CN115231171A

CN115231171A - Shuttle that stereoscopic warehouse used

Info

Publication number: CN115231171A
Application number: CN202210747048.3A
Authority: CN
Inventors: 李晓林; 刘东鑫; 邱天平
Original assignee: Shanghai Leju Yunguo Packaging Technology Co ltd
Current assignee: Shanghai Leju Yunguo Packaging Technology Co ltd
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-10-25
Anticipated expiration: 2042-06-28
Also published as: CN115231171B

Abstract

The invention belongs to the technical field of shuttle vehicles, and particularly relates to a shuttle vehicle for a stereoscopic warehouse, which comprises a shuttle vehicle body, a control panel, two distance sensors and a camera, wherein the shuttle vehicle body comprises a wheel driving system and a jacking system, the front end of the shuttle vehicle body is provided with a buffer mechanism, the control panel is arranged at the front end of the shuttle vehicle body, the front side of the lower end of the shuttle vehicle body is provided with a cleaning mechanism, the upper end of the shuttle vehicle body is provided with a lifting groove, the jacking system is arranged in the lifting groove, the upper end of the jacking system is provided with a top cargo platform matched with the lifting groove, the interior of the top cargo platform is provided with a stabilizing mechanism, the stabilizing mechanism comprises a gear ring, a first motor, four gears, four rotating columns, a square column and four adsorption clamping assemblies, and the four adsorption clamping assemblies respectively comprise a hollow ring, a sliding column, a hollow rod, a limiting block, a limiting plate, a connecting rod and a sucker; the invention can clamp and adsorb the goods in the transportation process, thereby avoiding the falling of the goods in the transportation process.

Description

Shuttle that stereoscopic warehouse used

Technical Field

The invention belongs to the technical field of shuttle vehicles, and particularly relates to a shuttle vehicle for a stereoscopic warehouse.

Background

With the progress of science and technology, the conventional stereoscopic warehouse is widely applied, the stereoscopic warehouse usually adopts a plurality of to dozens of layers of shelves to store goods, so that corresponding carrying equipment is needed to carry out warehousing and ex-warehouse of the goods, a shuttle car is the most main carrying equipment, the shuttle car works in each layer of track of the shelf to carry out up-and-down transportation on the goods, the shelf of each layer of track is carried to the ground, then the shuttle car is needed to be transported to a specified position to carry out ex-warehouse after the shelf is carried to the ground, or the shelf is transported to the specified position to be stored after being warehoused; the shuttle navigation technique of present ground transportation divide into electromagnetic navigation, optical navigation, laser navigation etc, optical navigation is because the flexibility is better, ground route sets up simply and easily and by the wide application, optical navigation is japanning or paste the typewriter ribbon on the route of going, the typewriter ribbon image signal through gathering the camera carries out simple processing and realizes automatic guidance, but the top goods platform of current optical navigation class shuttle is not stable enough to goods and shelf transport, the inertia slope when the shuttle brakes easily, and then lead to goods to drop, so remain the improvement.

Disclosure of Invention

The purpose of the invention is: aim at providing a shuttle that stereoscopic warehouse used, can be applicable to the goods shelves goods bottom surface under of flattening type or fretwork type, increase the practicality of shuttle body, can adsorb it when jacking goods shelves goods simultaneously, stability when increasing the transportation, and the position that can adjust the slip post is convenient to carry out the centre gripping to cross fretwork formula goods shelves, the position that also conveniently adjusts the sucking disc increases the adsorption zone of sucking disc, the transportation is more stable under the convenient and practical condition of absorption that can cancel the sucking disc automatically when unloading simultaneously.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a shuttle car for a stereoscopic warehouse comprises a shuttle car body, a control panel, two distance sensors and a camera, wherein the shuttle car body comprises a wheel driving system and a jacking system, the front end of the shuttle car body is provided with a buffer mechanism, the control panel is arranged at the front end of the shuttle car body, the front side of the lower end of the shuttle car body is provided with a cleaning mechanism, the upper end of the shuttle car body is provided with a lifting groove, the jacking system is arranged in the lifting groove, the upper end of the jacking system is provided with a goods jacking platform matched with the lifting groove, and a stabilizing mechanism is arranged in the goods jacking platform;

the stabilizing mechanism comprises a gear ring, a first motor, four gears, four rotating columns, a square column and four adsorption clamping components, wherein an irregular groove is formed in the goods pushing table, the gear ring is rotationally connected to the bottom wall of the irregular groove, the square column is fixedly connected to the center of the inner part of the irregular groove, the four rotating columns are rotationally connected to four sides of the square column respectively, the four gears are fixedly connected to the outer sides of the four rotating columns respectively, the four gears are meshed with the gear ring, threaded sections are arranged on the outer sides of the four rotating columns respectively, the four adsorption clamping components are in threaded connection with the four threaded sections respectively, a through groove matched with the four adsorption clamping components is formed in the goods pushing table in a penetrating mode, the first motor is installed in the irregular groove, and an output shaft of the first motor is in transmission connection with one of the gears;

four adsorb centre gripping subassembly all includes empty core ring, slip post, empty core rod, stopper, limiting plate, connecting rod and sucking disc, empty core ring inboard and screw thread section threaded connection, slip post fixed connection in empty core ring upper end, just slip post and logical groove sliding connection, the groove that runs through with empty core ring intercommunication is seted up to slip post upper end, sucking disc seal installation is in slip post upper end, just the sucking disc lower extreme passes through the pore and runs through the groove intercommunication, empty core rod runs through and locates empty core ring lower extreme, stopper sliding connection is in lift inslot diapire, connecting rod fixed connection is in the stopper upper end, limiting plate fixed connection is in the connecting rod upper end, just limiting plate and empty core rod seal sliding connection, the slip post is equipped with measuring component.

