High-load tractor and control system

Abstract

The invention discloses a high-load tractor and a control system, the tractor is composed of three mechanisms which can move independently, has three degrees of freedom and is high in flexibility; the tractor is compact in structure, low in gravity center height, good in stability and capable of bearing heavy materials; in addition, automatic material taking and feeding can be achieved, other mechanisms are not needed for assisting feeding and discharging, and the production and transportation efficiency is higher. The robot is stable in movement, small in speed fluctuation, not prone to vibration and not prone to inclination or even overturning.

Description

Technical Field

[0001] The invention relates to the field of high-load RGV material transportation, and in particular to a high-load tractor and a control system. Background Art

[0002] With the rise of automated and unmanned manufacturing concepts such as unmanned factories and smart factories, some leading factories and even some small and medium-sized factories have more or less introduced some unmanned production lines. One of the biggest features of these production lines is that they are highly automated. There may be only a few inspectors on the entire production line, and all operations such as loading and processing are automatically performed by robots on the production line.

[0003] However, the existing RGVs generally have a small load capacity or can bear a large mass but have poor material feeding and retrieving capabilities or require other equipment to assist in loading and unloading or have defects such as low freedom and poor flexibility. For example, the "four-way precise track change RGV for heavy industrial logistics transportation" in announcement number CN113135394A, although it can move on two tracks, has many degrees of freedom and is more flexible, it cannot actively carry materials to the vehicle or move materials from the vehicle to other areas, and its structure is relatively thin and difficult to bear large loads. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a high-load tractor and control system. The tractor is composed of three mechanisms that can move independently, has three degrees of freedom, and is highly flexible. The tractor of the present invention has a compact structure, a low center of gravity, good stability, and can carry materials of relatively large weight. In addition, the present invention can also independently take and load materials without the need for other mechanisms to assist in loading and unloading materials, and has higher production and transportation efficiency. The present invention has stable movement, small speed fluctuation, is not prone to vibration, and is not prone to tilting or even overturning.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A high load tractor is provided with three independently movable parts.

[0007] The upper bearing part is a frame structure with a plurality of empty chambers arranged therein, and moves in a first direction.

[0008] The loading platform is installed on the upper load-bearing part, with loading platform moving blocks at both ends and loading platform slide grooves at both sides, and the moving direction is parallel to the first direction.

[0009] The moving part has an upper part connected to the upper bearing part and a lower part connected to the track, and is internally divided into a plurality of empty chambers. The moving part moves in the second direction, and the first direction is perpendicular to the second direction.

[0010] Furthermore, guide rails are symmetrically arranged at the top end of the upper bearing portion, a top buffer block is arranged at the top end of the guide rails, and a side buffer block is arranged at the outer side of the guide rails.

[0011] On the inner side of the guide rail, located on the upper bearing portion, two sets of chain transmission mechanisms are embedded and arranged. The chain transmission mechanisms are centrally symmetrical and a columnar driving top block is arranged on the chain transmission mechanism to cooperate with the stage moving block.

[0012] Furthermore, a chain transmission mechanism driving motor is provided in the empty chamber of the upper bearing part, the empty chamber of the upper bearing part is divided into a large empty chamber and a small empty chamber, the chain transmission mechanism driving motor is installed in the large empty chamber, and the chain transmission mechanism driving motor is transmission-connected to the chain transmission mechanism.

[0013] Furthermore, the loading platform is a T-shaped thick plate, the upper layer of the loading platform is thicker, and inverted T-shaped grooves are arranged at equal intervals on the upper surface.

[0014] The lower layer of the loading platform has a small thickness and is provided with a symmetrical loading platform slide groove. The opening cross-sectional shape of the loading platform slide groove is composed of a combination of various rectangles. The loading platform moving block is centrally symmetrically installed on the wall of the lower layer of the loading platform.

[0015] Furthermore, a symmetrical bearing portion slide rail is provided on the upper surface of the moving portion parallel to the first direction, and the cross-sectional shape of the bearing portion slide rail is a shape obtained by symmetrically removing two trapezoidal areas from the middle positions of the two side surfaces of a rectangle.

[0016] The shape of the bearing part slide rail matches the cross-sectional shape of the notch of the bearing part sliding block provided at the bottom of the upper bearing part.

