CN111217068B - Double-station four-way shuttle for grain storage - Google Patents
Double-station four-way shuttle for grain storage Download PDFInfo
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- CN111217068B CN111217068B CN201911034229.6A CN201911034229A CN111217068B CN 111217068 B CN111217068 B CN 111217068B CN 201911034229 A CN201911034229 A CN 201911034229A CN 111217068 B CN111217068 B CN 111217068B
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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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Abstract
The invention discloses a double-station four-way shuttle for grain storage, which is designed by an X-direction wheel and an X-direction driven wheel, realizes the X-direction running of the double-station four-way shuttle, and realizes the Y-direction running of the double-station four-way shuttle by a Y-direction driven wheel and a Y-direction wheel, and when the X-direction wheel and the X-direction driven wheel run by a pushing device, the Y-direction driven wheel and the Y-direction wheel are automatically in a suspended state; whereas when the Y-direction driven wheel and the Y-direction wheel walk, the X-direction wheel and the X-direction driven wheel are in a suspended state; the X-direction walking and the Y-direction walking are not interfered with each other, so that the simple and rapid reversing of the double-station four-direction shuttle is realized, the reversing time is shortened, the working efficiency is improved, and meanwhile, compared with the common structure of the double-station four-direction shuttle, the double-station four-direction shuttle is less in structure, and the production cost is saved.
Description
Technical Field
The invention belongs to the technical field of rail guided vehicles, and particularly relates to a double-station four-way shuttle for grain storage.
Background
Along with the development of intelligent warehouse logistics, the rail guide transport vehicle (Rail Guided Vehicle, RGV) is widely applied to an automatic stereoscopic warehouse as an automatic unmanned carried product, and the shuttle system greatly reduces the labor intensity and also greatly improves the working efficiency. Dividing according to running directions, wherein the shuttle vehicles comprise a straight shuttle vehicle and a four-way shuttle vehicle; dividing according to a reversing mode, wherein the shuttle is provided with two types of lifting reversing and reversing mechanisms for reversing; the shuttle is divided into two types, namely knapsack goods storage and taking and clamping goods storage and taking according to goods storage and taking modes.
However, the current four-way shuttle car often has problems: firstly, a reversing mechanism is generally arranged on the existing four-way shuttle to realize the conversion between the X-axis direction and the Y-axis direction, the reversing mechanism of the existing four-way shuttle is relatively complex, and the reversing time is long; and secondly, when the four-way shuttle car is used for storing and taking goods, the goods can be stored and taken only at a single station, and the efficiency is low.
Disclosure of Invention
In summary, the double-station four-way shuttle for grain storage provided by the invention has the advantages of simplicity and rapidness in reversing and double-station goods storage and taking, and solves the problems of long reversing time and low single-station goods storage and taking efficiency.
The invention provides the following technical scheme: the utility model provides a duplex four-way shuttle for grain storage, includes the automobile body, the center fixedly connected with switching-over motor at the inside top of automobile body, one side fixedly connected with X of automobile body inside top is to the walking motor, the inner wall fixedly connected with Y of automobile body one side is to the walking motor, the front fixedly connected with positioner of switching-over motor, positioner includes the stiff end, the inside joint of stiff end has ball screw, the outside fixed sleeve of positioner one end has thrust unit, thrust unit includes the nut seat, the top swing joint of nut seat has the push rod, thrust unit's inside joint has a steering device, steering device includes the supporting terminal, the top fixedly connected with connecting axle of supporting terminal, the one end fixedly connected with dead lever of connecting axle, the one end swing joint of dead lever has the crank, the one end swing joint of crank has the pendulum rod, the one end fixedly connected with long connecting rod of X to the walking motor has X to the driving sprocket, X to the outside fixed connection of driving motor has thrust unit, X to the driving sprocket, X to the inside of the inside joint has a diamond-shaped drive sprocket, Y to the inside is connected with two driving sprocket, Y is connected to the inside of diamond-shaped drive sprocket has one side to the inside transmission wheel, and is meshed to the inside diamond-shaped transmission sprocket has one side to the inside transmission sprocket, and is meshed to the inside of diamond-shaped transmission sprocket has one side, and is meshed to the inside the diamond-shaped transmission sprocket, the other side of the front of the vehicle body is movably connected with an X-direction driven wheel, the bottom of one side of the vehicle body is movably connected with a Y-direction driven wheel, the top of one side of the vehicle body is movably connected