The measuring component comprises two inclined planes which are arranged on one side of one sliding column and are close to one side of the sliding column, the two inclined planes are symmetrical to each other and are adjacent to each other, the two inclined planes which are close to the sliding column are parallel to each other and are adjacent to each other, the distance sensors are respectively arranged on the surfaces of the two inclined planes, and the distance sensors are located inside the irregular grooves.

The sweeping mechanism comprises a second motor, a driving gear, a transmission gear, a connecting gear, a plurality of meshing teeth, a circular lens, a plurality of trapezoidal blocks, a first sweeping part, a second sweeping part and a suction assembly, the suction assembly is arranged between the first sweeping part and the second sweeping part, a camera shooting groove is formed in the front side of the lower end of the shuttle car body, the camera is installed in the center of the upper end inside the camera shooting groove, a motor groove communicated with the camera shooting groove is formed in the shuttle car body, the second motor is installed in the motor groove, the driving gear is connected to the side, close to the motor groove, of the camera shooting groove in a rotating mode, an output shaft of the second motor is connected with the driving gear in a transmission mode, the trapezoidal blocks are arranged on the right side of the driving gear in an annular mode, the transmission gear is connected to the upper side inside the camera shooting groove in a rotating mode, the meshing teeth are evenly installed on the outer side of the circular lens, the connecting gear is connected to the upper side inside the camera shooting groove in a rotating mode, the circular lens is connected to the upper side inside the camera shooting groove in a rotating mode, the camera is eccentrically arranged above the circular lens, and the driving gear, the transmission gear, the connecting gear and the meshing teeth are meshed teeth in sequence.

The first cleaning piece comprises a first sliding block, a first spring, a first sliding plate and a brush plate, a first sliding block groove matched with the camera shooting groove is formed in the shuttle vehicle body, the first sliding block is connected to the inside of the first sliding block groove in a sliding mode, the first spring is installed between the right end of the first sliding block and the first sliding block groove, the first sliding plate is fixedly connected to the rear end of the first sliding block, a clamping groove is formed in the lower end of the first sliding plate, the brush plate is clamped to the inside of the clamping groove of the first sliding plate, and a first inclined plane matched with the plurality of trapezoidal blocks is formed in the left end of the first sliding plate.

The second cleaning piece comprises a scraping plate, two second sliders, two second springs, a U-shaped rod and a butting block, the shuttle body is provided with two second slider grooves communicated with the image pickup groove, the upper sides of the image pickup groove are symmetrically arranged on the two second slider grooves, the two second sliders are respectively connected with the two second slider grooves in a sliding mode, the two second springs are respectively arranged between the right ends of the two second sliders and the two second slider grooves, the right sides of the two end portions of the U-shaped rod are respectively fixedly connected with the two second sliders, the butting block is fixedly connected to the left end of the U-shaped rod, the left end of the butting block is provided with second inclined planes matched with the plurality of trapezoidal blocks, and the right side wall of the second slider groove is matched with the central position of the circular lens.

The suction assembly comprises a suction fan, a trapezoidal frame, a dust collecting net, a dust suction pipe and a handle, wherein a ventilation groove communicated with the camera shooting groove is formed in the shuttle car body, a plurality of ventilation holes communicated with the ventilation groove are formed in the right end of the shuttle car body, the suction fan is installed on the right side inside the ventilation groove, a mounting groove communicated with the ventilation groove is formed in the upper end of the shuttle car body, the trapezoidal frame is connected to the inside of the mounting groove in a sliding mode, the dust collecting net is installed on the right side inside the trapezoidal frame, the trapezoidal frame is located on the left side of the suction fan, the dust suction pipe penetrates through the lower end of the shuttle car body and is located on the left side of the trapezoidal frame, and the handle is installed on the upper end of the trapezoidal frame.

Buffer gear includes that two longitudinal symmetries locate the buffering subassembly of shuttle body front end, two buffer subassembly all includes a plurality of sleeves, a plurality of third spring, a plurality of fourth spring, a plurality of slide bar, a plurality of articulated seat and hang plate, and is a plurality of sleeve transverse arrangement fixed connection is in shuttle body front end, and is a plurality of the third spring is installed inside a plurality of sleeves respectively, and is a plurality of slide bar sliding connection is inside the sleeve, and is a plurality of articulated seat fixed connection is in the hang plate rear end, and is a plurality of slide bar one-to-one with a plurality of articulated seat articulated be connected, and a plurality of articulated seat is located the hang plate middle part, and is a plurality of fourth spring fixed connection is between shuttle body and hang plate, and is a plurality of the fourth spring all is located a plurality of third spring top.

