CN108945939A - A kind of four-way shuttle type transfer robot - Google Patents
A kind of four-way shuttle type transfer robot Download PDFInfo
- Publication number
- CN108945939A CN108945939A CN201811154873.2A CN201811154873A CN108945939A CN 108945939 A CN108945939 A CN 108945939A CN 201811154873 A CN201811154873 A CN 201811154873A CN 108945939 A CN108945939 A CN 108945939A
- Authority
- CN
- China
- Prior art keywords
- group
- wheel
- hydraulic cylinder
- transfer robot
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The present invention relates to a kind of four-way shuttle type transfer robots comprising the traveling wheel of pedestal and installation on the base, which includes running driving device, hydraulic reversing system, operating system and control system；Wherein traveling wheel includes first round group and the second wheel group, and first passage and second channel are arranged in different height and different directions, and at least one of first round group and the second wheel group are configured as liftable wheel group；Hydraulic reversing system includes unidirectional driving hydraulic cylinder group, unidirectional driving mechanism and hydraulic power unit, unidirectional driving mechanism is connect with the commutation hydraulic cylinder in unidirectional driving hydraulic cylinder group, hydraulic power unit provides power for unidirectional driving hydraulic cylinder group, and unidirectional driving mechanism drives liftable wheel group mobile in vertical direction according to the instruction of control system.Four-way shuttle type transfer robot according to the present invention reduces weight, volume, improves structure, substantially increases cargo access efficiency.
Description
Technical field
The present invention relates to warehousing managements and cargo handling equipment, more specifically, are related to a kind of four-way shuttle type carrying implement
Device people.
Background technique
In recent years, with the rise of cost of land and cost of labor, this concept of intensively storing in a warehouse is increasingly by logistics public affairs
The concern of department or electric business company.Automatic stereowarehouse due to very high space utilization rate, it is very strong go out storage ability,
Materials circulation and the indispensable storage technique of production management are had become, in the application of the industries such as automobile, chemical industry, electronics, tobacco
Increase year by year.The coming years, one of technology trends of Automated tridimensional warehousing system show as high speed, high efficiency, height
Density.
But it is considerably less for the transfer robot of tiered warehouse facility currently on the market, there are various each for existing some products
The problem of sample, such as transfer robot weight are excessive, and volume is excessive, and flexibility ratio is inadequate, and service ability is poor, cargo access efficiency
Lowly, lifting capacity is inadequate, and stability is inadequate etc..
The usually used transfer robot of tiered warehouse facility includes stacking machine for tunnel with track and main-auxiliary vehicle system in the prior art.
Stacking machine for tunnel with track is promotion and stacking apparatus in automatic stereo storage, and stacking machine for tunnel with track mainly includes body, is carried
Load bed, horizontal running mechanism, hoisting mechanism and fork mechanism can realize the storage of cargo by three axis cooperative motions.It is another
The common main-auxiliary vehicle system of kind includes the lifting of the shuttle female vehicle, movement in vertical direction of longitudinal movement shuttle wooden handcart and transverse movement
Machine constitutes the main-auxiliary vehicle system using shuttle wooden handcart as core.
Above two transfer robot there are problems, be unable to satisfy flexibility that current intensive warehousing system requires,
High efficiency and heavy-duty ability.For example:
Stacking machine for tunnel with track just needs a piler track between every 1 or every 2 cargo tunnels, for warehouse sky
Between waste very much, and the more difficult carrying of piler cargo larger for weight.
Main-auxiliary vehicle system is made of shuttle female vehicle and the sub- vehicle that shuttles, and is equivalent to two cars, therefore the height of main-auxiliary vehicle system
It is relatively high, for tiered warehouse facility, the number of plies that can be built just corresponding decline.Main-auxiliary vehicle system is because have sub- vehicle and mother
Vehicle, so total weight is also just bigger, the requirement for shelf is higher, and the cost of shelf is relatively high, and main-auxiliary vehicle is wanted
Different floors, because also can be relatively difficult the reason of weight, weight itself be wanted to be transported to different floors more plus goods weight
Add difficulty.Service ability is poor.
Summary of the invention
In order to solve or alleviate the above problem in the prior art, the present disclosure presents a kind of traveling wheel and have
The track travel system of the traveling wheel.
According to an aspect of the present invention, it proposes a kind of four-way shuttle type transfer robot, the transfer robot packet
The traveling wheel for including pedestal and being mounted on the pedestal, the transfer robot include for walking running driving device, use
Hydraulic reversing system in change driving direction, operating system and control system for accessing cargo；The wherein walking
Wheel includes the first round group for walking in first passage and the second wheel group for travelling on a second pass, the first round
Group and the second wheel group are in different height and for travelling in different directions, in the first round group and the second wheel group
At least one is configured as the liftable wheel group moving up and down for commutation；The hydraulic reversing system includes commutation
Driving hydraulic cylinder group, unidirectional driving mechanism and hydraulic power unit, the unidirectional driving mechanism and the unidirectional driving hydraulic cylinder group
In the connection of commutation hydraulic cylinder, the hydraulic power unit provides power, unidirectional driving mechanism root for unidirectional driving hydraulic cylinder group
Drive the liftable wheel group mobile in vertical direction according to the instruction of the control system.
In an embodiment of transfer robot according to the present invention, the unidirectional driving mechanism be may be configured to
Drive each traveling wheel in the liftable wheel group in vertical direction synchronizing moving.
In the another embodiment of transfer robot according to the present invention, the unidirectional driving mechanism can also be matched
It is set to and drives each traveling wheel in the liftable wheel group in the asynchronous movement of vertical direction.
