A kind of inclined rail self-leveling transport trolley and three-dimensional sorting machine

Abstract

The present invention provides a self-leveling transport trolley with inclined rails and a three-dimensional sorting machine; the three-dimensional sorting machine includes a base, a three-dimensional track, a trolley transition guide assembly and a transport trolley. Each of the inclination-changing track sections corresponds to a trolley transition guide assembly. The trolley transition guide assembly includes at least two transition guide tracks. The transport trolley includes a frame, a horizontal retaining structure and a cargo-carrying structure. The horizontal retaining structure includes a connecting rod, a retaining frame and a support rod. The three-dimensional track in the present invention has the same structure as that of an ordinary sorting machine track. It is only necessary to add a shorter trolley transition guide assembly to each inclination-changing track section of the three-dimensional track, and cooperate with the horizontal retaining structure on the sorting trolley to automatically adjust the relative angle between the cargo-carrying structure on the sorting trolley and the frame, thereby allowing the frame to tilt to climb and descend slopes while maintaining the horizontal posture of the cargo-carrying structure.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics sorting, and in particular relates to an inclined rail self-leveling transport trolley and a three-dimensional sorting machine. Background Art

[0002] In the process of continuous development and evolution of modern logistics sorting technology, increasingly stringent requirements are put forward for the space utilization efficiency and sorting capacity of sorting machines. The emergence of multi-layer integrated sorting machines has brought new opportunities for improving sorting efficiency. By connecting multiple layers of tracks into a large circulating track, it has significant advantages over traditional single-layer sorting machines. It can fully tap the potential of vertical space, so that the number of grids can be greatly increased, thereby significantly enhancing the ability and capacity of cargo sorting when faced with complex sorting scenarios. For example, the patent with publication number CN112499145A provides a linear cross-belt sorting machine, which successfully constructs a large three-dimensional circulating track structure connected by multiple layers of tracks. Under this design, the sorting cart can traverse any track in a cycle, greatly expanding the flexibility and comprehensiveness of sorting.

[0003] However, despite the many advantages of the multi-layer integrated sorting machine, it also faces some challenges that need to be solved in the process of technical implementation. In the above-mentioned three-dimensional circular track structure, when the sorting cart moves uphill or downhill, the sorting cart will tilt due to the inclination of the track, which will cause the goods to be in an unstable state that is easy to slide. The falling of goods will not only cause damage to the goods themselves, affecting the integrity and quality of the logistics goods, but may also cause a series of subsequent problems, such as interfering with the normal operation of the sorting machine, increasing the cost and time of cleaning and recovery work, etc. Therefore, it is urgent to design a three-dimensional sorting machine that can enable the sorting cart to maintain horizontal support for the goods on different slopes. Summary of the invention

[0004] The purpose of the present invention is to provide a self-leveling transport trolley with inclined rails and a three-dimensional sorting machine.

[0005] In the first aspect, the present invention provides a self-leveling inclined rail transport trolley, which includes a frame, a horizontal retaining structure and a cargo carrying structure; it is characterized in that: the cargo carrying structure is connected to the frame through a horizontal retaining structure; the horizontal retaining structure includes a connecting rod, a retaining frame and a support rod; one end of the connecting rod is rotatably connected to the frame; the other end of the connecting rod is rotatably connected to the retaining frame; at least two different positions on the retaining frame are rotatably connected to rollers; each transition guide rail on the transport trolley has a corresponding roller; at least two rollers are located on the opposite side of the rotation center of the connecting rod and the frame.

[0006] The retaining frame is provided with a support adjustment slot; a plurality of support grooves arranged in sequence are provided on the top of the support adjustment slot; one or more support rods are fixed to the frame; the support rod passes through the support adjustment slot on the retaining frame; the retaining frame is supported on the support rod through the support groove;

[0007] The number of the support grooves is greater than the number of the support rods; the relative rotation angle between the frame and the horizontal maintaining structure is adjusted by adjusting the support grooves corresponding to the support rods.

[0008] Preferably, the horizontal maintaining structure also includes a support, a load-bearing plate and a support base; the support and the support base are fixed on the frame; the connecting rod is rotatably connected to the support; the support rod is fixed to the support base; the load-bearing plate is fixed to the top edge of the retaining frame; and the cargo carrying structure is installed on the load-bearing plate.

[0009] Preferably, the horizontal holding structure further comprises a support, a bearing plate and a supporting base. The support and the supporting base are fixed on the vehicle frame. The connecting rod is rotatably connected to the support; the supporting rod is fixed to the supporting base. The bearing plate is fixed to the top edge of the retaining frame. The cargo bearing structure is mounted on the bearing plate.

[0010] In a second aspect, the present invention provides a three-dimensional sorting machine, which includes a base, a three-dimensional track, a trolley transition guide assembly and the aforementioned transport trolley. The three-dimensional track is provided with a plurality of track segments with different inclination angles. Adjacent track segments with different inclination angles are connected by inclination-changing track segments. A plurality of transport trolleys are arranged on the three-dimensional track. Each of the inclination-changing track segments corresponds to a trolley transition guide assembly. The trolley transition guide assembly includes at least two transition guide tracks. Each transition guide track corresponds to a roller on the transport trolley.

