchronous pulley is set on the axis of servo motor, and small synchronous pulley is connected with big synchronous pulley by synchronous belt；Inside is equipped with bar code at the bend starting point and end point of guide rail, and vehicle frame is equipped with the photoelectric sensor that can scan the bar code, and controller connects photoelectric sensor and servo motor.The present invention also provides a kind of annular shuttle loading platform active steering methods.It after annular shuttle enters bend, is driven by servo motor, rotatable loading platform is made to be moved in parallel with respect to ground, without following vehicle frame to rotate, reduce the danger for throwing away cargo when annular shuttle crosses bend.The present apparatus can make annular shuttle pass through bend with higher speed, improve the transfer efficiency during cargo turning, ensure that annular shuttle operation is safer, reliable.
Description
Technical field
The invention belongs to warehouse haulage equipment technical fields, more particularly to one kind for realizing annular shuttle loading platform
Relative to ground move in parallel, be based on motor-driven loading platform active steering apparatus.
Background technology
Currently, the loading mode of existing warehouse rail floor truck is：Cargo or pallet are placed directly into annular to wear
On the loading platform of shuttle car, as shown in Figure 1, annular shuttle R carries cargo or pallet and is moved along the guide rail 13 of annular bend.
Because the vehicle frame of loading platform and annular shuttle is fixed, when annular shuttle is turned, cargo can be rotated together with vehicle frame, and annular is worn
Shuttle car is easy to cause cargo and topples or throw away on loading platform during bend acceleration and deceleration.
To eliminate these drawbacks, traditional solution is to reduce speed so that the handling efficiency of cargo is difficult to meet
The demand of efficient warehousing and storage activities.
Invention content
The technical problem to be solved by the present invention is to how under the premise of not reducing cargo handling efficiency, cargo be avoided to wear
It is issuable during shuttle car high speed steering to topple and slide, improve the stability in cargo handling process and safety.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of annular shuttle loading platforms actively to turn
To device, it is characterised in that：Include the vehicle frame of annular shuttle, the bottom of frame is equipped with can be along the guide rail of annular bend
Operation and the wheel turned to；Rotatable loading platform is set to above the vehicle frame and can be rotated around the vehicle frame, rotatable load
The rotary shaft of load bed passes through the vehicle frame and is connect with big synchronous pulley, and servo motor is set to the bottom of frame, small synchronous belt
Wheel is connected between small synchronous pulley and big synchronous pulley by synchronous belt on the motor shaft of servo motor；
Inside is equipped with bar code at the bend starting point and end point of the guide rail, and the vehicle frame is equipped with and can scan
The photoelectric sensor of the bar code, controller connect photoelectric sensor and servo motor.
Preferably, the wheel is set to the bottom of frame by wheel stand.
It is highly preferred that a wheel stand is installed in four angles bottom of the vehicle frame respectively, one is installed on each wheel stand
A wheel.
Preferably, the rotatable loading platform is set to the vehicle frame overcentre, and can be revolved around the vehicle frame center
Turn.
Preferably, the rotatable loading platform includes loading platform main body, and loading platform bottom part body is equipped with downwardly extending rotary shaft；
Loading platform main body is located above the vehicle frame, and rotary shaft is passed down through the vehicle frame.
It is highly preferred that the rotary shaft is located at loading platform bottom part body center, the rotary shaft is passed down through described
Vehicle frame center.
Preferably, the servo motor is set to the bottom of frame by motor cabinet.
Preferably, the position of the small synchronous pulley and the position of the big synchronous pulley are contour.
Preferably, the position of the photoelectric sensor and the position of the bar code are contour.
