CN111960005B - Self-balancing carrying device - Google Patents
Self-balancing carrying device Download PDFInfo
- Publication number
- CN111960005B CN111960005B CN202010857504.0A CN202010857504A CN111960005B CN 111960005 B CN111960005 B CN 111960005B CN 202010857504 A CN202010857504 A CN 202010857504A CN 111960005 B CN111960005 B CN 111960005B
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- CN
- China
- Prior art keywords
- plate
- track
- trolley
- synchronous
- outer ring
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Links
- 230000001360 synchronised effect Effects 0.000 claims description 28
- 238000007790 scraping Methods 0.000 claims description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 230000005484 gravity Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a self-balancing carrying device which comprises a rail trolley capable of walking on a rail and a fixed outer ring fixedly arranged on the rail trolley, wherein a floating inner ring is arranged in the fixed outer ring, and the fixed outer ring is composed of symmetrically arranged annular rails and a first connecting rod fixedly connected between the two annular rails. When the track trolley runs along the track, the track trolley is in a horizontal state, a turning state, a vertical state, a hanging state and the like along with the track; meanwhile, as the fixed outer ring is arranged on the track trolley, the fixed outer ring can also present different states along with the running of the trolley, in the running process, the floating inner ring always keeps the gravity center lower than the rotation center along with the running of the trolley because the gravity center of the floating inner ring is lower than the rotation center, namely the telescopic fork plate fixed on the floating inner ring always keeps right side upwards, so that the goods on the telescopic fork plate can not tip over, and the self-balancing effect of the telescopic fork plate is achieved.
Description
Technical Field
The invention relates to a self-balancing carrying device, and belongs to the technical field of logistics equipment.
Background
With the wide application and continuous development of stereoscopic libraries, the requirements for cargo transferring equipment in stereoscopic libraries are increasing. In order to realize quick goods access and layer replacement in the three-dimensional space warehouse, often need borrow the track dolly to transport goods, at the in-process of transporting goods, the track dolly will be states such as level, turn, perpendicular, hang along the track, especially in turn and hang the in-process, the goods on the track dolly is very easy to tip over or drop down. Therefore, how to ensure that the goods always keep right side upwards in the transferring process is a technical problem to be solved at present.
Disclosure of Invention
The invention aims to provide a self-balancing carrying device so as to keep the right side upwards all the time in the carrying process, avoid the goods from tipping and improve the safety of the carrying process.
The technical scheme of the invention is as follows: the self-balancing carrying device comprises a rail trolley capable of walking on a rail and a fixed outer ring fixedly arranged on the rail trolley, wherein a floating inner ring is arranged in the fixed outer ring, and the fixed outer ring is composed of symmetrically arranged annular rails and a first connecting rod fixedly connected between the two annular rails; the floating inner ring comprises end plates which are symmetrically arranged and a second connecting rod which is fixedly connected between the two end plates, the two end plates are arranged close to the annular track and are located on the outer side of the annular track, four bearings are mounted on the end plates, the outer rings of the bearings are in rolling fit with the inner wall of the annular track, electromagnets are fixedly mounted on the end plates, telescopic fork plates are fixedly mounted on the second connecting rod, through holes are formed in the end plates, and the telescopic fork plates can extend out of the through holes.
Further, but scalable fork plate is including fixing the bottom plate and fixed mounting is in the driving motor of bottom plate one side on the second connecting rod, install one-level expansion plate and second expansion plate on the bottom plate, and one-level expansion plate and second expansion plate sliding connection, second expansion plate and bottom plate sliding connection, install first synchronizing wheel and second synchronizing wheel respectively at the both ends of second expansion plate, install first synchronous belt and second hold-in range respectively on first synchronizing wheel and second synchronizing wheel, and the both ends of first synchronous belt and second hold-in range respectively with bottom plate and one-level expansion plate fixed connection, one side fixedly connected with rack at one-level expansion plate, install two third synchronizing wheels in one side of rack, install two double-sided tooth synchronizing belt between two third synchronizing wheels, and double-sided tooth synchronizing belt's external tooth and rack engagement.
