A high-load tractor and control system

Abstract

The present invention discloses a high-load tractor and control system. The tractor comprises three independently movable mechanisms, with three degrees of freedom and high flexibility. Furthermore, the tractor has a compact structure, a low center of gravity, and excellent stability, enabling it to carry heavy materials. Furthermore, the tractor can autonomously retrieve and load materials without the need for other mechanisms to assist in loading and unloading, resulting in higher production and transportation efficiency. The tractor also features smooth movement, minimal speed fluctuation, and is less susceptible to vibration, tilting, or even overturning.

Description

Technical Field

[0001] The present 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 like unmanned factories and smart factories, some leading factories, as well as some small and medium-sized factories, have introduced unmanned production lines. A key feature of these production lines is their high degree of automation. The entire line may be staffed by only a few inspectors, while all operations, such as loading and processing, are automatically performed by robots at the workstations.

[0003] However, existing RGVs generally have limited load capacities. While they can carry large loads, they have poor material handling capabilities, require additional equipment to assist with loading and unloading, or have limited flexibility. For example, the "Four-Way Precision Track-Changeable RGV for Heavy Industrial Logistics Transport" described in Publication No. CN113135394A, while capable of moving on two tracks and possessing a high degree of freedom, is relatively flexible. However, it cannot actively transport materials to or from the vehicle, and its flimsy structure makes it difficult to carry large loads. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention provides a high-load tractor and control system. The tractor comprises three independently movable mechanisms, providing three degrees of freedom and high flexibility. Furthermore, the tractor of the present invention has a compact structure, a low center of gravity, and excellent stability, capable of carrying heavy materials. Furthermore, the present invention can autonomously retrieve and load materials, eliminating the need for other mechanisms to assist in loading and unloading, resulting in higher production and transportation efficiency. The present invention also features smooth movement, minimal speed fluctuation, and is less susceptible to vibration, 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 provided therein, and moves in a first direction.

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

[0009] The moving part is connected to the upper bearing part at the upper part and to the track at the lower part. A plurality of empty chambers are separated inside the moving part. The moving part moves in the second direction. The first direction is perpendicular to the second direction.

[0010] Furthermore, guide rails are symmetrically provided at the top of the upper bearing portion, top buffer blocks are provided at the top of the guide rails, and side buffer blocks are provided at the outer sides 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. The chain transmission mechanisms are centrally symmetrical. A columnar driving top block is provided on the chain transmission mechanism to cooperate with the worktable moving block.

[0012] Furthermore, a chain transmission mechanism drive motor is provided in the empty chamber of the upper bearing part, and the empty chamber of the upper bearing part is divided into a large empty chamber and a small empty chamber. The chain transmission mechanism drive motor is installed in the large empty chamber, and the chain transmission mechanism drive motor is 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 provided 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 multiple 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 movable 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 slider 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 provided at equal intervals on the bottom of the moving portion 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 drive motor is installed on the moving part near the middle row of sliders, and the output shaft of the mobile drive motor is vertically downward. The drive motor is connected to the drive gear, and a driven gear is provided on the outside of the drive gear. The connecting line between the drive 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 to form an upper arc surface.

[0022] Two grooves are formed by symmetrically removing a portion 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, and 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:

[0025] A high-load tractor that runs on tracks and moves materials between storage and processing areas according to instructions.

[0026] The controller dispatches tractors according to user requirements to transport raw materials and store products between the storage area and the processing area.

[0027] 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.

[0028] The processing area receives the raw materials transported by the tractor and transports the processed products to the tractor.

[0029] The present invention has the following gain effects:

[0030] The tractor of the present invention features three independently movable sections, offering a high degree of freedom, a large travel range, a wide operating range, and excellent flexibility. Its compact structure, with part of the drive mechanism integrated into the corresponding structure of the tractor, occupies minimal space. The tractor boasts a low overall height and center of gravity, making it stable and less prone to tipping. Furthermore, its large load-bearing area provides uniform pressure distribution, minimizing stress concentration, and providing a strong load-bearing capacity. Driven by gears on rails, it provides high torque and sufficient power, as high speed is not required, enabling it to move heavy workpieces along the rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the high-load tractor of the present invention.