[0011] When the transport trolley passes through the trolley transition guide assembly, the guide support surfaces of at least two transition guide rails support the cage through rollers, and constrain the maximum tilt angle of the cage to be less than or equal to a preset tilt angle threshold. The shape of the guide support surface satisfies the following conditions: the cage, driven by at least two rollers, sequentially undergoes a lifting process, a tilt adjustment process, and a falling process. During the lifting process, the cage rises relative to the support rod, and the support rod gradually separates from the support groove; during the tilt adjustment process, the support rod and the support groove are in a separated state, and due to the change in the tilt of the frame on the tilt change rail section, the cage and the frame rotate relative to each other, and the support groove corresponding to the support rod changes; during the falling process, the cage is lowered relative to the support rod, and the support rod is stuck in the corresponding support groove.

[0012] Preferably, the tilt angle threshold of the retaining frame is 2°.

[0013] Preferably, the guide support surfaces of different transition guide rails have the same shape. The relative positions of the guide support surfaces on different transition guide rails are consistent with the relative positions of different rollers on the same horizontal holding structure.

[0014] This technical feature ensures that the support state of the rollers by different transition guide rails remains consistent, and the posture of the retaining frame remains unchanged during the lifting process, the inclination adjustment process and the falling process.

[0015] Preferably, the guide support surface of the transition guide track comprises a lifting section, an inclination adjustment section and a falling section which are connected in sequence. When the inclination angle of the transport trolley changes, the rollers are supported on the inclination adjustment section.

[0016] Preferably, the front end of the lifting section is provided with an introduction section; the rear end of the falling section is provided with an outlet section.

[0017] Preferably, the track segment with varying inclination angle in the three-dimensional track is in the shape of an arc;

[0018] Preferably, the lifting section and the falling section are both straight lines; the slope of the lifting section is greater than the slope of the corresponding position on the three-dimensional track; the slope of the lifting section is less than the slope of the corresponding position on the three-dimensional track; the shape of the inclination adjustment section allows the connecting rod and the frame to remain relatively still; the connecting rod and the frame rotate together relative to the support. The support can be lifted and lowered smoothly in the lifting section and the falling section, and the movement of the inclination adjustment section relative to the frame is minimized, thereby improving the stability of cargo operation.

[0019] Preferably, the supporting grooves are arranged in sequence along an arc line with the rotation center between the retaining frame and the connecting rod as the center of the circle.

[0020] Preferably, the corresponding central angle between two adjacent support grooves is the minimum adjustment angle δ. The angle between the front rail segment and the rear rail segment of any inclination-changing rail segment on the three-dimensional track is an integer multiple of the minimum adjustment angle δ.

[0021] Preferably, the three-dimensional track is installed on a base, and includes a plurality of main tracks of different heights, and a layered connection track connecting different main tracks. The plurality of layered connection tracks sequentially connect the main tracks into a circulating track.

[0022] Preferably, the layered connecting track comprises at least one inclined section and one horizontal turning section. The inclined section is a straight inclined track; and the horizontal turning section is a horizontal curved track.

[0023] Preferably, a guide support wheel set cooperating with the three-dimensional track is installed on the frame.

[0024] The present invention has the following beneficial effects:

[0025] 1. The structure of the three-dimensional track in the present invention is consistent with that of the ordinary sorting machine track. It only needs to add a short trolley transition guide component on each inclination change track section of the three-dimensional track, and cooperate with the horizontal maintenance structure on the sorting trolley to automatically adjust the relative angle between the cargo carrying structure and the frame on the sorting trolley, so as to maintain the horizontal posture of the cargo carrying structure while allowing the frame to tilt and climb and descend the slope. The trolley transition guide component is small in structure and easy to install, which greatly reduces the structural complexity and cost of the three-dimensional track.

[0026] 2. Compared with the three-dimensional sorting machine solution that sets tracks for the cargo carrying structure and the frame respectively and uses the frame to pull the cargo carrying structure, the present invention only needs to set a complete track for the frame, which greatly reduces the structural complexity of the three-dimensional track, thereby reducing the production and installation cost of the three-dimensional sorting machine.

[0027] 3. In the present invention, the height to which the transition guide rail lifts the retaining frame only needs to ensure that the support rod is completely separated from the support groove, and there is no need to strictly limit the specific lifting height value, thereby reducing the installation accuracy requirement of the transition guide rail in the vertical direction.

[0028] 4. The lifting frame in the present invention undergoes a gentle lifting and lowering process on the transition guide track, thereby preventing the cargo carrying mechanism from being subjected to rigid impact and improving the stability of the transport trolley carrying the cargo.

