CN113353835A - Synchronous lifting mechanism and four-way shuttle - Google Patents
Synchronous lifting mechanism and four-way shuttle Download PDFInfo
- Publication number
- CN113353835A CN113353835A CN202010149982.6A CN202010149982A CN113353835A CN 113353835 A CN113353835 A CN 113353835A CN 202010149982 A CN202010149982 A CN 202010149982A CN 113353835 A CN113353835 A CN 113353835A
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- CN
- China
- Prior art keywords
- oil
- cylinders
- lifting mechanism
- synchronous lifting
- gear pump
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
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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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
-
- 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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
Abstract
The invention is suitable for the technical field of four-way shuttles, and provides a synchronous lifting mechanism, which comprises: the power unit is used for driving hydraulic oil to move; the execution unit comprises a plurality of oil cylinders which are arranged in series, an overflow piece is arranged at an oil inlet of each oil cylinder, and the overflow pieces are arranged in parallel with the oil cylinders and used for supplementing oil to the oil cylinders during return stroke of the oil cylinders so as to forcibly reset piston rods of the oil cylinders; and the control unit is used for controlling the units, and the beneficial effects of the invention are as follows: the overflow valve and the oil cylinder are connected in parallel, so that the automatic compensation function is realized, the technical problem that the synchronous precision of the lifting mechanism is reduced due to internal leakage and external leakage of a hydraulic system is solved, the stability of the four-way shuttle during working is improved, and the later maintenance cost and workload are reduced.
Description
Technical Field
The invention relates to the technical field of four-way shuttle vehicles, in particular to a synchronous lifting mechanism and a four-way shuttle vehicle.
Background
The four-way shuttle car is widely applied to domestic and foreign intelligent stereoscopic warehouse systems, and realizes the functions of lifting the tray and reversing to walk through two groups of synchronous lifting mechanisms inside the four-way shuttle car. The method has high flexibility, can randomly change operation roadways, is suitable for low-flow and high-density storage, is also suitable for high-flow and high-density storage, and can realize maximization of efficiency, cost and resources.
At present, a hydraulic synchronous lifting mechanism is generally adopted in a lifting mechanism in a four-way shuttle car in the industry, and the lifting mechanism has the characteristics of simple transmission mechanism and strong bearing capacity.
However, in the existing hydraulic synchronous lifting mechanism, because air in an oil pipe between the oil cylinders connected in series cannot be completely discharged, and the oil cylinders have inevitable internal leakage and external leakage, the synchronous precision of the lifting mechanism of the four-way shuttle vehicle under the condition of normal heavy-load working can be reduced, and finally the four-way shuttle vehicle cannot work normally, so that workers need to supplement oil into the hydraulic pipeline irregularly according to the using condition, and the later maintenance cost and workload are increased to a great extent.
Disclosure of Invention
The embodiment of the invention aims to provide a synchronous lifting mechanism and a four-way shuttle car, and aims to solve the technical problems in the background art.
The embodiment of the invention is realized in such a way that the synchronous lifting mechanism comprises:
the power unit is used for driving hydraulic oil to move;
the execution unit comprises a plurality of oil cylinders which are arranged in series, an overflow piece is arranged at an oil inlet of each oil cylinder, and the overflow pieces are arranged in parallel with the oil cylinders and used for supplementing oil to the oil cylinders during return stroke of the oil cylinders so as to forcibly reset piston rods of the oil cylinders; and
and the control unit is used for controlling the units.
As a further scheme of the invention: the power unit comprises a hydraulic motor and a bidirectional gear pump, the bidirectional gear pump is driven by the hydraulic motor to rotate positively or negatively, the bidirectional gear pump is connected into an oil way of the execution unit, and the bidirectional gear pump is installed on an oil tank used for storing hydraulic oil.
As a still further scheme of the invention: and overflow parts are arranged at the oil outlet and the oil return port of the bidirectional gear pump.
As a still further scheme of the invention: the control unit comprises valves arranged at an oil inlet end and an oil return end of the execution unit and is used for controlling the on-off of an oil path and maintaining pressure.
As a still further scheme of the invention: one of the cylinders which are arranged in series to form the execution unit is a single-rod double-acting type cylinder, and the other cylinders are double-rod double-acting type cylinders.
