CN114426166A - Four-way traveling shuttle and automatic storage device - Google Patents
Four-way traveling shuttle and automatic storage device Download PDFInfo
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- CN114426166A CN114426166A CN202210179358.XA CN202210179358A CN114426166A CN 114426166 A CN114426166 A CN 114426166A CN 202210179358 A CN202210179358 A CN 202210179358A CN 114426166 A CN114426166 A CN 114426166A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a shuttle car capable of running in four directions, which comprises: a frame; the walking driving module is supported on the rack and drives the rack to walk along the transverse direction and the longitudinal direction; the reversing module is supported on the rack and used for switching the rack to walk along the transverse direction or the longitudinal direction; the control module is connected with the walking driving module and the reversing module and is used for controlling the running of the walking driving module and the reversing module; the power supply module is used for supplying energy to the control module, the walking driving module and the reversing module; the traveling driving module comprises a traveling driving motor, a transverse wheel set and a longitudinal wheel set, the traveling driving motor drives the transverse wheel set through a first transmission mechanism, the traveling driving motor drives the longitudinal wheel set through a second transmission mechanism, the reversing module comprises a reversing motor and a third transmission mechanism driven by the reversing motor, the third transmission mechanism is connected with the longitudinal wheel set, and the reversing motor drives the longitudinal wheel set to move up and down through the third transmission mechanism to realize switching of the rack traveling along the transverse direction or the longitudinal direction.
Description
Technical Field
The invention relates to the field of logistics storage, in particular to a shuttle car and an automatic storage device which are used for storage management and goods shelf transportation and can realize four-way automatic running.
Background
With the rapid development of the warehouse logistics industry, higher and higher requirements are provided for the utilization rate of the space of the stereoscopic warehouse, more shelves are expected to be arranged on the plane of the stereoscopic warehouse, more shelf interlayers are arranged in the height direction, and the space occupied by the loading and unloading channel is reduced to the maximum extent.
The existing three-dimensional warehouse structure adopts a mode of one loading and unloading roadway and a plurality of storage rack roadways vertically connected with the loading and unloading roadway more, so that the shuttle car is required to be capable of walking in two vertical and horizontal directions which are mutually vertical. In the prior art, the stereoscopic warehouse usually uses a primary and secondary vehicle system, that is, the primary vehicle carries the secondary vehicle to travel in the loading and unloading roadway, then the secondary vehicle is driven out from the direction perpendicular to the traveling direction of the primary vehicle, enters the goods shelf roadway, then returns to the primary vehicle in the original way, and finally is taken away by the primary vehicle. By adopting the mode of combining the two shuttle cars of the primary and secondary cars, the primary and secondary cars occupy a large space, the number of the goods shelves and the interlayers is reduced, the space utilization rate of the three-dimensional warehouse is reduced, and the manufacturing, purchasing and maintaining costs are increased.
The existing shuttle vehicles for intensive warehouse management and shelf transportation in the market are very few, and various problems exist in the existing products, such as overlarge weight, overlarge volume, insufficient flexibility, poor operation capacity, low shelf storing and taking efficiency, insufficient load capacity, insufficient stability, leakage of a hydraulic device and the like.
Disclosure of Invention
One object of the present invention is to provide a low-cost, compact four-way shuttle.
Another object of the invention is to provide an automated storage unit that is low in cost and takes up little space.
In order to achieve the above object, the present invention provides a shuttle car that travels in four directions, including:
a frame;
the walking driving module is supported on the rack and used for driving the rack to walk along the transverse direction and the longitudinal direction;
the reversing module is supported on the rack and used for switching the rack to walk along the transverse direction or the longitudinal direction;
the control module is connected with the walking driving module and the reversing module and is used for controlling the running of the walking driving module and the reversing module;
the power supply module is used for supplying energy to the control module, the walking driving module and the reversing module;
the walking driving module comprises a walking driving motor, a transverse wheel set and a longitudinal wheel set, the walking driving motor is driven by a first transmission mechanism to drive the transverse wheel set, the walking driving motor is driven by a second transmission mechanism to drive the longitudinal wheel set, the reversing module comprises a reversing motor and a third transmission mechanism driven by the reversing motor, the third transmission mechanism is connected with the longitudinal wheel set, and the reversing motor passes through the third transmission mechanism to drive the longitudinal wheel set to move up and down to realize switching of transverse or longitudinal walking of the frame.
As a further improvement of the embodiment of the present invention, the walking driving module further includes a speed reducer connected to the driving motor, the speed reducer has a first output end and a second output end perpendicular to each other, and the first output end and the second output end are respectively connected to the first transmission mechanism and the second transmission mechanism.
As a further improvement of an embodiment of the present invention, the transverse wheel set includes a first driving wheel and a first driven wheel mounted on the frame, the first transmission mechanism includes a first belt/chain transmission mechanism and a driving shaft, an input end of the first belt/chain transmission mechanism is connected to the first output end, an output end of the first belt/chain transmission mechanism is connected to the driving shaft, and the first belt/chain transmission mechanism transmits rotary power to the first driving wheel through the driving shaft.
As a further improvement of an embodiment of the present invention, the reversing module further includes a jacking frame movably supported on the frame, the longitudinal wheel set is mounted on the reversing module, the longitudinal wheel set is mounted on the jacking frame, and the reversing motor drives the jacking frame to move up and down through a third transmission mechanism.
As a further improvement of an embodiment of the present invention, a slide block is disposed on the jacking frame, a guide post fixing plate is disposed on the frame, and the slide block moves up and down along the guide post fixing plate.
