CN110466926B - Swing arm intelligence tray carrier - Google Patents
Swing arm intelligence tray carrier Download PDFInfo
- Publication number
- CN110466926B CN110466926B CN201810435778.3A CN201810435778A CN110466926B CN 110466926 B CN110466926 B CN 110466926B CN 201810435778 A CN201810435778 A CN 201810435778A CN 110466926 B CN110466926 B CN 110466926B
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- wheels
- channel
- lifting
- main channel
- driving
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The swing arm intelligent pallet truck comprises a truck body, a main channel traveling mechanism, a secondary channel traveling lifting mechanism, a traveling tensioning mechanism, a lifting tensioning mechanism, a control system and a battery, wherein main channel wheels are respectively arranged on the left side and the right side of the truck body, secondary channel wheels are respectively arranged on the front side and the rear side of the truck body, the secondary channel wheels are arranged on eccentric swing arms, the main channel traveling mechanism drives the main channel wheels by traveling servo motors, the secondary channel wheels are arranged on four eccentric swing arms, the lifting servo motors drive the eccentric swing arms, the secondary channel traveling servo motors drive the secondary channel wheels to travel, and the control system is provided with a program encoder, control software and a wireless communication interface. The invention has the advantages that the two-way operation of the swing arm intelligent pallet truck in the main channel and the secondary channel is realized by adopting 16 wheels, the secondary channel wheels are distributed and arranged in a splayed shape, the structure is simple, the reliability and the durability are realized, the local concentrated load of the wheels on the support guide rail is effectively reduced, and the stability of the truck body during reversing and lifting is improved.
Description
Technical Field
The invention relates to storage equipment, in particular to an intelligent swing arm tray carrier with eccentric reversing, lifting and synchronous transmission functions.
Background
In the conventional shuttle storage system, the pallet trucks must cooperate with the fork trucks or lifts at the tail ends of the roadways, in this case, the fork trucks and lifts become "short boards of the wooden casks", and the efficiency determines the throughput and the operation efficiency of the shuttle storage system, so that the number of pallet trucks cannot be increased uniformly to improve the system efficiency. With the diversification and complicating of the business types of modern logistics centers, multi-layer intelligent shuttle storage systems gradually come into the field of view as new automated storage solutions. The intelligent swing arm intelligent tray carrier in the multilayer intelligent shuttle storage system can realize multidirectional running, can span the efficient and flexible operation in tunnel, is not limited by space, and has stronger application environment applicability. The intelligent pallet truck can be flexibly adjusted to work roadways, the roadways and the lifting machine are unbinding, so that the technical bottleneck of the traditional pallet truck on the lifting machine is solved, equipment can be completely configured according to the working flow, the equipment capacity waste is reduced, and the intelligent pallet truck with the swing arm is more flexible and flexible in cooperation with the lifting machine.
At present, a novel swing arm intelligent pallet truck in the warehouse industry adopts a lifting device and a driving device structure. The lifting device, the drive device and the control system are generally fixed to the vehicle body. The lifting device comprises an air compressor, an air storage tank, an electromagnetic valve integrated box, a lifting wheel cylinder, a lifting supporting plate cylinder, a cylinder piston and the like, and can achieve the purpose of lifting a vehicle body through the combination of the components, but the device is too complex due to the excessive number of the components, and meanwhile, a large amount of the device occupies the originally limited vehicle body inner space, so that the swing arm intelligent tray carrier is heavy, has a complex structure and is easy to break down, and the space utilization rate of a warehouse is reduced.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art and provides an intelligent pallet truck with eccentric reversing, lifting and synchronous transmission functions. According to the invention, the lifting mechanism and the driving mechanism are integrated into a whole through the eccentric and reversing mechanisms, so that the structure of the pallet truck is simplified, the appearance specification of the truck body is effectively controlled, and the space utilization rate of a warehouse is improved. According to the invention, the bidirectional operation of the swing arm intelligent pallet truck in a main channel and a secondary channel lane is realized by sixteen wheels, the secondary channel wheels are arranged on the eccentric swing arms, the two eccentric swing arms are in a splayed shape to form one group, the two groups are symmetrically distributed on the front side surface and the rear side surface of the truck body, and when the truck body is reversed and lifted, the operation stability of the truck body is obviously higher than that of the layout design of a single wheel support, so that the local concentrated load of the wheels on the support guide rail can be effectively reduced, and the deformation defect of the support guide rail is reduced.