The invention can be suitable for the flat or hollow goods shelf lower bottom surface, increases the practicability of the shuttle body, can adsorb goods shelf goods when the goods shelf goods are jacked, increases the stability during transportation, can adjust the position of the sliding column to conveniently clamp the cross hollow goods shelf, also conveniently adjust the position of the sucking disc to increase the adsorption range of the sucking disc, and can automatically cancel the adsorption of the sucking disc during unloading, so that the transportation is more stable under the condition of convenience and practicability.

Drawings

The invention is further illustrated by the non-limiting examples given in the figures.

Fig. 1 is a schematic structural view of a shuttle car for a stereoscopic warehouse according to a first embodiment of the present invention;

fig. 2 is a partial schematic structural view of a shuttle car for a stereoscopic warehouse according to a first embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of a shuttle car for a stereoscopic warehouse according to a first embodiment of the present invention;

fig. 4 is a schematic partial sectional view illustrating a shuttle car according to a first embodiment of the stereoscopic warehouse of the present invention;

FIG. 5 is an enlarged view of the structure at A in FIG. 4;

fig. 6 is a schematic structural view of a second shuttle vehicle for a stereoscopic warehouse according to an embodiment of the present invention;

fig. 7 is a schematic sectional view of a second embodiment of a shuttle car for a stereoscopic warehouse according to the present invention in fig. 1;

fig. 8 is a schematic sectional view of a second embodiment of the shuttle car for a stereoscopic warehouse of the present invention 2;

FIG. 9 is an enlarged view of the structure at B in FIG. 8;

fig. 10 is a schematic sectional view of a second shuttle car for a stereoscopic warehouse according to an embodiment of the present invention, which is shown in fig. 3;

fig. 11 is a schematic view of a partial cross-sectional structure of a second shuttle car for a stereoscopic warehouse according to an embodiment of the present invention 1;

fig. 12 is a schematic partial sectional view of a second shuttle vehicle according to an embodiment of the present invention for a stereoscopic warehouse 2;

FIG. 13 is an enlarged view of the structure of FIG. 12 at C;

fig. 14 is a schematic partial sectional view of a second shuttle vehicle according to an embodiment of the present invention for a stereoscopic warehouse shown in fig. 3;

fig. 15 is an enlarged schematic view of fig. 14 at D.

The main element symbols are as follows:

the first embodiment is as follows: the shuttle vehicle comprises a shuttle vehicle body 1, a wheel driving system 11, a jacking system 12, a control panel 13, a lifting groove 14, a goods jacking table 15, a gear ring 2, a first motor 21, a gear 22, a rotating column 23, an irregular groove 24, a square column 25, a threaded section 26, a through groove 27, a distance sensor 28, a hollow ring 3, a sliding column 31, an inclined plane 311, a hollow rod 32, a limiting block 33, a limiting plate 34, a connecting rod 35 and a sucking disc 36;

example two: the device comprises a second motor 4, a driving gear 41, a transmission gear 42, a connecting gear 43, a meshing tooth 44, a circular lens 45, a trapezoidal block 46, a camera shooting groove 47, a camera 48, a first slide block 5, a first spring 51, a first slide plate 52, a first inclined surface 521, a brush plate 53, a first slide block groove 54, a scraper 55, a second slide block 56, a second spring 57, a U-shaped rod 58, an abutting block 59, a second inclined surface 591, a second slide block groove 6, a suction fan 61, a trapezoidal frame 62, a dust collection net 63, a dust suction pipe 64, a handle 65, a ventilation groove 66, a mounting groove 67, a sleeve 7, a third spring 71, a fourth spring 72, a slide rod 73, a hinged seat 74 and a tilting plate 75.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.

The first embodiment is as follows:

as shown in fig. 1 to 5, the shuttle vehicle for the stereoscopic warehouse of the present invention includes a shuttle vehicle body 1, a control panel 13, two distance sensors 28 and a camera 48, the shuttle vehicle body 1 includes a wheel driving system 11 and a jacking system 12, the front end of the shuttle vehicle body 1 is provided with a buffer mechanism, the control panel 13 is arranged at the front end of the shuttle vehicle body 1, the front side of the lower end of the shuttle vehicle body 1 is provided with a cleaning mechanism, the upper end of the shuttle vehicle body 1 is provided with a lifting groove 14, the jacking system 12 is arranged inside the lifting groove 14, the upper end of the jacking system 12 is provided with a top cargo table 15 matched with the lifting groove 14, and the inside of the top cargo table 15 is provided with a stabilizing mechanism;

the stabilizing mechanism comprises a gear ring 2, a first motor 21, four gears 22, four rotating columns 23, a square column 25 and four adsorption clamping components, an irregular groove 24 is formed in the top cargo table 15, the gear ring 2 is rotationally connected to the inner bottom wall of the irregular groove 24, the square column 25 is fixedly connected to the center of the inner portion of the irregular groove 24, the four rotating columns 23 are respectively rotationally connected to four sides of the square column 25, the four gears 22 are respectively and fixedly connected to the outer sides of the four rotating columns 23, the four gears 22 are all meshed with the gear ring 2, threaded sections 26 are respectively arranged on the outer sides of the four rotating columns 23, the four adsorption clamping components are respectively in threaded connection with the four threaded sections 26, a through groove 27 matched with the four adsorption clamping components is formed in the top cargo table 15 in a penetrating mode, the first motor 21 is installed in the irregular groove 24, and the output shaft of the first motor 21 is in transmission connection with one of the gears 22;

