CN115520557A - Lead screw cam linkage lifting type ultrathin four-way shuttle - Google Patents
Lead screw cam linkage lifting type ultrathin four-way shuttle Download PDFInfo
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- CN115520557A CN115520557A CN202211397777.7A CN202211397777A CN115520557A CN 115520557 A CN115520557 A CN 115520557A CN 202211397777 A CN202211397777 A CN 202211397777A CN 115520557 A CN115520557 A CN 115520557A
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- 238000004891 communication Methods 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
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- 229910001369 Brass Inorganic materials 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000010951 brass Substances 0.000 claims description 3
- 229910002804 graphite Inorganic materials 0.000 claims description 3
- 239000010439 graphite Substances 0.000 claims description 3
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- 230000032683 aging Effects 0.000 abstract description 3
- 238000007599 discharging Methods 0.000 description 7
- 239000003921 oil Substances 0.000 description 6
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- 230000018109 developmental process Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to the technical field of automatic warehouse logistics carrying equipment, in particular to a lead screw cam linkage lifting type ultrathin four-way shuttle vehicle. The reversing jacking mechanism comprises a frame, a reversing jacking mechanism is arranged in the frame, first walking components are arranged on the left side and the right side of the reversing jacking mechanism, the reversing jacking mechanism comprises a reversing jacking driving component arranged at the middle position in the frame, and a driving side reversing jacking transmission component and a driven side reversing jacking transmission component are respectively connected to the front end and the rear end of the reversing jacking driving component. The screw rod cam linkage structure utilizes the cam follower with small volume and large bearing capacity to jack and reverse, greatly reduces the height and size of the whole vehicle and further improves the utilization rate of a warehouse; meanwhile, the pure mechanical structure of the reversing jacking mechanism avoids the oil leakage condition in the hydraulic driving process, and solves the problems of cargo pollution and short oil path aging life of leaked oil.
Description
Technical Field
The invention relates to the technical field of automatic warehouse logistics carrying equipment, in particular to a lead screw cam linkage lifting type ultrathin four-way shuttle vehicle.
Background
In the field of storage logistics, the shuttle car can replace manpower, a forklift and a stacker, and achieves higher dense storage and faster warehouse entry and exit. The comprehensive storage cost is reduced, and various shuttle vehicles of different types are more and more widely applied.
In the market, the tray truck in the intelligent storage widely adopts machinery and hydraulic pressure complex control mode, and motor drive walks, and hydraulic pressure station drive switching-over and jacking.
At present, the technology and the structure of the shuttle vehicle combining mechanical transmission and hydraulic transmission are complex, and the shuttle vehicle is inconvenient to install; in addition, the shuttle vehicle has higher requirements on the quality of hydraulic elements and the design of an oil way, and the service life of the whole shuttle vehicle is still easily shortened due to oil leakage caused by aging of an oil pipe under the condition of better realization of the conditions; most importantly, the shuttle car is difficult to further reduce and optimize in height dimension, which is the key to improving the storage efficiency, due to the restriction of the hydraulic component materials and the hydraulic oil properties under the current technical development.
Disclosure of Invention
This application is directed against the shortcoming among the above-mentioned prior production technology, provides an ultra-thin four-way shuttle of lead screw cam linkage over-and-under type, utilizes small, bear big cam follower and carry out synchronous jacking and switching-over, very big compression whole car height dimension, further improved the utilization ratio in warehouse.
The technical scheme adopted by the invention is as follows:
a lead screw cam linkage lifting type ultrathin four-way shuttle car comprises a car frame, wherein a reversing jacking mechanism is arranged in the car frame, first walking assemblies are arranged on the left side and the right side of the reversing jacking mechanism, each first walking assembly comprises two first driving walking wheels and two first driven walking wheels, and the two first driving walking wheels and the two first driven walking wheels are symmetrically arranged on the left side and the right side of the car frame from front to back;
the reversing jacking mechanism comprises a reversing jacking driving assembly arranged at the middle position in the frame, the front end and the rear end of the reversing jacking driving assembly are respectively connected with a driving side reversing jacking transmission assembly and a driven side reversing jacking transmission assembly, and the driving side reversing jacking transmission assembly and the driven side reversing jacking transmission assembly have the same structure;
the driving side reversing jacking transmission assembly comprises a transmission screw rod, the transmission screw rod is rotatably connected with a plurality of screw rod supports, the plurality of screw rod supports are fixed in the frame, guide rods are arranged in parallel on two sides of the transmission screw rod, two ends of each guide rod are fixed on the corresponding screw rod support, two screw thread sections with opposite screw thread directions are arranged on the transmission screw rod, a nut support is connected to each of the two screw thread sections of the transmission screw rod, and the nut supports are connected to the two guide rods in a sliding manner; the left side and the right side of the nut support are provided with reversing lifting frames, the side walls of the reversing lifting frames are provided with reversing grooves, the left side and the right side of the nut support are rotatably connected with reversing cam followers, the reversing cam followers can slide along the reversing grooves, the lifting of the first walking assembly is realized, and the reversing of the shuttle car is finally realized; two ends of the reversing lifting frame are respectively connected into the two guide sliding blocks and can slide up and down along the two guide sliding blocks, the guide sliding blocks are fixed in the frame, two ends of the reversing lifting frame of the driving side reversing lifting transmission assembly are respectively rotatably connected with first driving travelling wheels, and two ends of the reversing lifting frame of the driven side reversing lifting transmission assembly are respectively rotatably connected with first driven travelling wheels; the jacking guide block is in rolling contact with the two jacking cam followers, and the jacking cam followers realize jacking of the jacking plate through the jacking guide block in the moving process.
