CN115158946B - Four-way shuttle vehicle with linkage lifting and reversing functions - Google Patents
Four-way shuttle vehicle with linkage lifting and reversing functions Download PDFInfo
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- CN115158946B CN115158946B CN202210884708.2A CN202210884708A CN115158946B CN 115158946 B CN115158946 B CN 115158946B CN 202210884708 A CN202210884708 A CN 202210884708A CN 115158946 B CN115158946 B CN 115158946B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 238000003801 milling Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a four-way shuttle car capable of carrying out linkage lifting and reversing, which provides an inner and outer cam transmission structure coaxially arranged so as to realize the coordinated lifting and reversing linkage on the premise of effectively reducing the height of the bottom of the car and saving the space in the car, and effectively solve the problem of larger overall dimension of the existing car body. The four-way shuttle car for linkage jacking and reversing comprises a car frame, wherein a plurality of groups of jacking guide sleeves are arranged in the car frame, a group of jacking guide shafts are sleeved in each group of jacking guide sleeves in a penetrating way, and two adjacent groups of jacking guide shafts are respectively and fixedly connected with the same group of jacking plates; at least one group of servo motors are arranged in the frame, the output ends of the servo motors are sleeved on the driving shaft, and two ends of the driving shaft are respectively sleeved with a group of reversing lifting cams and lifting cams.
Description
Technical Field
The invention relates to a novel four-way shuttle vehicle applied to cargo transportation, and belongs to the field of logistics storage.
Background
At present, in the logistics storage field, an automation and intelligent control technology is rapidly developed, and with continuous rise of industrial and commercial land and labor cost, the intensive transfer warehouse has higher operation efficiency because of full utilization of space efficiency and corresponding reduction of personnel labor force requirements. The four-way shuttle vehicle commonly applied to the automatic stereoscopic warehouse can travel along the longitudinal or transverse rails in a reversing manner on the crossed rails, thereby reaching any designated goods space of the warehouse according to the order requirement, realizing dense storage and transportation.
The reversing and jacking assemblies of the existing four-way shuttle car configuration mainly comprise three types: the first type adopts a hydraulic transmission device, the lifting control is realized by a hydraulic cylinder with a fixed stroke driven by a motor, and meanwhile, a corresponding guide mechanism is arranged to assist the hydraulic cylinder; moreover, the hydraulic reversing mechanism is easy to leak oil, and cannot be implemented in tobacco industry and other industries with higher requirements on cleanliness; the second type adopts a jacking control mode of a motor-driven cam mechanism, and the jacking direction is limited by a guide mechanism, but the mode is limited by the cam size, so that the whole vehicle body is correspondingly thicker, the miniaturization design of the vehicle body is also not facilitated, and meanwhile, the requirements on component connection refinement and installation process are higher, and the control of the manufacturing cost is not facilitated; the third type adopts a mechanical conduction type reversing jacking mechanism, but the external dimension of the mechanism is large and usually exceeds 180mm, so that the size of the vehicle body is obviously larger than that of the tray, and the effective utilization of the storage space is also not facilitated.
In view of this, the present patent application is specifically filed.
Disclosure of Invention
The invention provides a four-way shuttle vehicle capable of realizing linkage lifting and reversing, which aims to solve the problems in the prior art and provides an inner and outer cam transmission structure coaxially arranged so as to realize the coordinated linkage lifting and reversing on the premise of effectively reducing the height of the vehicle bottom and saving the space in the vehicle, thereby effectively solving the problem of larger overall dimension of the existing vehicle body.
In order to achieve the design purpose, the four-way shuttle vehicle with linkage jacking and reversing comprises a frame, wherein a plurality of groups of straight wheel assemblies and a plurality of groups of transverse wheel assemblies are respectively arranged on the side part of the frame in a shaft mode; a plurality of groups of jacking guide sleeves are arranged in the frame, a group of jacking guide shafts are sleeved in each group of jacking guide sleeves in a penetrating manner, and two adjacent groups of jacking guide shafts are respectively and fixedly connected with the same group of jacking plates; at least one group of servo motors are arranged in the frame, the output ends of the servo motors are sleeved on a driving shaft, and two ends of the driving shaft are respectively sleeved with a group of reversing lifting cams and lifting cams; the bottom of the jacking plate is fixedly connected with a second needle bearing, and the second needle bearing vertically abuts against the outer surface of the jacking cam; an eccentric shaft sleeve is coaxially connected with the jacking cam, a first needle bearing is sleeved on an eccentric shaft of the eccentric shaft sleeve, and the first needle bearing is nested in a reversing groove of the reversing jacking cam; the axle ends of two adjacent groups of transverse wheel assemblies are fixedly connected with transverse wheel connecting rods, and each group of reversing jacking cams are fixedly connected with the transverse wheel connecting rods.