As a further improvement of an embodiment of the present invention, a sliding column is provided on the jacking frame, a sleeve is provided on the frame, and the sliding column moves up and down along the sleeve.
As a further improvement of an embodiment of the present invention, the longitudinal wheel set includes a second driving wheel and a second driven wheel mounted on the jacking frame, the second transmission mechanism includes a second belt/chain transmission mechanism and a jacking shaft, an input end of the second belt/chain transmission mechanism is connected to the second output end, an output end of the second belt/chain transmission mechanism is connected to the jacking shaft, and the second belt/chain transmission mechanism transmits rotary power to the second driving wheel through the jacking shaft.
As a further improvement of the embodiment of the present invention, a tension pulley is connected to the frame, the second belt transmission mechanism includes a second driving pulley connected to the second output end, a second driven pulley driven by the second driving pulley, and a second transmission belt driven by the second driving pulley and the second driven pulley, the second driven pulley is fitted over the lift shaft and drives the lift shaft to rotate, the second transmission belt is tensioned by the rise of the second driven pulley, and the second driven pulley is lowered so that the second transmission belt is tensioned by the contact with the tension pulley.
As a further improvement of an embodiment of the present invention, the third transmission mechanism includes a reversing shaft connected to the reversing motor and a double-link linkage mechanism connected to the reversing shaft, and the double-link linkage mechanism converts a rotational motion of the reversing shaft into an up-and-down motion of the jacking frame.
As a further improvement of an embodiment of the present invention, the third transmission mechanism includes a reversing shaft connected to the reversing motor and a crank and rocker mechanism connected to the reversing shaft, and the crank and rocker mechanism converts the rotation motion of the reversing shaft into the up-and-down motion of the jacking frame.
As a further improvement of an embodiment of the present invention, two crank rocker mechanisms are provided, and are respectively located on two sides of the machine, each crank rocker mechanism includes a jacking reversing gear box mounted on the machine frame and eccentric shafts respectively extending from two ends of the jacking reversing gear box, the eccentric shafts are inserted into elongated slots on the jacking frame, and rotation of the eccentric shafts drives the jacking frame to move up and down.
As a further improvement of an embodiment of the present invention, two double-link linkage mechanisms are provided, and are respectively located at two lateral sides of the rack, each double-link linkage mechanism includes two racks disposed at intervals along a longitudinal direction of the support member, a triangular block movably connected to the connecting rack, a pair of connecting rods connecting the two triangular blocks, and an eccentric assembly connected to the rack, the jacking frame is connected to the eccentric assembly, the reversing shaft drives the triangular block to swing, and the triangular block drives the jacking frame through the eccentric assembly.
As a further improvement of one embodiment of the present invention, the eccentric assembly includes an eccentric wheel, an eccentric wheel connecting bearing, an eccentric block and an eccentric supporting shaft, the eccentric wheel is in transmission connection with the triangular block, the eccentric wheel connecting bearing is supported between the eccentric wheel and the eccentric block, and the eccentric block is supported on the frame through the eccentric supporting shaft.
As a further improvement of one embodiment of the present invention, the rotation of the reversing motor in two directions can drive the lifting frame to switch between three positions, and in a low position, the shuttle car moves in a first direction; in the intermediate position, the shuttle car moves in a second direction perpendicular to the first direction; in the high position, the jacking frame ascends to the high position to jack the goods.
The invention also provides an automatic storage device comprising a four-way shuttle as described above.
According to the shuttle vehicle provided by the invention, the shuttle vehicle can run longitudinally and transversely in four directions, and a four-direction shuttle vehicle is adopted to replace a primary-secondary vehicle combined system, so that the space utilization rate is improved, and the goods storing and taking efficiency is also improved; the mechanical structure is adopted, the leakage problem of the hydraulic device is solved, and the flexibility of the shuttle vehicle is improved; the single-side 4 wheels and the reinforced frame are adopted, so that the loading capacity and the passing capacity of the four-way shuttle vehicle are improved; the lifting power of the goods shelf and the reversing power of the four-way shuttle are combined into one, so that the cost is saved, the space is reduced, and the overall dimension of the four-way shuttle is greatly reduced.
Drawings
Fig. 1 is a schematic structural view of a shuttle car traveling in four directions according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the frame of the shuttle of FIG. 1;
FIG. 3 is a schematic structural view of a travel drive module of the shuttle of FIG. 1;
FIG. 4 is a schematic structural view of a reversing module of the shuttle of FIG. 1;
FIG. 5 is a schematic structural view of a dual link linkage of the reversing module of FIG. 4;
fig. 6 is a schematic structural view of a shuttle car traveling in four directions according to another embodiment of the present invention;
FIG. 7 is a schematic structural view of a travel drive module of the shuttle of FIG. 6;
FIG. 8 is a schematic diagram of the lateral drive of the travel drive module of the shuttle of FIG. 7;
FIG. 9 is a schematic diagram of the longitudinal drive of the travel drive module of the shuttle of FIG. 7;
FIG. 10 is a schematic structural view of a reversing module of the shuttle of FIG. 6;
fig. 11 is a schematic structural view of the crank and rocker mechanism of the reversing module of fig. 10.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
It will be understood that terms such as "upper," "lower," "below," "transverse," "longitudinal," and the like, used herein to denote relative spatial positions, are used for convenience of description to describe the relationship of one element or feature to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
As shown in fig. 1, a schematic configuration diagram of a shuttle car 100 traveling in four directions according to an embodiment of the present invention. The four-way shuttle 100 includes a frame 1, a travel driving module 2, a reversing module 3, a power supply module 4, a control module 5, and a housing (not shown). The walking driving module 2 is supported on the frame 1 and is configured to drive the frame 1 to walk along a transverse direction and a longitudinal direction, where the transverse direction and the longitudinal direction are only used for distinguishing two approximately perpendicular directions, and a specific direction is not limited, and the arrow X direction in the drawing is a transverse direction or a left-right direction, and the arrow Y direction is a longitudinal direction or a front-back direction. The reversing module 3 is supported on the rack 1 and used for switching the rack 1 to move along the transverse direction or the longitudinal direction; the control module 5 is connected with the walking driving module 2 and the reversing module 3 and is used for controlling the running of the walking driving module 2 and the reversing module 3; the power supply module 4 supplies energy to the control module 5, the walking driving module 2 and the reversing module 3. The power supply module can be a battery, if a 48V storage battery is adopted for supplying power, the device is practical and environment-friendly, and the storage battery can be flexibly replaced. The frame 1 is bent through the sheet metal and locally reinforced to be connected into a whole, and the bearing capacity of the whole vehicle is greatly improved.
