Single-rail EMS Suspension Trolley

Abstract

The present invention discloses a single-rail EMS suspended trolley. The suspended trolley (1) runs suspended on a rail (6). The suspended trolley includes two sets of running wheels (11). A connecting joint (12) is provided at the lower end of the running wheels. The running wheels are rotatably connected to the connecting joint. The rotational connection is such that the rotational joint can rotate about the Z-axis. A connecting seat (2) is provided between the connecting joints of the two sets of running wheels. And the connecting seat is hinged to the connecting joint with the Y-axis as the axis. A goods shelf (7) for loading goods is installed on the connecting seat. For the suspended trolley of the present invention, the goods shelf part for loading goods is connected to the running wheels through a connecting joint. The connecting joint can form rotations about the Z-axis and the Y-axis, enabling the suspended trolley to smoothly turn and perform actions of climbing or descending slopes, being able to adapt to more installation environments, and not causing severe shaking of the goods shelf during operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transportation, and particularly relates to a single-rail EMS suspended trolley. Background Art

[0002] A suspended trolley, also called a running trolley or an EMS trolley, is part of an EMS (Electrical Monorail System) conveying system (an aerial suspended monorail conveying system). It is a mechanical device with a track set in the air and hoisted on the track and capable of walking along the track. Currently, it is increasingly widely used in industries such as the logistics industry and in-factory distribution. In the context of Industry 4.0, these automated systems have become increasingly popular among manufacturers.

[0003] The suspended trolleys in the prior art have poor adaptability to slightly more complex walking tracks and cannot adapt to the operating environment of turning and climbing at the same time. In addition, most of the shelves for hoisting goods use a combination of steel ropes and hooks or a shelf platform to suspend the goods. These shelves do not have a telescopic function, and the limitations of hoisting items are too great. Or the telescopic devices used, due to the need to obtain sufficient lifting torque, use a bulky reduction motor or an oil cylinder for driving, and the bulky volume brings great trouble to the operation and installation of the suspended trolley. Summary of the Invention

[0004] The main technical problem to be solved by the present invention is to provide a single-rail EMS suspended trolley. The shelf part for loading goods is connected to the walking wheels through a connecting joint. The connecting joint can form rotations around the Z-axis and the Y-axis, enabling the suspended trolley to smoothly turn and climb or descend slopes, being able to adapt to more installation environments, and not causing violent shaking of the shelf during operation.

[0005] To solve the above technical problem, one technical solution adopted by the present invention is as follows:

[0006] A single-rail EMS suspended trolley is suspended on a track for operation. The suspended trolley includes two sets of walking wheels. A connecting joint is provided at the lower end of the walking wheels. The walking wheels are rotatably connected to the connecting joint. The rotational connection is such that the rotational joint can rotate around the Z-axis. A connecting seat is provided between the connecting joints of the two sets of walking wheels, and the connecting seat is hinged to the connecting joint with the Y-axis as the axis. The connecting seat is equipped with a shelf for loading goods.

[0007] Furthermore, the traveling wheels include a wheel frame, and a suspension wheel, a guiding wheel, and a driving wheel mounted on the wheel frame. The track has an "L"-shaped track groove. The suspension wheel is vertically arranged and travels while suspended in the track groove. The guiding wheel is horizontally arranged and abuts against the side wall of the track to guide the traveling wheels to travel along the path of the track. The driving wheel abuts against the track and has a power source for driving its rotation.

[0008] Furthermore, the driving wheel is a servo hub motor.

[0009] Furthermore, both the suspension wheel and the guiding wheel are cam follower bearings.

[0010] Furthermore, it further includes a mounting seat for mounting the driving wheel. The mounting seat is fixedly connected to the wheel frame. The mounting seat is provided with a buffer seat that can slide up and down. The driving wheel is fixedly connected to the buffer seat. The buffer seat is further provided with a buffer spring. A guiding column for guiding is disposed through the inner circle of the buffer spring. The guiding column is fixedly connected to the buffer seat.

[0011] Furthermore, the mounting seat is a sheet metal part.

[0012] Furthermore, the buffer spring is a rectangular spiral spring.