Furthermore, the reversing jacking driving assembly comprises a reversing jacking driving motor fixed in the frame, the driving end of the reversing jacking driving motor is connected with a transmission lifting transmission shaft through a third chain wheel transmission assembly, two ends of the lifting transmission shaft are connected with the frame through bearing seats, and two ends of the lifting transmission shaft are respectively connected with the transmission driving side reversing jacking transmission assembly and the driven side reversing jacking transmission assembly through bevel gear transmission assemblies.
Furthermore, the reversing groove comprises a lower straight groove section which is horizontally arranged, one end of the lower straight groove section is connected with one end of a climbing section which is inclined from bottom to top, and the other end of the climbing section is connected with an upper straight groove section which is horizontally arranged.
Furthermore, the lower end of the jacking guide block is horizontally provided with a horizontal jacking end face, and one side of the horizontal jacking end face is obliquely provided with a jacking climbing end face from bottom to top.
Furthermore, the lower end face of the nut support is provided with a guide sliding block, the guide sliding block is fixed in the frame and is made of graphite brass materials, and the nut support has good wear resistance.
Furthermore, a second walking assembly is arranged on the front side and the rear side of the frame, the second walking assembly is rotatably connected to the frame, the walking directions of the second walking assembly and the first walking assembly are mutually perpendicular, a walking driving assembly is arranged in the frame, and the walking driving assembly is connected with and drives the first walking assembly and the second walking assembly to walk synchronously.
Further, the frame includes parallel arrangement's bottom plate, and bottom plate left and right sides symmetry sets up two first curb plates, and bilateral symmetry sets up two second curb plates around the bottom plate, and two first curb plates and bottom plate hookup location department, two second curb plates and bottom plate hookup location department set up a plurality of strengthening rib.
Further, the second walking subassembly includes two second initiative walking wheels and two second driven wheels, the symmetry sets up both sides around the frame around two second initiative walking wheels and two second driven wheels divide, two second initiative walking wheels are connected jointly at walking wheel driving shaft both ends, the walking wheel driving shaft passes through the bearing frame and connects in the frame, two second driven wheels are connected jointly at walking wheel driven shaft both ends, the walking wheel driven shaft passes through the bearing frame and connects in the frame, every second initiative walking wheel and every second driven wheel one side all set up a follow-up walking wheel side by side.
Further, the walking drive assembly comprises a walking drive motor, the driving end of the walking drive motor is connected with a walking wheel driving shaft through a first sprocket transmission assembly, the walking wheel driving shaft is connected into the frame through a bearing seat, a driving transmission sprocket is arranged on the walking wheel driving shaft, a driven transmission sprocket is arranged on a walking wheel driven shaft, the driven transmission sprocket and the driving transmission sprocket are connected and transmitted through a transmission chain, a follow-up sprocket is connected to one side of a wheel shaft of the follow-up walking wheel, the follow-up sprocket is meshed and connected with the transmission chain, the transmission chain can drive the follow-up sprocket to rotate synchronously, two first idle wheels meshed and connected with the transmission chain are arranged on an inner ring of the transmission chain, the two first idle wheels are rotationally connected to the inner side wall of the frame in a front-back mode, two second idle wheels meshed and rotationally connected to the inner side wall of the frame in a front-back mode, a driving bevel gear is arranged on the walking wheel driving shaft and a walking wheel driven shaft, a driven bevel gear meshed and connected with the driving bevel gear is arranged on one side of the driving bevel gear, the driven bevel gear is connected to one end of a transmission shaft, the other end of the transmission shaft is connected with the frame through the bearing seat, and the transmission assembly through a second sprocket.
