CN102616518A - Remote control shuttle vehicle for high-density automatic warehouse - Google Patents
Remote control shuttle vehicle for high-density automatic warehouse Download PDFInfo
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- CN102616518A CN102616518A CN201210088447XA CN201210088447A CN102616518A CN 102616518 A CN102616518 A CN 102616518A CN 201210088447X A CN201210088447X A CN 201210088447XA CN 201210088447 A CN201210088447 A CN 201210088447A CN 102616518 A CN102616518 A CN 102616518A
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Abstract
The invention relates to a remote control shuttle vehicle used in a high-density automatic warehouse. The remote control shuttle vehicle is arranged on an alley below a cargo space of a shuttle type shelf, comprises an upper vehicle body and a lower vehicle body, and is characterized in that: the upper vehicle body and the lower vehicle body are connected by four lifting racks; the lifting racks do vertical lifting movement through a lifting mechanism arranged in the lower vehicle body, so that the upper vehicle body is pushed to integrally lift; traveling mechanisms for driving the shuttle vehicle to advance are arranged on the two sides in the lower vehicle body; the lifting mechanism is arranged inside the traveling mechanisms; and a power supply and a control system are arranged inside the lifting mechanism. Through the adopted gear type lifting device, the system arrangement is safer and more concise, and the working reliability of the shuttle vehicle can be effectively improved; through the adopted traveling mechanisms, the working noise can be reduced, and the linearity for traveling is guaranteed; and a servo motor driving system is adopted, so that the accuracy of the shuttle vehicle for reaching an instruction location is guaranteed.
Description
Technical field
The present invention relates to a kind of remote control shuttle that is used for the high density automated warehouse, belong to the logistics equipment technical field.
Background technology
In recent years the automatic material flow system household electrical appliances, tobacco, medicine, food, daily necessities, five metals, etc. the application in the industry increasingly extensive.The transporting pattern overwhelming majority of Automatic Warehouse has wherein adopted " sailing formula lane stacker system into ".According to statistics in 2010, the present recoverable amount of national Automatic Warehouse was about 1000,90 of newly-built then large-sized automated warehouses, more than 95% for sailing the formula shelf into, i.e. AS/RS (warehousing system) solution.As shown in Figure 1; The centre that is characterized in the High Level Rack on both sides is provided with the piler passage, and the lane stacker 35 of rail mounted is because of the passage with directions X is walked at a high speed, the action of the pallet fork bidirectional access goods of the lifting action of Y direction and Z direction constitutes and sails the formula access system into.But these recent decades, there was the trend that is replaced by " the shuttle type access system " of development abroad recent years in putative efficient access system.
In the automatic material flow system, the VHD of pallet cargo is deposited, the maximum use of implementation space, and its technology reaches its maturity.Household electrical appliances, tobacco, medicine, food, daily necessities, five metals, etc. in the industry; Every layer of tunnel can be placed in the warehouse of same type of pallet; Adopt highdensity " shuttle type access system "; To replace with the lane stacker is the formula of sailing into the shelf of load transfer device, can improve the space availability ratio in warehouse greatly.The characteristics of " shuttle type access system " are that super-dense is deposited.Shelf are not with and are sailed passage into, highly are " tunnel " and the current track of 200 millimeter but below every layer of goods yard, be provided with; Therefore, its shelf form also is called as " tunnel type shelf ", " or double-deck dark formula shelf "." shuttle " that have walking at a high speed and lifting apparatus just runs in the guide in " tunnel " of every layer of goods yard lower floor.Owing to has cancelled and sailed passage into, so the closeness of shelf increases substantially.This system is adapted to deposit with layer goods yard the warehouse of same type of pallet.Can realize the FIFO of goods or go into afterwards earlier through the link of carrying with fork truck or roller-way.The total length of this shelf can reach 100 meters, and every layer is provided with the dozens of goods yard.