When unidirectional driving mechanism may be configured to drive each traveling wheel in the liftable wheel group in vertical direction
When synchronizing moving, the unidirectional driving mechanism may include connecting with the cylinder rod of the hydraulic cylinder in the unidirectional driving hydraulic cylinder group
Link block, and the wheel bearing for being used to support the liftable wheel group being connect with the link block.
According to another aspect of the present invention, in an embodiment of transfer robot, operating system may include
Be arranged at the top of transfer robot for cargo or holding the supporting plate that the pallet of cargo operated, the operating system
It further include the operation driving hydraulic cylinder group for driving the supporting plate to move in vertical direction, the supporting plate and the operation drive
The cylinder rod of hydraulic cylinder in hydraulic cylinder group connects and the shift position with the movement of the cylinder rod.Preferably, operation driving
Hydraulic cylinder series connection and each hydraulic cylinder in hydraulic cylinder group are configured as identical.
Preferably, in an embodiment of transfer robot according to the present invention, operation driving hydraulic cylinder can be with
Unidirectional driving hydraulic cylinder group shares a hydraulic power unit.
According to another aspect of the present invention, in transfer robot, the first passage can be main channel, described the
One group of wheel is main channel wheel group；The second channel be subchannel, the second wheel group be subchannel wheel group, the main channel and
The subchannel is mutually perpendicular to；The travel-driving mechanism includes power motor and the retarder that connect with the power motor,
The retarder includes two output shafts, and for described two output shafts in two vertical direction outputting powers, a direction output is dynamic
Power rotates the main channel wheel shaft of main channel wheel group by transmission mechanism；Another direction output power makes son by transmission mechanism
The subchannel wheel shaft of channel wheel group rotates.Preferably, then power motor is passed respectively via the retarder by transmission device
On defeated power to main channel wheel shaft and subchannel wheel shaft, the driving wheel in the main channel wheel group is directly anchored to the main channel
On wheel shaft, after subchannel axis obtains power, then by making son in the short axle where sprocket wheel chain mechanism driving to subchannel wheel
Driving wheel rotation in the wheel group of channel.
It is further preferred that main channel wheel shaft may be configured to move between two positions of vertical direction, institute
Stating in retarder is used to drive the position of the output shaft of the main channel wheel shaft to fix and in main channel wheel shaft two positions
At the position on the upper side of midtread position.
In one preferred embodiment of transfer robot according to the present invention, travel-driving mechanism includes power motor,
Power motor drives the traveling wheel walking of transfer robot, and the angle position for recording motor rotation is provided on the power motor
The encoder of shifting amount and the encoder send the angular displacement being recorded to the control system；Control system passes through angle position
The conversion of shifting amount calculates the actual displacement amount that traveling wheel is walked, and positions the carrying according to the actual displacement amount
Robot, so that controlling the transfer robot is moved to or stops at certain predetermined position.It is further preferred that conveying robot
People can also include position calibration system, the position calibration system include the inquiry machine that is arranged on the transfer robot and
The answering machine being arranged on the first passage and the second channel, the control system are anti-according to the position calibration system
The location information of feedback adjusts position.
By using the four-way shuttle type transfer robot according to present disclosure, the beneficial effect that can be obtained at least exists
In: robot weight, volume are reduced, structure is improved, promotes service ability；Improve lifting capacity；Improve shuttle
Flexibility ratio；And improve cargo access efficiency.
It should be appreciated that aforementioned description substantially and subsequent detailed description are exemplary illustration and explanation, it should not
As the limitation to the claimed content of present disclosure.
Detailed description of the invention
With reference to the attached drawing of accompanying, the more purposes of present disclosure, function and advantage will pass through present disclosure embodiment party
Formula is illustrated described below, in which:
Fig. 1 shows the four-way shuttle type transfer robot according to an embodiment of present disclosure in tiered warehouse facility
In first passage and second channel in use state schematic diagram；
Fig. 2 shows another in warehouse according to the four-way shuttle type robot in an embodiment of present disclosure
A kind of schematic diagram of use state；
The traveling that Fig. 3 shows the four-way shuttle type transfer robot in an embodiment according to present disclosure is driven
The schematic top plan view of dynamic device；
Fig. 4 shows the schematic side view of the running driving device in four-way shuttle type transfer robot shown in Fig. 3；
Fig. 5 shows the schematic diagram of the subchannel wheel in the transfer robot in Fig. 4；
Fig. 6 A and Fig. 6 B show the schematic diagram of the main channel wheel of transfer robot, and wherein Fig. 6 A is main channel wheel in liter
The state for the position risen, Fig. 6 B are the state that main channel wheel is in lowering position；
Fig. 7 shows a kind of schematic diagram of arrangement of the unidirectional driving hydraulic cylinder group in the transfer robot in Fig. 4；
Fig. 8 shows a kind of embodiment of arrangement of the valve in the unidirectional driving hydraulic cylinder group in Fig. 7；
Fig. 9 shows hydraulic in the four-way shuttle type transfer robot according to an embodiment of present disclosure
The schematic diagram of exchange system；
Figure 10 shows the schematic diagram of the reversing mechanism in an embodiment of transfer robot shown in Fig. 4；
The enlarged diagram of partial structurtes in reversing mechanism shown in Figure 11 bitmap 10；Figure 12
Figure 12 shows the four-way shuttle type transfer robot in a preferred embodiment according to content of this disclosure
In running driving device in main channel wheel shaft arrangement schematic diagram.
