Large material rail-mounted automatic handling device

Abstract

The present application relates to a large material rail type automatic handling equipment, which is carried by a track to run, can realize the carrying, fixing and loading and unloading of materials, has an automatic control function, can realize the cooperation with hoisting equipment, complete the loading and unloading of large materials on the handling equipment, and complete the material transmission between the automatic transfer equipment through the locking and unlocking of the locking mechanism and the docking of the docking mechanism.

Description

Technical Field

[0001] This invention relates to the field of transport equipment technology, specifically to a large-scale rail-mounted automated material handling equipment. Background Technology

[0002] In the field of industrial engineering, it is often necessary to move materials and supplies. In certain scenarios, it is frequently necessary to move large items, such as equipment or systems that are too heavy or too large in size, for example, those with dimensions of 5000*2000*2000mm. 3 For large units weighing up to 10 tons, the cost of using transplanting equipment is too high. Moreover, some construction sites are limited by space and do not have the conditions to allow large machinery to enter. Therefore, manual handling is usually used, which is inefficient, labor-intensive for workers, and poses a great safety hazard during the handling process due to the lack of effective limiting measures. Summary of the Invention

[0003] Based on the above description, the present invention provides a large-scale material track-type automatic handling equipment to solve the technical problems of inconvenient transportation of large materials, low efficiency of manual handling, and high labor intensity in the prior art.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0005] A large-scale automated rail-mounted material handling equipment, comprising:

[0006] The vehicle platform can run along ground tracks;

[0007] The shuttle track is laid longitudinally in the middle of the upper part of the vehicle platform;

[0008] Two carrying units are respectively disposed on both sides of the shuttle car track; each carrying unit includes a support mechanism, a guide mechanism, a docking mechanism, and a locking mechanism; the support mechanism includes two parallel support roller assemblies arranged longitudinally; the guide mechanism is disposed on the lateral outer side of the support mechanism for guiding the sliding of materials; the docking mechanism is disposed at the longitudinal end of the vehicle platform; the locking mechanism is disposed at both ends of the vehicle platform for limiting the materials above the vehicle platform.

[0009] The control unit is used to control the docking of the docking mechanism, the locking and unlocking of the locking mechanism, and the operation of the vehicle platform.

[0010] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0011] The rail-mounted automated handling equipment provided in this application operates on a rail-mounted vehicle body, enabling the carrying, fixing, loading, and unloading of materials. It has automatic control functions and can cooperate with hoisting equipment to complete the loading and unloading of large materials on handling equipment. By controlling the locking and unlocking of the locking mechanism and the docking of the docking mechanism, it completes the material transfer with the automated transfer equipment.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, the vehicle platform includes a vehicle frame, a track wheel system, a power battery, and a drive control box. The vehicle frame includes a base and support beams located on both sides of the lower end of the base. The track wheel system has four wheels and is located at the lower end of the support beams. The power battery is mounted on the lower end of the base. The drive control box includes an explosion-proof DC motor and an explosion-proof control box. The explosion-proof DC motor is driven and electrically connected to the track wheel system and the control unit.

[0014] Furthermore, the guiding mechanism includes a first guide seat, a second guide seat, a plurality of Z-axis limiting blocks, and a plurality of needle roller bearings. The second guide seat is disposed on one side of the supporting roller assembly, and the first guide seat is disposed at the end of the second guide seat. The end of the first guide seat has a guiding slope. The plurality of needle roller bearings are rotatably mounted on the inner sides of the first guide seat and the second guide seat. The Z-axis limiting block is disposed at the upper end of the second guide seat.

[0015] Furthermore, the supporting roller assembly includes a roller support seat, on which an installation groove is formed, and multiple roller mandrels are arranged side by side in the installation groove. Each roller mandrel has a roller mounted on its outer side via a bearing. Support profiles are provided between the lower ends of the roller support seat, the first guide seat, and the second guide seat and the base.

[0016] Furthermore, a pad is provided on the upper end of the base, and a receiving cavity is formed between the pad and the base. The docking mechanism and the locking mechanism are disposed in the receiving cavity, and the height of the upper end surface of the pad is lower than the height of the upper end of the support roller assembly.

