CN103612882A - Bidirectional walking mechanism for crossed track shuttle - Google Patents
Bidirectional walking mechanism for crossed track shuttle Download PDFInfo
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- CN103612882A CN103612882A CN201310652530.XA CN201310652530A CN103612882A CN 103612882 A CN103612882 A CN 103612882A CN 201310652530 A CN201310652530 A CN 201310652530A CN 103612882 A CN103612882 A CN 103612882A
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
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Abstract
The invention relates to the field of logistics equipment, in particular to a bidirectional walking mechanism for a crossed track shuttle. The bidirectional walking mechanism is composed of a shuttle body, lifting mechanisms, a longitudinal walking mechanism, a horizontal walking mechanism, an electric appliance bin and an electrical system, and the like. The shuttle body is the foundation of all mechanisms, two sets of the lifting mechanisms are arranged in the shuttle body in a staggered mode and are perpendicular to each other, the longitudinal walking mechanism and the horizontal walking mechanism are arranged on the lifting mechanisms respectively, the electric appliance bin is arranged on the shuttle body, and the electrical system is arranged in the electric appliance bin. The bidirectional walking mechanism is used as a waling device of the crossed track shuttle and has the advantages of being compact in structure, unlimited by the size of the shuttle body, good in stability, and suitable for high speed application occasions. The crossed track shuttle comprising the bidirectional walking mechanism is used in a logistics system, and can form intensive storage systems of various types, and the bidirectional walking mechanism has the advantages of being small in occupied area, compact in goods arrangement, flexible in operation, and high in operation efficiency.
Description
Technical field
The present invention relates to Logistics Equipment field, relate in particular to a kind of bidirectional walking mechanism for cross track shuttle.
Background technology
Shuttle is a kind of industrial transportation vehicle conventional in logistics system.Traditional shuttle only has unidirectional traveling gear, and the rectilinear orbit that vehicle can only be planar or have on the curve track of certain turn radius back and forth travels.When needs planar transport goods on X, Y both direction, this traditional shuttle vehicle track floor area is large, waste working space; If use this shuttle in the cargo channel of through shelf, owing to cannot arrange turning track in tunnel, just need to by piler or fork truck, shuttle be transported to another passage from a passage in channel end, will certainly increase cargo handling operation and time like this, reduce the operating efficiency of logistics system.
It is CN103101737A that Patent Office of China national Department of Intellectual Property discloses announcement number on May 22nd, 2013, name is called the Chinese patent application of " a kind of shuttle along cross track walking ", it is mainly comprised of car body, longitudinal traveling mechanism, lifting mechanism, horizontal traveling gear, carrying apparatus and electric system, its longitudinal traveling mechanism is arranged on car body, lifting mechanism is arranged on respectively on longitudinal wheel shaft of car body and longitudinal traveling mechanism, and laterally traveling gear is arranged on the crane of lifting mechanism.This car is due to the crane being provided with in car body with horizontal traveling gear, crane need to be seated in whole horizontal traveling gear in car body while regaining, thereby car load volume is larger, be only suitable for, in the large cargo unit of delivery pallet one class, being not suitable for small-sized shuttle application scenario.Meanwhile, due between the crane that horizontal traveling gear has been installed and car body, exist a plurality of kinematic pairs to be connected, the whole vehicle stability during to horizontal walking has certain influence, and laterally the speed of travel is unsuitable too fast.
Summary of the invention
The present invention seeks in order to overcome the limitation of existing shuttle, improve operating flexibility and the operating efficiency of shuttle, a kind of novel cross track shuttle bidirectional walking mechanism is provided.
Basic conception of the present invention is to consist of car body, lifting mechanism, longitudinal traveling mechanism, horizontal traveling gear, electrical store and electric system; Car body is Rectangular Rigid framework, on the side plate at four angles of car body, the hole of plain bearing housing is installed according to the Layout processing of lifting mechanism, and crossbeam is arranged at the bottom of framework; Longitudinal traveling mechanism and laterally traveling gear are arranged on car body by lifting mechanism; Electric system is arranged in electrical store, and with lifting mechanism, longitudinal traveling mechanism, laterally the drive motor of traveling gear is connected.
