CN110615376A - Tray lifting mechanism of shuttle trolley - Google Patents
Tray lifting mechanism of shuttle trolley Download PDFInfo
- Publication number
- CN110615376A CN110615376A CN201910722519.3A CN201910722519A CN110615376A CN 110615376 A CN110615376 A CN 110615376A CN 201910722519 A CN201910722519 A CN 201910722519A CN 110615376 A CN110615376 A CN 110615376A
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- China
- Prior art keywords
- groove
- lifting
- left front
- swing rod
- shaped frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0641—Single levers, e.g. parallel links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a tray lifting mechanism of a shuttle trolley, which solves the problem that the lifting mechanism is easy to fall back freely in the walking process of the conventional shuttle trolley. A parallelogram-shaped four-bar linkage mechanism is used as a lifting mechanism to replace the traditional eccentric wheel lifting mechanism, the frame of the shuttle trolley is used as the bottom edge of the four-bar linkage mechanism, the top edge of the four-bar linkage mechanism is used as an actuating mechanism for butting the tray, and parallel left and right swinging upright rods are pushed by a gear rack mechanism to realize swinging; when lifting, the gear rack mechanism pushes the two parallel swing vertical rods to pass through the vertical position of 90 degrees with the plate of the shuttle trolley and then to be limited by the fixed limiting block, so that the fixing of the lifting position is realized, the limitation of passing through the vertical position of 90 degrees by the two swing rods fundamentally avoids the self falling of the four-bar linkage mechanism, and the phenomenon that the goods are left on the way when the shuttle trolley transports goods is avoided.
Description
Technical Field
The invention relates to a shuttling transfer trolley in a high-density stereoscopic warehouse with trays, in particular to a tray lifting mechanism on the shuttling transfer trolley.
Background
The goods shelf in the high-density intelligent storage system is generally in a multilayer three-dimensional frame type, a tray is movably arranged on two support beams of a frame type goods position, the stored goods are placed in the tray, a shuttle trolley walking track is arranged between the inner sides of the two supporting beams of the goods shelf type goods position under the tray, the two shuttle trolley traveling tracks are provided with shuttle trolleys, the body of each shuttle trolley is provided with a lifting tray lifting mechanism, when the shuttle trolley enters the loading position, the lifting mechanism on the shuttle trolley is lifted to lift the tray and the goods on the tray to a certain height, so that the tray is separated from the two supporting beams of the goods shelf, then, after the shuttle trolley carries the tray and the goods to the unloading position, the lifting mechanism on the shuttle trolley falls down, the tray and the goods on the tray are placed on the two supporting beams of the goods shelf, and then the shuttle trolley leaves. The lifting mechanism on the existing shuttle car is mainly composed of a lifting plate and an eccentric wheel group below the lifting plate, the lifting mechanism is lifted by driving the eccentric wheel group to rotate a certain angle through a motor, so that a wheel shaft of the eccentric wheel group is lifted to a lifting position, a tray above a car body is lifted, at the moment, a farthest point on an eccentric wheel surface is butted on the lower bottom surface of the lifting plate, theoretically, a center point of the eccentric wheel shaft and a farthest point on the eccentric wheel surface are positioned on the same vertical line, a gravity center vertical line of goods on the tray passes through the same vertical line, so that the shuttle car is in a stable state in the process of cargo carrying walking, but due to the control deviation of the driving motor of the eccentric wheel group and the shaking of the goods in the process of car walking, the center point of the eccentric wheel shaft and the farthest point on the eccentric wheel surface are not positioned on the same vertical line, a force arm is formed between the, the lifting mechanism freely falls back under the action of the moment in the running process of the shuttle trolley, so that the shuttle trolley is in the process of conveying goods, the goods are left on the way when the shuttle trolley is moved, and the goods conveying fails.
Disclosure of Invention
The invention provides a tray lifting mechanism of a shuttle trolley, which solves the technical problem that the lifting mechanism is easy to fall back freely in the walking process of the conventional shuttle trolley.