four adsorb centre gripping subassemblies and all include hollow ring 3, slip post 31, hollow pole 32, stopper 33, limiting plate 34, connecting rod 35 and sucking

disc

36, 3 inboard and the 26 threaded connection of screw thread section of hollow ring, 31 fixed connection in the hollow ring 3 upper end of slip post, and 31 and the logical 27 sliding connection of groove that slide post, the groove that runs through with hollow ring 3 intercommunication is seted up to the 31 upper end of slip post, 36 sealing installation in the 31 upper end of slip post of sucking disc, and 36 lower extremes of sucking disc pass through the pore and run through the groove intercommunication, hollow pole 32 runs through and locates hollow ring 3 lower extreme, stopper 33 sliding connection is in lifting groove 14 interior diapire, connecting rod 35 fixed connection is in the 33 upper end of stopper, 34 fixed connection of limiting plate is in connecting rod 35 upper end, and 34 and the sealed sliding connection of hollow pole 32 of limiting plate, slip post 31 is equipped with measuring assembly.

The storage battery is arranged in the shuttle body 1, so that the storage battery supplies power to electric devices such as the control panel 13, and generally, the lower bottom surface of a goods shelf or goods transported by the shuttle body 1 is not too far away from the goods-pushing platform 15, so that the stroke of the limiting plate 34 and the hollow rod 32 is not too large, and meanwhile, the goods shelf or goods are only required to be pushed to the four corners to be separated from the ground during transportation, so that the four corners can be separated from the ground for transportation when the suction force is generated after the suction disc 36 is contacted with the abutting surface, so that the lifting system 12 is not required to be used for continuously lifting the goods shelf or goods after the suction force is generated by the suction disc 36, and meanwhile, the four adsorption clamping assemblies are arranged on the four sides of the square column 25, so that the four adsorption clamping assemblies are symmetrical with each other;

when the goods shelf or goods with the bottom plate needs to be transported, firstly, the control panel 13 is used for starting the wheel driving system 11 to move, meanwhile, the camera 48 and the cleaning mechanism are started to operate, the camera 48 makes a video recording on the color ribbon, further, the acquired color ribbon image signal is transmitted to the control panel 13, the control panel 13 carries out simple processing analysis and then sends an instruction to the wheel driving system 11, so that the wheel driving system 11 drives the wheels to move, further, the shuttle car body 1 moves along with the color ribbon, after the color ribbon moves to a specified position, the control panel 13 is used for driving the first motor 21 to work, the first motor 21 drives one of the rotating columns 23 to rotate when working, further drives the gear 22 matched with one of the rotating columns 23 to rotate, because one of the gears 22 is meshed with the gear ring 2, the gear ring 2 is driven to rotate when one of the gears 22, further, the other three gears 22 meshed with the gear ring 2 are driven to rotate, and when the other three gears 22 rotate, the other three rotating columns 23 corresponding to rotate are driven to rotate,

since the inner side of the hollow ring 3 is in threaded connection with the threaded section 26, and the sliding column 31 fixedly connected to the hollow ring 3 is slidably connected to the inside of the through groove 27, the through groove 27 can limit the sliding column 31, only the sliding column 31 can slide along the direction of the through groove 27, and further the hollow ring 3 can only slide along the direction of the through groove 27 and cannot rotate, so that the hollow ring 3 is driven to rotate when the threaded section 26 rotates, at this time, the first motor 21 drives the rotating column 23 to rotate reversely, and further drives the threaded section 26 to rotate reversely, and the threaded section 26 drives the hollow ring 3 to move away toward the square column 25 until sliding to the farthest distance of the through groove 27, at this time, the farthest distance of the measuring assembly can be set through the control panel 13, when the two sliding columns 23 slide to the farthest distance, the measuring assembly detects a data signal corresponding to be transmitted to the control panel 13, then the control panel 13 sends an instruction to stop the first motor 21, so that the four absorbing and clamping assemblies can be far away from each other, thereby making the four absorbing and clamping assemblies more widely support the goods during transportation, more stably, and less easily, the jacking system 13 is started, and the jacking system 12 can move upwards to drive the top lifting platform 15 to move along with the top plate 15, and the top plate 15, so that the top plate 34 can not follow the top plate 33 can move upwards following the top plate 34,

because the limit plate 34 is connected inside the hollow rod 32 in a sealing and sliding manner, when the suction cup 36, the sliding column 31, the hollow ring 3 and the hollow rod 32 move upwards together, external air enters the sliding column 31 through the pores of the suction cup 36, so that the air presses the limit plate 34 downwards and flows out of the gap between the hollow rod 32 and the connecting rod 35, and further the limit plate 34 moves downwards relative to the hollow rod 32, when the suction cup 36 moves upwards to abut against the goods, the external air cannot enter the sliding column 31 through the pores of the suction cup 36, and as the jacking system 12 drives the hollow ring 3 to move upwards continuously, the air at the upper end of the limit plate 34 is driven to move upwards continuously, so that the air at the upper end of the limit plate 34 forms negative pressure, and as the upper end of the suction cup 36 abuts against the flat surface and cannot pass through the air, the suction cup 36 generates suction force to abut against the abutting surface, and further the suction cup 36 adsorbs and fixes the goods shelves or goods, and prevents the goods from falling off when the shuttle body 1 moves;