The invention comprises the following steps: the main channel running mechanism consists of a running servo motor, a speed reducer, a chain, a sprocket, a driving shaft, a driven wheel driving shaft, main channel wheels and main channel driven wheels, the secondary channel running lifting mechanism consists of a lifting servo motor, an eccentric swing arm, secondary channel wheels, a guiding unit, secondary channel running mechanisms, a synchronous connecting mechanism, a speed reducer, a gear, a chain and a secondary channel running driving shaft, and is characterized in that the left side and the right side of the vehicle body are respectively provided with four main channel wheels, the front side and the rear side of the vehicle body are respectively provided with four secondary channel wheels, the secondary channel wheels are arranged on the eccentric swing arm, the two eccentric swing arms are in a splayed shape and are in a group, the two groups are symmetrically distributed on the front side and the rear side of the vehicle body, the main channel travelling mechanism drives main channel wheels by a travelling servo motor through a speed reducer, a chain wheel and a driving shaft, the main channel wheels drive main channel driven wheels through driven wheel driving shafts, four groups of main channel wheels have the same structure, the sub channel travelling lifting mechanism is respectively provided with a sub channel wheel on four eccentric swing arms on the front side and the rear side, the lifting servo motor is connected with the eccentric swing arms on one side through the speed reducer, a gear and the chain, the other side is connected with the other side through a synchronous connecting mechanism, the eccentric swing arms on the other end on the same side are connected with the sub channel travelling driving shafts through the chain, the chain wheel, the sub channel travelling mechanism and the gear, the sub channel travelling servo motor is connected with the sub channel travelling driving shafts through the gear, the sub channel travelling driving shafts are connected with the sub channel wheels through the gear, the sub channel wheels on the eight eccentric swing arms are all driven by the sub channel travelling driving shafts through the gear connection, the secondary channel walking lifting mechanism is provided with a walking tensioning mechanism, a lifting tensioning mechanism and a battery which are connected with a walking servo motor and a lifting servo motor through a control system, and the control system is provided with a wireless communication interface.
The secondary channel walking lifting mechanism is driven by a lifting servo motor to change the positions of the eccentric swing arms on the front side and the rear side, the lifting of the vehicle body is completed, and each group of eccentric swing arms swings according to a splayed shape to change the opening angle.
The driving shaft in the main channel travelling mechanism is arranged on the upper layer on the left side and the right side of the vehicle body, the main channel wheels and the main channel driven wheels are arranged on the lower layer of the vehicle body and are in collinear vertical distribution, the driving shaft drives the main channel wheels through a group of meshing gears, the driven wheel driving shaft is connected with the driven wheels, and the driven wheels are connected with the driven wheels by adopting the driven wheel driving shaft and are independently fixed on the vehicle body, so that the auxiliary travelling and bearing functions are mainly achieved.
The control system is provided with a program encoder and control software.
The invention has the advantages that 16 wheels are adopted to realize the bidirectional operation of the swing arm intelligent pallet truck in the main channel and the secondary channel, the wheels of the main channel are symmetrically distributed on the left side and the right side of the truck body, the wheels of the secondary channel are distributed in a splayed shape, and one side of the wheels of the secondary channel is symmetrically distributed on the front side and the rear side of the truck body, so that the local concentrated load of the wheels on the supporting guide rail can be effectively reduced, the deformation defect of the supporting guide rail is reduced, and the running stability of the truck body is obviously higher than that of the layout design of single-wheel support when the truck body is reversed and lifted. The intelligent tray carrier with the swing arms is smoother in operation, transition is smoother, possible clamping stagnation of a single wheel cannot occur, and the operation efficiency and reliability of the system are improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the front and rear structure of the present invention;
FIG. 3 is a left-right schematic view of the present invention;
FIG. 4 is a schematic view of the initial position structure of the eccentric reversing and lifting mechanism of the present invention;
FIG. 5 is a schematic view of the primary lifting position of the eccentric reversing and lifting mechanism of the present invention
FIG. 6 is a schematic view of the structure of the secondary lifting position of the eccentric reversing and lifting mechanism of the invention;
in the figure: the vehicle comprises a vehicle body 1, a synchronous connecting mechanism 2, an eccentric swing arm 3, an eccentric swing arm 4, a guide unit 5, an eccentric swing arm 6, a 7-time channel travelling mechanism 8, an eccentric swing arm 9, a driving shaft 10, a main channel wheel 11, a travelling tensioning mechanism 12, a lifting tensioning mechanism 13, a control system 14, a battery 15, a travelling servo motor 16, a lifting servo motor 17, a vehicle body cover plate 18 and a channel wheel 19.