[0029] 5. The present invention provides an optimal profile of the guide support surface of the transition guide rail, which enables the support (5-1) to be smoothly lifted and lowered in the lifting section and the lowering section, and minimizes the movement of the inclination adjustment section relative to the frame (4-1), thereby improving the stability of cargo operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the side structure of the present invention

[0031] Figure 2 It is a schematic diagram of the installation position of the trolley transition guide assembly on the three-dimensional track in the present invention;

[0032] Figure 3 It is a three-dimensional structural schematic diagram of the transport trolley in the present invention (the cargo carrying structure is hidden in the figure);

[0033] Figure 4 This is a schematic diagram of the cross-sectional structure of the transport trolley in the present invention (the cargo carrying structure in the figure is represented by a dotted rectangle);

[0034] Figure 5 It is a schematic diagram of the process of the transport vehicle passing through the track section with varying inclination angle on the three-dimensional track in the present invention;

[0035] Figure 6It is a simplified schematic diagram of a track segment with a varying inclination angle and its front and rear track segments in the present invention;

[0036] Figure 7 It is a schematic diagram of the contact state between the roller and the lifting section on the guide support surface in the present invention;

[0037] Figure 8 It is a schematic diagram of the relative positions of the absolute coordinate system and the relative coordinate system before the transport vehicle enters the track section with varying inclination angle in the present invention;

[0038] Fig. 9 It is a schematic diagram of the relative positions of the absolute coordinate system and the relative coordinate system after the transport vehicle enters the track section with a changed inclination angle according to the present invention;

[0039] Fig.10 It is a schematic diagram of coordinate conversion between the absolute coordinate system and the relative coordinate system in the present invention.

[0040] Figure numerals: 1, base; 2, three-dimensional track; 2-1, main track; 2-2, layered connecting track; 2-3, inclination change track section; 3, trolley transition guide assembly; 3-1, connecting bracket; 3-2, first transition guide track; 3-3, second transition guide track; 3-4, guide support surface; 3-4-1, lifting section; 3-4-2, inclination adjustment section; 3-4-3, falling section; 4, transport trolley; 4-1, frame; 4-2, guide support wheel group; 4 -3, cargo carrying structure; 5, horizontal maintaining structure; 5-1, support; 5-2, connecting rod; 5-3, retaining frame; 5-3-1, bottom connection point; 5-3-2, first supporting point; 5-3-3, second supporting point; 5-3-4, support adjustment slot; 5-3-5, support groove; 5-4, bearing plate; 5-5, support rod; 5-6, mounting seat; 5-7, first axle; 5-8, second axle; 5-9, first roller; 5-10, second roller. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] Example

[0043] like Figure 1 As shown, a three-dimensional sorting machine using an inclined track self-horizontal transport trolley includes a base 1, a three-dimensional track 2, a trolley transition guide assembly 3, a transport trolley 4, a drive module and a sorting grid. A plurality of transport trolleys 4 are arranged end to end on the three-dimensional track 2 and can run in a cycle. The sorting grid is arranged on the side of the three-dimensional track 2 to receive the goods output by the transport trolley 4; the drive module is used to drive each transport trolley 4 to run in a cycle, and a non-contact linear motor can be used.

[0044] like Figure 1As shown, the three-dimensional track 2 is installed on the base 1, including two main tracks 2-1 and two layered connection tracks 2-2. The two main tracks 2-1 are exactly the same, and are straight horizontal tracks arranged in an upper and lower interval. The two main tracks 2-1 are connected by two layered connection tracks 2-2 to form a complete loop track structure. The same ends of the upper main track 2-1 and the lower main track 2-1 are respectively connected to the two ends of the corresponding layered connection track 2-2.

[0045] The layered connecting track 2-2 includes at least one inclined section and one horizontal turning section. The inclined section is a straight inclined track; the horizontal turning section is a horizontal curved track. In this embodiment, the layered connecting track 2-2 is used to guide the transport trolley 4 to rise or lower the height and turn 180 degrees, so that the transport trolley 4 enters another main track 2-1 from one main track 2-1.

[0046] like Figure 1 and Figure 2 As shown, any two adjacent track segments with different inclinations on the three-dimensional track 2 are connected by an inclination-changing track segment 2 - 3 ; the inclination-changing track segment 2 - 3 is in an arc shape in a vertical plane.

[0047] like Figure 2 As shown, each inclination-changing track segment 2-3 on the three-dimensional track 2 is provided with a trolley transition guide assembly 3. The trolley transition guide assembly 3 is used to cooperate with the horizontal holding structure 5 on the transport trolley to adjust the inclination angle between the cargo carrying structure 4-3 of the transport trolley and the frame 4-1. The inclination-changing track segment 2-3 of the three-dimensional track 2 includes both the position where the track changes from horizontal to inclined and the position where the track changes from inclined to horizontal. Specifically, the transport trolley has four different motion state transition points during the entire cycle of travel: horizontal motion to climbing motion, climbing motion to horizontal motion, horizontal motion to descending motion, and descending motion to horizontal motion. Due to the differences in the travel direction and track of the trolley, through simulation and trajectory fitting, each motion state transition point corresponds to a special steering guide rail to ensure that the cargo carrying structure 4-3 of the transport trolley can achieve smooth transition and flipping and maintain a horizontal posture. Take the horizontal motion to climbing motion as an example to introduce the structure and function.

