CN109665247A - Four-way shuttle - Google Patents
Four-way shuttle Download PDFInfo
- Publication number
- CN109665247A CN109665247A CN201811620384.1A CN201811620384A CN109665247A CN 109665247 A CN109665247 A CN 109665247A CN 201811620384 A CN201811620384 A CN 201811620384A CN 109665247 A CN109665247 A CN 109665247A
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- China
- Prior art keywords
- longitudinal
- lateral
- wheel
- assembly
- wheel group
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- 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.)
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses four-way shuttles, mainly it is made of frame assembly, walking mechanism, lifting body and wheel group elevating mechanism, the frame assembly is made of rectangle bottom plate and four blocks of side plates, the side plate, which is respectively perpendicular, is welded in four side of bottom plate, side plate is equipped with through-hole for installing walking mechanism, by being flexibly connected and being fixedly mounted on bottom plate, lifting body bottom is fixedly connected with bottom plate for walking mechanism bottom and wheel group elevating mechanism.The present invention carries out top to cargo using lifting body and takes, and runs more stable safety, and reduce motor usage quantity, optimizes whole structure.
Description
Technical field
The present invention relates to a kind of transporting equipments of warehousing system, specially four-way shuttle.
Background technique
To improve entire automatic stereowarehouse utilization rate, cargo unit is quickly accessed, while solving piler and tradition
The problems such as shuttle can only be moved back and forth along one-dimensional square, four-way shuttle arises.Four-way shuttle can be in matrix pattern
Any operation in horizontal or vertical direction, has automatic adjustment horizontal functional, can climb certain angle slope in track.
Four-way shuttle is a kind of intelligent robot, by preset program, it can be achieved that the automatic access of cargo in warehouse,
It carries, change layer, leveling, climbing, be transported to the position of any demand, do not limited by place and levelness, give full play to automatic
The flexibility and convenience of warehousing system.
When accessing cylindrical goods, existing four-way shuttle uses clipping type pallet fork, is consolidated by clamp system on the inside of pallet fork
Earnest body completes entire access action.Horizontal and vertical walking mechanism is controlled respectively by two motors, since four-way to be realized is worn
The step of shuttle, original system takes jacking, commutation, realizes above-mentioned function, while need to be equipped with multiple electric motors and coordinate to carry out.Due to structure
Complication, cause entire machine quality excessive, when multiple electric motors cooperating is easy to appear error and chaotic, and flexible embraces folder
There is the hidden danger of fracture in formula pallet fork front end, increases the unstability of system, reduces operating accuracy.
Summary of the invention
The present invention is to solve the problems such as original four-way shuttle clamping is unstable, structure is complicated, quality is excessive, and the present invention uses
Technical solution be:
Four-way shuttle, which is characterized in that be mainly made of frame assembly, walking mechanism, lifting body and wheel group elevating mechanism；
The walking mechanism includes decelerating through motor unit, super high torque timing belt, longitudinal drive assembly and lateral drive assembly, institute
It states motor reducer to be fixedly mounted in frame assembly, the decelerating through motor unit output end has the first output chain gear and second defeated
Sprocket wheel out, first output chain gear is attached by super high torque timing belt and the sprocket wheel on Longitudinal assembly, described
Second output chain gear is attached by super high torque timing belt and the sprocket wheel on lateral dynamics assembly；
The lifting body includes jacking hydraulic control system, four jacking hydraulic cylinders and loading platform, the motor output end and
Hydraulic power unit is connected and is fixedly installed in frame assembly, and the hydraulic power unit and four jacking hydraulic cylinders pass through pipe
Road is attached, and four jacking hydraulic cylinders are fixedly installed on respectively below loading platform, and the loading platform includes pedestal, and four vertical
Connecting rod, two horizontal brace rods and two support rods, four vertical connectings are fixedly installed in pedestal top four corners, and two
A horizontal brace rod is symmetrical arranged connection vertical connecting shaft, and two support rod horizontal symmetrical settings are installed on vertical connecting
Upper end；
The wheel group elevating mechanism includes going up and down axle bed, wheel group lifting hydraulic cylinder and wheel group lifting hydraulic control system, described
It goes up and down axle bed both ends and Longitudinal assembly is flexibly connected, wheel group lifting hydraulic cylinder is connect by mounting plate with lifting axle bed, institute
Wheel group raise-lower hydraulic power unit is stated to connect and be fixedly connected in frame assembly by pipeline with wheel group lifting hydraulic cylinder.
Preferably, first output chain gear of decelerating through motor unit and the second output chain gear angle are 90 °.