The shuttle car remote control system further comprises a control device, the control device comprises a controller, a charging and discharging battery, a sensor assembly and a communication antenna, the controller and the charging and discharging battery are fixed in the middle of the inside of the car frame, the communication antenna is arranged on the outer side wall of the car frame and electrically connected with the controller, the communication antenna can realize remote control over the shuttle car, the charging and discharging battery is electrically connected with the reversing jacking driving assembly and the walking driving assembly respectively, the charging and discharging battery can supply power to the reversing jacking driving assembly and the walking driving assembly, the controller is electrically connected with the reversing jacking driving assembly and the walking driving assembly, and the controller can control the reversing jacking driving assembly and the walking driving assembly to work.
The invention has the following beneficial effects:
the screw rod cam linkage structure provided by the invention has the advantages that the cam follower with small volume and large bearing capacity is used for jacking and reversing, the height size of the whole vehicle is greatly reduced, and the utilization rate of a warehouse is further improved; meanwhile, the pure mechanical structure of the reversing jacking mechanism avoids the oil leakage condition in the hydraulic driving process, and solves the problems of cargo pollution caused by oil leakage and short aging service life of an oil way; the walking part and the reversing jacking mechanism are symmetrically arranged on the left side and the right side in the frame, and the walking driving assembly and the reversing jacking driving assembly are arranged in the center position in the frame, so that the gravity center of the shuttle vehicle is more stable during walking and the shuttle vehicle is not easy to overturn due to the layout; the reversing lifting driving motor is arranged to simultaneously control reversing and lifting actions through the driven-side reversing lifting transmission assembly and the driving-side reversing lifting transmission assembly, so that the transmission error is smaller, and the action synchronism is high.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
FIG. 2 is a schematic view of a frame structure according to an embodiment of the present invention.
Fig. 3a is a schematic structural view of a traveling unit and a frame according to an embodiment of the present invention.
Fig. 3b is an enlarged view of a portion a in fig. 3 a.
Fig. 4 is a schematic structural view of a push plate and a frame hidden in the reversing jacking component according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a lifting driving mechanism according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a nut holder assembly according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a reversing mechanism according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a jacking mechanism according to an embodiment of the present invention.
Fig. 9a is a side view of the four-way shuttle of the present invention as it travels on the main track.
Fig. 9b is a half sectional view of the reversing jacking mechanism of the four-way shuttle car of the invention when the four-way shuttle car runs on the main track.
Fig. 10a is a side view of the four-way shuttle of the present invention when the sub-track is traveling and the reversing jacks are in the lowest position.
Fig. 10b is a half sectional view of the reversing jacking mechanism of the four-way shuttle car of the invention when the sub-rail travels and the reversing jacking frame is at the lowest position.
Fig. 11a is a side view of the four-way shuttle of the present invention as it travels on the sub-track and the reverse lift rack is in the uppermost position.
Fig. 11b is a half sectional view of the reversing jacking mechanism of the four-way shuttle car of the invention when the four-way shuttle car travels on the sub-track and the reversing jacking frame is at the highest position.
Wherein: 100. a frame; 101. a base plate; 102. a first side plate; 103. a second side plate; 104. a partition plate; 105. reinforcing ribs; 200. a first travel assembly; 210. a first driving travelling wheel; 220. a first driven road wheel; 300. a second walking assembly; 310. a second driving travelling wheel; 320. a second driven road wheel; 330. a driving shaft of the travelling wheel; 340. a traveling wheel driven shaft; 350. a follow-up traveling wheel; 400. a travel drive assembly; 401. a travel driving motor; 402. a first sprocket drive assembly; 403. a drive chain; 404. a drive transmission sprocket; 405. a driven drive sprocket; 406. a follower sprocket; 407. a first idler pulley; 408. a second idler pulley; 409. a drive bevel gear; 410. a driven bevel gear; 411. a drive shaft; 412. a second sprocket drive assembly; 500. a reversing jacking mechanism; 502. a commutation hoisting drive motor; 503. a third sprocket drive assembly; 504. a lifting transmission shaft; 505. a bevel gear transmission assembly; 506. a transmission screw rod; 507. a nut support; 508. a guide rod; 509. a screw rod support; 510. a guide slider; 511. a reversing hoisting frame; 512. a reversing cam follower; 513. a jacking cam follower; 514. a reversing slot; 515. a guide slider; 516. a jacking plate; 517. jacking a chute plate; 518. jacking a guide block; 518A, horizontally jacking an end face; 518B, jacking up the climbing end face; 610. a controller; 620. charging and discharging the battery; 630. A communication antenna.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the lead screw cam linkage lifting type ultrathin four-way shuttle comprises a frame 100 for bearing various components of the shuttle, a reversing jacking mechanism 500 is arranged in the frame 100, first walking assemblies 200 are arranged on the left side and the right side of the reversing jacking mechanism 500, and the first walking assemblies 200 can be lifted up and down along with the reversing jacking mechanism 500.