Lifting mechanism consists of plain bearing housing, eccentric disk, speed-down servo motor, worm gear, worm screw, worm shaft, worm shaft supporting seat, antifriction-bearing box, Timing Belt, synchronous pulley, Timing Belt tension wheel; Plain bearing housing is fixedly mounted in plain bearing housing bore prefabricated on the side plate at four angles of car body, movable setting-up eccentricity dish in plain bearing housing, antifriction-bearing box is installed in the eccentric orfice of eccentric disk, worm gear is arranged on eccentric disk, worm screw is arranged on the composition worm-and-wheel gear that is meshed on worm shaft and with worm gear, and worm shaft is installed on the side plate of car body by worm shaft supporting seat; Two coaxial cover worm-and-wheel gears are one group, and on side plate corresponding to the Rectangular Rigid framework of car body, correspondence is installed two groups respectively; On two adjacent side plates, between two groups of coaxial worm-and-wheel gears, speed-down servo motor is installed respectively, the toggle of speed-down servo motor is arranged on toggle permanent seat, and toggle permanent seat is arranged on the crossbeam of vehicle body frame bottom.Speed-down servo motor two ends axle drive shaft by worm shaft be arranged on same side plate on coaxial two worm screws be connected, active synchronization belt wheel is installed on worm shaft; On two side plates corresponding to biside plate adjacent with this, between the coaxial worm and gear of two covers installed respectively, worm shaft support is installed, the worm screw that worm shaft the worm-and-wheel gear coaxial with two covers are installed on worm shaft support is connected, driven synchronous pulley is installed in the position that this worm shaft is corresponding with active synchronization belt wheel on worm shaft on corresponding side plate, between active synchronization belt wheel and driven synchronous pulley, Timing Belt is installed and expansion tightening wheel tensioning is installed.
Longitudinal traveling mechanism is by driving reducing motor, 2 longitudinal running wheels, 2 longitudinal walking passive gears, universal drive shaft and electric machine supports to form.2 longitudinal running wheels are arranged in the eccentric orfice of lifting mechanism eccentric disk in antifriction-bearing box on the revolution axle journal with Hooke's coupling; 2 longitudinal walking passive gears be arranged in the eccentric orfice of lifting mechanism eccentric disk in antifriction-bearing box not with Hooke's coupling revolution axle journal on.Drive reducing motor to be arranged on electric machine support, electric machine support is arranged on the crossbeam of vehicle bottom, on the two ends power take-off shaft of driving reducing motor, Hooke's coupling is installed; With universal drive shaft, will drive the two ends power take-off shaft of reducing motor to be connected with 2 longitudinal running wheels respectively.
Laterally traveling gear is by driving reducing motor, 2 horizontal running wheels, 2 horizontal walking passive gears, axle drive shaft and toggle permanent seats to form.Drive reducing motor to be sleeved on axle drive shaft, the toggle of motor is arranged on toggle permanent seat, and toggle permanent seat is installed, and the two ends of axle drive shaft are arranged in the interior antifriction-bearing box of eccentric orfice of lifting mechanism eccentric disk, and stretch out axle journal, 2 horizontal running wheels are installed respectively on axle journal; 2 horizontal walking passive gear correspondences are arranged in the eccentric orfice of lifting mechanism eccentric disk on the revolution axle journal in antifriction-bearing box.
Electrical store is a casing matching with car body size, and the side plate of casing and top board can be dismantled, and is convenient to the element of mounting electrical system.
Electric system is comprised of control unit, rechargeable battery set, current inverter and corresponding connecting cable, be arranged in the electrical store of car body top and with lifting mechanism, longitudinal traveling mechanism, laterally the drive motor of traveling gear is connected, be connected with the host computer control system of warehousing system simultaneously.