[0048] like Figure 3 and Figure 4 As shown, the transport trolley 4 includes a frame 4-1, a guide support wheel set 4-2, a horizontal holding structure 5 and a cargo carrying structure 4-3. The guide support wheel set 4-2 is installed on the frame 4-1 to provide rolling support and travel direction guidance for the transport trolley. The cargo carrying structure 4-3 is installed on the frame 4-1 through the horizontal holding structure 5 to carry cargo. The cargo carrying structure 4-3 can output cargo through a pallet flipping structure or a conveyor belt structure.

[0049] The horizontal holding structure 5 includes a support 5-1, a connecting rod 5-2, a retaining frame 5-3, a bearing plate 5-4, a support rod 5-5, a support base 5-6, a first axle 5-7, a second axle 5-8, a first roller 5-9 and a second roller 5-10. The support 5-1 is fixed on the frame 4-1. The retaining frame 5-3 is provided with three connection points at different positions. The three connection points are respectively a bottom connection point 5-3-1, a first support point 5-3-2 and a second support point 5-3-3; the bottom connection point 5-3-1, the first support point 5-3-2 and the second support point 5-3-3 are respectively located at the bottom and the front and rear sides of the retaining frame 5-3; the three connection points are all through-hole structures.

[0050] One end of the connecting rod 5-2 is rotatably connected to the support 5-1. The other end of the connecting rod 5-2 is rotatably connected to the bottom connection point 5-3-1 of the retaining frame 5-3. The first axle 5-7 and the second axle 5-8 are fixedly or rotatably connected to the first support point 5-3-2 and the second support point 5-3-3 of the retaining frame 5-3, respectively. The bearing plate 5-4 is fixed to the top edge of the retaining frame 5-3. The cargo bearing structure 4-3 is fixed to the bearing plate 5-4.

[0051] The center points of the first axle 5-7 and the second axle 5-8 are in the same vertical plane, and the lengths are different. The first axle 5-7 is rotatably connected to the first roller 5-9 at both ends. The second axle 5-8 is rotatably connected to the second roller 5-10 at both ends. The distance between the opposite sides of the two first rollers 5-9 is smaller than the distance between the adjacent sides of the two second rollers 5-10. As a result, the first roller 5-9 on the first axle 5-7 and the first roller 5-9 on the second axle 5-7 can be supported on different tracks.

[0052] The retainer 5-3 is in the shape of a vertical flat plate; a support adjustment slot 5-3-4 is provided in the middle of the retainer 5-3. A plurality of support grooves 5-3-5 with a tooth-shaped structure are provided on the top groove wall of the support adjustment slot 5-3-4. Two adjacent support grooves 5-3-5 are separated by a convex tooth-shaped structure. The support grooves 5-3-5 are arranged in sequence and equidistantly along an arc line centered at the bottom connection point 5-3-1 of the retainer 5-3. The corresponding central angle between two adjacent support grooves 5-3-5 is the minimum adjustment angle δ.

[0053] The angle between the front rail segment and the rear rail segment of any inclination-changing rail segment 2-3 on the three-dimensional track 2 is an integer multiple of the minimum adjustment angle δ. In this embodiment, at least one of the front rail segment and the rear rail segment of each inclination-changing rail segment 2-3 is a horizontal rail segment; therefore, the inclination angles of all inclined rail segments on the three-dimensional track 2 are integer multiples of the minimum adjustment angle δ.

[0054] The support base 5-6 is fixed on the frame 4-1. Two support rods 5-5 parallel to the width direction of the transport trolley are fixed on the support base 5-6. The two support rods 5-5 are parallel to each other and the axial distance is equal to the distance between two adjacent support grooves 5-3-5; the support rod 5-5 passes through the support adjustment groove 5-3-4 on the retaining frame 5-3. The retaining frame 5-3 is supported on the two support rods 5-5 through two of the support grooves 5-3-5. By replacing the support grooves 5-3-5 supported on the support rods 5-5, the inclination angle of the plane where the retaining frame 5-3 and the frame 4-1 are located can be changed.

[0055] Two of them are not arranged in the end support grooves 5-3-5 as initial support grooves 5-3-5. When the two initial support grooves 5-3-5 are supported on two support rods 5-5 respectively, the support surface of the cargo bearing structure 4-3 is parallel to the plane where the frame 4-1 is located; therefore, the initial support grooves 5-3-5 are suitable for supporting the sorting trolley when it is in the horizontal section of the three-dimensional track.

[0056] The trolley transition guide assembly 3 includes a connecting bracket 3-1, a first transition guide rail 3-2 and a second transition guide rail 3-3. The first transition guide rail 3-2 and the second transition guide rail 3-3 each have two. The two first transition guide rails 3-2 are located between the two second transition guide rails 3-3.

