CN113247561A

CN113247561A - Heavy EMS (energy management system) for automatic metallurgical industry

Info

Publication number: CN113247561A
Application number: CN202110644945.7A
Authority: CN
Inventors: 莫小峰; 姚志坚; 尹道俊; 高汉富
Original assignee: Hefei Jingsong Intelligent Technology Co Ltd
Current assignee: Hefei Jingsong Intelligent Technology Co Ltd
Priority date: 2021-06-09
Filing date: 2021-06-09
Publication date: 2021-08-13
Anticipated expiration: 2041-06-09
Also published as: CN113247561B

Abstract

The invention discloses a heavy EMS in the automatic metallurgy industry, which comprises a plurality of working branch rails, wherein rail transfer devices are arranged among the working branch rails; the rail transfer device comprises a rail transfer rail and a rail transfer mechanism, the rail transfer mechanism comprises a rail transfer travelling mechanism and a moving rail, and the EMS trolley travels to the moving rail from the original working branch rail and moves to the target working branch rail along with the rail transfer travelling mechanism during rail transfer to finish rail transfer; the EMS realizes that a plurality of EMS trolleys simultaneously walk on the rail, realizes rail change and way yielding when the plurality of EMS trolleys simultaneously work by arranging the rail changing device, and avoids collision and interference among the EMS trolleys; meanwhile, the rail-crossing movement is realized through the rail-changing device, the target EMS trolley can be operated to a specified position within the shortest track distance and the shortest time, the EMS trolley conveying working time is shortened, and the efficiency is improved.

Description

Heavy EMS (energy management system) for automatic metallurgical industry

Technical Field

The invention belongs to the field of EMS (energy management system), and particularly relates to a heavy EMS in the automatic metallurgy industry.

Background

Ems (electrical robotic system) is an automated aerial suspension device that travels on an aerial preset track. The EMS does not occupy the ground space and is not limited by the ground space, a user can more efficiently and reasonably utilize the space, and the EMS is widely applied to industries and fields such as automatic production lines in the automobile industry and the engineering machinery industry.

With the continuous expansion of the market and the product range, the EMS has special technical requirements on the whole, such as the requirements of the metallurgical industry on accurate weighing, large load, high speed, severe environment conditions of high temperature, dust and the like. With the application and development of EMS in the metallurgical industry, in the prior art, one EMS trolley which is hung and moved on a conventional track cannot meet the requirements of users, the use amount of the EMS trolley is increased, so that the track for the EMS trolley to move is increased, and the cost is increased.

Disclosure of Invention

The invention aims to provide a heavy EMS in the automatic metallurgy industry, a plurality of walking rails are arranged according to production requirements, a plurality of EMS trolleys walk on the rails at the same time, and a rail transfer and way giving are realized by arranging a rail transfer device when the plurality of EMS trolleys work at the same time, so that collision and interference among the EMS trolleys are avoided; meanwhile, when the EMS trolley in the technology works, the rail-crossing movement is realized through the rail-changing device, the target EMS trolley can be moved to the designated position within the minimum track distance and the shortest time, the EMS trolley conveying working time is shortened, and the efficiency is improved.

The invention discloses a heavy EMS (energy management system) in the automatic metallurgy industry, which comprises a working track, wherein the working track comprises a plurality of working branch rails which are arranged in parallel, and a rail transfer device for moving an EMS trolley from one working branch rail to the other working branch rail is arranged between the working branch rails;

the rail transfer device comprises a rail transfer rail and a rail transfer mechanism which is arranged on the rail transfer rail and moves along the rail transfer rail to move the EMS trolley from one working rail to the other working rail, the rail transfer mechanism comprises a rail transfer walking mechanism which moves along the rail transfer rail and a moving rail which is arranged on the rail transfer walking mechanism, and the EMS trolley moves from the original working rail to the moving rail and moves to a target working rail to be transferred along with the rail transfer walking mechanism during rail transfer;

the movable rail moves the EMS trolley needing to be subjected to rail transfer from the original working branch rail to the target working branch rail needing to be subjected to rail transfer in the rail transfer avoidance area to finish rail transfer.

Preferably, the orbital transfer track comprises two orbital transfer branches which are arranged in parallel on the upper portion of the orbital transfer avoiding area, the orbital transfer travelling mechanism is installed on the two orbital transfer branches and travels along the orbital transfer branches to the off position of the target working branch from the off position of the original working branch, and the length of the orbital transfer branches is greater than the distance between the two adjacent working branch.