[0032] Figure 2 It is a front view of the present invention without the loading platform installed.

[0033] Figure 3 It is a top view of the present invention without the stage installed.

[0034] Figure 4 It is a front view of the present invention with a loading platform installed.

[0035] Figure 5 It is a cross-sectional view in the main viewing direction of the present invention with the loading platform installed.

[0036] Figure 6 It is a cross-sectional view from the left side of the present invention with the stage installed.

[0037] Figure 7 This invention Figure 6 A partial enlarged view of part A in the middle.

[0038] 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 end 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-drive 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

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0040] Example 1:

[0041] Figures 1 to 7 As shown, the present invention relates to a high-load tractor and control system. The present invention can be divided into three moving structures from top to bottom, mainly consisting of three main moving and carrying components: a loading platform 11, an upper supporting portion 12, and a moving portion 2. The loading platform 11 is mounted on the upper supporting portion 12 and can move on the upper supporting portion 12. The upper supporting portion 12 can move on the moving portion 2, and the moving portion 2 can move on the track 3.

[0042] During the movement of the loading platform 11, the upper supporting portion 12 and the moving portion 2 remain relatively stationary relative to the track 3 and will not deviate or move due to the movement of the loading platform 11. When the upper supporting portion 12 moves on the moving portion 2, the loading platform 11 will remain relatively stationary with the upper supporting portion 12 on the upper supporting portion 12 and follow the movement of the upper supporting portion 12, while the moving portion 2 will remain relatively stationary with the track 3 on the track 3. When the moving portion 2 moves on the track 3, the loading platform 11 and the upper supporting portion 12 will remain relatively stationary with the moving portion 2, and there will be no shaking or sliding of the loading platform 11 or the upper supporting portion 12 relative to the moving portion 2 during movement.

[0043] The loading platform 11 moves on the upper supporting portion 12 parallel to a first direction, the upper supporting portion 12 also moves on the moving portion 2 parallel to the first direction, and the moving portion 2 moves on the track 3 parallel to a second direction. The second direction is parallel to the track 3, and the first direction is perpendicular to the second direction on a horizontal plane.

[0044] 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 movable 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 movable part 2 can be increased. The inverted T-shaped grooves 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.

[0045] The two sides of the loading platform 11 close to the upper carrying portion 12 are appropriately retracted inwards to avoid interference between the bottom of the loading platform 11 and the upper surface of the upper carrying portion 12. Figure 5 and Figure 6 As can be seen, the lower portion of the loading platform 11, near the upper surface of the upper supporting portion 12, has also had some of the material of the loading platform 11 removed. This also ensures the strength of the loading platform 11 while reducing its weight. Two loading platform chutes 112 are symmetrically positioned on either side of the bottom of the loading platform 11. The cross-sectional shape of the opening of the loading platform chutes 112 is a combination of three types of rectangles. Specifically, the loading platform chutes 112 are rectangular at the opening, with a larger width toward the top, and a similar width toward the top.

[0046] like Figure 2 As shown, the loading platform 11 is provided with a loading platform slide 112, and the upper support portion 12 is also provided with a guide rail 122 on which the loading platform 11 slides. Accordingly, the guide rail 122 and the loading platform slide 112 cooperate with each other, with side buffer blocks 1222 provided on the outer side of the guide rail 122, and a top buffer block 1221 provided at the top of the guide rail 122. The provision of the side buffer blocks 1222 and the top buffer block 1221 on the guide rail 122 is related to the transmission connection method between the upper support portion 12 and the loading platform 11.