Still further, the bottom fixedly connected with first slider of one-level expansion plate has first spout on the second grade expansion plate, and first slider and first spout sliding connection, the bottom fixedly connected with second slider at the second grade expansion plate, the bottom fixedly mounted at the bottom of bottom plate has the second spout, and second slider and second spout sliding connection.
Still further, the both ends of one-level expansion plate are provided with left scraper bar and right scraper bar respectively, all install scraper bar motor in the bottom both ends of one-level expansion plate, left scraper bar and right scraper bar connect respectively on the main shaft of scraper bar motor in both ends.
Furthermore, the annular track is made of a material containing iron, and a gap between the electromagnet and the annular track is 1-3 mm.
Further, the outer part of the fixed outer ring is wrapped with a skin.
Due to the adoption of the technical scheme, the invention has the advantages that: when the track trolley runs along the track, the track trolley is in a horizontal state, a turning state, a vertical state, a hanging state and the like along with the track; meanwhile, as the fixed outer ring is arranged on the track trolley, the fixed outer ring can also present different states along with the running of the trolley, in the running process, the floating inner ring always keeps the gravity center lower than the rotation center along with the running of the trolley because the gravity center of the floating inner ring is lower than the rotation center, namely the telescopic fork plate fixed on the floating inner ring always keeps right side upwards, so that the goods on the telescopic fork plate can not tip over, and the self-balancing effect of the telescopic fork plate is achieved. When the track trolley runs to a position where goods need to be taken and placed, the electromagnet on the floating inner ring is electrified, the floating inner ring is adsorbed with the fixed outer ring through the magnetic force of the electromagnet, so that the floating inner ring is kept fixed, and the driving motor drives the rack to move through the double-sided tooth synchronous belt, so that the telescopic fork plate is driven to stretch and retract, and the goods taking and placing work is completed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of an assembled structure of a stationary outer race and a floating inner race;
FIG. 3 is a schematic structural view of a stationary outer race;
FIG. 4 is a schematic view of the structure of the floating inner race;
FIG. 5 is a schematic view of the structure of the retractable fork plate;
FIG. 6 is a top view of a schematic structural view of the retractable fork plate as it is deployed;
FIG. 7 is a perspective view of a schematic structural view of the retractable fork plate as it is deployed;
fig. 8 is a schematic back view of fig. 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples.
Embodiments of the invention: the self-balancing carrying device is shown in the structural schematic diagrams of figures 1-4, and comprises a track trolley 5 capable of walking on a track and a fixed outer ring 1 fixedly arranged on the track trolley 5, wherein a floating inner ring 2 is arranged in the fixed outer ring 1, and the fixed outer ring 1 is composed of symmetrically arranged annular tracks 7 and a first connecting rod 8 fixedly connected between the two annular tracks 7; the floating inner ring 2 comprises end plates 9 which are symmetrically arranged and a second connecting rod 10 which is fixedly connected between the two end plates 9, the two end plates 9 are close to the annular track 7 and are located on the outer side of the annular track 7, four bearings 13 are arranged on the end plates 9, the outer rings of the bearings 13 are in rolling fit with the inner wall of the annular track 7, electromagnets 11 are fixedly arranged on the end plates 9, a telescopic fork plate 3 is fixedly arranged on the second connecting rod 10, through holes are formed in the end plates 9, and the telescopic fork plate 3 can extend out from the through holes. The annular track 7 is made of a material containing iron, and a gap between the electromagnet 11 and the annular track 7 is 2mm. The outer part of the fixed outer ring 1 is wrapped with a skin.