Specific embodiment
By reference to exemplary embodiment, the purpose and function of present disclosure and for realizing these purposes and function
Method will be illustrated.However, present disclosure is not limited to exemplary embodiment as disclosed below；It can be by not
It is realized with form.The essence of specification is only to aid in those skilled in the relevant arts' Integrated Understanding present disclosure
Detail.
Hereinafter, the embodiment of present disclosure will be described with reference to the drawings.In the accompanying drawings, identical appended drawing reference represents
Same or similar component or same or like step.
In order to meet required in tiered warehouse facility very high space utilization rate, cargo go out storehouse warehouse-in efficiency requirement it is high, with
And the requirement that load of transporting goods is high, the present disclosure presents a kind of four-way shuttle type transfer robots.
Figures 1 and 2 show that (hereafter according to the four-way shuttle type transfer robot of present disclosure embodiment
Middle abbreviation " transfer robot ") 100 two kinds of use states in tiered warehouse facility schematic diagram.Transfer robot is travelled in solid
On the shelf in warehouse, shelf upper channel is divided into main channel and subchannel, and subchannel is to be removed for storing cargo by main channel
Different subchannels can be entered by transporting robot, and main channel is usually mutually perpendicular with subchannel.According to present disclosure
Transfer robot can be realized traveling, main channel and subchannel commutation, pick-and-place cargo etc. on the shelf passage of tiered warehouse facility.
It is shown in Fig. 2 and elevator 200 can use according to the transfer robot of present disclosure to reach the cargo layer of different height.
In the transfer robot according to present disclosure, including pedestal and the traveling wheel being mounted on the pedestal.It should
Transfer robot includes the running driving device for walking, the hydraulic reversing system for changing driving direction, for accessing
The operating system and control system of cargo.According in the transfer robot in present disclosure, driven in above-mentioned traveling
Device, hydraulic reversing system, operating system and control system are after the multiple improvement of inventor, all in tiered warehouse facility
Job requirements have carried out design unlike the prior art.
Hydraulic reversing system
It is specifically described in detail in the four-way shuttle type transfer robot according to present disclosure below in association with attached drawing
Hydraulic reversing system.
In the transfer robot according to present disclosure, traveling wheel includes the first round group for walking in first passage
With the second wheel group for travelling on a second pass.First passage and second channel are usually placed in different height as described above
And different directions, therefore first round group and the second wheel group are in different height and for travelling in different directions.First round group
It is configured as at least one of the second wheel group as the liftable wheel group moving up and down for commutation.For example, in Fig. 3
Into the embodiment of transfer robot shown in Figure 12, the traveling wheel in first round group is can be at main channel (first passage)
The main channel wheel 20 of walking, second channel is subchannel, and the traveling wheel walked on the second channel is subchannel wheel 30.
Hydraulic reversing system in transfer robot includes unidirectional driving hydraulic cylinder group, unidirectional driving mechanism and hydraulic
Pumping plant.First passage and second channel in tiered warehouse facility are arranged in different directions.
For example, in the embodiment of Fig. 3 to transfer robot shown in Fig. 8, the traveling wheel in first round group is can be with
In the main channel wheel 20 of main channel (first passage) walking, second channel is subchannel, the walking walked on the second channel
Wheel is subchannel wheel 30.
The hydraulic reversing system includes unidirectional driving hydraulic cylinder group, unidirectional driving mechanism and hydraulic power unit.
Unidirectional driving mechanism is connect with the commutation hydraulic cylinder in unidirectional driving hydraulic cylinder group.Hydraulic power unit is unidirectional driving liquid
Cylinder pressure group 20 provides power, and unidirectional driving mechanism drives liftable wheel group to move in vertical direction according to the instruction of control system
It is dynamic.In transfer robot shown in Fig. 3, main channel wheel group 20 is liftable wheel group, and hydraulic power unit is also possible to other and is suitable for
Driving device.
According to the transfer robot in present disclosure, unidirectional driving mechanism is configured to drive in liftable wheel group
Each traveling wheel is in vertical direction synchronizing moving or asynchronous movement.
Preferably, unidirectional driving mechanism is configured to drive each traveling wheel in liftable wheel group synchronous in vertical direction
It is mobile, so as to realize that transfer robot is smoothly completed to commutate.In addition, when transfer robot is in certain slope
When on track, each traveling wheel in liftable wheel group is configured to asynchronous movement, can eliminate track slope and face behaviour
The adverse effect of work.
As shown in Figure 10 and Figure 11, the unidirectional driving mechanism for driving traveling wheel to move in the vertical direction includes and changes
The link block 6-1 of the cylinder rod connection of hydraulic cylinder into driving hydraulic cylinder group, and being used to support of connecting with the link block can
The wheel bearing 6-2 of lifting wheel group.In the structure shown in Figure 11,6-3 is liftable wheel group, and 6-4 is to loosen nut.
Preferably, the hydraulic cylinder in unidirectional driving hydraulic cylinder group is configured that the wheel shaft of each liftable wheel group at least configures
There is a hydraulic cylinder；Each hydraulic cylinder in unidirectional driving hydraulic cylinder group is configured to identical and is cascaded by pipeline.
It, can be each hydraulic in unidirectional driving hydraulic cylinder group in order to realize the lifting of the traveling wheel in liftable wheel group
The cylinder body of cylinder is fixed, and will be pre-filled with liquid in each cavity of each hydraulic cylinder.