The invention solves the technical problems by the following technical scheme:
the general concept of the invention is: a parallelogram-shaped four-bar linkage mechanism is used as a lifting mechanism to replace the traditional eccentric wheel lifting mechanism, the frame of the shuttle trolley is used as the bottom edge of the four-bar linkage mechanism, the top edge of the four-bar linkage mechanism is used as an actuating mechanism for butting the tray, and parallel left and right swinging upright rods are pushed by a gear rack mechanism to realize swinging; when lifting, the gear rack mechanism pushes the two parallel swing vertical rods to pass through the vertical position of 90 degrees with the plate of the shuttle trolley and then to be limited by the fixed limiting block, so that the fixing of the lifting position is realized, the limitation of passing through the vertical position of 90 degrees by the two swing rods fundamentally avoids the self falling of the four-bar linkage mechanism, and the phenomenon that the goods are left on the way when the shuttle trolley transports goods is avoided.
A tray lifting mechanism of a shuttle car comprises a goods shelf supporting beam rear side guide rail and a goods shelf supporting beam front side guide rail, the shuttle car is movably arranged between the goods shelf supporting beam rear side guide rail and the goods shelf supporting beam front side guide rail, a frame of the shuttle car is composed of a rear groove-shaped frame, a front groove-shaped frame, a left frame and a right frame, a shuttle car rear side travelling wheel is arranged on the rear groove-shaped frame, a shuttle car front side travelling wheel is arranged on the front groove-shaped frame, a left front swing rod lower end pin shaft is arranged at the bottom in a left end groove of the front groove-shaped frame, a right front swing rod lower end pin shaft is arranged at the bottom in a right end groove of the front groove-shaped frame, a left front swing rod is hinged on the left front swing rod lower end pin shaft, a right front swing rod is hinged on the right front swing rod lower end pin shaft, an upper front connecting rod is hinged between the top end of the left front swing rod and the top end of the right front swing rod, a front A slide rail in the groove, a slide block in the front groove is movably arranged on the slide rail in the front groove, a left front push block is arranged at the left end of the slide block in the front groove, a left front pushing roller is arranged on the left front pushing block and movably connected with the left front swing rod in a propping way, a left front pushing and lifting rack is arranged on the top surface of the sliding block in the front groove on the right side of the left front pushing block, a left front pushing and lifting gear is meshed on the left front pushing and lifting rack, a left front boosting gear shaft is arranged in a gear bearing of the left front boosting gear, the left front boosting gear shaft penetrates through a rear side plate of the front groove-shaped frame and then is connected with the driving transmission gear, a lifting motor fixing plate is fixedly arranged on the rear side plate of the front groove-shaped frame, a lifting driving motor is arranged on the lifting driving motor fixing plate, a main driving gear is arranged on an output shaft of the lifting driving motor, and the main driving gear is meshed with the driving transmission gear; a left rear pushing and lifting mechanism which has the same structure as the front groove-shaped frame and consists of a rear groove inner slide rail, a rear groove inner slide block, a left rear pushing and lifting roller wheel, a left rear pushing and lifting gear shaft and a left rear pushing and lifting gear is arranged in the rear groove-shaped frame, and a coupling is connected between the left rear pushing and lifting gear shaft and the left front pushing and lifting gear shaft.
And when the left front swing rod is abutted to the swing rod over-position stop block, an over-position included angle between a central vertical line of a pin shaft at the lower end of the left front swing rod and the central axis of the left front swing rod is 3-5 degrees.
The invention replaces the lifting mechanism of the eccentric wheel pair on the traditional shuttle car with two sets of four-bar linkage mechanisms, overcomes the defect that the lifting mechanism is easy to fall back when the shuttle car is in motion, has stable structure after the lifting tray is in place, effectively solves the problem of lifting mechanism fall back caused by the control error of a lifting motor and the gravity center shift in cargo transportation, and ensures the transfer safety of the cargo.