[0013] Furthermore, the traveling wheel and the connecting joint are rotationally connected through a crossed roller bearing.

[0014] Furthermore, the goods shelf is connected to the connecting seat through a scissor lift assembly. The scissor lift assembly is provided with a driving component for driving its telescopic movement.

[0015] Furthermore, the driving component is fixedly connected to the connecting seat. The driving component is provided with a rotatable driving shaft. A driving arm is fixedly connected to the driving shaft. The free end of the driving arm is hinged to the scissor lift assembly. By rotating the driving shaft, the driving arm is driven to swing. The driving arm drives the scissor lift assembly to telescopic;

[0016] The driving component further includes a lead screw assembly and a motor for driving the lead screw assembly to move. A swing arm is fixedly connected to the driving shaft. The lead screw assembly is connected to the swing arm. By the reciprocating linear movement of the lead screw assembly, the swing arm is driven to swing, thereby driving the driving shaft to rotate.

[0017] Advantages of the present invention:

[0018] The suspension trolley of the present invention includes two sets of running wheels. A connecting joint is provided at the lower end of the running wheels. The connecting joint can form rotations about the Z-axis and the Y-axis, enabling the suspension trolley to achieve smooth turning as well as climbing or descending actions, being able to adapt to more installation environments, and not causing violent shaking of the shelves during operation.

[0019] The running wheels and the connecting joint are rotationally connected through crossed roller bearings. Through the crossed roller bearings, the horizontal forces during the turning of the running wheels and the vertical forces during climbing or descending can be satisfied, ensuring the smoothness of commutation.

[0020] The driving component includes a lead screw assembly and a motor for driving the movement of the lead screw assembly. The motor drives the lead screw to perform linear reciprocating motion, and then drives the swing arm to swing through the linear motion of the lead screw nut, thereby driving the telescoping of the scissor fork. The lead screw assembly can obtain a larger torque than directly driving with a motor, be able to carry heavier items, and has a smaller volume compared to power components such as reduction motors, servo motors, or oil cylinders, reducing the requirements for the operating environment of the suspension trolley.

[0021] The above description is only an overview of the technical solution of the present invention. In order to be able to more clearly understand the technical means of the present invention and implement it in accordance with the content of the description, the following further details the present invention with preferred embodiments and in conjunction with the accompanying drawings. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the suspension trolley of the present invention;

[0023] Figure 2 is the connection structural schematic diagram of the running wheels and the connection seat of the present invention;

[0024] Figure 3 is the exploded structural schematic diagram of the running wheels and the connection seat of the present invention;

[0025] Figure 4 is the structural schematic diagram of the running wheels of the present invention;

[0026] Figure 5 is the exploded structural schematic diagram of the running wheels of the present invention;

[0027] Figure 6 is the structural schematic diagram of the track of the present invention;

[0028] Figure 7 is the structural schematic diagram of the mounting seat of the present invention;

[0029] Figure 8 is the overall structural schematic diagram of the telescoping device of the present invention;

[0030] Figure 9is the front view of the telescopic device of the present invention;

[0031] Figure 10 is Figure 9 the sectional view taken along line A-A (axial side view) of

[0032] Figure 11 is the structural schematic diagram of the lead screw assembly and the motor of the present invention;

[0033] Figure 12 is the structural schematic diagram of the locking device of the present invention;

[0034] Some of the reference numerals in the drawings are as follows:

[0035] Suspension trolley 1, traveling wheels 11, wheel brackets 111, suspension wheels 112, guide wheels 113, drive wheels 114, mounting seats 115, buffer seats 1151, buffer springs 1152, guide columns 1153, connecting joints 12, crossed roller bearings 121;

[0036] Connecting seat 2, linear module 21, slide rails 211, sliders 212;

[0037] Drive component 3, drive shaft 31, drive arm 32, lead screw assembly 33, nut 331, linkage rod 332, bearing 333, motor 34, swing arm 35, waist-shaped hole 351, gear 36, belt 37;

[0038] Scissor fork assembly 4;

[0039] Locking device 5, lock block 51, claw teeth 511, cylinder 52;

[0040] Track 6, track groove 61 and shelf 7. Detailed implementation manners

[0041] The following elaborates on the preferred embodiments of the present invention in conjunction with the drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0042] Embodiment:

