CN114537949A

CN114537949A - Four-way shuttle, running track thereof and warehouse system

Info

Publication number: CN114537949A
Application number: CN202210293855.2A
Authority: CN
Inventors: 蔡传玉; 王东玥
Original assignee: Jiangsu Think Tank Intelligent Technology Co ltd
Current assignee: Jiangsu Think Tank Intelligent Technology Co ltd
Priority date: 2022-03-23
Filing date: 2022-03-23
Publication date: 2022-05-27

Abstract

The application provides a four-way shuttle, orbit and warehouse system thereof. This application sets up the outside action wheel on the quadriversal shuttle, utilizes the evagination in the outside action wheel of shuttle body and arranges that the frictional force between the track of the operation route both sides of quadriversal shuttle provides the drive, makes the quadriversal shuttle can follow orbital motion or turn to with corresponding loading and unloading or transport goods. This application will provide the outside action wheel of drive, turn to and the load that provides the load bearing sets up respectively in the inside and outside both sides in shuttle body bottom from the driving wheel, can avoid both mutual interference, avoids actuating system trouble to influence the goods and bears, avoids the vehicle to derail. In addition, because outside action wheel is direct to cooperate with the track inboard surface in this application, only need adjust outside action wheel rotating-state can realize the switching of traffic direction by the track guide when it turns to, consequently, this application need not to set up alone reversing mechanism, can greatly simplify the inside mechanical structure of quadriversal shuttle, reduces it and removes the probability of failure.

Description

Four-way shuttle, running track thereof and warehouse system

Technical Field

The application relates to the technical field of warehousing equipment, in particular to a four-way shuttle, a running track thereof and a warehouse system.

Background

The existing shuttle car realizes reversing and running by utilizing wheel sets in the X direction and the Y direction arranged on a car body. In the reversing process, after the wheel set in one direction descends to the track matched with the running direction from the original ground-off state, the wheel set in the other direction is jacked up to be separated from the track plane matched with the wheel set in the direction, and therefore, the reversing is realized by switching different wheel sets to be in contact with or separated from the running tracks matched with the wheel sets.

In the existing design, because the two direction wheel sets are matched with the corresponding tracks in the reversing process, the reversing can be carried out only at the intersection point between the two direction tracks. In addition, in the reversing process, in order to ensure that the wheel set which is originally separated from the track can be accurately switched to the upper part of the track, positioning devices such as laser, two-dimensional codes and bar codes are correspondingly arranged at the track cross reversing position to provide accurate positioning, so that the four-way vehicle can be ensured to accurately move to a reversing point, and the wheel set is correspondingly separated from the track or is abutted against the track at the point position in different directions to realize reversing operation.

However, in practical tests, under the condition that collision with goods and other four-way vehicles does not occur, the most common derailment factor of the four-way shuttle vehicle is that the reversing wheels ride on the tracks due to the fact that positioning exceeds the millimeter-scale error requirement of normal conditions in the reversing process. At this time, once the reverse wheel starts to run, derailment is very easy to occur. Since the four-way vehicle belongs to high-density stereoscopic warehouse equipment, the load of the four-way vehicle can reach 1-2t, and the handling complexity and the danger coefficient are high once the accident occurs at a high level of more than 10 m.

The positioning problem in the reversing process is a key factor for avoiding the shuttle vehicle from deviating from the track, and once the shuttle vehicle is influenced by external environmental factors of the sensor or is influenced by loosening or accumulated errors of the sensor to generate large deviation, the derailment is difficult to avoid by the existing means.

In addition, under the current switching-over technique, need to set up complicated mechanical structure in shuttle automobile body inside and just can realize the jacking switching-over. At present, the reversing of the four-way vehicle needs to be internally provided with a relatively complex jacking reversing mechanism, such as a hydraulic jacking system or a power driving mechanism like a cam, and the reversing function can be realized only by arranging related power driving mechanisms in all four directions of the vehicle body, namely the front direction, the rear direction, the left direction and the right direction. Due to the design, the arrangement of the internal structure of the four-way vehicle is very complicated, and the vehicle body structure is required to be larger and thicker. This further causes two problems:

1) the mechanical complexity of a complex vehicle body structure can increase the failure probability of equipment, equipment similar to a hydraulic cylinder and the like also needs regular oil injection maintenance, and once the maintenance is not timely, the reversing precision of the shuttle vehicle can be seriously influenced;

2) the increase of the size of the vehicle body brought by the complex vehicle body structure can also influence the available storage capacity proportion in the high-density vertical warehouse, the shuttle operation of the vehicles in each layer of the warehouse needs to design higher interlayer spacing for accommodating shuttle bodies, and the crowding of the stereoscopic space of the warehouse by the shuttle structure is often the focus of customers for building the four-way shuttle stereoscopic warehouse.