As shown in figure 9, when transfer robot needs to switch walking passageway and switching direction of travel, unidirectional driving hydraulic cylinder
Valve and pipeline in group are configured as: when cylinder rod rises, the hydraulic oil of hydraulic pump oil outlet is under first hydraulic cylinder
Chamber enters, then the hydraulic oil of first hydraulic cylinder epicoele enters the cavity of resorption of next hydraulic cylinder via pipeline, this is next hydraulic
The hydraulic oil of cylinder epicoele enters the cavity of resorption of next one hydraulic cylinder via pipeline, until the cavity of resorption of each hydraulic cylinder is oil-filled,
So that each cylinder rod is at a synchronous rise process；When cylinder rod descending manner, the hydraulic oil of hydraulic pump oil outlet is from
The epicoele of one hydraulic cylinder enters, then the hydraulic oil of first hydraulic cylinder cavity of resorption enters the upper of next hydraulic cylinder via pipeline
Chamber, the hydraulic oil of next hydraulic cylinder cavity of resorption enters the epicoele of next one hydraulic cylinder via pipeline, until each hydraulic cylinder
Epicoele it is oil-filled so that each cylinder rod is at the process of a synchronous decline.
The position of existing first passage and second channel and the control system of transfer robot are in when transfer robot
When issuing the instruction of transformation driving direction, hydraulic reversing system is proceeded as follows:
Judge whether the liftable wheel group of the transfer robot is located at the state fallen and connects with running lanes
Touching,
If liftable wheel group is in lowering position and contacts with the running lanes in existing traveling, unidirectional driving machine
Each traveling wheel in structure driving liftable wheel group is moved upwards up to raised position in vertical direction, so that first round group and second
Another group of wheel group for not serving as liftable wheel group in wheel group is contacted with new running lanes, completes commutation.
Under another driving status, if liftable wheel group be in rise position and not with the row in existing traveling
Channel contact is sailed, then each traveling wheel in unidirectional driving mechanism driving liftable wheel group is moved down into vertical direction falls
It position and is contacted with new running lanes, so that another group for not serving as liftable wheel group in first round group and the second wheel group
Wheel group is disengaged with the running lanes in existing traveling, completes commutation.
Preferably, the driving direction that first round group and the second wheel group are configured as the two is mutually perpendicular to.Certainly, conveying robot
The direction of travel of each wheel group of people, can be configured according to the actual conditions of tiered warehouse facility middle orbit.
Preferably, the first passage in tiered warehouse facility and second channel are arranged in different height.Arrangement in this way, energy
Enough so that when transfer robot is commutated, the fixation of transfer robot pedestal, raising and lowering in liftable wheel group are kept
During it is not necessary that the vibration of pedestal, the stability of increased cargo are lifted or will not caused to pedestal.
For example, reversing mode of the transfer robot by X-direction commutation Y-direction (Y-direction commutation X-direction) traveling are as follows: X
The traveling wheel in direction is retractable to body, leaves track.Ground is contacted by the traveling wheel of Y-direction, is travelled.
In the transfer robot according to present disclosure, when first round group is liftable wheel group, when transfer robot exists
When walking on first passage, first round group is located at the position after reduced with first rail contact；When going on a second pass
When walking, the first round group is in raised configuration.
Preferably, in a specific embodiment party according to the transfer robot with hydraulic reversing system of present disclosure
In formula, such as in Fig. 3 into transfer robot shown in Fig. 10, first passage is main channel, and first group of wheel is main channel wheel group 20；
Second channel is subchannel, and the second wheel group is subchannel wheel group 30, and main channel and subchannel are mutually perpendicular to.The row of transfer robot
The retarder that driving mechanism includes power motor and connect with power motor is sailed, retarder includes two output shafts, described two
Output shaft keeps the master of main channel wheel group 20 logical in two vertical direction outputting powers, a direction output power by transmission mechanism
Road wheel shaft 40 rotates；Another direction output power rotates the subchannel wheel shaft 50 of subchannel wheel group 30 by transmission mechanism.
Then power motor transmits power to main channel wheel shaft 40 and subchannel by transmission device via retarder respectively
On wheel shaft 50, the driving wheel in the wheel group of main channel is directly anchored on the wheel shaft of main channel, after subchannel wheel shaft 50 obtains power,
Again by rotating the driving wheel in subchannel wheel group in the short axle where sprocket wheel chain mechanism driving to subchannel wheel 30.
Preferably, as shown in figure 12, main channel wheel shaft 40 is configured to move between two positions of vertical direction,
The position (in view shown in right side) of the output shaft for driving main channel wheel shaft in retarder is fixed and in main channel
At the position on the upper side of 40 two positions midtread position of wheel shaft.
Hereinafter, the example of a transfer robot 100 in conjunction with shown in Fig. 3 to Figure 12 further illustrates above
Described transfer robot.
Such as in Fig. 3 into example shown in Fig. 10, there are two power source, one of power sources to carry for driving for setting
Robot traveling namely power motor 70, this power source can be direct current 48V servo motor, abbreviation driving motors；Another is dynamic
Power source jacks two functions with pallet for transfer robot commutation, realization picks and places the traveling side of cargo and main channel and subchannel
To switching, this power source drives for hydraulic system, can be a direct current 48V servo motor, be also possible to hydraulic power unit,
It can be abbreviation hydraulic motor.
The hydraulic pump 80 as hydraulic system power source is shown in Fig. 7, the unidirectional driving valve block group for unidirectional driving
81 and for jack namely the jacking of operating system driving sliding block group 82.
Driving motors are exported by a retarder in two vertical direction, and the output power in a direction passes through driver
Structure rotates the wheel in main channel direction.The output power in another direction turns the wheel in subchannel direction by transmission mechanism
It is dynamic.Take turns subchannel wheel or main channel in shelf rail by commutation, when main channel wheel is in orbit, transfer robot is just
Along travelling on main channel, vice versa.