Referring to fig. 5 to 8, the retractable fork 3 includes a bottom plate 18 fixed on the second connecting rod 10 and a driving motor 4 fixedly installed on one side of the bottom plate 18, a primary retractable plate 21 and a secondary retractable plate 17 are installed on the bottom plate 18, the primary retractable plate 21 is slidably connected with the secondary retractable plate 17, the secondary retractable plate 17 is slidably connected with the bottom plate 18, a first synchronous wheel 26 and a second synchronous wheel 29 are respectively installed at two ends of the secondary retractable plate 17, a first synchronous belt 23 and a second synchronous belt 22 are respectively installed on the first synchronous wheel 26 and the second synchronous wheel 29, two ends of the first synchronous belt 23 and the second synchronous belt 22 are respectively fixedly connected with the bottom plate 18 and the primary retractable plate 21, a rack 15 is fixedly connected on one side of the primary retractable plate 21, two third synchronous wheels 16 are installed on one side of the rack 15, a double-sided toothed synchronous belt 14 is installed between the two third synchronous wheels 16, and external teeth of the double-sided toothed synchronous belt 14 are meshed with the rack 15. The bottom of the first-stage expansion plate 21 is fixedly connected with a first sliding block 24, the second-stage expansion plate 17 is fixedly provided with a first sliding groove 25, the first sliding block 24 is in sliding connection with the first sliding groove 25, the bottom of the second-stage expansion plate 17 is fixedly connected with a second sliding block 27, the bottom of the bottom plate 18 is fixedly provided with a second sliding groove 28, and the second sliding block 27 is in sliding connection with the second sliding groove 28. The two ends of the primary expansion plate 21 are respectively provided with a left scraping rod 19 and a right scraping rod 20, the two ends of the bottom of the primary expansion plate 21 are respectively provided with a scraping rod motor 30, and the left scraping rod 19 and the right scraping rod 20 are respectively connected to the main shafts of the two ends of the scraping rod motors 30.
The working principle of the invention is as follows:
When the track trolley 5 runs along the track, the track trolley 5 is in a horizontal state, a turning state, a vertical state, a hanging state and the like along the track; meanwhile, as the fixed outer ring 1 is arranged on the track trolley 5, the fixed outer ring 1 can also present different states along with the running of the trolley, in the running process, the gravity center of the floating inner ring 2 is lower than the rotation center, so that the gravity center of the floating inner ring 2 is always lower than the rotation center along with the running of the trolley, namely the telescopic fork plate 3 fixed on the floating inner ring 2 is always kept right-side upwards, so that the goods 6 on the telescopic fork plate 3 can not tip over, and the self-balancing function of the telescopic fork plate 3 is achieved. When the track trolley 5 moves to a position where goods 6 need to be taken and placed, the electromagnet 11 on the floating inner ring 2 is electrified, and the floating inner ring 2 and the fixed outer ring 1 are adsorbed together by the magnetic force of the electromagnet 11, so that the floating inner ring 2 is kept fixed; at this time, the driving motor 4 drives the rack 15 to move through the double-sided tooth synchronous belt 14, and the rack 15 drives the primary expansion plate 21 and the secondary expansion plate 17 to synchronously move, so as to drive the telescopic fork plate 3 to stretch and retract, thereby completing the work of picking and placing the goods 6.
In the process of picking up goods, the first-stage expansion plate 21 stretches out the back and puts goods 6 at first-stage expansion plate 21, before the inside of the first-stage expansion plate 21 withdrawal floating inner circle 2, the left scraping rod 19 and the right scraping rod 20 of the tip of first-stage expansion plate 21 stand up simultaneously and perpendicular with first-stage expansion plate 21, guarantees through the spacing effect of left scraping rod 19 and right scraping rod 20 that goods 6 can not left and right movement in the inside in-process of entering floating inner circle 2, improves the security of system. When the goods need to be unloaded after moving to the appointed position, and the goods 6 are unloaded, the left scraping rod 19 returns, the right scraping rod 20 keeps standing, and in the process that the first-stage expansion plate 21 stretches out of the floating inner ring 2, the goods 6 can be pushed out of the floating inner ring 2 through the right scraping rod 20, so that the goods are convenient to be unloaded.