after the jacking system 12 is moved to the specified position, the control panel 13 is used for starting the jacking system 12 to move downwards, so that the hollow ring 3, the sliding column 31 and the hollow rod 32 move downwards, when the hollow rod 32 moves downwards, the limiting plate 34 moves upwards inside the hollow rod 32, so that outside air enters the idle rod 32 through a gap between the connecting rod 35 and the hollow rod 32, and when the hollow rod 32 moves downwards, the limiting plate 34 drives the air above the limiting plate 34 to move upwards, so that the air passes through the pores of the suction disc 36 to move outwards, so that the pressure inside the hollow rod 32 is higher than that outside, so that the air is exhausted from the pores, the suction disc 36 cancels adsorption with the abutting surface, and when the suction disc 36 cancels adsorption with the abutting surface, the outside air can continuously enter through the gap between the connecting rod 35 and the hollow rod 32 when the suction disc 32 continuously moves downwards, after the limiting plate, the air above the suction disc 34 continuously exhausts from the pores of the suction disc 36, and when the jacking platform 15 completely enters the lifting groove 14, the operation of the jacking system 12 is cancelled;

goods are generally accumulated on a goods shelf in a stereoscopic warehouse, the goods shelf is generally made into a hollow goods shelf for saving materials and weight, the bottom of the goods shelf is generally a cross, when the cross hollow goods shelf needs to be transported, the width of the cross is input through a control panel 13, then a first motor 21 is started to drive a rotating column 23 to rotate forwards, a gear 22 and a threaded section 26 rotate forwards, the method for transporting goods or goods with a bottom plate deduces that the threaded section 26 drives a hollow ring 3 to approach each other when rotating forwards, meanwhile, a measuring assembly detects the distance between two adjacent sliding columns 31 in real time, when the distance between the two sliding columns is matched with the width of the cross, the work of the first motor 21 is stopped, the four sliding columns 31 are matched with the position of the cross when moving, then the method for installing and transporting goods or goods with the bottom plate drives a suction cup 38 to move upwards by using a jacking system 12, so that the suction cup 36 adsorbs the goods on the cross hollow goods shelf, the four sliding columns 23 clamp the goods shelf, meanwhile, the goods shelf or goods can adsorb the goods and can stably adsorb goods, and the goods on the goods shelf, the bottom plate can prevent a shuttle body from dropping when the shuttle body 1 moves towards the bottom plate and the bottom plate from adsorbing goods, so that the goods can be prevented from being clamped by the suction cup 1, and the shuttle body of the shuttle 1 from being clamped by the suction cup;

the device can deal with multiple goods shelves simultaneously, when the fretwork formula goods shelves of non-cross, need be through adjusting the distance between four hollow ring 3, four screw thread section 26 reversal can drive four hollow ring 3 and keep away from each other, and four screw thread section 26 corotation can drive hollow ring 3 and be close to each other, just so can adjust the position of sucking disc 36 through hollow ring 3, make the goods shelves ground that sucking disc 36 is corresponding be the plannar, adsorb the plannar when just so can making sucking disc 36 upwards move, stability when increasing the transportation.

The invention can be suitable for the flat or hollow goods shelf lower bottom surface, increases the practicability of the shuttle body 1, can adsorb goods shelf goods when the goods shelf goods are jacked, increases the stability during transportation, can adjust the position of the sliding column 23 to conveniently clamp the cross hollow goods shelf, also conveniently adjust the position of the sucking disc 36 to increase the adsorption range of the sucking disc 36, and can automatically cancel the adsorption of the sucking disc 36 during unloading, so that the transportation is more stable under the conditions of convenience and practicability.

The measuring component comprises two inclined planes 311 arranged on one side, close to each other, of one sliding column 31, the two inclined planes 311 are symmetrical to each other, the two inclined planes 311, close to each other, of the two adjacent sliding columns 31 are parallel to each other, the two distance sensors 28 are respectively arranged on the surfaces of the two inclined planes 311, and the two distance sensors 28 are positioned inside the irregular groove 24; since the two inclined surfaces 311 of the adjacent sliding columns 31 are not only symmetrical but also parallel to each other, the distance sensor 28 can detect the distance between the two sliding columns 31, facilitating the positioning of the four sliding columns 31.

