WO2013023332A1 - 自行小车输送*** - Google Patents
自行小车输送*** Download PDFInfo
- Publication number
- WO2013023332A1 WO2013023332A1 PCT/CN2011/001736 CN2011001736W WO2013023332A1 WO 2013023332 A1 WO2013023332 A1 WO 2013023332A1 CN 2011001736 W CN2011001736 W CN 2011001736W WO 2013023332 A1 WO2013023332 A1 WO 2013023332A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- self
- trolley
- bracket
- guide rail
- propelled
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B10/00—Power and free systems
- B61B10/02—Power and free systems with suspended vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B10/00—Power and free systems
- B61B10/02—Power and free systems with suspended vehicles
- B61B10/025—Coupling and uncoupling means between power track abd vehicles
Definitions
- the present invention relates to a conveyor system, and more particularly to a self-propelled trolley conveyor system, which is a technical field of automated logistics systems.
- the self-propelled trolley transport system is an automated material transport system that loads the materials that need to be transported during production, storage, etc. on the transport trolley, and then controls the transport trolleys for lifting, transporting, transporting, accumulating storage, automatic splitting, etc. Operation, the transport trolley can be automatically controlled according to the set operation process at different work points according to the operation instructions.
- the self-propelled trolley transport system is widely used in the production of automated production lines for household appliances, light industry, machinery manufacturing, automobile assembly, component assembly and other product organizations.
- the control of the early self-propelled trolley transport system was controlled by manual manual operation of the relay control system. With the development of technology and the improvement of automation, PLC programmable logic controllers and industrial computer also obtained large-scale in the rail conveyor system. use.
- the dominant position is the control device using the PLC programmable logic controller.
- This control device sets a main control PLC programmable logic controller as the main controller of the system.
- a PLC programmable logic controller is installed on the transport trolley as a slave controller, and the master controller and the slave controller on the trolley are connected through the field bus, and the field bus and the power line are uniformly installed on the slide line of the track.
- the data transfer between the transport trolley and the main controller is transmitted via the fieldbus and the brush.
- a position switch is installed in many positions of the track as a position recognition sensor for the carriage. All position recognition sensors are connected to the main controller by wires. The main controller passes all the signals in the field bus mode through the sliding line.
- the device is transmitted to the transport car from the controller; in the case of multi-vehicle operation, in order to distinguish each car, the car is coded differently by setting a plurality of sets of multi-stroke switches.
- the transport track is long and the bus line distance is large, many bus repeaters need to be added.
- the conveyor control device using PLC programmable logic controller mainly has the following problems:
- the field bus and power line are installed on the sliding line of the track. Due to the complicated sliding contact condition, it is easy to wear, and it is easy to be polluted by oil and dust on the industrial site, which causes communication interruption or error, and further reduces the system work. Reliability
- the object of the present invention is to overcome the deficiencies in the prior art and provide a self-propelled trolley transport system, which has a compact structure, convenient installation and use, high transport positioning accuracy, reliable communication connection, reduced system wiring complexity and use cost, and adaptation range. Wide, safe and reliable.
- the self-propelled trolley transport system includes a guide rail and a self-propelled trolley on the guide rail, and the self-propelled trolley can move on the guide rail;
- the spreader under the guide rail is connected, the spreader can follow the movement of the self-propelled trolley on the guide rail;
- the self-propelled trolley is provided with an on-board control unit, and the position identifier in the on-board control unit is matched with the position identification card on the guide rail.
- the position identifier is connected to the trolley controller in the vehicle control unit, and the output of the trolley controller is connected to the trolley actuator for driving the self-propelled trolley to move on the guide rail.
- the onboard control unit is wirelessly coupled to the main control unit.
- the main control unit includes a main controller, and the main controller is wirelessly connected to the trolley controller through the main communication module and the slave communication module in the vehicle control unit.
- the self-propelled trolley includes a driving trolley and a follow-up trolley on the guide rail, and the bottoms of the driving trolley and the follow-up trolley are connected to the spreader through a universal joint.
- the driving trolley includes a trolley bracket, and the trolley bracket is provided with a trolley driving motor.
- the output shaft of the trolley driving motor is mounted with a driving wheel, and the driving wheel is in rolling contact with the upper end surface of the guiding rail;
- a guiding and positioning mechanism for guiding the movement between the driving wheel and the guide rail.
- the guiding and positioning mechanism comprises a bracket positioning plate symmetrically distributed on the carriage bracket, wherein the bracket positioning plate is provided with symmetrically distributed upper guiding wheels, and the upper guiding wheels on the bracket positioning plate are located on both sides of the guiding rail, and the upper guiding wheel Rolling contact with the guide rails.
- the guiding and positioning mechanism comprises a bracket bottom plate on the trolley bracket, the bracket bottom plate is located below the bottom end of the rail; the bracket bottom plate is provided with symmetrically distributed lower guiding wheels on opposite sides of the rail, and the lower guiding wheel and the guiding rail are rolled contact.
- the bottom plate of the bracket is provided with a symmetrically distributed lower pressing wheel, the lower pressing wheel is located directly below the guiding rail, and the lower pressing wheel is in rolling contact with the lower end surface of the guiding rail.
- the drive wheel is locked and mounted on the output shaft of the trolley drive motor by a locking block.
- the hanger is curved.
- a power supply connection mechanism for providing a power connection to the self-propelled vehicle is mounted on the guide rail and the self-propelled trolley.
- the power supply connection mechanism includes a sliding contact line on the guide rail, and the sliding contact line is located on a side of the guide rail and corresponds to the shape of the guide rail; the self-propelled trolley is provided with a carbon brush corresponding to the sliding contact line; The wire is electrically connected to the self-propelled car through a carbon brush.
- the power supply connection mechanism includes a primary cable bracket on the guide rail, and the primary cable bracket is provided with a primary cable, and the primary cable bracket and the primary cable are located on a side of the guide rail and correspond to the shape of the guide rail; There is a pickup corresponding to the primary cable, and the primary cable is electrically connected to the bicycle by the pickup.
- the guide rail comprises a rising and falling rail, and a synchronous chain driving wheel and a synchronous chain follower wheel are arranged above the rising and falling rail of the guiding rail, and the synchronous chain driving wheel and the synchronous chain follower wheel are connected by a synchronous chain; the synchronous chain and the synchronization
- the chain drive wheel and the synchronous chain follower wheel are correspondingly matched, and the shape of the synchronous chain is consistent with the shape of the guide rail and the ascending descending track;
- the outer edge of the synchronous chain is provided with a plurality of evenly distributed synchronous chain pusher arms; the synchronous chain push When the lever arm follows the synchronous chain, it can be in contact with the synchronous push rod on the bicycle.
- a chain track is arranged above the ascending and descending track, and the shape of the chain track and the ascending or descending track
- the shapes are identical; the synchronizing chain is located within the chain track such that the shape of the synchronizing chain conforms to the shape of the rail and the ascending and descending track.
- a driving wheel bracket is disposed on the synchronous chain driving wheel, and a driving wheel pressure spring is disposed in the driving wheel bracket, and the driving wheel pressure spring is distributed in the driving wheel bracket along the longitudinal direction of the driving wheel bracket axis, and the driving wheel pressure
- the axis of the spring is perpendicular to the axis of the synchronizing chain drive wheel.
- the driving wheel bracket is provided with a spring pressure adjusting rod.
- One end of the spring pressure adjusting rod is connected to the driving wheel pressure spring through the driving wheel bracket, and the spring pressure adjusting rod can be moved in the driving wheel bracket.
- a path switching mechanism for car path switching is provided on the rail.
- the path switching mechanism includes a ballast bracket, and the ballast bracket is provided with a translation bracket, wherein the translation bracket can move in the ballast bracket; the translation bracket is provided with a first bypass transition rail and a second bypass transition rail. The first transition section track and the second transition section track are matched with the guide rail; the switch support is provided with a bracket movement drive mechanism for driving the translation bracket to move.
- the bracket moving drive mechanism comprises a ball screw on the ballast bracket, wherein the ball screw can rotate in the ballast bracket; the ball screw is provided with a screw nut corresponding to the ball screw, the lead screw The nut is fixedly connected to the translation bracket; the ball screw is connected to the output shaft of the screw drive motor on the ballast bracket.