Preferably, longitudinal drive assembly includes longitudinal driving shaft and longitudinal driven shaft, longitudinal drive sprocket axle both ends peace
Equipped with longitudinal driving wheel, longitudinal driving shaft sprocket wheel is fixedly installed on longitudinal driving shaft, longitudinal driven shaft both ends are equipped with longitudinal direction
Driven wheel, the longitudinal direction driving shaft and longitudinal driven shaft are mounted on bearing.
Preferably, the lateral drive assembly includes lateral driving shaft and lateral driven wheel, lateral both ends of main drive shaft installation
There is lateral driving wheel, lateral dynamics input sprocket and lateral dynamics output chain gear, the cross are fixedly installed on lateral driving shaft
It is connect to power output sprocket by synchronous belt with lateral driving wheel；Fixing bearing is installed on the transverse direction driven wheel, it is described
Fixing bearing is fixedly connected with frame assembly.
Preferably, the jacking hydraulic cylinder and loading platform are attached by flange.
Preferably, the lateral drive assembly is additionally provided with a tightener sprocket, and the tightener sprocket is fixedly mounted on side plate
On, the tightener sprocket is set in lateral drive assembly on the outside of synchronous belt and is connected with synchronous belt.
Preferably, the support rod both ends are provided with limited block, and the limited block setting direction is vertical with support rod direction.
Preferably, loading platform pedestal junction is additionally provided with gusseted.
Beneficial effects of the present invention:
1. the present invention drives the lifting realization of loading platform to take the liter of cargo using hydraulic device, the uniform force of loading platform is led to
The structure for crossing two parallel support bars and limited block can take stable rise of cylindrical goods, protect during lifting and shuttle
Hold the steady of cargo.
2. the present invention simultaneously carries out Longitudinal assembly and lateral dynamics assembly using single motor retarder two-way dynamic
Power output, the single hydraulic control system that jacks control jacking hydraulic cylinder, optimize whole driving structure, structure is simpler
It is single, whole weight is reduced, to improve the operational efficiency of system.
Detailed description of the invention
Fig. 1 is general assembly structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of walking mechanism.
Fig. 3 is the structural schematic diagram of wheel group elevating mechanism.
Fig. 4 is the structural schematic diagram of lifting body.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention into
Row is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The present invention.
Fig. 1 is general assembly structural schematic diagram of the present invention, and the present invention is mainly by walking mechanism 1, frame assembly 2, wheel group elevator
Structure 3 and lifting body 4 form.
The frame assembly 2 is made of rectangle bottom plate 21 and four blocks of side plates 22, and the side plate 22, which is respectively perpendicular, to be welded in
21 4 side of bottom plate, side plate are equipped with through-hole and pass through flexibility for installing walking mechanism 1, walking mechanism bottom 1 and wheel group elevating mechanism 3
It connecting and is fixedly mounted on bottom plate 21,4 bottom of lifting body is fixedly connected with bottom plate 21 and is wholy set in top of the present invention,
It is also equipped with battery modules 5 in the middle part of bottom plate 21, inventive drive means are powered.
Fig. 2 is the structural schematic diagram of walking mechanism, and the walking mechanism 1 is same including decelerating through motor unit 11, superelevation torque
Band 12, longitudinal drive assembly 14 and lateral drive assembly 13 are walked, 11 output end of decelerating through motor unit includes two output chain gears, point
Not Wei the first output chain gear 111 and the second output chain gear 112, the first output chain gear 111 on sprocket wheel and longitudinal drive assembly 14
Longitudinal driving shaft sprocket wheel 142 connected by super high torque timing belt 12, the second output chain gear 112 and sprocket wheel are total with lateral dynamics
It is connected at the lateral dynamics input sprocket 132 on 13 by super high torque timing belt 12, due to the first output chain gear 111 and second
112 angle of output chain gear is 90 °, is passed so that 11 power of decelerating through motor unit is transferred to lateral drive assembly 13 respectively with longitudinal
Dynamic assembly 14.
Longitudinal assembly 14 mainly includes longitudinal driving shaft 141 and longitudinal driven shaft 144, longitudinal driving shaft 141 with it is vertical
It is mounted on bearing 146 to 144 both ends of driven shaft, coefficient of friction when transmission shaft rotation is reduced, reduces kinetic equation loss, Zong Xiangzhu
Longitudinal driving shaft sprocket wheel 142 is also equipped on moving axis 141, the second output chain gear 112 drives vertical by super high torque timing belt 12
Rotation to driving shaft sprocket wheel 142, to output power to longitudinal driving shaft 141, longitudinal driving shaft, the fixed peace in 141 both ends
There are two longitudinal driving wheel 143, longitudinal 144 both ends of driven shaft are fixedly mounted there are two longitudinal driven wheel 145 dress, pass through longitudinal master
Moving axis 141 drives the movement of longitudinal driven shaft 144, to complete the longitudinal movement of single unit system.