[0047] A platform moving block 111 is provided on each side of the lower end surface of the loading platform 11. The two platform moving blocks 111 are centrally symmetrically positioned on the loading platform 11. Two corresponding sets of chain drive mechanisms 121 are also centrally symmetrically positioned on the upper support portion 12. The chain drive mechanisms 121 cooperate with the platform moving blocks 111 to drive the movement of the platform moving blocks 111, thereby enabling the chain drive mechanisms 121 to drive the loading platform 11 to move relative to the upper support portion 12.

[0048] Each chain drive mechanism 121 is equipped with a cylindrical top drive block 1211. The chain drive mechanism 121 is embedded within the upper support portion 12, meaning it does not extend beyond the upper surface of the upper support portion 12. This installation of the chain drive mechanism 121 reduces interference with other components and improves internal space utilization within the upper support portion 12. Therefore, the top drive block 1211 is the only protruding portion of the chain drive mechanism 121 from the upper support portion 12.

[0049] A blind hole is provided on the inner side of the carrier moving block 111, 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.

[0050] In the present invention, after the driving top block 1211 enters the blind hole of the stage moving block 111, the driving top block 1211 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 considered to be locked with each other. No matter how the driving top block 1211 moves outside the chain transmission mechanism 121, it will drive the stage moving block 111 and the stage 11 to move together.

[0051] At this time, the loading platform 11 will slide on the guide rail 122, because the movement of the loading platform moving block 111 at the outer quarter circle position of the chain transmission mechanism 121 is an arc motion. 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 loading platform slide 112 of the loading platform 11, but the outer side of the guide rail 122 on the side away from the driving top block 1211 is likely to contact or collide with the loading platform slide 112 on the loading platform 11 under the action of inertia and the force of the driving top block 1211. Therefore, a side end buffer block 1222 is required 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 loading platform 11 moves in this section.

[0052] As can be seen from the figure, the distance between the loading platform slots 112 is greater than the distance between the guide rails 122, and the width of the loading platform slots 112 is greater than the width of the guide rails 122. Therefore, the outer sides of the guide rails 122 are closer to the inner walls of the loading platform slots 112. When the position of the loading platform 11 deviates from the guide rails 122, the loading platform 11 will first contact the side end buffer blocks 1222 on the outer sides of the guide rails 122, while the inner sides of the guide rails 122 will not contact or collide with the inner walls of the loading platform 11, resulting in a more stable movement of the loading platform 11.

[0053] When the driving top block 1211 drives the loading platform 11 outside the chain transmission mechanism 121, the driving top block 1211 cannot be separated from the loading platform moving block 111. 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 toward the inside of the chain transmission mechanism 121 and is separated from the loading platform moving block 111.

[0054] Two sets of chain drive mechanisms 121 are provided on the upper support portion 12. These two sets of chain drive mechanisms are not axially symmetrical but centrally symmetrical. This allows one set of chain drive mechanisms 121 to be responsible for feeding the worktable 11 in a unilateral direction. To facilitate understanding, a simple example is provided here: one side of the upper support portion 12 is a processing machine tool, and the other side is a material storage area. In this example, one set of chain drive mechanisms 121 transports the worktable 11 loaded with materials from the material storage area to the upper support portion 12, and then the other set of chain drive mechanisms 121 transports the worktable 11 on the upper support portion 12 to the machine tool workstation.

[0055] Therefore, during the transportation process, only one set of chain transmission mechanisms 121 needs to cooperate with the driving top block 1211 of the loading platform 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 end tangents of the two sets of chain transmission mechanisms 121 near the middle of the upper load-bearing part 12, which are perpendicular to the guide rail 122, is equal to the distance between the hole positions of the two loading platform moving blocks 111 on the loading platform 11. Therefore, after one set of chain transmission mechanisms 121 transports the loading platform to this position, the other set of chain transmission mechanisms 121 can cooperate with the loading platform moving block 111 here to complete the switching of the driving source of the loading platform 11.

