CN112978179A - Four-way shuttle - Google Patents
Four-way shuttle Download PDFInfo
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- CN112978179A CN112978179A CN202110220261.4A CN202110220261A CN112978179A CN 112978179 A CN112978179 A CN 112978179A CN 202110220261 A CN202110220261 A CN 202110220261A CN 112978179 A CN112978179 A CN 112978179A
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- 230000007704 transition Effects 0.000 claims description 32
- 230000004044 response Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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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
Abstract
One or more embodiments of the present disclosure provide a four-way shuttle comprising: a controller; a sensor electrically connected to the controller; the reversing driving motor is electrically connected with the controller; the swing arm is mechanically connected with the reversing drive motor; the sub-vehicle direction walking driving motor is electrically connected with the controller; the sub-vehicle direction walking driving component is mechanically connected with the sub-vehicle direction walking driving motor; the mother vehicle direction walking driving motor is electrically connected with the controller; the mother vehicle direction walking driving component is mechanically connected with the mother vehicle direction walking driving motor; the lifting driving motor is electrically connected with the controller; the jacking cam is mechanically connected with the lifting driving motor; and the upper cover is in contact with the outer contour of the jacking cam.
Description
Technical Field
One or more embodiments of the present disclosure relate to intelligent handling equipment, and more particularly, to a four-way shuttle.
Background
Along with rapid popularization of an automatic stereoscopic warehouse in China, higher requirements are put forward on the aspects of safety, integration level, operation efficiency, comprehensive cost and the like of warehouse automation equipment, wherein a four-way shuttle vehicle integrating functions of a primary vehicle and a secondary vehicle is main intelligent automatic warehouse transportation equipment, a hydraulic system is adopted in the existing four-way shuttle vehicle design, lifting and steering of a vehicle body are achieved through a hydraulic cylinder or a gas-liquid pressure cylinder, the similar design is high in cost, and in practical application, the complex design of the four-way shuttle vehicle is poor in reliability, high in maintenance cost after failure and low in steering lifting efficiency.
Based on this, there is a need for a four-way shuttle that can achieve high reliability and high efficiency in a compact manner.
Disclosure of Invention
In view of the above, it is an object of one or more embodiments of the present disclosure to provide a four-way shuttle.
In view of the above, one or more embodiments of the present disclosure provide a four-way shuttle including: a controller; a sensor electrically connected to the controller; the reversing driving motor is electrically connected with the controller; the swing arm is mechanically connected with the reversing drive motor; the sub-vehicle direction walking driving motor is electrically connected with the controller; the sub-vehicle direction walking driving component is mechanically connected with the sub-vehicle direction walking driving motor; the mother vehicle direction walking driving motor is electrically connected with the controller; the mother vehicle direction walking driving component is mechanically connected with the mother vehicle direction walking driving motor; the lifting driving motor is electrically connected with the controller; the jacking cam is mechanically connected with the lifting driving motor; the upper cover is in contact with the outer contour of the jacking cam;
wherein, sub-car direction walking drive assembly includes: a driving motor for driving the vehicle to travel in the direction of the sub-vehicle; the sub-vehicle direction driving chain is connected with the sub-vehicle direction walking driving motor through a gear; two sub-vehicle direction traveling transition shafts vertically connected with two ends of the sub-vehicle direction driving chain; two ends of each sub-vehicle direction walking transition shaft are respectively provided with a sub-vehicle direction walking wheel;
the secondary vehicle direction walking transition shaft comprises a second inner shaft and a second sleeve, and the second inner shaft is mechanically connected with a secondary vehicle direction walking wheel in the secondary vehicle direction walking driving assembly; the second sleeve is mechanically connected with the jacking cam.