[0017] Furthermore, an extension drive motor is provided on one side of the moving part parallel to the first direction, and the output end of the extension drive motor is transmission connected to a screw rod parallel to the first direction. The screw rod is provided with a slider connected to the upper bearing part, and the slider is transmission connected to the screw rod.

[0018] Furthermore, fixed detection platforms are symmetrically provided on both sides of the movable part, the upper surface of the fixed detection platform and the upper surface of the upper bearing part are located in the same plane, an identifier is provided in the middle of the upper surface of the fixed detection platform, close to the position of the loading platform, and a number of position detectors are provided at the corners of the fixed detection platform. Two frame-shaped T-shaped supports are provided under the fixed detection platform on one side, the end of the frame-shaped T-shaped support with a larger area is connected to the fixed detection platform, and the other end of the frame-shaped T-shaped support is installed on the movable part.

[0019] Furthermore, three rows of sliders are arranged at equal intervals on the bottom of the moving part parallel to the second direction, and each row of sliders is provided with a plurality of track sliders with the same number and the same intervals.

[0020] A mobile driving motor is installed on the moving part near the middle row of sliders, and the output shaft of the mobile driving motor is vertically downward. The driving motor is connected to the driving gear, and a driven gear is provided on the outer side of the driving gear. The connecting line between the driving gear and the driven gear is parallel to the second movement direction.

[0021] Furthermore, the track is provided with three rows at equal intervals at the bottom of the tractor, which cooperate with the track slider. The cross section of the track is square, and a part is symmetrically removed on both sides of the upper side to form an upper arc surface.

[0022] Two grooves are formed by symmetrically removing a part of both sides at the middle position. The upper wall of the groove is composed of a lower arc surface connected to an upper inclined surface, the side wall is a vertical plane, and the bottom surface is a lower inclined surface.

[0023] The two outer rows of the track are side rails, the middle row is a center rail, the cross-sectional shape of any track is the same, and a rack is provided on one side of the center rail.

[0024] Furthermore, a high-load tractor control system includes: A high-load tractor that travels on tracks and moves materials between storage and processing areas according to instructions.

[0025] The controller dispatches tractors according to user requirements to transport raw materials and store products between the storage area and the processing area.

[0026] The storage area includes a raw material storage area and a product storage area. The raw material storage area delivers raw materials to the tractor, and the product storage area receives the products delivered by the tractor.

[0027] The processing area receives the raw materials transported by the tractor and transports the processed products to the tractor.

[0028] The present invention has the following gain effects: The tractor of the present invention is provided with three independently movable parts, with high degree of freedom, large travel, large working range, high flexibility, and compact structure. Part of the driving mechanism is built into the corresponding structure of the tractor, occupying a small space. The tractor has a low overall height, a low center of gravity, stability, is not prone to overturning, and has a large force-bearing area. The pressure distribution is uniform and stress concentration is not likely to occur. The load-bearing capacity is strong. It is driven by gears on the track. Because the running speed is not required to be fast, the torque is large and the power is sufficient, and it can drive heavy workpieces to move on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1It is a three-dimensional structural schematic diagram of the high-load tractor of the present invention.

[0030] Figure 2 It is a front view of the present invention without the stage installed.

[0031] Figure 3 It is a top view of the present invention without the stage installed.

[0032] Figure 4 It is a front view of the present invention with a stage installed.

[0033] Figure 5 It is a cross-sectional view in the main viewing direction of the present invention with a stage installed.

[0034] Figure 6 It is a cross-sectional view from the left side with the stage installed in the present invention.

[0035] Figure 7 The present invention Figure 6 A partial enlarged view of part A in the middle.

[0036] In the figure, 1-load part, 11-carrying platform, 111-carrying platform moving block, 112-carrying platform slide, 12-upper load-bearing part, 121-chain transmission mechanism, 1211-driving top block, 122-guide slide rail, 1221-top buffer block, 1222-side buffer block, 123-sprocket drive motor, 124-load-bearing part slider, 2-moving part, 21-extension drive motor, 211-screw rod, 22-moving drive motor, 221-driving gear, 222-driven gear, 23-fixed detection table, 231-identifier, 232-position detector, 24-track slider, 25-load-bearing part slide rail, 3-track, 31-side rail, 32-center rail, 321-upper arc surface, 322-lower arc surface, 323-upper inclined surface, 324-lower inclined surface, 33-rack, 34-hydraulic buffer device. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0038] Embodiment 1: Figures 1 to 7 As shown, the present invention relates to a high-load tractor and control system, which can be divided into three moving structures from top to bottom, mainly consisting of three main moving and bearing components: a loading platform 11, an upper bearing part 12, and a moving part 2. The loading platform 11 is installed on the upper bearing part 12 and can move on the upper bearing part 12, the upper bearing part 12 can move on the moving part 2, and the moving part 2 can move on the track 3.