Referring to fig. 2 and 3, the walking driving module 2 includes a transverse wheel set, a longitudinal wheel set and a walking driving motor 203 for driving the transverse wheel set and the longitudinal wheel set, the walking driving motor 203 drives the transverse wheel set through a first transmission mechanism, the walking driving motor 203 drives the longitudinal wheel set through a second transmission mechanism, namely, only one power is needed for four-way movement of the shuttle in longitudinal and transverse directions, so that the cost is saved, the space is reduced, and the overall dimension of the shuttle is greatly reduced.
The walking driving module further comprises a cross speed reducer 204 or a reduction gearbox connected with the walking driving motor 203, the cross speed reducer 204 is provided with a first output end and a second output end which are perpendicular to each other, the first output end and the second output end are respectively connected with a first transmission mechanism and a second transmission mechanism, so that speed and torque are transmitted to the two transmission mechanisms through one motor, and movement of the transverse wheel set and the longitudinal wheel set is achieved.
Specifically, the transverse wheel set includes 4 first driving wheels 201 and 4 first driven wheels 202 arranged along the transverse direction at intervals, and the 4 first driving wheels 201 and the 4 first driven wheels 202 are all supported on the frame, that is, the first driving wheels 201 and the first driven wheels 202 are distributed on two sides of the whole vehicle, wherein the 4 first driving wheels 201 are respectively arranged 2 along the longitudinal front-back symmetry, the 4 first driven wheels 202 are respectively arranged 2 along the longitudinal front-back symmetry, the driving motor 203 and the cross reducer 204 are installed on a driving reducer frame 205, and the driving reducer frame 205 is fixed on the frame 1. First drive wheel 201 includes the outside first drive wheel and the inboard first drive wheel for frame 1, first drive mechanism includes first belt drive mechanism, drive shaft 209 and first power distribution device 214, the input of first belt drive mechanism is connected in first output, the output of first belt drive mechanism is connected in drive shaft 209, an inboard first drive wheel is respectively connected to the both sides of drive shaft 209, first power distribution device 214 sets up between drive shaft 209 and the outside first drive wheel and transmits the rotary power of drive shaft 209 to the outside first drive wheel, two first power distribution devices 214 are fixed in the inside of frame 1 promptly, front and back bilateral symmetry arranges, be connected with two first drive wheels 201 respectively. Wherein, first belt drive mechanism is including connecting the first driving pulley 206 of the first output end of cross reduction gear 204, the second driving pulley 207 that is driven by first driving pulley 206 and installing the first driving belt 208 on first driving pulley 206 and second driving pulley 207, and second driving pulley 207 suit is in order to drive shaft 209 and rotate on drive shaft 209, and drive shaft 209 can be two segmentation structures, connects through first shaft coupling 210 to make the transmission more steady reliable.
Referring to fig. 4, the reversing module 3 includes a reversing motor 304 and a third transmission mechanism driven by the reversing motor 304, the third transmission mechanism is connected to the longitudinal wheel set, and the reversing motor 304 drives the longitudinal wheel set to move up and down through the third transmission mechanism to realize the switching of the transverse or longitudinal walking of the rack 1. The reversing motor 304 transmits the rotational power to the third transmission mechanism through the reversing reducer 305, and the reversing motor 304 and the reversing reducer 305 are mounted on the reversing reducer frame 306. The reversing module 3 further comprises a jacking frame 310 movably supported on the frame 1, the longitudinal wheel set is mounted on the jacking frame 310, and the reversing motor 304 drives the jacking frame 310 to move up and down through a third transmission mechanism so as to drive the longitudinal wheel set to move up and down.
The longitudinal wheel set comprises 4 second driving wheels 301 and 4 second driven wheels 302 which are arranged on the jacking frame 310 at intervals along the longitudinal direction, wherein the 4 second driving wheels 301 are respectively arranged in a left-right symmetrical mode along the transverse direction, and the 4 second driven wheels 302 are respectively arranged in a 2 symmetrical mode along the transverse direction. The second driving wheel includes an outer side second driving wheel and an inner side second driving wheel relative to the jacking frame 310, the second driving mechanism includes a second belt transmission mechanism, a jacking shaft 312 and a second power distributor 303, an input end of the second belt transmission mechanism is connected to a second output end of the cross reducer 204, an output end of the second belt transmission mechanism is connected to the jacking shaft 312, two sides of the jacking shaft 312 are respectively connected with one outer side second driving wheel, and the second power distributor 303 is arranged between the jacking shaft 312 and the inner side second driving wheel and transmits the rotating power of the jacking shaft 312 to the inner side second driving wheel. The jacking shaft 312 can be formed by two sections and is connected through the third coupling 313, so that the transmission of the jacking shaft 312 is more stable and reliable.