The parent car direction walking drive assembly includes: the driving motor is driven by the power supplied by the vehicle body to travel in the direction of the parent vehicle; a driving motor for driving the mother vehicle to travel; a primary vehicle direction driving chain connected with the gear; the reversing shaft is vertically connected with the driving chain in the direction of the mother vehicle; the driven chain is connected with the reversing shaft and travels in the direction of the mother vehicle; the main vehicle direction traveling wheel is connected with the main vehicle direction traveling driven chain;
the reversing shaft comprises a first sleeve and a first inner shaft, the first sleeve is mechanically connected with a swing arm, and the swing arm is mechanically connected with the traveling wheel in the direction of the mother vehicle; the first sleeve is mechanically connected with the swing arm.
As can be seen from the above, the four-way shuttle provided in one or more embodiments of the present disclosure is designed by comprehensively considering the problems of construction cost, reliability in use, and the like, so that a simple swing arm design is utilized, the robustness of the four-way shuttle is improved, and the cost is effectively reduced.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present disclosure, reference will now be made briefly to the attached drawings, which are used in the description of the embodiments or prior art, and it should be apparent that the attached drawings in the description below are only one or more embodiments of the present disclosure, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is an internal structural view of a four-way shuttle of an embodiment of the present disclosure;
fig. 2 is an external view of a four-way shuttle of an embodiment of the present disclosure;
FIG. 3 is a block diagram of a reversing shaft of an embodiment of the present disclosure;
FIG. 4 is an isometric view of a four-way shuttle of an embodiment of the present disclosure;
fig. 5a is a schematic view illustrating a sub-vehicle direction traveling state of the four-way shuttle vehicle according to the embodiment of the present disclosure;
fig. 5b is a schematic diagram illustrating a traveling state of the four-way shuttle in the parent car direction according to the embodiment of the disclosure;
fig. 6 is a side view of a four-way shuttle of an embodiment of the present disclosure.
The components indicated by the reference numerals in the drawings are as follows:
1: a housing; 2: an upper cover;
3: an anti-skid plate; 4: a commutation drive motor;
5: a reversing transition shaft; 6: a reversing cylindrical gear pair;
7: a reversing bevel gear pair; 8: jacking a cam;
9: a sub-vehicle direction traveling wheel; 10: the sub-vehicle direction driving chain;
11: a tension wheel; 12: a driving motor for driving the sub-vehicle to travel in the direction of the sub-vehicle;
13: a reversing shaft; 14: a primary vehicle direction driving chain;
15: a main vehicle direction walking driving motor; 16: a sub-vehicle direction walking transition shaft;
17: lifting the bevel gear pair; 18: lifting the cylindrical gear pair;
19: a controller; 20: lifting the driving motor;
21: lifting the transition shaft; 22: a lithium battery;
23: a main vehicle direction travelling wheel; 24: a driven chain wheel for the mother vehicle to walk in the direction;
25: the driven chain is driven by the mother vehicle; 26: and (4) swinging arms.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should have the ordinary meaning as understood by one of ordinary skill in the art to which the present disclosure belongs. The use of the terms "comprising" or "including" and the like in one or more embodiments of the present disclosure is intended to mean that the elements or items listed before the term encompass the elements or items listed after the term and their equivalents, without excluding other elements or items. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The terms "central," "longitudinal," "lateral," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used for relative positional relationships and are used merely to facilitate description of the invention and to simplify description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the scope of the invention, which may be altered accordingly when the absolute position of the object being described is altered.
As discussed in the background section, existing four-way shuttles also have difficulty meeting the needs of the warehouse for efficiency and reliability of automation equipment operation.
In the course of implementing the present disclosure, the applicant has found that the main problems of the existing four-way shuttle vehicle are: the lifting reversing is carried out by utilizing complex hydraulic systems such as a hydraulic cylinder and the like, so that the reversing lifting work efficiency of the four-way shuttle vehicle is low, and the reliability is poor.