[0039] During the movement of the stage 11, the upper bearing part 12 and the moving part 2 remain relatively still with respect to the track 3 and will not deviate or move due to the movement of the stage 11. When the upper bearing part 12 moves on the moving part 2, the stage 11 will remain relatively still with the upper bearing part 12 on the upper bearing part 12 and follow the movement of the upper bearing part 12, while the moving part 2 will remain relatively still with respect to the track 3. When the moving part 2 moves on the track 3, the stage 11 and the upper bearing part 12 will remain relatively still with respect to the moving part 2, and there will be no shaking or sliding of the stage 11 or the upper bearing part 12 relative to the moving part 2 during the movement.

[0040] The stage 11 moves on the upper bearing part 12 in parallel to the first direction, the upper bearing part 12 also moves on the moving part 2 in parallel to the first direction, and the moving part 2 moves on the track 3 in parallel to the second direction. The second direction is parallel to the track 3, and the first direction is perpendicular to the second direction on the horizontal plane.

[0041] Because the high-load tractor in the present invention needs to bear a large mass, the loading platform 11 is required to be relatively light and compact in structure while being able to better fix and carry materials during design. Figure 5 It can be seen that the thickness of the loading platform 11 is not large compared with the thickness of the upper load-bearing part 12 and the moving part 2. Nine inverted T-shaped grooves are evenly spaced on the upper surface of the loading platform 11. On the one hand, by processing an appropriate amount of grooves on the loading platform 11, the weight of the loading platform 11 can be reduced, the upper shaking empty weight can be reduced, and the weight of the material that can be loaded by the upper load-bearing part 12 and the moving part 2 can be increased. The inverted T-shaped groove can also cooperate with the material when in contact, and the material is stuck in the groove to ensure that the material will not slide on the tractor during transportation, thereby ensuring the transportation stability of the tractor when conveying materials.

[0042] The two sides of the loading platform 11 near the upper layer carrying part 12 are appropriately retracted inwards to avoid the bottom of the loading platform 11 from interfering with the upper surface of the upper layer carrying part 12. Figure 5 and Figure 6 It can be seen that part of the material of the stage 11 is also removed from the lower part of the stage 11 near the upper surface of the upper bearing part 12, which also reduces the weight of the stage 11 while ensuring the strength of the stage 11. Two stage slides 112 are symmetrically arranged on both sides of the bottom of the stage 11. The opening cross-sectional shape of the stage slide 112 is composed of three types of rectangles. Specifically, the stage slide 112 is rectangular at the opening, and the width is larger than the rectangle at the opening upwards, and the width is close to the rectangle at the opening upwards.

[0043] like Figure 2As shown, the loading platform 11 is provided with a loading platform slide 112, and the corresponding upper bearing part 12 is also provided with a guide rail 122 on which the loading platform 11 can slide. Accordingly, the guide rail 122 and the loading platform slide 112 cooperate with each other, and a side end buffer block 1222 is provided on the outer side of the guide rail 122, and a top buffer block 1221 is provided at the top of the guide rail 122. As for the side end buffer block 1222 and the top buffer block 1221 on the guide rail 122, it is related to the transmission connection method between the upper bearing part 12 and the loading platform 11.

[0044] A stage moving block 111 is provided on both side end surfaces of the lower layer of the stage 11, and the two stage moving blocks 111 are centrally symmetrical on the stage 11. Two sets of chain transmission mechanisms 121 are also correspondingly provided on the upper layer bearing part 12, and the two sets of chain transmission mechanisms 121 are also centrally symmetrical. The chain transmission mechanism 121 cooperates with the stage moving block 111, and the chain transmission mechanism 121 can drive the stage moving block 111 to move, thereby realizing that the chain transmission mechanism 121 drives the stage 11 to move relative to the upper layer bearing part 12.