Principle of work of the present invention:
Bidirectional walking of the present invention mechanism adopts rechargeable battery set that direct current (DC) is provided, direct current (DC) is converted to industrial-frequency alternating current by current inverter and is used for driving each motor, control unit is used for controlling the logical action of each motor, and the while is carried out communication with the host computer of the logistics system at shuttle place.
The principle of work of lifting mechanism: the speed-down servo electric motor starting of one group of lifting mechanism, the worm shaft that drive is attached thereto rotates, synchronous pulley on this worm shaft rotates thereupon together, and drives another root worm shaft on opposite synchronously to rotate by Timing Belt and another synchronous pulley being engaged with; Two worm shaft two ends of this group have 4 worm screws and rotate with axle, every worm screw drives the worm gear being engaged with to rotate, worm gear drives the eccentric disk being arranged in plain bearing housing to rotate, and the rotation direction configuration of worm couple makes to be distributed in turning to of four eccentric disks in car body both sides and is mirror image symmetry; By the rotation of eccentric disk, can make four wheels liftings simultaneously of one group of longitudinal traveling mechanism or horizontal traveling gear mounted thereto, adjustable height is accurately controlled by speed-down servo motor.
Horizontal walking mechanical work principle: laterally drive reducing motor to start, drive drive shaft turns, axle drive shaft drives horizontal running wheel to rotate, and realizes lateral rows stop & go function, and rotating and speed change by motor realize advancing, retreating with speed change and walk of horizontal traveling gear.
Longitudinal traveling mechanism principle of work: longitudinally drive reducing motor to start, drive universal drive shaft rotates, universal drive shaft drives longitudinal running wheel to rotate, and realizes longitudinal walking function, and rotating and speed change by motor realize advancing, retreating with speed change and walk of longitudinal traveling mechanism.
Effect: apparatus of the present invention as one independently functional unit be arranged on the bottom of shuttle, by its longitudinal traveling mechanism and laterally the alternately lifting of traveling gear convert, can make shuttle along square crossing track travel in plane.Apparatus of the present invention compact conformation, is not subject to the restriction of car body size, and bidirectional walking mechanism stable is better, is applicable to high-speed applications.The shuttle of this bidirectional walking mechanism has been installed for logistics system, can have been formed the concentrated type warehousing system of various ways, had that floor area is little, goods yard compact in design, operating flexibility, a feature that operating efficiency is high, had broad application prospects.
Four, accompanying drawing explanation
Fig. 1 is the axonometric drawing of structural representation of the present invention;
Fig. 2 is the birds-eye view of structural representation of the present invention;
Fig. 3 is the front view of structural representation of the present invention;
Fig. 4 is the lateral plan of structural representation of the present invention;
Fig. 5 is the axonometric drawing of complete structure of the present invention;
Fig. 6 is the partial view of lifting mechanism structural representation of the present invention;
Fig. 7 is that lateral rows travelling wheel declines, longitudinally road wheel rises view;
Fig. 8 is the horizontal and vertical road wheel view that all declines.
Reference numeral:
1, car body 2, 13, worm shaft 3, speed- down servo motor 4, 12, synchronous pulley 5, Timing Belt 6, worm shaft supporting seat 7, universal drive shaft 8, longitudinally drive reducing motor 9, electric machine support 10, Timing Belt tension wheel 11, tension wheel permanent seat 14, laterally drive reducing motor 15, axle drive shaft 16, 17, toggle permanent seat 18, bearing saddle bore 19, 24, horizontal walking passive gear 20, 23, horizontal running wheel 21, 26, longitudinal running wheel 22, 25, longitudinal walking passive gear 27, eccentric disk 28, antifriction-bearing box 29, plain bearing housing 30, worm gear 31, worm screw 32, control unit 33, rechargeable battery set 34, current inverter 35, electrical store 36, crossbeam
Five, the specific embodiment
Below in conjunction with accompanying drawing, describe specific embodiment of the invention process in detail, as shown in Fig. 1～8.