- the translation bracket is mounted in the ballast bracket by a ball slide.
- the first open circuit transition section track and the second open circuit transition section track are both mounted on the translation bracket by the openway track suspension frame.
- the car controller adopts PLC, single chip microcomputer, ARM, DSP or FPGA.
- the guide rails are of a type.
- a carbon brush is disposed on the driving cart and the follower cart, and the carbon brush is matched with a sliding line on a side of the rail, and the sliding line is electrically connected to the driving cart through the carbon brush.
- the driving trolley and the follow-up trolley are respectively provided with pick-up appliances, and the pick-up electrical appliances are matched with the primary cables on the side of the guide rails, and the primary cables are mounted on the guide rails through the primary cable brackets; the primary cables are electrically connected to the driving trolleys connection.
- the output shaft of the trolley driving motor is mounted on the carriage bracket through a bearing and a bearing cover.
- the location identification card is connected to the location identifier by radio frequency.
- a position identification card is installed at a corresponding position on the guide rail.
- the position recognizer can quickly identify the position identification card, thereby judging the self-propelled trolley.
- Position so that the self-propelled car has the ability to identify the position autonomously, avoiding a large number of travel switches used in the prior art for transporting the positioning of the trolley and a large number of wires connecting these strokes, so that the system wiring is reduced, the cost is reduced, and the debugging and maintenance are convenient.
- the reconfigurability is high; after the car controller recognizes its own position, the program can independently control the self-propelled car, and wirelessly communicates between the main controller and the trolley controller, avoiding the connection of the main controller and the trolley in the prior art. From the controller's slider line device, the reliability of master-slave communication is improved.
- Figure 1 is a schematic view of the structure of the present invention.
- 2 is a schematic structural view of a driving cart of the present invention.
- FIG. 3 is a schematic structural view of a power connection mechanism of the present invention.
- FIG. 4 is another schematic structural view of the power supply connection mechanism of the present invention.
- FIG. 5 is a schematic structural view of a position recognition device on a self-propelled vehicle and a position identification card according to the present invention.
- FIG. 6 is a schematic structural view of a synchronous transfer chain of a self-propelled car according to the present invention.
- FIG. 7 is a schematic structural view of a self-propelled vehicle path switching mechanism according to the present invention.
- FIG. 8 is a schematic structural view of the path switching mechanism and the guide rail according to the present invention.
- Fig. 9 is a block diagram showing the control structure of the self-propelled car of the present invention.
- the guide rail 12 is provided with a self-propelled trolley, and the self-propelled trolley can move along the guide rail 12 on the guide rail 12; under the guide rail 12, a spreader 23 is provided, and the spreader 23 passes through the universal joint
- the section 24 is installed at the bottom of the self-propelled trolley, and the spreader 23 can follow the self-propelled trolley to move on the guide rail 12 to realize material transportation.
- the universal joint 24 ensures that the self-propelled car can travel flexibly on curved, straight, up and down rails.
- the rail 12 is provided with a plurality of evenly distributed suspension frames 11.
- the guide rails 12 are of the I-shaped shape, and the suspension frame 11 has a circular arc shape. One end of the suspension frame 11 is fixedly connected with the guide rails 12, and the other end of the suspension frame 11 can be mounted with the support beams.
- the supporting mechanisms are connected to facilitate the mounting and fixing of the guide rails 12.
- the self-propelled trolley is provided with an in-vehicle control unit 2A, and the in-vehicle control unit 2A and the main control Unit 1A is wirelessly connected.
- the in-vehicle control unit 2A is mounted on the self-propelled vehicle, and the main control unit 1A is installed in the control room, and the main control unit 1A can perform signal transmission and control on all the self-propelled cars on the track 12.
- the self-propelled car In order to accurately position the self-propelled car and ensure the safety and reliability of the self-propelled car transportation, the self-propelled car is provided with a position identifier 52, which is connected to the position identification card 51 on the track 12 by radio frequency.
- the position identification card 51 can be mounted on the hanger 11 or can be mounted on a corresponding portion of the guide rail 12. After the position identifier 52 and the position identification card 51 are connected by radio frequency, the wiring of the self-propelled vehicle can be reduced. Sex, improve the accuracy of positioning. When it is necessary to change the positioning position, it is only necessary to change the position of the position identification card 51 on the guide rail 12, which is convenient for installation and debugging.
- the position recognizer 52 is connected to the cart controller 21 A in the in-vehicle control unit 2A, and is capable of The positioning information is input to the cart controller 21A, and the output end of the cart controller 21A is connected to the cart actuator 21C; the cart actuator 21C is capable of driving the self-propelled vehicle to move, lift, or rotate on the guide rail 12.
- the cart controller 21A receives the positioning information of the position recognizer 52, the cart controller 21A can drive the self-propelled cart to perform the corresponding action through the cart actuator 21C.
- the trolley controller 21A is wirelessly connected to the main controller 11A from the communication module 21B and the main communication module 11B in the main control unit 1A, and the trolley controller 21A and the main controller 11A communicate by wireless connection, thereby avoiding wiring complexity.
- the car controller 21A can adopt a PLC (Programmable Logic Controller), a single chip microcomputer, an ARM (Advanced RISC Machines), a DSP (digital signal processor FPGA (Field-Programmable Gate Array) or other microprocessor, and the main controller 11A can adopt a higher position. Machine or other control device
- the main controller 11A can drive the self-propelled car to carry out the corresponding material transportation process through the trolley controller 21 A and the trolley actuator 21C.
- the self-propelled trolley on the guide rail 12 includes a driving trolley 21 and a follow-up trolley 22, and the bottoms of the driving trolley 21 and the follow-up trolley 22 are connected to the spreader 23, and the driving trolley 21 is driven.
- the follower trolley 22 and the spreader 23 can be driven to move on the guide rail 12; when the drive cart 21 and the follower trolley 22 drive the spreader 23 to move, the smoothness of the movement of the spreader 23 can be improved.
- the driving cart 21 includes a cart bracket 213, and the cart bracket 213 is provided with a cart driving motor 211.
- the output shaft of the cart driving motor 211 is provided with a driving wheel 212, and the driving wheel 212 is located at the upper end surface of the rail 12, and The drive wheel 212 is in rolling contact with the guide rail 12.
- the output shaft of the trolley driving motor 211 is mounted on the side plate of the carriage bracket 213 through the bearing and the bearing cover 212a, and the end of the driving wheel 212 is fastened and mounted to the trolley driving motor 211 through the locking block 212b and the lock nut.
- the locking block 212b is embedded in the drive wheel 212 to ensure the connection between the drive wheel 212 and the output shaft of the carriage drive motor 211.
- the carriage bracket 213 is provided with a guide positioning mechanism.
- the guiding and positioning mechanism includes a bracket positioning plate 219 on the carriage bracket 213, and the bracket positioning plate 219 is symmetrically distributed on both sides of the driving wheel 212.
- the bracket positioning plate 219 is provided with an upper guiding wheel 216 symmetrically distributed.
- the upper guiding wheel 216 is mounted on the bracket positioning plate 219 through the upper guiding wheel mounting shaft and the lock nut, and the upper guiding wheel 216 is located on the guide rail 12 On both sides, the upper guide wheel 216 has four.
- the carriage bracket 213 is provided with a bracket bottom plate 218 which is located below the guide rail 12 and extends out of the guide rail 12.
- a symmetrical distribution lower guide wheel 215 is disposed on the bracket bottom plate 218, and the lower guide wheel 215 is mounted on the bracket bottom plate 218 through the lower guide wheel mounting shaft and the lock nut, and the lower guide wheel 215 is located on both sides of the guide rail 12, and The guide wheels 215 are in rolling contact with the guide rails 12, and the lower guide wheels 215 are also four.
- the lower guide wheel 215 is located at a lower portion of the guide rail 12, and the lower guide wheel 215 corresponds to the position of the upper guide wheel 216.
- the bracket bottom plate 218 is provided with a lower pressing wheel 214, which is mounted on the bracket bottom plate 218 by the lower pressing wheel mounting shaft, and the lower pressing wheel 214 can be opposite to the bracket bottom plate 218.