with a Y-direction wheel, the Y-direction wheel comprises a Y-direction walking driving shaft, the outer side of the Y-direction walking driving shaft is fixedly connected with a bearing end cover, the outer side of the Y-direction walking driving shaft is fixedly connected with an inner bushing, the outer side of the Y-direction walking driving shaft is fixedly sleeved with a Y-direction driving wheel, one side of the vehicle body is provided with a groove, a rack is arranged in the groove, the front of the rack is movably connected with a transmission chain III, the center of the transmission chain III is meshed with a goods storing and taking driving sprocket, the top of the goods storing and taking driving sprocket is fixedly connected with a double-station goods storing and taking motor, one side of the inside of the transmission chain is meshed with a goods storing and taking driven sprocket, the inside of the goods storing and taking driven sprocket is fixedly sleeved with a goods storing and taking driving shaft, the outer side of the goods storing and taking driving shaft is fixedly connected with a bearing, the inside fixedly connected with expansion plate of rack one side, the reverse side fixedly connected with micro motor of expansion plate, micro motor's one end fixedly connected with tongs, one side fixedly connected with pulley of expansion plate, the top swing joint of automobile body has the automobile body upper cover.
Further, the reversing motor is in transmission connection with the pushing device through the positioning device, a hinge is fixedly connected to the top of the nut seat, the nut seat is in transmission connection with the push rod through the hinge, and the push rod is in transmission connection with the Y-direction wheel through the steering device.
Further, the X-direction driving sprocket is in transmission connection with the X-direction driven sprocket through a first transmission chain, and the X-direction driven sprocket is in transmission connection with the X-direction wheel through an X-direction driving shaft.
Further, the number of the Y-direction walking motors is two, the number of the conduction devices is two, the number of the Y-direction wheels is two, the two Y-direction wheels are symmetrical relative to the vehicle body, and the Y-direction walking motors are in transmission connection with the Y-direction wheels through the conduction devices.
Further, the quantity of access goods driven sprocket is two, two access goods driven sprocket meshes respectively in the inside both sides of rack, and two access goods driven sprocket are symmetrical about duplex position access goods motor, access goods driven sprocket is connected with duplex position access goods motor transmission through the drive chain is three, rack and gear engagement, one side fixedly connected with rack of expansion plate.
Further, the tongs are connected with the expansion plate in a transmission way through the miniature motor, the miniature motor can rotate, and the rotation angle of the miniature motor is ninety degrees.
Further, the draw-in groove has been seted up to the inside of expansion plate, the tongs passes through micro motor and expansion plate transmission to be connected, micro motor can rotate, and micro motor turned angle is ninety degrees.
The utility model provides an automatically controlled and application method of duplex position four-way shuttle for grain storage, the inside of automobile body is equipped with two-dimensional code identification module, controller, wireless communication module, power module and photoelectric sensor, the automobile body is equipped with limit switch with turning to the junction of device, one side that the automobile body is close to the expansion plate is equipped with limit switch, the inside of X to walking motor is equipped with the encoder, the inside of Y to walking motor is equipped with the encoder.
Further, the two-dimensional code module, the controller, the wireless communication module, the power supply module, the photoelectric sensor and the limit switch in the vehicle body are connected through wires.
Step one: the power supply module in the vehicle body transmits required voltage to each module;
step two: the two-dimensional code identification module on the vehicle body identifies the position information of goods;
step three: the controller and the wireless communication module in the vehicle body send information and instructions for accessing goods to the shuttle;
Step four: the photoelectric sensor at the bottom of the car body identifies the identification point on the goods shelf, so that the reversing mechanism performs reversing action at a specific reversing point;
Step five: the encoder in the X-direction walking motor detects the rotating speed of the X-direction walking motor in real time and adjusts the displacement of the X-direction movement of the shuttle;
Step six: an encoder in the Y-direction traveling motor detects the rotating speed of the Y-direction traveling motor in real time and adjusts the displacement of the Y-direction movement of the shuttle;
step seven: a limit switch arranged at the joint of the vehicle body and the steering device is used for fixing the movement travel of the Y-direction wheel in the reversing process within a reasonable range;
step eight: and a limit switch is arranged on one side of the vehicle body, which is close to the expansion plate, so that the movement stroke of the expansion plate is ensured to be within a fixed stroke.