As shown in figure 4, two axis of driving motors output are transferred to 40 He of main channel axis by sprocket wheel chain mechanism respectively
On subchannel axis 50, and main channel wheel 20 is directly anchored on the axis of main channel, therefore, when main channel axis rotates, main channel
Wheel just rotates with it.It, can be again by where sprocket wheel chain mechanism driving to subchannel wheel after subchannel axis obtains power
In short axle, it is able to rotate subchannel wheel 30.Preferably, in order to avoid in chain wheel set chain slack it is excessive, generate engagement it is bad and
Sprocket tension device can be set in oscillation phenomenon in chain wheel set, and the engagement to guarantee chain and sprocket wheel is accurate.Such as such as Fig. 4
It is shown, there are 7 sprocket tension devices 55 in chain wheel set, the engagement to guarantee chain and sprocket wheel is accurate.
In transfer robot in this example, hydraulic reversing system includes hydraulic motor, hydraulic pump, 8 hydraulic cylinders, with
And fluid pressure line and other auxiliary elements form.The executive component of the hydraulic system is 8 hydraulic cylinders, is divided into two groups, one group 4
Hydraulic cylinder can be switched.
Fig. 7 shows a kind of schematic diagram of arrangement of the unidirectional driving hydraulic cylinder group in the transfer robot in Fig. 4；
Fig. 8 shows a kind of embodiment of arrangement of the valve in the unidirectional driving hydraulic cylinder group in Fig. 7.
Fig. 9 shows hydraulic in the four-way shuttle type transfer robot according to an embodiment of present disclosure
The schematic diagram of exchange system.Fig. 9 is the hydraulic schematic diagram of wherein one group of hydraulic cylinder.By opening corresponding solenoid valve 1.1,1.7,
1.8,1.9,1.10 and 1.6,1.2,1.3,1.4,1.5 make the hydraulic oil of hydraulic pump oil outlet from first hydraulic cylinder cavity of resorption into
Enter, then the hydraulic oil of first hydraulic cylinder epicoele enters the cavity of resorption of second hydraulic cylinder, the hydraulic oil of second hydraulic cylinder epicoele
Into the cavity of resorption of third hydraulic cylinder, the hydraulic oil of third hydraulic cylinder epicoele enters the cavity of resorption of the 4th hydraulic cylinder, and the 4th
The hydraulic oil of hydraulic cylinder epicoele is to the oil inlet of hydraulic pump, then hydraulic cylinder rod is all in a rise process, on the contrary then hydraulic cylinder rod
The process declined in one.Because the specification of one group of hydraulic cylinder is all, the volume of each chamber is identical, utilizes hydraulic oil
Incoercibility, the hydraulic volume having into each hydraulic cylinder is identical, to keep synchronism.
Subchannel and main channel commutation can realize that 4 hydraulic cylinders that commutate are fixed by one group of 4 hydraulic cylinder rods lifting,
Cylinder rod lower end is connected by screw with a link block, and main channel axis is cooperated by bearing and link block.Cylinder rod drives connection
When block pumps, main channel axis also moves up and down, and main channel wheel and subchannel wheel are alternately on track, completes to change
With subchannel orbit altitude be to, main channel it is different, use height rail, main channel track is lower than subchannel.Work as master
When channel axis moves upwards, the main channel wheel being fixed on the axis of main channel leaves track, and subchannel wheel is on track, removes at this time
Fortune robot is also on subchannel, and when main channel, axis is moved downward, main channel wheel backs on track, and subchannel wheel leaves rail
Road.When the wheel of different directions is on track, transfer robot is just travelled in different directions.
Operating system
According to another aspect of the present disclosure, in the transfer robot according to present disclosure, operating system includes:
Be arranged at the top of the transfer robot for cargo or holding the supporting plate that the pallet of cargo operated；For driving
The operation driving hydraulic cylinder group that the supporting plate is moved in vertical direction.The wherein hydraulic cylinder in supporting plate and operation driving hydraulic cylinder group
Cylinder rod connection and the shift position with the movement of cylinder rod.
Hydraulic cylinder series connection and each hydraulic cylinder in operation driving hydraulic cylinder group are configured as identical.
Preferably, operation driving hydraulic cylinder and above-mentioned unidirectional driving hydraulic cylinder group share a hydraulic power unit.
In transfer robot in this example, hydraulic reversing system includes hydraulic motor, hydraulic pump, 8 hydraulic cylinders, with
And fluid pressure line and other auxiliary elements form.The executive component of the hydraulic system is 8 hydraulic cylinders, is divided into two groups, wherein one
For 4 hydraulic cylinders of group for commutating, another group of hydraulic cylinder is used for operating system.
In hydraulic cylinder group in operating system, under the process control of control system, corresponding solenoid valve is opened, makes one
4 hydraulic cylinder rods of group rise simultaneously or drop.Two blocks of supporting plates can be set, every two hydraulic cylinder rod is connected with one block of supporting plate, supporting plate with
Cylinder rod goes up and down and goes up and down, and supporting plate can hold up or put down the pallet of storage cargo, to achieve the purpose that access cargo.
Refering to what is shown in Fig. 9, being similar to the operation in hydraulic reversing system above-mentioned, by opening corresponding solenoid valve, make
The hydraulic oil of hydraulic pump oil outlet enters from first hydraulic cylinder cavity of resorption, then the hydraulic oil of first hydraulic cylinder epicoele enters second
The cavity of resorption of a hydraulic cylinder, the hydraulic oil of second hydraulic cylinder epicoele enter the cavity of resorption of third hydraulic cylinder, on third hydraulic cylinder
The hydraulic oil of chamber enters the cavity of resorption of the 4th hydraulic cylinder, the oil inlet of the hydraulic oil of the 4th hydraulic cylinder epicoele to hydraulic pump, then
For hydraulic cylinder rod all in a rise process, on the contrary then hydraulic cylinder rod is in the process of a decline.Because of the rule of one group of hydraulic cylinder
Lattice all, so the volume of each chamber is identical, using the Incoercibility of hydraulic oil, into the hydraulic body having of each hydraulic cylinder
Product is identical, to keep synchronism.