The second belt transmission mechanism comprises a second driving pulley 211, a second transmission belt 212 and a second driven pulley 213, wherein the second driving pulley 211 is connected to a second output end of the cross reducer 204, that is, the cross reducer 204 is respectively connected with the first driving pulley 206 and the third driving pulley 211. The second driven pulley 213 is driven by the second driving pulley 211, the second transmission belt 212 is driven by the second driving pulley 211 and the second driven pulley 213, and the second driven pulley 211 is sleeved on the jacking shaft 312 and drives the jacking shaft 312 to rotate. A tension pulley 216 is connected to the frame 1, the second belt 212 is tensioned by the rise of the second driven pulley 213, and the second driven pulley 213 is lowered so that the second belt 212 is tensioned by contact with the tension pulley 216.
The third transmission mechanism comprises a reversing shaft 308 connected with the reversing motor 304 and a double-link linkage 309 connected with the reversing shaft 308, and the double-link linkage 309 converts the rotating motion of the reversing shaft 308 into the up-and-down motion of the jacking frame 310. The reversing shaft 308 can be formed by two sections which are connected through the second coupling 307, so that the transmission of the reversing shaft 308 is more stable and reliable.
Referring to fig. 5, two double-link linkages 309 are disposed on two lateral sides of the frame 1, respectively, each double-link linkage 309 includes two frames 3094 disposed at intervals along the longitudinal direction of the frame 1, a triangular block 3093 movably connected to the connecting frame 3094, a pair of connecting rods 3092 connected to the two triangular blocks 3093, and an eccentric assembly connected to the frame 3094, the jacking frame 310 is connected to the eccentric assembly, the reversing shaft 308 drives the triangular block 3093 to swing, and the triangular block 3093 drives the jacking frame 310 through the eccentric assembly.
The eccentric assembly comprises an eccentric wheel 3095, an eccentric wheel connecting bearing 3096, an eccentric block 3097 and an eccentric supporting shaft 3098, the eccentric wheel 3095 is in transmission connection with a triangular block 3093, the eccentric wheel connecting bearing 3096 is supported between the eccentric wheel 3095 and the eccentric block 3097, the eccentric block 3097 is supported on a rack 3094 through the eccentric supporting shaft 3098, and the eccentric supporting shaft bearing 3099 supports the rotation of the eccentric supporting shaft 3098. The connecting rod 3092 and the triangular block 3093 can be connected through the fisheye joint 3091, and the jacking frame 310 is supported on the outer ring of the eccentric wheel connecting bearing 3096, so that the jacking frame 310 can realize jacking or descending along with the rotation of the eccentric wheel 3095.
The jacking frame 310 is provided with a slide block 311, the rack is provided with a guide post fixing plate 215, and the slide block 311 moves up and down along the guide post fixing plate 215. The 4 guide post fixing plates 215 are fixed inside the frame 1 and symmetrically arranged on the left and right sides.
The movement of the shuttle will be described in detail below.
The driving motor 203 runs, after the speed is reduced and the torque is increased through the crossed speed reducer 204, the speed and the torque are sequentially transmitted to the driving shaft 209 through the first driving belt pulley 206, the first driving belt 208 and the first driven belt pulley 207, and then the speed and the torque are respectively transmitted to the front and the rear first driving wheels 201 through the first coupling 210 and the first power distributor 214, so that the whole vehicle is driven to move left and right. The first driving wheel 201 not only generates power to drive the shuttle car to move, but also plays a role in supporting and guiding; the first driven pulley 202 mainly functions as a support guide.
The cross reducer 204 has two output ends, and has 2 power transmission paths for transmitting the speed and the torque to the first driving pulley 206 and the second driving pulley 211, respectively. The other power transmits the speed and torque to the lifting shaft 312 via the second driving pulley 211, the second belt 212, and the second driven pulley 213.
The second driving wheel 301 and the second driven wheel 302 are distributed on the left and right sides of the whole vehicle and fixed on the jacking frame 310. The 4 sliding blocks 311 are respectively connected with the 4 guide post fixing plates 215 and the two jacking frames 310. The reversing motor 304 is directly connected with a reversing speed reducer 305 and is fixed on the frame 1 through a reversing speed reducer frame 306. The eccentric wheel connecting bearing 3096 is clamped on the jacking frame 310.
The reversing motor 304 is operated, and after the speed is reduced and the torque is increased by the reversing reducer 305, the speed and the torque are transmitted to the double link linkage 309 through the second coupling 307 and the reversing shaft 308. The double link linkage 309 can drive the eccentric 3095, the eccentric connecting bearing 3096, the eccentric 3097 and the eccentric supporting shaft 3098 to rotate around the eccentric rack 3094 and the eccentric supporting shaft bearing 3099 together through the left-right swinging of the fisheye joint 3091, the connecting rod 3092 and the triangular block 3093, and the eccentric supporting shaft bearing 3099 supports the rotation of the eccentric supporting shaft 3098.
After the double-connecting-rod linkage mechanism 309 acts, the eccentric wheel 3095, the eccentric block 3097 and the eccentric wheel connecting bearing 3096 rotate together, the outer ring of the bearing of the eccentric wheel connecting bearing 3096 clamps the jacking frame 310, and drives the jacking frame 310, the second driving wheel 301 and the second driven wheel 302 to jack or descend along the sliding block 311 together, and finally, the goods shelf is jacked or descended.