The beneficial effects are that:
1. According to the double-station four-way shuttle for grain storage, X-direction walking of the double-station four-way shuttle is realized through the X-direction wheels and the X-direction driven wheels, Y-direction walking of the double-station four-way shuttle is realized through the Y-direction driven wheels and the Y-direction wheels, and when the X-direction wheels and the X-direction driven wheels walk through the pushing device, the Y-direction driven wheels and the Y-direction wheels are automatically in a suspended state; whereas when the Y-direction driven wheel and the Y-direction wheel walk, the X-direction wheel and the X-direction driven wheel are in a suspended state; the X-direction walking and the Y-direction walking are not interfered with each other, so that the simple and rapid reversing of the double-station four-direction shuttle is realized, the reversing time is shortened, the working efficiency is improved, and meanwhile, compared with the common structure of the double-station four-direction shuttle, the double-station four-direction shuttle is less in structure, and the production cost is saved.
2. This a duplex position four-way shuttle for grain storage has realized duplex position four-way shuttle's duplex position through rack, expansion plate, has realized the access of goods through micro motor, tongs, and is higher than ordinary four-way shuttle flexibility, has improved work efficiency.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a top plan view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a cargo unit according to the present invention;
FIG. 4 is a schematic diagram of a Y-direction driving unit according to the present invention;
Fig. 5 is a schematic diagram of a reversing unit according to the present invention.
In the figure: 1. a vehicle body; 2. reversing the motor; 3. an X-direction walking motor; 4. a Y-direction walking motor; 5. a positioning device; 51. a fixed end; 52. a ball screw; 6. a pushing device; 61. a nut seat; 62. a push rod; 7. a steering device; 71. a support end; 72. a connecting shaft; 73. a fixed rod; 74. a crank; 75. a short connecting rod; 76. swing rod; 77. a long connecting rod; 8. an X-direction driving sprocket; 9. a first transmission chain; 10. an X-direction driven sprocket; 11. an X-direction driving shaft; 12. a conduction device; 121. a Y-direction driving sprocket; 122. a transmission chain II; 123. y-direction driven sprocket; 13. an X-direction wheel; 131. a diamond-shaped seat bearing; 132. driving wheels in the X direction; 14. x-direction driven wheel; 15. y-direction driven wheels; 16. a Y-direction wheel; 161. a Y-direction walking driving shaft; 162. a bearing end cap; 163. an inner liner; 164. driving the wheels in the Y direction; 17. a rack; 18. a transmission chain III; 19. a cargo access drive sprocket; 20. double-station goods storing and taking motor; 21. a driven sprocket for storing and taking goods; 22. a cargo access drive shaft; 23. a bearing; 24. a gear; 25. a telescoping plate; 26. a micro motor; 27. a grip; 28. a pulley; 29. and a vehicle body upper cover.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, a dual-station four-way shuttle for grain storage comprises a vehicle body 1, wherein a reversing motor 2 is fixedly connected to the center of the top inside the vehicle body 1, an X-direction traveling motor 3 is fixedly connected to one side of the top inside the vehicle body 1, a Y-direction traveling motor 4 is fixedly connected to the inner wall of one side of the vehicle body 1, a positioning device 5 is fixedly connected to the front surface of the reversing motor 2, the positioning device 5 comprises a fixed end 51, a ball screw 52 is clamped inside the fixed end 51, a pushing device 6 is fixedly sleeved outside one end of the positioning device 5, the pushing device 6 comprises a nut seat 61, a push rod 62 is movably connected to the top of the nut seat 61, a steering device 7 is clamped inside the pushing device 6, the steering device 7 comprises a supporting end 71, a connecting shaft 72 is fixedly connected to the top of the supporting end 71, a fixed rod 73 is fixedly connected to one end of the connecting shaft 72, a crank 74 is movably connected to one end of the fixed rod 73, a short connecting rod 75 is movably connected to one end of the crank 74, a swing rod 76 is movably connected to one end of the short connecting rod 75, a long connecting rod 77 is fixedly connected to one end of the swing rod 76, an X-direction driving sprocket 8 is fixedly connected to the front