Disclosure of Invention

This application provides a quadriversal shuttle, its orbit and warehouse system to prior art's not enough, and this application realizes turning to the walking and the goods bears the weight of the transport through two sets of wheelset cooperation tracks with the load system and the driving system separation of shuttle in order to avoid the lift switching-over error to cause the automobile body to derail. The technical scheme is specifically adopted in the application.

First, in order to achieve the above object, there is provided a four-way shuttle including: the shuttle car body runs between the rails and is used for loading, unloading or carrying goods; the outer driving wheel partially protrudes out of the outer side edge of the shuttle body, abuts against the inner side surface of the track and runs along the inner side surface of the track to drive the shuttle body to run; and the load driven wheel is arranged at the bottom of the shuttle body and is positioned on the inner side of the outer driving wheel, and the load driven wheel runs along the bearing surface between the tracks from the shuttle body.

Optionally, the four-way shuttle vehicle as described above, wherein the outside driving wheel is a gear engaged with an inside surface of the track.

Optionally, the four-way shuttle vehicle as described in any one of the above, wherein the load-bearing driven wheels are universal wheels running along the bearing surface.

Optionally, in the four-way shuttle vehicle according to any of the above descriptions, the peripheral surfaces of the outside driving wheels protrude outward from the four corners of the shuttle vehicle body, the outside driving wheels located on both sides of the running direction of the shuttle vehicle body have opposite rotation directions, and the outside driving wheels located on the same side of the running direction of the shuttle vehicle body have the same rotation direction.

Optionally, in the process of passing through the intersection between the two rails in a straight line, the rotation state of each outside driving wheel is kept unchanged, the outside driving wheel located in the front of the driving direction is separated from the original rail first, the outside driving wheel located in the rear of the driving direction drives the outside driving wheel to continuously overlap forward along the driving direction to an auxiliary rail in the middle of the intersection, then the outside driving wheel located in the front of the driving direction is guided by the auxiliary rail to continuously overlap forward along the driving direction to a target rail at the other end of the intersection, and the outside driving wheel located in the front of the driving direction drives the shuttle body to pass through the intersection between the two rails along the target rail; in the process of steering at the intersection position between the two tracks, the outside driving wheel which is positioned at the rear part of the driving direction and deviates from the direction of the steering target track is reversed, the outside driving wheel which is positioned at the front part of the driving direction and is close to the direction of the steering target track is reversed, and the rotating states of the other outside driving wheels are kept unchanged.

Meanwhile, in order to achieve the above object, the present application further provides a running track of a four-way shuttle, which includes: the bearing surface is tiled along the running route of the four-way shuttle vehicle and is used for the load driven wheel at the inner side of the bottom of the four-way shuttle vehicle to run along the surface of the load driven wheel; the main rails are vertically arranged on two sides of the bearing surface, are used for abutting against a driving wheel on the outer side of the four-way shuttle vehicle and rotate along the inner side surface of the four-way shuttle vehicle so as to drive the four-way shuttle vehicle to operate; and the auxiliary tracks are arranged in the middle of the bearing surface along the direction of the main track and are positioned at the intersection positions of two running routes of the four-way shuttle vehicle, and the length of each auxiliary track does not exceed the distance between two adjacent load driven wheels at the bottom of the four-way shuttle vehicle.

Optionally, the running rail of the four-way shuttle car as described above, wherein the inner side surface of the main rail and/or the auxiliary rail is provided with a rack engaged with the outer driving wheel of the four-way shuttle car.

Optionally, the running rail of the four-way shuttle car as described above, wherein the main rail is arranged along each layer of goods storage shelves in the three-dimensional warehouse, and extends from each layer of goods storage shelves to the inside of the lifting platform of the elevator outside the goods storage shelves.

Optionally, the running track of the four-way shuttle car as described above, wherein the main tracks are arranged crosswise between the goods storage shelves, a turning track is further provided at a vertex of the crossing position of the main tracks, the turning track connects two adjacent main tracks at two sides of the crossing position in an arc manner, and protrudes outward at an included angle between the two main tracks.

Optionally, the running track of the four-way shuttle car as described in any one of the above, wherein the steering track includes: and the outer convex surface of the arc-shaped track is provided with an arc-shaped meshing surface which is connected with the main track rack and continues the main track rack.

Optionally, the running track of the four-way shuttle car as described in any one of the above, wherein the steering track further includes: and the elastic supporting piece is arranged on one concave side of the arc-shaped track, one end of the elastic supporting piece is rotatably arranged between the included angles of the two main tracks through the mounting part, the other end of the elastic supporting piece is fixedly connected with the concave surface of the arc-shaped track, the arc-shaped track is outwards abutted and fixed, and the elastic supporting piece supports the arc-shaped track to keep the arc-shaped track meshed with the outer side driving wheel when the outer side driving wheel of the four-way shuttle car runs to the outer convex surface of the arc-shaped track.

