CN111532697B - Automatic steering greenhouse suspension type rail transport vehicle system and working method thereof - Google Patents
Automatic steering greenhouse suspension type rail transport vehicle system and working method thereof Download PDFInfo
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- CN111532697B CN111532697B CN202010573137.1A CN202010573137A CN111532697B CN 111532697 B CN111532697 B CN 111532697B CN 202010573137 A CN202010573137 A CN 202010573137A CN 111532697 B CN111532697 B CN 111532697B
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- 239000000725 suspension Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000006073 displacement reaction Methods 0.000 claims description 83
- 230000003028 elevating effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000011017 operating method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D47/00—Loading or unloading devices combined with vehicles, e.g. loading platforms, doors convertible into loading and unloading ramps
- B61D47/005—Loading or unloading devices combined with road vehicles carrying wagons, e.g. ramps, turntables, lifting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
An automatic steering greenhouse suspended rail transport vehicle system and a working method thereof comprise the following steps: support column, track roof beam, transport vechicle still include: a software central control device; the supporting columns are distributed on the conveying track, and suspension structures are arranged at the tops of the supporting columns; the transport vehicle comprises a suspension single rod, a vehicle body and a mobile driving motor; the upper end of the suspension single rod is provided with a moving mechanism, and the track beam is connected with the moving mechanism; the moving driving motor drives the moving mechanism; the vehicle body is fixedly connected with the lower end of the suspension single rod; the joint of the track beams is also provided with a steering mechanism, and the steering mechanism comprises a steering wheel, a rotary driving motor, a rotary base and a steering guide rail; the rotating base is connected with the steering wheel, and the rotating driving motor drives the rotating base to rotate; the steering guide rail is fixed on the steering guide rail; the steering guide rail and the track beams are on the same horizontal plane, and the steering guide rail is used for connecting the two track beams; the mobile driving motor and the rotary driving motor are respectively connected with the software central control device.
Description
Technical Field
The invention relates to the field of rail transport vehicles, in particular to an automatic steering greenhouse suspension type rail transport vehicle system and a working method thereof.
Background
A suspended rail transportation system is a special rail transportation system. In this rail transport system, the rails are supported in the air by columns, and the transport vehicles run under the rails. Because suspension type rail system area is little, and the condition demand to the factory building is few, the transformation of the old factory building of being convenient for, consequently suspension type rail transport system has advantages such as the cost is low and the engineering is fast.
However, when loading and unloading the tray flowerpot, the existing equipment needs manual operation, and workers need to be arranged at different working points for loading and unloading in a matching way, so that the loading and unloading speed is low, the working efficiency is low, and the transportation of a transport vehicle of other lines can be influenced due to the occupation of a track beam.
And in the prior art, the converter needs to be manually moved during the transfer of the track, the track cannot be automatically changed, and the labor is wasted.
Disclosure of Invention
The purpose of the invention is as follows:
aiming at the technical problems mentioned in the background technology, the invention provides an automatic steering greenhouse suspended rail transport vehicle system and a working method thereof.
The technical scheme is as follows:
an automatically steerable greenhouse suspended rail transport vehicle system comprising: support column, track roof beam, transport vechicle still include: a software central control device;
the supporting columns are distributed on the transportation track, a suspension structure is arranged at the top of each supporting column, the track beams are fixedly connected with the suspension structures, and the track beams are distributed along the transportation track;
the transport vehicle comprises a suspension single rod, a vehicle body and a mobile driving motor;
the upper end of the suspension single rod is provided with a moving mechanism, the track beam is connected with the moving mechanism, and the moving mechanism moves along the track beam; the movement driving motor drives the movement mechanism; the vehicle body is fixedly connected with the lower end of the suspension single rod;
the joint of the track beams is also provided with a steering mechanism, and the steering mechanism comprises a steering wheel, a rotary driving motor, a rotary base and a steering guide rail;
the steering wheel is connected with the support column and at least corresponds to the two track beams; the rotating base is connected with the steering wheel, and the rotating driving motor drives the rotating base to rotate; the steering guide rail is fixed on the rotating base; the steering guide rail and the track beam are on the same horizontal plane, and the steering guide rail is used for connecting the two track beams;
and the mobile driving motor and the rotary driving motor are respectively connected with the software central control device.
