CN113978989A

CN113978989A - Shuttle vehicle for three-dimensional warehouse of shipping line

Info

Publication number: CN113978989A
Application number: CN202111337926.6A
Authority: CN
Inventors: 刘杰; 马德祥; 徐小军
Original assignee: Anhui Ruiyou Automation Technology Co ltd
Current assignee: Anhui Ruiyou Automation Technology Co ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2022-01-28

Abstract

The invention discloses a shuttle car for a three-dimensional warehouse of a delivery line, which relates to storage and transportation and comprises a main frame, a walking device, a conveying device and a fixing device, wherein a front frame and a rear frame are fixedly connected to the front end and the rear end of two cross beams and form a rectangular frame structure with the two cross beams, the walking device is arranged at the bottom of the main frame, the conveying device is arranged at the top of the main frame, the fixing device is also arranged on the main frame, and the traditional shuttle car and the conveying device are combined, so that the shuttle car can stably transfer a pallet bearing goods from one delivery line to the other delivery line by using the conveying device; when the tray for fixing goods crosses the non-return block, the non-return block can reset again along with gravity to prevent the tray from sliding out from the entrance and interacting with the blocking piece on the other side to fix the tray between the tray and the non-return block.

Description

Shuttle vehicle for three-dimensional warehouse of shipping line

Technical Field

The invention relates to the field of warehousing and conveying, in particular to a shuttle vehicle for a three-dimensional warehouse of a delivery line.

Background

At present, due to the fact that the requirement for storage capacity of a warehouse is higher and higher, the requirements for picking, conveying, warehouse-in and warehouse-out frequency and the like are also higher and higher, and the requirements for large batches cannot be met by common manual transportation. Most of existing shuttle vehicles adopt a fork to fix transported goods, the process of loading and unloading is complex, and particularly, under the condition of carrying out multi-line transportation, rapid and stable butt joint is difficult to achieve through logistics conveying between different delivery lines.

Disclosure of Invention

The present invention has been made in an effort to provide a shuttle car for a stereoscopic warehouse for shipping lines, which solves the above-mentioned problems of the background art.

The utility model provides a shuttle for line of shipment stereoscopic warehouse, includes main frame, running gear, conveyor and fixing device, the main frame includes crossbeam, side bearer, front stall and after-frame, the crossbeam parallel is equipped with two, the outside fixedly connected with side bearer of crossbeam, front stall and after-frame fixed connection enclose into a rectangle frame construction with two crossbeams at the front and back end on two crossbeams, running gear locates the bottom of main frame for drive main frame is walked on the track, conveyor locates the top of main frame, is used for carrying the tray, fixing device also locates and is used for fixed tray on the main frame.

Preferably, running gear includes walking wheel, walking motor and side wheel subassembly, the seat is rotated to each fixedly connected with in both ends of front stall and after-poppet, the walking wheel rotates to be connected between two rotation seats, the walking motor is the gear motor of dual output shaft, walking motor fixed connection is in the bottom of after-poppet, the both ends output shaft of walking motor all links together through the pivot of shaft coupling with the walking wheel that corresponds one side, the inboard of walking wheel all is equipped with a pair of side wheel subassembly on being located the side bearer.

Preferably, the side wheel assembly comprises a side wheel, a wheel frame and a bolt, the side wheel is rotatably connected to the wheel frame, the wheel frame is provided with two through holes, the bolt penetrates through the through holes and is fixedly connected with the side frame, and a mold spring is arranged between the bolt and the wheel frame.

Preferably, the conveying device comprises a four-corner conveying assembly, a long conveying roller and a conveying motor, the conveying motor is fixedly connected to the rear frame, an output shaft of the conveying motor is fixedly connected with a driving double-row chain wheel, the long conveying roller is rotatably connected between the front frame and the rear frame and is located in the middle, and two ends of the long conveying roller are fixedly connected with driven double-row chain wheels;

the four corners conveying assembly is provided with four corners which are respectively located on the main frame, the four corners conveying assembly comprises a fixing frame and short conveying rollers, the front frame and the bottom of the rear frame are fixedly connected with two structural beams, the fixing frame is fixedly connected with the structural beams and a cross beam, the short conveying rollers are rotatably connected between the fixing frame and the rear frame or the front frame on one corresponding side, one end of each short conveying roller is also fixedly connected with a driven double-row chain wheel, the adjacent driving double-row chain wheels and the adjacent driven double-row chain wheels are connected through chains, and the adjacent driven double-row chain wheels and the driven double-row chain wheels are connected through chains.

