A kind of annular track type shuttle vehicle anti-collision motion system

Abstract

The present application relates to the technical field of shuttle vehicle obstacle avoidance, and particularly relates to a ring track type shuttle vehicle anti-collision movement system, which is used to solve the problem of detecting whether there is an obstacle in the passing path during the transportation process. The anti-collision movement system comprises a ring track, a shuttle vehicle running on the ring track, a following track arranged above the ring track and parallel to the ring track, the track path being the same as the ring track, a detection trolley arranged on the following track and moving synchronously with the shuttle vehicle, the vertical projection of the detection trolley falling on the top of the shuttle vehicle and keeping the falling point unchanged during the movement, a detection probe group used for detecting the obstacle condition, an alarm communication module, and when the detection probe group detects that there is an obstacle and the obstacle will affect the passing, an alarm and a stop signal are sent, and the shuttle vehicle stops advancing to prevent the collision from occurring.

Description

Technical Field

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

[0002] A shuttle is a convenient vehicle for transporting goods within a workshop. It can quickly transport goods to a designated area. The only external coordination required is for loading and unloading.

[0003] During transportation, shuttle vehicles need to detect obstacles along their routes to avoid collisions and ensure the safety of goods and personnel. Summary of the Invention

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

[0005] Based on the above objectives, this invention provides a circular track-type shuttle anti-collision system, including a circular track, a shuttle running on the circular track, and a following track arranged above the circular track, parallel to the circular track, with the same track path as the circular track; a detection trolley arranged on the following track, moving synchronously with the shuttle, the vertical projection of the detection trolley falling on the top of the shuttle and maintaining its landing position during movement; four sets of detection probes respectively arranged in front, behind, left, and right of the detection trolley, used to detect obstacles within a set range in the four directions of the shuttle; and an alarm communication module electrically connected to the detection probes and the shuttle. When the detection probes detect an obstacle in front of, to the left of, or to the right of the shuttle that may affect passage, an alarm and a stop signal will be issued, and the shuttle will stop moving forward to prevent a collision. When the detection probes detect an object approaching a dangerous distance behind the shuttle, an acceleration signal will be issued, and the shuttle will accelerate forward to increase the distance from the object behind.

[0006] As a further improvement of this application, the height of the following track is greater than the height of the items transported by the shuttle, and also greater than the total height of the stacked items.

[0007] As a further improvement of this application, the detection trolley includes a vehicle body, a bracket mounted on the upper part of the vehicle body, a drive motor mounted on the bracket, a drive wheel mounted on the bracket, and a driven wheel mounted on the bracket; the drive wheel and the driven wheel are both arranged above the following track; the output shaft of the drive motor is poweredly connected to the drive wheel.

[0008] As a further improvement of this application, the surfaces of the drive wheel and the driven wheel are provided with grooves, which are then engaged with the following track.

[0009] As a further improvement of this application, the detection trolley also includes a retainer, the retainer including two parallel retaining rods and two retaining wheels respectively disposed at the ends of the two retaining rods; one end of the retaining rod is fixedly connected to the detection trolley, and the retaining wheel is disposed on the free end of the retaining rod; the two retaining wheels are respectively disposed on both sides of the following track and contact the side of the following track.

[0010] As a further improvement of this application, the anti-collision motion system further includes a channel anti-collision module disposed on the shuttle car. The channel anti-collision module includes a telescopic rod disposed on the shuttle car, an elastic rod disposed on the telescopic rod, a receiving rod disposed on the elastic rod, a trigger rod disposed on the receiving rod, a trigger spring connecting the receiving rod and the trigger rod, a first trigger piece disposed at both ends of the receiving rod, and a second trigger piece disposed at both ends of the trigger rod. The first trigger piece is connected to a trigger circuit, the trigger circuit is electrically connected to the shuttle car, 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, and the shuttle car stops.