[0043] A single-track EMS suspension trolley, as Figures 1 to 3 shown: The suspension trolley 1 runs suspended on the track 6. The suspension trolley includes two sets of traveling wheels 11. A connecting joint 12 is provided at the lower end of the traveling wheels. The traveling wheels are rotatably connected to the connecting joint. The rotational connection is such that the rotational joint can rotate about the Z axis. A connecting seat 2 is provided between the connecting joints of the two sets of traveling wheels. And the connecting seat is hinged to the connecting joint with the Y axis as the axis. The connecting seat is provided with a shelf 7 for loading goods.

[0044] The hanging trolley of the present invention has a connection joint between the shelf part for loading goods and the walking wheels. The connection joint can form rotations about the Z-axis and the Y-axis, enabling the hanging trolley to make smooth turns and perform actions of climbing or descending slopes, being able to adapt to more installation environments, and not causing violent shaking of the shelf during operation.

[0045] As Figures 3 to 6 shown: The walking wheels include a wheel frame 111, a suspension wheel 112, a guide wheel 113, and a drive wheel 114 mounted on the wheel frame. The track has an "L"-shaped track groove 61. The suspension wheel is vertically arranged and suspended in the track groove for walking. The guide wheel is horizontally arranged and abuts against the side wall of the track to guide the walking wheels to walk along the path of the track. The drive wheel abuts against the track and has a power source for driving its rotation.

[0046] In this embodiment, the track is a single-track setting. Therefore, two suspension wheels and two guide wheels are provided on each walking wheel, and they are symmetrically arranged. However, a double-track structure can also be set, and in this case, only one suspension wheel and one guide wheel are needed on the walking wheels.

[0047] In this embodiment, the drive wheel is a servo hub motor, and both the suspension wheel and the guide wheel are cam followers.

[0048] In this embodiment, the outer periphery of the cam follower is coated with a polyurethane layer (commonly known as rubber coating). The rubber coating layer has functions such as increasing friction and providing buffering.

[0049] It further includes a mounting seat 115 for mounting the drive wheel. The mounting seat is fixedly connected to the wheel frame. The mounting seat is provided with a buffer seat 1151 that can slide up and down. The drive wheel is fixedly connected to the buffer seat. The buffer seat is also provided with a buffer spring 1152. A guide post 1153 for guiding is inserted through the inner circle of the buffer spring, and the guide post is fixedly connected to the buffer seat;

[0050] The buffer spring has two functions. One is to buffer and damp the drive wheel during operation, and the other is to press the drive wheel tightly against the track through the buffer spring, so that there is sufficient friction between the drive wheel and the track to achieve driving and walking.

[0051] The mounting seat is a sheet metal part.

[0052] The buffer spring is a rectangular spiral spring, and the rectangular spiral spring has a greater load-bearing capacity and a longer service life.

[0053] The walking wheel and the connecting joint are rotationally connected through a crossed roller bearing 121. The crossed roller bearing can meet the horizontal force when the walking wheel turns and the vertical force when climbing (descending) a slope, ensuring the smoothness of commutation.

[0054] As Figure 1 shown: The shelf 7 is connected to the connecting seat through a telescopic device. The telescopic device includes a scissor fork assembly 4 and a driving component 3 for driving the scissor fork assembly to expand and contract. The driving component 3 is fixedly connected to the connecting seat, and the shelf is connected to the extended end of the scissor fork assembly;

[0055] As Figure 7 and Figure 8 shown: The driving component is provided with a rotatable driving shaft 31. The driving shaft is fixedly connected with a driving arm 32. The free end of the driving arm is hinged to the scissor fork assembly 4. By rotating the driving shaft, the driving arm swings, and the driving arm drives the scissor fork assembly to expand and contract. The lower end of the scissor fork assembly is connected to the shelf 7 for loading goods;

[0056] The driving component further includes a lead screw assembly 33 and a motor 34 for driving the lead screw assembly to move. The driving shaft is fixedly connected with a swing arm 35. The lead screw assembly is connected to the swing arm. By the reciprocating linear motion of the lead screw assembly, the swing arm is driven to swing, thereby driving the driving shaft to rotate.