Optionally, the running track of the four-way shuttle car as described above, wherein the two ends of the auxiliary track are further respectively provided with an arc corner, the arc corner has a meshing tooth with an arc transition to the end of the auxiliary track, and the meshing tooth is engaged with the outer driving wheel when the outer driving wheel of the four-way shuttle car runs to the crossing position.

In addition, based on the above technology, the present application further provides a warehouse system, wherein the operation track is arranged in the rack of the warehouse and connected with the storage positions of the racks, and the four-way shuttle car as described above also operates on the operation track.

Advantageous effects

This application sets up the outside action wheel on the quadriversal shuttle, utilizes the evagination in the outside action wheel of shuttle body and arranges that the frictional force between the track of the operation route both sides of quadriversal shuttle provides the drive, makes the quadriversal shuttle can follow orbital motion or turn to with corresponding loading and unloading or transport goods. This application will provide the outside action wheel of drive, turn to and the load that provides the load bearing sets up respectively in the inside and outside both sides in shuttle body bottom from the driving wheel, can avoid both mutual interference, avoids actuating system trouble to influence the goods and bears, avoids the vehicle to derail. In addition, because outside action wheel is direct to cooperate with the track inboard surface in this application, only need adjust outside action wheel rotating-state can realize the switching of traffic direction by the track guide when it turns to, consequently, this application need not to set up alone reversing mechanism, can greatly simplify the inside mechanical structure of quadriversal shuttle, reduces it and removes the probability of failure.

For the frictional force that increases the operation of drive quadriversal car, this application can also further set up outside action wheel and track into intermeshing's rack and pinion system to guarantee outside action wheel can order about its steady operation for sufficient moment of torsion is provided for the shuttle body. The load can be realized from the driving wheel directly through the universal wheel, avoids wheel body steering process to produce too much resistance and influences the automobile body operation.

In order to avoid the influence on driving transmission caused by the fact that a gear is not tightly meshed with racks on the inner sides of tracks when the four-way shuttle runs to the cross position between the transverse tracks and the longitudinal tracks, the auxiliary tracks can be further arranged between the cross positions of two running routes of the four-way shuttle along the extension lines of the main tracks, guiding and meshing transmission is provided for driving wheels on the outer sides running to the cross position by utilizing the auxiliary tracks, and the auxiliary tracks are further lapped to a target track to realize steering or straight line crossing of the intersection. The auxiliary track end can be further provided with an arc corner, and the front side of the vehicle body gear is further provided with a guide by utilizing the meshing teeth in arc transition of the end, so that the outer side driving wheel can be ensured to accurately move to the target track from the auxiliary track to the target track. The main track can be further provided with a convex arc track at the corner position, and the arc track is matched with the running position of the outer driving wheel and is supported by an elastic supporting part inside the arc track to stretch so as to ensure the meshing of the counter gear.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the present application.

Drawings

The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:

FIG. 1 is a schematic view of the four-way shuttle vehicle operation of the present application;

FIG. 2 is a bottom view of the four-way shuttle of the present application;

FIG. 3 is a side view of the four-way shuttle of the present application;

FIG. 4 is a schematic illustration of the application of the four-way shuttle track laying pattern;

in the drawings, 1 denotes a shuttle body; 11 denotes an outside drive wheel; 12 denotes a load-carrying driven wheel; 2 denotes a main track; 21 denotes an auxiliary track; 211 denotes an arc corner; 22 denotes a steering track; 221 denotes an arc track; 222 denotes an elastic support; reference numeral 223 denotes a mounting portion.

Detailed Description

In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" as used herein is intended to include both the individual components or both.

The meaning of "inside and outside" in this application means that, with respect to the rail itself, the direction pointing towards the bearing surface inside the rail is inside, and vice versa; and not as a specific limitation on the mechanism of the device of the present application.

The meaning of "left and right" in this application refers to the direction of advance of the shuttle in four directions, the left side of the shuttle body is left, and the right side of the shuttle body is right, and is not a specific limitation on the device mechanism of this application.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

The meaning of "up and down" in the application means that when a user faces the forward direction of the four-way shuttle, the direction from the cargo bearing surface of the shuttle body to the load driven wheel is down, otherwise, the direction is up, and the device mechanism is not specially limited.