[0056] On the upper load-bearing portion 12, it can be seen that two sets of centrally symmetrical chain drive mechanisms 121 each have one end near the side end surface of the upper load-bearing portion 12 and the other end near the center of the upper load-bearing portion 12. The upper load-bearing portion 12 is a relatively flat frame. Due to its structural characteristics, the upper load-bearing portion 12 has a large number of hollow spaces inside. The hollow spaces are essentially formed by the cross beams in the upper load-bearing portion 12 connected in series and parallel to form a beam structure of at least four rows and three columns.

[0057] The larger space inside the upper load-bearing portion 12 provides the conditions for integrating the sprocket drive motor 123 into the internal cavity of the upper load-bearing portion 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 load-bearing portion 12, and at the internal position of the upper load-bearing portion 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 will be difficult for the driving top block 1211 to push heavy materials or workpieces around the chain transmission mechanism 121 to slide along the guide rail 122 on the upper load-bearing portion 12.

[0058] Therefore, the sprocket drive motor 123 often occupies more than the volume of the cavity separated by the cross beam. Here, the cross beam no longer extends horizontally to the wall of the upper load-bearing portion 12, but extends to the longitudinal beam closest to the sprocket drive motor 123 and then stops extending horizontally. Correspondingly, the cross beam of the cavity where the sprocket drive motor 123 is installed does not extend longitudinally to the inner wall of the end face of the upper load-bearing portion 12, but extends to the transverse beam closest to the sprocket drive motor 123.

[0059] Based on the above, we can infer that the cross beams within the upper load-bearing portion 12 will appear as two rectangles with several cross beams arranged within them, with their sides partially overlapping and their adjacent sides coinciding with the inner wall of the upper load-bearing portion 12. Therefore, one side of each of these rectangles will overlap with the interior of the upper load-bearing portion 12, while the other side will be separated from the inner wall of the upper load-bearing portion 12 by a larger cavity, with the area of ​​the cavity being at least the area of ​​the four cavities within the rectangles. Furthermore, one side of each rectangle will overlap with the inner wall of the upper load-bearing portion 12 on opposite sides, rather than overlapping on the same inner wall.

[0060] Two rows of bearing-section sliders 124 can be seen at the bottom of the upper bearing section 12. All pressure exerted on the upper bearing section 12 is transferred to the bearing-section sliders 124 and ultimately to the rails 3 via the movable section 2. Accordingly, two bearing-section rails 25 are provided on the movable section 2 to cooperate with the bearing-section sliders 124. Each row of bearing-section sliders 124 is equipped with at least three bearing-section sliders 124. The more bearing-section sliders 124 installed, the greater the contact area between the upper bearing section 12 and the bearing-section rails 25, the more evenly pressure is distributed, and the bearing-section rails 25 can ultimately withstand the total weight of the load section 1, thus increasing the total weight they can bear.

[0061] The cross-section of the notch in the support slider 124 is rectangular at the top, extending downward into an isosceles trapezoidal notch with a long base equal to the length of the rectangular side. The short base of the isosceles trapezoid is at least half the length of the rectangular side. This length is maintained by extending a small rectangular notch downward. The shape of the notch at the bottom, extending to the opening, is a symmetrical combination of the rectangular notch and the isosceles trapezoidal notch.

[0062] 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 As can be seen in the figure, the notch shape of the support slider 124 and the cross-sectional area of ​​the support rail 25 are equal, and the two cooperate with each other. The two isosceles trapezoidal notches in the middle of the support rail 25 can mate with the isosceles trapezoidal protrusions at corresponding positions on the support slider 124. This coordination of geometric shapes and dimensions can control the gap between the support slider 124 and the support rail 25 to a relatively small value.

[0063] 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 likely to shake or rock on the bearing part slide rail 25 during the movement.