Preferably, the working support rails comprise straight rails, the EMS trolley is switched between the two straight rails, the rail switching travelling mechanism comprises a straight rail switching travelling mechanism, and the moving rail comprises at least one straight rail section;

the straight rail track-changing traveling mechanism comprises a straight rail track-changing fixing frame and a straight rail track-changing traveling assembly which is fixedly connected to the straight rail track-changing fixing frame and travels along the track-changing track, the straight track section is parallel to the working branch track and is fixed at the bottom of the straight rail track-changing fixing frame in an equal-height mode, and the length of the straight track section is matched with the width of the breaking position of the working branch track.

Preferably, the straight rail track-changing walking assembly comprises a plurality of groups of walking wheels arranged on the track-changing track, a straight rail track-changing driving motor for driving at least one group of walking wheels to actively walk, and an electricity connecting device for supplying power to the straight rail track-changing driving motor, wherein the electricity connecting device comprises a conductive strip arranged on the track-changing track and a current collecting arm fixed on the straight rail track-changing fixing frame and electrically contacted with the conductive strip.

Preferably, the straight rail track-changing running mechanism is further provided with two butt-joint positioning devices, and the two butt-joint positioning devices respectively realize butt-joint positioning between the straight rail section and the original working branch rail as well as between the straight rail section and the target working branch rail;

the butt joint positioning device comprises a butt joint air cylinder fixed on the straight rail transfer fixing frame and a guide mechanism, wherein an air cylinder push rod of the butt joint air cylinder penetrates through the butt joint air cylinder and is respectively arranged on the straight rail transfer fixing frame and the working support rail;

the guide mechanism comprises a guide support and a guide wheel set arranged on the guide support, the guide wheel set comprises four guide wheels, and the axes of the four guide wheels enclose a plane rectangular shape.

Preferably, the working branch rail comprises a bent rail, the EMS trolley is changed at the bent rail, the rail changing travelling mechanism comprises a bent rail changing travelling mechanism, and the moving rail comprises a first butt rail section which is matched with the original working branch rail in a rail changing avoiding area and a second butt rail section which is matched with the target working branch rail;

the bent rail transfer traveling mechanism comprises a bent rail transfer fixing frame and a bent rail transfer driving assembly for driving the bent rail transfer fixing frame to move, and the first butt joint rail section and the second butt joint rail section are fixedly connected to the bottom of the bent rail transfer fixing frame; the curved rail transfer driving assembly drives the curved rail transfer fixing frame, the first butt joint rail section and the second butt joint rail section to move, and the EMS trolley on the original working support rail is carried to the target working support rail by the first butt joint rail section or the second butt joint rail section to complete curved rail transfer.

Preferably, the curved rail transfer driving assembly comprises a plurality of supporting traveling wheels connected with the curved rail transfer fixing frame and arranged on the transfer rail, a curved rail transfer driving motor fixed on the transfer rail and a transmission chain driven by the curved rail transfer driving motor, wherein two ends of the transmission chain are fixed on the curved rail transfer fixing frame and pass through a plurality of tension wheels arranged on the transfer rail; the bent rail transfer driving motor drives the bent rail transfer fixing frame, the first butt joint rail section and the second butt joint rail section to reciprocate through the transmission chain.

Preferably, the curved rail comprises two tangent curved rails or a curved rail and a tangent straight rail, and the working branch rail is disconnected at the tangent position; the EMS trolley is transferred from one bent rail to another bent rail or tangential straight rail, or the EMS trolley is transferred from the tangential straight rail to another bent rail;

the first butt joint track section and the second butt joint track section are two curved track sections which are respectively in butt joint with two tangent curved tracks, or are a curved track section and a straight track section which are respectively in butt joint with a curved track and a tangential straight track, and the first butt joint track section and the second butt joint track section are arranged in a separated mode.

Preferably, the disconnection positions of the working branch rails are provided with limiting mechanisms, each limiting mechanism comprises a rotating arm, a rotating arm frame, a rotating arm connecting shaft and a rotating arm driving motor, the rotating arm frames are fixed with the working branch rails and are connected with the rotating arms through the rotating arm connecting shafts, the rotating arms are arranged at the end parts of the disconnection positions of the working branch rails, and the rotating arm driving motors are connected with the rotating arm connecting shafts to realize rotation of the rotating arms.