Preferably, the fixing device comprises a mounting plate, a blocking device and a non-return assembly, the mounting plate is fixedly connected to the bottoms of the two left fixing frames, the mounting plate is fixedly connected with the two blocking devices, each blocking device comprises a first hinge seat, a cylinder and a blocking piece, the tail of the cylinder is hinged in the first hinge seat, an output shaft of the cylinder is fixedly connected with a hinge shaft, two ends of the hinge shaft are hinged with a first connecting plate and a second connecting plate, the bottom end of the first connecting plate is hinged to the first hinge seat, the top end of the second connecting plate and the middle of the blocking piece are hinged to the second hinge seat, the tail of the second hinge seat is hinged to the first hinge seat, a hydraulic buffer is fixedly connected in the second hinge seat, and the output end of the hydraulic buffer is abutted to the bottom end of the blocking piece;

the check assembly comprises a right-angle plate and a check block, the right-angle plate is fixedly connected with a fixing frame on the right side, a limiting column, a rotating pin and a supporting block are fixedly connected to the right-angle plate, the check block is rotatably connected with the rotating pin, and the check block naturally contacts with the supporting block under the action of gravity.

Preferably, the main frame is further provided with a photoelectric sensor for detecting the presence or absence of the tray and a proximity switch for detecting the position of the shuttle.

The invention has the advantages that:

the traditional shuttle car is combined with the conveying device, so that the shuttle car can convey materials between two unconnected delivery lines, and the pallet bearing goods can be stably conveyed from one delivery line to the other delivery line only by utilizing the conveying device;

fixing device adopts blocking device and ends contrary subassembly cooperation and uses, end contrary piece is pushed down when the tray of fixed goods gets into from ending contrary subassembly, the tray can normally pass through, after the tray strideed across ending contrary piece, end contrary piece can reset along with gravity again, prevent that the tray from getting into the roll-off again, interact with the piece of stopping of opposite side, fix the tray between the two, need not too much fixed knot and construct, it is more convenient to fix, during the unblock, only need descend to stop to block and can utilize conveyor to see the tray out from this department.

Drawings

FIG. 1 is a schematic front view of a shuttle;

FIG. 2 is a schematic bottom view of the shuttle;

FIG. 3 is a schematic view of the construction of the four corner conveyor assembly;

FIG. 4 is a schematic structural view of a blocking device;

FIG. 5 is a schematic view of the blocking device from another perspective;

FIG. 6 is a schematic view of the backstop assembly;

fig. 7 is a schematic structural view of the side wheel assembly.

In the figure: 1-main frame, 11-cross beam, 12-side frame, 13-front frame, 14-rear frame, 15-structural beam;

2-a walking device, 21-a walking wheel, 22-a walking motor, 23-a side wheel component, 231-a side wheel, 232-a wheel carrier, 233-a bolt, 234-a mold spring, 24-a rotating seat and 25-a coupler;

3-conveying device, 31-four-corner conveying component, 311-fixing frame, 312-short conveying roller, 32-long conveying roller, 33-conveying motor, 34-driving double-row chain wheel and 35-driven double-row chain wheel;

4-fixing device, 41-mounting plate, 42-blocking device, 421-first hinge seat, 422-cylinder, 423-hinge shaft, 424-first connecting plate, 425-second connecting plate, 426-second hinge seat, 427-blocking piece, 428-hydraulic buffer;

43-43-check component, 431-right angle plate, 432-check block, 433-limit column, 434-rotation pin, 435-support block, 5-photoelectric sensor and 6-proximity switch.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 7, a shuttle for a three-dimensional warehouse of shipping lines comprises a main frame 1, a walking device 2, a conveying device 3 and a fixing device 4, wherein the main frame 1 comprises a cross beam 11, side frames 12, a front frame 13 and a rear frame 14, the cross beam 11 is arranged in parallel, the side frames 12 are fixedly connected to the outer sides of the cross beam 11, the front frame 13 and the rear frame 14 are fixedly connected to the front and rear ends of the two cross beams 11 and enclose a rectangular frame structure with the two cross beams 11, the walking device 2 is arranged at the bottom of the main frame 1 and used for driving the main frame 1 to walk on a track, the conveying device 3 is arranged at the top of the main frame 1 and used for conveying trays, and the fixing device 4 is also arranged on the main frame 1 and used for fixing trays.