[0045] Each set of chain transmission mechanism 121 is provided with a driving top block 1211, which is columnar. In the upper layer bearing part 12, the chain transmission mechanism 121 is embedded, that is, the chain transmission mechanism 121 does not exceed the upper surface of the upper layer bearing part 12. Installing the chain transmission mechanism 121 in this way, on the one hand, is not easy to interfere with other components, and on the other hand, it can improve the utilization rate of the internal space of the upper layer bearing part 12. Therefore, the driving top block 1211 is the only protruding part of the chain transmission mechanism 121 on the upper layer bearing part 12.

[0046] A blind hole is provided on the inner side of the carrier moving block 111, and the end point of the blind hole exceeds the outer position of the chain of the chain transmission mechanism 121, and the inner side surface of the carrier moving block 111 is close to the position of the outer quarter circle of the semicircles at both ends of the chain transmission mechanism 121. With this design, the driving top block 1211 will not hit the carrier moving block 111 when it moves, and the driving top block 111 can be accurately positioned in the blind hole of the carrier moving block 111.

[0047] In the present invention, when the driving top block 1211 enters the blind hole of the stage moving block 111 and moves along the outer side of the chain of the chain transmission mechanism 121, the driving top block 1211 can push the stage moving block 111 and move along the outer side of the chain of the chain transmission mechanism 121. At this time, the driving top block 1211 and the stage moving block 111 can be regarded as mutually locked, and no matter how the driving top block 1211 moves on the outer side of the chain transmission mechanism 121, it will drive the stage moving block 111, that is, drive the stage 11 to move together.

[0048] At this time, the platform 11 will slide on the guide rail 122, because the movement of the platform moving block 111 at the outer quarter circle position of the chain transmission mechanism 121 is an arc movement. At this time, the two side surfaces of the guide rail 122 located on the same side as the driving top block 1211 will not contact or collide with the inner walls of the two sides of the platform slide groove 112 of the platform 11, but the outer side of the guide rail 122 away from the driving top block 1211 is easy to contact or collide with the matching platform slide groove 112 on the platform 11 under the action of inertia and the force of the driving top block 1211. Therefore, a side end buffer block 1222 needs to be provided on the outer side of the guide rail 122 to reduce the impact of the driving top block 1211 on the guide rail 122 when the platform 11 is driven by the driving top block 1211 in this section.

[0049] It can also be seen from the figure that the distance between the platform slide grooves 112 is greater than the distance between the guide rails 122, and the width of the platform slide grooves 112 is greater than the width of the guide rails 122, so the outer side of the guide rails 122 will be closer to the inner wall of the platform slide grooves 112. When the position of the platform 11 deviates from the guide rails 122, the platform 11 will first contact the side end buffer block 1222 on the outer side of the guide rails 122, and the inner side of the guide rails 122 will not contact or collide with the inner wall of the platform 11, so the platform 11 has better movement stability.

[0050] When the driving top block 1211 drives the stage 11 to move outside the chain transmission mechanism 121, the driving top block 1211 cannot be separated from the stage moving block 111, and the driving top block 1211 needs to be moved to the farthest vertices at both ends of the chain transmission mechanism 121. At this time, the driving top block 1211 moves to the inside of the chain transmission mechanism 121, and the driving top block 1211 will be separated from the stage moving block 111.

[0051] Two groups of chain transmission mechanisms 121 are provided on the upper bearing part 12. The two groups of chain transmission mechanisms are not axially symmetrical but centrally symmetrical, so that one group of chain transmission mechanisms 121 can be responsible for feeding the carrier 11 in one direction. For ease of understanding, a simple example is given here: one side of the upper bearing part 12 is a processing machine tool, and the other side is a material storage area. Then, one group of chain transmission mechanisms 121 is used to transport the carrier 11 loaded with materials in the material storage area to the upper bearing part 12, and then another group of chain transmission mechanisms 121 is used to transport the carrier 11 on the upper bearing part 12 to the machine tool station.

[0052] Therefore, during the transportation process, only one and only one set of chain transmission mechanisms 121 need to cooperate with the driving top block 1211 and the stage moving block 111 to perform relative movement together. Therefore, the layout of the two sets of chain transmission mechanisms 121 on the upper load-bearing part 12 will also have corresponding rules and requirements. The distance between the end positions of the two ends of the two sets of chain transmission mechanisms 121 near the middle of the upper load-bearing part 12 where the terminal tangents are perpendicular to the end points of the guide rails 122 is equal to the distance between the hole positions of the two stage moving blocks 111 on the stage 11. Therefore, after one set of chain transmission mechanisms 121 transports the stage to this position, the other set of chain transmission mechanisms 121 can cooperate with the stage moving block 111 here to complete the switching of the driving source of the stage 11.