Lateral dynamics assembly 13 mainly includes lateral driving shaft 131, is also equipped with lateral dynamics on lateral driving shaft 131
Input sprocket 132 drives the rotation of lateral driving shaft 131,131 liang of lateral driving shaft by connecting with super high torque timing belt 12
End is respectively provided with a rolling bearing units 133, and the rolling bearing units 133 are bolted to connection in bottom plate 21, it is for fixing simultaneously
And the coefficient of friction when movement of lateral driving shaft 131 is reduced, transverse direction 131 both ends of driving shaft are in 133 inside of rolling bearing units
It is also respectively provided with a lateral dynamics output chain gear 136, respectively by synchronous belt to drive lateral driving wheel 134, outside synchronous belt
Side is additionally provided with a tightener sprocket 135, takes up guiding and tension to synchronizing, it is made to be in best tensioning state always.Laterally
Power assembly 13 further includes having lateral driven wheel 137, and the transverse direction driven wheel 137 is attached with fixing bearing 138, fixing axle
138 are held to be fixedly connected by bolt with bottom plate 21.Drive lateral driving wheel 134 and transverse direction driven by lateral driving shaft 131
The walking of wheel 137, completes lateral movement.
Fig. 3 is wheel group elevating mechanism concrete structure schematic diagram, and the wheel group elevating mechanism 3 includes wheel group lifting hydraulic cylinder
31, guide bearing 32, lifting axle bed 33 and wheel group lifting hydraulic control system 35.33 both ends of lifting axle bed respectively with it is vertical
It is attached to driving shaft 141, longitudinal driven shaft 144 by flexible clutch 34, wheel group lifting hydraulic cylinder 31 and guide bearing
32 are fixedly connected by mounting plate 36 with lifting axle bed 33, hydraulic control system 35 and wheel group lifting hydraulic cylinder 31 pass through pipeline into
Row connection.The wheel group elevating mechanism 3 is distributed in four-way shuttle two sides, is connected with Longitudinal assembly 14, the lifting of wheel group
35 control wheel group lifting hydraulic cylinder 31 of hydraulic control system is gone up and down, to realize that Longitudinal assembly 14 and lateral dynamics are total
Switch at 13 walking.
Fig. 4 is lifting body concrete structure schematic diagram, and lifting body includes jacking 41, four jacking liquid of hydraulic control system
Cylinder pressure 42 and loading platform 4, the hydraulic control system 41 are fixedly connected with bottom plate 21, the hydraulic control system 41 and four
Jacking hydraulic cylinder 42 is connected by pipeline, and the jacking hydraulic cylinder 42 is attached with loading platform pedestal 43 by flange, liquid
Pressure control system 41 can control the lifting of four jacking hydraulic cylinders 42 simultaneously, to guarantee the stability of lifting.Loading platform bottom
43 junctions of seat are additionally provided with gusseted, play the role of reinforcing rib.Loading platform pedestal 43 is symmetrically arranged with four vertical connectings
45,45 shaft of vertical connecting then passes through two horizontal brace rods 44 and is fixedly connected, to the integral strength of reinforcement structure,
45 top of vertical connecting is welded with two support rods 46, and cylindrical goods are played in two 46 horizontal parallel of support rod settings
Supporting role, 46 both ends of support rod are provided with limited block 47, and limited block setting direction is vertical with 46 direction of support rod, from
And cargo two sides are limited, guarantee that cargo keeps stablizing in jacking and transportational process.
The course of work of the invention are as follows: by the present invention be put into storage storehouse in into unloading track in, open driving wheel group lifting
Hydraulic control system 35,35 control wheel group lifting hydraulic cylinder 31 of wheel group lifting hydraulic control system decline, thus will longitudinal active
Wheel 143 is simultaneously declined with longitudinal driven wheel 145 to touch track bottom surface, at this time lateral driving wheel 134 and lateral driven wheel 137
In vacant state, driving motor deceleration unit 11, so that longitudinal driving wheel 143 be driven to walk forward with longitudinal driven wheel 145；
When encountering cross track, suspends decelerating through motor unit 11 at this time and run, while opening driving wheel group lifting hydraulic control system 35, take turns
Group 35 control wheel group lifting hydraulic cylinder 31 of lifting hydraulic control system rises, will be on longitudinal driving wheel 143 and longitudinal driven wheel 145
Vacant state is risen to, so that lateral driving wheel 134 touches track bottom surface with lateral driven wheel 137, driving motor slows down at this time
Unit 11 is run, and lateral driving wheel 134 is driven to walk forward with lateral driven wheel 137；When shuttle runs to cargo destined
When underface, suspend decelerating through motor unit 11, jacks the control jacking hydraulic cylinder 42 of hydraulic control system 41 at this time and rise loading platform
4, it is taken to carry out top to cargo, completes picking.
