Annular rail type shuttle vehicle anti-collision movement system

Abstract

The invention relates to the technical field of shuttle vehicle obstacle avoidance, in particular to an annular rail type shuttle vehicle anti-collision movement system, and aims to solve the problem that whether obstacles exist in the passing path process or not needs to be detected in the transportation process. The anti-collision motion system comprises an annular track and a shuttle vehicle running on the annular track, and further comprises a following track which is arranged above the annular track and is parallel to the annular track, and the track path of the following track is the same as that of the annular track; the detection trolley is arranged on the following track and synchronously moves along with the shuttle vehicle, the vertical projection of the detection trolley falls on the top of the shuttle vehicle, and the falling point position is kept unchanged in the moving process; the detection probe group is used for detecting the obstacle condition; an alarm communication module; when the detection probe group detects that obstacles exist and can influence passing, an alarm and a stop signal can be sent out, the shuttle vehicle stops advancing, and the collision condition is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of shuttle vehicle obstacle avoidance, and in particular to a circular track type shuttle vehicle anti-collision motion system. Background Art

[0002] The shuttle vehicle is a convenient intra-workshop transport vehicle that can quickly transport goods to designated areas. The only area where outside cooperation is required is loading and unloading.

[0003] During the transportation process, the shuttle vehicle needs to detect whether there are obstacles along the path to avoid collisions and ensure the safety of goods and personnel. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a circular track type shuttle anti-collision motion system to solve the problem of needing to detect whether there are obstacles in the path during transportation.

[0005] Based on the above purpose, the present invention provides a circular track type shuttle anti-collision motion system, comprising a circular track, a shuttle running on the circular track, and a following track, which is arranged above the circular track and arranged in parallel with the circular track, and the track path is the same as the circular track; a detection trolley is arranged on the following track, and as the shuttle moves synchronously, the vertical projection of the detection trolley falls on the top of the shuttle and keeps the landing point position unchanged during the movement; four detection probe groups are arranged in front, behind, left and right of the detection trolley, respectively, for detecting obstacles within the set range of the four directions of the front, behind, left and right of the shuttle; an alarm communication module is connected to the detection probe group and the shuttle by electrical signals respectively; when the detection probe group detects that there is an obstacle in any direction in front, left or right of the shuttle and it will affect the passage, an alarm and a stop signal will be issued, and the shuttle will stop moving to prevent a collision from occurring; when the detection probe group detects that an object behind the shuttle is approaching to a dangerous distance, an acceleration signal will be issued, and the shuttle will accelerate and increase the distance from the object behind.

[0006] As a further improvement of the present application, the height of the following track is greater than the height of the objects transported by the shuttle vehicle and is higher than the total height of the stacked objects.

[0007] As a further improvement of the present application, the inspection vehicle includes a vehicle body, a bracket arranged on the upper part of the vehicle body, a driving motor arranged on the bracket, a driving wheel arranged on the bracket, and a driven wheel arranged on the bracket; the driving wheel and the driven wheel are both arranged above the following track; and the output shaft of the driving motor is power-connected to the driving wheel.

[0008] As a further improvement of the present application, the wheel surfaces of the driving wheel and the driven wheel are provided with grooves, and are embedded in the following rail through the grooves.

[0009] As a further improvement of the present application, the inspection trolley also includes a retaining frame, which includes two retaining rods parallel to each other and two retaining wheels respectively arranged at the ends of the two retaining rods; one end of the retaining rod is fixedly connected to the inspection trolley, and the retaining wheel is arranged on the free end of the retaining rod; the two retaining wheels are respectively arranged on both sides of the following rail and in contact with the side surfaces of the following rail.

[0010] As a further improvement of the present application, the anti-collision motion system also includes a channel anti-collision module arranged on the shuttle vehicle, and the channel anti-collision module includes a telescopic rod arranged on the shuttle vehicle, an elastic rod arranged on the telescopic rod, a receiving rod arranged on the elastic rod, a trigger rod arranged on the receiving rod, a trigger spring connecting the receiving rod and the trigger rod, a first trigger piece respectively arranged at both ends of the receiving rod, and a second trigger piece respectively arranged at both ends of the trigger rod, the first trigger piece is connected to a trigger circuit, the trigger circuit is connected to the shuttle vehicle electrical signal, and an alarm is provided on the trigger circuit, when the second trigger piece contacts the first trigger piece, the trigger circuit is turned on, the alarm sounds an alarm, and the shuttle vehicle stops.

[0011] As a further improvement of the present application, the four corners of the shuttle are respectively provided with accommodating holes, and the channel anti-collision module is partially retracted into the accommodating hole after the telescopic rod is contracted. When working, the telescopic rod is fully extended.

[0012] As a further improvement of the present application, after the telescopic rod is fully extended, the length of the elastic rod accounts for more than one half of the length of the entire channel anti-collision module.