Drawings
FIG. 1 is a schematic structural view of a shuttle car according to the present invention;
FIG. 2 is a schematic structural view of a pallet lift mechanism on the shuttle car of the present invention;
FIG. 3 is a diagram of the relationship between the four-bar linkage lifting mechanism and the swing link pushing mechanism in the lifting mechanism of the present invention;
FIG. 4 is a schematic view of the four-bar linkage of the present invention with the two swing links raised to a position perpendicular to the ground;
FIG. 5 is a schematic structural view of the four-bar linkage lifting mechanism of the present invention after the two swing links are lifted in place.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
a tray lifting mechanism of a shuttle trolley comprises a goods shelf supporting beam rear side guide rail 1 and a goods shelf supporting beam front side guide rail, a shuttle trolley is movably arranged between the rear side guide rail 1 of the goods shelf support beam and the front side guide rail of the goods shelf support beam, the frame of the shuttle trolley consists of a rear groove-shaped frame 2, a front groove-shaped frame 5, a left frame 8 and a right frame, a shuttle trolley rear side travelling wheel 4 is arranged on the rear groove-shaped framework 2, a shuttle trolley front side travelling wheel 7 is arranged on the front groove-shaped framework 5, four pairs of travelling wheels are symmetrically arranged on the outer side of the front groove-shaped frame 5 and the outer side of the rear groove-shaped frame 2 of the shuttle trolley frame, one pair of the wheels is a driving walking wheel pair which is connected with a main driving gear 26, two walking wheels at the right end of the frame of the shuttle trolley are connected with each other through a long shaft 3 to form a wheel pair, and the other walking wheels are connected on the frame of the shuttle trolley through a short shaft 6; a left front swing rod lower end pin shaft 12 is arranged at the bottom in a left end groove of the front groove-shaped frame 5, a right front swing rod lower end pin shaft 14 is arranged at the bottom in a right end groove of the front groove-shaped frame 5, a left front swing rod 11 is hinged on the left front swing rod lower end pin shaft 12, a right front swing rod 13 is hinged on the right front swing rod lower end pin shaft 14, an upper front connecting rod 15 is hinged between the top end of the left front swing rod 11 and the top end of the right front swing rod 13, the left front swing rod 11, the upper front connecting rod 15, the right front swing rod 13 and the front groove-shaped frame 5 form a four-bar mechanism, the front groove-shaped frame 5 of the four-bar mechanism is fixed and is used as a fixed bottom connecting rod of the four-bar mechanism, the other three swing rods hinged on the bottom connecting rod realize the swing in a plane vertical to the chassis, the lifting mechanism is in an acute angle state with the left front swing rod 11 and the front groove-, an acute angle formed by the left front swing rod 11 and the front groove-shaped frame 5 becomes a right angle, and finally becomes an obtuse angle; the lifting and swinging of the left front swing link 11 are completed by a pushing and lifting mechanism in the front groove-shaped frame 5, and the structure of the pushing and lifting mechanism is as follows: a front groove inner slide rail 16 is arranged on the bottom surface in the groove of the front groove-shaped frame 5 between a lower end pin shaft 12 of a left front swing rod and a lower end pin shaft 14 of a right front swing rod, a front groove inner slide block 17 is movably arranged on the front groove inner slide rail 16, a left front push block 18 is arranged at the left end of the front groove inner slide block 17, a left front push roller 19 is arranged on the left front push block 18, the left front push roller 19 is movably connected with the left front swing rod 11 in an abutting mode, a left front push rack 20 is arranged on the top surface of the front groove inner slide block 17 on the right side of the left front push block 18, a left front push gear 21 is meshed on the left front push rack 20, a left front push gear shaft 22 is arranged in a gear bearing 23 of the left front push gear 21, the left front push gear shaft 22 passes through a rear side plate of the front groove-shaped frame 5 and then is connected with a driving transmission gear 25, a lift motor fixing plate 9 is fixedly arranged on the rear side plate of the, a lifting driving motor 10 is arranged on the lifting driving motor fixing plate 9, a main driving gear 26 is arranged on an output shaft of the lifting driving motor 10, and the main driving gear 26 is meshed with the driving transmission gear 25; a left rear pushing and lifting mechanism which has the same structure as the front groove-shaped frame 5 and consists of a rear groove inner slide rail, a rear groove inner slide block, a left rear pushing and lifting roller wheel, a left rear pushing and lifting gear shaft and a left rear pushing and lifting gear is arranged in the rear groove-shaped frame 2, and a coupling 24 is connected between the left rear pushing and lifting gear shaft and the left front pushing and lifting gear shaft 22; controlling the lifting driving motor 10 to rotate, transmitting a lifting force to the driving transmission gear 25 by the main driving gear 26, driving the driving transmission gear 25 to drive the left front lifting gear 21 to rotate clockwise, so that the left front lifting rack 20 moves leftwards, driving the front in-groove slide block 17 to move leftwards along the front in-groove slide rail 16 by the left front lifting rack 20, driving the left front swing rod 11 to move leftwards by the left front lifting roller wheel 19 at the left end of the front in-groove slide block 17, swinging the left front swing rod 11 leftwards, and lifting the upper front connecting rod 15; the lifting mechanism in the rear groove-shaped frame 2 with the same structure lifts the upper rear connecting rod at the same time, the upper front connecting rod 15 and the upper rear connecting rod lift the tray together, so that the tray and the goods on the tray are separated from the two supporting beams of the goods shelf, and the lifting of the tray and the goods before the shuttle trolley moves is realized.