- the lower pinch wheel 214 is located directly below the bottom end surface of the guide rail 12, and the lower pinch wheel 214 is in rolling contact with the guide rail 12.
- the driving wheel 212 and the lower pressing wheel 214 are respectively located on the upper and lower end faces of the guide rail 12 to form a triangular structure; after being guided and positioned by the upper guiding wheel 216, the lower guiding wheel 215 and the lower pressing wheel 214, the driving trolley can be ensured.
- 21 can always run parallel to the guide rails 12.
- the structure of the follower trolley 22 is the same as that of the drive cart 21, but the trolley car 22 does not need to be driven by the trolley.
- the machine 211, the movement of the follower trolley 22 on the guide rail 12 is realized by driving the carriage 21 and the spreader 23.
- the cart actuator 21C of the present invention is a cart drive motor 211.
- FIG. 3 it is a schematic structural diagram of providing working power and communication for driving the cart 21 according to the present invention.
- a power supply connection mechanism is provided on the guide rail 12 and the self-propelled trolley.
- the guide rail 12 is provided with a sliding contact line 41, and the sliding contact line 41 is located on the other side of the guide rail 12 corresponding to the suspension frame 11, and the sliding contact line 41 corresponds to the shape of the guide rail 12.
- the car holders 213 of the driving cart 21 and the follower cart 22 are each provided with a carbon brush 42, which is electrically connected to the cart driving motor 211 of the driving cart 21.
- the sliding contact wire 41 is connected to the external power source.
- the carbon brush 42 on the follower cart 22 is also electrically connected to the cart drive motor 211, and the carbon brush 42 on the follower cart 22 is connected in parallel with the carbon brush 42 on the drive cart 21 and then coupled to the cart drive motor 211.
- the reliability of the power supply of the trolley conveying system can be ensured.
- the number of sliding lines in the sliding line 41 can be adjusted according to actual needs. Generally, there are four sets of three-phase power supply sliding lines and two sets of bus communication sliding corners.
- FIG. 4 is another schematic structural diagram of a power supply connection mechanism according to an embodiment of the present invention.
- the power supply connection mechanism includes a primary cable holder 32 mounted on the guide rail 12, the primary cable holder 32 being located on the other side of the guide rail 12 that is coupled to the hanger 11.
- the primary cable holder 32 is provided with a primary cable 31 corresponding to the other end connected to the guide rail 12, the primary cable 31 being connected to an external power source, and the shape of the primary cable 31 conforming to the shape of the guide rail 12.
- the driving cart 21 and the follower cart 22 are provided with a pick-up unit 33, which is located on the cart holder 213, and the pick-up unit 33 is electrically connected to the primary cable 31.
- the driving cart 21 and the pick-up unit on the follow-up cart 22 are connected in parallel and the cart driving motor 211 is electrically connected to ensure the reliability of the power supply to the cart driving motor 211.
- Pick-up appliances 33 can be used by the German vahle company to produce PU22 pickups, or other types of pickups. Also shown in Fig. 5 is a schematic view of the corresponding arrangement of the position identification card 51 and the position identifier 52. The position identification card 51 is mounted on the hanger 11.
- the guide rail 12 may have a rising and falling rail 122, and the rising and falling rail 122 and the horizontal rail of the rail 12 pass through a tangential transition to make the self-propelled vehicle pass more smoothly.
- the guide rail 12 has the ascending and descending rail 122, in order to improve the reliability of the self-propelled vehicle transport, the guide rail 12 is provided with a synchronous chain drive wheel 131a and a synchronous chain follower wheel 131b corresponding to the upper portion of the rising and falling rail 122.
- the 131a and the synchronous chain follower wheel 131b are all mounted on the corresponding brackets through corresponding mounting shafts and mounting bearings.
- the synchronous chain driving wheel 131a and the synchronous chain follower wheel 131b are connected by a synchronous chain 133.
- the synchronous chain 133 is matched with the synchronous chain driving wheel 131a and the synchronous chain follower wheel 131b, and the synchronous chain 133 and the synchronous chain driving wheel 131a and the synchronous chain
- the follower wheel 131b constitutes a closed chain mechanism.
- a plurality of evenly distributed synchronizing chain pusher arms 134 are disposed on an outer edge of the synchronizing chain 133.
- the synchronizing chain pusher arms 134 extend outwardly on the synchronizing chain 133.
- the synchronizing chain pusher arm 134 When the synchronizing chain pusher arm 134 follows the synchronizing chain 133 When rotating, the synchronous chain pusher arm 134 can be in contact with the synchronous push rod 217 on the drive cart 21, and by the force between the synchronous chain pusher arm 134 and the synchronous push rod 217, the self-propelled trolley can be operated on the guide rail 12. Smooth and reliable. Synchronize The shape of the chain 133 coincides with the shape of the guide rail 12 and the ascending descending rail 122.
- a symmetrically distributed chain track 132 is disposed above the ascending descending track 122, and the shape of the chain track 132 is consistent with the shape of the ascending descending track 122; Therefore, when the synchronizing chain 133 is mounted above the ascending descending rail 122 through the chain rail 132, the shape of the synchronizing chain 133 can be made to conform to the shape of the guide rail 12 and the ascending descending rail 122.
- the synchronous chain 133 and the synchronous chain pusher arm 134 are arranged to start the synchronous chain 133 before the self-propelled car is about to enter the gradient track, and stop the self-propelled car; waiting for the arrival of the synchronous chain pusher arm 134.
- a drive wheel bracket 135 is disposed on the mounting shaft of the synchronous chain drive wheel 131a, and a drive wheel pressure spring 136 is disposed in the drive wheel bracket 135, and the drive wheel pressure spring 136 is driven along The wheel bracket 135 is distributed in the axial direction.
- the drive wheel bracket 135 is provided with a spring pressure adjusting rod 137.
- One end of the spring pressure adjusting rod 137 is connected to the end of the driving wheel bracket 135, and the spring pressure adjusting rod 137 can be driven on the driving wheel.
- the bracket 135 moves inside.
- a path switching mechanism is provided on the guide rail 12.
- the path switching mechanism includes a ballast bracket 141 in which a translation bracket 143 is mounted through a ball slide rail 144, and the translation bracket 143 is movable within the ballast bracket 141 by the ball slide rail 144.
- the translational support 143 is provided with a first open circuit transition section rail 142a and a second open circuit transition section rail 142b. The first open circuit transition section rail 142a and the second open circuit transition section rail 142b are all mounted on the translation bracket by the openway rail suspension bracket 111.
- the open circuit track suspension frame 111 has an arc shape, and the open circuit track suspension and 111 can adopt the same structure as the suspension frame 111.
- the ballast bracket 141 is provided with a bracket movement drive mechanism.
- the bracket moving drive mechanism includes a ball screw 146 on the ballast bracket 141, and the ball screw 146 is rotatable on the ballast bracket 141, and the ball screw 146 is provided with a correspondingly fitted screw nut 147, the wire
- the lever nut 147 is fixedly coupled to the translation bracket 143.
- the ball screw 146 is connected to the output shaft of the screw drive motor 145.
- the screw drive motor 145 drives the ball screw 146 to rotate, the screw nut 147 and the ball screw 146 move relative to each other, so that the screw nut 147 can
- the translational bracket 143 is moved within the ballast bracket 141.
- the translation bracket 143 moves in the ballast bracket 141, the movement of the first bypass transition rail 142a and the second open loop transition rail 142b can be realized, and the first open loop transition rail 142a, the second open loop transition rail 142b and the guide rail can be reached.
- the end of the guide rail 12 is provided with a straight track and an arc track.
- the lead screw drive motor 145 When it is necessary to change the running track of the self-propelled car, the lead screw drive motor 145 is activated, and after the screw drive motor 145 is rotated, the first fork transition section can be
- the rail 142a and the second bypass transition rail 142b are combined with the guide rail 12 to cooperate with each other, so that the self-propelled vehicle can continue to advance or turn.
- the ballast bracket 141 is fixedly mounted on the upper side of the guide rail 12, so that the first road transition section rail 142a and the second road transition section rail 142b can be combined with the guide rail 12 and correspondingly Cooperate.