Further, a group of servo motors are arranged in the frame, the output ends of the servo motors are sleeved on a driving shaft, and two ends of the driving shaft are respectively sleeved with a group of reversing lifting cams and lifting cams; the driving shaft is also sleeved with two groups of transmission gear boxes, and each group of transmission gear boxes is respectively connected with the other group of reversing jacking cams and the jacking cams in a transmission way.
Further, the outer surface of the jacking cam is provided with a plurality of groups of continuous arc-shaped sections, and the distance value between each arc-shaped section and the rotation center of the jacking cam is different.
Further, the jacking cam is provided with an axial through hole with a key groove, the circle center of the through hole with the key groove is the rotation center of the jacking cam, and the jacking cam is fixedly sleeved on the driving shaft along the circumferential direction through a key.
Further, the reversing groove is provided with a continuous arc section and a straight line section.
Further, the eccentric shaft sleeve is provided with a through hole with a milling surface, and the corresponding part of the driving shaft sleeved on the through hole is also provided with the milling surface.
Further, the reversing jacking cam is fixedly connected with a reversing guide sleeve, the reversing guide sleeve vertically penetrates through the reversing guide shaft, and meanwhile, the reversing guide sleeve is vertically and fixedly connected with the transverse wheel connecting rod.
To sum up, the four-way shuttle of linkage jacking and switching-over that this application described has following advantage:
1. the utility model provides a compact automobile body design solution through the inside and outside cam drive structure of coaxial setting, realizes the cooperation linkage of jacking and switching-over control effectively, and jacking and switching-over subassembly can share a set of servo motor actuating mechanism to furthest practices thrift the interior space of car, reduces overall dimension and the car weight of shuttle effectively.
2. The inner cam and outer cam structure adopted by the application utilizes the rolling running of the bearing on the outer surface of the cam to reduce the abrasion between the cam and the bearing, and reduces working noise while improving jacking and reversing flexibility.
3. According to the vehicle-mounted hydraulic shuttle vehicle, a set of servo motor driving mechanism can be adopted, the internal installation space of the shuttle vehicle is effectively utilized, the vehicle-mounted volume is correspondingly improved, the manufacturing cost is saved, and the maintenance difficulty is reduced.
4. The inner cam and outer cam structure is beneficial to improving the transmission stability and the direction control precision of the jacking and reversing control assembly, and the energy efficiency of the whole mechanism is higher.
Drawings
The invention will now be further described with reference to the following drawings.
Fig. 1 is a schematic structural diagram of a four-way shuttle vehicle with linkage lifting and reversing as described in the present application;
FIG. 2 is a schematic structural view of a lift-up reversing mechanism;
FIG. 3 is a schematic illustration of the inner and outer cams of FIG. 2;
FIG. 4 is a schematic illustration of an eccentric sleeve and an inner cam;
FIG. 5 is a schematic view of the construction of the lift cam;
FIG. 6 is a schematic view of the structure of the eccentric sleeve;
fig. 7 to 9 are process diagrams from an initial state to completion of the lifting and reversing control;
in the above figures, 100-straight wheel assembly, 200-straight wheel assembly, 300-frame, 400-transmission gear box; 201-servo motor, 202-reversing jacking cam, 203-eccentric shaft sleeve, 204-reversing guide shaft, 205-reversing guide sleeve, 206-first needle bearing, 207-through hole, 208-milling surface, 209-reversing groove, 2001-traversing gear connecting rod, 2031-eccentric shaft; 301-driving shaft, 302-lifting guide shaft, 303-lifting cam, 304-lifting plate and 305-lifting connecting plate; 306-second needle bearing, 307-splined through hole, 308-jacking guide sleeve.