Fig. 2 and 3 show a four-way shuttle according to the present application operating in a warehouse where the track of fig. 1 is laid. This four-way shuttle includes:

the shuttle car body 1 runs between the rails and is used for loading, unloading or carrying goods;

the outer driving wheel 11 partially protrudes out of the outer side edge of the shuttle body 1, abuts against the inner side surface of the track, and runs along the inner side surface of the track to drive the shuttle body 1 to run;

and the load driven wheel 12 is arranged at the bottom of the shuttle body 1 and is positioned at the inner side of the outer driving wheel 11, and the load driven wheel 12 runs from the bearing surface between the tracks of the shuttle body 1.

The track that this four-way shuttle moved can cooperate above-mentioned outside action wheel to set up to have:

the bearing surface is tiled along the running route of the four-way shuttle vehicle and is used for the load driven wheel 12 at the inner side of the bottom of the four-way shuttle vehicle to run along the surface of the load driven wheel;

and the main rails 2 are vertically arranged on two sides of the bearing surface, are abutted by the driving wheel 11 on the outer side of the four-way shuttle vehicle and rotate along the inner side surface of the four-way shuttle vehicle so as to drive the four-way shuttle vehicle to operate.

Thus, the four-way shuttle can be operated as follows:

when the four-way shuttle vehicle needs to run along a single mode, the vehicle-mounted control system drives the two outer driving wheels 11 on the left side in the running direction to rotate anticlockwise and simultaneously drives the two outer driving wheels 11 on the right side in the running direction to rotate clockwise, the four-way shuttle vehicle is driven to run forwards through friction between the outer driving wheels 11 and the inner side surface of the main track, a load driven wheel 12 on the inner side of the bottom of the vehicle body bears the load of the vehicle body, and the four-way shuttle vehicle is driven to run along a bearing surface between the tracks by the shuttle vehicle body 1 in the driving process of the outer driving wheels 11;

when the four-way vehicle needs to go straight through the reversing position (when the main track in the two transverse and longitudinal directions intersects), only the outer driving wheels 11 need to keep a straight driving mode, the outer driving wheel 11 positioned in the front part of the driving direction is separated from the original track firstly, the outer driving wheel 11 positioned in the rear part of the driving direction drives the outer driving wheel 11 to continuously lap to the target track at the other end of the intersection position along the driving direction, and the outer driving wheel 11 positioned in the front part of the driving direction drives the shuttle vehicle body 1 to pass through the intersection position between the two tracks along the target track. In the process, the outer driving wheels 11 positioned at the front end and the rear end of the vehicle body sequentially pass through the front straight rack rail and the rear straight rack rail of the intersection. In cooperation with the driving of the outside driving wheel 11, the load driven wheel 12 positioned on the inner side of the bottom of the vehicle body can run along the bearing surface between the rails in a manner of being driven by the shuttle vehicle body 1 to bear the load of the vehicle body, and the friction between the vehicle body and the bearing surface is reduced through the roller structure of the load driven wheel, so that the outside driving wheel 11 can directly drive the vehicle body and the loaded goods to run.

When the direction needs to be changed, the four-way vehicle firstly drives to an intersection reversing point between the main rails in the horizontal direction and the longitudinal direction along the original form direction, and then the driving direction of the gear is switched at the position of the intersection reversing point: the outer driving wheel 11 on the left side relative to the target running direction is switched to be anticlockwise, the outer driving wheel 11 on the right side relative to the target running direction is switched to be clockwise, and the vehicle body load is borne along the bearing surface between the rails in a mode that the load-bearing driven wheel 12 is driven by the shuttle vehicle body 1, so that the reversing can be naturally completed.

For a warehouse system with multiple layers of running rails and shelf bins, the application can further arrange a lifting machine which can be used for expanding the number of layers of shelves and vertically connecting the shelves of each layer at the tail end of the complete rail independently arranged at each layer in a manner shown in fig. 4. The main track 2 is arranged along the goods storage shelves of each layer in the stereoscopic warehouse, and extends linearly to be installed inside the lifting platform of the lifting machine outside the goods storage shelves by the goods storage shelves of each layer. Therefore, as long as the positioning accuracy of the hoisting machine is not problematic, the four-way shuttle can freely run in the goods shelf or inside the platform of the hoisting machine. The four-way shuttle vehicles in the goods shelf rails of each layer can directly move to the interior of the lifting platform of the lifting machine along the main rails of the four-way shuttle vehicles, the lifting machine carries the shuttle vehicles to vertically lift to other layers, and the four-way shuttle vehicles are guided to enter any goods storage goods shelf to continuously move along the corresponding main rail 2 through the connection between the lifting platform and the goods shelf rails of each layer so as to realize the cross-layer transportation and the storage of goods.