In view of this, one or more embodiments of the present disclosure provide a four-way shuttle, specifically, including: a controller; a sensor electrically connected to the controller; the reversing driving motor is electrically connected with the controller; the swing arm is mechanically connected with the reversing drive motor; the sub-vehicle direction walking driving motor is electrically connected with the controller; the sub-vehicle direction walking driving component is mechanically connected with the sub-vehicle direction walking driving motor; the mother vehicle direction walking driving motor is electrically connected with the controller; the mother vehicle direction walking driving component is mechanically connected with the mother vehicle direction walking driving motor; the lifting driving motor is electrically connected with the controller; the jacking cam is mechanically connected with the lifting driving motor; an upper cover in contact with the jacking cam;
wherein, sub-car direction walking drive assembly includes: a driving motor for driving the vehicle to travel in the direction of the sub-vehicle; the sub-vehicle direction driving chain is connected with the sub-vehicle direction walking driving motor through a gear; two sub-vehicle direction traveling transition shafts vertically connected with two ends of the sub-vehicle direction driving chain; two ends of each sub-vehicle direction walking transition shaft are respectively provided with a sub-vehicle direction walking wheel;
the secondary vehicle direction walking transition shaft comprises a second inner shaft and a second sleeve, and the second inner shaft is mechanically connected with a secondary vehicle direction walking wheel in the secondary vehicle direction walking driving assembly; the second sleeve is mechanically connected with the jacking cam.
The parent car direction walking drive assembly includes: the driving motor is driven by the power supplied by the vehicle body to travel in the direction of the parent vehicle; a driving motor for driving the mother vehicle to travel; a primary vehicle direction driving chain connected with the gear; the reversing shaft is vertically connected with the driving chain in the direction of the mother vehicle; the driven chain is connected with the reversing shaft and travels in the direction of the mother vehicle; the main vehicle direction traveling wheel is connected with the main vehicle direction traveling driven chain;
the reversing shaft comprises a first sleeve and a first inner shaft, the first sleeve is mechanically connected with a swing arm, and the swing arm is mechanically connected with the traveling wheel in the direction of the mother vehicle; the first inner shaft is mechanically connected with a driven sprocket walking in the direction of the parent car.
One or more embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Referring to an internal structure view of the balance reversing type four-way shuttle shown in fig. 1, the balance reversing type four-way shuttle of one embodiment of the present disclosure includes: a controller; a sensor electrically connected to the controller; the reversing driving motor is electrically connected with the controller; the swing arm is mechanically connected with the reversing drive motor; the sub-vehicle direction walking driving motor is electrically connected with the controller; the sub-vehicle direction walking driving component is mechanically connected with the sub-vehicle direction walking driving motor; the mother vehicle direction walking driving motor is electrically connected with the controller; the mother vehicle direction walking driving component is mechanically connected with the mother vehicle direction walking driving motor; the lifting driving motor is electrically connected with the controller; the jacking cam is mechanically connected with the lifting driving motor; and the upper cover is in contact with the jacking cam.
Wherein, sub-car direction walking drive assembly includes: a sub-vehicle direction traveling driving motor 12, a tension pulley 11, a sub-vehicle direction driving chain 10, a sub-vehicle direction traveling transition shaft 16 and a sub-vehicle direction traveling wheel 9.
With reference to the internal structure diagrams of the balance wheel reversing type four-way shuttle car shown in fig. 1 and 4, the transmission mechanism in the direction of the sub-car and the relationship between the components specifically include:
the peripheral upper computer sends a walking instruction in the sub-vehicle direction, the controller arranged in the vehicle body receives the walking instruction, the sub-vehicle direction walking driving motor 12 arranged in the vehicle body is controlled to be started, and the sub-vehicle direction driving motor 12 provides walking power in the sub-vehicle direction to drive a sub-vehicle motor gear arranged at one end of the sub-vehicle direction driving motor.
Further, the motor gear is connected with and drives the sub-vehicle direction driving chain 10, as shown in fig. 1, the sub-vehicle direction driving chain 10 is parallel to the outside sub-vehicle traveling wheels and extends to the front and the rear directions with the motor gear as the center.