Preferably, the EMS trolley comprises a trolley travelling device arranged on the working support rail, and a rail real-time detection device is arranged on the trolley travelling device;

the real-time track detection device comprises an active detection guide wheel which is in contact with the side face of the working branch rail and moves along the working branch rail, a guide wheel connecting rod is rotatably connected to a wheel shaft of the active detection guide wheel, the other end of the guide wheel connecting rod is rotatably connected with a connecting rod mounting frame, a spring is arranged at the middle section of the guide wheel connecting rod, which is close to the side face of the working branch rail, and the other end of the spring is fixed with the connecting rod mounting frame;

a travel switch is further fixed on the connecting rod mounting rack, and when the active detection guide wheel is contacted with the side face of the working branch rail, a contact of the travel switch is contacted with the guide wheel connecting rod;

the front part and the rear part of the EMS trolley are respectively provided with an anti-collision contact and an anti-collision rod, when the EMS trolley runs, the anti-collision contact on one EMS trolley collides with the anti-collision rod on the other EMS trolley to trigger the anti-collision contact, transmit a signal to a control system and control the EMS where the anti-collision contact and the anti-collision rod are located to forcibly stop running;

the anti-collision contact includes that the anticollision that extends the automobile body scope of EMS dolly welds the pole, the pole front end demountable installation is welded in the anticollision has the anticollision switch support, install anticollision trigger switch on the anticollision switch support, trigger anticollision trigger switch's anticollision trigger shaft, cover are established the outside anticollision reset spring of anticollision trigger shaft and the coaxial crashproof rubber head that inserts in the anticollision trigger shaft, anticollision rubber head with after the anticollision pole bumps, inwards promote the anticollision trigger shaft, anticollision trigger shaft triggers anticollision trigger switch output collision signal.

The technical scheme of the invention has the beneficial effects that the heavy EMS in the automatic metallurgy industry has the following advantages:

1. through setting up the orbital transfer device, realize many EMS dollies simultaneous working, can realize that the EMS dolly becomes the rail and lets the way, avoid appearing the problem of interference and anticollision. Meanwhile, the rail-crossing walking of the EMS trolley can be realized through the rail-changing device, the walking distance of the EMS trolley to the target position is shortened, the working efficiency of the EMS trolley is improved, the working time of the EMS trolley is shortened, the working electricity consumption cost of the EMS trolley is reduced, the working abrasion of the EMS trolley is reduced, and the service life of the EMS trolley is prolonged.

2. Through the setting of straight rail becomes rail running gear and curved rail and becomes rail running gear structure for the EMS dolly can realize becoming the rail at straight rail and curved rail department homoenergetic, and the suitability is strong, and it is good to become the rail flexibility, makes the track design can shorten track length as required completely, when becoming the rail, can have more rail selection of becoming.

3. Set up stop gear in the disconnection position of work tributary rail, the effectual EMS dolly that has avoided accomplishing the change of rail becomes the rail after, the problem of follow-up EMS dolly landing work tributary rail, and the security is high.

Drawings

FIG. 1 is a schematic diagram of the construction of the operation track of the EMS trolley according to the technical scheme of the invention,

FIG. 2 is a schematic structural view of a straight rail transfer traveling mechanism for transferring rails of an EMS trolley at a straight rail position in the technical scheme of the invention,

figure 3 is a schematic view of the enlarged partial structure of figure 2,

figure 4 is a front view of figure 2,

figure 5 is a top view of figure 2,

figure 6 is an enlarged view at a in figure 5,

figure 7 is a schematic view of the structure of the guide mechanism,

figure 8 is a schematic structural view of the limiting mechanism,

FIG. 9 is a schematic structural diagram of a curved rail and rail-changing traveling mechanism,

figure 10 is a top view of figure 9,

figure 11 is a schematic diagram of the EMS cart operation,

figure 12 is a front view of figure 11,

figure 13 is a schematic view of the structure at B in figure 11,

FIG. 14 is a schematic structural diagram of a real-time track detection device,

fig. 15 is a schematic view of a bump contact structure.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.

In the prior art, the work track of the EMS trolley is mainly a plurality of independent non-intersecting tracks or an annular track, and the EMS trolley 200 travels along the work track and can only travel back and forth on the independent tracks. Therefore, in a working area, a track is required to be arranged between any two points needing to be transported, the number of the tracks is large, the cost is high, the EMS trolley travels along the preset track, the traveling path is unique, and the adaptability is poor. Fig. 1 shows a schematic structural diagram of a working rail 100 of an EMS trolley according to the technical solution of the present invention, where the working rail 100 includes a plurality of working rails 101/102, each of the working rails 101/102 is independent or tangent to each other, and the working rail 101/102 includes a straight rail 106 and a curved rail 107. During the track change, the track change can be performed at the straight track, for example, at the position marked by 104 in fig. 1, the straight track is changed into another straight track; the track can also be changed at the curved track position, such as the position 105 marked in fig. 1, and the direction of the curved arrow at the positions of the mark 104 and the mark 105 is the track changing direction.

Fig. 1 is a schematic diagram of the orbit switching principle of the heavy EMS in the automatic metallurgy industry according to the technical solution of the present invention. The EMS includes a work track 100, the work track 100 including a number of work rails 101/102 arranged in parallel. Between the working rails 101/102, a rail transfer device 300 is provided for moving the EMS carriage 200 from one working rail to another.