It is inverse process since cargo is transported with the process for entering picking in the present invention, then is no longer repeated.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from basic principle of the present invention, several improvements and modifications can also be made, above-mentioned hypothesis these
Improvement and modification also should be regarded as protection scope of the present invention.
Claims (8)
1. four-way shuttle, which is characterized in that mainly by frame assembly, walking mechanism, lifting body and wheel group elevating mechanism group
At；
The walking mechanism includes decelerating through motor unit, super high torque timing belt, longitudinal drive assembly and lateral drive assembly, institute
It states motor reducer to be fixedly mounted in frame assembly, the decelerating through motor unit output end has the first output chain gear and second defeated
Sprocket wheel out, first output chain gear is attached by super high torque timing belt and the sprocket wheel on Longitudinal assembly, described
Second output chain gear is attached by super high torque timing belt and the sprocket wheel on lateral dynamics assembly；
The lifting body includes jacking hydraulic control system, four jacking hydraulic cylinders and loading platform, the motor output end and
Hydraulic power unit is connected and is fixedly installed in frame assembly, and the hydraulic power unit and four jacking hydraulic cylinders pass through pipe
Road is attached, and four jacking hydraulic cylinders are fixedly installed on respectively below loading platform, and the loading platform includes pedestal, and four vertical
Connecting rod, two horizontal brace rods and two support rods, four vertical connectings are fixedly installed in pedestal top four corners, and two
A horizontal brace rod is symmetrical arranged connection vertical connecting shaft, and two support rod horizontal symmetrical settings are installed on vertical connecting
Upper end；
The wheel group elevating mechanism includes going up and down axle bed, wheel group lifting hydraulic cylinder and wheel group lifting hydraulic control system, described
It goes up and down axle bed both ends and Longitudinal assembly is flexibly connected, wheel group lifting hydraulic cylinder is connect by mounting plate with lifting axle bed, institute
Wheel group raise-lower hydraulic power unit is stated to connect and be fixedly connected in frame assembly by pipeline with wheel group lifting hydraulic cylinder.
2. four-way shuttle according to claim 1, which is characterized in that first output chain gear of decelerating through motor unit and
Second output chain gear angle is 90 °.
3. four-way shuttle according to claim 1, which is characterized in that the longitudinal direction drive assembly includes longitudinal driving shaft
With longitudinal driven shaft, longitudinal drive sprocket axle both ends are equipped with longitudinal driving wheel, longitudinal active are fixedly installed on longitudinal driving shaft
Axis sprocket wheel, longitudinal driven shaft both ends are equipped with longitudinal driven wheel, and the longitudinal direction driving shaft and longitudinal driven shaft are mounted on bearing.
4. four-way shuttle according to claim 1, which is characterized in that the transverse direction drive assembly includes lateral driving shaft
With lateral driven wheel, lateral both ends of main drive shaft is equipped with lateral driving wheel, and it is defeated to be fixedly installed lateral dynamics on lateral driving shaft
Enter sprocket wheel and lateral dynamics output chain gear, the lateral dynamics output chain gear is connect by synchronous belt with lateral driving wheel；It is described
Fixing bearing is installed, the fixing bearing is fixedly connected with frame assembly on lateral driven wheel.
5. four-way shuttle according to claim 1, which is characterized in that the jacking hydraulic cylinder and loading platform pass through flange
It is attached.
6. four-way shuttle according to claim 5, which is characterized in that the transverse direction drive assembly is additionally provided with a tensioning
Sprocket wheel, the tightener sprocket are fixedly mounted on side plate, and the tightener sprocket is set in lateral drive assembly on the outside of synchronous belt
And it is connected with synchronous belt.
7. four-way shuttle according to claim 1, which is characterized in that the support rod both ends are provided with limited block, institute
It is vertical with support rod direction to state limited block setting direction.