[0011] As a further improvement of this application, the shuttle car is provided with receiving holes at its four corners. After the channel anti-collision module retracts through the telescopic rod, it partially retracts into the receiving hole. When in operation, the telescopic rod is fully extended.

[0012] As a further improvement of this application, when the telescopic rod is fully extended, the length of the elastic rod accounts for more than half of the total length of the channel anti-collision module. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of the circular track shuttle anti-collision motion system according to an embodiment of the present invention;

[0015] Figure 2 This is a side view of the anti-collision motion system of the circular track shuttle car according to an embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of the circular track according to an embodiment of the present invention;

[0017] Figure 4 This is a top view of the shuttle vehicle according to an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of the channel anti-collision module of the circular track shuttle anti-collision motion system according to an embodiment of the present invention.

[0019] The diagram is marked as follows:

[0020] 2. Shuttle; 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. Hanger; 43. Drive motor; 44. Drive wheel; 45. Driven wheel; 46. Cage; 461. Cage rod; 462. Cage wheel. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0022] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figure 1 , Figure 2 As shown, a circular track shuttle anti-collision system includes a circular track, a shuttle 2 running on the circular track, and further includes...

[0024] Following track 3, it is positioned above the circular track and arranged parallel to the circular track, with the same track path as the circular track;

[0025] The detection trolley 4 is set on the following track 3 and moves synchronously with the shuttle 2. The vertical projection of the detection trolley 4 falls on the top of the shuttle 2 and the landing point remains unchanged during the movement.

[0026] Four sets of detection probes are arranged in front, behind, left, and right of the detection vehicle 4, respectively, to detect obstacles within a set range in the four directions of the shuttle vehicle 2.

[0027] An alarm communication module is electrically connected to the detection probe group and the shuttle 2, respectively.

[0028] When the detection probe group detects an obstacle in front of, to the left or right of the shuttle 2 that will affect passage, it will issue an alarm and a stop signal, and the shuttle 2 will stop moving forward to prevent a collision. When the detection probe group detects an object approaching a dangerous distance behind the shuttle 2, it will issue an acceleration signal, and the shuttle 2 will accelerate forward to increase the distance between itself and the object behind it.

[0029] To prevent the stacking area with aisles from being perceived as an obstacle, the area is surrounded by a marking line. The detection probe group rejects detection signals within the area surrounded by the marking line. Specifically, the detection probe group rejects detection signals within the time period between the first and second detection of the marking line.

[0030] 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 also greater than the total height of the stacked items.

[0031] The detection trolley 4 includes a trolley body 41, a bracket 42 mounted on the upper part of the trolley body 41, a drive motor 43 mounted on the bracket 42, a drive wheel 44 mounted on the bracket 42, and a driven wheel 45 mounted on the bracket 42; the drive wheel 44 and the driven wheel 45 are both arranged above the following track 3; the output shaft of the drive motor 43 is poweredly connected to the drive wheel 44.

[0032] To reduce the probability of derailment, the drive wheel 44 and the driven wheel 45 are provided with grooves on their surfaces, which are then engaged with the following track 3.

[0033] Furthermore, in order to securely engage the following track 3, the detection trolley 4 also includes a retainer 46, which includes two parallel retaining rods 461 and two retaining wheels 462 respectively disposed at the ends of the two retaining rods 461; one end of each retaining rod 461 is fixedly connected to the detection trolley 4, and the retaining wheel 462 is disposed on the free end of each retaining rod 461; the two retaining wheels 462 are respectively disposed on both sides of the following track 3 and contact the side of the following track 3.