- the drive cart 21 and the follower cart 22 are mounted on the guide rail 12, and the spreader 23 is mounted on the bottom end of the drive cart 21 and the follower cart 22.
- a plurality of position identification cards 51 are mounted on the guide rail 12, and a corresponding position identifier 52 is mounted on the drive cart 21 or the follow-up cart 22.
- a carbon brush 42 or a pickup 33 is mounted on the drive cart 21 and the follower cart 22, and a corresponding mating slide line 41 and a primary cable 31 are mounted on the respective sides of the guide rail 12.
- the cart controller 21A on the drive cart 21 is wirelessly connected to the main controller 11A.
- the trolley drive motor 211 that drives the cart 21 is powered by the primary cable 31 or the trolley line 41.
- the main controller 11A wirelessly transmits a corresponding command to the cart controller 21A
- the cart controller 21A runs on the guide rail 12 by the cart actuator 21C.
- the driving cart 21 drives the follower cart 22 and the spreader 23 to run on the guide rail 12
- the position recognition card 51 enters the identification area of the position recognizer 52
- the position recognizer 52 outputs the positioning information to the cart controller 21A
- the cart control The device 21A determines the motion state of the drive cart 21 based on the received positioning information.
- the synchronous chain drive wheel 131a and the synchronous chain follower wheel 131b are activated, and the synchronous chain push rod on the synchronous chain 133 is passed.
- the arm 134 is matched with the synchronous push rod 217 to ensure reliable running of the self-propelled trolley on the ascending and descending rail 122.
- the translation bracket 143 drives the movement of the first bypass transition rail 142a and the second open loop transition rail 142b to realize the cooperation between the first open loop transition rail 142a and the second open loop transition rail 142b and the guide rail 12 to change the operation of the self-propelled trolley.
- the purpose is to improve the reliability of the operation of the bicycle.
- the present invention installs the position identification card 51 at a corresponding position on the guide rail 12 by mounting the position identifier 52 on the self-propelled vehicle.
- the position recognizer 52 can quickly identify the position identification card 51, thereby discriminating the self.
- the position of the trolley so that the self-propelled vehicle has the ability to identify the position autonomously, avoiding a large number of travel switches for transporting the trolleys in the prior art and a large number of wires connecting the travel switches, thereby reducing system wiring, reducing costs, commissioning and maintenance.
- the program can autonomously control the self-propelled car, and wirelessly communicates between the main controller 11A and the car controller 21A, thereby avoiding the connection in the prior art.
- the controller and the trolley's sliding line device from the controller improve the reliability of the master-slave communication.
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Abstract
一种自行小车输送***,包括导轨(12)及自行小车,自行小车能在导轨(12)上运动;自行小车的底部与位于导轨(12)下方的吊具(23)相连,吊具(23)能跟随自行小车在导轨(12)运动;自行小车上设有车载控制单元(2A),车载控制单元(2A)内的位置识别器(52)与导轨(12)上的位置标识卡(51)相对应配合;位置识别器(52)与车载控制单元(2A)内的小车控制器(21A)相连,所述小车控制器(21A)的输出端与用于驱动自行小车在导轨(12)上运动的小车执行机构(21C)相连。小车控制器(21A)识别自己的位置后,通过程序能够自主控制自行小车,在主控制器(11A)和小车控制器(21A)之间采用无线方式通信,避免了现有技术中连接主控制器和小车从控制器的滑触线装置,提高了主从通信的可靠性。
Description
自行小车输送***
技术领域
本发明涉及一种输送***, 尤其是一种自行小车输送***, 属于自动化物 流***的技术领域。
背景技术