The second embodiment:

a further improvement is made on the basis of the first embodiment, as shown in fig. 6 to 15, the cleaning mechanism includes a second motor 4, a driving gear 41, a transmission gear 42, a connecting gear 43, a plurality of engaging teeth 44, a circular lens 45, a plurality of trapezoidal blocks 46, a first cleaning member, a second cleaning member and a suction assembly, the suction assembly is arranged between the first cleaning member and the second cleaning member, a camera groove 47 is formed in the front side of the lower end of the shuttle body 1, a camera 48 is arranged in the center of the upper end inside the camera groove 47, a motor groove communicated with the camera groove 47 is formed inside the shuttle body 1, the second motor 4 is arranged inside the motor groove, the driving gear 41 is rotatably connected to one side of the camera groove 47 close to the motor groove, an output shaft of the second motor 4 is in transmission connection with the driving gear 41, the plurality of trapezoidal blocks 46 are annularly arranged on the right side of the driving gear 41, the transmission gear 42 is rotatably connected to the upper side inside the camera groove 47, the plurality of engaging teeth 44 are uniformly arranged outside the circular lens 45, the connecting gear 43 is rotatably connected to the upper side inside the camera groove 47, the driving gear 45 is rotatably connected to the upper side of the transmission gear 45, and the driving gear 41 is sequentially engaged with the plurality of the driving gear 43;

the control panel 13 is used for starting the second motor 4, when the second motor 4 works, the driving gear 41 is driven to rotate, and further the transmission gear 42 meshed with the driving gear is driven to rotate and simultaneously the plurality of trapezoidal blocks 46 are driven to rotate;

when the transmission gear 42 rotates, the connecting gear 43 is driven to rotate, the meshing teeth 44 are driven to rotate, the meshing teeth 44 drive the circular lens 45 to rotate, the circular lens 45 is made of transparent materials, normal shooting of a camera 48 eccentrically arranged on the right side of the upper end of the circular lens 45 cannot be influenced when the circular lens 45 rotates, when the trapezoidal blocks 46 rotate, one trapezoidal block 46 drives the first cleaning piece to move left and right, the cleaning piece which moves left and right cleans the left semicircle of the circular lens 45, and dust on the ground is prevented from being lifted and attached to the surface of the lens of the camera 48; simultaneously another trapezoidal piece 46 of a plurality of trapezoidal pieces 46 will clean a side-to-side movement by the second, and then make the second clean a side-to-side movement, the impurity of avoiding ground shelters from the typewriter ribbon, and then the typewriter ribbon of avoiding camera 48 to intake is unclear or incompletely influences the normal work of shuttle body 1, the raise dust that the subassembly can be taken first cleaning and second cleaning a side-to-side movement simultaneously pumps, the camera shooting scope of avoiding camera 48 is that the raise dust influences the intake of camera 48 to the typewriter ribbon.

The first cleaning piece comprises a first sliding block 5, a first spring 51, a first sliding plate 52 and a brush plate 53, a first sliding block groove 54 matched with the camera shooting groove 47 is formed in the shuttle body 1, the first sliding block 5 is connected inside the first sliding block groove 54 in a sliding mode, the first spring 51 is installed between the right end of the first sliding block 5 and the first sliding block groove 54, the first sliding plate 52 is fixedly connected to the rear end of the first sliding block 5, a clamping groove is formed in the lower end of the first sliding plate 52, the brush plate 53 is clamped inside the clamping groove of the first sliding plate 52, and a first inclined plane 521 matched with the plurality of trapezoidal blocks 46 is formed in the left end of the first sliding plate 52; under the initial condition, the elastic force of the first spring 51 can enable the first slider 5 to abut against the left side of the first slider groove 54, then when the trapezoidal blocks 46 rotate, the inclined side face of one of the trapezoidal blocks 46 can abut against the first inclined face 521 of the first sliding plate 52, when one of the trapezoidal blocks 46 continues to rotate, the trapezoidal block 46 can generate force to push the first inclined face 521 to move rightwards, so that the first sliding plate 52 drives the first slider 5 and the brush plate 53 to move rightwards, further the first slider 5 compresses the first spring 51 until the first sliding plate 52 completely disengages from one of the trapezoidal blocks 46, at this moment, the resilience force of the first spring 51 can drive the first slider 5 to move leftwards, so that the first sliding plate 52 drives the brush plate 53 to move leftwards, when the first sliding plate 52 returns to the initial state, the new trapezoidal blocks 46 which continuously rotate again abut against the first inclined face 521 to generate force moving rightwards, the brush plate 53 can be driven to continuously move leftwards and rightwards sequentially in a cycle, and the ribbon is prevented from being cleaned by impurities attached to the surface of the camera 48; and the brush plate 53 is clamped in the clamping groove, so that the brush plate 53 can be detached to be cleaned and then installed again after being too dirty.

The second cleaning piece comprises a scraping plate 55, two second sliders 56, two second springs 57, a U-shaped rod 58 and a butting block 59, the shuttle body 1 is provided with two second slider grooves 6 communicated with the image pick-up groove 47, the two second slider grooves 6 are symmetrically arranged on the upper side in the image pick-up groove 47, the two second sliders 56 are respectively connected with the insides of the two second slider grooves 6 in a sliding manner, the two second springs 57 are respectively arranged between the right ends of the two second sliders 56 and the two second slider grooves 6, the right sides of the two end parts of the U-shaped rod 58 are respectively fixedly connected with the two second sliders 56, the butting block 59 is fixedly connected with the left end of the U-shaped rod 58, the left end of the butting block 59 is provided with second inclined surfaces 591 matched with the plurality of trapezoidal blocks 46, and the right side walls of the two second slider grooves 6 are matched with the central position of the circular lens 45;