As shown in fig. 1, in the present embodiment, the rail transfer device 300 includes a rail transfer rail 1 and a rail transfer mechanism disposed on the rail transfer rail 1 and moving the EMS cart 200 from one working rail to another working rail along the rail transfer rail 1. The track transfer mechanism includes a track transfer traveling mechanism 301 that travels along the track transfer rail 1 and a moving rail 302 that is mounted on the track transfer traveling mechanism 301. When the rail is changed, the EMS trolley 200 travels to the moving rail 302 from the original working branch rail and moves to the target working branch rail to be changed along with the rail changing travel mechanism 301. For example, the position of the mark 104 in FIG. 1 is shifted in the direction of the arrow curve of the position of the mark 104. The EMS trolley 200 is on the original working rail 108 before rail change; then after the rail transfer device 300 moves to the end of the original working branch rail 108, the moving rail 302 on the rail transfer device 300 is butted with the original working branch rail 108; then, the EMS trolley automatically travels on a moving track 302 on the rail-changing traveling mechanism 301 at the position from the original working track 108; then the movable rail 302 drives the EMS trolley 200 to walk to the nearby target work branch rail 109 along the orbital transfer rail 1, and the movable rail 302 is connected with the target work branch rail 109 in an abutting mode; finally, the EMS trolley 200 is moved to the target working rail 109 from the moving rail 302, and the rail transfer work is completed.

The orbital transfer track 1 in this technical scheme sets up in needs orbital transfer position, only be provided with orbital transfer track 1 promptly, EMS dolly 200 just can realize the orbital transfer in this position. Meanwhile, in order to ensure that the track transfer device 300 does not collide with and interfere with the working branch rail 101/102 when operating, the working branch rail 101/102 needs to be disconnected at the position where the track transfer rail 1 is provided to form the track transfer avoiding region 103. The movable rail 302 realizes that the EMS trolley 200 needing to be subjected to rail transfer is moved to a target working branch rail needing to be subjected to rail transfer from an original working branch rail in the rail transfer avoidance area 103, and rail transfer is completed.

Based on above-mentioned technical scheme, according to the production needs, set up many walking tracks at the scene, many EMS dollies can walk on the track simultaneously, realize many EMS and carry out the rail change and let the way when simultaneous working through setting up the rail transfer device 300, avoid bumping and interfering between the EMS dolly. For example, on the same working branch rail, when the EMS trolley at the rear needs to overtake, the front EMS trolley can be subjected to rail transfer to the adjacent working branch rail to give way, so that the rear EMS trolley can smoothly pass through, and the blocking and collision of the front EMS trolley on the rear EMS trolley are avoided. After the orbital transfer is finished, the rear EMS trolley normally travels through the position and then travels or works according to a preset program, and the front orbital transfer EMS trolley can stay on the work track after the orbital transfer and can also return to the original work branch track to continue working through the orbital transfer device in time.

Based on the technical scheme, when the EMS trolley works, the rail-crossing movement is realized through the rail-changing device 300, the target EMS trolley can be moved to a specified position within the shortest track distance and the shortest time, the EMS trolley conveying working time is shortened, and the efficiency is improved. For example, as shown in fig. 1, when the EMS trolley is at the position labeled C, the EMS trolley needs to travel to the position labeled D, and conventionally, if the EMS trolley does not pass through rail change, the EMS trolley needs to travel half a turn on the working support rail labeled C, and finally travels to the position labeled D through the rail at the upper right corner in fig. 1, and the travel is far. And, after having the orbital transfer device 300 of this technical scheme, the EMS dolly can be at mark 104 position, carries out the orbital transfer, on the work orbit of EMS dolly by mark C position, on the work orbit of marking 104 position orbital transfer to the side, simultaneously through changing the walking direction of dolly running gear on the EMS dolly after the orbital transfer for the EMS dolly gets into the work orbit of mark 109 position, then moves to mark D position. As can be seen from fig. 1, the movement path of the EMS trolley using the track-changing device is greatly saved compared to the movement path without the track-changing device.

As shown in fig. 1, the orbital transfer track 1 includes two orbital transfer branch tracks 11/12 arranged in parallel on the upper portion of the orbital transfer avoiding region 103, and the arrangement of the two orbital transfer branch tracks 11/12 facilitates the installation and fixation of the orbital transfer mechanism, ensures the stability of the orbital transfer mechanism during operation, and avoids the problem of inaccurate butt joint between the movable track 302 and the working orbital transfer caused by shaking. The rail-changing traveling mechanism 301 is installed on the two rail-changing branch rails 11/12 and travels along the rail-changing branch rail 11/12 from the off position of the original working branch rail to the off position of the target working branch rail, the length of the rail-changing branch rail 11/12 is greater than the distance between the two adjacent working branch rails 101/102, so that the rail-changing traveling mechanism 301 has a sufficient moving position during rail-changing traveling, and after the traveling of the rail-changing traveling mechanism 301 is completed, the moving rail 302 can be butted with the original working branch rail or the target working branch rail.