自行小车输送***是一种自动化物料输送***, 通过将生产、 仓储等过程 中需要输送的物料装载在输送小车上, 然后控制输送小车进行起重、 输送、 搬 运、 积放储存、 自动分流合流等操作, 输送小车可以按照设定的工艺过程在不 同的工位点上, 按照操作指令进行自动化控制。 自行小车输送***广泛应用于 家用电器、 轻工、 机械制造、 汽车装配、 部件装配等产品组织自动化流水生产 线。 早期的自行小车输送***的控制由人工手动操作继电器控制***来控制, 随着技术发展和自动化程度的提高, PLC可编程逻辑控制器、工控机在轨道式输 送机***中也得到了大规模的运用。 目前在国内自行小车输送***的控制装置 中, 占主导地位是采用 PLC可编程逻辑控制器的控制装置, 这种控制装置设置一 个主控 PLC可编程逻辑控制器作为***的主控制器,在每个输送小车上安装一个 PLC可编程逻辑控制器作为从控制器,主控制器和小车上的从控制器之间通过现 场总线进行连接, 现场总线和动力线统一安装在轨道的滑触线上, 输送小车和 主控制器间的数据传送是通过现场总线以及电刷进行传输的。 在轨道的许多位 置上安装了行程开关作为输送小车的位置识别传感器, 所有的位置识别传感器 都用导线连接到主控制器上, 主控制器把所有的信号以现场总线的方式, 经过 滑触线装置传递到输送小车从控制器上; 在多车运行的情况下, 为了区别每个 小车, 通过设置多组多行程开关对小车进行编码区别。 在运输轨道较长、 总线 的走线距较大时,还需要增加许多的总线中继器。采用 PLC可编程逻辑控制器的 输送机控制装置主要存在以下的问题:
1、 使用行程开关进行输送小车的定位和编码区别, 而且每个开关都需要二 至三根信号线、 电源线和主控制器连接, 行程开关的数量和导线数量巨大, 大 量的行程开关的信号线布满轨道线体的每个地方, 造成布线情况复杂, 容易产 生故障, 影响***的可靠性;
2、现场总线和动力线都安装在轨道的滑触线上,由于滑动接触情况复杂, 易 于磨损, 易于受工业现场的油污和灰尘污染, 从而造成通信中断或者错误, 又 进一步降低了***工作的可靠性;
3、 使用了大量的行程开关、 总线中继器, 以及数量巨大、 布线复杂的连接 导线, 造成安装工作量巨大、 成本较高, ***的升级、 重构极其困难。
发明内容
本发明的目的是克服现有技术中存在的不足, 提供一种自行小车输送***, 其结构紧凑, 安装使用方便, 输送定位精度高, 通信连接可靠, 降低***布线 复杂性及使用成本, 适应范围广, 安全可靠。
按照本发明提供的技术方案, 所述自行小车输送***, 包括导轨及位于所 述导轨上的自行小车, 所述自行小车能在导轨上运动; 自行小车的底部与位于
导轨下方的吊具相连, 所述吊具能跟随自行小车在导轨运动; 所述自行小车上 设有车载控制单元, 所述车载控制单元内的位置识别器与导轨上的位置标识卡 相对应配合; 位置识别器与车载控制单元内的小车控制器相连, 所述小车控制 器的输出端与用于驱动自行小车在导轨上运动的小车执行机构相连。
所述车载控制单元与主控制单元无线连接。
所述主控制单元包括主控制器所述主控制器通过主通信模块及车载控制单 元内的从通信模块与小车控制器无线连接。
所述自行小车包括位于导轨上的驱动小车及随动小车, 所述驱动小车及随 动小车的底部均通过万向节与吊具相连。
所述驱动小车包括小车支架, 所述小车支架上设有小车驱动电机, 所述小 车驱动电机的输出轴上安装有驱动轮, 所述驱动轮与导轨的上端面滚动接触; 小车支架上设有用于对驱动轮与导轨间运动导向的导向定位机构。
所述导向定位机构包括对称分布于小车支架上的支架定位板, 所述支架定 位板上设有对称分布的上导向轮, 支架定位板上的上导向轮位于导轨的两侧, 且上导向轮与导轨滚动接触。
所述导向定位机构包括位于小车支架上的支架底板, 所述支架底板位于导 轨底端的下方; 支架底板上对应于导轨的两侧设有对称分布的下导向轮, 所述 下导向轮与导轨滚动接触。
所述支架底板上设有对称分布的下压紧轮, 所述下压紧轮位于导轨的正下 方, 且下压紧轮与导轨的下端面滚动接触。
所述驱动轮通过锁紧块锁紧安装于小车驱动电机的输出轴上。
所述导轨上若干均匀分布的悬挂架, 所述悬挂架的一端与导轨固定连接。 所述悬挂架呈弧形。
所述导轨与自行小车上安装有用于对自行小车提供电源连接的供电连接机 构。
所述供电连接机构包括位于导轨上的滑触线, 所述滑触线位于导轨的侧面, 并与导轨的形状相对应; 自行小车上设有与滑触线相对应配合的碳刷; 滑触线 通过碳刷与自行小车电连接。
所述供电连接机构包括位于导轨上的初级电缆支架, 所述初级电缆支架上 设有初级电缆, 所述初级电缆支架及初级电缆位于导轨的侧面, 并与导轨的形 状相对应; 自行小车上设有与初级电缆相对应配合的拾电器, 所述初级电缆通 过拾电器与自行小车电连接。
所述导轨包括上升下降轨道, 所述导轨对应的上升下降轨道上方设有同步 链驱动轮及同步链随动轮, 所述同步链驱动轮及同步链随动轮间通过同步链条 相连; 同步链条与同步链驱动轮及同步链随动轮相对应配合, 且同步链条的形 状与导轨及上升下降轨道的形状相一致; 同步链条外侧边缘上设有若干均匀分 布的同步链条推杆臂; 所述同步链条推杆臂跟随同步链条移动时, 能够与自行 小车上的同步推杆相接触。
所述上升下降轨道上方设有链条轨道, 链条轨道的形状与上升下降轨道的
形状相一致; 同步链条位于所述链条轨道内, 以使同步链条的形状与导轨及上 升下降轨道的形状相一致。
所述同步链驱动轮上设有驱动轮支架, 所述驱动轮支架内设有驱动轮压力 弹簧, 所述驱动轮压力弹簧沿驱动轮支架轴线长度方向分布于驱动轮支架内, 且驱动轮压力弹簧的轴线与同步链驱动轮的轴线垂直。
所述驱动轮支架上设有弹簧压力调节杆, 所述弹簧压力调节杆的一端穿过 驱动轮支架后与驱动轮压力弹簧相连, 且弹簧压力调节杆能在驱动轮支架内移 动。
所述导轨上设有用于小车路径切换的路径切换机构。
所述路径切换机构包括道岔支架, 所述道岔支架内设有平移支架, 所述平 移支架能在道岔支架内移动; 平移支架上设有第一岔路过渡段轨道及第二岔路 过渡段轨道, 所述第一岔路过渡段轨道及第二岔路过渡段轨道与导轨相对应配 合; 道岔支架上设有用于驱动平移支架移动的支架移动驱动机构。
所述支架移动驱动机构包括位于道岔支架上的滚珠丝杠, 所述滚珠丝杠能 在道岔支架内转动; 滚珠丝杠上设有与滚珠丝杠相对应配合的丝杠螺母, 所述 丝杠螺母与平移支架固定连接; 滚珠丝杠与道岔支架上丝杠驱动电机的输出轴 相连。
所述平移支架通过滚珠滑轨安装于道岔支架内。
所述第一岔路过渡段轨道与第二岔路过渡段轨道均通过岔路轨道悬挂架安 装于平移支架上。
所述小车控制器采用 PLC、 单片机、 ARM、 DSP或 FPGA。 所述导轨呈工 字型。
所述驱动小车与随动小车上均设有碳刷, 所述碳刷与位于导轨侧面上的滑 触线对应配合, 所述滑触线通过碳刷与驱动小车电连接。
所述驱动小车与随动小车上均设有拾电器, 所述拾电器与位于导轨侧面上 的初级电缆对应配合, 初级电缆通过初级电缆支架安装于导轨上; 初级电缆通 过拾电器与驱动小车电连接。
所述小车驱动电机的输出轴通过轴承及轴承盖安装于小车支架上。 所述位 置标识卡通过无线射频方式与位置识别器连接。
本发明的优点: 通过在自行小车上安装位置识别器, 在导轨上的相应位置 安装位置标识卡, 当自行小车经过这些位置的时候, 位置识别器能够迅速识别 位置标识卡, 从而判断自行小车的位置, 这样使自行小车具有自主识别位置的 能力, 避免了现有技术中用于输送小车定位的大量行程开关和连接这些行程幵 关的大量导线, 使***布线减化, 成本降低, 调试维护方便, 重构性高; 小车 控制器识别自己的位置后, 通过程序能够自主控制自行小车, 在主控制器和小 车控制器之间采用无线方式通信, 避免了现有技术中连接主控制器和小车从控 制器的滑触线装置, 提高了主从通信的可靠性。
附图说明
图 1为本发明的结构示意图。
图 2为本发明驱动小车的结构示意图。
图 3为本发明供电连接机构的一种结构示意图。
图 4为本发明供电连接机构的另一种结构示意图。
图 5为本发明自行小车上位置识别器与位置标识卡配合的结构示意图。 图 6为本发明自行小车同步转载链的结构示意图。
图 7为本发明自行小车路径切换机构的结构示意图。
图 8为本发明路径切换机构与导轨配合的结构示意图。
图 9为本发明自行小车的控制结构框图。
附图标记说明: 1A-主控制单元、 2A-车载控制单元、 11-悬挂架、 11A-主控 制器、 11B-主通信模块、 12-导轨、 21-驱动小车、 21A-小车控制器、 21B-从通信 模块、 21C-小车执行机构、 22-随动小车、 23-吊具、 24-万向节、 31-初级电缆、 32-初级电缆支架、 33-拾电器、 41-滑触线、 42-碳刷、 51-位置标识卡、 52-位置 识别器、 111-岔路轨道悬挂架、 122-上升下降轨道、 131a-同步链驱动轮、 131b- 同步链随动轮、 132-链条轨道、 133-同步链条、 134-同步链条推杆臂、 135-驱动 轮支架、 136-驱动轮压力弹簧、 137-弹簧压力调节杆、 141-道岔支架、 142a-第一 岔路过渡段轨道、 142b-第二岔路过渡段轨道、 143-平移支架、 144-滚珠滑轨、 145-丝杠驱动电机、 146-滚珠丝杠、 147-丝杠螺母、 211-小车驱动电机、 212-驱 动轮、 212a-轴承盖、 212b-锁紧块、 213-小车支架、 214-下压紧轮、 215-下导向 轮、 216-上导向轮、 217-同步推杆、 218-支架底板及 219-支架定位板。