Detailed Description
Embodiments of the invention are further described below with reference to the accompanying drawings:
referring to fig. 1, 2 and 3, the embodiment is composed of a vehicle body 1, a main channel traveling mechanism, a secondary channel traveling lifting mechanism, a traveling tensioning mechanism 12, a lifting tensioning mechanism 13, a control system 14 and a battery 15.
The main channel travelling mechanism consists of a travelling servo motor 16, a speed reducer, a chain wheel, a driving shaft 9, a driven wheel driving shaft, main channel wheels 10 and main channel driven wheels 11. The secondary channel walking lifting mechanism consists of a lifting servo motor 17, an eccentric swing arm 3, an eccentric swing arm 4, an eccentric swing arm 6, an eccentric swing arm 8, secondary channel wheels, a guide unit 5, a secondary channel walking mechanism 7, a synchronous connecting mechanism 2, a speed reducer, gears, a chain and a secondary channel walking driving shaft. Four main channel wheels are respectively arranged on the left side and the right side of the vehicle body 1, four secondary channel wheels are respectively arranged on the front side and the rear side of the vehicle body, and eight secondary channel wheels are respectively arranged on the eccentric swing arm 3, the eccentric swing arm 4, the eccentric swing arm 6 and the eccentric swing arm 7. The two eccentric swing arms are splayed to form a group, and the two groups are symmetrically distributed on the front side and the rear side of the vehicle body 1.
The main channel travelling mechanism drives the main channel wheels 10 by a travelling servo motor 16 through a speed reducer, a group of chains, a chain wheel and a driving shaft 9, the main channel wheels 10 drive the main channel driven wheels 11 through driven wheel driving shafts, and the four groups of main channel wheels have the same structure. The driving shaft 9 in the main channel travelling mechanism is arranged on the upper layer on the left side and the right side of the vehicle body 1, the main channel wheels 10 and the main channel driven wheels 11 are arranged on the lower layer of the vehicle body 1 and are in collinear vertical distribution, the driving shaft 9 drives the main channel wheels 10 through a group of meshing gears, and the driven wheels are connected with the driven wheels 11. Driven wheels 11 are connected by driven wheel driving shafts and are independently fixed on the vehicle body 1, and the driven wheel driving shafts mainly play roles in assisting walking and bearing.
The secondary channel walking lifting mechanism is provided with a secondary channel wheel 19 on the four eccentric swing arms 3, 4, 6 and 8 respectively, and the lifting servo motor 17 is connected with one side of the eccentric swing arms 3 and 4 through a speed reducer, a group of meshing gears and a group of chains. The other side of the vehicle body 1 is connected through a synchronous connecting mechanism 2, and an eccentric swing arm 6 and an eccentric swing arm 8 at the other end of the same side are connected through a chain, a chain wheel, a secondary channel travelling mechanism 7 and a group of meshing gears. The secondary channel walking lifting mechanism is driven by a lifting servo motor 17 to change the positions of the eccentric swing arms on the front side and the rear side, and each group of eccentric swing arms swings in a splayed manner to change the opening angle, so that the lifting of the vehicle body 1 is completed. The walking servo motor 16 is connected with a secondary channel walking driving shaft through a speed reducer, a chain wheel and a secondary channel walking driving shaft, the secondary channel walking driving shaft is connected with secondary channel wheels 19 through gears, the secondary channel wheels 19 on the eight eccentric swing arms are driven by the secondary channel walking driving shaft through gears, and a secondary channel walking lifting mechanism is provided with a walking tensioning mechanism 12 and a lifting tensioning mechanism 13. The battery 15 is connected with a walking servo motor 16 and a lifting servo motor 17 through a control system 14 in a circuit way, and the control system 14 is provided with a wireless communication interface. The control system is provided with a program encoder and control software. A vehicle body cover 18 is provided on top of the vehicle body 1.