As shown in fig. 2-4, the working stock includes straight rails 106, and the EMS carriage is tracked between the two straight rails 106. The orbital transfer traveling mechanism 301 includes a straight orbital transfer traveling mechanism 2, and the moving track 302 includes at least one straight track segment 22. The straight rail track-changing traveling mechanism 2 comprises a straight rail track-changing fixing frame 21 and a straight rail track-changing traveling component 23 which is fixedly connected to the straight rail track-changing fixing frame 21 and travels along the track-changing track 1. The straight track section 22 is parallel to the working

branch rails

101 and 102 and is fixed at the bottom of the straight rail transfer fixing frame 21 in the shape of equal height. The length of the straight track section 22 is adapted to the width of the working branch rail at the disconnection position.

Based on the technical scheme, the straight rail-changing traveling mechanism 2 conveys the EMS trolley to another straight rail from a straight rail. The working track 1 is arranged on top of the straight track 106 so that the straight track section 22 can be docked with the straight track 106. The straight rail transfer walking assembly 23 works to drive the straight rail transfer fixing frame 21, the straight rail section 22 and the EMS trolley 200 moving to the straight rail section 22 to move synchronously, so that the EMS trolley is transferred to a rail. The length of the straight track section 22 is adapted to the width of the disconnection position of the working branch track, so that the straight track section 22 is ensured to be butted with the disconnection position of the straight track 106 without interference.

As shown in fig. 2 to 4, the straight rail transfer traveling assembly 23 includes a plurality of sets of traveling wheels 231 disposed on the transfer rail 1, a straight rail transfer driving motor 232 for driving at least one set of traveling wheels 231 to actively travel, and a power connection device for supplying power to the straight rail transfer driving motor 232. The power connecting device comprises a conductive strip arranged on the track-changing track 1 and a current collecting arm which is fixed on the straight track-changing fixing frame and is electrically contacted with the conductive strip. Due to the arrangement of the power connection device, the straight rail and rail transfer driving motor 232 can conveniently take power, the installation of a conducting wire in the process is avoided, the equipment is simplified, and the failure rate is reduced.

As shown in fig. 4 to 6, the straight rail track-changing traveling mechanism 23 is further provided with two butt positioning devices 24. The two butt-joint positioning devices 24 respectively realize butt-joint positioning between the straight track section 22 and the original working branch track and the target working branch track. The problem that the straight track section 22 and the straight track 106 cannot be butted due to swinging, shaking, vibration, motion positioning errors and the like in the traveling process of the straight track rail-changing traveling mechanism 23 is avoided, and the problem that the EMS trolley continues to travel forwards to cause derailment of the EMS trolley due to the fact that the straight track section 22 and the straight track 106 are not butted is avoided.

As shown in fig. 5 and 6, the docking positioning device 23 includes a docking cylinder 241 fixed on the straight rail fixing frame 21, and a guide mechanism 242 through which a cylinder push rod of the docking cylinder 241 passes and is respectively disposed on the straight rail fixing frame 21 and the working branch rail 101/102. As shown in fig. 7, the guide mechanism 242 includes a guide bracket 241 and a guide wheel set 2422 disposed on the guide bracket 2421. The guide wheel set 2422 comprises four guide wheels, and the axes of the four guide wheels enclose a plane rectangular shape. Two or more sets of guide wheel 2422 may be arranged in parallel in sequence, as desired.

Based on the above technical scheme, when the straight rail transfer traveling mechanism 2 performs the rail transfer operation, the straight rail section 22 firstly moves to the original working branch rail end and then moves to the target working branch rail end, and the straight rail section 22 needs to be sequentially butted with the original working branch rail and the target working branch rail, and then after the cylinder push rod of the butting cylinder 241 is pushed outwards, the straight rail section 22 sequentially passes through the guide mechanism of the straight rail transfer fixing frame 21 and the guide mechanism on the original working branch rail or the target working branch rail, so that the straight rail section 22 is butted with the original working branch rail or the target working branch rail, the butt joint is ensured to be complete, and the problem of EMS trolley derailment is avoided.