The present invention also provides a kind of annular shuttle loading platform active steering methods, which is characterized in that using above-mentioned
Annular shuttle loading platform active steering apparatus, step are：
When annular shuttle vehicle frame along guide rail straight line portion when driving, rotatable loading platform and cargo follow vehicle frame
Translational motion together；
When the vehicle frame of annular shuttle enters the racetrack portion of guide rail, the photoelectric sensor scanning on annular shuttle is led
Bar code on rail perceives annular shuttle and turns to initial position and be sent to controller；Controller is sent out to servo motor immediately
Send driving instruction so that rotation loading platform relative frame reversely rotates, and opposite ground moves in parallel；
When the vehicle frame of annular shuttle is driven out to the racetrack portion of guide rail, photoelectric sensor scans the bar shaped on guide rail again
Code obtains annular shuttle and turns to final position and be sent to controller；Controller postpones to send halt instruction to servo motor,
So that after rotation loading platform is rotated further until being moved with vehicle frame keeping parallelism, servo motor stops again；
When the vehicle frame of annular shuttle is again introduced into the racetrack portion of guide rail, the above action is repeated.
Device provided by the invention overcomes the deficiencies in the prior art, after annular shuttle enters bend, passes through servo
Motor drives the mode of small synchronous pulley, and big synchronous pulley and rotatable loading platform is driven to rotate, make rotatable loading platform and
Cargo on loading platform is moved in parallel with respect to ground, without following vehicle frame to rotate, is reduced goods when annular shuttle crosses bend
The danger that object is thrown away.The present apparatus can make annular shuttle be started and be braked with higher acceleration, at the same also can with compared with
High speed is by bend, to improve the transfer efficiency during cargo turning, also can guarantee annular shuttle operation more
It is safe and reliable.
Description of the drawings
Fig. 1 is total layout of annular shuttle system；
Fig. 2 is annular shuttle loading platform active steering apparatus left view provided in this embodiment；
Fig. 3 is annular shuttle loading platform active steering apparatus upward view provided in this embodiment.
Specific implementation mode
Present invention will be further explained below with reference to specific examples.
Fig. 2 and Fig. 3 is respectively annular shuttle loading platform active steering apparatus left view provided in this embodiment and looks up
Figure, the annular shuttle loading platform active steering apparatus is by vehicle frame 7, wheel 9, wheel stand 8, rotatable loading platform 1, big
Synchronous pulley 10, small synchronous pulley 12, synchronous belt 11, servo motor 15, motor cabinet 14, bar code 17, photoelectric sensor 16 etc.
Composition.
One wheel stand 8 is installed respectively in four angles bottom of the vehicle frame 7 of annular shuttle, is pacified on each wheel stand 8
A wheel 9 is filled, four wheels 9 of annular shuttle can be run on the guide rail 13 of annular bend, and be carried out according to track
It turns to.
Rotatable loading platform 1 is mounted on 7 overcentre of vehicle frame, and rotatable loading platform 1 can be revolved around 7 center of vehicle frame
Turn.
Rotatable loading platform 1 includes loading platform main body, and loading platform bottom part body center is equipped with downwardly extending rotary shaft.Loading platform
Main body is located at the top of vehicle frame 7, and rotary shaft is passed down through 7 center of vehicle frame and is connect with big synchronous pulley 10, i.e. big synchronous pulley 10
In 1 downwardly extending rotary shaft of rotatable loading platform.
Servo motor 15 is mounted on 7 bottom of vehicle frame by motor cabinet 14, and small synchronous pulley 12 is mounted on servo motor 15
On motor shaft, the position of small synchronous pulley 12 and big synchronous pulley 10 are contour, between small synchronous pulley 12 and big synchronous pulley 10
It is connected with synchronous belt 11.
Bar code 17 is puted up on the inside of at the bend starting point and end point of guide rail 13, in vehicle frame 7 above front-wheel
Photoelectric sensor 16 is installed, keeps the position of photoelectric sensor 16 and bar code 17 contour.
Controller connects photoelectric sensor 16 and servo motor 15.