Detailed Description
Embodiment 1, as shown in fig. 1 to 7, a novel four-way shuttle with linkage lifting and reversing functions comprises a frame 300, and 4 sets of straight wheel assemblies 100 and 4 sets of straight wheel assemblies 200 are respectively arranged on the side part of the frame 300 in a shaft mode.
4 groups of jacking guide sleeves 308 are arranged in the frame 300, a group of jacking guide shafts 302 are sleeved in each group of jacking guide sleeves 308, and two adjacent groups of jacking guide shafts 302 are fixedly connected with the same group of jacking plates 304 through bolts respectively. Each set of jacking plates 304 drives two sets of jacking guide shafts 302 to vertically lift along the jacking guide sleeves 308, and the jacking plates 304 are always kept in a horizontal state, and the two sets of jacking plates 304 are arranged in parallel.
A group of servo motors 201 are arranged in the frame 300, the output ends of the servo motors 201 are sleeved on a driving shaft 301, a group of reversing jacking cams 202 and jacking cams 303 are respectively sleeved at two ends of the driving shaft 301, two groups of transmission gear boxes 400 are sleeved on the driving shaft 301, and each group of transmission gear boxes 400 is in transmission connection with the other group of reversing jacking cams 202 and jacking cams 303.
Accordingly, one set of servo motor 201 drives 4 sets of reverse jacking cams 202 and jacking cams 303 simultaneously through one set of driving shafts 301, two sets of transmission gearboxes 400, and when the servo motor 201 outputs power, the 4 sets of reverse jacking cams 202 and jacking cams 303 can be rotated clockwise or counterclockwise in synchronization.
The 4 sets of reverse lift cams 202 and lift cams 303 are disposed adjacent to the 4 sets of traversing wheel assemblies 200, the two sets of lift plates 304, respectively.
The bottom of the jacking plate 304 is fixedly connected with a second needle bearing 306 through a jacking connecting plate 305 and bolts, the second needle bearing 306 vertically abuts against the outer surface of the jacking cam 303, namely the jacking cam 303 vertically upwards supports and bears the jacking plate 304 through the second needle bearing 306 and the jacking connecting plate 305 in sequence.
Since the lifting cam 303 has a non-circular and irregular outer contour curve, when the lifting cam 303 rotates, the vertical height of the second needle bearing 306 correspondingly changes, so as to drive the lifting plate 304 to vertically lift.
As shown in fig. 2, 3 and 5, the outer surface of the lifting cam 303 has a plurality of groups of continuous arc segments, wherein the distance value between the arc segment R1 and the rotation center of the lifting cam 303 is the smallest, and the distance value between the arc segment R2 and the rotation center of the lifting cam 303 is the largest. When the second needle bearing 306 walks to the arc segment R1, the second needle bearing 306 is in a vertically low position, and the lifting plate 304 is in a vertically descending process relative to the frame 300; when the second needle bearing 306 walks to the arc segment R2, the second needle bearing 306 is at a vertically high position, and the lifting plate 304 is in a vertically ascending process relative to the frame 300, and the lifting plate 304 can carry and transport goods.
Further, the lifting cam 303 has an axial through hole 307 with a key slot, the center of the through hole 307 with a key slot is the rotation center of the lifting cam 303, and the lifting cam 303 is fixedly sleeved on the driving shaft 301 along the circumferential direction through a key (not shown in the figure). The key restricts the relative movement of the lift cam 303 and the drive shaft 301 in the circumferential direction, and the lift cam 303 can be rotated synchronously when the drive shaft 301 is rotated.
As shown in fig. 2, 4 and 6, an eccentric shaft sleeve 203 is coaxially connected with a jacking cam 303, a first needle bearing 206 is sleeved on an eccentric shaft 2031 of the eccentric shaft sleeve 203, the first needle bearing 206 is nested in a reversing groove 209 of the reversing jacking cam 202, and the reversing groove 209 is provided with a continuous arc section and a straight line section;
further, the eccentric sleeve 203 has a through hole 207 with a milling surface 208, and the corresponding portion of the driving shaft 301 passing through the through hole 207 also has a milling surface (not shown), and the driving shaft 301 can simultaneously drive the eccentric sleeve 203 to rotate while rotating through the lamination of the corresponding milling surfaces.