face of the X-direction traveling motor 3, a first transmission chain 9 is meshed to the outer side of the X-direction driving sprocket 8, a second X-direction driven sprocket 10 is meshed to one side of the inner part of the first transmission chain 9, an X-direction driving shaft 11 is clamped to the inner part of the second X-direction driven sprocket 10, One side of the Y-direction walking motor 4 is fixedly connected with a conducting device 12, the conducting device 12 comprises a Y-direction driving chain wheel 121, a transmission chain II 122 is meshed with the outer side of the Y-direction driving chain wheel 121, a Y-direction driven chain wheel 123 is meshed with one side of the inner part of the transmission chain II 122, one side of the front side of the vehicle body 1 is movably connected with an X-direction wheel 13, the X-direction wheel 13 comprises a diamond-shaped seat bearing 131, the inner part of the diamond-shaped seat bearing 131 is movably connected with an X-direction driving wheel 132, the other side of the front side of the vehicle body 1 is movably connected with an X-direction driven wheel 14, the bottom of one side of the vehicle body 1 is movably connected with a Y-direction driven wheel 15, the top of one side of the vehicle body 1 is movably connected with a Y-direction wheel 16, The Y-direction wheel 16 comprises a Y-direction walking driving shaft 161, a bearing end cover 162 is fixedly connected to the outer side of the Y-direction walking driving shaft 161, an inner bushing 163 is fixedly connected to the outer side of the Y-direction walking driving shaft 161, a Y-direction driving wheel 164 is fixedly sleeved on the outer side of the Y-direction walking driving shaft 161, a groove is formed in one side of the vehicle body 1, a rack 17 is placed in the groove, the front of the rack 17 is movably connected with a transmission chain III 18, a goods storage and taking driving sprocket 19 is meshed with the center of the inside of the transmission chain III 18, a double-station goods storage and taking motor 20 is fixedly connected to the top of the goods storage and taking driving sprocket 19, a goods storage and taking driven sprocket 21 is meshed with one side of the inside of the transmission chain III 18, The inside of access goods driven sprocket 21 fixedly cup joints access goods drive shaft 22, and the outside fixedly connected with bearing 23 of access goods drive shaft 22, the inside fixedly connected with expansion plate 25 of rack 17 one side, the reverse side fixedly connected with micro motor 26 of expansion plate 25, the one end fixedly connected with tongs 27 of micro motor 26, one side fixedly connected with pulley 28 of expansion plate 25, the top swing joint of automobile body 1 has automobile body upper cover 29.
Wherein, reversing motor 2 passes through positioner 5 and pusher 6 transmission connection, and the top fixedly connected with hinge of nut seat 61, and nut seat 61 passes through hinge and push rod 62 transmission connection, and push rod 62 passes through steering device 7 and Y to the wheel 16 transmission connection, controls the upper and lower of push rod 62 through reversing motor 2, and the motion of push rod 62 drives Y to the wheel 16 to realize the lift of Y to the wheel 16, realize holistic switching-over through the lift of Y to the wheel 16.
The X-direction driving chain wheel 8 is in transmission connection with the X-direction driven chain wheel 10 through a first transmission chain 9, the X-direction driven chain wheel 10 is in transmission connection with the X-direction wheel 13 through an X-direction driving shaft 11, the X-direction driving chain wheel 8 is driven to rotate through the X-direction walking motor 3, the X-direction driving chain wheel 8 drives the X-direction driven chain wheel 10 through the first transmission chain 9, and the X-direction driven chain wheel 10 drives the X-direction wheel 13 to rotate through the X-direction driving shaft 11, so that the trolley walks in the X-direction.
The number of the Y-direction traveling motors 4 is two, the number of the conduction devices 12 is two, the number of the Y-direction wheels 16 is two, the two Y-direction wheels 16 are symmetrical relative to the vehicle body 1, the Y-direction traveling motors 4 are in transmission connection with the Y-direction wheels 16 through the conduction devices 12, and the Y-direction traveling motors 4 drive the conduction devices 12 to rotate, so that the Y-direction wheels 16 are driven to rotate, and the trolley is driven to travel in the Y direction.