An oscillating bar over-position stop block 27 is arranged on the inner side surface of the left frame 8, and when the left front oscillating bar 11 is abutted against the oscillating bar over-position stop block 27, an over-position included angle 30 between a central vertical line 28 of a pin shaft 12 at the lower end of the left front oscillating bar and a central axis 29 of the left front oscillating bar 11 is 3-5 degrees; the lifting process of the lifting mechanism is completed from an acute angle formed by the left front swing rod 11 and the left rear swing rod with the chassis of the trolley to an obtuse angle formed by 93-95 degrees, because the left front swing rod 11 passes through a position which forms a right angle with the chassis of the trolley at a position in place, goods are eccentric or other moments which influence the continuous swing of the swing rods can only enable the swing rods to swing leftwards but not swing rightwards, and the swing rod over-position stop block 27 is abutted to the left side surface of the left front swing rod 11 to be abutted together, so that the limit of the left front swing rod 11 is realized, and the swing rods of the shuttle trolley can not fall back in the moving process; a hook is arranged between the left front swing rod 11 and the left front push-up roller 19, when the left front swing rod 11 is lifted to a proper position, the hook connects the left front swing rod 11 and the left front push block 18 together, when the shuttle trolley conveys the tray and the goods to the unloading position, the left front push block 18 moves rightwards, the hook pulls the left front swing rod 11 rightwards, so that the left front swing rod forms an acute angle with the underframe of the trolley to form an acute angle with an obtuse angle of 93-95 degrees, then the left front swing rod 11 falls back under the gravity action of the goods, the upper front connecting rod 15 and the upper rear connecting rod fall down, the tray is placed on two supporting beams of a goods shelf at the unloading position, and then the shuttle trolley moves to the next working position.
Claims (2)
1. A tray lifting mechanism of a shuttle trolley comprises a goods shelf supporting beam rear side guide rail (1) and a goods shelf supporting beam front side guide rail, the shuttle trolley is movably arranged between the goods shelf supporting beam rear side guide rail (1) and the goods shelf supporting beam front side guide rail, a frame of the shuttle trolley consists of a rear groove-shaped frame (2), a front groove-shaped frame (5), a left frame (8) and a right frame, a shuttle trolley rear side travelling wheel (4) is arranged on the rear groove-shaped frame (2), a shuttle trolley front side travelling wheel (7) is arranged on the front groove-shaped frame (5), a left front swing rod lower end pin shaft (12) is arranged at the bottom in a left end groove of the front groove-shaped frame (5), a right front swing rod lower end pin shaft (14) is arranged at the bottom in a right end groove of the front groove-shaped frame (5), a left front swing rod (11) is hinged on the left front swing rod lower end pin shaft (12), a right front swing rod (13) is hinged, an upper front connecting rod (15) is hinged between the top end of a left front swing rod (11) and the top end of a right front swing rod (13), a front groove inner sliding rail (16) is arranged on the bottom surface of a groove of a front groove-shaped frame (5) between a lower end pin shaft (12) of the left front swing rod and a lower end pin shaft (14) of the right front swing rod, a front groove inner sliding block (17) is movably arranged on the front groove inner sliding rail (16), a left front push block (18) is arranged at the left end of the front groove inner sliding block (17), a left front push roller (19) is arranged on the left front push block (18), the left front push roller (19) is movably connected with the left front swing rod (11) in a jacking way, a left front push rack (20) is arranged on the top surface of the front groove inner sliding block (17) at the right side of the left front push block (18), a left front push gear (21) is meshed with the left front push gear shaft (22) which is arranged in a gear bearing of the left front push gear (21), a left front boosting gear shaft (22) penetrates through the rear side plate of the front groove-shaped frame (5) and then is connected with a driving transmission gear (25), a lifting motor fixing plate (9) is fixedly arranged on the rear side plate of the front groove-shaped frame (5), a lifting driving motor (10) is arranged on the lifting driving motor fixing plate (9), a main driving gear (26) is arranged on an output shaft of the lifting driving motor (10), and the main driving gear (26) is meshed with the driving transmission gear (25); a left rear pushing and lifting mechanism which has the same structure as the front groove-shaped frame (5) and consists of a rear groove inner slide rail, a rear groove inner slide block, a left rear pushing and lifting roller wheel, a left rear pushing and lifting gear shaft and a left rear pushing and lifting gear is arranged in the rear groove-shaped frame (2), and a shaft coupling (24) is connected between the left rear pushing and lifting gear shaft and the left front pushing and lifting gear shaft (22).