In this embodiment, running gear 2 includes walking wheel 21, walking motor 22 and side wheel subassembly 23, a pair of rotation seat 24 of each fixedly connected with in both ends of front stall 13 and after-poppet 14, walking wheel 21 rotates to be connected between two rotation seats 24, walking motor 22 is the gear motor of dual output shaft, walking motor 22 fixed connection is in the bottom of after-poppet 14, walking motor 22's both ends output shaft all links together through shaft coupling 25 and the pivot of the walking wheel 21 that corresponds one side, walking wheel 21's inboard just is located and all is equipped with a pair of side wheel subassembly 23 on the side bearer 12.

In this embodiment, the side wheel assembly 23 includes a side wheel 231, a wheel frame 232 and a bolt 233, the side wheel 231 is rotatably connected to the wheel frame 232, the wheel frame 232 is provided with two through holes, the bolt 233 passes through the through holes and is fixedly connected to the side frame 12, a mold spring 234 is provided between the bolt 233 and the wheel frame 232, and the side wheel 231 is flexibly fixed by the mold spring 234, so that the shuttle car can keep moving on the track within a certain range to adapt to the curved section of the track.

In this embodiment, two structural beams 15 are fixedly connected to the bottom of the front frame 13 and the bottom of the rear frame 14, the conveying device 3 comprises a four-corner conveying assembly 31, a long conveying roller 32 and a conveying motor 33, the conveying motor 33 is fixedly connected to the rear frame 14, an output shaft of the conveying motor 33 is fixedly connected with a driving double-row sprocket 34, the long conveying roller 32 is rotatably connected between the front frame 13 and the rear frame 14 and is located at an intermediate position, and two ends of the long conveying roller 32 are fixedly connected with driven double-row sprockets 35.

The four corners conveying assembly 31 is provided with four corners which are respectively located on the main frame 1, the four corners conveying assembly 31 comprises a fixed frame 311 and short conveying rollers 312, the fixed frame 311 is fixedly connected with the structural beam 15 and the cross beam 11, the short conveying rollers 312 are rotatably connected between the fixed frame 311 and the rear frame 14 or the front frame 13 on one corresponding side, one end of each short conveying roller 312 is also fixedly connected with a driven double-row sprocket 35, the adjacent driving double-row sprocket 34 and the driven double-row sprocket 35 are connected, and the adjacent driven double-row sprocket 35 and the driven double-row sprocket 35 are connected through chains.

In this embodiment, the main frame 1 is further provided with a photoelectric sensor 5 for detecting the presence or absence of a tray and a proximity switch 6 for detecting the position of the shuttle, the two cross beams 11 on the left side and the right side are respectively provided with one photoelectric sensor 5 for detecting the entering and leaving states of the tray, and the track is provided with a reference block for detecting the proximity switch 6, so that the shuttle is conveniently positioned.

In this embodiment, the fixing device 4 comprises a mounting plate 41, a blocking device 42 and a non-return assembly 43, the mounting plate 41 is fixedly connected to the bottoms of the two fixing frames 311 on the left side, the two blocking devices 42 are fixedly connected to the mounting plate 41, the blocking device 42 comprises a first hinge seat 421, a cylinder 422 and a blocking member 427, the tail part of the air cylinder 422 is hinged in the first hinge seat 421, the output shaft of the air cylinder 422 is fixedly connected with a hinge shaft 423, both ends of the hinge shaft 423 are hinged with a first connecting plate 424 and a second connecting plate 425, the bottom end of the first connecting plate 424 is also hinged with the first hinge seat 421, the top end of the second connecting plate 425 and the middle part of the blocking member 427 are hinged with the second hinge seat 426, the tail part of the second hinge seat 426 is hinged with the first hinge seat 421, a hydraulic buffer 428 is fixedly connected in the second hinge seat 426, and the output end of the hydraulic buffer 428 is abutted against the bottom end of the blocking member 427;

the check assembly 43 comprises a right-angle plate 431 and a check block 432, the right-angle plate 431 is fixedly connected with the right-side fixing frame 311, a limiting column 433, a rotating pin 434 and a supporting block 435 are fixedly connected to the right-angle plate 431, the check block 432 is rotatably connected with the rotating pin 434, and the check block 432 naturally contacts with the supporting block 435 under the action of gravity.