[0017] Furthermore, the locking mechanism includes a housing, a locking arm, and a locking tongue. The housing has an opening at its upper end. The first end of the locking arm is rotatably mounted on the housing via a first rotating shaft, and the second end of the locking arm can swing out from the upper end of the housing. The locking tongue is rotatably mounted on the housing via a second rotating shaft. When the second end of the locking arm extends out, the locking tongue can engage with a limiting notch on the first end of the locking arm to limit its movement. The locking arm and the locking tongue are driven to rotate by corresponding servo motors.

[0018] Furthermore, the docking mechanism includes a male docking head assembly and a female docking head assembly located at both ends of the base;

[0019] The male connector assembly includes a guide seat and a docking shaft. The guide seat is disposed at one end of the base and has a longitudinally penetrating guide hole. The docking shaft is axially movably disposed in the guide hole and is driven axially by a servo motor.

[0020] The docking female assembly includes a receiving seat and a limiting rod. The receiving seat is disposed at the other end of the base corresponding to the guide seat and has a receiving hole. The limiting rod is rotatably connected to the receiving seat. The limiting rod can selectively block the limiting end of the receiving hole when rotated. The limiting rod is driven to rotate by a servo motor.

[0021] Furthermore, each of the servo motors is connected to an explosion-proof flexible hose.

[0022] Furthermore, the control unit includes a PLC, a material receiving control module, a vehicle platform control module, a locking control module, a docking control module, a sensor signal receiver, a control command transmitter, and several sensors. The material receiving control module is used to receive signals transmitted from the external platform to the handling equipment. The vehicle platform control module is used for the motion control of the vehicle platform. The locking control module is used for the motion control of the locking mechanism. The docking control module is used for the motion control of the docking mechanism. The sensors are installed in the support mechanism, guide mechanism, docking mechanism, and locking mechanism according to the signal acquisition requirements of the control modules, and are connected to the sensor signal receiver.

[0023] Furthermore, the power battery circuit is divided into two paths. One path supplies power to the servo motor and explosion-proof DC motor through a DC circuit breaker, while the other path supplies power to the PLC, sensors, and brakes after power conversion through a DC / DC converter module. The PLC receives control commands from an external remote controller via wireless or wired means to control the vehicle platform to move forward or backward. Attached Figure Description

[0024] Figure 1 This is a side view of a large-scale rail-mounted automated material handling device provided in an embodiment of the present invention.

[0025] Figure 2 for Figure 1 A top-view structural diagram;

[0026] Figure 3 This is a schematic diagram of the bottom structure of a large-scale rail-mounted automated material handling device provided in an embodiment of the present invention;

[0027] Figure 4This is a schematic diagram of the vehicle body frame and its upper structure in an embodiment of the present invention;

[0028] Figure 5 for Figure 4 A schematic diagram of a partial structure;

[0029] Figure 6 This is a structural diagram of the male connector assembly;

[0030] Figure 7 This is a structural schematic diagram of the female connector assembly;

[0031] Figure 8 This is a schematic diagram of the locking device.

[0032] Figure 9 This is a schematic diagram of the module composition of the control unit;

[0033] Figure 10 This is a control step diagram of an embodiment of this application;

[0034] Figure 11 This is a schematic diagram of the power supply circuit in an embodiment of this application. Detailed Implementation

[0035] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0037] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90° or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0038] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0039] When used here, the singular forms of “a,” “an,” and “ / the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “including / contains” or “having” specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0040] like Figures 1 to 7 As shown in the embodiment of this application, a large-scale material track-type automatic handling equipment is provided, which can handle and fix a standard pallet of 2650mm×2980mm, with material size ≤6000mm×3100mm×1000mm, and is designed according to the requirement that the maximum external dimensions of the materials that can be handled are 5700mm×2900mm×2400mm and the weight is 10t.

[0041] The automated handling equipment includes a vehicle platform 10, a shuttle track 20, a load-bearing unit 30, and a control unit 40.

[0042] The vehicle platform 10 can run along a track on the ground, preferably a P50 steel rail.

[0043] Specifically, the vehicle platform 10 includes a vehicle frame 11, a track wheel system 12, a power battery 13, and a drive control assembly. The vehicle frame 11 includes a base 111 and support beams 112 located on both sides of the lower end of the base. The track wheel system 12 has four wheels and is located at the lower end of the support beams 112. The power battery 13 is mounted on the lower end of the base 111. The drive control assembly includes an explosion-proof DC motor 141 and an explosion-proof control box 142. The explosion-proof DC motor 141 is driven and electrically connected to the track wheel system 12 and to the control unit 50.