In a preferred aspect of the present invention, the vehicle body includes a loading/unloading shaft, a displacement device, and a displacement drive motor;
the loading and unloading shafts are columnar and horizontally arranged, the loading and unloading shafts are all positioned on the same horizontal plane and are parallel to each other, and one ends of the loading and unloading shafts are connected with the displacement device; the displacement device drives the loading and unloading shaft to transversely displace;
the displacement driving motor is connected with the displacement device; the displacement driving motor drives the displacement device to displace, and is connected with the software central control device.
As a preferable mode of the present invention, the vehicle body further includes a lifting device, a lifting drive motor;
the lifting device is connected with the displacement device and drives the displacement device to move up and down in the vertical direction.
In a preferred aspect of the present invention, the displacement device is independently associated with one loading/unloading shaft and drives only the corresponding loading/unloading shaft to displace, and the displacement device is independently associated with one lifting/lowering device and drives only the corresponding displacement device to move vertically.
As a preferable mode of the present invention, a distance sensor is provided at the bottom of the loading and unloading shaft, and the distance sensor monitors the distance between the bottom of the loading and unloading shaft and the ground; the distance sensor is connected with the software central control device, and the software central control device determines whether the ground is empty or not according to distance data detected by the distance sensor.
As a preferable mode of the present invention, the track beam is provided with an electronic identification mark, and the suspended single rod is provided with a mark identification device;
the electronic identification mark marks position information and serial number information of the track beam, and the mark identification device is used for identifying the electronic identification mark and determining the current position of the vehicle body; the mark recognition device is connected with the software central control device.
An operating method of an automatic steering greenhouse suspended rail transport vehicle system comprises the following steps:
if the transport vehicle needs to advance, the software central control device outputs an advancing signal to the mobile driving motor;
after the moving driving motor receives the forward signal, the moving driving motor drives the moving mechanism to move forward along the track beam;
if the transport vehicle needs to retreat, the software central control device outputs a retreat signal to the mobile driving motor;
after the mobile driving motor receives the retreating signal, the mobile driving motor drives the mobile mechanism to move backwards along the track beam;
if the orbit is changed, the software central control device outputs a rotation signal to the rotation driving motor;
after the rotation driving motor receives the rotation signal, the rotation driving motor drives the rotation base to rotate by a preset angle.
The method comprises the following steps:
if the plug flowerpot needs to be loaded, the software central control device outputs a loading signal to the displacement device and outputs a descending signal to the lifting device;
after the displacement device receives the loading signal, the displacement device drives the loading and unloading shaft to transversely displace;
after the lifting device receives the descending signal, the lifting device descends;
the loading and unloading shaft is inserted into the loading hole of the plug flowerpot, and after loading is finished, the displacement device drives the loading and unloading shaft to reset, and the lifting device resets;
if the plug flowerpot needs to be unloaded, the software central control device outputs an unloading signal to the displacement device and outputs a descending signal to the lifting device;
after the displacement device receives the unloading signal, the displacement device drives the loading and unloading shaft to transversely displace;
after the lifting device receives the descending signal, the lifting device descends;
the loading and unloading shaft places the loaded potted flowerpot on the object placing surface, and after the unloading is finished, the displacement device drives the loading and unloading shaft to reset, and the lifting device resets.
The method comprises the following steps:
the mark recognition device recognizes the electronic recognition mark in a preset recognition range;
the mark identification device outputs the identified position information and the number information of the track beam to the software central control device;
and the software central control device determines the position of the transport vehicle according to the position information and the number information of the track beam.
The invention realizes the following beneficial effects:
1. the suspension transportation is realized by the suspension rail transport vehicle, the occupation of a ground rail is avoided, and the ground cleaning is facilitated.
2. The steering mechanism realizes automatic switching of the track beam, judges that the transport vehicle reaches a track changing point, and controls the steering mechanism to switch tracks by the software central control device, and the steering mechanism can switch two directions at least, so that the transport vehicle can go to different transport routes conveniently, and the automatic switching of the tracks of the transport vehicle is realized.