[0053] On the upper load-bearing part 12, it can be seen that one end of the two sets of centrally symmetrical chain transmission mechanisms 121 are close to the side end surface of the upper load-bearing part 12, and the other end is close to the middle of the upper load-bearing part 12. The upper load-bearing part 12 is a relatively flat frame. Due to its structural characteristics, the upper load-bearing part 12 has more hollow chamber structures inside. The essence of the hollow chamber is that the upper load-bearing part 12 has a beam structure of at least four rows and three columns connected in series and in parallel by cross beams.

[0054] The larger space inside the upper bearing part 12 provides the condition for the sprocket drive motor 123 to be integrated and installed in the empty space inside the upper bearing part 12. The sprocket drive motor 123 drives the movement of the entire chain transmission mechanism 121 by driving the sprocket. The position where the sprocket drive motor 123 and the chain transmission mechanism 121 are installed is below the center position of the end of the chain transmission mechanism 121 close to the side end surface of the upper bearing part 12, and at the internal position of the upper bearing part 12 where the sprocket drive motor 123 is installed, because the sprocket drive motor 123 needs to be able to output a large torque, otherwise it is difficult for the driving top block 1211 to push the heavy material or workpiece around the chain transmission mechanism 121 to slide along the guide rail 122 on the upper bearing part 12.

[0055] Therefore, the sprocket drive motor 123 often occupies a volume larger than that of a hollow space separated by the cross beam, and the cross beam here no longer extends horizontally to the wall of the upper bearing part 12, but extends to the longitudinal beam closest to the sprocket drive motor 123 and then no longer extends horizontally. Correspondingly, the hollow space cross beam where the sprocket drive motor 123 is installed will not extend longitudinally to the inner wall of the end face of the upper bearing part 12, but to the transverse beam closest to the sprocket drive motor 123.

[0056] Therefore, it can be inferred from the above that the cross beam inside the upper load-bearing part 12 will be presented as two rectangles with a plurality of cross beams inside, and the lengths of the sides thereof partially overlap, and the two adjacent sides thereof overlap with the inner wall of the upper load-bearing part 12. Therefore, one side of the two rectangles overlaps with the inside of the upper load-bearing part 12, and the other side is separated from the inner wall of the upper load-bearing part 12 by a larger empty chamber, the area of ​​which is at least the area of ​​the four empty chambers inside the rectangle, and one side of the two rectangles will overlap with the inner wall opposite to the upper load-bearing part 12 respectively, and will not overlap on the inner wall of the same side.

[0057] At the bottom of the upper bearing part 12, two rows of bearing part sliders 124 can be seen. All pressure on the upper bearing part 12 will be transferred to the bearing part sliders 124, and finally transferred to the track 3 through the moving part 2. Correspondingly, two bearing part slide rails 25 are provided on the moving part 2 to cooperate with the bearing part sliders 124. There are at least three bearing part sliders 124 on each row of bearing part sliders 124. The more bearing part sliders 124 are installed, the larger the contact area between the upper bearing part 12 and the bearing part slide rails 25, the more uniform the pressure distribution, and the total weight of the load part 1 that the bearing part slide rails 25 can finally bear will also be correspondingly increased, and the total weight that can be borne will also be greater.

[0058] The cross section of the notch of the bearing portion slider 124 is a rectangle at the top, extending downward to an isosceles trapezoidal notch with a long bottom length equal to the side length of the above-mentioned rectangle, and the short bottom length of the isosceles trapezoid is at least half the side length of the above-mentioned rectangle. Keeping this length, a small rectangular notch is extended downward, and the shape of the notch at the bottom until the opening is a symmetrical shape after the above-mentioned rectangular notch and the isosceles trapezoidal notch are combined.

[0059] The cross-sectional shape of the bearing portion slide rail 25 is the shape obtained by symmetrically removing two isosceles trapezoidal areas from the middle of the two sides of the rectangle. Figure 2 It can also be seen that the notch shape of the bearing portion slider 124 and the cross-sectional shape of the bearing portion slide rail 25 are equal in area, and the two are matched with each other, wherein the two isosceles trapezoidal notches in the middle of the bearing portion slide rail 25 can be matched with the isosceles trapezoidal protrusions at the corresponding positions on the bearing portion slider 124. In this way, the matching between the geometric shapes and sizes can control the gap between the bearing portion slider 124 and the bearing portion slide rail 25 to a smaller value.