In the reversing or linear running process, when the four-way shuttle runs to the reversing point position of the intersection, the driving can be realized by only abutting two outer driving wheels 11 positioned at the rear side of the target direction against the inner side of the main track, and when the outer driving wheels 11 at the front side of the target direction are overlapped to the inner side of the target track, the steering driving can be realized by directly abutting the left and right outer driving wheels 11 in the direction against the track. In order to increase the torque output between the outer driving wheel 11 and the inner side wall of the main track in the process, the driving speed of the vehicle body can be properly reduced through a controller in the four-way shuttle vehicle.

The four-way shuttle vehicle replaces the general flanging wheel of the heavy-duty vehicle equipment on the existing track with the outer side driving wheel 11 and the load driven wheel 12, and replaces the flanging wheel structure which originally simultaneously bears power output and load and avoids vehicle derailment with the separately arranged load driven wheel 12 for load and the outer side driving wheel 11 for power output. This application is through separating load and power wheelset, utilizes power wheelset to undertake the effect of drive and direction/switching-over, utilizes the load wheelset only to undertake the load effect, can effectively reduce the requirement to positioning accuracy between wheelset, the track of vehicle operation in-process, utilizes track own butt spacing drive mode to provide sufficient direction precision when utilizing the load to promote the load ability from driving wheel 12, reduces the location requirement to the quadriversal shuttle. Therefore, the driving system can be prevented from being affected by the fault of the driving system to bear the goods, and the derailment caused by the positioning precision error in the running process of the vehicle is avoided. In addition, because outside action wheel is direct to cooperate with the track inboard surface in this application, only need adjust outside action wheel rotating-state can realize the switching of traffic direction by the track guide when it turns to, consequently, this application need not to set up alone reversing mechanism, can greatly simplify the inside mechanical structure of quadriversal shuttle, reduces it and removes the probability of failure.

Under a more preferable implementation mode, the auxiliary guide is further provided for the four-way shuttle car, when the four-way shuttle car runs to the reversing point of the intersection between the main rails in the transverse direction and the longitudinal direction, the four-way shuttle car can accurately run to the corresponding target rail to realize linear crossing or 90-degree steering, and the auxiliary rail 21 matched with the 4 running directions of the shuttle car can be further arranged on the bearing surface of the reversing point position of the intersection of the main rail 2 in the mode shown in fig. 1. The auxiliary tracks 21 in all directions can be arranged in the middle of the bearing surface along the linear direction of the main track 2 at the position of the auxiliary tracks, and are arranged at the intersection positions of two running routes of the four-way shuttle vehicle in any mode of bolts, welding, integral connection and the like, and the length of each auxiliary track 21 does not exceed the distance between two adjacent load-carrying driven wheels 12 at the bottom of the four-way shuttle vehicle.

By means of the auxiliary track 21, the shuttle car can accurately butt against the target running track in each direction to realize straight line crossing or steering in the following way:

in the process of linearly passing through the crossing position between the two rails, the rotating state of each outer driving wheel 11 is kept unchanged, the outer driving wheel 11 positioned at the front part in the driving direction is separated from the original rail firstly, the outer driving wheel 11 positioned at the rear part in the driving direction drives the outer driving wheel to continuously overlap with an auxiliary rail in the middle of the crossing position forwards along the driving direction, then the outer driving wheel 11 positioned at the front part in the driving direction drives the shuttle body 1 to pass through the crossing position between the two rails forwards along the driving direction under the guidance of the auxiliary rail;

in the process of steering at the intersection position between the two tracks, the outside driving wheel 11 which is positioned at the rear part of the driving direction and deviates from the direction of the steering target track is reversed, the outside driving wheel 11 which is positioned at the front part of the driving direction and is close to the direction of the steering target track is reversed, the rotating states of the other outside driving wheels 11 are kept unchanged, the outside driving wheel 11 positioned at the front part of the driving direction is firstly separated from the original track, is driven by the outside driving wheel 11 positioned at the rear part of the driving direction to continuously overlap to the auxiliary track in the middle of the intersection position along the driving direction, then is guided by the auxiliary track to continuously overlap to the target track at one side of the intersection position along the driving direction, and the outside driving wheel 11 positioned at the end part of the steering target track drives the shuttle vehicle body 1 to pass through the intersection position between the two tracks along the direction of the target track to enter the direction of the target track to realize steering.