Key equipment in " shuttle type access system " is a shuttle.Shuttle can shuttle back and forth back and forth at a high speed in the passage below pallet, and through its lifting apparatus and recognition system pallet and material is transported to another specified sites from a specified sites.In fact this system need not be provided with a shuttle in every layer of tunnel, but when operationies on incoming and outgoing inventory need be done in certain one deck goods yard, is placed into shuttle on the track of this layer by the fork truck outside the storehouse.
Summary of the invention
The objective of the invention is to overcome the deficiency that exists in the prior art, a kind of remote control shuttle that is used for the high density automated warehouse is provided, make the safer succinct functional reliability that also can effectively improve shuttle of system layout.
According to technical scheme provided by the invention; The said remote control shuttle that is used for the high density automated warehouse is installed in the tunnel of the below, goods yard of shuttle type shelf; The remote control shuttle comprises upper body and lower body; Characteristic is: connected by four lifting tooth bars between said upper body and the lower body, the lifting tooth bar is done the oscilaltion campaign through lifting mechanism, thereby promotes the whole lifting of upper body; The traveling gear that the drive shuttle is advanced is installed in said lower body in-to-in both sides, and lifting mechanism is installed in the inboard of traveling gear, in the installed inside power supply and the control system of lifting mechanism.
Said lifting mechanism comprises symmetrically arranged two groups of lifting parts, and the structure of two groups of lifting parts is identical; Said lifting parts comprise first motor gear; Mesh with first reducing gear, second reducing gear respectively the both sides of said first motor gear; First reducing gear and the first lifting gear mesh, the first lifting gear meshes with lifting tooth bar on one side, second reducing gear and transmission gear engagement; The transmission gear and the second lifting gear mesh, the lifting tooth bar engagement of the second lifting gear and another side;
Said traveling gear comprises that four stretch out in the wheel of lower body both sides with cantilever position, and two wheels of front end are installed in respectively on two transmission output shafts, and two transmission output shafts are connected by universal-joint, and two wheels in rear end are installed in respectively on two driven shafts; The 3rd reducing gear is installed on the said transmission output shaft, the 3rd reducing gear and the engagement of second motor gear, second motor gear is installed on the clutch end of deceleration servomotor; Synchronous sprocket wheel is installed respectively on said transmission output shaft and driven shaft, and transmission output shaft and driven shaft link together through the synchronization chain of winding on synchronous sprocket wheel.
Said first motor gear is installed on the power take-off shaft that subtracts translator, and first reducing gear, second reducing gear, transmission gear, the first lifting gear and the second lifting gear are installed on the pivot shaft respectively; The pivot shaft of the first lifting gear of two groups of lifting parts is connected by universal coupling.
As further improvement of the present invention, on said synchronization chain, stretching device is installed.
Said stretching device comprises tension wheel, and tension wheel is installed on the backstand through needle bearing, thrust baring, backstand by the tensioning bolt tensioning after, be fixed on the lower body through bolt of rear end plate.
As further improvement of the present invention, the sidepiece at the forward and backward two ends of said lower body respectively installation side to guide wheel.
Said side guide wheel comprises the guide wheel of band polyurethane wheel skin, and guide wheel is installed on the little axle through needle bearing, and little axle is fixed between top chock and the step, and top chock and step directly are welded on the lower body.
As further improvement of the present invention, said lifting tooth bar is arranged in the guiding parts, and guiding parts leads to the lifting tooth bar.
Said guiding parts is the nylon orienting lug that is provided with guide groove.
Remote control shuttle of the present invention and shuttle type shelf cooperate, and have cancelled the formula of sailing into passage and lane stacker in the conventional automated warehouse, thereby form the high density automated warehouse; The gear type lifting apparatus that the present invention adopts makes the safer succinct functional reliability that also can effectively improve shuttle of system layout; The traveling gear that the present invention adopts can reduce work noise, guarantees the rectilinearity of walking; The present invention adopts servo motor driving system, has guaranteed that shuttle arrives the particularity of the location of instruction.
Description of drawings
Fig. 1 is the facade arrangement plan that sails the formula shelf into of the prior art.