[0057] The positions of the two first transition guide rails 3-2 correspond to the positions of the two first rollers 5-9. The positions of the two second transition guide rails 3-3 correspond to the positions of the two second rollers 5-10. When the transport trolley passes through the trolley transition guide assembly 3, the two first rollers 5-9 are supported on the two first transition guide rails 3-2; the two second rollers 5-10 are supported on the two second transition guide rails 3-3.

[0058] The top surface profile of the first transition guide rail 3-2 is the same as the top surface profile of the second transition guide rail 3-3, and is staggered by a distance h1 in the vertical direction and a distance l1 in the horizontal direction corresponding to the length of the transport trolley; the distance h1 and the distance l1 are respectively the vertical component and the horizontal component of the wheelbase of the first roller 5-9 and the second roller 5-10 when the cargo carrying mechanism is in a horizontal posture. In this way, the horizontal holding structure 5 supported on the trolley transition guide assembly 3 can maintain a horizontal posture unchanged.

[0059] In some embodiments, the retainer 5-3 is allowed to flip within a preset angle range, thereby reducing the processing accuracy and installation accuracy requirements of each transition guide rail. In this embodiment, the preset angle range is -2° to 2° relative to the initial angle of the retainer 5-3.

[0060] The top surface contours of the first transition guide rail 3-2 and the second transition guide rail 3-3 serve as the guide support surface 3-4; the shape and position of the guide support surface 3-4 are determined according to the shape and position of the corresponding inclination change track segment 2-3 on the three-dimensional track 2, and are divided into a lifting segment 3-4-1, an inclination adjustment segment 3-4-2 and a falling segment 3-4-3 which are connected in sequence.

[0061] The front end of the lifting section 3-4-1 is provided with an introduction section; the rear end of the falling section 3-4-3 is provided with an exit section. When the rollers of the transport trolley are at the starting point of the inclination adjustment section 3-4-2, the transport trolley has not entered the corresponding inclination change track section 2-3 on the three-dimensional track 2; when the rollers of the transport trolley are at the end point of the inclination adjustment section 3-4-2, the transport trolley has left the corresponding inclination change track section 2-3 on the three-dimensional track 2; that is, in the entire inclination change process of the transport trolley (that is, from the front support wheel entering the inclination change track section 2-3 of the three-dimensional track 2 to the support wheel leaving the inclination support of the inclination change of the three-dimensional track 2), the rollers of the transport trolley are in the inclination adjustment section 3-4-2.

[0062] like Figure 5 As shown, the complete process of the horizontal maintaining structure 5 of the transport trolley passing through the trolley transition guide assembly 3 is as follows:

[0063] When the rollers of the transport trolley pass through the introduction section, the rollers gradually approach the corresponding transition guide rails and finally contact the transition guide rails.

[0064] When the rollers of the transport trolley pass through the lifting section 3-4-1, the retaining frame 5-3 is gradually raised relative to the support rod 5-5 under the support of the transition guide rail, so that the support rod 5-5 is completely separated from the support groove 5-3-5.

[0065] When the rollers of the transport trolley pass through the inclination adjustment section 3-4-2, the frame 4-1 of the transport trolley completely passes through the inclination change track section 2-3 of the three-dimensional track; the support rod 5-5 and each support groove 5-3-5 are in a completely separated state; the retaining frame 5-3 is completely supported by the transition guide track, so no matter how the inclination angle of the frame 4-1 changes, the retaining frame 5-3 maintains an unchanged posture; in this process, since the retaining frame 5-3 and the frame 4-1 rotate relative to each other, the support groove 5-3-5 corresponding to the support rod 5-5 is replaced.

[0066] When the rollers of the transport trolley pass through the falling section 3-4-3, the retaining frame 5-3 is gradually lowered relative to the support rod 5-5 under the support of the transition guide rail, so that the support rod 5-5 gradually enters the support groove 5-3-5 above itself.

[0067] When the rollers of the transport trolley pass through the lead-out section, the rollers gradually separate from the corresponding transition guide rails, and the lifting frame is fully supported on the support rods 5 - 5 .

[0068] Based on the above process, the retaining frame 5-3 undergoes a movement process of lifting, rotating relative to the frame 4-1, and falling along a predetermined trajectory, so that by replacing the support groove 5-3-5 corresponding to the support rod 5-5, the cargo carrying structure 4-3 maintains an unchanged posture before and after the tilt angle of the frame 4-1 changes, thereby being able to provide stable support for the cargo.

[0069] The specific shape of the guide support surface 3-4 is analyzed as follows:

[0070] Taking the transition from a horizontal track to an upward inclined track as an example, the ideal model of the inclination change track section 2-3 and the front horizontal track and the rear inclined climbing track section is as follows: Figure 6 As shown; for the convenience of analysis, the forward and backward movement of the frame 4-1 through the inclination angle changing track section 2-3 is divided into three sections: horizontal movement, inclination angle changing movement and ramp movement. During this movement process, the movement mode of the retaining frame 5-3 of the horizontal retaining structure 5 is lifting-rotating-falling. The lifting process of the retaining frame 5-3 is completed in the horizontal movement stage of the frame 4-1; the falling process of the retaining frame 5-3 is completed in the ramp movement stage of the frame 4-1. In this process, the connecting rod 5-2, the first roller 5-9 and the second roller 5-10 connected to the support 5-1 play the function of lifting or falling the retaining frame 5-3, and maintaining the retaining frame 5-3 horizontal.