[0060] It can ensure that the matching accuracy between the bearing part slider 124 and the bearing part slide rail 25 is high, and the upper bearing part 12 is not easy to shake or rock on the bearing part slide rail 25 during the movement.

[0061] An extension drive motor 21 is installed on the side of the upper bearing part 12 located on the moving part 2, and a screw rod 211 is connected to the output shaft of the extension drive motor 21, and the installation direction of the screw rod 211 is parallel to the direction of the bearing part slide rail 25. A slider installed in cooperation with the screw rod 211 is provided on the side of the upper bearing part 12 in parallel to the track direction of the bearing part slide rail 25. The slider is provided with an internal thread that is threadedly engaged with the screw rod 211. The extension drive motor 21 drives the screw rod 211 to rotate, and the slider can drive the upper bearing part 12 to slide on the bearing part slide rail 25. The weight of the upper bearing part 12 is large, so the number of circles of thread engagement between the slider and the screw rod 211 needs to be large. Each circle of thread engagement is a contact of the contact surface, so the more circles of thread engagement, the larger the contact area, the less likely it is to slip between the slider and the screw rod 211, and the greater the weight of the upper bearing part 12 that can be driven by the extension drive motor 21.

[0062] Because the high-load tractor of the present invention needs to be able to automatically transport and automatically position, it is very important to know the information of the materials or workpieces on the loading platform 11 and the position of the high-load tractor itself on the track 3. Therefore, fixed detection platforms 23 are symmetrically provided on both sides of the moving part 2. The fixed detection platform 23 is fixed by the upper platform and the lower bracket. The height of the fixed detection platform 23 is similar to the height of the upper load-bearing part 12. On the upper platform of the fixed detection platform 23, an identifier 231 is provided in the middle of the fixed detection platform 23 near the upper load-bearing part 12. The identifier 231 is used to identify the RFID tag on the loading platform 11 and read the information of the corresponding materials or workpieces, so as to execute corresponding instructions for the materials or workpieces.

[0063] Position detectors 232 are provided at the four corners and the middle of the fixed inspection platform 23. The purpose of the high-load tractor moving on the track 3 is to obtain materials or workpieces in the corresponding area, and then transport them to the corresponding workstation for processing. After processing, the finished products are transported back to the corresponding storage area. How to determine the positional relationship between the high-load tractor and the corresponding area at this time requires the position detectors 232 on the four corners to determine the positioning. The position detector 232 set in the middle position ensures that the loading platform 11 can be kept in the center position on the upper load-bearing part 12, ensures that the center of gravity can fall in the center area, ensures the stability of the structure and ensures that the high-load tractor will not tilt or overturn during transportation.

[0064] Two frame-shaped T-shaped supports are provided below the fixed test platform 23, and the interval between the two frame-shaped T-shaped supports is reasonable. A rib-shaped structure is also provided at the upper platform of the fixed test platform 23 at the connection between the frame-shaped T-shaped support and the upper layer of the fixed test platform 23. The contact area between the frame-shaped T-shaped support and the upper platform of the fixed test platform 23 is increased to increase the stability of the connection and ensure that the upper platform of the fixed test platform 23 is not prone to shaking during the movement. The other end of the frame-shaped T-shaped support is installed on the moving part 2. As a support for the entire fixed test platform 23.

[0065] On the side of the moving part 2, a platform is extended perpendicularly to the direction of the bearing part slide rail 25 for installing the moving drive motor 22, and the output shaft of the moving drive motor 22 is connected to the driving gear 221. At the bottom of the moving part 2, three rows of track sliders 24 are arranged perpendicularly to the bearing part slide rail 25, and the distance between the track sliders 24 in each row is the same, and each row of track sliders 24 is provided with at least four track sliders 24. Therefore, three rails with the same arrangement as the track sliders 24 are provided on the track 3.