The working process and principle are as follows:

when the shuttle vehicle is used, the shuttle vehicle is matched with a track for use, the travelling wheels 21 are positioned above the track, and the track is clamped at the middle position by the side wheels 231 on two sides. When a pallet carrying goods on a delivery line enters the shuttle car from one side of the non-return assembly 43 of the shuttle car, the photoelectric sensor 5 on the left side detects a signal of the pallet entering, the conveying motor 33 is controlled to start, the driving duplex sprocket 34 is driven to rotate, two independent chains can be connected to the driving duplex sprocket 34 and respectively correspond to the two driven duplex sprockets 35 on the left side and the right side, and the two adjacent driven duplex sprockets 35 can be connected with each other through the two chains and the driven duplex sprockets 35 on the two sides, so that power is transmitted to the long conveying roller 32 and all the short conveying rollers 312, and the long conveying roller 32 and all the short conveying rollers can synchronously rotate.

The tray contacts with the short conveying roller 312 first, and the short conveying roller 312 rotates to drive the tray to move towards the direction of the blocking device 42, and when the tray contacts with the non-return block, a leftward force is exerted on the non-return block, so that the top of the non-return block is pressed down and adjusted to a state of not blocking the movement of the tray. When the tray moves to be completely separated from the backstop block in the crotch, the backstop block rotates around the rotating pin 434 due to the lower gravity center and is reset to be in flush contact with the bottom of the backstop block 435, so that the top end of the backstop block tilts to prevent the tray from sliding out of the backstop block, the blocking piece 427 on the other side also has a blocking effect on the tray, and when the tray is in contact with the blocking piece 427, the hydraulic buffer 428 plays a buffering role, so that the tray is limited between the blocking device 42 and the backstop assembly.

When the right photosensor 5 detects the tray, the tray has completely entered between the stopper 42 and the backstop assembly, thereby determining the position of the tray.

Then, the walking motor 22 is started, the walking motor 22 drives the two walking wheels 21 on the rear side to move through the coupler 25, so that the whole shuttle vehicle can run on the track, the side wheels 231 play a role in flexible positioning by using the die springs 234, and the shuttle vehicle can be ensured not to run off the track.

When the robot moves to a specified position, the reference block corresponds to the proximity switch 6, and the proximity switch 6 detects the signal and sends a signal to the controller so as to control the walking motor 22 to pause. The extension of the output shaft of the cylinder 422 pushes the hinge shaft 423 to move, which drives the top end of the blocking member 427 to rotate downwards, and releases the state that the blocking member 427 blocks the tray. Then the conveying motor 33 can be restarted to drive the long conveying roller 32 and the short conveying roller 312 to move again, the tray is conveyed to the conveying line corresponding to one side of the blocking piece 427, after the photoelectric sensor 5 on the left side detects that the tray is conveyed out, the air cylinder 422 is reset, the blocking piece 427 is changed into a blocking state again, and then the shuttle car returns to the position of the material taking and conveying line to continue to take materials for transferring.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims

1. A shuttle car for a three-dimensional warehouse of a delivery line is characterized by comprising a main frame (1), a walking device (2), a conveying device (3) and a fixing device (4), the main frame (1) comprises a cross beam (11), side frames (12), a front frame (13) and a rear frame (14), two cross beams (11) are arranged in parallel, the outer side of each cross beam (11) is fixedly connected with a side frame (12), the front frame (13) and the rear frame (14) are fixedly connected with the front end and the rear end of the two cross beams (11), a rectangular frame structure is enclosed by the two beams (11), the walking device (2) is arranged at the bottom of the main frame (1), used for driving the main frame (1) to walk on the track, the conveying device (3) is arranged at the top of the main frame (1), the tray fixing device is used for conveying trays, and the fixing device (4) is also arranged on the main frame (1) and used for fixing the trays.