As a still further scheme of the invention: an oil filtering device is installed at the position of an oil inlet of the bidirectional gear pump and used for filtering hydraulic oil.
Another object of the embodiment of the present invention is to provide a four-way shuttle, which includes a mounting rack, and the synchronous lifting mechanism is mounted on the mounting rack.
Compared with the prior art, the invention has the beneficial effects that: the overflow valve and the oil cylinder are connected in parallel, so that the automatic compensation function is realized, the technical problem that the synchronous precision of the lifting mechanism is reduced due to internal leakage and external leakage of a hydraulic system is solved, the stability of the four-way shuttle during working is improved, and the later maintenance cost and workload are reduced.
Drawings
Fig. 1 is a schematic structural diagram of a synchronous lifting mechanism.
Fig. 2 is a hydraulic system diagram of a synchronous lifting mechanism.
In the drawings: 1 is an oil cylinder I, 2 is an oil cylinder II, 3 is an oil cylinder III, 4 is an oil cylinder IV, 5 is an overflow valve I, 6 is an overflow valve II, 7 is an overflow valve III, 8 is an overflow valve IV, 9 is a hydraulic motor, 10 is a bidirectional gear pump, 11 is an oil tank, 12 is an electromagnetic valve group, 13 is an electromagnetic on-off valve I, 14 is an electromagnetic on-off valve II, 15 is an overflow valve V, 16 is an overflow valve VI, and 17 is an oil filter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1-2, a structure diagram of a synchronous lifting mechanism provided in an embodiment of the present invention includes a power unit, an execution unit, and a control unit, where the power unit is used to drive hydraulic oil to move; the execution unit comprises a plurality of oil cylinders which are arranged in series, an oil inlet of each oil cylinder is provided with an overflow piece, and the overflow pieces are arranged in parallel with the oil cylinders and used for supplementing oil to the oil cylinders during return stroke of the oil cylinders and forcibly resetting piston rods of the oil cylinders; the control unit is used for controlling the units.
In the practical application of the embodiment, the power unit drives the hydraulic oil to move, so that the oil cylinders in the execution unit can synchronously act, the oil is supplemented to the oil cylinders by the overflow part during return stroke, the piston rods of the oil cylinders are forced to reset, the compensation function is completed, the technical problem that the synchronous precision of the lifting mechanism is reduced due to internal leakage and external leakage of a hydraulic system is solved, the stability of the four-way shuttle during working is improved, and the later maintenance cost and workload are reduced.
As shown in fig. 1 to 2, as a preferred embodiment of the present invention, the power unit includes a hydraulic motor 9 and a bidirectional gear pump 10, the bidirectional gear pump 10 is driven by the hydraulic motor 9 to rotate forward or backward, the bidirectional gear pump 10 is connected to an oil passage of the execution unit, and the bidirectional gear pump 10 is mounted on an oil tank 11 for storing hydraulic oil.
In one aspect of the present embodiment, the hydraulic motor 9 is a 48V dc servo motor, which is used to drive the bidirectional gear pump 10 to rotate forward or backward to drive the cylinder after receiving an external (e.g. controller) command.
As shown in fig. 1 to 2, as another preferred embodiment of the present invention, overflow pieces are installed at both the oil outlet and the oil return port of the bidirectional gear pump 10.
In this embodiment, the overflow members are an overflow valve V15 and an overflow valve VI16, respectively, where the overflow valve VI16 is used for oil path pressure when the tray is lifted (i.e., the cylinder stroke), and the overflow valve V15 is used for oil path pressure when the tray is lowered (i.e., the cylinder return stroke).
As shown in fig. 1 to 2, as another preferred embodiment of the present invention, the control unit includes valves installed at an oil inlet end and an oil return end of the execution unit, and is used for controlling the on-off and pressure maintaining of an oil path.
In this embodiment, the valves are an electromagnetic on-off valve I13 and an electromagnetic on-off valve II14, and the electromagnetic on-off valve I13 and the electromagnetic on-off valve II14 are used for controlling the on-off and pressure maintaining of an oil path. The solenoid on-off valve I13 and the solenoid on-off valve II14 may be integrally mounted on the solenoid valve block 12.