In this embodiment, the control system 14 includes control hardware and control software, where the control hardware includes a relay, an encoder, an industrial personal computer, a driver, and the like, and is connected to the drivers of the walking servo motor 16 and the lifting servo motor 17 to implement functional control of position control, speed control, driving, and braking. The control software comprises a servo driving motor control program, a position control program, a speed control program and a brake control program.
Referring to fig. 4, 5 and 6, the complete process from the initial position to the primary lifting and the secondary lifting of the secondary channel walking lifting mechanism with eccentric reversing and the real-time state of the secondary channel walking lifting mechanism are shown.
Fig. 4 shows the initial position of the secondary channel walking lifting mechanism, the eccentric swing arm 3, the eccentric swing arm 4, the eccentric swing arm 6 and the eccentric swing arm 8 are integrally arranged on the upper side of the vehicle body 1 with the secondary channel wheels 19, at this time, the primary channel walking mechanism is in a working state, and the primary channel wheels are in contact with the guide rail surfaces in the primary channel direction to drive the vehicle body 1 to run in the primary channel.
Fig. 5 is a primary lifting position of the secondary channel traveling lifting mechanism, wherein the eccentric swing arm 3, the eccentric swing arm 4, the eccentric swing arm 6, the eccentric swing arm 8 and the secondary channel wheels 19 are integrally arranged on the lower side of the vehicle body 1, but are lower than the outer edges of the primary channel traveling wheels, the secondary channel traveling lifting mechanism is in a working state, the secondary channel wheels 19 are in contact with the guide surfaces in the secondary channel direction, the secondary channel traveling lifting mechanism drives the vehicle body 1 to finish transition from the primary channel to the secondary channel traveling direction, so that reversing actions are finished, the traveling wheels in the primary channel direction are arranged in a suspension position, and the swing arm intelligent tray carrier can finish free switching of the directions between the primary channel and the secondary channel.
Fig. 6 is a secondary lifting position of the secondary channel walking lifting mechanism, at this time, the secondary channel walking lifting mechanism is in a working state, the secondary channel wheels 19 are in contact with the guide rail surface in the secondary channel direction, and the secondary channel walking lifting mechanism drives the vehicle body 1 and the tray to perform lifting action, so that the process of picking up goods is completed. The swing arm intelligent pallet truck is dispatched by the control system 14 to leave the pick-up position. And finishing the storage work of the whole warehousing system.
Claims (3)
1. A swing arm intelligent pallet truck, comprising: the main channel travelling mechanism consists of a travelling servo motor, a speed reducer, a chain, a sprocket, a driving shaft, a driven wheel driving shaft, main channel wheels and main channel driven wheels, the sub channel travelling lifting mechanism consists of a lifting servo motor, an eccentric swing arm, sub channel wheels, a guiding unit, sub channel travelling mechanisms, a synchronous connecting mechanism, a speed reducer, gears and chains and a sub channel travelling driving shaft, and is characterized in that four main channel wheels are respectively arranged on the left side and the right side of the vehicle body, four sub channel wheels are respectively arranged on the front side and the rear side of the vehicle body, the sub channel wheels are arranged on the eccentric swing arm, the two eccentric swing arms are in a splayed shape and are symmetrically distributed on the front side and the rear side of the vehicle body, the main channel travelling mechanism drives the main channel wheels through the speed reducer, the chains and the driving shafts and the driven wheels by the driven wheel driving shafts, the main channel wheels are identical in structure, the sub channel wheels are respectively arranged on the four eccentric swing arms on the front side and the rear side of the eccentric swing arm driving sides of the sub channel driving shaft, the sub channel driving wheels are respectively connected with the driving wheels through the gears and the eccentric swing arms through the eccentric swing arms, the eccentric swing arms and the driving wheels on the other sides of the side of the driving wheels and the driving wheels are connected with the driving wheels through the driving shafts, the driving wheels on the side and the driving wheels through the driving wheels and the driving side and the driving wheels are respectively, the secondary channel walking lifting mechanism is provided with a walking tensioning mechanism and a lifting tensioning mechanism, a battery is connected with a walking servo motor and a lifting servo motor through a control system in a circuit manner, and the control system is provided with a wireless communication interface.