具体实施方式
下面结合具体附图和实施例对本发明作进一步说明。
如图 1所示: 为了实现物料的运输, 导轨 12上设有自行小车, 自行小车能 够在导轨 12上沿导轨 12运动; 导轨 12的下方设有吊具 23, 所述吊具 23通过 万向节 24安装于自行小车的底部,吊具 23能够跟随自行小车在导轨 12上移动, 实现物料的运输。 万向节 24能够保证自行小车能灵活的行驶于弯轨、 直轨、 上 伸轨及下降轨上。导轨 12上设有若干均匀分布的悬挂架 11, 导轨 12呈工字型, 悬挂架 11呈圆弧形,悬挂架 11的一端与导轨 12固定连接,悬挂架 11的另一端 能够与安装支撑梁等承载机构相连, 从而方便导轨 12的安装固定。
如图 9所示: 为了避免现有自行小车输送***中, 接线复杂, 通信干扰大, 可靠性低的缺陷,所述自行小车上设有车载控制单元 2A,所述车载控制单元 2A 与主控制单元 1A无线连接。 车载控制单元 2A安装于自行小车上, 主控制单元 1A安装于控制室内,通过主控制单元 1A能够对轨道 12上所有的自行小车进行 信号传输及控制。 为了能对自行小车进行精确定位, 确保自行小车运输的安全 可靠, 自行小车上设有位置识别器 52, 所述位置识别器 52与轨道 12上的位置 标识卡 51通过无线射频连接。 所述位置识别卡 51可以安装于悬挂架 11上, 也 可以安装于导轨 12上相应的部位, 位置识别器 52与位置识别卡 51通过无线射 频方式连接后, 能够减少自行小车定位时的接线复杂性, 提高定位的精度。 当 需要改变定位位置时, 只需要改变位置识别卡 51在导轨 12上的位置, 安装调 试方便。 位置识别器 52与车载控制单元 2A内的小车控制器 21 A相连, 能够将
定位信息输入到小车控制器 21A内, 小车控制器 21A的输出端与小车执行机构 21C相连; 所述小车执行机构 21C能够驱动自行小车在导轨 12上进行移动、 升 降或旋转等运动。 当小车控制器 21A收到位置识别器 52的定位信息后, 小车控 制器 21A能够通过小车执行机构 21C驱动自行小车进行相应的动作。 小车控制 器 21 A通过从通信模块 21B及主控制单元 1A内的主通信模块 11B与主控制器 11A无线连接, 小车控制器 21A与主控制器 11A通过无线连接通信后, 避免了 接线的复杂性, 提高了通信连接的可靠性。 所述小车控制器 21A可以采用 PLC (Programmable Logic Controller )、单片机、 ARM (Advanced RISC Machines )、 DSP (digital signal processor FPGA (Field— Programmable Gate Array) 或其 他微处理器, 主控制器 11A可以采用上位机或其他控制设备。 主控制器 11A通 过小车控制器 21 A及小车执行机构 21C能够驱动自行小车进行相应的物料运输 过程。
如图 1和图 2所示: 本实施例中, 导轨 12上的自行小车包括驱动小车 21 及随动小车 22, 驱动小车 21及随动小车 22的底部均与吊具 23相连, 驱动小车 21能够带动随动小车 22及吊具 23在导轨 12上运动; 通过驱动小车 21与随动 小车 22带动吊具 23运动时, 能够提高吊具 23移动的平稳性。 驱动小车 21包 括小车支架 213, 所述小车支架 213上设有小车驱动电机 211, 所述小车驱动电 机 211的输出轴上设有驱动轮 212, 所述驱动轮 212位于导轨 12的上端面, 且 驱动轮 212与导轨 12滚动接触。 具体地, 小车驱动电机 211的输出轴通过轴承 及轴承盖 212a安装于小车支架 213的侧板上,驱动轮 212的端部通过锁紧块 212b 及锁紧螺母紧固安装于小车驱动电机 211的输出轴上。 锁紧块 212b嵌置于驱动 轮 212内, 能够确保驱动轮 212与小车驱动电机 211输出轴间的连接。 为了能 够使驱动小车 21在导轨 12上运动的平稳, 小车支架 213上设有导向定位机构。 所述导向定位机构包括位于小车支架 213上的支架定位板 219,所述支架定位板 219对称分布于驱动轮 212的两侧。所述支架定位板 219上设有对称分布于的上 导向轮 216,所述上导向轮 216通过上导向轮安装轴及锁紧螺母安装于支架定位 板 219上, 且上导向轮 216位于导轨 12的两侧, 上导向轮 216具有四个。 小车 支架 213上设有支架底板 218, 所述支架底板 218位于导轨 12的下方且伸出导 轨 12外。 支架底板 218上设有对称分布的下导向轮 215, 所述下导向轮 215通 过下导向轮安装轴及锁紧螺母安装于支架底板 218上, 下导向轮 215位于导轨 12的两侧, 且下导向轮 215与导轨 12滚动接触, 下导向轮 215也为四个。 下导 向轮 215位于导轨 12的下部, 下导向轮 215与上导向轮 216的位置相对应。 为 了进一步进行定位导向, 支架底板 218上设有下压紧轮 214, 所述下压紧轮 214 通过下压紧轮安装轴安装于支架底板 218上, 且下压紧轮 214能够相对支架底 板 218转动。 下压紧轮 214位于导轨 12底端面的正下方, 且下压紧轮 214与导 轨 12滚动接触。 驱动轮 212及下压紧轮 214分别位于导轨 12的上下两个端面 上, 构成一个三角形结构; 通过上导向轮 216、 下导向轮 215及下压紧轮 214进 行导向定位后, 能够确保驱动小车 21始终能够于导轨 12相平行运行。 随动小 车 22的结构与驱动小车 21的结构相同, 但是随动小车 22上不需要小车驱动电
机 211, 随动小车 22在导轨 12的移动通过驱动小车 21及吊具 23驱动实现。本 发明小车执行机构 21C为小车驱动电机 211。
如图 3所示: 为本发明为驱动小车 21提供工作电源和通信的结构示意图。 为了减少驱动小车 21 电源连接的可靠性和复杂程度, 导轨 12及自行小车上设 有供电连接机构。所述导轨 12上设有滑触线 41, 所述滑触线 41位于导轨 12对 应于与悬挂架 11相连的另一侧面上, 且滑触线 41与导轨 12的形状相对应。 驱 动小车 21及随动小车 22的小车支架 213上均设有碳刷 42,所述碳刷 42与驱动 小车 21的小车驱动电机 211电连接。 滑触线 41与外部电源相连, 当碳刷 42与 滑触线 41对应配合后, 能够为小车驱动电机 211提供工作电源, 能够减少驱动 小车 21电源连接的复杂性。 为了确保连接的可靠性, 随动小车 22上的碳刷 42 也与小车驱动电机 211电连接, 随动小车 22上的碳刷 42与驱动小车 21上的碳 刷 42并联后与小车驱动电机 211相连, 当有一组碳刷 42接触不良而另一组碳 刷 42能正常接触时, 能够确保小车输送***供电的可靠性。 滑触线 41 中滑触 线数量可以根据实际需要调整, 一般有四组三相供电滑触线和两组总线通信滑 角織。
如图 4和图 5所示: 为本发明实施例中供电连接机构的另一种结构示意图。 所述供电连接机构包括安装于导轨 12上的初级电缆支架 32,所述初级电缆支架 32位于导轨 12对应于与悬挂架 11相连的另一侧面上。初级电缆支架 32对应于 与导轨 12相连的另一端部设有初级电缆 31,所述初级电缆 31与外部电源相连, 且初级电缆 31的形状与导轨 12的形状相一致。 驱动小车 21及随动小车 22上 设有拾电器 33, 所述拾电器 33位于小车支架 213上, 且拾电器 33与初级电缆 31电连接。 驱动小车 21及随动小车 22上的拾电器 33并联后小车驱动电机 211 电连接, 能够确保对小车驱动电机 211供电的可靠性。 拾电器 33可以采用德国 vahle 公司生产型号为 PU22 的拾电器, 也可以采用其它的拾电器类型。 图 5 中还表示了位置识别卡 51及位置识别器 52相对应配合的结构示意图。 位置识 别卡 51安装于悬挂架 11上。