Further, the front end and the rear end of the sub-vehicle direction driving chain 10 are respectively vertically connected with one sub-vehicle direction traveling transition shaft 16 in a gear meshing manner, and power is transmitted to a second inner shaft of the front sub-vehicle direction traveling transition shaft 16 and the rear sub-vehicle direction traveling transition shaft 16; in order to maintain the tension of the sub-vehicle direction drive chain 10, a tension pulley 11 is provided between the motor gear and each of the two ends of the sub-vehicle direction drive chain 10.
Furthermore, the two ends of the second inner shaft of each sub-vehicle direction walking transition shaft 16 are connected with the sub-vehicle direction walking wheels 9, and power is transmitted to the sub-vehicle direction walking wheels 9 through the second inner shaft of the rotating sub-vehicle direction walking transition shaft 16.
Further, fig. 5 shows the walking state of the balance wheel reversing type four-way shuttle vehicle in the sub-vehicle direction, and when the balance wheel reversing type four-way shuttle vehicle is in the horizontal working state, in combination with fig. 6, the main vehicle direction walking wheels are in a high-position retracting state, namely, the first walking wheels, and the sub-vehicle direction walking wheels 9 are in a low-position state lower than the main vehicle direction walking wheels 23 and are in contact with the sub-vehicle rails.
In this disclosure, the above-mentioned sub-vehicle direction travel driving assembly is further connected to an upper cover lifting mechanism, the upper cover lifting mechanism includes: a lifting driving motor 20, a group of lifting cylindrical gear pairs 18, a group of lifting bevel gear pairs 17, a sub-vehicle direction walking transition shaft 16, a lifting cam 8 and an upper cover 2.
With reference to the internal structure diagrams of the balance-wheel reversing type four-way shuttle shown in fig. 1 and 4, the relationship between the lifting mechanism and the components of the upper cover 2 of the shuttle body specifically includes:
the sensor arranged in the vehicle body checks the goods taking position or the goods unloading position reached by the four-way shuttle vehicle, and controls and starts a controller in the vehicle body, and the controller drives a lifting driving motor 20 and provides power for lifting the upper cover 2 of the vehicle body by rotating a lifting cylindrical gear pair 18 at the tail end of the lifting driving motor.
Furthermore, the lifting transition shaft 21 is connected with a driving lifting driving motor 20 through the lifting cylindrical gear pair 18, and power is transmitted to the lifting transition shaft 21 through the lifting cylindrical gear pair 18.
Further, a set of lifting bevel gear pairs 17 are arranged at both ends of the lifting transition shaft 21, and the lifting transition shaft 21 and the lifting bevel gear pairs 17 rotate simultaneously.
Furthermore, the tail end of a second sleeve of the sub-vehicle direction walking transition shaft 16 is connected with the lifting bevel gear pair 17, and power drives the second sleeve of the sub-vehicle direction walking transition shaft 16 through the lifting bevel gear pair 17.
Further, the other end of the second sleeve of the sub-vehicle direction walking transition shaft 16 is fixedly sleeved with a jacking cam 8, and the jacking cam 8 rotates along with the second sleeve of the sub-vehicle direction walking transition shaft 16.
Further, the jacking cam 8 is abutted against the upper cover 2 in fig. 2, as can be seen from fig. 2, when the vehicle body is in a working state, the upper cover 2 is located above the jacking cam 8, and the lifting state of the upper cover 2, namely the first upper cover position, is realized according to the rotation of the jacking cam 8, and the position of the upper cover is switched between the first upper cover position and the second upper cover position according to the rotation of the jacking cam, and the second upper cover position teaches that the first upper cover position is low.
The female car direction walking drive assembly includes: a driving motor for driving the mother vehicle to travel in the mother vehicle direction, a driving chain for driving the mother vehicle direction, a reversing shaft, a driven sprocket 24 for driving the mother vehicle to travel in the mother vehicle direction, a driven chain for driving the mother vehicle to travel in the mother vehicle direction and a road wheel 23 for driving the mother vehicle to travel in the mother vehicle direction.