3. The automobile body sets up elevating gear and displacement device, can drive loading and unloading axle about, displacement from top to bottom, cooperation cave dish flowerpot realizes automatic handling, and the material resources of using manpower sparingly shorten loading and unloading time long.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic view of a support column of an automatically steerable greenhouse suspended rail transport vehicle system according to the present invention;
FIG. 2 is a general schematic view of an automatically steerable greenhouse suspended rail transport vehicle system according to the present invention;
FIG. 3 is a schematic view of a steering mechanism of an automatically steerable greenhouse suspended rail transport vehicle system according to the present invention;
FIG. 4 is a system connection diagram of an automatically steerable greenhouse overhead rail transport vehicle system according to the present invention;
FIG. 5 is a schematic view of a second self-steering greenhouse overhead rail car system according to the present invention;
FIG. 6 is a schematic view of the second automatic steering greenhouse suspended rail transport vehicle system of the present invention;
FIG. 7 is a system connection diagram of a second self-steering greenhouse overhead rail car system provided by the present invention;
FIG. 8 is a connection block diagram of a distance sensor of a third automatic steering greenhouse suspended track transporter system provided by the present invention;
fig. 9 is a connection block diagram of a sign recognition device of a fourth automatic steering greenhouse suspended rail transport vehicle system provided by the invention. Wherein: 1. the device comprises a support column, 11 suspension structures, 2 track beams, 21 steering mechanisms, 211 steering wheels, 212 rotating driving motors, 213 rotating bases, 214 steering guide rails, 3 transport vehicles, 31 suspension single rods, 311 moving mechanisms, 32 vehicle bodies, 321 loading and unloading shafts, 322 displacement devices, 323 displacement driving motors, 324 lifting devices, 325 lifting driving motors, 33 moving driving motors, 4 software central control devices, 5 distance sensors, 6 electronic identification marks and 7 mark identification devices.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Reference is made to fig. 1-4 for example.
An automatically steerable greenhouse suspended rail transport vehicle system comprising: support column 1, track roof beam 2, transport vechicle 3 still include: and a software central control device 4.
The support column 1 is distributed on the transportation track, the top of the support column 1 is provided with a suspension structure 11, the track beam 2 is fixedly connected with the suspension structure 11, and the track beam 2 is distributed along the transportation track.
The support column 1 is arranged in a factory and used for erecting a frame of the track beam 2. The support column 1 may be of a door type, with the suspension structure 11 fixed to the top of the support column 1. The suspension structure 11 is used to support the connection of the track beam 2 to the support column 1. The track beam 2 is laid on the way of the transport path.
The transport vehicle 3 comprises a suspension single rod 31, a vehicle body 32 and a moving driving motor 33.
The transport carriage 3 moves along the track beam 2 and the suspension single bar 31 is suspended from the suspension beam.
The upper end of the suspension single rod 31 is provided with a moving mechanism 311, the track beam 2 is connected with the moving mechanism 311, and the moving mechanism 311 moves along the track beam 2. The movement driving motor 33 drives the movement mechanism 311. The vehicle body 32 is fixedly connected with the lower end of the suspension single rod 31.
The moving mechanism 311 moves along the track beam 2, the moving mechanism 311 is driven by the moving driving motor 33, the software central control device 4 outputs a driving signal to the moving driving motor 33, and the moving driving motor 33 executes corresponding operation according to the driving signal.
The driving signal may include information of a moving direction, a moving distance, a moving path, etc., and the moving driving motor 33 receives the driving signal, i.e., executes an instruction of the driving signal.
The command content of the drive signals at different times may not be consistent.
The joint of the track beam 2 is also provided with a steering mechanism 21, and the steering mechanism 21 comprises a steering wheel 211, a rotary driving motor 212, a rotary base 213 and a steering guide rail 214.
The steering mechanism 21 is used to switch the transport path. The number of the turning guide rails 214 may be at least two, and the turning guide rails 214 connect the track beam 2 where the transportation vehicle 3 is currently located with the target track beam 2. The arc of the different divert guide tracks 214 may not be uniform, facilitating the connection of different paths of the track beam 2.
The steering wheel 211 is connected with the support column 1, and the steering wheel 211 at least corresponds to the two track beams 2. The rotating base 213 is connected to the steering wheel 211, and the rotation driving motor 212 drives the rotating base 213 to rotate. The steering rail 214 is fixed to the rotating base 213. The steering guide rail 214 is in the same horizontal plane with the track beam 2, and the steering guide rail 214 is used for connecting two track beams 2.
The steering wheel 211 is fixed to the support column 1, the steering wheel 211 does not move, and the rotation base 213 is driven by the rotation driving motor 212 to rotate around the axis.
The software central control device 4 outputs a rotation signal to the rotation driving motor 212, and the rotation signal may include the angle of the rotation and the connected track beam 2. The rotation driving motor 212 drives the rotation base 213 to rotate to a corresponding position according to the received rotation signal.