如图 6所示: 根据不同的运输环境, 导轨 12上可以具有上升下降轨道 122, 所述上升下降轨道 122与导轨 12的水平轨道间通过切线过渡, 以使自行小车通 过的时候更加顺畅。 当导轨 12具有上升下降轨道 122时, 为了提高自行小车输 送的可靠性, 导轨 12对应于形成上升下降轨道 122 的上方设有同步链驱动轮 131a及同步链随动轮 131b, 所述同步链驱动轮 131a及同步链随动轮 131b均通 过相应的安装轴及安装轴承安装于相应的支架上。 同步链驱动轮 131a及同步链 随动轮 131b间通过同步链条 133相连, 同步链条 133与同步链驱动轮 131a及 同步链随动轮 131b相对应配合, 且同步链条 133与同步链驱动轮 131a、 同步链 随动轮 131b构成闭合的链条机构。 所述同步链条 133的外侧边缘上设有若干均 匀分布的同步链条推杆臂 134,所述同步链条推杆臂 134在同步链条 133上向外 延伸, 当同步链条推杆臂 134跟随同步链条 133转动时, 同步链条推杆臂 134 能够与驱动小车 21上的同步推杆 217相接触, 通过同步链条推杆臂 134与同步 推杆 217间的作用力, 能够提高自行小车在导轨 12上运行的平稳可靠性。 同步
链条 133的形状与导轨 12及上升下降轨道 122的形状相一致。 为了达到同步链 条 133的形状与上升下降轨道 122的形状相一致, 所述上升下降轨道 122上方 设有对称分布的链条轨道 132,所述链条轨道 132的形状与上升下降轨道 122的 形状相一致; 从而当同步链条 133通过链条轨道 132安装于上升下降轨道 122 上方时, 能够达到同步链条 133的形状与导轨 12及上升下降轨道 122的形状相 一致性。 当自行小车行驶到导轨 12的水平轨道与上升下降轨道 122结合处时, 自行小车自身的驱动轮 212产生的摩擦力己经难以推动自行小车沿着上升下降 轨道 122上升或下降, 此时, 通过设置同步链条 133及同步链条推杆臂 134, 在 自行小车即将进入坡度轨道前启动同步链条 133, 停止自行小车; 等待同步链条 推杆臂 134的到来。 在同步链条推杆臂 124靠近自行小车的同步推杆 217后, 气动自行小车, 在同步链条 133 带动下, 能够使自行小车以相近的速度行驶, 完成自行小车的上升和下降功能。 为了能够同步链驱动轮 131a进行调节, 同步 链驱动轮 131a的安装轴上设有驱动轮支架 135, 所述驱动轮支架 135内设有驱 动轮压力弹簧 136,所述驱动轮压力弹簧 136沿驱动轮支架 135的轴线方向分布。 驱动轮支架 135上设有弹簧压力调节杆 137,所述弹簧压力调节杆 137的一端穿 过驱动轮支架 135后语驱动轮压力弹簧 136的端部相连,且弹簧压力调节杆 137 能够在驱动轮支架 135内移动。 当弹簧压力调节杆 137在驱动轮支架 135内移 动时, 能够调节同步链驱动轮 131a的位置及同步链条 133的松紧度。
如图 7和图 8所示: 为了能够在导轨 12上适应不同运行需要, 导轨 12上 设有路径切换机构。所述路径切换机构包括道岔支架 141, 所述道岔支架 141内 通过滚珠滑轨 144安装有平移支架 143,所述平移支架 143通过滚珠滑轨 144能 够在道岔支架 141内移动。 平移支架 143上设有第一岔路过渡段轨道 142a及第 二岔路过渡段轨道 142b,所述第一岔路过渡段轨道 142a及第二岔路过渡段轨道 142b均通过岔路轨道悬挂架 111安装于平移支架 143上, 岔路轨道悬挂架 111 呈圆弧状, 岔路轨道悬挂及 111可以采用与悬挂架 111相同的结构。为了驱动平 移支架 143在道岔支架 141内的移动, 道岔支架 141上设有支架移动驱动机构。 所述支架移动驱动机构包括位于道岔支架 141上的滚珠丝杠 146, 滚珠丝杠 146 能在道岔支架 141上转动, 所述滚珠丝杠 146上设有对应配合的丝杠螺母 147, 所述丝杠螺母 147与平移支架 143固定连接。滚珠丝杠 146与丝杠驱动电机 145 的输出轴相连, 当丝杠驱动电机 145带动滚珠丝杠 146转动时, 所述丝杠螺母 147与滚珠丝杠 146发生相对移动,从而丝杠螺母 147能够带动平移支架 143在 道岔支架 141 内移动。 平移支架 143在道岔支架 141 内移动时, 能够实现第一 岔路过渡段轨道 142a及第二岔路过渡段轨道 142b的移动, 能够到达第一岔路 过渡段轨道 142a、 第二岔路过渡段轨道 142b与导轨 12的对应配合。 具体地, 导轨 12的端部设有直形轨道及弧形轨道, 当需要改变自行小车的运行轨迹时, 启动丝杆驱动电机 145, 丝杠驱动电机 145转动后, 能够将第一岔路过渡段轨道 142a及第二岔路过渡段轨道 142b与导轨 12相结合与对应配合, 能够使自行小 车继续前行或转弯。 所述道岔支架 141固定安装于导轨 12的上方, 从而能够使 第一岔路过渡段轨道 142a及第二岔路过渡段轨道 142b与导轨 12相结合与对应
配合。
如图 1〜图 9所示:使用时,将驱动小车 21及随动小车 22安装于导轨 12上, 吊具 23安装于驱动小车 21及随动小车 22的底端。根据对自行小车的定位要求, 在导轨 12上安装有若干位置标识卡 51,同时在驱动小车 21或随动小车 22上安 装对应配合的位置识别器 52。在驱动小车 21及随动小车 22上安装碳刷 42或拾 电器 33, 并在导轨 12相应的侧面上安装对应配合的滑触线 41及初级电缆 31。 驱动小车 21上的小车控制器 21A与主控制器 11A无线连接。工作时,通过初级 电缆 31或滑触线 41对驱动小车 21的小车驱动电机 211供电。 当主控制器 11A 向小车控制器 21A无线发送相应的命令后, 小车控制器 21A通过小车执行机构 21C气动自行小车在导轨 12上的运行。驱动小车 21带动随动小车 22及吊具 23 在导轨 12上运行时, 当位置标识卡 51进入位置识别器 52的识别区域时, 位置 识别器 52向小车控制器 21A内输出定位信息, 小车控制器 21A根据接收的定 位信息来确定驱动小车 21的运动状态。 当导轨 12具有上升下降轨道 122时, 在自行小车运动到水平轨道与上升下降轨道 122 的结合部时, 启动同步链驱动 轮 131a及同步链随动轮 131b,通过同步链条 133上的同步链条推杆臂 134与同 步推杆 217对应配合, 能够确保自行小车在上升下降轨道 122运行可靠的平稳 性。 当需要改变自行小车的运行轨迹时, 启动丝杠驱动电机 145, 丝杠驱动电机 145带动滚珠丝杆 146转动; 丝杠螺母 147相对滚珠丝杠 146移动时, 丝杠螺母 147带动平移支架 143移动, 平移支架 143驱动第一岔路过渡段轨道 142a及第 二岔路过渡段轨道 142b运动, 实现第一岔路过渡段轨道 142a及第二岔路过渡 段轨道 142b与导轨 12的配合, 达到改变自行小车运行的目的, 提高自行小车 运行的可靠性。
本发明通过在自行小车上安装位置识别器 52,在导轨 12上的相应位置安装 位置标识卡 51, 当自行小车经过这些位置的时候, 位置识别器 52能够迅速识别 位置标识卡 51, 从而判别自行小车的位置, 这样使自行小车具有自主识别位置 的能力, 避免了现有技术中用于输送小车定位的大量行程开关和连接这些行程 开关的大量导线, 使***布线减化, 成本降低, 调试维护方便, 重构性高; 小 车控制器 21A识别自己的位置后, 通过程序能够自主控制自行小车, 在主控制 器 11A和小车控制器 21A之间采用无线方式通信, 避免了现有技术中连接主控 制器和小车从控制器的滑触线装置, 提高了主从通信的可靠性。
Claims
1、 一种自行小车输送***, 包括导轨 (12) 及位于所述导轨 (12 ) 上的自 行小车,所述自行小车能在导轨(12)上运动; 自行小车的底部与位于导轨(12) 下方的吊具 (23 ) 相连, 所述吊具 (23 ) 能跟随自行小车在导轨 (12 ) 运动; 其特征是: 所述自行小车上设有车载控制单元 (2A), 所述车载控制单元 (2A) 内的位置识别器 (52 ) 与导轨 (12) 上的位置标识卡 (51 ) 相对应配合; 位置 识别器 (52) 与车载控制单元 (2A) 内的小车控制器 (21A) 相连, 所述小车 控制器(21A) 的输出端与用于驱动自行小车在导轨(12)上运动的小车执行机 构 (21C) 相连。
2、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述车载控制单 元 (2A) 与主控制单元 (1A) 无线连接。
3、 根据权利要求 2所述的自行小车输送***, 其特征是: 所述主控制单元 ( 1A) 包括主控制器 (11A) 所述主控制器 (11A) 通过主通信模块 (11B) 及 车载控制单元 (2A) 内的从通信模块 (21B ) 与小车控制器 (21A) 无线连接。
4、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述自行小车包 括位于导轨 (12) 上的驱动小车 (21 ) 及随动小车 (22 ), 所述驱动小车 (21 ) 及随动小车 (22) 的底部均通过万向节 (24) 与吊具 (23 ) 相连。