[0044] The vehicle frame 11 is constructed from welded steel plates, providing an installation platform for the power battery 13, drive control box 14, shuttle track 20, and load-bearing unit 30, and providing installation space for the control unit 50. In one embodiment, the vehicle frame 11 is painted with YR04 yellow paint and covered with black and red warning strips. The track wheel system 12 uses a one-driven, one-driven configuration, with an explosion-proof DC motor 141 connected to the output shafts of the two wheels via a reducer. The driven wheel is a standard steel wheel. The power battery 13 is an explosion-proof lead-acid battery, providing DC 48V power to the vehicle body and load-bearing platform. The battery is maintenance-free and equipped with a charger. The charger's input voltage is AC 220V, and its output is DC 48V. The battery capacity ensures a vehicle range of more than 8 hours.

[0045] The shuttle track 20 is laid longitudinally in the middle of the upper part of the vehicle platform 10. The shuttle track is arranged longitudinally along the vehicle platform 10 and can provide support and guidance for the high-voltage shuttle. There are induction baffles on the shuttle track, which can provide induction and positioning for the high-voltage shuttle.

[0046] Two load-bearing units 30 are respectively set on both sides of the shuttle track 20.

[0047] Each bearing unit 30 includes a support mechanism 31, a guide mechanism 32, a docking mechanism, and a locking mechanism 34; specifically, the support mechanism 31 includes two parallel support roller assemblies 311, which are arranged longitudinally.

[0048] In this embodiment, the support roller assembly 311 includes a roller support base 3111, on which an installation groove is formed. Multiple roller spindles 3112 are arranged in parallel in the installation groove. A roller 3113 is mounted on the outside of each roller spindle 3112 through a bearing. The roller 3113 is used to support materials and make the materials move longitudinally along the conveying equipment.

[0049] The guiding mechanism 32 is located on the lateral outer side of the support mechanism 31 and is used to guide and limit the materials during material transportation. The guiding mechanism 32 includes a first guide seat 321, a second guide seat 322, a plurality of Z-direction limiting blocks 323 and a plurality of needle roller bearings 324. The second guide seat 322 is located on one side of the support roller assembly 311, and the first guide seat 321 is located at the end of the second guide seat 322. The end of the first guide seat 321 has a guide slope. The plurality of needle roller bearings 324 are rotatably mounted on the inner side of the first guide seat 321 and the second guide seat 322. The Z-direction limiting block 323 is located at the upper end of the second guide seat 322.

[0050] Support profiles 312 are provided between the lower ends of the roller support 3111, the first guide seat 321, and the second guide seat 322 and the base.

[0051] A pad 113 is provided on the upper end of the base 111, and a receiving cavity is formed between the pad 113 and the base 111. The docking mechanism and the locking mechanism are located in the receiving cavity. The height of the upper end surface of the pad 113 is lower than the height of the upper end of the roller 3113.

[0052] The docking mechanism is located at the longitudinal end of the vehicle platform 10.

[0053] Specifically, the docking mechanism includes a male docking assembly 331 and a female docking assembly 332 located at both ends of the base 111.

[0054] In this embodiment, the male connector assembly 331 includes a guide seat 3311 and a docking shaft 3312. The guide seat 3311 is disposed at one end of the base 111 and has a longitudinally penetrating guide hole. The docking shaft 3312 is axially movably disposed in the guide hole and is driven axially by a servo motor.

[0055] The docking female assembly 332 includes a receiving seat 3321 and a limiting rod 3322. The receiving seat 3321 is disposed at the other end of the base 111 corresponding to the guide seat 3311 and has a receiving hole. The limiting rod 3322 is rotatably connected to the receiving seat 3321. The rotation of the limiting rod 3322 can selectively block the limiting end of the receiving hole 3321. The limiting rod 3322 is driven to rotate by a servo motor.

[0056] Among them, the locking mechanism 34 is set at both ends of the vehicle platform 10 and is used to limit the materials above the vehicle platform 10.

[0057] Specifically, the locking mechanism 34 includes a housing 341, a locking arm 342, and a locking tongue 343. The upper end of the housing 341 is open. The first end of the locking arm 342 is rotatably mounted on the housing 341 via a first rotating shaft 344. The second end of the locking arm 342 can swing out from the upper end of the housing 341.

[0058] The locking tongue 343 is rotatably mounted on the housing 341 via the second rotating shaft 345. When the second end of the locking arm 342 extends out, the locking tongue 343 can cooperate with the limiting notch on the first end of the locking arm 342 to limit its movement. The locking arm 342 and the locking tongue 343 are driven to rotate by their respective servo motors.