As shown in fig. 1, 9 and 10, the working stock rail includes a curved rail 107. The EMS trolley changes the rail at the bent rail 107, the rail-changing traveling mechanism 301 comprises a bent rail-changing traveling mechanism 4, and the moving rail 302 comprises a first butt joint rail section 51 which is matched with the original working branch rail in the rail-changing avoiding area and a second butt joint rail section 52 which is matched with the target working branch rail. The curved rail transfer traveling mechanism 4 comprises a curved rail transfer fixing frame 41 and a curved rail transfer driving assembly for driving the curved rail transfer fixing frame 41 to move. The first butt-joint rail section 51 and the second butt-joint rail section 52 are both fixedly connected to the bottom of the curved rail-changing fixing frame 41. The curved rail transfer driving assembly drives the curved rail transfer fixing frame 41, the first butt joint rail section 51 and the second butt joint rail section 52 to move, and the first butt joint rail section 51 or the second butt joint rail section 52 carries the EMS trolley on the original working support rail to the target working support rail to complete curved rail transfer. Based on the technical scheme of the section, the track changing principle of the curved track and track changing walking mechanism 4 is the same as the track changing principle of the branch track, and only the specific structure is slightly different.

As shown in fig. 10, the bending rail and changing rail driving assembly includes a plurality of supporting traveling wheels 42 connected to the bending rail and changing rail fixing frame 41 and disposed on the changing rail 1, a bending rail and changing rail driving motor 43 fixed on the changing rail 1, and a transmission chain 44 driven by the bending rail and changing rail driving motor 43. Two ends of the transmission chain 44 are fixed on the curved rail transfer fixing frame 41 and pass through a plurality of tension wheels 45 arranged on the rail transfer track 1. The curved rail transfer driving motor 43 drives the curved rail transfer fixing frame 41, the first butt rail section 51 and the second butt rail section 52 to reciprocate through the transmission chain 44. One end of the first butt joint track section 51 or the second butt joint track section 52 is in butt joint with the original working branch track, and the other end is in butt joint with the target working branch track, so that the conduction of the rail transfer position is realized. After the first butt joint track section 51 or the second butt joint track section 52 is butt jointed, the first butt joint track section 51 or the second butt joint track section 52 is kept fixed, so that the EMS trolley on the original working branch track enters the target working branch track through the first butt joint track section 51 or the second butt joint track section 52.

Among the above-mentioned technical scheme, through the setting of driving chain 44 and curved rail change driving motor 43, it is accurate effectively to have ensured that first butt joint track section 51 or second butt joint track section 52 move, and the accurate butt joint of former work orbit of realization that can be accurate and target work orbit avoids appearing the error.

In the above technical solution, the first butt joint track section 51 or the second butt joint track section 52 is provided, mainly because the original working branch track and the target working branch track are different in structure, shape, etc. at the position of the curved track 107. The following description is made in the case of a curved rail. The curved rail comprises two tangent curved rails or a curved rail and a tangent straight rail, and the working branch rail is disconnected at the tangent position. The EMS cart 200 is transferred from one bend rail to another bend rail or to a tangent straight rail, or the EMS cart is transferred from a tangent straight rail to another bend rail. The first butt-joint rail section 51 and the second butt-joint rail section 52 are two curved rail sections respectively butt-jointed with two tangent curved rails, or a curved rail section and a straight rail section respectively butt-jointed with a curved rail and a tangential straight rail. The first docking track section 51 and the second docking track section 52 are arranged away from each other, so that interference of the EMS trolley when the EMS trolley moves from the original working branch track to the first docking track section 51 or the second docking track section 52 is avoided.

As shown in fig. 8, the off positions of the working branch rails 101/102 are provided with limiting mechanisms 3, and each limiting mechanism 3 comprises a rotating arm 33, a rotating arm frame 31, a rotating arm connecting shaft 32 and a rotating arm driving motor. The swivel arm support 31 is fixed with the working branch rail 101/102 and is connected with the swivel arm 33 through the swivel arm connecting shaft 32 to place the swivel arm 33 at the end of the disconnecting position of the working branch rails 101.102. The rotation of the rotating arm 33 is realized by connecting a rotating arm driving motor with the rotating arm connecting shaft 32.

The limiting mechanism 3 is mainly arranged at the disconnection position of the straight rail 106, and because the straight rail-changing traveling mechanism 2 is separated from the original working branch rail at the position of the straight rail 106, the EMS trolley at the rear part of the EMS trolley subjected to rail changing can continuously move forwards, and the straight rail at the position is disconnected, the EMS trolley at the rear part of the EMS trolley subjected to rail changing can easily move forwards to be derailed. Therefore, the limiting mechanism 3 is arranged, after the straight rail transfer walking mechanism 2 leaves, the rotating arm 33 on the limiting mechanism 3 is driven by the rotating arm driving motor to rotate, so that a block is arranged at the disconnection position of the straight rail 106, and the EMS trolley at the rear part of the transferred EMS trolley is prevented from moving forwards continuously to be derailed. At the position of the bent rail 107, because two ends of the first butt joint rail section 51 or the second butt joint rail section 52 are respectively in butt joint with the original working branch rail and the target working branch rail during rail change, the problem of rear EMS trolley derailment does not exist. Certainly, the limiting mechanism 3 is arranged at the position of the curved rail 107, so that the EMS trolley at the rear part of the EMS trolley to be subjected to rail change can be ensured to continuously move forwards after the first butt joint rail section 51 or the second butt joint rail section 52 is subjected to rail change, and the problem of rail error in movement of the EMS trolley is avoided.