[0066] The rails on the track 3 are divided into two types: side rails 31 and center rails 32, and a rack 33 is also provided near the center rail 32. The side rails 31 and the center rail 32 have the same cross-section, so the cross-sectional shape of the center rail 32 is described in detail here, and the cross-sectional shape of the side rail 31 is not repeated. The cross-section of the center rail 32 is square, and a portion is symmetrically removed on both sides of the upper portion to form an upper arc surface 321. In the middle position, a portion of both sides is symmetrically removed to form two grooves, and the upper wall of the groove is composed of a lower arc surface 322 connected to an upper inclined surface 323, the side wall is a vertical plane, and the bottom surface is a lower inclined surface 324. Because the matching requirements between the track slider 24 and the rail on the track 3 are similar to or higher than the matching requirements between the bearing slider 124 and the bearing rail 25, the cross-sectional shape of the notch of the track slider 24 is the same as the cross-sectional shape of the center rail 32.

[0067] A rack 33 is provided near the center rail 32, and a driving gear 221 and a driven gear 222 are also provided near the line connecting the middle row of rail sliders 24. After the moving part 2 is installed on the rail 3, the rack 33 will be synchronously meshed with the driving gear 221 and the driven gear 222. The high-load tractor is driven by gears to move on the rail 3. On the one hand, the moving distance can be more accurately controlled with high precision, and on the other hand, the torque provided by the gear meshing is large, and it is convenient to move on the long rail 3.

[0068] The cooperation between the three rails and the three rail sliders 24 can effectively increase the contact area and ensure that the center of gravity falls on the center of the projection surface of the high-load tractor, ensuring stability during travel and increasing the load-bearing weight of the high-load tractor. The rails and racks on the track 3 are not a complete line, but are spliced ​​by sections of rails and racks. This has low processing costs, and the length of the production line layout can be changed as needed, which is easy to adjust.

[0069] Embodiment 2: A high-load tractor control system comprises a high-load tractor in the first embodiment, as well as a raw material storage area, a product storage area, a processing area and a controller.

[0070] A high-load tractor runs on track 3 and transports materials between the storage area and the processing area according to instructions.

[0071] The controller dispatches tractors according to user requirements to transport raw materials and store products between the storage area and the processing area.

[0072] The storage area includes a raw material storage area and a product storage area. The raw material storage area delivers raw materials to the tractor, and the product storage area receives the products delivered by the tractor.

[0073] The processing area receives the raw materials transported by the tractor and transports the processed products to the tractor.

[0074] Here’s how the system works: The controller issues an order instruction, and the high-load tractor moves on the track 3 to the corresponding raw material storage area. The position detector 232 determines whether the high-load tractor moves to the position required by the task.

[0075] Start the extension drive motor 21 to drive the upper bearing part 12 to the corresponding position of the raw material storage area, and transport the loading platform 11 with the blank to the tractor. After the blank information is read by the identifier 231 provided on the tractor, the information is uploaded to the controller. The controller sends a command to let the tractor transport the blank to the corresponding processing area for processing.

[0076] The processing area workstation that has completed processing sends information to the controller, and the controller sends instructions to the tractor. The tractor goes to the corresponding workstation to take out the finished product and then sends it to the product storage area, waiting for the controller's instructions to execute the transportation task or stand by.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high load tractor, characterized in that: The tractor is provided with an independently movable part; The upper bearing part (12) is a frame structure with a plurality of empty chambers arranged therein, and moves in a first direction; The loading platform (11) is installed on the upper load-bearing part (12), and is provided with loading platform moving blocks (111) at both ends and loading platform sliding grooves (112) at both sides, and the moving direction is parallel to the first direction; The moving part (2) is connected to the upper bearing part (12) at the upper part and to the track (3) at the lower part, and is internally divided into a plurality of empty chambers. The moving part (2) moves in the second direction, and the first direction is perpendicular to the second direction.

2. A high load tractor according to claim 1, characterized in that: A guide rail (122) is symmetrically provided at the top end of the upper bearing portion (12), a top buffer block (1221) is provided at the top end of the guide rail (122), and a side buffer block (1222) is provided on the outer side of the guide rail (122); Two sets of chain transmission mechanisms (121) are embedded on the inner side of the guide rail (122), located on the upper bearing portion (12); the chain transmission mechanisms (121) are centrally symmetrical; and a columnar driving top block (1211) is provided on the chain transmission mechanism (121) to cooperate with the loading platform moving block (111).