Alternatively, the rotation angle of the rotation base 213 receiving the rotation signal each time is fixed, and the software central control device 4 outputs the rotation signal to the rotation driving motor 212 for different times, so that the rotation driving motor 212 drives the rotation base 213 to rotate to the designated position.
The mobile driving motor 33 and the rotary driving motor 212 are respectively connected with the software central control device 4.
Specifically, when the transport vehicle 3 is going to move forward, the software central control device 4 outputs a forward signal to the movement driving motor 33.
After the moving drive motor 33 receives the forward signal, the moving drive motor 33 drives the moving mechanism 311 to move forward along the track beam 2.
If the transport vehicle 3 is going to retreat, the software central control device 4 outputs a retreat signal to the movement driving motor 33.
After the moving drive motor 33 receives the backward signal, the moving drive motor 33 drives the moving mechanism 311 to move backward along the track beam 2.
If the orbit is changed, the software central control device 4 outputs a rotation signal to the rotation driving motor 212.
After the rotation driving motor 212 receives the rotation signal, the rotation driving motor 212 drives the rotation base 213 to rotate by a preset angle.
Example two
Reference is made to fig. 5-7 for example.
The present embodiment is substantially the same as the first embodiment, except that the vehicle body 32 includes a loading/unloading shaft 321, a displacement device 322, and a displacement driving motor 323 as a preferable mode of the present embodiment.
The loading and unloading shafts 321 are arranged horizontally and in a column shape, the loading and unloading shafts 321 are all positioned on the same horizontal plane and are parallel to each other, and one end of each loading and unloading shaft 321 is connected with the displacement device 322. The displacement device 322 drives the loading and unloading shaft 321 to displace transversely.
The columnar assembling and disassembling shaft 321 is matched with the plug flowerpot, the assembling and disassembling shaft 321 is inserted into the groove of the plug flowerpot, and the plug flowerpot can be lifted up by lifting up the assembling and disassembling shaft 321.
The displacement device 322 drives the horizontal position of the loading and unloading shaft 321, and the loading and unloading shaft 321 loads or unloads the potted tray flowerpot placed at one side.
The displacement driving motor 323 is connected to the displacement device 322. The displacement driving motor 323 drives the displacement device 322 to displace, and the displacement driving motor 323 is connected with the software central control device 4.
In a preferred embodiment of the present invention, the vehicle body 32 further includes a lifting device 324 and a lifting drive motor 325.
The lifting device 324 is connected to the displacement device 322, and the lifting device 324 drives the displacement device 322 to move up and down in the vertical direction.
The lifting device 324 adjusts the vertical position of the loading and unloading shaft 321, the lifting device 324 is at a high position during the transportation of the transport vehicle 3, and the lifting device 324 is at a low position during the loading and unloading of the transport vehicle 3.
The high position and the low position of the lifting device 324 are preset heights and are set according to the height of a placing surface on the site.
Specifically, if the plug flowerpot needs to be loaded, the software central control device 4 outputs a loading signal to the displacement device 322, and the software central control device 4 outputs a descending signal to the lifting device 324.
When the displacement device 322 receives the loading signal, the displacement device 322 drives the loading/unloading shaft 321 to displace laterally.
When the elevating device 324 receives the lowering signal, the elevating device 324 is lowered.
The loading and unloading shaft 321 is inserted into the loading hole of the plug flowerpot, after loading is finished, the displacement device 322 drives the loading and unloading shaft 321 to reset, and the lifting device 324 resets.
If the plug flowerpot is to be unloaded, the software central control device 4 outputs an unloading signal to the displacement device 322, and the software central control device 4 outputs a descending signal to the lifting device 324.
After the displacement device 322 receives the unloading signal, the displacement device 322 drives the loading and unloading shaft 321 to move transversely.
When the elevating device 324 receives the lowering signal, the elevating device 324 is lowered.
The loading and unloading shaft 321 places the loaded potted flower pot on the placing surface, and after the unloading is finished, the displacement device 322 drives the loading and unloading shaft 321 to reset, and the lifting device 324 resets.
In a preferred embodiment of the present invention, the displacement device 322 is independently associated with one of the loading and unloading shafts 321, the displacement device 322 drives only the corresponding loading and unloading shaft 321 to displace, and the displacement device 322 is independently associated with one of the lifting devices 324, and the lifting device 324 drives only the corresponding displacement device 322 to move vertically.