[0071] like Figure 7 As shown, the movement of the retaining frame in the lifting section 3-4-1 of the guide support surface 3-4 is gradually away from the frame 4-1; the movement of the retaining frame in the falling section 3-4-3 of the guide support surface 3-4 is gradually close to the frame 4-1; in this embodiment, the lifting section 3-4-1 and the falling section 3-4-3 of the guide support surface 3-4 both realize an inclined straight line structure. The lifting section 3-4-1 is gradually away from the corresponding rail section on the three-dimensional track; the falling section 3-4-3 is gradually close to the corresponding rail section on the three-dimensional track; the angles between the lifting section 3-4-1, the falling section 3-4-3 and the corresponding rail section on the three-dimensional track are all lifting angles β.

[0072] First, a mathematical model of the guide support surface 3-4 is constructed under normal circumstances. The trajectory curve of the inclination change track segment 2-3 is as follows: Figure 8As shown; establish an absolute coordinate system XOY based on the ground, a secondary relative coordinate system xoy based on the frame 4-1, with the origin o set at the M hinge point (i.e., the connection point between the frame 4-1 and the connecting rod 5-2), and a tertiary relative coordinate system x'o'y' based on the retaining frame 5-3, with the origin o' set at the N hinge point; in the initial state, the absolute coordinate system and each relative coordinate system are parallel. Suppose there are two points A and B on the retaining frame 5-3; in the initial state, in the absolute coordinate system XOY, the slope K of the AB line is 0, that is, the AB line is parallel to the ground. Therefore, the subsequent calculation is based on whether the slope K value of the AB line is 0 to determine whether the pallet remains horizontal.

[0073] Points A and B on the retaining frame 5-3 can be any two points. For the convenience of calculation, let point A and point B be the two end points on the bearing plate 5-4. In the relative coordinate system x'o'y', the coordinates of point A are (x' a ,y' a ), the coordinates of point B are (x' b ,y' b ). Since the line connecting point A' and point B' is horizontal; = .

[0074] It can be found that in the relative coordinate system xoy, the coordinate system x'o'y' rotates in a circle with the origin o as the center and the distance between the origin o and the origin o' as the radius. The trajectory of the origin o' in the coordinate system xoy is

[0075] (1)

[0076] (2)

[0077] Where (x, y) is the coordinate of the origin o' in the coordinate system xoy; is the distance between the origin o and the origin o', is the arc angle parameter, and its value range is obtained by the following formula:

[0078] (3)

[0079] In the formula, It is the height of the lifting or falling of the retaining frame 5-3.

[0080] From the two-dimensional coordinate transformation, we can know that after translation and rotation, the coordinates (x, y) of any point in the relative coordinate system xoy and the coordinates (X, Y) in the absolute coordinate system XOY can be transformed by the following formula:

[0081] (4)

[0082] In the formula, is the rotation angle of the relative coordinate system xoy relative to the absolute coordinate system XOY; and is the translation of the relative coordinate system in the X and Y directions.

[0083] Therefore, in the coordinate system xoy, the coordinates of point A (x a ,y a )for

[0084] (5)

[0085] In the absolute coordinate system XOY, the coordinate system xoy performs translation and rotation motion along the trajectory curve L. The shape of the trajectory curve L is consistent with the guide support surface 3-4, and its expression is:

[0086] (6)

[0087] (7)

[0088] The trajectory coordinates of point A in the absolute coordinate system XOY are as follows:

[0089] (8)

[0090] In the formula, the deflection angle of the coordinate system is The expression is:

[0091] (9)

[0092] Arranging formulas (4)-(10) yields the absolute coordinates of point A (X a , Y a )for

[0093] (10)

[0094] Similarly, the absolute coordinates of point B (X b , Y b )for

[0095] (11)

[0096] As mentioned above, calculate the slope K of the line connecting points AB, and the K value is required to be 0

[0097] (12)

[0098] However, in this state, K is not 0. Therefore, the retaining frame 5-3 needs to rotate around the bottom connection point 5-3-1 by an angle , so that the bearing plate 5-4 and the upper component remain horizontal, such as Fig. 9 shown.

[0099] (13)

[0100] After rotation, the coordinates of point A' (x' a' ,y' a' )as follows:

[0101] (14)

[0102] Substitute the relative coordinates of point A' into equation (10) to obtain the coordinates of point A' in the absolute coordinate system ( X a’ , Y a’ )as follows:

[0103] (15)

[0104] Similarly, we get the coordinates of point B' in the absolute coordinate system ( X b’ , Y b’ )as follows:

[0105] (16)

[0106] In this embodiment, the function expressions of the lifting section 3-4-1 and the falling section 3-4-3 are as follows:

[0107] (17)

[0108] (18)

[0109] Wherein, (X, Y) is the horizontal and vertical coordinates of the lifting section 3-4-1 and the falling section 3-4-3; is the inclination angle of the inclined track segment on the three-dimensional track; and is the trajectory connection coefficient.