[0057] The suspended trolley described in the present invention refers to: a mechanical device with a track set in the air and hoisted on the track and capable of walking along the track, which is used in industries such as logistics and distribution to replace manual handling of goods with a fast turnover speed;

[0058] In the scissor fork telescopic mechanism of the present invention, the driving component is completed by a combination of a motor and a lead screw assembly. The motor drives the lead screw to perform a linear reciprocating motion, and then the linear motion of the lead screw nut drives the swing arm to swing, thereby driving the expansion and contraction of the scissor fork. The lead screw assembly can obtain a larger torque than directly driving by a motor, can carry heavier items, and has a smaller volume compared with power components such as a reduction motor, a servo motor or an oil cylinder, reducing the operating environment requirements of the suspended trolley.

[0059] In this embodiment, as Figure 7As shown in the figure: There are two driving shafts. The two driving shafts jointly drive two sets of scissor fork assemblies. One of the driving shafts is a driving shaft with power, and the other is a driven shaft. The two driving shafts are driven by a gear 36, and the rotation directions of the two driving shafts are opposite; the two sets of scissor fork telescopic assemblies can obtain a more stable telescopic structure, and the two driving shafts of the telescopic actuator adopt a single-axis power setting. The other driven shaft obtains power from the driving shaft through a gear with a transmission ratio of 1:1. In this way, when driving the scissor fork, the synchronous rotation of the fork joints of the scissor fork can be optimized, and the balance of the telescopic position can be achieved.

[0060] The structure of the linear motion of the lead screw assembly driving the swing of the driving shaft is as Figures 8 to 10 shown in the figure: One end of the swing arm is fixedly connected to the driving shaft, and the other end of the swing arm has a waist-shaped hole 351. The nut 331 of the lead screw assembly is provided with a linkage rod 332 that can be inserted into the waist-shaped hole.

[0061] The reciprocating linear motion of the nut can be converted into the swing (rotation) of the swing arm under the limitation of the waist-shaped hole, and the structure is concise, realizing the transmission of force in the simplest way with high efficiency. And in this embodiment, a bearing 333 is installed at the contact part between the linkage rod and the waist-shaped hole.

[0062] The bearing makes the sliding friction between the linkage rod and the waist-shaped hole become the rolling friction of the bearing, reducing the friction resistance, preventing wear, improving the driving smoothness and also increasing the service life.

[0063] As Figures 8 to 10 shown in the figure: A linear module 21 is provided between the linkage rod and the connecting seat. Through the linear module, the linear motion direction of the nut can be guided to make its reciprocating motion smoother. The linear module includes a slide rail 211 fixedly arranged on the connecting seat and a slider 212 fixedly connected to the linkage rod.

[0064] The motor is connected and driven to the lead screw assembly through a belt 37.

[0065] As Figure 7 and Figure 11 shown in the figure: A locking device 5 is also provided for locking the telescopic position of the scissor fork assembly;

[0066] In the prior art, there are many mechanisms that can achieve locking, such as locking devices provided on driving components: using a servo motor with a self-locking function, an external self-locking device (brake self-locking), etc.

[0067] In this embodiment, the locking device includes a lock block 51 rotatably connected to the connecting seat. One end of the lock block has claw teeth 511 that can be engaged with the gear. Specifically, the claw teeth are engaged with the tooth grooves of the gear. The other end of the lock block is provided with a cylinder 52 for driving its rotation. The claw teeth of the lock block are driven by the cylinder to engage with the gear to achieve the locking function.

[0068] In this embodiment, the lead screw assembly is a ball screw assembly. The ball screw has rolling friction, relatively high precision and efficiency compared with the sliding lead screw, relatively small friction, and long service life.

[0069] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship recorded in the embodiments and shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0070] The working principle of the present invention is as follows:

[0071] The suspension trolley of the present invention includes two sets of running wheels. A connecting joint is provided at the lower end of the running wheels. The connecting joint can form rotations about the Z-axis and the Y-axis, enabling the suspension trolley to smoothly turn and perform actions of climbing or descending slopes, being able to adapt to more installation environments, and not causing violent shaking of the shelves during operation.