Control system
It further include control system in the four-way shuttle type transfer robot according to present disclosure, the control system
Other than including the module controlled as described above for hydraulic reversing system and operating system, additionally it is possible to realize and carry
The positioning of vehicle and aligning.
As described above, the travel-driving mechanism of transfer robot includes power motor, power motor drives transfer robot
Traveling wheel walking.
It is additionally provided with the encoder of the angular displacement for recording motor rotation on power motor and the encoder will be remembered
The angular displacement recorded sends the control system to.
Control system calculates the actual displacement amount that traveling wheel is walked, and according to this by the conversion of angular displacement
Actual displacement amount positions transfer robot, so that controlling the transfer robot is moved to or stops at certain predetermined position.
According to another aspect of the present disclosure, it is also proposed that a kind of position school for four-way shuttle type transfer robot
Barebone, the position calibration system may include the inquiry machine being arranged on transfer robot and be arranged in the first passage and
Answering machine on the second channel.The control system of transfer robot is adjusted according to the location information that position calibration system is fed back
Whole position.
Preferably, inquiry machine can be the laser sensor be capable of output signal and read return signal；Answering machine is pre-
It is equipped with the positioning cards of location information.
In this disclosure in transfer robot, power motor can for motor or other it is any can be according to control
Any suitable motor of system instruction output power.
Four-way shuttle type transfer robot in this disclosure executes operation behaviour by the way of hydraulic-driven
Make and commutates.It is able to bear relatively large load, and accelerates commutating speed.In addition, the four-way shuttle in present disclosure is to remove
Fortune robot is able to use a set of hydraulic system and completes supporting plate lifting and commutation function, without arranging other complicated mechanical knots
Structure, makes shuttle overall volume, and weight greatly reduces.
In conjunction with the explanation and practice of the present disclosure disclosed here, the other embodiments of present disclosure are for this field
Technical staff will be readily apparent and understand.Illustrate and embodiment be regarded only as being exemplary, present disclosure it is real
Scope and spirit are defined in the claims.
Claims (10)
1. a kind of four-way shuttle type transfer robot, the transfer robot includes pedestal and the walking that is mounted on the pedestal
Wheel, which is characterized in that the transfer robot includes for the running driving device of walking, for changing the hydraulic of driving direction
Exchange system, operating system and control system for accessing cargo；
Wherein the traveling wheel includes the first round group for walking in first passage and for travelling on a second pass
Two wheel groups, the first round group and the second wheel group are in different height and for travelling in different directions, and described first
At least one of wheel group and the second wheel group are configured as the liftable wheel group moving up and down for commutation；
The hydraulic reversing system includes unidirectional driving hydraulic cylinder group, unidirectional driving mechanism and hydraulic power unit, and the commutation is driven
Motivation structure is connect with the commutation hydraulic cylinder in the unidirectional driving hydraulic cylinder group, and the hydraulic power unit is unidirectional driving hydraulic cylinder group
Power is provided, the unidirectional driving mechanism drives the liftable wheel group in vertical direction according to the instruction of the control system
It is mobile.
2. transfer robot according to claim 1, which is characterized in that the unidirectional driving mechanism is configured to drive institute
Each traveling wheel in liftable wheel group is stated in vertical direction synchronizing moving.Preferably, the unidirectional driving mechanism includes and institute
The link block of the cylinder rod connection of the hydraulic cylinder in unidirectional driving hydraulic cylinder group is stated, and what is connect with the link block be used to support institute
State the wheel bearing of liftable wheel group；
It is further preferred that the hydraulic cylinder in the unidirectional driving hydraulic cylinder group is configured that the wheel of each liftable wheel group
Axis is at least configured with a hydraulic cylinder；Each hydraulic cylinder in the unidirectional driving hydraulic cylinder group is configured to identical and passes through pipe
Road is cascaded.
3. transfer robot according to claim 1, which is characterized in that the unidirectional driving mechanism is configured to drive institute
Each traveling wheel in liftable wheel group is stated in the asynchronous movement of vertical direction.
4. transfer robot according to claim 2, which is characterized in that each liquid in the unidirectional driving hydraulic cylinder group
The cylinder body of cylinder pressure is fixed, and liquid, and the unidirectional driving hydraulic cylinder are pre-filled in each cavity of each hydraulic cylinder
Valve and pipeline in group are configured as:
When cylinder rod rises, the hydraulic oil of hydraulic pump oil outlet enters from the cavity of resorption of first hydraulic cylinder, then first hydraulic cylinder
The hydraulic oil of epicoele enters the cavity of resorption of next hydraulic cylinder via pipeline, and the hydraulic oil of next hydraulic cylinder epicoele is via pipeline
Into the cavity of resorption of next one hydraulic cylinder, until the cavity of resorption of each hydraulic cylinder is oil-filled, so that each cylinder rod is at
One synchronous rise process；
When cylinder rod descending manner, the hydraulic oil of hydraulic pump oil outlet enters from the epicoele of first hydraulic cylinder, then first hydraulic cylinder
The hydraulic oil of cavity of resorption enters the epicoele of next hydraulic cylinder via pipeline, and the hydraulic oil of next hydraulic cylinder cavity of resorption is via pipeline
Into the epicoele of next one hydraulic cylinder, until the epicoele of each hydraulic cylinder is oil-filled, so that each cylinder rod is at
The process of one synchronous decline.