As shown in fig. 1 to 2, as another preferred embodiment of the present invention, one of the cylinders serially connected to form the execution unit is a single-rod double-acting type cylinder, and the other cylinders are double-rod double-acting type cylinders.
In one case of this embodiment, the number of the cylinders arranged in series to form the execution unit is four, and the cylinders are respectively a cylinder I1, a cylinder II2, a cylinder III3 and a cylinder IV4, wherein the cylinder I1 is a single-rod double-acting cylinder, the single-rod double-acting cylinder is used for increasing the bearing area of the oil chamber under the cylinder I1 when the pallet is lifted, so as to improve the bearing capacity of the four-way shuttle car, the cylinders II2, III3 and IV4 are double-rod double-acting cylinders, and the overflow members corresponding to the cylinders are respectively an overflow valve I5, an overflow valve II6, an overflow valve III7 and an overflow valve IV 8.
As shown in fig. 1-2, as another preferred embodiment of the present invention, an oil filter device is installed at an oil inlet of the bidirectional gear pump 10, and the oil filter device is used for filtering hydraulic oil.
In one case of this embodiment, the oil filtering device is an oil filter 17.
In practical application, when the hydraulic motor 9 rotates forward, the electromagnetic on-off valve I13 and the electromagnetic on-off valve II14 are powered on, the oil path is switched on, hydraulic oil is pumped into the lower oil cavity of the oil cylinder I1 by the bidirectional gear pump 10 to push the piston rod of the oil cylinder I1 to lift upwards, hydraulic oil in the oil cavity of the oil cylinder 1 is completely squeezed into the lower oil cavity of the oil cylinder II2, hydraulic oil pushes the piston rod of the oil cylinder II2 to lift upwards, hydraulic oil in the oil cavity of the oil cylinder II2 is completely squeezed into the lower oil cavity of the oil cylinder III3, hydraulic oil pushes the piston rod of the oil cylinder III3 to lift upwards, hydraulic oil in the oil cavity of the oil cylinder III3 is completely squeezed into the lower oil cavity of the oil cylinder IV4, hydraulic oil pushes the piston rod of the oil cylinder IV4 to lift upwards, hydraulic oil in the oil cavity of the oil cylinder IV4 is completely squeezed out and returned to the oil tank 11, so that the four oil cylinders lift synchronously, and when the four oil cylinders lift in place, the electromagnetic on-off valve I13 and the electromagnetic on-off valve II14, the oil circuit is closed, and the system is in a pressure maintaining state. In the whole jacking process, due to the one-way conduction effect of the overflow valves, hydraulic oil does not pass through the overflow valve I5, the overflow valve II6, the overflow valve III7 and the overflow valve IV8, so that the overflow valve I5, the overflow valve II6, the overflow valve III7 and the overflow valve IV8 do not work during jacking of the tray.
Similarly, when the hydraulic motor 9 rotates reversely, the electromagnetic on-off valve I13 and the electromagnetic on-off valve II14 are powered on, the oil path is connected, hydraulic oil is pumped into the upper oil chamber of the oil cylinder IV4 by the bidirectional gear pump 10, and the piston rods of the four oil cylinders synchronously descend under the action of the hydraulic oil. In the process of descending the tray, due to the self-weight of goods, the pressure of a hydraulic system is low and is not enough to open the valve core in the overflow piece, and the overflow valve I5, the overflow valve II6, the overflow valve III7 and the overflow valve IV8 do not work; when the tray descends to the right position, the pressure of the hydraulic system is rapidly increased, the pressure difference of the oil inlet and the oil outlet of the overflow valve I5, the overflow valve II6, the overflow valve III7 and the overflow valve IV8 is rapidly increased, the valve core is opened in sequence, and the overflow valve I5, the overflow valve II6, the overflow valve III7 and the overflow valve IV8 are communicated; at the moment, the hydraulic system can automatically supplement oil to the parallel loop, hydraulic oil sequentially passes through the overflow valve IV8, the overflow valve III7, the overflow valve II6 and the overflow valve I5 and is extruded into an oil feeding cavity of the corresponding oil cylinder, and the piston rod which is not lowered in place is forcibly pressed in place, so that the compensation function is completed.