As shown in fig. 3a and 3b, the first traveling assembly 200 includes two first driving traveling wheels 210 and two first driven traveling wheels 220, and the two first driving traveling wheels 210 and the two first driven traveling wheels 220 are symmetrically disposed at left and right sides of the frame 100 in front and rear directions.
As shown in fig. 4 and 5, the reversing jacking mechanism 500 includes a reversing jacking driving assembly disposed at the middle position in the frame 100, the front and rear ends of the reversing jacking driving assembly are respectively connected to a driving side reversing jacking transmission assembly and a driven side reversing jacking transmission assembly, the driving side reversing jacking transmission assembly and the driven side reversing jacking transmission assembly have the same structure, the driving side reversing jacking transmission assembly is rotatably connected to the first driving traveling wheels 210, and the driven side reversing jacking transmission assembly is rotatably connected to the first driven traveling wheels 220.
As shown in fig. 5, the reversing jacking driving assembly includes a reversing lifting driving motor 502 fixed in the frame 100, a driving end of the reversing lifting driving motor 502 is connected to a driving lifting transmission shaft 504 through a third sprocket transmission assembly 503, and two ends of the lifting transmission shaft 504 are connected to the frame 100 through bearing seats. Two ends of the lifting transmission shaft 504 are respectively connected with a transmission driving side reversing jacking transmission assembly and a driven side reversing jacking transmission assembly through bevel gear transmission assemblies 505.
As shown in fig. 5, the driving side reversing jacking transmission assembly includes a transmission screw 506, the transmission screw 506 is rotatably connected to a plurality of screw supports 509, and the plurality of screw supports 509 are fixed in the frame 100. Two sides of the transmission screw 506 are provided with guide rods 508 in parallel, and two ends of the guide rods 508 are fixed on a screw rod support 509. Two thread sections with opposite thread turning directions are arranged on the transmission screw rod 506, the two thread sections of the transmission screw rod 506 are both connected with a nut support 507, and the nut support 507 is connected to the two guide rods 508 in a sliding mode. In order to reduce the wear of the nut support 507 during the movement, a guide slide block 510 is arranged on the lower end surface of the nut support 507, and the guide slide block 510 is fixed in the vehicle frame 100. The guide sliding block 510 is made of graphite brass material, has good wear resistance, and can reduce friction coefficient and play a self-lubricating role when the nut support 507 slides forwards and backwards. The nut support 507 is provided with a threaded hole, the nut support 507 is connected with the threaded section of the conveying screw rod 506 through the threaded hole, the left end and the right end of the threaded hole are provided with guide rod through holes parallel to the threaded hole, and the nut support 507 is connected with a guide rod 508 through the guide rod through holes.
As shown in fig. 6, reversing lifting frames 511 are arranged on the left and right sides of the nut support 507, reversing grooves 514 are formed in the side walls of the reversing lifting frames 511, the left and right sides of the nut support 507 are rotatably connected with reversing cam followers 512, and the reversing cam followers 512 can slide along the reversing grooves 514 to lift the first traveling assembly 200 and finally reverse the shuttle.
As shown in fig. 7, the reversing lifting frame 511 has two ends respectively connected to the two guiding sliders 515, and can slide up and down along the two guiding sliders 515, and the guiding sliders 515 are fixed in the vehicle frame 100. Two ends of a reversing lifting frame 511 of the driving side reversing jacking transmission assembly are respectively and rotatably connected with a first driving travelling wheel 210, and two ends of a reversing lifting frame 511 of the driven side reversing jacking transmission assembly are respectively and rotatably connected with a first driven travelling wheel 220.
As shown in fig. 9B, the reversing slot 514 includes a lower straight slot section 514A disposed horizontally, one end of the lower straight slot section 514A is connected to one end of a climbing section 514B disposed obliquely from bottom to top, the other end of the climbing section 514B is connected to an upper straight slot section 514C disposed horizontally, when the reversing cam follower 512 is located in the lower straight slot section 514A, the reversing lifting frame 511 is located at the highest position, when the reversing cam follower 512 moves in the climbing section 514B, the reversing lifting frame 511 descends gradually from the highest position, when the reversing cam follower 512 enters the upper straight slot section 514C, the reversing lifting frame 511 is located at the lowest position, and the change of the position of the reversing lifting frame 511 drives the change of the height position of the first traveling assembly 200.