Wherein, the quantity of access goods driven sprocket 21 is two, and two access goods driven sprocket 21 mesh respectively in the inside both sides of rack 17, and two access goods driven sprocket 21 are symmetrical about duplex position access goods motor 20, and access goods driven sprocket 21 is connected with duplex position access goods motor 20 transmission through three 18 of drive chain, rack 17 and gear 24 meshing, one side fixedly connected with rack 17 of expansion plate 25 drives two access goods driven sprocket 21 through duplex position access goods motor 20 and rotates to drive expansion plate 25 and do rectilinear motion, when the rotation direction is different, the direction that expansion plate 25 stretched out is also opposite, has realized that expansion plate 25 can two-way stretch out.
Wherein, the draw-in groove has been seted up to the inside of expansion plate 25, and tongs 27 pass through micro motor 26 and expansion plate 25 transmission and are connected, and micro motor 26 rotation angle is ninety degrees, and the convenient tongs 27 of draw-in groove snatchs the location after the goods, and micro motor 26 can drive tongs 27 rotation, stretches out tongs 27 through expansion plate 25 to realized grabbing of goods.
An electric control and use method of a double-station four-way shuttle for grain storage is characterized in that a two-dimensional code identification module, a controller, a wireless communication module, a power supply module and a photoelectric sensor are arranged in a vehicle body 1, a limit switch is arranged at the joint of the vehicle body 1 and a steering device 7, a limit switch is arranged on one side, close to a telescopic plate 25, of the vehicle body 1, an encoder is arranged in an X-direction traveling motor 3, and an encoder is arranged in a Y-direction traveling motor 4.
Wherein, two-dimensional code module, controller, wireless communication module, power module, photoelectric sensor and limit switch in automobile body 1 are connected through the wire.
Step one: the power supply module in the vehicle body 1 transmits required voltage to each module;
Step two: the two-dimensional code recognition module on the vehicle body 1 recognizes the position information of goods;
step three: the controller and the wireless communication module in the vehicle body 1 send information and instructions for accessing goods to the shuttle;
step four: the photoelectric sensor at the bottom of the car body 1 identifies the identification point on the goods shelf, so that the reversing mechanism performs reversing action at a specific reversing point;
Step five: an encoder in the X-direction traveling motor 3 detects the rotating speed of the X-direction traveling motor 3 in real time and adjusts the displacement of the X-direction movement of the shuttle;
Step six: an encoder in the Y-direction traveling motor 4 detects the rotating speed of the Y-direction traveling motor 4 in real time and adjusts the displacement of the Y-direction movement of the shuttle;
step seven: a limit switch arranged at the joint of the vehicle body 1 and the steering device 7 is used for fixing the movement travel of the Y-direction wheel 16 in a reasonable range when the Y-direction wheel is reversed;
step eight: the limit switch arranged on one side of the vehicle body 1 close to the expansion plate 25 ensures that the movement stroke of the expansion plate 25 is within a fixed stroke.
Working principle: the power supply module on the shuttle car body 1 is used for conveying required voltage to each module, and then the two-dimensional code identification module on the car body 1 is used for identifying the position information of goods, and if the vehicle walks in the X direction: the X-direction walking motor 3 is turned on to drive the X-direction driving sprocket 8, the rotating force of the X-direction walking motor 3 is transmitted to the X-direction driven sprocket 10 through the first transmission chain 9, the X-direction driven sprocket 10 drives the X-direction driving shaft 11 to rotate, the X-direction driving shaft 11 drives the X-direction wheels 13 and the X-direction driven wheels 14 to rotate, and an encoder in the X-direction walking motor 3 detects the rotating speed of the X-direction walking motor 3 in real time and adjusts the displacement of the X-direction movement of the shuttle; when reversing is needed, firstly, a photoelectric sensor at the bottom of the car body 1 identifies an identification point on a goods shelf, then the reversing motor 2 rotates to drive the positioning device 5, the positioning device 5 drives the pushing device 6 to move up and down, so that the push rod 62 realizes lifting movement, the connecting shaft 72 is driven by the push rod 62, and the connecting shaft 72 can drive the Y-direction wheel 16, so that the reversing of the trolley is realized; when walking in the Y direction: the Y-direction traveling motor 4 drives the transmission device 12 to rotate, the transmission device 12 drives the Y-direction driven wheel 15 and the Y-direction wheel 16 to rotate, an encoder in the Y-direction traveling motor 4 detects