Corresponding to the nested connection structure of the eccentric shaft sleeve 203 and the reversing jacking cams 202, the shaft ends of two adjacent groups of transverse wheel assemblies 200 are fixedly connected with transverse wheel connecting rods 2001, each group of reversing jacking cams 202 is fixedly connected with a reversing guide sleeve 205, the reversing guide sleeve 205 vertically penetrates through the reversing guide shaft 204, and meanwhile, the reversing guide sleeve 205 is vertically and fixedly connected with the transverse wheel connecting rods 2001.
When the four-way shuttle vehicle walks on the straight running rail (not shown in the figure), the first needle bearing 206 is positioned on the arc section of the reversing groove 209 of the reversing jacking cam 202, the reversing jacking cam 202 is not subjected to vertical acting force, the reversing guide sleeve 205 and the transverse running wheel connecting rod 2001 are both positioned at vertical high positions, and then the transverse running wheel assembly 200 is not contacted with the transverse running rail;
when the four-way shuttle vehicle turns from a straight rail to a transverse rail (not shown in the figure) to walk, the servo motor 201 drives the driving shaft 301 to rotate; while the eccentric shaft sleeve 203 rotates around the driving shaft 301, the first needle bearing 206 sleeved on the eccentric shaft 2031 of the eccentric shaft sleeve moves to the straight line section of the reversing groove 209 of the reversing jacking cam 202; when the driving shaft 301 continues to rotate, the first needle bearing 206 applies a vertical downward acting force to the reversing jacking cam 202, and the pressure is transmitted to the traversing wheel connecting rod 2001 through the reversing guide sleeve 205, so that the traversing wheel assembly 200 descends to be in contact with the traversing rail, the traversing wheel assembly 100 is separated from the traversing rail, and the four-way shuttle can walk along the traversing rail;
when the four-way shuttle vehicle turns from a transverse rail to a straight rail to walk, the servo motor 201 drives the driving shaft 301 to rotate reversely; while the eccentric shaft sleeve 203 rotates around the driving shaft 301, the first needle bearing 206 sleeved on the eccentric shaft 2031 of the eccentric shaft sleeve moves from the straight line section to the circular arc section of the reversing groove 209 of the reversing jacking cam 202; the first needle bearing 206 no longer applies a vertical downward force to the reversing jacking cam 202, the reversing guide sleeve 205 moves upwards along the reversing guide shaft 204, the traversing wheel connecting rod 2001 drives the two groups of traversing wheel assemblies 200 at two ends to ascend simultaneously and separate from contact with the traversing rail, the traversing wheel assemblies 100 contact with the traversing rail again, and the four-way shuttle can walk along the traversing rail.
The application provides a four-way shuttle of linkage jacking and switching-over, jacking and switching-over control adopt a servo motor 201 to drive simultaneously, and the control process that jacking plate 302 goes up and down, straight rail and crosswalk rail switch the walking includes following stage:
in stage 1, as shown in fig. 7, in the initial state, the four-way shuttle is in the straight track traveling process, and no goods are taken or delivered at this time, the lifting plate 304 is located at a vertical low position, and the traversing wheel assembly 200 is located at a vertical high position and separated from the traversing track.
Stage 2, as shown in fig. 8, in the first state, the lifting cam 303 rotates to lift the lifting plate 304 vertically, and the four-way shuttle is in a pick-up or load-carrying state; at this time, although the eccentric shaft sleeve 203 rotates, the first needle bearing 206 is always located at the arc section of the reversing groove 209, and the reversing jacking cam 202 does not receive the vertical downward pressure and does not work, so that the traverse wheel assembly 200 is always located at the vertical high position and is separated from the traverse rail; when the first needle bearing 206 walks to the junction of the circular arc section and the straight line section of the reversing groove 209, the four-way shuttle is in a waiting state of walking on the straight line rail and carrying goods or changing the track from the straight line rail to the transverse line rail.
Stage 3, as shown in fig. 9, in the second state, the lifting cam 303 continues to rotate, and the first needle bearing 206 is still in the vertical high position to maintain the lifting state of the lifting plate 304; at this time, the eccentric shaft sleeve 203 continues to rotate, the first needle bearing 206 walks to the straight line segment of the reversing groove 209, and the reversing jacking cam 202 continuously receives the vertical downward pressure to drive the traversing wheel assembly 200 to continuously descend until contacting with the traversing rail, so that the four-way shuttle is in a state of walking on the traversing rail and carrying goods or picking goods on the traversing rail.