2. The shuttle car for the three-dimensional warehouse of the shipment line according to claim 1, wherein the traveling device (2) comprises a traveling wheel (21), a traveling motor (22) and a side wheel assembly (23), a pair of rotating seats (24) are fixedly connected to each of two ends of the front frame (13) and the rear frame (14), the traveling wheel (21) is rotatably connected between the two rotating seats (24), the traveling motor (22) is a speed reducing motor with double output shafts, the traveling motor (22) is fixedly connected to the bottom of the rear frame (14), output shafts at two ends of the traveling motor (22) are connected with a rotating shaft of the traveling wheel (21) at the corresponding side through a coupling (25), and a pair of side wheel assemblies (23) are arranged on the inner side of the traveling wheel (21) and on the side frame (12).

3. The shuttle car for the stereoscopic warehouse of the delivery line according to claim 1, wherein the side wheel assembly (23) comprises a side wheel (231), a wheel frame (232) and a bolt (233), the side wheel (231) is rotatably connected to the wheel frame (232), the wheel frame (232) is provided with two through holes, the bolt (233) passes through the through holes and is fixedly connected with the side frame (12), and a mold spring (234) is arranged between the bolt (233) and the wheel frame (232).

4. The shuttle car for the three-dimensional warehouse of the delivery line according to claim 1, characterized in that the conveying device (3) comprises a four-corner conveying assembly (31), a long conveying roller (32) and a conveying motor (33), the conveying motor (33) is fixedly connected to the rear frame (14), an output shaft of the conveying motor (33) is fixedly connected with a driving double-row sprocket (34), the long conveying roller (32) is rotatably connected between the front frame (13) and the rear frame (14) and is located at the middle position, and both ends of the long conveying roller (32) are fixedly connected with driven double-row sprockets (35);

four corners conveying component (31) are equipped with four corners that are located main frame (1) respectively, four corners conveying component (31) are including mount (311) and short conveying roller (312), two structure roof beams (15) of bottom fixedly connected with are gone back to fore-stock (13) and after-frame (14), mount (311) and structure roof beam (15) and crossbeam (11) fixed connection, short conveying roller (312) rotate to be connected between after-frame (14) or fore-stock (13) of mount (311) and corresponding one side, the also fixedly connected with driven double sprocket (35) of one end of short conveying roller (312), between adjacent drive double sprocket (34) and driven double sprocket (35), all be connected through the chain between adjacent driven double sprocket (35) and double driven sprocket (35).

5. The shuttle car for the three-dimensional warehouse of the shipping line according to claim 1, wherein the fixing device (4) comprises a mounting plate (41), a blocking device (42) and a non-return component (43), the mounting plate (41) is fixedly connected to the bottom of the two left-side fixed frames (311), the mounting plate (41) is fixedly connected with the two blocking devices (42), the blocking device (42) comprises a first hinged seat (421), a cylinder (422) and a blocking piece (427), the tail part of the cylinder (422) is hinged in the first hinged seat (421), the output shaft of the cylinder (422) is fixedly connected with a hinged shaft (423), both ends of the hinged shaft (423) are hinged with a first connecting plate (424) and a second connecting plate (425), the bottom end of the first connecting plate (424) is further hinged with the first hinged seat (421), both the top end of the second connecting plate (425) and the middle part of the blocking piece (427) are hinged with the second hinged seat (426) The tail part of the second hinge seat (426) is hinged with the first hinge seat (421), a hydraulic buffer (428) is fixedly connected in the second hinge seat (426), and the output end of the hydraulic buffer (428) is abutted against the bottom end of the blocking piece (427);

the check assembly (43) comprises a right-angle plate (431) and a check block (432), the right-angle plate (431) is fixedly connected with a right-side fixing frame (311), a limiting column (433), a rotating pin (434) and a supporting block (435) are fixedly connected to the right-angle plate (431), the check block (432) is rotatably connected with the rotating pin (434), and the check block (432) naturally contacts with the supporting block (435) under the action of gravity.

6. The shuttle car for the stereoscopic warehouse of the delivery line according to claim 1, characterized in that the main frame (1) is further provided with a photoelectric sensor (5) for detecting the presence or absence of the pallet and a proximity switch (6) for detecting the position of the shuttle car.