With reference to the internal structure diagrams of the balance-wheel reversing type four-way shuttle car shown in fig. 1 and 4, the transmission mechanism in the parent car direction and the relationship between the components specifically include:
the peripheral upper computer sends a walking instruction in the direction of the mother vehicle, the controller arranged in the vehicle body receives the walking instruction, the controller controls and starts the driving motor 15 which is arranged in the vehicle body and drives the mother vehicle to walk in the direction of the mother vehicle, and the driving motor 15 in the direction of the mother vehicle provides power for the walking in the direction of the mother vehicle by rotating a motor gear of the mother vehicle arranged at one end of the driving motor.
Further, the gear of the motor of the parent car is connected with one end of the travel driving chain in the parent car direction in a meshing manner and transmits power, and the other end of the travel driving chain in the parent car direction is connected with the reversing shaft 13 in fig. 1 in a gear meshing manner.
Wherein, the structure of the reversing shaft 13 includes: the first inner shaft of the reversing shaft 13 and the first sleeve of the reversing shaft 13 sleeved outside the first inner shaft can respectively and independently rotate; the primary-vehicle-direction traveling drive chain is connected to a gear at the end of the first inner shaft of the reversing shaft 13, and power is transmitted from the primary-vehicle-direction drive chain to the gear at the end of the first inner shaft of the reversing shaft 13 to rotate the gear and drive the driven sprocket 24 at the other end to travel in the primary-vehicle direction.
According to the structure of the reversing shaft 13 shown in fig. 3, the driven sprocket 24 for traveling in the parent vehicle direction at the end of the first inner shaft of the reversing shaft 13 is connected to one end of the driven chain for traveling in the parent vehicle direction in a meshing manner, the other end of the driven chain 25 for traveling in the parent vehicle direction is connected to the driven sprocket 23 for traveling in the parent vehicle direction, and when the vehicle body is in the horizontal state of operation as shown in fig. 3, the driven sprocket 24 for traveling in the parent vehicle direction is positioned lower than the driven sprocket 23 for traveling in the parent vehicle direction.
Referring to fig. 3 and 6, a cylindrical main wheel shaft is fixed at the center of the circle of the directional road wheel 23, a cylindrical gear is fixedly sleeved on the main wheel shaft, and the connection mode between the main-vehicle directional traveling driven chain 25 and the main-vehicle directional road wheel 23 is as follows: cylindrical gears are fixedly sleeved on the outer sides of the main wheel shafts in a meshing mode and are connected with the main wheel shafts.
Further, as shown in fig. 1 and 3, the power is transmitted from the driven sprocket 24 to the cylindrical gear fixedly sleeved on the wheel shaft of the parent car through the driven chain 25 in the parent car direction in a rotating manner, so as to drive the road wheels 23 in the parent car direction.
As shown in fig. 1 and 4, a driven reversing shaft is provided in a vehicle body at a position symmetrical to the reversing shaft 13 and arranged parallel to the reversing shaft 13, and the internal structure of the driven reversing shaft is the same as that of the reversing shaft 13.
Referring to fig. 5b and 6, when the four-way shuttle is in the working state in the primary direction, the primary direction road wheels 23 are at a low position, i.e. the second road wheels, and contact with the primary track, and the secondary direction road wheels 9 outside the vehicle body are at a high position suspended state higher than the primary direction road wheels 23, perpendicular to the horizontal position in the figure.
In this disclosure, the driving assembly for driving the mother vehicle to travel in the direction of the mother vehicle is further connected with a vehicle body lifting and reversing mechanism, wherein the vehicle body lifting and reversing mechanism comprises: the reversing driving device comprises a reversing driving motor 4, a group of reversing cylindrical gear pairs 6, a reversing transition shaft 5, a group of reversing bevel gear pairs 7, a first shaft, a swing arm 26 and a main vehicle direction travelling wheel 23.