As shown in fig. 8, a lifting plate 516 is disposed above the nut support 507, a lifting chute plate 517 is disposed at the front and rear ends of the lifting plate 516, and the lifting chute plate 517 is connected to the screw support 509 and can slide up and down along the screw support 509. Jacking guide blocks 518 are arranged at the end surfaces of the jacking plates 516 facing the nut supports 507, the upper end surfaces of the nut supports 507 are rotatably connected with two jacking cam followers 513, the jacking guide blocks 518 are in rolling contact with the two jacking cam followers 513, and the jacking cam followers 513 realize jacking of the jacking plates 516 through the jacking guide blocks 518 in the moving process.
As shown in fig. 9B, a horizontal jacking end surface 518A is horizontally arranged at the lower end of the jacking guide block 518, a jacking climbing end surface 518B is obliquely arranged on one side of the horizontal jacking end surface 518A from bottom to top, and the height position of the jacking plate 516 is not changed when the jacking cam follower 513 rolls along the horizontal jacking end surface 518A. When the jacking cam follower 513 rolls along the jacking climbing end face 518B, the jacking plate 516 changes from the low position to the high position, and jacking is achieved.
The reversing structure of the reversing jacking mechanism 500 adopts the matching of the reversing cam follower 512 and the reversing groove 514 to realize reversing action, the jacking structure adopts the matching of the jacking cam follower 513 and the jacking guide block 518 to realize jacking, the reversing and the jacking are synchronously carried out, the transmission error is smaller, and the action synchronism is high. Meanwhile, the reversing and jacking matched part is more compact in size, the occupied height space is smaller, and the size and the height of the whole vehicle are reduced. The driving side reversing jacking transmission assembly and the driven side reversing jacking transmission assembly of the reversing jacking mechanism 500 are symmetrically arranged to concentrate the gravity center at the center of the frame 100, so that the vehicle is not easy to overturn in the running process, and the test and fault troubleshooting of the whole vehicle are facilitated.
As shown in fig. 2, the vehicle frame 100 includes a bottom plate 101 disposed in parallel, two first side plates 102 disposed symmetrically on left and right sides of the bottom plate 101, and two second side plates 103 disposed symmetrically on front and rear sides of the bottom plate 101. A plurality of reinforcing ribs 105 are arranged at the connecting positions of the two first side plates 102 and the bottom plate 101 and at the connecting positions of the two second side plates 103 and the bottom plate 101, and the structural strength of the connecting positions is improved through the reinforcing ribs 105. The bottom plate 101 is divided into left and right symmetrically arranged partition plates 104, and the partition plates 104 separate a walking driving component and a reversing jacking driving component arranged in the middle of the frame 100 from reversing jacking transmission components arranged on the left and right sides.
As shown in fig. 1, second walking members 300 are disposed at front and rear sides of the vehicle frame 100, and the second walking members 300 are rotatably connected to the vehicle frame 100. The walking directions of the second walking assembly 300 and the first walking assembly 200 are perpendicular to each other. The walking driving assembly 400 is arranged in the frame 100, and the walking driving assembly 400 is connected with and drives the first walking assembly 200 and the second walking assembly 300 to walk synchronously.
As shown in fig. 3a and 3b, the second traveling assembly 300 includes two second driving traveling wheels 310 and two second driven traveling wheels 320, and the two second driving traveling wheels 310 and the two second driven traveling wheels 320 are symmetrically disposed at front and rear sides of the frame 100. The two second active road wheels 310 are commonly connected to two ends of a road wheel driving shaft 330, and the road wheel driving shaft 330 is connected to the frame 100 through a bearing seat. The two second driven road wheels 320 are connected to two ends of a road wheel driven shaft 340 together, and the road wheel driven shaft 340 is connected in the frame 100 through a bearing seat. One follower road wheel 350 is arranged on one side of each second driving road wheel 310 and one side of each second driven road wheel 320.
As shown in fig. 3a and 3b, the walking drive assembly 400 includes a walking drive motor 401, a driving end of the walking drive motor 401 is connected to a walking axle shaft 330 through a first sprocket assembly 402, and the walking axle shaft 330 is connected to the inside of the frame 100 through a bearing seat. The driving transmission chain wheel 404 is arranged on the travelling wheel driving shaft 330, the driven transmission chain wheel 405 is arranged on the travelling wheel driven shaft 340, the driven transmission chain wheel 405 and the driving transmission chain wheel 404 are connected and transmitted through the transmission chain 403, the follow-up chain wheel 406 is connected to one side of the wheel shaft of the follow-up travelling wheel 350, the follow-up chain wheel 406 is meshed and connected with the transmission chain 403, and the transmission chain 403 can drive the follow-up chain wheel 406 to synchronously rotate. Two first idle wheels 407 meshed with the transmission chain 403 are arranged at the inner ring of the transmission chain 403, and the two first idle wheels 407 are connected to the inner side wall of the rack 100 in a front-back rotating manner. Two second idle wheels 408 meshed with the transmission chain 403 are arranged on the outer ring of the transmission chain 403, and the two second idle wheels 408 are connected to the inner side wall of the rack 100 in a front-back rotating mode.