In order to avoid the interference of the auxiliary track with the vehicle body or the movement of the load-bearing driven wheel 12 along the track bearing surface, the height of the auxiliary track can be generally set to be equivalent to the height of the driving wheel 11 on the outer side of the vehicle body and the height of the auxiliary track and the height of the driving wheel can be uniformly set to be lower than the chassis height of the vehicle body. Therefore, when the vehicle passes through the crossing position where the auxiliary track is located, the auxiliary track is located below the vehicle body, and the vehicle does not interfere with the vehicle body during running. The length of the auxiliary tracks in the horizontal running direction of the shuttle car can be limited to be smaller than the distance between the load driven wheels 12, so that when the four-direction shuttle car passes through the crossing position, all the auxiliary tracks can pass through the outer driving wheel 11 and the load driven wheels 12, and the interference does not occur. The auxiliary rail can be fixedly arranged on the bearing surface of the main rail directly through the design of the setting position and the length and width dimensions of the auxiliary rail, and a lifting mechanism does not need to be designed for the auxiliary rail independently so as to avoid the influence of the lifting mechanism on the passing of a vehicle. Therefore, the shuttle car guide rail system can greatly simplify the complexity of the whole system through optimizing the installation position and the length dimension of the auxiliary rail, and simultaneously ensure the guide precision of the shuttle car.

In order to further improve the guiding and driving effect of the track system on the four-way shuttle, the four-way shuttle can be further preferably provided with meshing teeth on the surface of the track, and correspondingly, each lateral driving wheel 11 of the four-way shuttle is provided with a gear meshed with the inner side surface of the track. Since the load-carrying driven wheels 12 provide only the driven and load-carrying functions, they can be directly provided as universal wheels that follow the respective movements of the vehicle body along the bearing surface without providing a separate meshing structure.

In the track driving scheme with the meshing tooth structure, the inner side surface of the auxiliary track 21 can be correspondingly matched with the peripheral gear tooth structure of the outer driving wheel 11 to be provided with a rack meshed with the outer driving wheel 11 of the four-way shuttle, and the guide can be directly provided by a smooth plane mechanism without providing additional meshing driving effect.

In the above-mentioned track driving scheme with gear and rack matching, the running mode and steering control mode of the four-way shuttle car are the same as those of the smooth track abutting surface, and the difference from the above-mentioned scheme is only that the driving mode of utilizing rolling friction between the wheel set and the track abutting surface is adjusted to the driving mode of mutual meshing between the gear and the rack.

No matter what kind of drive mode is adopted by the four-way shuttle, in order to ensure that the contact between each outer driving wheel 11 and the track is good and the drive and the guide of the four-way shuttle main body can be effectively realized, in each scheme, the peripheral surface of each outer driving wheel 11 is preferably arranged to respectively protrude outwards at four corners of the shuttle main body 1 so as to ensure that the contact or the meshing transmission with the inner side wall of the main track is kept as much as possible. The outside driving wheels 11 in any mode can be arranged between the outside driving wheels 11 positioned on two sides of the running direction of the shuttle body 1, and the outside driving wheels 11 positioned on the same side of the running direction of the shuttle body 1 are arranged to rotate in the same direction so as to drive the vehicle body.

No matter what kind of driving method is adopted by the four-way shuttle car, in order to ensure that the contact between each outer driving wheel 11 and the track is good and the track can be effectively matched with the track at the crossed position of the track to realize the driving and the guiding of the four-way shuttle car main body, the main track 2 can also preferably be provided with a steering track 22 at the top point of each main track 2 at the transverse and longitudinal crossed positions between goods storage shelves, the main tracks in two directions are adjacently arranged at two sides of the crossed positions through arc connection of the steering track 22, and the abutting or the meshing between the steering track 22 and the outer driving wheel 11 is kept by utilizing the radian of an included angle formed by the outward protrusion of the steering track 22, so that the guiding and the driving of the four-way shuttle car are provided by utilizing the outward protrusion of the arc steering track 22 as soon as possible.

To further ensure stable abutment or engagement between the turning rail 22 and the outside drive wheel 11, the present application may preferably arrange the turning rail 22 to include the enlarged view of the middle portion of fig. 1:

an arc-shaped track 221, the outer convex surface of which is provided with an arc-shaped meshing surface connected with the rack of the main track 2 in continuation with the rack of the main track 2;

and the elastic supporting piece 222 is arranged on the concave side of the arc-shaped track 221, one end of the elastic supporting piece is rotatably arranged between the included angles of the two main tracks 2 through the mounting part 223, the other end of the elastic supporting piece is fixedly connected with the concave surface of the arc-shaped track 221, the arc-shaped track 221 is outwards abutted and fixed, the arc-shaped track 221 is supported when the outer driving wheel 11 of the four-way shuttle car runs to the outer surface of the arc-shaped track 221, and the arc-shaped track 221 is kept to be capable of being suitable for the running position of the outer driving wheel 11 to be meshed with the outer driving wheel 11.