Fig. 2 is the arrangement plan of shuttle of the present invention and high density automated warehouse.
Fig. 3 is a front view of the present invention.
Fig. 4 is the birds-eye view of Fig. 3.
Fig. 5 is the A-A cutaway view of Fig. 3.
Fig. 6 is the B-B cutaway view of Fig. 4.
Fig. 7 is the structural representation of lifting mechanism of the present invention.
Fig. 8 is the birds-eye view of Fig. 7.
Fig. 9 is the structural representation of traveling gear of the present invention.
Figure 10 is the birds-eye view of Fig. 9.
Figure 11 is the front view of side guide wheel of the present invention.
Figure 12 is the cutaway view of side guide wheel of the present invention.
Figure 13 is the front view of stretching device of the present invention.
Figure 14 is the cutaway view of stretching device of the present invention.
The specific embodiment
Below in conjunction with concrete accompanying drawing the present invention is described further.
Like Fig. 2 ~ shown in Figure 14: the remote control shuttle that is used for the high density automated warehouse comprises upper body 1; Lower body 2; Lifting tooth bar 3; Lifting mechanism 4; Traveling gear 5; Reducing motor 6; First motor gear 7; The first reducing gear 8-1; The second reducing gear 8-2; Transmission gear 9; The first lifting gear 10-1; The second lifting gear 10-2; Nylon orienting lug 11; Universal coupling 12; Deceleration servomotor 13; Second motor gear 14; The 3rd reducing gear 15; Transmission output shaft 16; Synchronous sprocket wheel 17; Wheel 18; Universal-joint 19; Synchronization chain 20; Driven shaft 21; Side guide wheel 22; Stretching device 23; Guide wheel 24; Needle bearing 25; Little axle 26; Top chock 27-1; Step 27-2; Pad 28; Tension wheel 29; Needle bearing 30; Thrust baring 31; Backstand 32; Tensioning bolt 33; Bolt of rear end plate 34 etc.
As shown in Figure 2, remote control shuttle of the present invention is installed on the tunnel of goods yard below of shuttle type shelf, can in the tunnel, shuttle back and forth back and forth, and pallet and material are transported to another specified sites from a specified sites; Like Fig. 3, shown in Figure 4; Said remote control shuttle comprises upper body 1 and lower body 2; Connected by four lifting tooth bars 3 between upper body 1 and the lower body 2, lifting tooth bar 3 can be made 50 millimeters short range up-and-down movement through the lifting mechanism 4 that is installed in the lower body 2, thereby promotes upper body 1 whole lifting; The pallet and the container of appointment on the shelf are lifted away from shelf, move to the location of instruction;
Like Fig. 5, shown in Figure 6, in said lower body 2 in-to-in both sides traveling gear 5 is installed, at the installed inside lifting mechanism 4 of traveling gear 5, in the installed inside power supply and the control system of lifting mechanism 4;
Like Fig. 7, shown in Figure 8; Said lifting mechanism 4 comprises symmetrically arranged two groups of lifting parts, and said lifting parts comprise first motor gear 7 and to first motor gear 7 reducing motor 6 of power is provided, the both sides of said first motor gear 7 respectively with the first reducing gear 8-1, second reducing gear 8-2 engagement; Promote the revolution of the first reducing gear 8-1 and the second reducing gear 8-2 low speed; The first reducing gear 8-1 and first lifting gear 10-1 engagement, the first lifting gear 10-1 and lifting tooth bar on one side 3 engagements drive lifting tooth bar 3 on one side and do dipping and heaving; The second reducing gear 8-2 and transmission gear 9 engagements; Transmission gear 9 and second lifting gear 10-2 engagement, lifting tooth bar 3 engagements of the second lifting gear 10-2 and another side, the lifting tooth bar 3 that drives another side is done dipping and heaving; The effect of said transmission gear 9 is to make the second lifting gear 10-2 of another side switching-over, makes the lifting tooth bar 3 on both sides can do equidirectional motion; As shown in Figure 8, said first motor gear 7 is installed on the power take-off shaft that subtracts translator 6, and the first reducing gear 8-1, the second reducing gear 8-2, transmission gear 9, the first lifting gear 10-1 and the second lifting gear 10-2 are installed on the pivot shaft respectively; The structure of said two groups of lifting parts is identical, and the pivot shaft of the first lifting gear 