The embodiment of the invention also provides a four-way shuttle which comprises an installation frame, wherein the synchronous lifting mechanism is installed on the installation frame.
The embodiment of the invention provides a synchronous lifting mechanism, and provides a four-way shuttle vehicle based on the synchronous lifting mechanism, which realizes an automatic compensation function by utilizing an overflow valve and an oil way connected in parallel inside an oil cylinder, solves the technical problem of reduction of synchronous precision of the lifting mechanism caused by internal leakage and external leakage of a hydraulic system, improves the stability of the four-way shuttle vehicle during working, and reduces the later maintenance cost and workload.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A synchronous lifting mechanism, comprising:
the power unit is used for driving hydraulic oil to move;
the execution unit comprises a plurality of oil cylinders which are arranged in series, an overflow piece is arranged at an oil inlet of each oil cylinder, and the overflow pieces are arranged in parallel with the oil cylinders and used for supplementing oil to the oil cylinders during return stroke of the oil cylinders so as to forcibly reset piston rods of the oil cylinders; and
and the control unit is used for controlling the units.
2. The synchronous lifting mechanism according to claim 1, wherein the power unit comprises a hydraulic motor and a bidirectional gear pump, the bidirectional gear pump is driven by the hydraulic motor to rotate forwards or backwards, the bidirectional gear pump is connected into an oil path of the execution unit, and the bidirectional gear pump is mounted on an oil tank for storing hydraulic oil.
3. The synchronous lifting mechanism according to claim 2, wherein an oil outlet and an oil return port of the bidirectional gear pump are provided with overflow members.
4. The synchronous lifting mechanism according to claim 1, 2 or 3, wherein the control unit comprises valves installed at the oil inlet end and the oil return end of the execution unit for controlling the on-off and pressure maintaining of the oil path.
5. The synchronous lifting mechanism according to claim 4, wherein one of the cylinders arranged in series to constitute the execution unit is a single-rod double-acting type cylinder, and the remaining cylinders are double-rod double-acting type cylinders.
6. The synchronous lifting mechanism according to claim 2 or 3, wherein an oil filter device is installed at an oil inlet of the bidirectional gear pump, and the oil filter device is used for filtering hydraulic oil.
7. A four-way shuttle comprising a mounting frame, wherein the synchronous lifting mechanism as claimed in any one of claims 1 to 6 is mounted on the mounting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010149982.6A CN113353835A (en) | 2020-03-06 | 2020-03-06 | Synchronous lifting mechanism and four-way shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010149982.6A CN113353835A (en) | 2020-03-06 | 2020-03-06 | Synchronous lifting mechanism and four-way shuttle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113353835A true CN113353835A (en) | 2021-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010149982.6A Pending CN113353835A (en) | 2020-03-06 | 2020-03-06 | Synchronous lifting mechanism and four-way shuttle |
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| Country | Link |
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| CN (1) | CN113353835A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4049237A (en) * | 1975-12-18 | 1977-09-20 | Paul Anderson Industrier Ab | Apparatus for obtaining substantially equal steplength of each jack in a group of pressure fluid operated climbing jacks |
| CN103708376A (en) * | 2013-12-17 | 2014-04-09 | 天津大学 | Control structure for large-displacement synchronous jacking of large-scale deck pieces |
| CN110701123A (en) * | 2019-10-17 | 2020-01-17 | 上海速锐信息技术有限公司 | Closed synchronous control hydraulic system and four-way shuttle |
-
2020
- 2020-03-06 CN CN202010149982.6A patent/CN113353835A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4049237A (en) * | 1975-12-18 | 1977-09-20 | Paul Anderson Industrier Ab | Apparatus for obtaining substantially equal steplength of each jack in a group of pressure fluid operated climbing jacks |
| CN103708376A (en) * | 2013-12-17 | 2014-04-09 | 天津大学 | Control structure for large-displacement synchronous jacking of large-scale deck pieces |
| CN110701123A (en) * | 2019-10-17 | 2020-01-17 | 上海速锐信息技术有限公司 | Closed synchronous control hydraulic system and four-way shuttle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
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Application publication date: 20210907 |