The loading and unloading shafts 321 correspond to the displacement device 322 independently, and different loading and unloading shafts 321 can be extended or reset independently. Meanwhile, the displacement device 322 can also independently lift and lower.
That is, the assembling and disassembling shaft 321 can partially work independently, which is convenient for fine operation.
EXAMPLE III
Reference is made to fig. 8 as an example.
This embodiment is substantially the same as the first embodiment, except that, as a preferable mode of this embodiment, a distance sensor 5 is provided at the bottom of the loading and unloading shaft 321, and the distance sensor 5 monitors the distance between the bottom of the loading and unloading shaft 321 and the ground. The distance sensor 5 is connected with the software central control device 4, and the software central control device 4 determines whether the ground is empty or not according to the distance data detected by the distance sensor 5.
The distance sensor 5 monitors the distance between the bottom of the loading/unloading shaft 321 and the ground, and when there is no other object on the ground, the distance from the ground is a fixed value, and if there is another object on the ground, the distance changes.
The software central control device 4 can judge whether the ground has placed articles according to the distance, and if the distance changes relative to a fixed value, the software central control device 4 feeds back the situation of the foreign matters on the ground.
Example four
Reference is made to fig. 9 as an example.
The present embodiment is substantially the same as the first embodiment, except that, as a preferable mode of the present embodiment, the track beam 2 is provided with the electronic identification mark 6, and the suspension single bar 31 is provided with the mark recognition device 7.
The electronic identification mark 6 can be an identification tag such as a radio frequency tag, a bluetooth tag, etc., and the mark identification device 7 can identify the information content in the electronic identification mark 6 within the identification distance.
The electronic identification mark 6 marks the position information and the number information of the track beam 2, and the mark recognition device 7 is used for recognizing the electronic identification mark 6 and determining the current position of the vehicle body 32. The mark recognition device 7 is connected with the software central control device 4.
The mark recognition device 7 marks the position of the current track beam 2, the mark recognition devices 7 are sequentially arranged on different track beams 2, and the recognition range of the mark recognition device 7 can be controlled to recognize only one electronic recognition mark 6 at a time. The current position of the transport vehicle 3 can be determined based on the information of the electronic identification mark 6 identified by the mark identifying device 7.
The matching of the electronic identifier 6 with the identifier recognition means 7 can determine whether the current travel path of the transport vehicle 3 corresponds to a predetermined path. The transport paths of the different transport carriages 3 may not be uniform.
The position of the working point for loading and unloading goods can be determined by the cooperation of the electronic identification mark 6 and the mark recognition device 7, and whether the transport vehicle 3 reaches the designated working point can be determined according to the information fed back by the electronic identification mark 6.
Specifically, the mark recognition means 7 recognizes the electronic recognition mark 6 within a preset recognition range.
The mark recognition device 7 outputs the recognized position information and the recognized serial number information of the track beam 2 to the software central control device 4.
And the software central control device 4 determines the position of the transport vehicle 3 according to the position information and the number information of the track beam 2.
EXAMPLE five
An operating method of an automatic steering greenhouse suspended rail transport vehicle system comprises the following steps:
if the transport vehicle 3 is going forward, the software central control device 4 outputs a forward signal to the moving driving motor 33.
After the moving drive motor 33 receives the forward signal, the moving drive motor 33 drives the moving mechanism 311 to move forward along the track beam 2.
If the transport vehicle 3 is going to retreat, the software central control device 4 outputs a retreat signal to the movement driving motor 33.
After the moving drive motor 33 receives the backward signal, the moving drive motor 33 drives the moving mechanism 311 to move backward along the track beam 2.
If the orbit is changed, the software central control device 4 outputs a rotation signal to the rotation driving motor 212.
After the rotation driving motor 212 receives the rotation signal, the rotation driving motor 212 drives the rotation base 213 to rotate by a preset angle.
The present embodiment is substantially the same as the first embodiment, except that, as a preferred mode of the present embodiment, the following steps are included:
if the plug flowerpot needs to be loaded, the software central control device 4 outputs a loading signal to the displacement device 322, and the software central control device 4 outputs a descending signal to the lifting device 324.
When the displacement device 322 receives the loading signal, the displacement device 322 drives the loading/unloading shaft 321 to displace laterally.
When the elevating device 324 receives the lowering signal, the elevating device 324 is lowered.