[0034] To detect items within the passage and prevent protrusions from colliding with the shuttle 2, the anti-collision system further includes a passage anti-collision module mounted on the shuttle 2. This module comprises a telescopic rod 21 mounted on the shuttle 2, an elastic rod 22 mounted on the telescopic rod 21, a receiving rod 23 mounted on the elastic rod 22, a trigger rod 24 mounted on the receiving rod 23, a trigger spring 25 connecting the receiving rod 23 and the trigger rod 24, a first trigger piece 26 mounted at both ends of the receiving rod 23, and a second trigger piece 27 mounted at both ends of the trigger rod 24. The first trigger piece 26 is connected to a trigger circuit, which is electrically connected to the shuttle 2. An alarm 28 is mounted on the trigger circuit. When the second trigger piece 27 contacts the first trigger piece 26, the trigger circuit is activated, the alarm 28 sounds, and the shuttle 2 stops.

[0035] To reduce the probability of interference during cargo handling, the shuttle 2 is provided with receiving holes at its four corners. After the channel anti-collision module retracts via the telescopic rod 21, it partially retracts into the receiving holes. During operation, the telescopic rod 21 is fully extended.

[0036] Furthermore, after the telescopic rod 21 is fully extended, the length of the elastic rod 22 accounts for more than half of the total length of the channel anti-collision module.

[0037] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in the details for the sake of brevity.

[0038] This 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 this invention should be included within the scope of protection of this invention.

Claims

1. A circular track-type shuttle anti-collision motion system, comprising a circular track and a shuttle (2) running on the circular track, characterized in that, Also includes Following track (3), it is set above the circular track and arranged parallel to the circular track, with the same track path as the circular track; The detection trolley (4) is set on the following track (3). It moves synchronously with the shuttle (2). The vertical projection of the detection trolley (4) falls on the top of the shuttle (2) and the landing point remains unchanged during the movement. Four sets of detection probes are arranged in front, back, left and right of the detection vehicle (4) to detect obstacles in the four directions of the shuttle vehicle (2). The alarm communication module is electrically connected to the detection probe group and the shuttle (2) respectively; When the detection probe group detects an obstacle in front of, to the left or to the right of the shuttle (2) that will affect passage, it will issue an alarm and a stop signal, and the shuttle (2) will stop moving forward to prevent a collision. When the detection probe group detects an object approaching a dangerous distance behind the shuttle (2), it will issue an acceleration signal, and the shuttle (2) will accelerate forward to increase the distance from the object behind it. The height of the following track (3) is greater than the height of the items transported by the shuttle (2), and is also greater than the total height of the stacked items; The detection trolley (4) includes a body (41), a bracket (42) mounted on the upper part of the body (41), a drive motor (43) mounted on the bracket (42), a drive wheel (44) mounted on the bracket (42), and a driven wheel (45) mounted on the bracket (42). Both the drive wheel (44) and the driven wheel (45) are arranged above the following track (3); The output shaft of the drive motor (43) is poweredly connected to the drive wheel (44); The drive wheel (44) and the driven wheel (45) have grooves on their surfaces, which are then engaged with the following track (3). The detection trolley (4) also includes a retainer (46), which includes two parallel retaining rods (461) and two retaining wheels (462) respectively disposed 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 disposed on the free end of the retaining rod (461); The two retaining wheels (462) are respectively disposed on both sides of the following track (3) and in contact with the side of the following track (3); The anti-collision motion system also includes a channel anti-collision module installed on the shuttle (2). The channel anti-collision module includes a telescopic rod (21) installed on the shuttle (2), an elastic rod (22) installed on the telescopic rod (21), a receiving rod (23) installed on the elastic rod (22), a trigger rod (24) installed 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 installed at both ends of the receiving rod (23), and a second trigger piece (27) respectively installed 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 (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 (2) stops.

2. The circular track-type shuttle anti-collision motion system according to claim 1, characterized in that, The shuttle (2) has four accommodating holes at its four corners. After the channel anti-collision module retracts through the telescopic rod (21), it partially retracts into the accommodating hole. When working, the telescopic rod (21) is fully extended.

3. The circular track-type shuttle anti-collision motion system according to claim 1, characterized in that, After the telescopic rod (21) is fully extended, the length of the elastic rod (22) accounts for more than half of the total length of the channel anti-collision module.

Images