When annular shuttle on the guide rail of straight line portion when driving, rotatable loading platform 1 and cargo follow vehicle frame 7 together
Translational motion.When vehicle frame 7 enters the racetrack portion of guide rail 13, the scanning of photoelectric sensor 16 on annular shuttle is attached to guide rail
Bar code 17 on 13 perceives annular shuttle and turns to initial position and be sent to controller；Controller is immediately to servo motor
15 send driving instruction so that rotation 1 relative frame 7 of loading platform reversely rotates, and opposite ground moves in parallel；When annular shuttles
When the vehicle frame 7 of vehicle is driven out to bend, photoelectric sensor 16 scans the bar code 17 being attached on guide rail 13 again, obtains annular shuttle
It turns to final position and is sent to controller；Controller postpones to send halt instruction to servo motor 15, so that rotation loading platform 1
It is rotated further until being moved with 7 keeping parallelism of vehicle frame.After being again introduced into bend, the above action will be repeated.The speed of servo motor 15
Degree and torque are voluntarily adjusted according to the weight of the speed of service of annular shuttle, turning radius and cargo.
The above, only presently preferred embodiments of the present invention, not to the present invention in any form with substantial limitation,
It should be pointed out that for those skilled in the art, under the premise of not departing from the method for the present invention, can also make
Several improvement and supplement, these are improved and supplement also should be regarded as protection scope of the present invention.All those skilled in the art,
Without departing from the spirit and scope of the present invention, when made using disclosed above technology contents it is a little more
Dynamic, modification and the equivalent variations developed, are the equivalent embodiment of the present invention；Meanwhile all substantial technologicals pair according to the present invention
The variation, modification and evolution of any equivalent variations made by above-described embodiment, still fall within the range of technical scheme of the present invention
It is interior.
Claims (10)
1. a kind of annular shuttle loading platform active steering apparatus, it is characterised in that：Vehicle frame (7) including annular shuttle, institute
It states vehicle frame (7) bottom and is equipped with the wheel (9) that can be run and turn to along the guide rail (13) of annular bend；Rotatable loading platform
(1) it is set to above the vehicle frame (7) and can be rotated around the vehicle frame (7), the rotary shaft of rotatable loading platform (1) passes through institute
It states vehicle frame (7) and is connect with big synchronous pulley (10), servo motor (15) is set to the vehicle frame (7) bottom, small synchronous pulley
(12) it is set on the motor shaft of servo motor (15), passes through synchronous belt between small synchronous pulley (12) and big synchronous pulley (10)
(11) it is connected；
Inside is equipped with bar code (17) at the bend starting point and end point of the guide rail (13), and the vehicle frame (7) is equipped with
The photoelectric sensor (16) of the bar code (17) can be scanned, controller connects photoelectric sensor (16) and servo motor
(15)。
2. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：The wheel
(9) vehicle frame (7) bottom is set to by wheel stand (8).
3. a kind of annular shuttle loading platform active steering apparatus as claimed in claim 1 or 2, it is characterised in that：The vehicle
A wheel stand (8) is installed in four angles bottom of frame (7) respectively, and a wheel (9) is installed on each wheel stand (8).
4. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：It is described rotatable
Loading platform (1) is set to the vehicle frame (7) overcentre, and can be rotated around the vehicle frame (7) center.
5. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：It is described rotatable
Loading platform (1) includes loading platform main body, and loading platform bottom part body is equipped with downwardly extending rotary shaft；Loading platform main body is located at the vehicle frame
(7) top, rotary shaft are passed down through the vehicle frame (7).
6. a kind of annular shuttle loading platform active steering apparatus as claimed in claim 5, it is characterised in that：The rotary shaft
Positioned at loading platform bottom part body center, the rotary shaft is passed down through the vehicle frame (7) center.
7. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：The servo electricity
Machine (15) is set to the vehicle frame (7) bottom by motor cabinet (14).
8. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：The small synchronization
The position of belt wheel (12) and the position of the big synchronous pulley (10) are contour.
9. a kind of annular shuttle loading platform active steering apparatus as described in claim 1, it is characterised in that：The photoelectric transfer
The position of sensor (16) and the position of the bar code (17) are contour.