[0013] Beneficial effects of the present invention: xx…… BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the overall structure of the anti-collision motion system of the circular track type shuttle vehicle according to an embodiment of the present invention;

[0016] Figure 2It is a schematic side view of the structure of the anti-collision motion system of the circular track type shuttle vehicle according to an embodiment of the present invention;

[0017] Figure 3 is a schematic diagram of a circular track according to an embodiment of the present invention;

[0018] Figure 4 Schematic diagram of the top view of the shuttle vehicle according to an embodiment of the present invention;

[0019] Figure 5 It is a schematic structural diagram of a channel anti-collision module of the anti-collision motion system of the circular track type shuttle vehicle according to an embodiment of the present invention.

[0020] The markings in the figure are:

[0021] 1. Circular track; 2. Shuttle car; 21. Telescopic rod; 22. Elastic rod; 23. Receiving rod; 24. Trigger rod; 25. Trigger spring; 26. First trigger plate; 27. Second trigger plate; 3. Following track; 4. Detection trolley; 41. Car body; 42. Hanging bracket; 43. Driving motor; 44. Driving wheel; 45. Driven wheel; 46. Retaining frame; 461. Retaining rod; 462. Retaining wheel. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0023] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] like Figure 1 , Figure 2 As shown, a circular track type shuttle anti-collision motion system includes a circular track 1, a shuttle 2 running on the circular track 1, and also includes

[0025] A following track 3 is arranged above the circular track 1 and parallel to the circular track 1, and has the same track path as the circular track 1;

[0026] The detection trolley 4 is arranged on the following track 3. With the synchronous movement of the shuttle 2, the vertical projection of the detection trolley 4 falls on the top of the shuttle 2 and keeps the landing position unchanged during the movement;

[0027] Four detection probe groups are arranged at the front, back, left, and right of the detection vehicle 4, respectively, to detect obstacles within the set range of the four directions of the shuttle vehicle 2;

[0028] An alarm communication module, connected to the detection probe group and the shuttle vehicle 2 by electrical signals respectively;

[0029] When the detection probe group detects that there is an obstacle in front, on the left or on the right of the shuttle 2 and that it will affect the passage, an alarm and a stop signal will be issued, and the shuttle 2 will stop moving to prevent a collision. When the detection probe group detects that there is an object approaching a dangerous distance behind the shuttle 2, an acceleration signal will be issued, and the shuttle 2 will accelerate and increase the distance from the object behind.

[0030] In order to prevent the stacking area with passages from being considered an obstacle, the outer periphery of the stacking area with passages is surrounded by a circle of marking lines, and the detection probe group removes the detection signals in the area surrounded by the marking lines. Specifically, the detection probe group removes the detection signals in the time period between the first detection of the marking line and the second detection of the marking line.

[0031] In order to avoid interference and prevent the detection trolley 4 from colliding with the goods, the height of the following track 3 is greater than the height of the items transported by the shuttle 2 and is higher than the total height of the stacked items.

[0032] The inspection trolley 4 includes a vehicle body 41, a bracket 42 arranged on the upper part of the vehicle body 41, a driving motor 43 arranged on the bracket 42, a driving wheel 44 arranged on the bracket 42, and a driven wheel 45 arranged on the bracket 42; the driving wheel 44 and the driven wheel 45 are both arranged above the following track 3; the output shaft of the driving motor 43 is power-connected to the driving wheel 44.

[0033] In order to reduce the probability of derailment, the wheel surfaces of the driving wheel 44 and the driven wheel 45 are provided with grooves, and the driving wheel 44 and the driven wheel 45 are embedded in the following rail 3 through the grooves.

[0034] Furthermore, in order to engage the following rail 3, the detection trolley 4 also includes a retaining frame 46, and the retaining frame 46 includes two retaining rods 461 parallel to each other and two retaining wheels 462 respectively arranged at the ends of the two retaining rods 461; one end of the retaining rod 461 is fixedly connected to the detection trolley 4, and the retaining wheel 462 is arranged on the free end of the retaining rod 461; the two retaining wheels 462 are respectively arranged on both sides of the following rail 3 and in contact with the side surfaces of the following rail 3.

[0035] In order to detect objects in the channel and prevent protrusions in the channel from colliding with the shuttle vehicle 2, the anti-collision motion system also includes a channel anti-collision module arranged on the shuttle vehicle 2, and the channel anti-collision module includes a telescopic rod 21 arranged on the shuttle vehicle 2, an elastic rod 22 arranged on the telescopic rod 21, a receiving rod 23 arranged on the elastic rod 22, a trigger rod 24 arranged on the receiving rod 23, a trigger spring 25 connecting the receiving rod 23 and the trigger rod 24, a first trigger piece 26 respectively arranged at both ends of the receiving rod 23, and a second trigger piece 27 respectively arranged at both ends of the trigger rod 24, the first trigger piece 26 is connected to a trigger circuit, the trigger circuit is electrically connected to the shuttle vehicle 2, and an alarm 28 is provided on the trigger circuit. When the second trigger piece 27 contacts the first trigger piece 26, the trigger circuit is turned on, the alarm 28 sounds an alarm, and the shuttle vehicle 2 stops.