5. transfer robot described in one of -4 according to claim 1, which is characterized in that when the transfer robot is in existing
When the control system of the position of first passage and second channel and the transfer robot issues the instruction of transformation driving direction,
The hydraulic reversing system proceeds as follows:
Judge whether the liftable wheel group of the transfer robot is located at the state fallen and contacts with running lanes,
If the liftable wheel group is in lowering position and contacts with the running lanes in existing traveling, the commutation is driven
Motivation structure drives each traveling wheel in the liftable wheel group to be moved upwards up to raised position in vertical direction, so that described
Another group of wheel group for not serving as liftable wheel group in one wheel group and the second wheel group is contacted with new running lanes, completes commutation；
If the liftable wheel group is in the position risen and does not contact with the running lanes in existing traveling, described to change
To driving mechanism drive each traveling wheel in the liftable wheel group vertical direction be moved down into lowering position and with
New running lanes contact so that another group of wheel group for not serving as liftable wheel group in the first round group and the second wheel group and
Running lanes in existing traveling disengage, and complete commutation；Preferably, transfer robot according to claim 7,
It is characterized in that, the driving direction that both the first round group and the second wheel group are configured as is mutually perpendicular to.
6. transfer robot according to claim 1, which is characterized in that the operating system includes being arranged in the carrying
The supporting plate for being operated to cargo or pallet at the top of robot,
The operating system further includes the operation driving hydraulic cylinder group for driving the supporting plate to move in vertical direction,
The supporting plate is connect and with the cylinder rod of the hydraulic cylinder in the operation driving hydraulic cylinder group with the movement of the cylinder rod
And shift position；Preferably, the hydraulic cylinder in the operation driving hydraulic cylinder group is connected in series and each hydraulic cylinder is configured
To be identical, particularly, the operation driving hydraulic cylinder and the unidirectional driving hydraulic cylinder group share a hydraulic power unit.
7. transfer robot according to claim 1, which is characterized in that the first passage be main channel, described first
Group wheel is main channel wheel group；The second channel is subchannel, and the second wheel group is subchannel wheel group, the main channel and institute
Subchannel is stated to be mutually perpendicular to；
The travel-driving mechanism includes power motor and the retarder that connect with power motor, and the retarder includes two defeated
Shaft, described two output shafts make to lead in two vertical direction outputting powers, the output power in a direction by transmission mechanism
The main channel wheel shaft of channel wheel group rotates；
The output power in another direction rotates the subchannel wheel shaft of subchannel wheel group by transmission mechanism；Preferably, described
Driving wheel in the wheel group of main channel is directly anchored on the main channel wheel shaft, after subchannel axis obtains power, then passes through chain
In short axle where wheel chain mechanism driving to subchannel wheel, rotate the driving wheel in subchannel wheel group；The main channel wheel
Axis is configured to move between two positions of vertical direction, is used to drive the main channel wheel shaft in the retarder
The position of output shaft fix and at the position on the upper side of main channel wheel shaft two positions midtread position.
8. transfer robot according to claim 1, which is characterized in that the travel-driving mechanism includes power motor,
The power motor drives the traveling wheel of the transfer robot to walk,
It is provided with the encoder of the angular displacement for recording motor rotation on the power motor and the encoder will record
To angular displacement send the control system to；
Control system calculates the actual displacement amount that traveling wheel is walked, and according to the reality by the conversion of angular displacement
Displacement positions the transfer robot, so that controlling the transfer robot is moved to or stops at certain predetermined position；
Preferably, the transfer robot further includes position calibration system, and the position calibration system includes being arranged in the carrying implement
Inquiry machine on device people and the answering machine being arranged on the first passage and the second channel, the control system is according to institute
The location information of position calibration system feedback is stated to adjust position.
9. transfer robot according to claim 8, which is characterized in that the inquiry machine is being capable of output signal and reading
The laser sensor of return signal；The answering machine is to preset the positioning cards of location information.