With reference to the internal structure diagrams of the balance wheel reversing type four-way shuttle shown in fig. 1 and 4, the relationship between the lifting reversing mechanism and the components of the shuttle body specifically includes:
and starting the controller to drive the reversing motor in response to the fact that the four-way shuttle car reaches the position to be reversed as detected by a sensor arranged in the car body, and providing power for the lifting and reversing of the car body by the drive reversing motor through rotating the reversing cylindrical gear pair 6 at the tail end of the drive reversing motor.
Furthermore, a reversing cylindrical gear pair 6 is fixed on one side of the reversing transition shaft 5 in a sleeving manner, and power is transmitted to the reversing transition shaft 5 through the reversing cylindrical gear pair.
Furthermore, the reversing transition shaft 5 is connected with the reversing shaft 13 through the reversing bevel gear pair 7, and power is transmitted to the reversing shaft 13 through the reversing bevel gear pair 7 so as to drive the first sleeve of the reversing shaft 13 to rotate.
As shown in fig. 3, an L-shaped swing arm 26 is fixed to the end of the first sleeve of the reversing shaft 13, the L-shaped swing arm 26 is fixed to the sleeve, the upper end of the L-shaped swing arm is fixed to the sleeve, a main vehicle direction traveling wheel is arranged at the lower end of the L-shaped swing arm, and a guide wheel is mounted at the bottom of the L-shaped swing arm.
Further, referring to the working state diagrams of the car body shown in fig. 5a, 5b and 6, and shown in fig. 3, when the car body is lifted and turned, the swing arm 26 sleeved on the first sleeve of the reversing shaft 13 is driven by the rotation of the first sleeve to rotate the swing arm 26 through a certain angle, as can be seen from fig. 5a, 5b and 6, when the car body is in the traveling state in the sub-car direction, the swing arm 26 and the primary car direction traveling wheels 23 fixed on the swing arm swing to the inclined position at the same time, so that the primary car direction traveling wheels 23 rise to the high position; when the vehicle is in the traveling state in the vehicle-specific direction, the swing arm 26 and the vehicle-specific direction road wheels 23 fixed thereto swing to a position perpendicular to the horizontal direction in the figure at the same time, so that the vehicle-specific direction road wheels 23 are lowered to the low position.
It can be seen that the four-way shuttle provided in one or more embodiments of the present disclosure is designed by comprehensively considering the construction cost, the use reliability, and other problems, so that a simple design of the swing arm 26 is implemented, the reliability of the four-way shuttle is improved, and the cost is effectively reduced.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the disclosure as described above, which are not provided in detail for the sake of brevity, within the spirit of the disclosure.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring one or more embodiments of the present disclosure, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which one or more embodiments of the present disclosure are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
The one or more embodiments of the present disclosure are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the disclosure are intended to be included within the scope of the disclosure.
Claims (10)
1. A four-way shuttle comprising:
a controller;
a sensor electrically connected to the controller;
the reversing driving motor is electrically connected with the controller;
the swing arm is mechanically connected with the reversing drive motor;
the sub-vehicle direction walking driving motor is electrically connected with the controller;
the sub-vehicle direction walking driving assembly is mechanically connected with the sub-vehicle direction walking driving motor;
the mother vehicle direction walking driving motor is electrically connected with the controller;
a main vehicle direction walking driving component which is mechanically connected with the main vehicle direction walking driving motor,
the main vehicle direction walking driving assembly comprises a first inner shaft of a reversing shaft, and the first inner shaft is mechanically connected with a main vehicle direction walking wheel in the main vehicle direction walking driving assembly;
the reversing driving motor is mechanically connected with the swing arm through a first sleeve of the reversing shaft, and the swing arm is mechanically connected with the main vehicle direction travelling wheel.
2. The four-way shuttle of claim 1, further comprising:
the lifting driving motor is electrically connected with the controller;
the jacking cam is mechanically connected with the lifting driving motor;
and the upper cover is in contact with the outer contour of the jacking cam.
3. The four-way shuttle of claim 2, wherein,
the sub-vehicle direction walking driving assembly comprises a second inner shaft of the sub-vehicle direction walking transition shaft, and the second inner shaft is mechanically connected with a sub-vehicle direction walking wheel in the sub-vehicle direction walking driving assembly;
and the lifting driving motor is mechanically connected with the jacking cam through a second sleeve of the sub-vehicle direction walking transition shaft.