3. A high load tractor according to claim 2, characterized in that: A chain transmission mechanism driving motor (123) is arranged in the empty chamber of the upper load-bearing part (12); the empty chamber of the upper load-bearing part (12) is divided into a large empty chamber and a small empty chamber; the chain transmission mechanism driving motor (123) is installed in the large empty chamber; and the chain transmission mechanism driving motor (123) is drivingly connected to the chain transmission mechanism (121).

4. A high load tractor according to claim 1, characterized in that: The loading platform (11) is a T-shaped thick plate, the upper layer of the loading platform (11) is thicker, and inverted T-shaped grooves are arranged at equal intervals on the upper surface; The lower layer of the loading platform (11) has a small thickness and is provided with a symmetrical loading platform slide groove (112) on the lower layer. The opening cross-sectional shape of the loading platform slide groove (112) is composed of a combination of multiple rectangles. The loading platform moving block (111) is centrally symmetrically installed on the wall of the lower layer of the loading platform (11).

5. A high load tractor according to claim 1, 2, 3 or 4, characterized in that: The upper surface of the moving part (2) is provided with a symmetrical bearing part slide rail (25) parallel to the first direction, and the cross-sectional shape of the bearing part slide rail (25) is the shape obtained by symmetrically removing two trapezoidal areas from the middle positions of the two side surfaces of a rectangle; The shape of the bearing part slide rail (25) matches the cross-sectional shape of the notch of the bearing part sliding block (124) provided at the bottom of the upper bearing part (12).

6. A high load tractor according to claim 1, 2, 3 or 4, characterized in that: An extension drive motor (21) is provided on one side of the moving part (2) parallel to the first direction, the output end of the extension drive motor (21) is transmission-connected to a screw rod (211) parallel to the first direction, the screw rod (211) is provided with a slider connected to the upper bearing part (12), and the slider is transmission-connected to the screw rod (211).

7. A high load tractor according to claim 1, 2, 3 or 4, characterized in that: Fixed detection platforms (23) are symmetrically arranged on both sides of the moving part (2); the upper surface of the fixed detection platform (23) and the upper surface of the upper bearing part (12) are located in the same plane; an identifier (231) is arranged in the middle of the upper surface of the fixed detection platform (23), close to the loading platform (11); a plurality of position detectors (232) are arranged at the corners of the fixed detection platform (23); two frame-shaped T-shaped supports are arranged below the fixed detection platform (23) on one side; one end of the frame-shaped T-shaped support with a larger area is connected to the fixed detection platform (23); and the other end of the frame-shaped T-shaped support is mounted on the moving part (2).

8. A high load tractor according to claim 1, 2, 3 or 4, characterized in that: The bottom of the moving part (2) is provided with three rows of sliders at equal intervals parallel to the second direction, and each row of sliders is provided with a plurality of track sliders (24) at equal intervals and in the same number; A moving drive motor (22) is installed on the moving part (2) near the position of the middle row of sliders, the output shaft of the moving drive motor (22) is vertically downward, the drive motor (22) is transmission-connected with a driving gear (221), a driven gear (222) is provided on the outer side of the driving gear (221), and a connecting line between the driving gear (221) and the driven gear (222) is parallel to the second movement direction.

9. A high load tractor according to claim 8, characterized in that: The track (3) is provided with three rows at equal intervals at the bottom of the tractor, and cooperates with the track slider (24). The cross section of the track (3) is square, and a part is symmetrically removed on both sides of the upper side to form an upper arc surface (321); Two grooves are formed by symmetrically removing a portion of both sides at the middle position, wherein the upper wall of the groove is composed of a lower arc surface (322) connected to an upper inclined surface (323), the side wall is a vertical plane, and the bottom surface is a lower inclined surface (324); The two outer rows of the track (3) are side tracks (31), and the middle row is a center track (32). The cross-sectional shape of any track (3) is the same, and a rack (33) is provided on one side of the center track (32).

10. A high-load tractor control system, characterized in that: include: A high-load tractor according to any one of claims 1 to 9, which travels on a track (3) and transports materials between a storage area and a processing area according to instructions; The controller dispatches tractors to transport raw materials and store products between the storage area and the processing area according to user requirements; The storage area includes a raw material storage area and a product storage area. The raw material storage area delivers raw materials to the tractor, and the product storage area receives the products delivered by the tractor; The processing area receives the raw materials transported by the tractor and transports the processed products to the tractor.

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