8. four-way shuttle according to claim 1, which is characterized in that loading platform pedestal junction is additionally provided with three
Angle support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811620384.1A CN109665247A (en) | 2018-12-28 | 2018-12-28 | Four-way shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811620384.1A CN109665247A (en) | 2018-12-28 | 2018-12-28 | Four-way shuttle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109665247A true CN109665247A (en) | 2019-04-23 |
Family
ID=66146543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811620384.1A Pending CN109665247A (en) | 2018-12-28 | 2018-12-28 | Four-way shuttle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109665247A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110037870A (en) * | 2019-05-08 | 2019-07-23 | 开封大学 | A kind of combined type medical nursing bed |
| CN110065759A (en) * | 2019-06-03 | 2019-07-30 | 湖北三丰小松自动化仓储设备有限公司 | A kind of 4 wheel driven four-bar linkage sleeve type four-way shuttle robot |
| CN111365414A (en) * | 2020-04-22 | 2020-07-03 | 普罗格智芯科技(湖北)有限公司 | Double-shaft vertical output speed reducer and bidirectional driving system |
| GB2584766A (en) * | 2019-03-22 | 2020-12-16 | Ocado Innovation Ltd | Load-handling device |
| CN112093349A (en) * | 2020-09-15 | 2020-12-18 | 隆链智能科技（上海）有限公司 | Jacking linkage type sixteen-wheel four-way shuttle |
| CN112173528A (en) * | 2020-11-05 | 2021-01-05 | 云南昆船电子设备有限公司 | Reversing mechanism for compact four-way shuttle |
| WO2021115174A1 (en) * | 2019-12-10 | 2021-06-17 | 阿里巴巴集团控股有限公司 | Carrier vehicle and transport system |
| CN113184433A (en) * | 2021-05-07 | 2021-07-30 | 湖北三丰小松自动化仓储设备有限公司 | Intensive heavy-load intelligent warehousing system |
| CN117699297A (en) * | 2023-12-13 | 2024-03-15 | 江苏华章物流科技股份有限公司 | Four-way shuttle traveling mechanism, four-way shuttle and use method |
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| CN108996436A (en) * | 2018-09-10 | 2018-12-14 | 上海欧力德物流科技有限公司 | A kind of pallet fork formula four-way shuttle of low energy consumption |
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| CN103895995A (en) * | 2012-12-28 | 2014-07-02 | 昆山光腾智能机械有限公司 | Automatic-rail-changing shuttle |
| CN104724431A (en) * | 2015-03-04 | 2015-06-24 | 东华大学 | Inner-outer-vehicle-embedded three-dimensional walking rail guided vehicle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2584766B (en) * | 2019-03-22 | 2021-08-25 | Ocado Innovation Ltd | Load-handling device with wheel-positioning and engagement mechanism |
| GB2584766A (en) * | 2019-03-22 | 2020-12-16 | Ocado Innovation Ltd | Load-handling device |
| CN110037870B (en) * | 2019-05-08 | 2021-06-04 | 开封大学 | Combined medical nursing bed |
| CN110037870A (en) * | 2019-05-08 | 2019-07-23 | 开封大学 | A kind of combined type medical nursing bed |
| CN110065759A (en) * | 2019-06-03 | 2019-07-30 | 湖北三丰小松自动化仓储设备有限公司 | A kind of 4 wheel driven four-bar linkage sleeve type four-way shuttle robot |
| CN110065759B (en) * | 2019-06-03 | 2024-02-06 | 湖北三丰小松物流技术有限公司 | Four-wheel drive four-link rod sleeved type four-way shuttle robot |
| WO2021115174A1 (en) * | 2019-12-10 | 2021-06-17 | 阿里巴巴集团控股有限公司 | Carrier vehicle and transport system |
| CN111365414A (en) * | 2020-04-22 | 2020-07-03 | 普罗格智芯科技(湖北)有限公司 | Double-shaft vertical output speed reducer and bidirectional driving system |
| CN112093349A (en) * | 2020-09-15 | 2020-12-18 | 隆链智能科技（上海）有限公司 | Jacking linkage type sixteen-wheel four-way shuttle |
| WO2022057816A1 (en) * | 2020-09-15 | 2022-03-24 | 隆链智能科技（上海）有限公司 | Jacking linkage type sixteen-wheel four-way shuttle |
| CN112173528A (en) * | 2020-11-05 | 2021-01-05 | 云南昆船电子设备有限公司 | Reversing mechanism for compact four-way shuttle |
| CN113184433A (en) * | 2021-05-07 | 2021-07-30 | 湖北三丰小松自动化仓储设备有限公司 | Intensive heavy-load intelligent warehousing system |
| CN117699297A (en) * | 2023-12-13 | 2024-03-15 | 江苏华章物流科技股份有限公司 | Four-way shuttle traveling mechanism, four-way shuttle and use method |
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Application publication date: 20190423 |