The reversing motor 304 rotates forward to drive the double-link linkage 309 to move, so that the jacking frame 310, the second driving wheel 301 and the second driven wheel 302 descend along the sliding block 311, the second driving wheel 301 and the second driven wheel 302 touch the ground together, and the first driving wheel 201 and the first driven wheel 202 hang in the air together. The speed and torque of the driving motor 203 are transmitted to the 4 second driving wheels 301 through the second driving pulley 211, the second transmission belt 212, the second driven pulley 213, the jacking shaft 312, the third coupler 313 and the second power divider 303, so as to drive the whole vehicle to move forward and backward. The second driving wheel 301 not only generates power to drive the shuttle car to move, but also plays a role in supporting and guiding; the second driven wheel 302 mainly plays a role of supporting and guiding.
The reversing motor 304 rotates reversely to drive the double-link linkage 309 to act, so that the jacking frame 310, the second driving wheel 301 and the second driven wheel 302 are jacked along the sliding block 311, the second driving wheel 301 and the second driven wheel 302 are suspended together, and the first driving wheel 201 and the first driven wheel 202 are grounded together. The speed and torque of the driving motor 203 are sequentially transmitted to the first driving wheel 201 through the first driving pulley 206, the first driving belt 208, and the first driven pulley 207, so as to drive the entire vehicle to move left and right.
The reversing motor 304 mainly realizes the jacking and reversing of the four-way shuttle vehicle, and combines the jacking power and the reversing power of the four-way shuttle vehicle into a whole. The driving motor 203 mainly provides power for the four-way motion of the four-way shuttle in the longitudinal direction and the transverse direction, and only one set of power is needed for ensuring the motion of the whole shuttle.
During the lifting and reversing of the four-way shuttle, the second driven pulley 213 ascends or descends along with the lifting frame 310. By optimizing the synchronous wheel structure, when the jacking frame 310 descends, the second driven pulley 213 descends along with the jacking frame, the second transmission belt 212 is tightened by the tension pulley 216, the speed and the torque are reliably transmitted to the second driving wheel 301, and the front and back movement of the whole vehicle is realized. When the lifting frame 310 ascends, the second driven pulley 213 follows the ascending, and the second transmission belt 212 naturally extends and is tightened without additionally adding a tension pulley.
Four directions in the front of four-way shuttle, back, left and right all have 2 drive wheels, 2 from the driving wheel, guarantee that unilateral all has 4 wheels, under the unchangeable condition of bearing of single wheel, greatly improve the bearing capacity of whole car.
The application provides a shuttle scheme: the shuttle car can run longitudinally and transversely in four directions, and a four-direction shuttle car is adopted to replace a primary-secondary car combined system, so that the space utilization rate is improved, and the goods storing and taking efficiency is also improved; the mechanical structure is adopted, the leakage problem of the hydraulic device is solved, and the flexibility of the shuttle vehicle is improved; the single-side 4 wheels and the reinforced frame are adopted, so that the loading capacity and the passing capacity of the four-way shuttle vehicle are improved; the lifting power of the goods shelf and the reversing power of the four-way shuttle are combined into one by adopting an eccentric wheel, a double-connecting-rod linkage structure and a transmission belt transmission structure, so that the cost is saved, the space is reduced, and the overall dimension of the four-way shuttle is greatly reduced; the cross speed reducer and the transmission belt are adopted, so that only one power is needed for the four-way movement of the four-way shuttle vehicle in the longitudinal direction and the transverse direction, the cost is saved, the space is reduced, and the overall dimension of the four-way shuttle vehicle is greatly reduced.
As shown in fig. 6, a schematic configuration diagram of a shuttle 200 that travels in four directions according to another embodiment of the present invention. The shuttle 200 traveling in four directions includes a frame 1 ', a travel driving module 2 ', a reversing module 3 ', a power supply module 4 ', and a control module 5 '. The walking driving module 2 ' is supported on the frame 1 ', the frame 1 ' may be a part of the housing or fixed to the housing, and the walking driving module 2 ' is configured to drive the frame 1 ' and/or the housing to walk along the transverse direction and the longitudinal direction, where the transverse direction and the longitudinal direction are only used to distinguish two substantially perpendicular directions, and the specific direction is not limited, and the direction of the arrow X in the drawing is the transverse direction or the left-right direction, and the direction of the arrow Y is the longitudinal direction or the front-back direction. The reversing module 3 ' is supported on the rack 1 ' or the shell and is used for switching the rack 1 ' to travel along the transverse direction or the longitudinal direction; the control module 5 ' is connected with the walking driving module 2 ' and the reversing module 3 ' and is used for controlling the running of the walking driving module 2 ' and the reversing module 3 '; the power supply module 4 'supplies energy to the control module 5', the travel driving module 2 'and the commutation module 3'. The power supply module can be a battery, if a 48V storage battery is adopted for supplying power, the device is practical and environment-friendly, and the storage battery can be flexibly replaced. The frame 1' is bent through the sheet metal and is locally reinforced to be connected into a whole, and the bearing capacity of the whole vehicle is greatly improved.