The present invention is comprised of car body, lifting mechanism, longitudinal traveling mechanism, horizontal traveling gear, electrical store and electric system etc.
Lifting mechanism has two groups, structure is identical, speed-down servo motor 3, worm shaft 2,13, worm gear 30, eccentric disk 27, plain bearing housing 29, antifriction-bearing box 28, worm shaft supporting seat 6, Timing Belt 5, synchronous pulley 4,12, Timing Belt tension wheel 10, tension pulley seat 11 and toggle permanent seat 17, consists of.Worm shaft 2 is fixed on car body through worm shaft supporting seat 6, synchronous pulley 4 is arranged on worm shaft 2, synchronous pulley 12 is arranged on worm shaft 13, two worm shafts that are arranged on the interior relative two blocks of side plates of car body 1 are one group, worm screw 31 rotation directions on it are contrary, the middle part of a worm shaft 2 is set with speed-down servo motor 3 therein, and the toggle of speed-down servo motor 3 is arranged on toggle permanent seat 17, and toggle permanent seat 17 is arranged on the crossbeam 36 of vehicle body frame bottom; The worm screw 31 at every worm shaft two ends is meshed with a worm gear 30 respectively, worm gear 30 is arranged on the eccentric disk 27 with eccentric orfice, eccentric disk 27 is arranged in the bearing saddle bore 18 of side plate by plain bearing housing 29, and antifriction-bearing box 28 is installed in the eccentric orfice of eccentric disk 27; Between synchronous pulley on two worm shafts, with closed ring-shaped synchronous belt 5, be connected on the same group, the interior installation Timing Belt of ring-shaped synchronous belt 5 tension wheel 10, Timing Belt tension wheel 10 is fixed on the crossbeam 36 of vehicle body frame bottom by tension pulley seat 11.Two groups of lifting mechanisms are installed (Fig. 1～4, Fig. 6) at the inner vertical interlaced mutually of car body.
Laterally traveling gear is by laterally driving reducing motor 14, horizontal running wheel 20,23, horizontal walking passive gear 19,24, axle drive shaft 15 and toggle permanent seat 16 to form.Axle drive shaft 15 is installed through the antifriction-bearing box 28 in eccentric orfice on a pair of eccentric disk 27 of another group lifting mechanism, and the two ends axle journal of axle drive shaft 15 stretches out in the outside of car body 1 side plate, and horizontal running wheel is installed on axle journal; Laterally through this group lifting mechanism, another installs the antifriction-bearing box 28 in eccentric orfice on eccentric disk 27 wheel shaft of walking passive gear, and makes wheel be positioned at the outside of car body 1 side plate; Laterally drive reducing motor 14 to be sleeved on axle drive shaft 15, the toggle of motor is arranged on toggle permanent seat 16, and toggle permanent seat 16 is arranged on the crossbeam 36 of vehicle body frame bottom.In car body, horizontal traveling gear and longitudinal traveling mechanism are mutual upright position (Fig. 1～2, Fig. 4).
Longitudinal traveling mechanism is by longitudinally driving reducing motor 8, longitudinal running wheel 21,26, longitudinal walking passive gear 22,25, universal drive shaft 7 and electric machine support 9 to form.Longitudinally the wheel shaft of running wheel and longitudinal walking passive gear is installed through the antifriction-bearing box 28 in eccentric orfice on one group of lifting mechanism eccentric disk 27, and makes wheel be positioned at the outside of car body side plate; Longitudinally drive reducing motor 8 to be arranged on electric machine support 9, electric machine support 9 is arranged on the crossbeam 36 of vehicle bottom; The semiaxis of universal drive shaft 7 one end passes through spline joint with longitudinally driving the output shaft hole of reducing motor 8, and the semiaxis of universal drive shaft 7 other ends is connected (Fig. 1～3) with longitudinal live axle.