2. The swing arm intelligent pallet truck according to claim 1, wherein the secondary channel walking lifting mechanism is driven by a lifting servo motor to change positions of eccentric swing arms on the front side and the rear side, lifting of the truck body is completed, and each group of eccentric swing arms swings according to a splayed shape to change an opening angle.
3. The swing arm intelligent pallet truck according to claim 1, wherein the driving shaft in the main channel travelling mechanism is arranged at the upper layer of the left side and the right side of the truck body, the main channel wheels and the main channel driven wheels are arranged at the lower layer of the truck body and are in collinear vertical distribution, the driving shaft drives the main channel wheels through a set of meshing gears, and the driven wheel driving shaft is connected with the driven wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810435778.3A CN110466926B (en) | 2018-05-09 | 2018-05-09 | Swing arm intelligence tray carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810435778.3A CN110466926B (en) | 2018-05-09 | 2018-05-09 | Swing arm intelligence tray carrier |
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| Publication Number | Publication Date |
|---|---|
| CN110466926A CN110466926A (en) | 2019-11-19 |
| CN110466926B true CN110466926B (en) | 2024-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810435778.3A Active CN110466926B (en) | 2018-05-09 | 2018-05-09 | Swing arm intelligence tray carrier |
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| Country | Link |
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| CN (1) | CN110466926B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722670B (en) * | 2021-01-20 | 2024-04-12 | 上海号息智能科技有限公司 | Goods storing and taking trolley and vertical warehouse |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2242932Y (en) * | 1995-05-18 | 1996-12-18 | 李裕宏 | Parking device crossing in length and breadth |
| CN1438096A (en) * | 2003-03-11 | 2003-08-27 | 张周新 | Object walking mechanism |
| EP2404848A1 (en) * | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for rail-bound transport of palettes within a deep shelf system |
| CN103101737A (en) * | 2013-02-18 | 2013-05-15 | 山东轻工业学院 | Shuttling car walking along crossed track |
| CN205707790U (en) * | 2016-05-30 | 2016-11-23 | 四川科恒创科技有限公司 | The rotation that a kind of energy fork unloads goods supports pallet |
| JP2017121822A (en) * | 2016-01-05 | 2017-07-13 | 株式会社日立製作所 | Travelling mechanism |
| CN206437484U (en) * | 2017-02-07 | 2017-08-25 | 南京有多利物流设备制造有限公司 | Four-way shuttle and tiered warehouse facility |
| CN208412898U (en) * | 2018-05-09 | 2019-01-22 | 世仓智能仓储设备（上海）股份有限公司 | A kind of swing arm smart tray carrier |
-
2018
- 2018-05-09 CN CN201810435778.3A patent/CN110466926B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2242932Y (en) * | 1995-05-18 | 1996-12-18 | 李裕宏 | Parking device crossing in length and breadth |
| CN1438096A (en) * | 2003-03-11 | 2003-08-27 | 张周新 | Object walking mechanism |
| EP2404848A1 (en) * | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for rail-bound transport of palettes within a deep shelf system |
| CN103101737A (en) * | 2013-02-18 | 2013-05-15 | 山东轻工业学院 | Shuttling car walking along crossed track |
| JP2017121822A (en) * | 2016-01-05 | 2017-07-13 | 株式会社日立製作所 | Travelling mechanism |
| CN205707790U (en) * | 2016-05-30 | 2016-11-23 | 四川科恒创科技有限公司 | The rotation that a kind of energy fork unloads goods supports pallet |
| CN206437484U (en) * | 2017-02-07 | 2017-08-25 | 南京有多利物流设备制造有限公司 | Four-way shuttle and tiered warehouse facility |
| CN208412898U (en) * | 2018-05-09 | 2019-01-22 | 世仓智能仓储设备（上海）股份有限公司 | A kind of swing arm smart tray carrier |
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| CN110466926A (en) | 2019-11-19 |
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