[0110] The movement of the cage in the inclination adjustment section 3-4-2 is as follows: the distance between the bottom connection point 5-3-1 of the cage and the support on the frame 4-1 remains unchanged, and only the cage rotates relative to the support and the frame 4-1;

[0111] A function expression defining the inclination variation track segment 2-3 is:

[0112] (19)

[0113] (20)

[0114] In the formula, is the arc radius of the inclination changing track segment 2-3; is the arc angle parameter.

[0115] When the trolley frame 4-1 moves on the inclination-changing track section 2-3, the relative coordinate system will undergo spatial translation and rotation; correspondingly, the coordinate positions of point A and point B in the absolute coordinate system will also move to point A' and point B'. At the same time, according to the horizontal maintenance requirement, the angle of the connecting line A'B' needs to be The rotation to point A'' and point B'' is shown as follows: Figure 8 and Fig. 9 In this process, the hinge point located at the support 5-1 does not rotate, so is a fixed value, and its value is .and The angle of rotation of the relative coordinate system xoy in the absolute coordinate system XOY can be expressed as Fig.10 The relationship shown is quickly obtained, that is, the tangent angle of any point M on the trajectory curve L and Relationship:

[0116] (twenty one)

[0117] In addition, in the coordinate system x'o'y', the coordinates of the contact point between the first roller and the first transition guide rail 3-2, the first support point 5-3-2 and the second transition guide rail 3-3 in the coordinate system x'o'y' can be represented by points A and B, that is, the coordinates of the first support point 5-3-2 (x'1, y'1) = (x' a +m1,y' a +n1), the second support point 5-3-3(x'2,y'2)=(x' b +m2,y' b +n2), and substitute them into equations (15) and (16) respectively to obtain the actual trajectory models of the guide support surfaces 3-4 on the first transition guide track 3-2 and the second transition guide track 3-3.

[0118]

[0119] The coordinate system corresponding to the calculation of formula (22) is: the X-axis direction is parallel to the length direction of the track section on the front side of the inclination changing track section 2-3, and the Y-axis direction is vertical or inclined upward and perpendicular to the X-axis direction; thus, formula (22) can be generally applied to the inclination changing track section 2-3 for climbing and descending.

[0120] In formula (22), (X1, Y1) and (X2, Y2) are the coordinates of any point on the guide support surface 3-4 of the first transition guide track 3-2 and the second transition guide track 3-3, respectively. , , , The coordinates (x'1, y'1) and (x'2, y'2) are known values ​​and remain unchanged during the entire operation. is the rotation angle of the retaining frame 5-3 relative to the frame.

[0121] Under the condition of satisfying the above trajectory, when the horizontal holding structure 5 is in the process of the lifting section 3-4-1 and the falling section 3-4-3, the support 5-1 is lifted or dropped relative to the frame 4-1, and there is no relative rotation between the support 5-1 and the frame 4-1. When the horizontal holding structure 5 is in the process of the tilt adjustment section 3-4-2, the support 5-1 has no height change relative to the frame 4-1, and only rotates relative to the frame 4-1 around the bottom connection point 5-3-1.

Claims

1. An inclined rail self-leveling transport trolley, comprising a frame (4-1) and a cargo carrying structure (4-3); characterized in that: It also includes a horizontal retaining structure (5); the cargo carrying structure (4-3) is connected to the frame (4-1) via the horizontal retaining structure (5); the horizontal retaining structure (5) includes a connecting rod (5-2), a retaining frame (5-3) and a support rod (5-5); one end of the connecting rod (5-2) is rotatably connected to the frame (4-1); the other end of the connecting rod (5-2) is rotatably connected to the retaining frame (5-3); at least two different positions on the retaining frame (5-3) are rotatably connected to rollers; each transition guide track has a corresponding roller on the transport trolley (4); The retaining frame (5-3) is provided with a support adjustment through slot (5-3-4); a plurality of support grooves (5-3-5) arranged in sequence are provided on the top of the support adjustment through slot (5-3-4); one or more support rods (5-5) are fixed to the vehicle frame; the support rod (5-5) passes through the support adjustment through slot (5-3-4) on the retaining frame (5-3); and the retaining frame (5-3) is supported on the support rod (5-5) via the support groove (5-3-5).

2. The inclined rail self-leveling transport vehicle according to claim 1, characterized in that: The horizontal maintaining structure (5) further comprises a support (5-1), a bearing plate (5-4) and a supporting base (5-6); the support (5-1) and the supporting base (5-6) are fixed on the vehicle frame (4-1); the connecting rod (5-2) is rotatably connected to the support (5-1); the supporting rod (5-5) is fixed to the supporting base (5-6); the bearing plate (5-4) is fixed to the top edge of the retaining frame (5-3); and the cargo bearing structure (4-3) is mounted on the bearing plate (5-4).