Referring to fig. 7 to 9, the walking driving module 2 ' includes a transverse wheel set, a longitudinal wheel set and a walking driving motor 203 ' for driving the transverse wheel set and the longitudinal wheel set, the walking driving motor 203 ' is a servo motor, the walking driving motor 203 ' drives the transverse wheel set through a first transmission mechanism, the walking driving motor 203 ' drives the longitudinal wheel set through a second transmission mechanism, namely, only one power is needed for four-way movement of the shuttle car in longitudinal and transverse directions, which not only saves cost, but also reduces space, and greatly reduces the overall dimension of the car.
The walking driving module further comprises a walking reducer 204 'connected with the walking driving motor 203', the walking reducer 204 is provided with a first output end and a second output end which are perpendicular to each other, the first output end and the second output end are respectively connected with the first transmission mechanism and the second transmission mechanism, so that the speed and the torque are transmitted to the two transmission mechanisms through one motor, and the movement of the transverse wheel set and the movement of the longitudinal wheel set are realized.
Specifically, the transverse wheel set includes 4 first driving wheels 201 ' and 4 first driven wheels 202 ' arranged at intervals in the transverse direction, and the 4 first driving wheels 201 ' and the 4 first driven wheels 202 ' are all supported on the frame, that is, the first driving wheels 201 ' and the first driven wheels 202 ' are distributed on both sides of the whole vehicle, wherein the 4 first driving wheels 201 ' are respectively and longitudinally symmetrically arranged 2, the 4 first driven wheels 202 ' are respectively and longitudinally symmetrically arranged 2, and the driving motor 203 ' and the walking speed reducer 204 ' are supported on the frame 1 '. The first driving wheel 201 ' includes an outer first driving wheel and an inner first driving wheel with respect to the frame 1 ', the first transmission mechanism includes a first chain transmission mechanism, a driving shaft 209 ', and a first traveling gear box 214 ', an input end of the first chain transmission mechanism is connected to a first output end of the traveling reducer 204 ', an output end of the first chain transmission mechanism is connected to the driving shaft 209 ', and one first traveling gear box 214 ' is connected to each of both sides of the driving shaft 209 ', and the first traveling gear box 214 ' transmits the rotational power of the driving shaft 209 ' to the first driving wheel 201 '. Wherein, first chain drive mechanism is including connecting the first drive sprocket of walking reduction gear 204 'first output end, the second drive sprocket that is driven by first drive sprocket and install first drive chain 208' on first drive sprocket and second drive sprocket, and second drive sprocket suit is in order to drive shaft 209 'and rotate on drive shaft 209', is connected with universal joint 210 'on the drive shaft 209' to make the transmission more steady reliable.
Referring to fig. 10, the reversing module 3 ' includes a reversing motor 304 ' and a third transmission mechanism driven by the reversing motor 304 ', the third transmission mechanism is connected to the longitudinal wheel set, and the reversing motor 304 ' drives the longitudinal wheel set to move up and down through the third transmission mechanism, so as to switch the rack 1 ' to move in the transverse direction or the longitudinal direction. The reversing motor 304 ' transmits the rotary power to the third transmission mechanism through the reversing reducer 305 ', and the reversing motor 304 ' and the reversing reducer 305 ' are supported on the frame 1 '. The reversing module 3 'further comprises a jacking frame 310' movably supported on the frame 1 ', the longitudinal wheel set is mounted on the jacking frame 310', and the reversing motor 304 'drives the jacking frame 310' to move up and down through a third transmission mechanism so as to drive the longitudinal wheel set to move up and down.
The longitudinal wheel set comprises 4 second driving wheels 301 ' and 4 second driven wheels 302 ' which are installed on the jacking frame 310 ' and are arranged at intervals along the longitudinal direction, wherein the 4 second driving wheels 301 ' are respectively arranged along the transverse left-right symmetry by 2, and the 4 second driven wheels 302 ' are respectively arranged along the transverse left-right symmetry by 2. The second driving wheel 301 ' includes an outer side second driving wheel and an inner side second driving wheel opposite to the jacking frame 310 ', the second transmission mechanism includes a second sprocket transmission mechanism and a transmission shaft 312 ', an input end of the second sprocket transmission mechanism is connected to a second output end of the walking reducer 204 ', an output end of the second sprocket transmission mechanism is connected to the transmission shaft 312 ', two sides of the transmission shaft 312 ' are respectively connected to one outer side second driving wheel 301 ', and whether a gear box is arranged between the transmission shaft 312 ' and the second driving wheel 301 ' to reduce the speed can be selected according to actual needs. The transmission shaft 312 'can also be connected with a universal joint 325, so that the transmission of the transmission shaft 312' is more stable and reliable.
The second sprocket transmission mechanism includes a second driving sprocket, a second transmission chain 212 ' and a second driven sprocket, the second driving sprocket is connected to the second output end of the walking reducer 204 ', that is, the walking reducer 204 ' is connected to the first transmission sprocket and the third transmission sprocket respectively. The second driven sprocket is driven by the second driving sprocket, the second transmission chain 212 ' is driven by the second driving sprocket and the second driven sprocket, and the second driven sprocket is sleeved on the transmission shaft 312 ' and drives the transmission shaft 312 ' to rotate. The frame 1 is connected with a tensioning mechanism 316 for tensioning the chain of the second sprocket drive.
The third transmission mechanism comprises a reversing shaft 308 ' connected with the reversing motor 304 ' and a crank rocker mechanism 390 connected with the reversing shaft 308 ', wherein the crank rocker mechanism 390 converts the rotation motion of the reversing shaft 308 ' into the up-and-down motion of the jacking frame 310 '.