As shown in fig. 3a and 3b, a driving bevel gear 409 is arranged on the road wheel driving shaft 330 and the road wheel driven shaft 340, a driven bevel gear 410 engaged with the driving bevel gear 409 is arranged on one side of the driving bevel gear 409, the driven bevel gear 410 is connected to one end of a transmission shaft 411, and the other end of the transmission shaft 411 is connected to the frame 100 through a bearing seat. The transmission shaft 411 is connected to the first road wheel 210 through a second sprocket assembly 412.
As shown in fig. 1, the lead screw cam linkage lifting type ultrathin four-way shuttle vehicle further comprises a control device, the control device comprises a controller 610, a charging and discharging battery 620 and a communication antenna 630, the controller 610 and the charging and discharging battery 620 are fixed in the middle of the inside of the vehicle frame 100, the communication antenna 630 is arranged on the outer side wall of the vehicle frame 100, the communication antenna 630 is electrically connected with the controller 610, and the communication antenna 630 can realize remote control over the shuttle vehicle. The charge-discharge battery 620 is electrically connected with the reversing jacking driving assembly and the walking driving assembly 400 respectively, the charge-discharge battery 620 can supply power to the reversing jacking driving assembly and the walking driving assembly 400, the controller 610 is electrically connected with the reversing jacking driving assembly and the walking driving assembly 400, and the controller 610 can control the reversing jacking driving assembly and the walking driving assembly 400 to work.
The control device can control the shuttle vehicle to make various actions, provide the power of the whole vehicle and communicate with the storage management system of the upper computer. Specifically, when the control device receives commands of different rail traveling, the traveling driving motor 401 is started to drive the first traveling assembly 200 and the second traveling assembly 300 to synchronously rotate through the transmission structure, the traveling wheels of the first traveling assembly 200 and the second traveling assembly 300 are not in contact with the corresponding rails, when one set of wheels is in contact with the corresponding rails and rotates, the other set of wheels is suspended and rotates on the corresponding rails, and then the four-way shuttle vehicle is guided to travel along the main rail/sub-rail in contact with the wheels. The shuttle vehicle mainly carries pallet goods, has large load, and has certain requirements on the thickness of the bottom plate 101 of the frame 100 in order to ensure the rigidity of the frame and reduce the vibration of the motor in the transfer process.
Several use states of the invention: as shown in fig. 9a and 9b, two nut supports 507 on the transmission screw 506 are farthest away from each other, the nut supports 507 are located at the outermost ends of the transmission screw 506, the traveling wheel of the first traveling assembly 200 is located at the lowest position relative to the traveling wheel of the second traveling assembly 300, the traveling wheel of the first traveling assembly 200 is in contact with the main rail, and the traveling wheel of the second traveling assembly 300 is suspended on the sub-rail. The jacking plates 516 are in a jacking state.
As shown in fig. 10a and 10b, two nut supports 507 on the transmission screw 506 are relatively closest, the nut supports 507 are located at the innermost end of the transmission screw 506, the travelling wheel of the first travelling assembly 200 is located at the highest position relative to the travelling wheel of the second travelling assembly 300, the travelling wheel of the second travelling assembly 300 is in contact with the sub-track, the travelling wheel of the first travelling assembly 200 is suspended in the main track, and the lifting plate 516 is in a landing state.
As shown in fig. 11a and 11b, when the nut support 507 is located at the middle position of the transmission screw 506, the traveling wheel of the first traveling assembly 200 is located at the highest position relative to the traveling wheel of the second traveling assembly 300, the traveling wheel of the second traveling assembly 300 contacts with the sub-rail, the traveling wheel of the first traveling assembly 200 is suspended in the main rail, and the lifting plate 516 is in the lifting state.
The working principle of the invention is as follows: when the shuttle car works, the control device sends out a warehouse-out command. The shuttle without goods first walks on the main track, and the whole vehicle is in the state of fig. 9 a. After reaching the reversing point, the controller 610 of the control device sends a reversing command, the nut support 507 moves to the innermost position along the transmission screw 506 transversely, and the whole vehicle is in the state of fig. 10. The shuttle vehicle is reversed to the sub-track and then continues to travel, after the target tray position is reached, the controller 610 issues a tray jacking command, the nut support 507 transversely moves to the middle position along the transmission screw rod 506, and the whole vehicle is in the state shown in fig. 11. The same principle applies for the shuttle to return from the goods position to the starting position.