The loading and unloading shaft 321 is inserted into the loading hole of the plug flowerpot, after loading is finished, the displacement device 322 drives the loading and unloading shaft 321 to reset, and the lifting device 324 resets.
If the plug flowerpot is to be unloaded, the software central control device 4 outputs an unloading signal to the displacement device 322, and the software central control device 4 outputs a descending signal to the lifting device 324.
After the displacement device 322 receives the unloading signal, the displacement device 322 drives the loading and unloading shaft 321 to move transversely.
When the elevating device 324 receives the lowering signal, the elevating device 324 is lowered.
The loading and unloading shaft 321 places the loaded potted flower pot on the placing surface, and after the unloading is finished, the displacement device 322 drives the loading and unloading shaft 321 to reset, and the lifting device 324 resets.
The present embodiment is substantially the same as the first embodiment, except that, as a preferred mode of the present embodiment, the following steps are included:
the mark recognition means 7 recognizes the electronic identification mark 6 within a preset recognition range.
The mark recognition device 7 outputs the recognized position information and the recognized serial number information of the track beam 2 to the software central control device 4.
And the software central control device 4 determines the position of the transport vehicle 3 according to the position information and the number information of the track beam 2.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. An automatically steerable greenhouse suspended rail transport vehicle system comprising: support column (1), track roof beam (2), transport vechicle (3), its characterized in that still includes: a software central control device (4);
the supporting columns (1) are distributed on the transportation track, a suspension structure (11) is arranged at the top of each supporting column (1), the track beams (2) are fixedly connected with the suspension structures (11), and the track beams (2) are distributed along the transportation track;
the transport vehicle (3) comprises a suspension single rod (31), a vehicle body (32) and a mobile driving motor (33);
the upper end of the suspension single rod (31) is provided with a moving mechanism (311), the track beam (2) is connected with the moving mechanism (311), and the moving mechanism (311) moves along the track beam (2); the movement driving motor (33) drives the movement mechanism (311); the vehicle body (32) is fixedly connected with the lower end of the suspension single rod (31);
the joint of the track beam (2) is also provided with a steering mechanism (21), and the steering mechanism (21) comprises a steering wheel (211), a rotary driving motor (212), a rotary base (213) and a steering guide rail (214);
the steering wheel (211) is connected with the supporting column (1), and the steering wheel (211) at least corresponds to the two track beams (2); the rotating base (213) is connected with the steering wheel (211), and the rotating driving motor (212) drives the rotating base (213) to rotate; the steering guide rail (214) is fixed to the rotating base (213); the steering guide rail (214) and the track beam (2) are on the same horizontal plane, and the steering guide rail (214) is used for connecting the two track beams (2);
the mobile driving motor (33) and the rotary driving motor (212) are respectively connected with the software central control device (4);
the vehicle body (32) comprises a loading and unloading shaft (321), a displacement device (322) and a displacement driving motor (323); the assembling and disassembling shafts (321) are columnar and horizontally arranged, the assembling and disassembling shafts (321) are all positioned on the same horizontal plane and are parallel to each other, and one end of each assembling and disassembling shaft (321) is connected with the displacement device (322); the displacement device (322) drives the loading and unloading shaft (321) to transversely displace; the displacement driving motor (323) is connected with the displacement device (322); the displacement driving motor (323) drives the displacement device (322) to displace, and the displacement driving motor (323) is connected with the software central control device (4); the columnar assembling and disassembling shaft (321) is matched with the plug flowerpot, the assembling and disassembling shaft (321) is inserted into the groove of the plug flowerpot, and the assembling and disassembling shaft (321) is lifted to lift the plug flowerpot; the displacement device (322) drives the horizontal position of the loading and unloading shaft (321), and the loading and unloading shaft (321) loads or unloads the potted tray flowerpot placed at one side.
2. The self-steering greenhouse suspended track transporter system of claim 1, wherein the vehicle body (32) further comprises a lifting device (324), a lifting drive motor (325);
the lifting device (324) is connected with the displacement device (322), and the lifting device (324) drives the displacement device (322) to move up and down in the vertical direction.
3. The automatic steering greenhouse suspended rail transport vehicle system as claimed in claim 2, wherein the displacement device (322) is independently corresponding to a loading and unloading shaft (321), the displacement device (322) only drives the corresponding loading and unloading shaft (321) to displace, the displacement device (322) is independently corresponding to a lifting device (324), and the lifting device (324) only drives the corresponding displacement device (322) to move up and down in the vertical direction.