As shown in fig. 11 to 14, the EMS trolley 200 includes a trolley travelling device 201 disposed on the working rail 101/102, and the trolley travelling device 201 is provided with a real-time rail detection device 202. The real-time rail detection device 202 is arranged at the front part of the EMS in the walking direction and is used for detecting a rail, namely, the detection trolley walking device 201 is in real time contact with the working rail 100 and walks on the working rail 100, if the rail is not detected, the trolley walking device 201 is immediately controlled to stop walking through the control system, the problem of derailment of the EMS trolley is avoided, and loss or equipment injury or personnel injury is avoided.

As shown in fig. 14, the real-time rail detection device 202 includes an active detection guide wheel 2021 contacting with the side surface of the working branch rail 101/102 and moving along the working branch rail 101/102, a guide wheel link 2022 is rotatably connected to a wheel shaft of the active detection guide wheel 2021, a link mounting bracket 2023 is rotatably connected to the other end of the guide wheel link 202, a spring 2026 is disposed at a middle section of the guide wheel link 2022 near the side surface of the working branch rail 101/102, and the other end of the spring 2026 is fixed to the link mounting bracket 2023. A travel switch 2024 is also fixed on the link mounting bracket 2023, and when the active detection guide wheel 2021 contacts with the side surface of the working branch rail 101/102, a contact 2025 of the travel switch 2024 contacts with the guide wheel link 2022. If the guide wheel 2021 is actively detected to be separated from the side surface of the working branch rail 101/102, the restoring force of the spring 2026 causes the spring 2022 to approach the side of the spring 2026, at this time, the contact 2025 of the travel switch 2024 is separated from the guide wheel connecting rod 2022, the travel switch 2024 senses a derailment signal and transmits the derailment signal to the control system, and the control system controls the trolley traveling device 201 to stop traveling, thereby preventing the EMS trolley from derailing. In order to improve the detection accuracy of the real-time track detection device 202, two real-time track detection devices 202 are disposed on two sides of the working track 101/102.

As shown in fig. 12 and 15, the front and rear of the EMS dolly 200 are provided with a bump contact 204 and a bump bar 203, respectively. When the EMS trolley 200 runs, the anti-collision contact 204 on one EMS trolley collides with the anti-collision rod 203 on the other EMS trolley, triggers the anti-collision contact 204, transmits a signal to the control system, and controls the EMS where the anti-collision contact and the anti-collision rod are located to forcibly stop walking. Generally, photoelectric switches or infrared switches are disposed at the front and rear portions of the EMS trolley 200 to detect a distance between two adjacent EMS trolleys, and when the distance reaches a set minimum value, a signal is transmitted to the control system, and the control system controls a traveling speed of the previous EMS trolley or the next EMS trolley to prevent the two adjacent EMS trolleys from colliding. However, in actual work, the photoelectric switch or the infrared switch may be out of order, which may cause collision between two adjacent EMS trolleys, so the anti-collision contact 204 and the anti-collision rod 203 in the present embodiment are provided. The collision-proof contact 204 and the collision-proof rod 203 realize rigid collision, and are started after the collision, so that the final layer of guarantee for avoiding the collision of two adjacent EMS trolleys is provided. The two adjacent EMS still continue to move after colliding, and collision injury is reduced.

As shown in fig. 15, the anti-collision contact 204 includes an anti-collision welding rod 2041 extending out of the body range of the EMS trolley 200, an anti-collision switch support 2042 is detachably mounted at the front end of the anti-collision welding rod 2041, an anti-collision trigger switch 2043, an anti-collision trigger shaft 2044 triggering the anti-collision trigger switch 2043, an anti-collision return spring 2045 sleeved outside the anti-collision trigger shaft 2044, and an anti-collision rubber head 2046 coaxially inserted into the anti-collision trigger shaft 2044 are mounted on the anti-collision switch support 2042. After the anti-collision rubber head 2046 collides with the anti-collision rod 203, the anti-collision trigger shaft 2044 is pushed inwards, and the anti-collision trigger shaft 2044 triggers the anti-collision trigger switch 2043 to output a collision signal to the control system.