The embodiments presented above in connection with the figures are only preferred solutions for achieving the objects of the invention. It will be apparent to those skilled in the art from this disclosure that other alternative constructions consistent with the design concept of the invention may be directly derived. Other structural features thus obtained shall also fall within the scope of the solution according to the invention.
Claims (6)
1. A four-way shuttle of linkage jacking and switching-over, its characterized in that: the bicycle comprises a bicycle frame, wherein a plurality of groups of straight wheel assemblies and a plurality of groups of horizontal wheel assemblies are respectively arranged on the side part of the bicycle frame in a shaft manner;
a plurality of groups of jacking guide sleeves are arranged in the frame, a group of jacking guide shafts are sleeved in each group of jacking guide sleeves in a penetrating manner, and two adjacent groups of jacking guide shafts are respectively and fixedly connected with the same group of jacking plates;
at least one group of servo motors are arranged in the frame, the output ends of the servo motors are sleeved on a driving shaft, and two ends of the driving shaft are respectively sleeved with a group of reversing lifting cams and lifting cams;
the bottom of the jacking plate is fixedly connected with a second needle bearing, and the second needle bearing vertically abuts against the outer surface of the jacking cam;
an eccentric shaft sleeve is coaxially connected with the jacking cam, a first needle bearing is sleeved on an eccentric shaft of the eccentric shaft sleeve, and the first needle bearing is nested in a reversing groove of the reversing jacking cam;
the axle ends of two adjacent groups of transverse wheel assemblies are fixedly connected with transverse wheel connecting rods, and each group of reversing jacking cams are fixedly connected with the transverse wheel connecting rods;
the reversing groove is provided with a continuous arc section and a straight line section, and when the driving shaft rotates, the jacking cam and the eccentric shaft sleeve synchronously rotate;
when the four-way shuttle vehicle walks on the straight running rail, the first needle roller bearing is positioned at the arc section of the reversing groove, the reversing jacking cam is not subjected to vertical acting force, and the transverse running wheel assembly is not contacted with the transverse running rail;
when the four-way shuttle car turns from the straight rail to the transverse rail, the eccentric shaft sleeve rotates around the driving shaft, and the first needle roller bearing moves from the circular arc section to the straight line section of the reversing groove; the driving shaft continues to rotate, the first needle bearing applies a vertical downward acting force to the reversing jacking cam, the acting force is transmitted to the transverse wheel connecting rod through the reversing guide sleeve, the transverse wheel assembly descends to be contacted with the transverse rail, meanwhile, the straight wheel assembly is separated from the straight rail, and the four-way shuttle vehicle walks along the transverse rail;
when the four-way shuttle vehicle turns from a transverse rail to a straight rail to walk, the eccentric shaft sleeve rotates around the driving shaft, and the first needle roller bearing moves from a straight line section to an arc section of the reversing groove; the first needle bearing no longer applies vertical downward acting force to the reversing jacking cam, the reversing guide sleeve moves upwards along the reversing guide shaft, the transverse wheel connecting rod drives the two groups of transverse wheel assemblies at two ends to ascend simultaneously so as to be separated from contact with the transverse rail, the straight wheel assemblies (100) are contacted with the straight rail again, and the four-way shuttle vehicle walks along the straight rail.
2. The four-way shuttle of linked jacking and reversing of claim 1, wherein: a group of servo motors are arranged in the frame, the output ends of the servo motors are sleeved on a driving shaft, and two ends of the driving shaft are respectively sleeved with a group of reversing lifting cams and lifting cams;
the driving shaft is also sleeved with two groups of transmission gear boxes, and each group of transmission gear boxes is respectively connected with the other group of reversing jacking cams and the jacking cams in a transmission way.
3. The four-way shuttle of linked jacking and reversing of claim 2, wherein: the outer surface of the jacking cam is provided with a plurality of groups of continuous arc sections, and the distance values of the arc sections from the rotation center of the jacking cam are different.
4. The four-way shuttle of linked jacking and reversing of claim 3, wherein: the jacking cam is provided with an axial through hole with a key groove, the center of the through hole with the key groove is the rotation center of the jacking cam, and the jacking cam is fixedly sleeved on the driving shaft along the circumferential direction through a key.