[0059] When locked, the locking arm 342 rotates to its position and the locking tongue 343 locks the locking arm 342. When unlocked, the locking tongue rotates and the servo motor drives the locking arm 342 to rotate, thus releasing the lock.

[0060] Preferably, each servo motor is connected to an explosion-proof flexible hose 344.

[0061] The control unit is used to control the docking of the docking mechanism, the locking and unlocking of the locking mechanism 34, and the operation of the vehicle platform 10.

[0062] In this application, as Figure 9 As shown, the control unit 40 includes a PLC, a material receiving control module 42, a vehicle platform 10 control module 43, a locking control module 44, a docking control module 45, a sensor signal receiver 46, a control command transmitter 47, and several sensors.

[0063] The material receiving control module 42 is used to receive signals of materials transmitted from the external platform to the handling equipment, thereby realizing the transmission of materials from the external platform to the handling equipment; the vehicle platform 10 control module 43 is used for the motion control of the vehicle platform 10, controlling the explosion-proof DC motor 141 to rotate forward or reverse through commands, thereby realizing the transmission of materials; the locking control module 44 is used for the motion control of the locking mechanism 34, controlling the locking arm 342 of the locking mechanism 34 to lock or unlock materials through commands, thereby realizing the fixing or unlocking of materials; the docking control module 45 is used for the motion control of the docking mechanism, enabling the handling equipment platform to connect or disconnect from the external platform; sensors are set on the support mechanism 31, guide mechanism 32, docking mechanism and locking mechanism 34 according to the signal acquisition requirements of the above control modules, and are connected to the sensor signal receiver 46.

[0064] The entire process of receiving and transporting materials is as follows: Figure 10 As shown: After receiving the external alignment signal, the control unit determines whether the locking mechanisms at both ends (entry end and arrival end) are unlocked. After ensuring that they are unlocked, it starts the docking mechanism to dock with the external platform. When the materials enter the equipment platform area, it starts the transmission component (explosion-proof DC motor) to drive the vehicle platform to move. When the sensor determines that the materials have reached the stop position, the vehicle platform stops, the locking mechanism at the entry end locks, the docking mechanism disengages, and then the materials leave or enter the warehouse along the track.

[0065] The material is transferred from the handling equipment to the external platform. After receiving the external alignment signal, the control unit starts the docking mechanism to dock with the external platform, determines whether the locking mechanism 34 at both ends (entry end and arrival end) is unlocked, and ensures that it is unlocked. Then, it determines whether there is material on the handling equipment and ensures that the material has not left the handling equipment. The transmission component is started to work. When the material leaves the handling equipment, the transmission component is stopped, the docking mechanism disengages, and then the material is sent out or into the warehouse along the track.

[0066] In the embodiments of this application, the power supply control is as follows: Figure 11 As shown, the power battery 13 circuit is divided into two paths. One path supplies power to the servo motor and explosion-proof DC motor through the DC circuit breaker D. The other path supplies power to the PLC, sensors and brake S after power conversion through the DC / DC conversion module Z. The PLC receives control commands from the external remote controller wirelessly or via wired connection to control the vehicle platform 10 to move forward or backward.

[0067] In summary, the automated handling equipment provided in this application can carry, fix, and unload materials. It has the function of automatically identifying the handling position and has online and offline control modes. In online mode, it can accept command control, and in offline mode, it can control autonomously.

[0068] This automated transport platform has a position control function. By communicating with the control unit, it obtains the operating data of the vehicle motor, calculates the vehicle's travel distance, and performs position control. On the other hand, during the vehicle's operation, it obtains the start point, end point, and characteristic position signals through sensors to determine the position of the transport equipment on the track and performs deceleration control at the appropriate position. Furthermore, the operation control is achieved through communication between the central processing unit and the vehicle control unit, using commands to control the vehicle to move forward, backward, accelerate, decelerate, and stop.