5、根据权利要求 4所述的自行小车输送***,其特征是:所述驱动小车(21 ) 包括小车支架 (213 ), 所述小车支架 (213 ) 上设有小车驱动电机 (211 ), 所述 小车驱动电机 (211 ) 的输出轴上安装有驱动轮 (212 ), 所述驱动轮 (212) 与 导轨 (12) 的上端面滚动接触; 小车支架 (213 ) 上设有用于对驱动轮 (212) 与导轨 (12) 间运动导向的导向定位机构。
6、 根据权利要求 5所述的自行小车输送***, 其特征是: 所述导向定位机 构包括对称分布于小车支架(213 )上的支架定位板(219),所述支架定位板(219) 上设有对称分布的上导向轮 (216), 支架定位板 (219) 上的上导向轮 (216) 位于导轨 (12) 的两侧, 且上导向轮 (216) 与导轨 (12) 滚动接触。
7、 根据权利要求 5所述的自行小车输送***, 其特征是: 所述导向定位机 构包括位于小车支架 (213 ) 上的支架底板 (218 ), 所述支架底板 (218 ) 位于 导轨 (12) 底端的下方; 支架底板 (218) 上对应于导轨 (12) 的两侧设有对称 分布的下导向轮 (215 ), 所述下导向轮 (215 ) 与导轨 (12) 滚动接触。
8、根据权利要求 7所述的自行小车输送***,其特征是:所述支架底板 (218 ) 上设有对称分布的下压紧轮 (214), 所述下压紧轮 (214) 位于导轨 (12) 的正 下方, 且下压紧轮 (214) 与导轨 (12) 的下端面滚动接触。
9、根据权利要求 5所述的自行小车输送***,其特征是:所述驱动轮(212) 通过锁紧块 (212b) 锁紧安装于小车驱动电机 (211 ) 的输出轴上。
10、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述导轨 (12) 上若千均匀分布的悬挂架 (11 ), 所述悬挂架 (11 ) 的一端与导轨 (12) 固定连 接。
11、根据权利要求 10所述的自行小车输送***,其特征是:所述悬挂架( 11 ) 呈弧形。
12、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述导轨 (12) 与自行小车上安装有用于对自行小车提供电源连接的供电连接机构。
13、 根据权利要求 12所述的自行小车输送***, 其特征是: 所述供电连接 机构包括位于导轨 (12) 上的滑触线 (41), 所述滑触线 (41) 位于导轨 (12) 的侧面, 并与导轨 (12) 的形状相对应; 自行小车上设有与滑触线 (41) 相对 应配合的碳刷 (42); 滑触线 (41) 通过碳刷 (42) 与自行小车电连接。
14、 根据权利要求 12所述的自行小车输送***, 其特征是: 所述供电连接 机构包括位于导轨 (12) 上的初级电缆支架 (32), 所述初级电缆支架 (32) 上 设有初级电缆(31), 所述初级电缆支架(32)及初级电缆(31)位于导轨(12) 的侧面, 并与导轨 (12) 的形状相对应; 自行小车上设有与初级电缆 (31) 相 对应配合的拾电器 (33), 所述初级电缆 (31) 通过拾电器 (33) 与自行小车电 连接。
15、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述导轨 (12) 包括上升下降轨道 (122), 所述导轨 (12) 对应的上升下降轨道 (122) 上方设 有同步链驱动轮 (131a) 及同步链随动轮 (131b), 所述同步链驱动轮 (131a) 及同步链随动轮 (131b) 间通过同步链条 (133) 相连; 同步链条 (133) 与同 步链驱动轮 (131a) 及同步链随动轮 (131b) 相对应配合, 且同步链条 (133) 的形状与导轨 (12) 及上升下降轨道 (122) 的形状相一致; 同步链条 (133) 外侧边缘上设有若干均匀分布的同步链条推杆臂 (134); 所述同步链条推杆臂
(134)跟随同步链条 (133) 移动时, 能够与自行小车上的同步推杆 (217) 相 接触。
16、 根据权利要求 15所述的自行小车输送***, 其特征是: 所述上升下降 轨道 (122) 上方设有链条轨道 (132), 链条轨道 (132) 的形状与上升下降轨 道 (122) 的形状相一致; 同步链条 (133) 位于所述链条轨道 (132) 内, 以使 同步链条 (133) 的形状与导轨 (12) 及上升下降轨道 (122) 的形状相一致。
17、 根据权利要求 15所述的自行小车输送***, 其特征是: 所述同步链驱 动轮 (131a) 上设有驱动轮支架 (135), 所述驱动轮支架 (135) 内设有驱动轮 压力弹簧 (136), 所述驱动轮压力弹簧 (136) 沿驱动轮支架 (135) 轴线长度 方向分布于驱动轮支架 (135) 内, 且驱动轮压力弹簧 (136) 的轴线与同步链 驱动轮 (131a) 的轴线垂直。
18、 根据权利要求 17所述的自行小车输送***, 其特征是: 所述驱动轮支 架 (135) 上设有弹簧压力调节杆 (137), 所述弹簧压力调节杆 (137) 的一端 穿过驱动轮支架 (135) 后与驱动轮压力弹簧 (136) 相连, 且弹簧压力调节杆
(137) 能在驱动轮支架 (135) 内移动。
19、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述导轨 (12) 上设有用于小车路径切换的路径切换机构。
20、 根据权利要求 19所述的自行小车输送***, 其特征是: 所述路径切换 机构包括道岔支架 (141), 所述道岔支架 (141) 内设有平移支架 (143), 所述 平移支架 (143) 能在道岔支架 (141) 内移动; 平移支架 (143) 上设有第一岔 路过渡段轨道 (142a) 及第二岔路过渡段轨道 (142b), 所述第一岔路过渡段轨 道 (142a) 及第二岔路过渡段轨道 (142b) 与导轨 (12) 相对应配合; 道岔支 架 (141) 上设有用于驱动平移支架 (143) 移动的支架移动驱动机构。
21、 根据权利要求 20所述的自行小车输送***, 其特征是: 所述支架移动 驱动机构包括位于道岔支架 (141) 上的滚珠丝杠 (146), 所述滚珠丝杠 (146) 能在道岔支架 (141) 内转动; 滚珠丝杠 (146) 上设有与滚珠丝杠 (146) 相对 应配合的丝杠螺母 (147), 所述丝杠螺母 (147) 与平移支架 (143) 固定连接; 滚珠丝杠 (146) 与道岔支架 (141) 上丝杠驱动电机 (145) 的输出轴相连。
22、 根据权利要求 20所述的自行小车输送***, 其特征是: 所述平移支架 (143) 通过滚珠滑轨 (144) 安装于道岔支架 (141) 内。
23、 根据权利要求 20所述的自行小车输送***, 其特征是: 所述第一岔路 过渡段轨道( 142a)与第二岔路过渡段轨道(142b)均通过岔路轨道悬挂架(111) 安装于平移支架 (143) 上。
24、 根据权利要求 1 所述的自行小车输送***, 其特征是: 所述小车控制 器 (21A) 采用 PL (:、 单片机、 ARM、 DSP或 FPGA。
25、 根据权利要求 1所述的自行小车输送***, 其特征是: 所述导轨 (12) 呈工字型。
26、 根据权利要求 4所述的自行小车输送***, 其特征是: 所述驱动小车 (21)与随动小车(22)上均设有碳刷 (42), 所述碳刷 (42)与位于导轨(12) 侧面上的滑触线 (41) 对应配合, 所述滑触线 (41) 通过碳刷 (42) 与驱动小 车 (21) 电连接。
27、 根据权利要求 4所述的自行小车输送***, 其特征是: 所述驱动小车 (21) 与随动小车 (22) 上均设有拾电器 (33), 所述拾电器 (33) 与位于导轨 (12) 侧面上的初级电缆 (31) 对应配合, 初级电缆 (31) 通过初级电缆支架 (32)安装于导轨(12)上; 初级电缆(31)通过拾电器(33)与驱动小车(21) 电连接。
28、 根据权利要求 5 所述的自行小车输送***, 其特征是: 所述小车驱动 电机 (211) 的输出轴通过轴承及轴承盖 (212a) 安装于小车支架 (213) 上。
29、 根据权利要求 1 所述的自行小车输送***, 其特征是: 所述位置标识 卡 (52) 通过无线射频方式与位置识别器 (51) 连接。
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