In order to further ensure that stable butt or stable meshing can be realized as early as possible between the auxiliary track 21 and the outside driving wheel 11, and provide direction and auxiliary drive for the four-way shuttle car, this application still can be preferably with the both ends of auxiliary track 21 further set up corresponding arc bight 211 respectively, utilize on the arc bight 211 to turn gradually along the arc distribution and transition to the meshing tooth or the arc guide face of auxiliary track 21 tip, realize as early as possible when the four-way shuttle car outside driving wheel 11 moves to the cross position with meshing or butt direction between the outside driving wheel 11.

Therefore, the load and the power wheel set are separated, the outer driving wheel 11 is used for bearing the driving and guiding/reversing functions, the load driven wheel 12 is used for bearing only the load function, the load driven wheel 12 is separated from the rigid connection between the load driven wheel and a vehicle body power mechanism (such as a motor and a transmission mechanism) after the driving function is not needed to be borne, and the weighing and driven operation are directly realized through the simple heavy-load universal wheel.

The driving wheel 11 on the outer side is preferably set to be of a gear structure, the edge of the gear exceeds the vehicle body, racks meshed with the gear are correspondingly arranged on the goods shelf guide rail, and the four-way vehicle is driven to rotate in a steering mode, move straight or cross the cross position of the rail in a meshing mode between the gears and the racks.

This application sets up the universal wheel in gear structure's inboard, can avoid load and power wheelset both to take place to interfere each other. The installation height of the outer driving wheel 11 can be set to be between the bottom surfaces of the universal wheels and the bottom surface of the vehicle body, and the lifting of the wheels in the reversing process of the vehicle body is avoided through the guiding of the main track and the auxiliary track, so that the derailment problem is fundamentally avoided. Simultaneously, because the outside action wheel 11 of this application only can realize the switching-over through the change of rotation direction and do not need extra elevating system drive, consequently, can save the switching-over time about 2s originally, also no longer need inside hydraulic pressure or mechanical type switching-over power structure, can effectively simplify the product knot, reduce equipment mechanical failure probability and maintenance degree of difficulty.

The driving and steering are preferably realized through a running mode of gear and rack meshing. Compared with the prior art, the mode of running by adjusting the contact state of the tire and the rail and relying on the friction force between the tire and the rail is greatly improved in the running positioning precision and stability.

The universal wheels at the bottom of the four-way shuttle vehicle can be driven to run through the bearing surfaces arranged at the bottoms of the shelf layers in the main track and the auxiliary track, rack structures are embedded in parts with the same height as the outer driving wheels 11 on two sides of the plane track, and driving and steering control are achieved through the meshing relation between the outer driving wheels 11 on the four-way shuttle vehicle.

The elastic rack structure in an arc convex mode is preferably arranged at the turning position of the track so as to ensure that the gear can be kept meshed with the four-way vehicle to realize driving and guiding when the four-way vehicle is at the turning point position. Elastic devices such as various shock absorbers, springs and hydraulic supporting and buffering structures can be added into the arc-shaped rack. The form of the elastic means is not strictly limited. The rack back base can be non-rigid, the elastic structure is additionally arranged behind the arc-shaped rack, the contact surface of the arc-shaped rack and the four-direction vehicle gear is ensured to have scalability so as to improve the meshing degree between the arc-shaped rack and the outer side driving wheel 11, and the driving and steering are accurately realized.

Auxiliary tracks can be respectively arranged at the front, the rear, the left and the right intersections of the reversing position to provide auxiliary guidance for the driving wheels 11 at the outer sides of the crossing positions and guide the four-way vehicle to pass through the reversing position. The width of the auxiliary track is smaller than the distance between the two universal wheels in the corresponding direction of the four-direction shuttle vehicle, so that the universal wheels can cross over and pass through without obstacles. When the four-way vehicle needs to go straight through the reversing position, the auxiliary track can ensure that the four-way shuttle vehicle has 4 gears to be meshed with the racks on the track in most time periods, and the four-way vehicle is prevented from deviating at the reversing point. The edge of the passing rack of the auxiliary track can be designed into an arc angle, so that the four-direction vehicle gear can be conveniently contacted and meshed with the passing rack.

The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.

Claims

1. A four-way shuttle, comprising:

the shuttle car body (1) runs between the tracks and is used for loading, unloading or carrying goods;

the outer driving wheel (11) partially protrudes out of the outer edge of the shuttle body (1), abuts against the inner surface of the track, and operates along the inner surface of the track to drive the shuttle body (1) to move;

and the load driven wheel (12) is arranged at the bottom of the shuttle body (1) and is positioned on the inner side of the outer driving wheel (11), and the load driven wheel (12) runs along the bearing surface between the tracks driven by the shuttle body (1).

2. A four-way shuttle as claimed in claim 1, characterised in that said outside drive wheel (11) is a gear wheel engaging the inside surface of the track.