[0069] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A large-scale rail-mounted automated material handling equipment, characterized in that, include: The vehicle platform can run along ground tracks; The shuttle track is laid longitudinally in the middle of the upper part of the vehicle platform; Two carrying units are respectively disposed on both sides of the shuttle car track; each carrying unit includes a support mechanism, a guide mechanism, a docking mechanism, and a locking mechanism; the support mechanism includes two parallel support roller assemblies arranged longitudinally; the guide mechanism is disposed on the lateral outer side of the support mechanism for guiding the sliding of materials; the docking mechanism is disposed at the longitudinal end of the vehicle platform; the locking mechanism is disposed at both ends of the vehicle platform for limiting the materials above the vehicle platform. The control unit is electrically connected to the guiding mechanism, the locking mechanism, and the vehicle platform, and is used to control the docking of the docking mechanism, the locking and unlocking of the locking mechanism, and the operation of the vehicle platform, respectively. The vehicle platform includes a vehicle frame, a track wheel system, a power battery, and a drive control box. The vehicle frame includes a base and support beams located on both sides of the lower end of the base. The track wheel system has four wheels and is located at the lower end of the support beams. The power battery is mounted on the lower end of the base. The drive control box includes an explosion-proof DC motor and an explosion-proof control box. The explosion-proof DC motor is driven and electrically connected to the track wheel system and the control unit. The guiding mechanism includes a first guide seat, a second guide seat, multiple Z-axis limiting blocks, and multiple needle roller bearings. The second guide seat is disposed on one side of the supporting roller assembly, and the first guide seat is disposed at the end of the second guide seat. The end of the first guide seat has a guide slope. The multiple needle roller bearings are rotatably mounted on the inner sides of the first guide seat and the second guide seat. The Z-axis limiting block is disposed at the upper end of the second guide seat. The locking mechanism includes a housing, a locking arm, and a locking tongue. The housing has an opening at its upper end. The first end of the locking arm is rotatably mounted on the housing via a first rotating shaft, and the second end of the locking arm can swing out from the upper end of the housing. The locking tongue is rotatably mounted on the housing via a second rotating shaft. When the second end of the locking arm extends out, the locking tongue can engage with a limiting notch on the first end of the locking arm to limit its movement. The locking arm and the locking tongue are driven to rotate by corresponding servo motors. The docking mechanism includes a male docking head assembly and a female docking head assembly located at both ends of the base; The male connector assembly includes a guide seat and a docking shaft. The guide seat is disposed at one end of the base and has a longitudinally penetrating guide hole. The docking shaft is axially movably disposed in the guide hole and is driven axially by a servo motor. The docking female assembly includes a receiving seat and a limiting rod. The receiving seat is disposed at the other end of the base corresponding to the guide seat and has a receiving hole. The limiting rod is rotatably connected to the receiving seat. The limiting rod can selectively block the limiting end of the receiving hole when rotated. The limiting rod is driven to rotate by a servo motor.

2. The large-scale material track-type automatic handling equipment according to claim 1, characterized in that, The support roller assembly includes a roller support base with a mounting groove formed on it. Multiple roller mandrels are arranged side by side in the mounting groove, and a roller is mounted on the outside of each roller mandrel through a bearing. Support profiles are provided between the lower ends of the roller support base, the first guide seat, and the second guide seat and the base.

3. The large-scale material track-type automatic handling equipment according to claim 2, characterized in that, A pad is provided at the upper end of the base, and a receiving cavity is formed between the pad and the base. The docking mechanism and the locking mechanism are disposed in the receiving cavity. The height of the upper end surface of the pad is lower than the height of the upper end of the support roller assembly.

4. The large-scale material track-type automatic handling equipment according to claim 1, characterized in that, Each of the servo motors is connected to an explosion-proof flexible hose.

5. The large-scale material track-type automatic handling equipment according to claim 1, characterized in that, The control unit includes a PLC, a material receiving control module, a vehicle platform control module, a locking control module, a docking control module, a sensor signal receiver, a control command transmitter, and several sensors. The material receiving control module is used to receive signals transmitted from the external platform to the handling equipment. The vehicle platform control module is used for motion control of the vehicle platform. The locking control module is used for motion control of the locking mechanism. The docking control module is used for motion control of the docking mechanism. The sensors are installed in the support mechanism, guide mechanism, docking mechanism, and locking mechanism according to the signal acquisition requirements of the control modules, and are connected to the sensor signal receiver.

6. The large-scale material track-type automatic handling equipment according to claim 5, characterized in that, The power battery circuit is divided into two paths. One path supplies power to the servo motor and explosion-proof DC motor through a DC circuit breaker, while the other path supplies power to the PLC, sensors, and brakes after power conversion through a DC / DC converter module. The PLC receives control commands from an external remote controller via wireless or wired means to control the vehicle platform to move forward or backward.

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