Electric system consists of control unit 32, rechargeable battery set 33 and current inverter 34.They are all arranged on the electrical store 35 interior (Fig. 5) of car body 1 inside.
Apparatus of the present invention, as the walking function unit of shuttle, are arranged on the appropriate location of shuttle bottom, can provide along the function of square crossing track bidirectional walking in plane for shuttle.
The present invention adopts rechargeable battery set 33 that direct current (DC) is provided, direct current (DC) is converted to industrial-frequency alternating current by current inverter 34 and is used for driving each motor, control unit is used for controlling the logical action of each motor, and the news that work of going forward side by side are connected with the host computer control system of the logistics system at shuttle place simultaneously.
When shuttle is during in stop position, lateral rows travelling wheel 19,24,20,23 and longitudinally road wheel 21,26,22,25 all drop to extreme lower position in the drive of lifting mechanism, contact with the track of longitudinally walking with horizontal walking track simultaneously, can improve the stability of strutting system (Fig. 8) of shuttle.
When shuttle needs along horizontal walking, first longitudinally the speed-down servo motor in lifting mechanism 3 starts, by aforesaid Timing Belt and Worm Wheel System system, drive that four eccentric disks, 27 mirror images are symmetrical to rotate, four wheels 21,22,25,26 of longitudinal traveling mechanism are risen simultaneously and depart from longitudinal walking track (Fig. 7); Then laterally drive reducing motor 14 to start, drive axle drive shaft 15 to rotate, and then drive horizontal running wheel 20,23 to rotate, and drive horizontal walking passive gear 19,24 driven, shuttle is realized lateral rows stop & go function.Rotating and speed change by horizontal driving reducing motor 14 can realize laterally advancing, retreating with speed change and travel of shuttle.
When shuttle need to be transformed into longitudinal walking states from horizontal walking states, first shuttle will drive to cross track place and stop.Longitudinally lifting mechanism drives four wheels 21,22,25,26 of longitudinal traveling mechanism to be lowered on longitudinal walking track simultaneously, then laterally lifting mechanism drives four wheels 19,24,20,23 of horizontal traveling gear to rise simultaneously and departs from horizontal walking track, longitudinally drive reducing motor 8 to start action, drive universal drive shaft 7 runnings, and then drive longitudinal running wheel 21,26 to rotate, and driving longitudinal walking passive gear 22,25 driven, shuttle is realized longitudinal walking function.Rotating and speed change by longitudinal driving reducing motor 8 can realize longitudinally advancing, retreating with speed change and travel of shuttle.
Shuttle is transformed into the logical order of horizontal walking states Shi， mechanism conversion and aforementioned similar from longitudinal walking states, repeats no more.
Claims (5)
1. a cross track shuttle bidirectional walking mechanism, is characterized by by car body, lifting mechanism, longitudinal traveling mechanism, horizontal traveling gear, electrical store and electric system and forms; Car body is Rectangular Rigid framework, on the side plate at four angles of car body, the hole of plain bearing housing is installed according to the Layout processing of lifting mechanism, and crossbeam is arranged at the bottom of framework; Longitudinal traveling mechanism and laterally traveling gear are arranged on car body by lifting mechanism; Electric system is arranged in electrical store, and with lifting mechanism, longitudinal traveling mechanism, laterally the drive motor of traveling gear is connected.