10-1 of two groups of lifting parts is connected by universal coupling 12, thereby two groups of lifting parts are linked together, and makes two groups of lifting parts can carry out synchronization action; As shown in Figure 8; Said lifting tooth bar 3 is arranged in the guiding parts 11; Guiding parts 11 can be carried out guiding to lifting tooth bar 3, in the action overall process of lifting tooth bar 3, receives the constraint of guiding parts 11 all the time, thereby guarantees the correct engagement of the first lifting gear 10-1 and lifting tooth bar 3; Said guiding parts 11 can adopt the nylon orienting lug 11 that is provided with guide groove, or other can carry out the device of directional tagging to lifting tooth bar 3;
Like Fig. 9, shown in Figure 10; Said traveling gear 5 comprises four wheels 18 that stretch out in lower body 2 both sides with cantilever position; Two wheels 18 of front end are installed in respectively on two transmission output shafts 16; Two transmission output shafts 16 are connected by universal-joint 19, and two wheels 18 in rear end are installed in respectively on two driven shafts 21; The 3rd reducing gear 15, the three reducing gear 15 and 14 engagements of second motor gear are installed on the said transmission output shaft 16, and second motor gear 14 is installed on the clutch end of deceleration servomotor 13, thereby to transmission output shaft 16 outputting powers; For preventing to cause wheel unsettled because of orbit plane degree error; Cause the walking location mistake of shuttle; On said transmission output shaft 16 and driven shaft 21, synchronous sprocket wheel 17 is installed respectively; Transmission output shaft 16 links together through the synchronization chain 20 of winding on synchronous sprocket wheel 17 with driven shaft 21, makes to be installed on the also propulsive effort of acquisition walking simultaneously of two groups of wheels 18 on the driven shaft 21; Shown in figure 10, on said synchronization chain 17, stretching device 23 is installed respectively near transmission output shaft 16, driven shaft 21 places, be used to guarantee the normal degree of tension of synchronization chain 17, prevent to jump chain;
Like Figure 13, shown in Figure 14, said stretching device 23 comprises tension wheel 29, and tension wheel 29 is installed on the backstand 32 through needle bearing 30, thrust baring 31, backstand 32 by tensioning bolt 33 tensionings after, be fixed on the lower body 2 with four bolt of rear end plates 34;
Shown in figure 10, installation side is to guide wheel 22 respectively for the sidepiece at the forward and backward two ends of lower body 2, and side guide wheel 22 can guarantee that shuttle correctly walks on the track; Like Figure 11, shown in Figure 12; Said side guide wheel 22 comprises the guide wheel 24 of band polyurethane wheel skin; Guide wheel 24 is installed on the little axle 26 through needle bearing 25; Little axle 26 is fixed between top chock 27-1 and the step 27-2, and top chock 27-1 and step 27-2 directly are welded on the lower body 2; Upper and lower at said guide wheel 24 is provided with needle roller thrust bearing and pad 8, with the adjusting play.
Remote control shuttle of the present invention and shuttle type shelf cooperate, and have cancelled the formula of sailing into passage and lane stacker in the conventional automated warehouse, thereby form the high density automated warehouse.
Remote control shuttle gear type lifting apparatus of the present invention can effectively improve the functional reliability of shuttle.In the present invention, shuttle is decomposed into two parts up and down.Upper body is the framing member of weight tray goods, and it can make 50 millimeters lifting action through the lifting mechanism and the guiding mechanism that are arranged in the lower body above lower body.Respectively arrange a cover by motor-driven at the two ends of lower body, the lifting gear of band speed reduction gearing.Totally four lifting gears four end points of lower body that are placed in, and connect through universal coupling, to guarantee the good synchronisation of lifting action.Lifting tooth bar and lifting gear mesh then are set on the relevant position of upper body.Synchronization action through two cover lifting parts makes the physical efficiency band of getting on the bus pallet cargo and makes the pulsation-free up-and-down movement.