in an initial state, the two second springs 57 drive the two second sliders 56 to be located at the left end of the second slider groove 6, when one trapezoidal block 46 of the plurality of rotating trapezoidal blocks 46 abuts against the second inclined surface 591 of the abutting block 59, at this time, when the trapezoidal block 46 continues to rotate, the trapezoidal block 46 generates force to push the second inclined surface 591 of the abutting block 59, and further drives the abutting block 59 to move rightward, the abutting block 59 will drive the U-shaped rod 58 to move rightward when moving rightward, and further drives the scraper 55 and the two sliders 56 to move rightward, the two sliders 56 will compress the two second springs 57 when sliding rightward in the two second slider grooves 6, and meanwhile the scraper 55 will scrape the circular lens 45 when moving rightward, because the right side walls of the two second grooves 6 are matched with the central position of the circular lens 45, the scraper 55 can scrape the central position of the circular lens 45 at the farthest, and further normal operation of the camera 48 will not be affected.

The suction assembly comprises a suction fan 61, a trapezoidal frame 62, a dust collecting net 63, a dust suction pipe 64 and a handle 65, a ventilation groove 66 communicated with the camera shooting groove 47 is formed in the shuttle car body 1, a plurality of ventilation holes communicated with the ventilation groove 66 are formed in the right end of the shuttle car body 1, the suction fan 61 is installed on the right side in the ventilation groove 66, an installation groove 67 communicated with the ventilation groove 66 is formed in the upper end of the shuttle car body 1, the trapezoidal frame 62 is connected to the inside of the installation groove 67 in a sliding mode, the dust collecting net 63 is installed on the right side in the trapezoidal frame 62, the trapezoidal frame 62 is located on the left side of the suction fan 61, the dust suction pipes 64 penetrate through the lower end of the shuttle car body 1, the dust suction pipes 64 are located on the left side of the trapezoidal frame 62, and the handle 65 is installed on the upper end of the trapezoidal frame 62; when the dust collector is used, the control panel 13 starts the suction fan 61, the suction fan 61 generates suction force to generate suction force to raised dust generated in the camera shooting groove 47, and then the raised dust enters the ventilation groove 66 and is collected on the surface of the dust collection net 63, meanwhile, the suction force generated by the suction fan 61 can enable the dust extraction pipe 64 to generate force moving towards the ventilation groove 66, so that dust on the ground swept by the first cleaning piece enters the ventilation groove 66 through the dust extraction pipes 64 and is finally adsorbed on the dust collection net 63 to be avoided, and gas can be exhausted through the ventilation holes; the raised dust can be adsorbed, the dust is prevented from being attached to the surface of the camera 48, and the situation that the identification of the color band is influenced by the unclear image shot by the camera 48 can be avoided.

The buffer mechanism comprises two buffer components which are symmetrically arranged at the front end of the shuttle body 1 from top to bottom, each of the two buffer components comprises a plurality of sleeves 7, a plurality of third springs 71, a plurality of fourth springs 72, a plurality of sliding rods 73, a plurality of hinged seats 74 and an inclined plate 75, the plurality of sleeves 7 are transversely arranged and fixedly connected to the front end of the shuttle body 1, the plurality of third springs 71 are respectively arranged inside the plurality of sleeves 7, the plurality of sliding rods 73 are slidably connected inside the sleeves 7, the plurality of hinged seats 74 are fixedly connected to the rear end of the inclined plate 75, the plurality of sliding rods 73 are correspondingly hinged to the plurality of hinged seats 74 one by one, the plurality of hinged seats 74 are located in the middle of the inclined plate 75, the plurality of fourth springs 72 are fixedly connected between the shuttle body 1 and the inclined plate 75, and the plurality of fourth springs 72 are located above the plurality of third springs 71; when a fixed object is hit, it first comes into contact with the side where the two inclined plates 75 are close to each other. Then the impact force can make two inclined plates 75 move towards one side of the shuttle body 1 by approaching to each other, the middle part of the inclined plate 75 is hinged with a sliding rod 73, so that one side of the two inclined plates 75 which is far away from each other tilts, and because one side of the two inclined plates 75 which is far away from each other is provided with a fourth spring 72, when one side of the two inclined plates 75 which is far away from each other tilts, the fourth spring 72 can be stretched, so that the impact force can be absorbed to achieve the buffering effect, and the impact force can be absorbed, meanwhile, the rear end of the sliding rod 73 is provided with a third spring 71, so that when the inclined plates 75 move towards the shuttle body 1, the third spring 71 can be compressed to achieve the buffering effect by absorbing the impact force.