3. A four-way shuttle as claimed in claim 1, characterised in that said load-carrying driven wheels (12) are universal wheels running along the load-carrying surface.

4. The four-way shuttle according to claim 1, wherein the outer peripheral surface of each of the outside driving wheels (11) protrudes outward at four corners of the shuttle body (1), and the outside driving wheels (11) located at both sides of the shuttle body (1) in the traveling direction have opposite rotation directions and the outside driving wheels (11) located at the same side of the shuttle body (1) in the traveling direction have the same rotation direction.

5. A four-way shuttle as claimed in claim 4 wherein during the straight line crossing the crossing location between the two tracks, the rotational state of each of the outside drive wheels (11) remains unchanged, the outside drive wheel (11) located at the front in the direction of travel first disengages from the original track, is driven by the outside drive wheel (11) located at the rear in the direction of travel and continues to overlap forward in the direction of travel to the auxiliary track at the middle of the crossing location, is then guided by the auxiliary track and continues to overlap forward in the direction of travel to the target track at the other end of the crossing location, and the outside drive wheel (11) located at the front in the direction of travel drives the shuttle body (1) along the target track to cross the crossing location between the two tracks;

in the process of steering at the intersection position between the two tracks, the outside driving wheel (11) which is positioned at the rear part of the driving direction and deviates from the direction of the steering target track reverses, the outside driving wheel (11) which is positioned at the front part of the driving direction and is close to the direction of the steering target track reverses, and the rotating states of the other outside driving wheels (11) are kept unchanged.

6. A running track of a four-way shuttle car is characterized by comprising:

the bearing surface is tiled along the running route of the four-way shuttle vehicle and is used for the load driven wheel (12) at the inner side of the bottom of the four-way shuttle vehicle to run along the surface of the load driven wheel;

the main rails (2) are vertically arranged on two sides of the bearing surface, are used for abutting against an outer driving wheel (11) of the four-way shuttle vehicle and rotate along the inner side surface of the outer driving wheel so as to drive the four-way shuttle vehicle to operate;

and the auxiliary tracks (21) are arranged in the middle of the bearing surface along the direction of the main track (2) and are positioned at the intersection positions of two running routes of the four-way shuttle car, and the length of each auxiliary track (21) does not exceed the distance between two adjacent load driven wheels (12) at the bottom of the four-way shuttle car.

7. A running track for a four-way shuttle according to claim 6, characterised in that the inner side surface of the main track (2) and/or the auxiliary track (21) is provided with a rack which meshes with the outer driving wheel (11) of the four-way shuttle.

8. A running track of a four-way shuttle according to claims 6-7, characterized in that the main track (2) is arranged along each layer of goods storage rack in the three-dimensional warehouse and extends from each layer of goods storage rack to the inside of the lifting platform of the elevator outside the goods storage rack.

9. A running track of a four-way shuttle according to claims 1 to 8, characterized in that the main tracks (2) are arranged crosswise between goods storage shelves, a turning track (22) is further arranged at the vertex of the crossing position of the main tracks (2), and the turning track (22) is connected with two adjacent main tracks at two sides of the crossing position in an arc way and protrudes out of the included angle between the two main tracks (2).

10. The running track of a four-way shuttle as claimed in claim 9, characterized in that said diverting track (22) comprises: and the outer convex surface of the arc-shaped track (221) is provided with an arc-shaped meshing surface which is connected with the rack of the main track (2) and continues the rack of the main track (2).

11. The running track of a four-way shuttle as claimed in claim 10, wherein said diverting track (22) further comprises: and the elastic supporting piece (222) is arranged on the concave side of the arc-shaped track (221), one end of the elastic supporting piece is rotatably arranged between the included angles of the two main tracks (2) through the mounting part (223), the other end of the elastic supporting piece is fixedly connected with the concave surface of the arc-shaped track (221), the arc-shaped track (221) is outwards abutted and fixed, and the elastic supporting piece supports the arc-shaped track (221) to keep the arc-shaped track (221) meshed with the outer side driving wheel (11) when the outer side driving wheel (11) of the four-way shuttle car runs to the outer surface of the arc-shaped track (221).

12. A running track for a four-way shuttle according to claims 1 to 8, wherein the two ends of the auxiliary track (21) are respectively provided with an arc corner part (211), the arc corner part (211) is provided with engaging teeth with arc transition to the end of the auxiliary track (21), and the engaging teeth are engaged with the outer driving wheel (11) when the outer driving wheel (11) of the four-way shuttle runs to the crossing position.

13. The warehouse system is characterized in that the running track arranged in the goods shelf of the warehouse is connected with the storage positions of the goods shelf, and the four-way shuttle car runs on the running track.