Claims (3)
1. The utility model provides a self-balancing carrying device, includes track trolley (5) and fixed outer lane (1) of fixed mounting on track trolley (5) of walking on the track, is provided with in fixed outer lane (1) and floats inner circle (2), its characterized in that: the fixed outer ring (1) is composed of symmetrically arranged annular tracks (7) and a first connecting rod (8) fixedly connected between the two annular tracks (7); the floating inner ring (2) comprises end plates (9) which are symmetrically arranged and a second connecting rod (10) which is fixedly connected between the two end plates (9), the two end plates (9) are arranged close to the annular track (7) and are positioned on the outer side of the annular track (7), four bearings (13) are arranged on the end plates (9), the outer ring of each bearing (13) is in rolling fit with the inner wall of the annular track (7), an electromagnet (11) is fixedly arranged on the end plates (9), a telescopic fork plate (3) is fixedly arranged on the second connecting rod (10), a through hole is formed in the end plates (9), and the telescopic fork plate (3) extends out of the through hole; the telescopic fork plate (3) comprises a bottom plate (18) fixed on the second connecting rod (10) and a driving motor (4) fixedly arranged on one side of the bottom plate (18), a first-stage telescopic plate (21) and a second-stage telescopic plate (17) are arranged on the bottom plate (18), the first-stage telescopic plate (21) and the second-stage telescopic plate (17) are in sliding connection, the second-stage telescopic plate (17) and the bottom plate (18) are in sliding connection, a first synchronous wheel (26) and a second synchronous wheel (29) are respectively arranged at two ends of the second-stage telescopic plate (17), a first synchronous belt (23) and a second synchronous belt (22) are respectively arranged on the first synchronous wheel (26) and the second synchronous wheel (29), two ends of the first synchronous belt (23) and the second synchronous belt (22) are respectively fixedly connected with the bottom plate (18) and the first-stage telescopic plate (21), two third synchronous wheels (16) are arranged on one side of the first-stage telescopic plate (21), two synchronous wheels (16) are respectively arranged on one side of the rack (15), and the two synchronous wheels (14) are respectively meshed with the two synchronous belts (14); the bottom of the first-stage expansion plate (21) is fixedly connected with a first sliding block (24), the second-stage expansion plate (17) is fixedly provided with a first sliding groove (25), the first sliding block (24) is in sliding connection with the first sliding groove (25), the bottom of the second-stage expansion plate (17) is fixedly connected with a second sliding block (27), the bottom of the bottom plate (18) is fixedly provided with a second sliding groove (28), and the second sliding block (27) is in sliding connection with the second sliding groove (28); the two ends of the primary expansion plate (21) are respectively provided with a left scraping rod (19) and a right scraping rod (20), the two ends of the bottom of the primary expansion plate (21) are respectively provided with a scraping rod motor (30), and the left scraping rod (19) and the right scraping rod (20) are respectively connected to the main shafts of the two-end scraping rod motors (30).
2. The self-balancing carrier according to claim 1, wherein: the annular track (7) is made of a material containing iron, and a gap between the electromagnet (11) and the annular track (7) is 1-3 mm.
3. The self-balancing carrier according to claim 1, wherein: the outer part of the fixed outer ring (1) is wrapped with a skin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010857504.0A CN111960005B (en) | 2020-08-24 | 2020-08-24 | Self-balancing carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010857504.0A CN111960005B (en) | 2020-08-24 | 2020-08-24 | Self-balancing carrying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111960005A CN111960005A (en) | 2020-11-20 |
| CN111960005B true CN111960005B (en) | 2024-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010857504.0A Active CN111960005B (en) | 2020-08-24 | 2020-08-24 | Self-balancing carrying device |
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| Country | Link |
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| CN (1) | CN111960005B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919946B (en) * | 2022-07-21 | 2022-09-23 | 广东盈中自动化设备有限公司 | Ground rail of ore transportation rail robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212892082U (en) * | 2020-08-24 | 2021-04-06 | 贵阳普天物流技术有限公司 | Self-balancing carrying mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4422627B2 (en) * | 2004-11-17 | 2010-02-24 | 日本放送協会 | Remote shooting camera device |
| CN104826340B (en) * | 2015-04-29 | 2017-06-27 | 上海市机械施工集团有限公司 | sightseeing ball cabin |
| WO2018189110A1 (en) * | 2017-04-12 | 2018-10-18 | Exotec Solutions | Order-picking system |
| CN111216143B (en) * | 2020-02-24 | 2023-08-18 | 陕西科技大学 | Self-balancing delivery robot |
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- 2020-08-24 CN CN202010857504.0A patent/CN111960005B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212892082U (en) * | 2020-08-24 | 2021-04-06 | 贵阳普天物流技术有限公司 | Self-balancing carrying mechanism |
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| Publication number | Publication date |
|---|---|
| CN111960005A (en) | 2020-11-20 |
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