the rotating speed of the Y-direction traveling motor 4 in real time, and the displacement of the Y-direction movement of the shuttle is regulated; when goods are accessed: the controller and the wireless communication module in the car body 1 send information and instructions for storing and taking goods to the shuttle, the double-station goods storing and taking motor 20 drives the transmission chain III 18 to rotate, the transmission chain III 18 drives the gear 24 to rotate, the gear 24 drives the pulley 28 to do linear motion, the telescopic plate 25 is driven to stretch out and draw back, the moving direction of the telescopic plate 25 can be changed through changing the double-station goods storing and taking motor 20, and accordingly goods storing and taking are achieved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Also in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. And in the drawings of the present invention, the filling patterns are only for distinguishing the layers, and are not limited in any way.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. Double-station four-way shuttle for grain storage, comprising a vehicle body (1), and being characterized in that: the center fixedly connected with reversing motor (2) at the inside top of automobile body (1), one side fixedly connected with X in automobile body (1) inside top is to walking motor (3), the inner wall fixedly connected with Y in automobile body (1) one side is to walking motor (4), the front fixedly connected with positioner (5) of reversing motor (2), positioner (5) include stiff end (51), the inside joint of stiff end (51) has ball (52), thrust unit (6) have been cup jointed fixedly in the outside of positioner (5) one end, The pushing device (6) comprises a nut seat (61), a push rod (62) is movably connected to the top of the nut seat (61), a steering device (7) is clamped in the pushing device (6), the steering device (7) comprises a supporting end (71), a connecting shaft (72) is fixedly connected to the top of the supporting end (71), a fixing rod (73) is fixedly connected to one end of the connecting shaft (72), a crank (74) is movably connected to one end of the fixing rod (73), a short connecting rod (75) is movably connected to one end of the crank (74), a swing rod (76) is movably connected to one end of the short connecting rod (75), One end fixedly connected with length connecting rod (77) of pendulum rod (76), the positive fixedly connected with X of X to walking motor (3) is to driving sprocket (8), the outside meshing of X to driving sprocket (8) has driving chain one (9), the inside one side meshing of driving chain one (9) has X to driven sprocket (10), the inside joint of X to driven sprocket (10) has X to drive shaft (11), one side fixedly connected with conduction device (12) of Y to walking motor (4), conduction device (12) include Y to driving sprocket (121), the outside meshing of Y to driving sprocket (121) has driving chain two (122), Y-direction driven sprocket (123) is meshed on one side in the transmission chain II (122), X-direction wheel (13) is movably connected on one side of the front side of the vehicle body (1), the X-direction wheel (13) comprises a diamond-shaped seat bearing (131), X-direction driving wheel (132) is movably connected on the inner side of the diamond-shaped seat bearing (131), X-direction driven wheel (14) is movably connected on the other side of the front side of the vehicle body (1), Y-direction driven wheel (15) is movably connected on the bottom of one side of the vehicle body (1), Y-direction wheel (16) is movably connected on the top of one side of the vehicle body (1), Y-direction wheel (16) comprises a Y-direction walking driving shaft (161), The Y-direction walking driving shaft (161) is fixedly connected with a bearing end cover (162) at the outer side, the Y-direction walking driving shaft (161) is fixedly connected with an inner bushing (163), the Y-direction driving wheel (164) is fixedly sleeved at the outer side of the Y-direction walking driving shaft (161), a groove is formed in one side of the vehicle body (1) and is internally provided with a rack (17), the front face of the rack (17) is movably connected with a transmission chain III (18), the center of the inside of the transmission chain III (18) is meshed with a goods storage driving sprocket (19), the top of the goods storage driving sprocket (19) is fixedly connected with a double-station goods storage motor (20), The inside one side meshing of drive chain three (18) has access goods driven sprocket (21), the inside fixed cover of access goods driven sprocket (21) has access goods drive shaft (22), the outside fixedly connected with bearing (23) of access goods drive shaft (22), the inside fixedly connected with expansion plate (25) of rack (17) one side, the reverse side fixedly connected with micro motor (26) of expansion plate (25), the one end fixedly connected with tongs (27) of micro motor (26), one side fixedly connected with pulley (28) of expansion plate (25), the top swing joint of automobile body (1) has automobile body upper cover (29),