[0064] An extension drive motor 21 is mounted on the side of the upper support portion 12, located on the movable portion 2. A screw rod 211 is connected to the output shaft of the extension drive motor 21, and the screw rod 211 is installed parallel to the direction of the support portion slide rail 25. A slider is installed on the side of the upper support portion 12, parallel to the direction of the support portion slide rail 25, and is compatible with the screw rod 211. The slider has internal threads that engage with the screw rod 211. When the extension drive motor 21 rotates the screw rod 211, the slider drives the upper support portion 12 to slide on the support portion slide rail 25. Because the upper support portion 12 is heavy, the slider and screw rod 211 must have a large number of threads engaged. Each threaded turn represents a contact surface. Therefore, the more threads there are, the larger the contact area, the less likely the slider and screw rod 211 are to slip, and the extension drive motor 21 can drive a greater weight of the upper support portion 12.

[0065] Because the high-load tractor of the present invention needs to be able to automatically transport and position itself, 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 mobile part 2. The fixed detection platforms 23 are 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, in the middle of the fixed detection platform 23, near the upper load-bearing part 12, an identifier 231 is provided. The identifier 231 is used to identify the RFID tag on the loading platform 11 and read the information of the corresponding material or workpiece, so as to facilitate the execution of corresponding instructions for the material or workpiece.

[0066] Position detectors 232 are installed at the four corners and the center of the fixed inspection platform 23. The purpose of the high-load tractor moving on the track 3 is to obtain materials or workpieces from the corresponding area, then transport them to the corresponding workstation for processing, and then transport the finished products back to the corresponding storage area after processing. To determine the positional relationship between the high-load tractor and the corresponding area at this time, the position detectors 232 at the four corners are used to determine the positioning. The position detector 232 installed in the center ensures that the loading platform 11 can remain in the center position on the upper load-bearing part 12, ensuring that the center of gravity can fall in the center area, ensuring the stability of the structure and preventing the high-load tractor from tilting or overturning during transportation.

[0067] Two frame-shaped T-shaped supports are installed below the fixed test platform 23, with a reasonable spacing between them. A rib-like structure connects the frame-shaped T-shaped supports to the upper layer of the fixed test platform 23, located on the upper platform of the fixed test platform 23. This increases the contact area between the frame-shaped T-shaped supports and the upper platform of the fixed test platform 23, enhances the stability of the connection, and ensures that the upper platform of the fixed test platform 23 is not easily shaken during movement. The other end of the frame-shaped T-shaped support is mounted on the movable portion 2, serving as support for the entire fixed test platform 23.

[0068] On the side of the moving portion 2, extending perpendicularly to the support rails 25, a platform is provided for mounting the moving drive motor 22. The output shaft of the moving drive motor 22 is in driving connection with a drive gear 221. At the bottom of the moving portion 2, perpendicular to the support rails 25, three rows of track blocks 24 are arranged. Each row of track blocks 24 is spaced evenly apart, and each row contains at least four track blocks 24. Consequently, three rails are provided on the track 3, with the track blocks 24 arranged in the same pattern.

[0069] 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 rails 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 rails 31 is not repeated. The cross-section of the center rail 32 is square, and a part is symmetrically removed on both sides of the upper part to form an upper arc surface 321. In the middle position, a part 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.

[0070] A rack 33 is located near the center rail 32, and a drive gear 221 and a driven gear 222 are also located near the line connecting the middle row of track sliders 24. Once the moving unit 2 is mounted on the track 3, the rack 33 engages synchronously with the drive gear 221 and the driven gear 222. Gear-driven movement of a high-load tractor on the track 3 allows for precise control of travel distance and high accuracy. Furthermore, the gear meshing provides high torque, making it easier to move along the long track 3.

[0071] The coordination between the three rails and the three rail sliders 24 effectively increases the contact area and ensures that the center of gravity falls at the center of the projected surface of the high-load tractor, ensuring stability during travel and increasing the load-bearing capacity of the high-load tractor. The rails and racks on track 3 are not a complete single piece, but are spliced ​​together from sections of rails and racks. This reduces processing costs and allows the length of the production line to be adjusted as needed, making it easy to adjust.