5. The four-way shuttle of linked jacking and reversing according to claim 1 or 2, characterized in that: the eccentric shaft sleeve is provided with a through hole with a milling surface, and the corresponding part of the driving shaft sleeved on the through hole is also provided with the milling surface.
6. The four-way shuttle of linked jacking and reversing of claim 1, wherein: the reversing jacking cam is fixedly connected with the reversing guide sleeve, the reversing guide sleeve vertically penetrates through the reversing guide shaft, and meanwhile, the reversing guide sleeve is vertically and fixedly connected with the transverse wheel connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884708.2A CN115158946B (en) | 2022-07-26 | 2022-07-26 | Four-way shuttle vehicle with linkage lifting and reversing functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884708.2A CN115158946B (en) | 2022-07-26 | 2022-07-26 | Four-way shuttle vehicle with linkage lifting and reversing functions |
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| Publication Number | Publication Date |
|---|---|
| CN115158946A CN115158946A (en) | 2022-10-11 |
| CN115158946B true CN115158946B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210884708.2A Active CN115158946B (en) | 2022-07-26 | 2022-07-26 | Four-way shuttle vehicle with linkage lifting and reversing functions |
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| Country | Link |
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| CN104773494A (en) * | 2015-04-15 | 2015-07-15 | 昆山华恒工程技术中心有限公司 | Track transferring shuttle car |
| WO2018064839A1 (en) * | 2016-10-09 | 2018-04-12 | 浙江国自机器人技术有限公司 | Stock item management system, transfer robot and shelf transferring method therefor |
| CN108584324A (en) * | 2018-04-26 | 2018-09-28 | 南京音飞储存设备（集团）股份有限公司 | A kind of walking dolly with lifting platform |
| CN111071679A (en) * | 2019-12-28 | 2020-04-28 | 江苏集萃智能制造技术研究所有限公司 | Four-way shuttle |
| CN211997298U (en) * | 2019-12-28 | 2020-11-24 | 江苏集萃智能制造技术研究所有限公司 | Four-way shuttle |
| CN112607344A (en) * | 2020-12-14 | 2021-04-06 | 中烟物流技术有限责任公司 | Shuttle with jacking and switching-over functions |
| CN112978183A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN215363138U (en) * | 2021-05-11 | 2021-12-31 | 北自所（北京）科技发展有限公司 | Bar can conveying four-way shuttle and jacking reversing walking device thereof |
| CN216889971U (en) * | 2021-06-26 | 2022-07-05 | 太原福莱瑞达物流设备科技有限公司 | Heavy-load light and thin four-way shuttle |
-
2022
- 2022-07-26 CN CN202210884708.2A patent/CN115158946B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008150205A (en) * | 2006-12-20 | 2008-07-03 | Shinmei Ind Co Ltd | Stocking device |
| CN104773494A (en) * | 2015-04-15 | 2015-07-15 | 昆山华恒工程技术中心有限公司 | Track transferring shuttle car |
| WO2018064839A1 (en) * | 2016-10-09 | 2018-04-12 | 浙江国自机器人技术有限公司 | Stock item management system, transfer robot and shelf transferring method therefor |
| CN108584324A (en) * | 2018-04-26 | 2018-09-28 | 南京音飞储存设备（集团）股份有限公司 | A kind of walking dolly with lifting platform |
| CN111071679A (en) * | 2019-12-28 | 2020-04-28 | 江苏集萃智能制造技术研究所有限公司 | Four-way shuttle |
| CN211997298U (en) * | 2019-12-28 | 2020-11-24 | 江苏集萃智能制造技术研究所有限公司 | Four-way shuttle |
| CN112607344A (en) * | 2020-12-14 | 2021-04-06 | 中烟物流技术有限责任公司 | Shuttle with jacking and switching-over functions |
| CN112978183A (en) * | 2021-02-26 | 2021-06-18 | 天津万事达物流装备有限公司 | Four-way shuttle |
| CN215363138U (en) * | 2021-05-11 | 2021-12-31 | 北自所（北京）科技发展有限公司 | Bar can conveying four-way shuttle and jacking reversing walking device thereof |
| CN216889971U (en) * | 2021-06-26 | 2022-07-05 | 太原福莱瑞达物流设备科技有限公司 | Heavy-load light and thin four-way shuttle |
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| CN115158946A (en) | 2022-10-11 |
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