Referring to fig. 11, two crank rocker mechanisms 390 are provided, and are respectively located at two lateral sides of the frame 1, each crank rocker mechanism 390 includes a lifting reversing gear box 391 mounted on the frame 1 and eccentric shafts 392 extending from two ends of the lifting reversing gear box 391, the reversing motor 304 ' transmits power to the reversing shaft 308 ' through the speed reducer 305 ', two eccentric shafts 392 are provided at intervals and are respectively inserted into the long grooves 315 on the lifting frame 310 ', and the rotation of the eccentric shafts 392 drives the lifting frame 310 ' to move up and down.
The jacking frame 310 ' is provided with a sliding column 311 ', the frame is provided with a sleeve 218, and the sliding column 311 ' moves up and down along the sleeve 218. The 4 sleeves 218 are fixed inside the frame 1, and are symmetrically arranged at left and right sides to guide the up-and-down movement of the lifting frame 310'.
The movement of the shuttle will be described in detail below.
After the speed and torque are reduced and increased through the traveling reducer 204 ', the driving motor 203 ' operates, and the speed and torque are sequentially transmitted to the driving shaft 209 ' through the first driving sprocket, the first transmission chain 208 ' and the first driven sprocket, and then are respectively transmitted to the first driving wheels 201 ' longitudinally front and back in combination with the universal joint 210 ' and the first traveling gear box 214 ', so that the whole vehicle is driven to move left and right. The first driving wheel 201' not only generates power to drive the shuttle car to move, but also plays a role in supporting and guiding; the first driven pulley 202' mainly functions as a support guide.
The walking reducer 204' has two output ends, and has 2 power transmission paths, which respectively transmit the speed and the torque to the first driving sprocket and the second driving sprocket. The other path of power transmits the speed and the torque to the transmission shaft 312 'through the second driving sprocket, the second transmission chain 212' and the second driven sprocket.
The second driving wheel 301 ' and the second driven wheel 302 ' are distributed on two sides of the whole vehicle and fixed on the jacking frame 310 '. The reversing motor 304 'is directly connected with the reversing reducer 305', the reversing motor 304 'runs, and after the speed and the torque are reduced and increased through the reversing reducer 305', the speed and the torque are transmitted to the crank rocker mechanism 390. The eccentric shaft 392 of the crank rocker mechanism 390 drives the jacking frame 310 ', and the jacking frame 310' is jacked or lowered along the sleeve 218, and finally jacked or lowered.
The reverse motor 304 'rotates in a first direction to rotate the eccentric shaft 392 of the crank rocker 390 to a lower position, which causes the lifting frame 310' to lower to drive the entire vehicle to move forward and backward. The second driving wheel 301' not only generates power to drive the shuttle car to move, but also plays a role in supporting and guiding; the second driven wheel 302' mainly plays a role of supporting and guiding.
The reverse motor 304 'rotates in the second direction to rotate the eccentric shaft 392 of the crank-rocker mechanism 390 to the middle position, so that the jacking frame 310' is located at the middle position, the second driving wheel 301 'and the second driven wheel 302' are lifted and suspended, and the first driving wheel 201 'and the first driven wheel 202' are grounded together. The whole vehicle is driven to move left and right. The first driving wheel 201' not only generates power to drive the shuttle car to move, but also plays a role in supporting and guiding; the first driven pulley 202' mainly functions as a support guide.
The reverse motor 304 'continues to rotate along the second direction, which drives the eccentric shaft 392 of the crank-rocker mechanism 390 to rotate to the high position, causing the jacking frame 310' to ascend to the high position, thereby realizing the function of jacking the goods.
That is, when the eccentric shaft of the crank rocker mechanism runs in one direction when in a low position, the reversing is realized when the eccentric shaft reaches the middle position, the vehicle runs in the other direction at the moment, and when the eccentric shaft reaches a high position, the function of jacking cargos is realized.
The reversing motor 304' mainly realizes the jacking and reversing of the four-way shuttle vehicle, and combines the jacking power and the reversing power of the four-way shuttle vehicle into a whole. The driving motor 203' mainly provides power for the four-way motion of the four-way shuttle in the longitudinal direction and the transverse direction, and only one set of power is needed for ensuring the motion of the whole shuttle.
The application provides a shuttle scheme: the shuttle car can run longitudinally and transversely in four directions, and a four-direction shuttle car is adopted to replace a primary-secondary car combined system, so that the space utilization rate is improved, and the goods storing and taking efficiency is also improved; the mechanical structure is adopted, the leakage problem of the hydraulic device is solved, and the flexibility of the shuttle vehicle is improved; the single-side 4 wheels and the reinforced frame are adopted, so that the loading capacity and the passing capacity of the four-way shuttle vehicle are improved; the lifting power of the goods shelf and the reversing power of the four-way shuttle car are combined into a whole by adopting a crank rocker mechanism and a transmission chain transmission structure, so that the cost is saved, the space is reduced, and the overall dimension of the four-way shuttle car is greatly reduced; the walking speed reducer and the transmission chain are adopted, the four-way motion of the four-way shuttle vehicle in the longitudinal direction and the transverse direction is ensured to only need one power, the whole process of walking, reversing and jacking is automatic, the cost is saved, the space is reduced, and the overall dimension of the four-way shuttle vehicle is greatly reduced.