[0072] Example 2:

[0073] A high-load tractor control system includes a high-load tractor in embodiment one, a raw material storage area, a product storage area, a processing area, and a controller.

[0074] A high-load tractor runs on track 3 and transports materials between the storage area and the processing area according to instructions.

[0075] The controller dispatches tractors according to user requirements to transport raw materials and store products between the storage area and the processing area.

[0076] 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.

[0077] The processing area receives the raw materials transported by the tractor and transports the processed products to the tractor.

[0078] Here's how the system works:

[0079] 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.

[0080] 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 an instruction to let the tractor transport the blank to the corresponding processing area for processing.

[0081] The workstation in the processing area 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.

[0082] 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 various 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 portion (12) is a frame structure with a plurality of empty chambers provided therein, and moves in a first direction; A loading platform (11) is mounted on the upper bearing portion (12), with loading platform moving blocks (111) provided at both ends and loading platform slides (112) provided on both sides, wherein the movement direction is parallel to the first direction, the opening cross-section of the loading platform slide (112) is formed by combining a plurality of rectangular shapes, and the loading platform moving blocks (111) are centrally symmetrically mounted on the wall of the lower layer of the loading platform (11); The movable part (2) is connected to the upper bearing part (12) at the upper part and to the track (3) at the lower part. A plurality of empty chambers are separated inside the movable part and the movable part moves in the second direction. The first direction and the second direction are perpendicular. Fixed detection platforms (23) are symmetrically provided on both sides of the movable part (2). Two frame-shaped T-shaped supports are provided below the fixed detection platform (23). 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 installed on the movable part (2).

2. A high load tractor according to claim 1, characterized in that: A guide rail (122) is symmetrically provided at the top of the upper bearing portion (12), a top buffer block (1221) is provided at the top of the guide rail (122), and a side buffer block (1222) is provided on the outside of the guide rail (122); Two sets of chain transmission mechanisms (121) are embedded on the inner side of the guide rail (122) and located on the upper bearing portion (12). The chain transmission mechanisms (121) are centrally symmetrical. 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 drive motor (123) is provided in the cavity of the upper bearing portion (12); the cavity of the upper bearing portion (12) is divided into a large cavity and a small cavity; the chain transmission mechanism drive motor (123) is installed in the large cavity; and the chain transmission mechanism drive motor (123) is transmission-connected to the chain transmission mechanism (121).

4. The 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 the upper surface is provided with inverted T-shaped grooves at equal intervals; The lower layer of the loading platform (11) has a small thickness and is provided with symmetrical loading platform sliding grooves (112).

5. A high load tractor according to claim 1, 2, 3 or 4, characterized in that: The upper surface of the movable portion (2) is provided with symmetrical bearing portion slide rails (25) parallel to the first direction, and the cross-sectional shape of the bearing portion slide rails (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 portion slide rail (25) matches the cross-sectional shape of the notch of the bearing portion slider (124) provided at the bottom of the upper bearing portion (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 portion (2) parallel to the first direction, and an 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 portion (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: The upper surface of the fixed detection platform (23) and the upper surface of the upper bearing portion (12) are located in the same plane. An identifier (231) is provided in the middle of the upper surface of the fixed detection platform (23), close to the loading platform (11). Several position detectors (232) are provided at the corners of the fixed detection platform (23).

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 equal numbers; A moving drive motor (22) is installed on the moving portion (2) near a position of a middle row of sliders, the output shaft of the moving drive motor (22) is vertically downward, the drive motor (22) is transmission-connected to 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. The 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 portion is removed symmetrically 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 walls are vertical planes, and the bottom surface is a lower inclined surface (324); The two outer rows of the track (3) are side rails (31), and the middle row is a center rail (32). The cross-sectional shape of any track (3) is the same, and a rack (33) is provided on one side of the center rail (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 stored 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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