[0036] In order to reduce the probability of interference when writing goods, the four corners of the shuttle vehicle 2 are respectively provided with accommodating holes. After the telescopic rod 21 is contracted, the channel anti-collision module is partially retracted into the accommodating hole. When working, the telescopic rod 21 is fully extended.

[0037] Furthermore, after the telescopic rod 21 is fully extended, the length of the elastic rod 22 accounts for more than half of the length of the entire channel anti-collision module.

[0038] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0039] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A circular track type shuttle anti-collision motion system, comprising a circular track (1), a shuttle (2) running on the circular track (1), characterized in that: Also includes A following track (3) is arranged above the circular track (1) and is arranged parallel to the circular track (1), and the track path is the same as that of the circular track (1); The detection trolley (4) is arranged on the following track (3), and moves synchronously with the shuttle vehicle (2). The vertical projection of the detection trolley (4) falls on the top of the shuttle vehicle (2) and the landing point position remains unchanged during the movement; Four detection probe groups are arranged respectively at the front, rear, left and right of the detection vehicle (4) and are used to detect obstacles within a set range in the four directions of the front, rear, left and right of the shuttle vehicle (2); An alarm communication module, connected to the detection probe group and the shuttle vehicle (2) via electrical signals; When the detection probe group detects that there is an obstacle in front of, to the left or to the right of the shuttle vehicle (2) and that it will affect the passage, an alarm and a stop signal will be issued, and the shuttle vehicle (2) will stop moving forward to prevent a collision. When the detection probe group detects that an object is approaching a dangerous distance behind the shuttle vehicle (2), an acceleration signal will be issued, and the shuttle vehicle (2) will accelerate forward to increase the distance from the object behind.

2. The circular track shuttle anti-collision motion system according to claim 1 is characterized in that: The height of the following track (3) is greater than the height of the articles transported by the shuttle vehicle (2), and is higher than the total height of the piled-up articles.

3. The circular track shuttle anti-collision motion system according to claim 1, characterized in that: The inspection vehicle (4) comprises a vehicle body (41), a bracket (42) arranged on the upper part of the vehicle body (41), a driving motor (43) arranged on the bracket (42), a driving wheel (44) arranged on the bracket (42), and a driven wheel (45) arranged on the bracket (42); The driving wheel (44) and the driven wheel (45) are both arranged above the following track (3); The output shaft of the driving motor (43) is power-connected to the driving wheel (44).

4. The circular track shuttle anti-collision motion system according to claim 3 is characterized in that: The wheel surfaces of the driving wheel (44) and the driven wheel (45) are provided with grooves, and are embedded in the following track (3) through the grooves.

5. The circular track shuttle anti-collision motion system according to claim 3 is characterized in that: The inspection trolley (4) further comprises a retaining frame (46), wherein the retaining frame (46) comprises two retaining rods (461) parallel to each other and two retaining wheels (462) respectively arranged at the ends of the two retaining rods (461); One end of the retaining rod (461) is fixedly connected to the detection trolley (4), and the retaining wheel (462) is arranged on the free end of the retaining rod (461); The two retaining wheels (462) are respectively arranged on both sides of the following rail (3) and are in contact with the side surfaces of the following rail (3).

6. The circular track shuttle anti-collision motion system according to claim 1, characterized in that: The anti-collision motion system further comprises a channel anti-collision module arranged on the shuttle vehicle (2), the channel anti-collision module comprising a telescopic rod (21) arranged on the shuttle vehicle (2), an elastic rod (22) arranged on the telescopic rod (21), a receiving rod (23) arranged on the elastic rod (22), a trigger rod (24) arranged on the receiving rod (23), a trigger spring (25) connecting the receiving rod (23) and the trigger rod (24), a first trigger piece (26) respectively arranged at two ends of the receiving rod (23) and a second trigger piece (27) respectively arranged at two ends of the trigger rod (24), the first trigger piece (26) being connected to a trigger circuit, the trigger circuit being connected to the shuttle vehicle (2) by electrical signals, and an alarm (28) being arranged on the trigger circuit, when the second trigger piece (27) contacts the first trigger piece (26), the trigger circuit is turned on, the alarm (28) sounds an alarm, and the shuttle vehicle (2) stops.

7. The circular track shuttle anti-collision motion system according to claim 6, characterized in that: The four corners of the shuttle vehicle (2) are respectively provided with accommodating holes. After the channel anti-collision module is retracted by the telescopic rod (21), it is partially retracted into the accommodating hole. When working, the telescopic rod (21) is fully extended.

8. The circular track shuttle anti-collision motion system according to claim 6, characterized in that: When the telescopic rod (21) is fully extended, the length of the elastic rod (22) accounts for more than half of the length of the entire channel anti-collision module.

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