According to the heavy EMS in the automatic metallurgy industry, independent work of a plurality of suspension devices can be realized, a modular design is adopted, the EMS is provided with an avoiding system, a plurality of trolleys can be dispatched through a software system when working together, the maximum conveying efficiency is realized, the EMS is provided with a track detecting system, the on-track state is detected constantly, the heavy EMS is safe and reliable, meanwhile, a lifting device lifting unit with a weighing function is arranged, three-dimensional conveying in the horizontal direction and the vertical direction can be formed, the height of the lifting device can be automatically adjusted according to different workpieces and different processes, and man-machine engineering is greatly optimized. The system has the characteristics of PLC control, trolley line power supply, bus control and wireless control, variable frequency speed regulation and the like, and has the functions of organization production, automatic conveying, air storage, automatic accumulation and release, automatic flow division and confluence, automatic addressing, accurate positioning, fault self diagnosis, remote monitoring and the like.

Technical solution of the invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other occasions without modification.

Claims

1. The heavy EMS in the automatic metallurgy industry comprises a working rail and is characterized in that the working rail comprises a plurality of working branch rails which are arranged in parallel, and a rail transfer device for moving an EMS trolley from one working branch rail to another working branch rail is arranged between the working branch rails;

2. The heavy EMS as claimed in claim 1, wherein the orbital transfer track comprises two orbital transfer branch tracks arranged in parallel at the upper part of the orbital transfer avoiding region, the orbital transfer traveling mechanism is installed on the two orbital transfer branch tracks and travels along the orbital transfer branch tracks from the off position of the original working branch track to the off position of the target working branch track, and the length of the orbital transfer branch is greater than the distance between the two adjacent working branch tracks.

3. The heavy EMS of claim 1, wherein the working sub-rail comprises a straight rail, the EMS trolley is guided between the straight rails, the guided traveling mechanism comprises a straight rail guided traveling mechanism, and the moving rail comprises at least one straight rail section;

4. The heavy EMS according to claim 3, wherein the straight-rail orbital transfer assembly comprises a plurality of sets of travelling wheels arranged on the orbital transfer track, a straight-rail orbital transfer driving motor for driving at least one set of travelling wheels to actively travel, and an electric connection device for supplying power to the straight-rail orbital transfer driving motor, wherein the electric connection device comprises a conductive bar arranged on the orbital transfer track and a current collecting arm fixed on the straight-rail orbital transfer fixing frame and electrically contacted with the conductive bar.

5. The heavy EMS according to claim 3, wherein the straight rail orbital transfer traveling mechanism is further provided with two butt positioning devices, and the two butt positioning devices respectively realize butt positioning between the straight rail section and the original working orbital transfer and the target working orbital transfer;

6. The heavy EMS of the automatic metallurgy industry is characterized in that the working branch rail comprises a bent rail, the EMS trolley is changed at the bent rail, the rail changing travelling mechanism comprises a bent rail and rail changing travelling mechanism, and the moving rail comprises a first butt rail section matched with the original working branch rail and a second butt rail section matched with the target working branch rail in a rail changing avoiding area;

7. The heavy EMS as claimed in claim 6, wherein the curved rail transfer driving assembly comprises a plurality of supporting traveling wheels connected with the curved rail transfer fixing frame and disposed on the transfer rail, a curved rail transfer driving motor fixed on the transfer rail, and a transmission chain driven by the curved rail transfer driving motor, wherein both ends of the transmission chain are fixed on the curved rail transfer fixing frame and pass through a plurality of tension wheels disposed on the transfer rail; the bent rail transfer driving motor drives the bent rail transfer fixing frame, the first butt joint rail section and the second butt joint rail section to reciprocate through the transmission chain.

8. The heavy EMS according to claim 6, wherein the curved rail comprises two tangent curved rails or a curved rail and a tangent straight rail, and the working branch rail is broken at the tangent position; the EMS trolley is transferred from one bent rail to another bent rail or tangential straight rail, or the EMS trolley is transferred from the tangential straight rail to another bent rail;

9. The heavy EMS for the automated metallurgical industry is characterized in that the disconnection positions of the working branch rails are provided with limiting mechanisms, each limiting mechanism comprises a rotating arm, a rotating arm frame, a rotating arm connecting shaft and a rotating arm driving motor, the rotating arm frames are fixed with the working branch rails, the rotating arms are connected with the rotating arms through the rotating arm connecting shafts and are arranged at the end parts of the disconnection positions of the working branch rails, and the rotating arm driving motors are connected with the rotating arm connecting shafts to realize the rotation of the rotating arms.

10. The heavy EMS for the automatic metallurgical industry as claimed in claim 1, wherein the EMS trolley comprises a trolley walking device arranged on the working support rail, and the trolley walking device is provided with a rail real-time detection device;