[0072] The running wheel and the connecting joint are rotatably connected by a crossed roller bearing. Through the crossed roller bearing, the horizontal force during the turning of the running wheel and the vertical force during climbing or descending slopes can be satisfied, ensuring the smoothness of commutation.

[0073] The driving component includes a lead screw assembly and a motor for driving the lead screw assembly to move. The motor drives the lead screw to linearly reciprocate, and then drives the swing arm to swing through the linear motion of the lead screw nut, thereby driving the expansion and contraction of the scissor fork. The lead screw assembly can obtain a larger torque than directly driving with a motor, be able to carry heavier items, and compared with power components such as a reduction motor, a servo motor, or an oil cylinder, its volume is also smaller, reducing the requirements for the operating environment of the suspension trolley.

[0074] The above are only embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A single-rail EMS suspended trolley, the suspended trolley (1) is suspended on the rail (6) and runs, characterized in that: The hanging trolley includes two sets of running wheels (11). A connecting joint (12) is provided at the lower end of the running wheels. The running wheels are rotatably connected to the connecting joint. The rotational connection enables the connecting joint to rotate around the Z-axis. A connecting seat (2) is provided between the connecting joints of the two sets of running wheels. The connecting seat is hinged to the connecting joint with the Y-axis as the axis. A goods shelf (7) for loading goods is installed on the connecting seat; The goods shelf is connected to the connecting seat through a scissor fork assembly (4). The scissor fork assembly is provided with a driving component (3) for driving its expansion and contraction; The driving component is fixedly connected to the connecting seat. The driving component is provided with a rotatable driving shaft (31). The driving shaft is fixedly connected with a driving arm (32). The free end of the driving arm is hinged to the scissor fork assembly. By rotating the driving shaft, the driving arm swings, and the driving arm drives the scissor fork assembly to expand and contract; The driving component further includes a lead screw assembly (33) and a motor (34) for driving the lead screw assembly to move. The driving shaft is fixedly connected with a swing arm (35). The lead screw assembly is connected to the swing arm. By the reciprocating linear motion of the lead screw assembly, the swing arm is driven to swing, thereby driving the driving shaft to rotate; There are two driving shafts. The two driving shafts jointly drive the two sets of scissor fork assemblies. One of the driving shafts is a driving shaft with power, and the other is a driven shaft. The two driving shafts are driven by a gear (36). The rotation directions of the two driving shafts are opposite; One end of the swing arm is fixedly connected to the driving shaft, and the other end of the swing arm has a waist-shaped hole (351). A connecting rod (332) that can be inserted into the waist-shaped hole is provided on the nut (331) of the lead screw assembly; A bearing (333) is installed at the part where the connecting rod contacts the waist-shaped hole; A locking device (5) for locking the expansion and contraction position of the scissor fork assembly is further provided; The locking device includes a lock block (51) rotatably connected to the connecting seat. One end of the lock block has a claw tooth (511) that can be inserted into the gear. A cylinder (52) for driving the lock block to rotate is provided at the other end of the lock block.

2. The single-rail EMS suspended trolley according to claim 1, characterized in that: The running wheels include a wheel frame (111) and a suspension wheel (112), a guide wheel (113) and a driving wheel (114) installed on the wheel frame. The track has an "L"-shaped track groove (61). The suspension wheel is vertically arranged and runs suspended in the track groove. The guide wheel is horizontally arranged and abuts against the side wall of the track to guide the running wheels to run along the path of the track. The driving wheel abuts against the track and has power to drive its rotation.

3. The single-rail EMS suspended trolley according to claim 2, characterized in that: The driving wheel is a servo hub motor.

4. The single-rail EMS suspended trolley according to claim 2, characterized in that: Both the suspension wheel and the guide wheel are cam follower bearings.

5. The single-rail EMS suspended trolley according to claim 2, characterized in that: An installation seat (115) for installing the driving wheel is further included. The installation seat is fixedly connected to the wheel frame. The installation seat is provided with a buffer seat (1151) that can slide up and down. The driving wheel is fixedly connected to the buffer seat. The buffer seat is further provided with a buffer spring (1152).

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