3. A three-dimensional sorting machine, comprising a base (1), a three-dimensional track (2), a trolley transition guide assembly (3) and a transport trolley (4); the three-dimensional track (2) is provided with a plurality of track sections with different inclination angles; adjacent track sections with different inclination angles are connected by inclination-changing track sections (2-3); a plurality of transport trolleys (4) are arranged on the three-dimensional track (2); characterized in that: The transport trolley (4) adopts an inclined rail self-leveling transport trolley as claimed in claim 1; each of the inclination-changing rail sections (2-3) corresponds to a trolley transition guide assembly (3); the trolley transition guide assembly (3) includes at least two transition guide rails; When the transport trolley (4) passes through the trolley transition guide assembly (3), the guide support surfaces (3-4) of at least two transition guide rails support the retaining frame through rollers, and constrain the maximum tilt angle of the retaining frame to be less than or equal to a preset tilt angle threshold; the shape of the guide support surface (3-4) satisfies the following conditions: the retaining frame, driven by at least two rollers, sequentially undergoes a lifting process, a tilt angle adjustment process, and a falling process; during the lifting process, the retaining frame rises relative to the support rod (5-5), and the support rod (5-5) gradually separates from the support groove (5-3-5); during the tilt angle adjustment process, the support rod (5-5) and the support groove (5-3-5) are in a separated state; during the falling process, the retaining frame is lowered relative to the support rod (5-5), and the support rod (5-5) is engaged in the corresponding support groove (5-3-5).

4. A three-dimensional sorting machine according to claim 3, characterized in that: The guide support surfaces (3-4) of different transition guide rails have the same shape; the relative positions of the guide support surfaces (3-4) on different transition guide rails are consistent with the relative positions of different rollers on the same horizontal holding structure (5).

5. A three-dimensional sorting machine according to claim 3, characterized in that: The guide support surface (3-4) of the transition guide track (3-3) comprises a lifting section (3-4-1), an inclination adjustment section (3-4-2) and a falling section (3-4-3) which are connected in sequence; during the process of the inclination angle of the transport trolley changing, the rollers are supported on the inclination adjustment section (3-4-2).

6. A three-dimensional sorting machine according to claim 5, characterized in that: The lifting section (3-4-1) and the falling section (3-4-3) are both straight lines; the slope of the lifting section (3-4-1) is greater than the slope of a corresponding position on the three-dimensional track (2); the slope of the lifting section (3-4-1) is less than the slope of a corresponding position on the three-dimensional track (2); the shape of the inclination adjustment section (3-4-2) enables the connecting rod (5-2) and the frame (4-1) to remain relatively stationary; the connecting rod (5-2) and the frame (4-1) rotate together relative to the support (5-1).

7. A three-dimensional sorting machine according to claim 3, characterized in that: The support grooves (5-3-5) are arranged in sequence along an arc line with the rotation center between the retaining frame (5-3) and the connecting rod (5-2) as the center; the corresponding center angle between two adjacent support grooves (5-3-5) is a minimum adjustment angle δ; and the included angle between the front side rail segment and the rear side rail segment of any inclination angle changing rail segment (2-3) on the three-dimensional track (2) is an integer multiple of the minimum adjustment angle δ.

8. A three-dimensional sorting machine according to claim 3, characterized in that: The horizontal holding structure (5) further comprises a first wheel axle (5-7) and a second wheel axle (5-8); the first wheel axle (5-7) and the second wheel axle (5-8) are respectively fixedly or rotatably connected to two different positions of the holding frame (5-3); the rollers are divided into a first roller (5-9) and a second roller (5-10); both ends of the first wheel axle (5-7) are rotatably connected to the first roller (5-9); both ends of the second wheel axle (5-8) are rotatably connected to the second roller (5-10); the planes where the opposite sides of the two first rollers (5-9) are located are located The distance between adjacent side surfaces of the two second rollers (5-10) is located in a plane; there are four transition guide rails, namely two first transition guide rails (3-2) and two second transition guide rails (3-3); the two first transition guide rails (3-2) are located between the two second transition guide rails (3-3); the positions of the two first transition guide rails (3-2) correspond to the positions of the two first rollers (5-9) respectively; the positions of the two second transition guide rails (3-3) correspond to the positions of the two second rollers (5-10) respectively.

9. A three-dimensional sorting machine according to claim 3, characterized in that: The three-dimensional track (2) is installed on a base (1), and comprises a plurality of main tracks (2-1) of different heights, and a layered connection track (2-2) connecting the different main tracks (2-1); the plurality of layered connection tracks (2-2) sequentially connect the main tracks (2-1) to form a circulating track.

10. A three-dimensional sorting machine according to claim 9, characterized in that: The layered connecting track (2-2) comprises at least one inclined section and a horizontal turning section; the inclined section is a straight inclined track; and the horizontal turning section is a horizontal curved track.

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