2. a kind of cross track shuttle according to claim 1 bidirectional walking mechanism, is characterized by described lifting mechanism and consists of plain bearing housing, eccentric disk, speed-down servo motor, worm gear, worm screw, worm shaft, worm shaft supporting seat, antifriction-bearing box, Timing Belt, synchronous pulley, Timing Belt tension wheel; Plain bearing housing is fixedly mounted in plain bearing housing bore prefabricated on the side plate at four angles of car body, movable setting-up eccentricity dish in plain bearing housing, antifriction-bearing box is installed in the eccentric orfice of eccentric disk, worm gear is arranged on eccentric disk, worm screw is arranged on the composition worm-and-wheel gear that is meshed on worm shaft and with worm gear, and worm shaft is installed on the side plate of car body by worm shaft supporting seat; Two coaxial cover worm-and-wheel gears are one group, and on side plate corresponding to the Rectangular Rigid framework of car body, correspondence is installed two groups respectively; On two adjacent side plates, between two groups of coaxial worm-and-wheel gears, speed-down servo motor is installed respectively, the toggle of speed-down servo motor is arranged on toggle permanent seat, toggle permanent seat is arranged on the crossbeam of vehicle body frame bottom, speed-down servo motor two ends axle drive shaft by worm shaft be arranged on same side plate on coaxial two worm screws be connected, active synchronization belt wheel is installed on worm shaft; On two side plates corresponding to biside plate adjacent with this, between the coaxial worm and gear of two covers installed respectively, worm shaft support is installed, the worm screw that worm shaft the worm-and-wheel gear coaxial with two covers are installed on worm shaft support is connected, driven synchronous pulley is installed in the position that this worm shaft is corresponding with active synchronization belt wheel on worm shaft on corresponding side plate, between active synchronization belt wheel and driven synchronous pulley, Timing Belt is installed and expansion tightening wheel tensioning is installed.
3. a kind of cross track shuttle according to claim 1 bidirectional walking mechanism, it is characterized by described longitudinal traveling mechanism by driving reducing motor, 2 longitudinal running wheels, 2 longitudinal walking passive gears, universal drive shaft and electric machine supports to form, 2 longitudinal running wheels are arranged in the eccentric orfice of lifting mechanism eccentric disk in antifriction-bearing box on the revolution axle journal with Hooke's coupling; 2 longitudinal walking passive gears be arranged in the eccentric orfice of lifting mechanism eccentric disk in antifriction-bearing box not with Hooke's coupling revolution axle journal on, drive reducing motor to be arranged on electric machine support, electric machine support is arranged on the crossbeam of vehicle bottom, on the two ends power take-off shaft of driving reducing motor, Hooke's coupling is installed; With universal drive shaft, will drive the two ends power take-off shaft of reducing motor to be connected with 2 longitudinal running wheels respectively.
4. a kind of cross track shuttle according to claim 1 bidirectional walking mechanism, it is characterized by described horizontal traveling gear by driving reducing motor, 2 horizontal running wheels, 2 horizontal walking passive gears, axle drive shaft and toggle permanent seats to form, drive reducing motor to be sleeved on axle drive shaft, the toggle of motor is arranged on toggle permanent seat, toggle permanent seat is installed, the two ends of axle drive shaft are arranged in the interior antifriction-bearing box of eccentric orfice of lifting mechanism eccentric disk, and stretch out axle journal, 2 horizontal running wheels are installed respectively on axle journal; 2 horizontal walking passive gear correspondences are arranged in the eccentric orfice of lifting mechanism eccentric disk on the revolution axle journal in antifriction-bearing box.
5. a kind of cross track shuttle according to claim 1 bidirectional walking mechanism, it is characterized by described electric system is comprised of control unit, rechargeable battery set, current inverter and corresponding connecting cable, be arranged in the electrical store of car body top and with lifting mechanism, longitudinal traveling mechanism, laterally the drive motor of traveling gear is connected, be connected with the host computer control system of warehousing system simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310652530.XA CN103612882B (en) | 2013-12-03 | A kind of cross track shuttle bidirectional walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310652530.XA CN103612882B (en) | 2013-12-03 | A kind of cross track shuttle bidirectional walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103612882A true CN103612882A (en) | 2014-03-05 |
| CN103612882B CN103612882B (en) | 2016-11-30 |
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