2. A tray lifting mechanism of a shuttle car as claimed in claim 1, wherein a swing link over-position stopper (27) is provided on the inner side of the left frame (8), and when the left front swing link (11) abuts against the swing link over-position stopper (27), an over-position included angle (30) between a central vertical line (28) of the lower end pin shaft (12) of the left front swing link and a central axis (29) of the left front swing link (11) is 3-5 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722519.3A CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722519.3A CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110615376A true CN110615376A (en) | 2019-12-27 |
| CN110615376B CN110615376B (en) | 2023-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910722519.3A Active CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110615376B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978187A (en) * | 2021-03-15 | 2021-06-18 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and use method thereof |
| WO2021208579A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device and automated guided vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09150913A (en) * | 1995-11-30 | 1997-06-10 | Komatsu Forklift Co Ltd | Maintenance elevator device for stacker crane |
| DE20307005U1 (en) * | 2002-05-30 | 2003-08-21 | Manitec Consulting Ag Horw | Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform |
| CN102689761A (en) * | 2012-06-19 | 2012-09-26 | 上海英锋工业设备有限公司 | Remotely-controlled shuttle car |
| CN205076347U (en) * | 2015-06-03 | 2016-03-09 | 江苏高科物流科技股份有限公司 | Dolly and automatic stereo warehouse shuttle back and forth |
| CN108147033A (en) * | 2018-01-30 | 2018-06-12 | 合肥工业大学 | A kind of two level boom shuttle with rack-and-pinion |
| CN210340204U (en) * | 2019-08-06 | 2020-04-17 | 山西东杰智能物流装备股份有限公司 | Tray lifting mechanism of shuttle trolley |
-
2019
- 2019-08-06 CN CN201910722519.3A patent/CN110615376B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09150913A (en) * | 1995-11-30 | 1997-06-10 | Komatsu Forklift Co Ltd | Maintenance elevator device for stacker crane |
| DE20307005U1 (en) * | 2002-05-30 | 2003-08-21 | Manitec Consulting Ag Horw | Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform |
| CN102689761A (en) * | 2012-06-19 | 2012-09-26 | 上海英锋工业设备有限公司 | Remotely-controlled shuttle car |
| CN205076347U (en) * | 2015-06-03 | 2016-03-09 | 江苏高科物流科技股份有限公司 | Dolly and automatic stereo warehouse shuttle back and forth |
| CN108147033A (en) * | 2018-01-30 | 2018-06-12 | 合肥工业大学 | A kind of two level boom shuttle with rack-and-pinion |
| CN210340204U (en) * | 2019-08-06 | 2020-04-17 | 山西东杰智能物流装备股份有限公司 | Tray lifting mechanism of shuttle trolley |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021208579A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device and automated guided vehicle |
| JP7485785B2 (en) | 2020-04-17 | 2024-05-16 | 杭州海康机器人股▲ふん▼有限公司 | Lifting equipment and automated guided vehicles |
| CN112978187A (en) * | 2021-03-15 | 2021-06-18 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and use method thereof |
| CN112978187B (en) * | 2021-03-15 | 2023-08-15 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and application method of intelligent shuttle trolley |
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| CN110615376B (en) | 2023-07-25 |
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