The embodiment of the invention also provides an automatic storage device comprising the four-way traveling shuttle car 100. The automated storage device may be an automated warehouse, a logistics transfer station, a sorting device, and the like.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (12)
1. A four-way shuttle comprising:
a frame;
the walking driving module is supported on the rack and used for driving the rack to walk along the transverse direction and the longitudinal direction;
the reversing module is supported on the rack and used for switching the rack to walk along the transverse direction or the longitudinal direction;
the control module is connected with the walking driving module and the reversing module and is used for controlling the running of the walking driving module and the reversing module;
the power supply module is used for supplying energy to the control module, the walking driving module and the reversing module;
the traveling driving module comprises a traveling driving motor, a transverse wheel set and a longitudinal wheel set, the traveling driving motor is driven by a first transmission mechanism to drive the transverse wheel set, the traveling driving motor is driven by a second transmission mechanism to drive the longitudinal wheel set, the reversing module comprises a reversing motor and a third transmission mechanism driven by the reversing motor, the third transmission mechanism is connected with the longitudinal wheel set, and the reversing motor drives the longitudinal wheel set to move up and down to realize the switching of the transverse or longitudinal traveling of the frame.
2. The four-way shuttle of claim 1, wherein the travel drive module further comprises a speed reducer coupled to the drive motor, the speed reducer having first and second outputs perpendicular to each other, the first and second outputs coupled to the first and second transmissions, respectively.
3. A four-way shuttle according to claim 2 wherein the transverse set of wheels includes a first drive wheel and a first driven wheel mounted to the frame, the first transmission includes a first belt/chain drive having an input connected to the first output and a drive shaft, and an output connected to the drive shaft, the first belt/chain drive transmitting rotational power to the first drive wheel through the drive shaft.
4. The four-way shuttle according to claim 2, wherein the reversing module further comprises a lifting frame movably supported on the frame, the longitudinal wheel set is mounted on the lifting frame, and the reversing motor drives the lifting frame to move up and down through a third transmission mechanism.
5. The four-way shuttle according to claim 4, wherein a slide block is provided on the lifting frame, a guide post fixing plate is provided on the frame, and the slide block moves up and down along the guide post fixing plate.
6. The four-way shuttle of claim 4, wherein a traveler is provided on the lifting frame, a sleeve is provided on the frame, and the traveler moves up and down along the sleeve.
7. The four-way shuttle of claim 4, wherein the longitudinal wheel set includes a second drive wheel and a second driven wheel mounted on the lift frame, the second transmission includes a second belt/chain transmission and a lift shaft, an input end of the second belt/chain transmission is connected to the second output end, an output end of the second belt/chain transmission is connected to the lift shaft, and the second belt/chain transmission transmits rotational power to the second drive wheel through the lift shaft.
8. The four-way shuttle of claim 4, wherein the third transmission mechanism comprises a reversing shaft connected to the reversing motor and a double-link linkage connected to the reversing shaft, the double-link linkage converting rotational movement of the reversing shaft into up-and-down movement of the lifting frame.
9. The four-way shuttle of claim 4, wherein the third transmission mechanism comprises a reversing shaft connected to the reversing motor and a crank and rocker mechanism connected to the reversing shaft, the crank and rocker mechanism converting the rotational movement of the reversing shaft into an up-and-down movement of the lifting frame.
10. The four-way shuttle according to claim 9, wherein two crank rocker mechanisms are provided, each crank rocker mechanism being located on each side of the machine, each crank rocker mechanism comprising a lifting reversing gear box mounted on the machine frame and eccentric shafts extending from each end of the lifting reversing gear box, the eccentric shafts being inserted into elongated slots on the lifting frame, rotation of the eccentric shafts driving the lifting frame to move up and down.
11. The four-way shuttle of claim 4, wherein rotation of the reversing motor in two directions can cause the lift frame to switch between three positions, wherein in the lowered position the shuttle moves in a first direction; in the intermediate position, the shuttle car moves in a second direction perpendicular to the first direction; in the high position, the jacking frame ascends to the high position to jack the goods.
12. An automated storage device, comprising a four-way shuttle as claimed in any one of claims 1 to 11.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261416 | 2021-03-10 | ||
| CN2021102614169 | 2021-03-10 |
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| Publication Number | Publication Date |
|---|---|
| CN114426166A true CN114426166A (en) | 2022-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210179358.XA Withdrawn CN114426166A (en) | 2021-03-10 | 2022-02-25 | Four-way traveling shuttle and automatic storage device |
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| CN (1) | CN114426166A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890033A (en) * | 2022-05-31 | 2022-08-12 | 隆链智能科技（上海）有限公司 | Transverse swing rod type jacking reversing structure of four-way vehicle |
| CN114906530A (en) * | 2022-05-31 | 2022-08-16 | 隆链智能科技（上海）有限公司 | Longitudinal linkage type reversing jacking mechanism of four-way vehicle |
| CN115123721A (en) * | 2022-06-30 | 2022-09-30 | 普罗格智芯科技(湖北)有限公司 | Single-power double-output transmission method of four-direction vehicle |
-
2022
- 2022-02-25 CN CN202210179358.XA patent/CN114426166A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890033A (en) * | 2022-05-31 | 2022-08-12 | 隆链智能科技（上海）有限公司 | Transverse swing rod type jacking reversing structure of four-way vehicle |
| CN114906530A (en) * | 2022-05-31 | 2022-08-16 | 隆链智能科技（上海）有限公司 | Longitudinal linkage type reversing jacking mechanism of four-way vehicle |
| CN114906530B (en) * | 2022-05-31 | 2023-08-08 | 无锡明链智能设备有限公司 | Longitudinal linkage type reversing jacking mechanism of four-way vehicle |
| CN115123721A (en) * | 2022-06-30 | 2022-09-30 | 普罗格智芯科技(湖北)有限公司 | Single-power double-output transmission method of four-direction vehicle |
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