4. The automatic steering greenhouse suspended rail transport vehicle system as claimed in claim 1, wherein the bottom of the loading and unloading shaft (321) is provided with a distance sensor (5), and the distance sensor (5) monitors the distance between the bottom of the loading and unloading shaft (321) and the ground; the distance sensor (5) is connected with the software central control device (4), and the software central control device (4) determines whether the ground is empty or not according to distance data detected by the distance sensor (5).
5. An automatic steering greenhouse suspended rail transport vehicle system as claimed in claim 1, characterized in that the rail beam (2) is provided with an electronic identification mark (6), and the suspension single bar (31) is provided with a mark recognition device (7);
the electronic identification mark (6) marks the position information and the number information of the track beam (2), and the mark identification device (7) is used for identifying the electronic identification mark (6) and determining the current position of the vehicle body (32); the mark recognition device (7) is connected with the software central control device (4).
6. Method of operating an automatically steerable greenhouse suspended rail transport vehicle system according to any of the claims 1-5, comprising the steps of:
the transport vehicle (3) advances: the software central control device (4) outputs a forward signal to the mobile driving motor (33);
after the moving driving motor (33) receives the forward signal, the moving driving motor (33) drives the moving mechanism (311) to move forward along the track beam (2);
the carrier vehicle (3) retreats: the software central control device (4) outputs a backward signal to the mobile driving motor (33);
after the moving driving motor (33) receives the backward signal, the moving driving motor (33) drives the moving mechanism (311) to move backward along the track beam (2);
track transfer: the software central control device (4) outputs a rotation signal to the rotation driving motor (212);
after the rotation driving motor (212) receives the rotation signal, the rotation driving motor (212) drives the rotation base (213) to rotate by a preset angle.
7. The method of operating an automatically steerable greenhouse suspended rail transport vehicle system as claimed in claim 6, comprising the steps of:
loading the potted tray flowerpot: the software central control device (4) outputs a loading signal to the displacement device (322), and the software central control device (4) outputs a descending signal to the lifting device (324);
after the displacement device (322) receives the loading signal, the displacement device (322) drives the loading and unloading shaft (321) to transversely displace;
after the lifting device (324) receives the descending signal, the lifting device (324) descends;
the loading and unloading shaft (321) is inserted into the loading hole of the plug flowerpot, after loading is finished, the displacement device (322) drives the loading and unloading shaft (321) to reset, and the lifting device (324) resets;
unloading the tray flowerpot: the software central control device (4) outputs an unloading signal to the displacement device (322), and the software central control device (4) outputs a descending signal to the lifting device (324);
after the displacement device (322) receives the unloading signal, the displacement device (322) drives the loading and unloading shaft (321) to transversely displace;
after the lifting device (324) receives the descending signal, the lifting device (324) descends;
the loading and unloading shaft (321) places the loaded potted tray flowerpot on the object placing surface, after unloading is finished, the displacement device (322) drives the loading and unloading shaft (321) to reset, and the lifting device (324) resets.
8. The method of operating an automatically steerable greenhouse suspended rail transport vehicle system as claimed in claim 6, comprising the steps of:
the mark recognition device (7) recognizes the electronic recognition mark (6) within a preset recognition range;
the mark identification device (7) outputs the identified position information and the number information of the track beam (2) to the software central control device (4);
and the software central control device (4) determines the position of the transport vehicle (3) according to the position information and the number information of the track beam (2).
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| CN202010573137.1A CN111532697B (en) | 2020-06-22 | 2020-06-22 | Automatic steering greenhouse suspension type rail transport vehicle system and working method thereof |
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| CN113120539B (en) * | 2021-03-19 | 2023-01-10 | 宁夏银湖农林牧开发有限公司 | Automatic transportation equipment in nursery field |
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Effective date of registration: 20230913 Address after: Room 204-2, 2nd Floor, Building 2, No. 209 Zhuyuan Road, High tech Zone, Suzhou City, Jiangsu Province, 215011 Patentee after: Jiangsu Nongsheng Taige Agricultural Technology (Group) Co.,Ltd. Address before: 200120 1st floor, No.68, zhupan Road, Zhuqiao Town, Pudong New Area, Shanghai Patentee before: SHANGHAI NONGSHENG MODERN AGRICULTURAL TECHNOLOGY CO.,LTD. |