The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a shuttle that stereoscopic warehouse used, includes shuttle body, control panel, two distance sensor and camera, the shuttle body includes wheel actuating system and jacking system, its characterized in that: the front end of the shuttle car body is provided with a buffer mechanism, the control panel is arranged at the front end of the shuttle car body, the front side of the lower end of the shuttle car body is provided with a cleaning mechanism, the upper end of the shuttle car body is provided with a lifting groove, the jacking system is arranged in the lifting groove, the upper end of the jacking system is provided with a goods-pushing table matched with the lifting groove, and a stabilizing mechanism is arranged in the goods-pushing table;

2. The shuttle car for the stereoscopic warehouse according to claim 1, wherein: the measuring component comprises two inclined planes and two distance sensors, wherein the two inclined planes are arranged on one side, close to each other, of one sliding column, the two inclined planes are symmetrical to each other and are adjacent to each other, the two inclined planes, close to each other, of the sliding column are parallel to each other, the two distance sensors are respectively installed on the surfaces of the two inclined planes, and the two distance sensors are located inside the irregular groove.

3. The shuttle car for the stereoscopic warehouse according to claim 1, wherein: the sweeping mechanism comprises a second motor, a driving gear, a transmission gear, a connecting gear, a plurality of meshing teeth, a circular lens, a plurality of trapezoidal blocks, a first sweeping part, a second sweeping part and a suction assembly, the suction assembly is arranged between the first sweeping part and the second sweeping part, a camera shooting groove is formed in the front side of the lower end of the shuttle car body, the camera is installed in the center of the upper end inside the camera shooting groove, a motor groove communicated with the camera shooting groove is formed in the shuttle car body, the second motor is installed in the motor groove, the driving gear is connected to the side, close to the motor groove, of the camera shooting groove in a rotating mode, an output shaft of the second motor is connected with the driving gear in a transmission mode, the trapezoidal blocks are arranged on the right side of the driving gear in an annular mode, the transmission gear is connected to the upper side inside the camera shooting groove in a rotating mode, the meshing teeth are evenly installed on the outer side of the circular lens, the connecting gear is connected to the upper side inside the camera shooting groove in a rotating mode, the circular lens is connected to the upper side inside the camera shooting groove in a rotating mode, the camera is eccentrically arranged above the circular lens, and the driving gear, the transmission gear, the connecting gear and the meshing teeth are meshed teeth in sequence.

4. A shuttle for a stereoscopic warehouse as claimed in claim 3, wherein: the first cleaning piece comprises a first sliding block, a first spring, a first sliding plate and a brush plate, a first sliding block groove matched with the camera shooting groove is formed in the shuttle vehicle body, the first sliding block is connected to the inside of the first sliding block groove in a sliding mode, the first spring is installed between the right end of the first sliding block and the first sliding block groove, the first sliding plate is fixedly connected to the rear end of the first sliding block, a clamping groove is formed in the lower end of the first sliding plate, the brush plate is clamped to the inside of the clamping groove of the first sliding plate, and a first inclined plane matched with the plurality of trapezoidal blocks is formed in the left end of the first sliding plate.

5. The shuttle car for the stereoscopic warehouse according to claim 3, wherein: the second cleaning piece comprises a scraping plate, two second sliders, two second springs, a U-shaped rod and a butting block, the shuttle body is provided with two second slider grooves communicated with the image pickup groove, the upper sides of the image pickup groove are symmetrically arranged on the two second slider grooves, the two second sliders are respectively connected with the two second slider grooves in a sliding mode, the two second springs are respectively arranged between the right ends of the two second sliders and the two second slider grooves, the right sides of the two end portions of the U-shaped rod are respectively fixedly connected with the two second sliders, the butting block is fixedly connected to the left end of the U-shaped rod, the left end of the butting block is provided with second inclined planes matched with the plurality of trapezoidal blocks, and the right side wall of the second slider groove is matched with the central position of the circular lens.

6. The shuttle car for the stereoscopic warehouse according to claim 3, wherein: the suction assembly comprises a suction fan, a trapezoid frame, a dust collecting net, a dust suction pipe and a handle, wherein a ventilation groove communicated with the camera shooting groove is formed in the shuttle car body, a plurality of ventilation holes communicated with the ventilation groove are formed in the right end of the shuttle car body, the suction fan is installed on the right side inside the ventilation groove, a mounting groove communicated with the ventilation groove is formed in the upper end of the shuttle car body, the trapezoid frame is connected inside the mounting groove in a sliding mode, the dust collecting net is installed on the right side inside the trapezoid frame, the trapezoid frame is located on the left side of the suction fan, the dust suction pipe penetrates through the lower end of the shuttle car body and is located on the left side of the trapezoid frame, and the handle is installed on the upper end of the trapezoid frame.

7. The shuttle car for the stereoscopic warehouse according to claim 1, wherein: buffer gear includes that two longitudinal symmetries locate the buffering subassembly of shuttle body front end, two buffer subassembly all includes a plurality of sleeves, a plurality of third spring, a plurality of fourth spring, a plurality of slide bar, a plurality of articulated seat and hang plate, and is a plurality of sleeve transverse arrangement fixed connection is in shuttle body front end, and is a plurality of the third spring is installed inside a plurality of sleeves respectively, and is a plurality of slide bar sliding connection is inside the sleeve, and is a plurality of articulated seat fixed connection is in the hang plate rear end, and is a plurality of slide bar one-to-one with a plurality of articulated seat articulated be connected, and a plurality of articulated seat is located the hang plate middle part, and is a plurality of fourth spring fixed connection is between shuttle body and hang plate, and is a plurality of the fourth spring all is located a plurality of third spring top.