The reversing motor (2) is in transmission connection with the pushing device (6) through the positioning device (5), the top of the nut seat (61) is fixedly connected with a hinge, the nut seat (61) is in transmission connection with the push rod (62) through the hinge, the push rod (62) is in transmission connection with the Y-direction wheel (16) through the steering device (7),
The X-direction driving chain wheel (8) is in transmission connection with the X-direction driven chain wheel (10) through a transmission chain I (9), the X-direction driven chain wheel (10) is in transmission connection with the X-direction wheel (13) through an X-direction driving shaft (11),
The number of the Y-direction walking motors (4) is two, the number of the conduction devices (12) is two, the number of the Y-direction wheels (16) is two, the two Y-direction wheels (16) are symmetrical relative to the vehicle body (1), the Y-direction walking motors (4) are in transmission connection with the Y-direction wheels (16) through the conduction devices (12),
The number of the goods storing and taking driven sprockets (21) is two, the two goods storing and taking driven sprockets (21) are respectively meshed with two sides inside the rack (17), the two goods storing and taking driven sprockets (21) are symmetrical with respect to the double-station goods storing and taking motor (20), the goods storing and taking driven sprockets (21) are in transmission connection with the double-station goods storing and taking motor (20) through a transmission chain III (18), the rack (17) is meshed with the gear (24), one side of the expansion plate (25) is fixedly connected with the rack (17),
The inside of the expansion plate (25) is provided with a clamping groove, the hand grip (27) is in transmission connection with the expansion plate (25) through a micro motor (26), the micro motor (26) can rotate, the rotation angle of the micro motor (26) is ninety degrees,
The inside of the car body (1) is provided with a two-dimension code identification module, a controller, a wireless communication module, a power supply module and a photoelectric sensor, a limit switch is arranged at the joint of the car body (1) and the steering device (7), one side of the car body (1) close to the expansion plate (25) is provided with the limit switch, the inside of the X-direction walking motor (3) is provided with an encoder, the inside of the Y-direction walking motor (4) is provided with the encoder,
The two-dimensional code module, the controller, the wireless communication module, the power supply module and the photoelectric sensor inside the vehicle body (1) are connected with the limit switch through wires.
2. The method of using a double-station four-way shuttle for grain storage of claim 1, comprising the steps of:
Step one: the power supply module inside the vehicle body (1) transmits required voltage to each module;
step two: the two-dimensional code identification module on the vehicle body (1) identifies the position information of goods;
step three: the controller and the wireless communication module in the vehicle body (1) send information and instructions for accessing goods to the shuttle;
step four: the photoelectric sensor at the bottom of the car body (1) identifies the identification point on the goods shelf, so that the reversing mechanism performs reversing action at a specific reversing point;
Step five: an encoder in the X-direction walking motor (3) detects the rotating speed of the X-direction walking motor (3) in real time, and adjusts the displacement of the X-direction movement of the shuttle;
Step six: an encoder in the Y-direction traveling motor (4) detects the rotating speed of the Y-direction traveling motor (4) in real time, and adjusts the displacement of the Y-direction movement of the shuttle;
Step seven: the limit switch arranged at the joint of the vehicle body (1) and the steering device (7) is used for fixing the motion travel of the Y-direction wheel (16) during reversing within a reasonable range;
Step eight: and a limit switch is arranged on one side of the vehicle body (1) close to the expansion plate (25) to ensure that the movement stroke of the expansion plate (25) is within a fixed stroke.
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| CN114633974A (en) * | 2020-12-15 | 2022-06-17 | 广东博智林机器人有限公司 | Drive axle device, access system and stereoscopic warehouse |
| CN112978179A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN113979035B (en) * | 2021-10-27 | 2023-05-05 | 山东泰开箱变有限公司 | Shuttle trolley capable of automatically transferring |
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| US3799365A (en) * | 1970-02-02 | 1974-03-26 | Rapistan Inc | Cargo handling system |
| CN103171851B (en) * | 2013-04-03 | 2015-05-27 | 上海速锐信息技术有限公司 | Intelligent four-direction shuttling vehicle with climbing function |
| CN108975220A (en) * | 2018-09-10 | 2018-12-11 | 上海欧力德物流科技有限公司 | A kind of pallet fork formula four-way shuttle |
| CN108996436B (en) * | 2018-09-10 | 2020-12-18 | 上海欧力德物流科技有限公司 | Fork formula quadriversal shuttle of low energy consumption |
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