The arranged outside traveling gear of lifting mechanism in the shuttle lower body.Four wheels by driven by servomotor are walked on the track below the high density warehouse tray rack.Wheel outsourcing polyamine fat wheel skin is to reduce work noise.The side of running wheel is provided with track adjusting wheel, to guarantee the rectilinearity of walking.The communication system of servo motor driving system and shuttle, recognition system, recognize the location position fixing system and cooperate, guaranteed that shuttle arrives the particularity of the location of instruction.
The present invention adopts contactlessly powered design plan, adopts the DC servo actuation techniques among the present invention, and does not re-use sliding conduction power supply.The present invention uses three groups of lithium dynamical batteries or four groups of maintenance-free lead-acid batteries to provide whole work and control to use electric power altogether, has realized contactlessly powered.
Claims (9)
1. remote control shuttle that is used for the high density automated warehouse; Said remote control shuttle is installed on the tunnel of goods yard below of shuttle type shelf; The remote control shuttle comprises upper body (1) and lower body (2); It is characterized in that: connected by four lifting tooth bars (3) between said upper body (1) and the lower body (2), lifting tooth bar (3) is done the oscilaltion campaign through lifting mechanism (4), thereby promotes the whole lifting of upper body (1); The traveling gear (5) that the drive shuttle is advanced is installed in said lower body (2) in-to-in both sides, and lifting mechanism (4) is installed in the inboard of traveling gear (5), in the installed inside power supply and the control system of lifting mechanism (4).
2. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 1 is characterized in that: said lifting mechanism (4) comprises symmetrically arranged two groups of lifting parts, and the structure of two groups of lifting parts is identical; Said lifting parts comprise first motor gear (7); Mesh with first reducing gear (8-1), second reducing gear (8-2) respectively the both sides of said first motor gear (7); First reducing gear (8-1) and the engagement of the first lifting gear (10-1); The first lifting gear (10-1) meshes with lifting tooth bar (3) on one side; Second reducing gear (8-2) and transmission gear (9) engagement, transmission gear (9) and the engagement of the second lifting gear (10-2), lifting tooth bar (3) engagement of the second lifting gear (10-2) and another side;
Said traveling gear (5) comprises four wheels (18) that stretch out in lower body (2) both sides with cantilever position; Two wheels of front end (18) are installed in respectively on two transmission output shafts (16); Two transmission output shafts (16) are connected by universal-joint (19), and two wheels in rear end (18) are installed in respectively on two driven shafts (21); The 3rd reducing gear (15) is installed on the said transmission output shaft (16), the 3rd reducing gear (15) and second motor gear (14) engagement, second motor gear (14) is installed on the clutch end of deceleration servomotor (13); On said transmission output shaft (16) and driven shaft (21), synchronous sprocket wheel (17) is installed respectively, transmission output shaft (16) and driven shaft (21) link together through the synchronization chain (20) of winding on synchronous sprocket wheel (17).
3. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 2 is characterized in that: go up at said synchronization chain (17) stretching device (23) is installed.
4. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 3; It is characterized in that: said stretching device (23) comprises tension wheel (29); Tension wheel (29) is installed on the backstand (32) through needle bearing (30), thrust baring (31); Backstand (32) by tensioning bolt (33) tensioning after, be fixed on the lower body (2) through bolt of rear end plate (34).
5. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 2 is characterized in that: the sidepiece at the forward and backward two ends of said lower body (2) respectively installation side to guide wheel (22).
6. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 5; It is characterized in that: said side guide wheel (22) comprises the guide wheel (24) of band polyurethane wheel skin; Guide wheel (24) is installed on the little axle (26) through needle bearing (25); Little axle (26) is fixed between top chock (27-1) and the step (27-2), and top chock (27-1) and step (27-2) directly are welded on the lower body (2).
7. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 2 is characterized in that: said lifting tooth bar (3) is arranged in the guiding parts (11), and guiding parts (11) leads to lifting tooth bar (3).
8. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 7 is characterized in that: said guiding parts (11) is for being provided with the nylon orienting lug (11) of guide groove.
9. the remote control shuttle that is used for the high density automated warehouse as claimed in claim 2; It is characterized in that: said first motor gear (7) is installed on the power take-off shaft that subtracts translator (6), and first reducing gear (8-1), second reducing gear (8-2), transmission gear (9), the first lifting gear (10-1) and the second lifting gear (10-2) are installed on the pivot shaft respectively; The pivot shaft of the first lifting gear (10-1) of two groups of lifting parts is connected by universal coupling (12).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210088447XA CN102616518B (en) | 2012-03-29 | 2012-03-29 | Remote control shuttle vehicle for high-density automatic warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210088447XA CN102616518B (en) | 2012-03-29 | 2012-03-29 | Remote control shuttle vehicle for high-density automatic warehouse |
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| CN102616518A true CN102616518A (en) | 2012-08-01 |
| CN102616518B CN102616518B (en) | 2013-12-11 |
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Cited By (10)
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| CN102887319A (en) * | 2012-09-25 | 2013-01-23 | 江苏绿蓝清环保设备有限公司 | Storage conveying system and conveying method thereof |
| CN107902312A (en) * | 2017-12-08 | 2018-04-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN108910382A (en) * | 2018-08-24 | 2018-11-30 | 吴强 | A kind of commutation jacking integral type shuttle picking and placing cargo in intensive warehouse |
| CN110027832A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | A kind of shelf goods cage transfer shuttle and its application |
| CN110027831A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | One kind driving into formula jacking support and moves trackless shuttle and its application |
| CN110386393A (en) * | 2019-08-07 | 2019-10-29 | 杭州慧仓信息科技有限公司 | A kind of material handling system based on novel shuttle |
| CN112407821A (en) * | 2020-09-30 | 2021-02-26 | 上海沃典工业自动化有限公司 | Double-rail linear double-station full-automatic high-speed shuttle |
| CN112978178A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Shuttle car |
| CN113195379A (en) * | 2018-12-26 | 2021-07-30 | 村田机械株式会社 | Storage system |
| CN114701792A (en) * | 2018-05-23 | 2022-07-05 | 株式会社大福 | Picking system |
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| CN114701792B (en) * | 2018-05-23 | 2024-03-01 | 株式会社大福 | Picking system |
| CN114701792A (en) * | 2018-05-23 | 2022-07-05 | 株式会社大福 | Picking system |
| CN108910382A (en) * | 2018-08-24 | 2018-11-30 | 吴强 | A kind of commutation jacking integral type shuttle picking and placing cargo in intensive warehouse |
| CN108910382B (en) * | 2018-08-24 | 2023-10-20 | 吴强 | Reversing and jacking integrated shuttle for taking and placing goods in intensive warehouse |
| CN113195379A (en) * | 2018-12-26 | 2021-07-30 | 村田机械株式会社 | Storage system |
| CN113195379B (en) * | 2018-12-26 | 2022-12-30 | 村田机械株式会社 | Storage system |
| CN110027832A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | A kind of shelf goods cage transfer shuttle and its application |
| CN110027831A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | One kind driving into formula jacking support and moves trackless shuttle and its application |
| CN110386393A (en) * | 2019-08-07 | 2019-10-29 | 杭州慧仓信息科技有限公司 | A kind of material handling system based on novel shuttle |
| CN112407821A (en) * | 2020-09-30 | 2021-02-26 | 上海沃典工业自动化有限公司 | Double-rail linear double-station full-automatic high-speed shuttle |
| CN112978178A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Shuttle car |
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