4. The four-way shuttle of any one of claims 1 to 3, wherein,
in response to the sensor detecting that the four-way shuttle vehicle reaches a target reversing position, the controller controls activation of the reversing drive motor to drive the swing arm through the first sleeve such that the swing arm drives the parent vehicle-direction road wheels to rotate about the reversing axis to switch between a first road wheel position and a second road wheel position, wherein the parent vehicle-direction road wheels are disengaged from the parent vehicle track when in the first road wheel position and contact the parent vehicle track when in the second road wheel position.
5. The four-way shuttle of claim 4, wherein,
in response to receiving a sub-vehicle direction walking instruction sent by an external upper computer, the controller controls and starts the sub-vehicle direction walking driving motor to drive the sub-vehicle direction walking driving assembly, so that the four-way shuttle vehicle walks along a sub-vehicle track;
and in response to receiving a parent car direction walking instruction sent by an external upper computer, the controller controls and starts the parent car direction walking driving motor to drive the parent car direction walking driving assembly, so that the four-way shuttle car walks along the parent car track.
6. The four-way shuttle of claim 2 or 3, wherein,
in response to receiving a goods taking instruction sent by the peripheral upper computer, the controller controls and starts the lifting driving motor to drive the upper cover to the first upper cover position through the jacking cam.
7. The four-way shuttle of claim 6, wherein,
in response to receiving an inventory instruction sent by an external upper computer, the controller controls and starts the lifting driving motor to drive the upper cover to a second upper cover position through the jacking cam, and the second upper cover position is lower than the first upper cover position.
8. The four-way shuttle of any one of claims 1 to 3, wherein,
the reversing driving motor is mechanically connected with the first sleeve through a reversing cylindrical gear pair, a reversing transition shaft and a reversing bevel gear pair.
9. The four-way shuttle of claim 3, wherein,
and the sub-vehicle direction traveling driving motor is mechanically connected with the second inner shaft through a tension wheel and a sub-vehicle direction driving chain in the sub-vehicle direction traveling driving assembly.
10. The four-way shuttle of claim 3 or 9, wherein,
the lifting driving motor is mechanically connected with the second sleeve through a lifting cylindrical gear pair, a lifting transition shaft and a lifting bevel gear pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220261.4A CN112978179A (en) | 2021-02-26 | 2021-02-26 | Four-way shuttle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220261.4A CN112978179A (en) | 2021-02-26 | 2021-02-26 | Four-way shuttle |
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| CN112978179A true CN112978179A (en) | 2021-06-18 |
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| CN202110220261.4A Pending CN112978179A (en) | 2021-02-26 | 2021-02-26 | Four-way shuttle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620394A (en) * | 2022-03-30 | 2022-06-14 | 普罗格智芯科技(湖北)有限公司 | Agricultural facility commodity circulation quadriversal car |
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|---|---|---|---|---|
| CN103818672A (en) * | 2014-02-28 | 2014-05-28 | 上海速锐物流科技有限公司 | Intelligent shuttle capable of running in three-dimensional way and control method thereof |
| 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 |
| CN110065759A (en) * | 2019-06-03 | 2019-07-30 | 湖北三丰小松自动化仓储设备有限公司 | A kind of 4 wheel driven four-bar linkage sleeve type four-way shuttle robot |
| CN111217068A (en) * | 2019-10-29 | 2020-06-02 | 河南工业大学 | Double-station four-way shuttle vehicle for grain storage |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620394A (en) * | 2022-03-30 | 2022-06-14 | 普罗格智芯科技(湖北)有限公司 | Agricultural facility commodity circulation quadriversal car |
| CN114620394B (en) * | 2022-03-30 | 2022-11-15 | 智芯科技(湖北)有限公司 | Agricultural facility commodity circulation quadriversal car |
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