10. a kind of annular shuttle loading platform active steering method, which is characterized in that using such as any one of claim 1~9 institute
The annular shuttle loading platform active steering apparatus stated, step are：
When annular shuttle vehicle frame (7) along guide rail (13) straight line portion when driving, rotatable loading platform (1) and cargo with
With vehicle frame (7) translational motion；
When the vehicle frame (7) of annular shuttle enters the racetrack portion of guide rail (13), the photoelectric sensor on annular shuttle
(16) bar code (17) on scanning guide rail (13) perceives annular shuttle and turns to initial position and be sent to controller；Control
Device sends driving instruction to servo motor (15) immediately so that rotation loading platform (1) relative frame (7) reversely rotates, relatively
Face moves in parallel；
When the vehicle frame (7) of annular shuttle is driven out to the racetrack portion of guide rail (13), photoelectric sensor (16) scans guide rail again
(13) bar code (17) on obtains annular shuttle and turns to final position and be sent to controller；Controller postpones to servo
Motor (15) sends halt instruction, so that after rotation loading platform (1) is rotated further until being moved with vehicle frame (7) keeping parallelism, watches
Motor (15) is taken again to stop；
When the vehicle frame (7) of annular shuttle is again introduced into the racetrack portion of guide rail (13), the above action is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292794.1A CN108382778A (en) | 2018-04-03 | 2018-04-03 | A kind of annular shuttle loading platform active steering apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292794.1A CN108382778A (en) | 2018-04-03 | 2018-04-03 | A kind of annular shuttle loading platform active steering apparatus and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108382778A true CN108382778A (en) | 2018-08-10 |
Family
ID=63073395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810292794.1A Pending CN108382778A (en) | 2018-04-03 | 2018-04-03 | A kind of annular shuttle loading platform active steering apparatus and method |
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| Country | Link |
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| CN (1) | CN108382778A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020228192A1 (en) * | 2019-05-16 | 2020-11-19 | 山东大学 | Goods rack and goods cage transfer shuttle vehicle and application thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103818672A (en) * | 2014-02-28 | 2014-05-28 | 上海速锐物流科技有限公司 | Intelligent shuttle capable of running in three-dimensional way and control method thereof |
| CN103950673A (en) * | 2014-05-15 | 2014-07-30 | 昆明七零五所科技发展总公司 | Rail guide vehicle with steering function |
| US20140257555A1 (en) * | 2013-03-08 | 2014-09-11 | Bastian Solutions, Llc | Robotic material handling system |
| CN104326205A (en) * | 2014-11-03 | 2015-02-04 | 陈剑伟 | Intelligent shuttling car provided with 360-degree steering function |
| CN106064717A (en) * | 2016-07-20 | 2016-11-02 | 苏州小喇叭信息科技有限公司 | A kind of sorting transport AGV car |
-
2018
- 2018-04-03 CN CN201810292794.1A patent/CN108382778A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140257555A1 (en) * | 2013-03-08 | 2014-09-11 | Bastian Solutions, Llc | Robotic material handling system |
| CN103818672A (en) * | 2014-02-28 | 2014-05-28 | 上海速锐物流科技有限公司 | Intelligent shuttle capable of running in three-dimensional way and control method thereof |
| CN103950673A (en) * | 2014-05-15 | 2014-07-30 | 昆明七零五所科技发展总公司 | Rail guide vehicle with steering function |
| CN104326205A (en) * | 2014-11-03 | 2015-02-04 | 陈剑伟 | Intelligent shuttling car provided with 360-degree steering function |
| CN106064717A (en) * | 2016-07-20 | 2016-11-02 | 苏州小喇叭信息科技有限公司 | A kind of sorting transport AGV car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020228192A1 (en) * | 2019-05-16 | 2020-11-19 | 山东大学 | Goods rack and goods cage transfer shuttle vehicle and application thereof |
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Application publication date: 20180810 |