10. the transfer robot according to one of claim 8 to 9, the power motor is motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811154873.2A CN108945939A (en) | 2018-09-30 | 2018-09-30 | A kind of four-way shuttle type transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811154873.2A CN108945939A (en) | 2018-09-30 | 2018-09-30 | A kind of four-way shuttle type transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108945939A true CN108945939A (en) | 2018-12-07 |
Family
ID=64472509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811154873.2A Pending CN108945939A (en) | 2018-09-30 | 2018-09-30 | A kind of four-way shuttle type transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945939A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| CN111055923A (en) * | 2019-12-17 | 2020-04-24 | 普罗格智芯科技(湖北)有限公司 | Four-way shuttle |
| CN111703794A (en) * | 2020-06-01 | 2020-09-25 | 中国电子科技集团公司第三十八研究所 | Winding lifting device of four-way vehicle and four-way vehicle |
| GB2584766A (en) * | 2019-03-22 | 2020-12-16 | Ocado Innovation Ltd | Load-handling device |
| CN112374420A (en) * | 2020-11-19 | 2021-02-19 | 南京华德仓储设备制造有限公司 | Four-way shuttle type carrying robot for warehouse logistics |
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200978844Y (en) * | 2006-06-16 | 2007-11-21 | 代其新 | Synchronous equal-force double-cylinder system |
| CN102725514A (en) * | 2010-01-21 | 2012-10-10 | 阿尔斯通水电设备法国公司 | Device for controlling the movement of a ring gate of a hydraulic machine and hydraulic machine comprising such a device |
| CN102849423A (en) * | 2012-09-29 | 2013-01-02 | 厦门思尔特机器人系统有限公司 | Heavy type free shuttling trolley with tracks |
| CN103171851A (en) * | 2013-04-03 | 2013-06-26 | 上海速锐信息技术有限公司 | Intelligent four-direction shuttling vehicle with climbing function |
| CN103183210A (en) * | 2013-03-29 | 2013-07-03 | 宁波赛维思机械有限公司 | Double-track hydraulic right-angle steering flatcar |
| CN104326205A (en) * | 2014-11-03 | 2015-02-04 | 陈剑伟 | Intelligent shuttling car provided with 360-degree steering function |
| CN108001920A (en) * | 2017-09-11 | 2018-05-08 | 上海富洋云网机器人股份有限公司 | The electronic shuttle of heavy-load type intelligent hydraulic synchronous lifting |
-
2018
- 2018-09-30 CN CN201811154873.2A patent/CN108945939A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200978844Y (en) * | 2006-06-16 | 2007-11-21 | 代其新 | Synchronous equal-force double-cylinder system |
| CN102725514A (en) * | 2010-01-21 | 2012-10-10 | 阿尔斯通水电设备法国公司 | Device for controlling the movement of a ring gate of a hydraulic machine and hydraulic machine comprising such a device |
| CN102849423A (en) * | 2012-09-29 | 2013-01-02 | 厦门思尔特机器人系统有限公司 | Heavy type free shuttling trolley with tracks |
| CN103183210A (en) * | 2013-03-29 | 2013-07-03 | 宁波赛维思机械有限公司 | Double-track hydraulic right-angle steering flatcar |
| CN103171851A (en) * | 2013-04-03 | 2013-06-26 | 上海速锐信息技术有限公司 | Intelligent four-direction shuttling vehicle with climbing function |
| CN104326205A (en) * | 2014-11-03 | 2015-02-04 | 陈剑伟 | Intelligent shuttling car provided with 360-degree steering function |
| CN108001920A (en) * | 2017-09-11 | 2018-05-08 | 上海富洋云网机器人股份有限公司 | The electronic shuttle of heavy-load type intelligent hydraulic synchronous lifting |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| GB2584766A (en) * | 2019-03-22 | 2020-12-16 | Ocado Innovation Ltd | Load-handling device |
| GB2584766B (en) * | 2019-03-22 | 2021-08-25 | Ocado Innovation Ltd | Load-handling device with wheel-positioning and engagement mechanism |
| CN111055923A (en) * | 2019-12-17 | 2020-04-24 | 普罗格智芯科技(湖北)有限公司 | Four-way shuttle |
| CN111703794A (en) * | 2020-06-01 | 2020-09-25 | 中国电子科技集团公司第三十八研究所 | Winding lifting device of four-way vehicle and four-way vehicle |
| CN111703794B (en) * | 2020-06-01 | 2021-10-26 | 中国电子科技集团公司第三十八研究所 | Four-way vehicle |
| CN112374420A (en) * | 2020-11-19 | 2021-02-19 | 南京华德仓储设备制造有限公司 | Four-way shuttle type carrying robot for warehouse logistics |
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108945939A (en) | A kind of four-way shuttle type transfer robot | |
| EP2082981B1 (en) | Loading/unloading system for container terminal | |
| CN103171851B (en) | Intelligent four-direction shuttling vehicle with climbing function | |
| JP7026247B2 (en) | 4-way shuttle type transport robot | |
| CN111959531B (en) | Four-way walking shuttle | |
| CN108068774A (en) | Prize block formula electric automobile charging station | |
| CN203268812U (en) | Intelligent four-direction shuttle vehicle with climbing function | |
| CN109911492B (en) | Three-dimensional matrix type warehousing system | |
| CN108861673A (en) | Convey loading system and conveying loading method | |
| EP3782939B1 (en) | Self-propelled transport system | |
| CN111532809A (en) | Horizontal push-pull type container alignment synchronous loading and unloading system | |
| CN208868847U (en) | Change the lifting device to road for four-way shuttle | |
| CN114180251A (en) | Four-way shuttle | |
| CN110239967A (en) | A kind of automatic cabinet stockyard | |
| CN109132311A (en) | A kind of hydraulic commutation type transfer robot | |
| CN112173527A (en) | Heavy-load four-way shuttle | |
| WO2024055504A1 (en) | Hydraulic lifting rgv, and material conveying system using same | |
| CN208616971U (en) | Convey loading system and logistics system | |
| CN209506749U (en) | A kind of hydraulic reversing system for transfer robot | |
| CN215401345U (en) | Brick feeding equipment for brick making machine | |
| CN207107574U (en) | It is a kind of can be across the tiered warehouse facility of shelf picking | |
| CN206231370U (en) | Sled block formula electric automobile charging station | |
| CN213444932U (en) | Transfer conveying line | |
| CN210762693U (en) | Transmission device for transfer robot | |
| CN214358212U (en) | Heavy-load four-way shuttle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 239499 Plant 2, High end Electronic Information Industry Science and Technology Innovation Park, south of Jiashan Avenue and east of Baotashan Road, Mingguang City, Chuzhou City, Anhui Province Applicant after: Surui Intelligent (Mingguang) Co.,Ltd. Address before: Room 505, Building 12, No. 498 Guoshoujing Road, Pudong New Area, Shanghai, March 2012 Applicant before: SHANGHAI SURAY INFORMATION TECHNOLOGY Co.,Ltd. |