The above description is intended to be illustrative, and not restrictive, the scope of the invention being indicated by the claims, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. The utility model provides an ultra-thin four-way shuttle of lead screw cam linkage over-and-under type, includes frame (100), its characterized in that: a reversing jacking mechanism (500) is arranged in the frame (100), first walking components (200) are arranged on the left side and the right side of the reversing jacking mechanism (500), each first walking component (200) comprises two first driving walking wheels (210) and two first driven walking wheels (220), and the two first driving walking wheels (210) and the two first driven walking wheels (220) are symmetrically arranged on the left side and the right side of the frame (100) in front and back;
the reversing jacking mechanism (500) comprises a reversing jacking driving assembly arranged in the middle of the frame (100), the front end and the rear end of the reversing jacking driving assembly are respectively connected with a driving side reversing jacking transmission assembly and a driven side reversing jacking transmission assembly, and the driving side reversing jacking transmission assembly and the driven side reversing jacking transmission assembly are identical in structure;
the driving side reversing jacking transmission assembly comprises a transmission screw rod (506), the transmission screw rod (506) is rotatably connected with a plurality of screw rod supports (509), the screw rod supports (509) are fixed in the frame (100), guide rods (508) are arranged on two sides of the transmission screw rod (506) in parallel, two ends of each guide rod (508) are fixed on the corresponding screw rod support (509), two thread sections with opposite thread turning directions are arranged on the transmission screw rod (506), two thread sections of the transmission screw rod (506) are connected with a nut support (507), and the nut supports (507) are slidably connected to the two guide rods (508); the left side and the right side of the nut support (507) are provided with reversing lifting frames (511), the side walls of the reversing lifting frames (511) are provided with reversing grooves (514), the left side and the right side of the nut support (507) are rotatably connected with reversing cam followers (512), the reversing cam followers (512) can slide along the reversing grooves (514), the lifting of the first walking component (200) is realized, and the reversing of the shuttle car is finally realized; two ends of the reversing lifting frame (511) are respectively connected into the two guide sliding blocks (515) and can slide up and down along the two guide sliding blocks (515), the guide sliding blocks (515) are fixed in the vehicle frame (100), two ends of the reversing lifting frame (511) of the driving side reversing jacking transmission assembly are respectively rotatably connected with the first driving travelling wheel (210), and two ends of the reversing lifting frame (511) of the driven side reversing jacking transmission assembly are respectively rotatably connected with the first driven travelling wheel (220); nut support (507) top sets up jacking board (516), jacking sliding tray board (517) are set up to jacking board (516) front and back end, jacking sliding tray board (517) are connected on screw support (509) and can slide from top to bottom along screw support (509), jacking board (516) set up jacking guide block (518) towards nut support (507) terminal surface position, nut support (507) up end rotates and connects two jacking cam follower (513), jacking guide block (518) and two jacking cam follower (513) rolling contact, jacking cam follower (513) realize the jacking to jacking board (516) through jacking guide block (518) in the removal process.
2. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 1, characterized in that: the reversing jacking driving assembly comprises a reversing jacking driving motor (502) fixed in the frame (100), the driving end of the reversing jacking driving motor (502) is connected with a transmission lifting transmission shaft (504) through a third chain wheel transmission assembly (503), two ends of the lifting transmission shaft (504) are connected with the frame (100) through bearing seats, and two ends of the lifting transmission shaft (504) are respectively connected with a transmission driving side reversing jacking transmission assembly and a driven side reversing jacking transmission assembly through bevel gear transmission assemblies (505).
3. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 1, characterized in that: the switching-over groove (514) is including lower straight flute profile (514A) that the level set up, and climbing section (514B) one end that slope set up from bottom to top is connected to lower straight flute profile (514A) one end, and last straight flute profile (514C) that the level set up is connected to climbing section (514B) other end.
4. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 3, characterized in that: jacking guide block (518) lower extreme level sets up horizontal jacking terminal surface (518A), and horizontal jacking terminal surface (518A) one side from lower up slope sets up jacking climbing terminal surface (518B).
5. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 4, characterized in that: the lower end face of the nut support (507) is provided with a guide sliding block (510), the guide sliding block (510) is fixed in the frame (100), and the guide sliding block (510) is made of graphite brass materials and has good wear resistance.
6. The ultra-thin four-way shuttle of any one of claims 1~5 having a lead screw cam linked elevation and drop feature, wherein: the front side and the rear side of the frame (100) are provided with second walking components (300), the second walking components (300) are rotatably connected onto the frame (100), the walking directions of the second walking components (300) and the first walking components (200) are mutually perpendicular, walking driving components (400) are arranged in the frame (100), and the walking driving components (400) are connected and drive the first walking components (200) and the second walking components (300) to walk synchronously.
7. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 6, characterized in that: the frame (100) comprises a bottom plate (101) arranged in parallel, two first side plates (102) are symmetrically arranged on the left side and the right side of the bottom plate (101), two second side plates (103) are symmetrically arranged on the front side and the rear side of the bottom plate (101), and a plurality of reinforcing ribs (105) are arranged at the connecting positions of the two first side plates (102) and the bottom plate (101) and at the connecting positions of the two second side plates (103) and the bottom plate (101).
8. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 6, characterized in that: the second walking assembly (300) comprises two second active walking wheels (310) and two second driven walking wheels (320), the two second active walking wheels (310) and the two second driven walking wheels (320) are symmetrically arranged on the front side and the rear side of the frame (100) in a front-rear mode, the two second active walking wheels (310) are connected to the two ends of the active walking wheel (330) together, the active walking wheel (330) is connected to the frame (100) through a bearing seat, the two second driven walking wheels (320) are connected to the two ends of the driven walking wheel (340) together, the driven walking wheel (340) is connected to the frame (100) through a bearing seat, and one side of each second active walking wheel (310) and one side of each second driven walking wheel (320) are provided with one follow-up walking wheel (350) side by side.
9. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 8, characterized in that: the walking drive assembly (400) comprises a walking drive motor (401), the driving end of the walking drive motor (401) is connected with a walking wheel driving shaft (330) through a first chain wheel transmission assembly (402), the walking wheel driving shaft (330) is connected in the rack (100) through a bearing seat, a driving transmission chain wheel (404) is arranged on the walking wheel driving shaft (330), a driven transmission chain wheel (405) is arranged on the walking wheel driven shaft (340), the driven transmission chain wheel (405) and the driving transmission chain wheel (404) are connected for transmission through a transmission chain (403), a follow-up chain wheel (406) is connected to one side of a wheel shaft of the follow-up walking wheel (350), the follow-up chain wheel (406) is meshed with the transmission chain (403) and can drive the follow-up chain wheel (406) to synchronously rotate, two first idle wheels (407) meshed with the transmission chain (403) are arranged on the inner ring of the transmission chain (403), the two first idle wheels (407) are rotationally connected to the inner side wall of the rack (100) in a front-back mode, the transmission chain (403) is provided with two second idle wheels (408) meshed with the transmission chain (403), the outer ring of the walking wheel (408) and the walking wheel (340), the outer ring of the transmission chain (340) is arranged on the outer ring of the transmission chain (340), one side of the driving bevel gear (409) is provided with a driven bevel gear (410) which is meshed and connected with the driving bevel gear (409), the driven bevel gear (410) is connected to one end of a transmission shaft (411), the other end of the transmission shaft (411) is connected with the rack (100) through a bearing seat, and the transmission shaft (411) is connected with the first driving travelling wheel (210) through a second chain wheel transmission assembly (412).
10. The lead screw cam linkage lifting type ultrathin four-way shuttle vehicle as claimed in claim 1, characterized in that: still include controlling means, controlling means includes controller (610), charge-discharge battery (620) and communication antenna (630), middle part in frame (100) is fixed in controller (610) and charge-discharge battery (620), communication antenna (630) set up at frame (100) lateral wall, communication antenna (630) and controller (610) electricity are connected, communication antenna (630) can realize the remote control to the shuttle car, charge-discharge battery (620) electricity respectively connects switching-over jacking drive assembly and walking drive assembly (400), charge-discharge battery (620) can be to switching-over jacking drive assembly and walking drive assembly (400) power supply, controller (610) and switching-over jacking drive assembly and walking drive assembly (400) electricity are connected, controller (610) can control switching-over jacking drive assembly and walking drive assembly (400) and carry out work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211397777.7A CN115520557A (en) | 2022-11-09 | 2022-11-09 | Lead screw cam linkage lifting type ultrathin four-way shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211397777.7A CN115520557A (en) | 2022-11-09 | 2022-11-09 | Lead screw cam linkage lifting type ultrathin four-way shuttle |
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| CN115520557A true CN115520557A (en) | 2022-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211397777.7A Pending CN115520557A (en) | 2022-11-09 | 2022-11-09 | Lead screw cam linkage lifting type ultrathin four-way shuttle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117508980A (en) * | 2024-01-02 | 2024-02-06 | 广东赛斐迩物流科技有限公司 | Self-locking mechanical lifting four-way vehicle |
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| EP3114050A1 (en) * | 2014-03-03 | 2017-01-11 | SSI Schäfer AG | Shuttle vehicle, rack storage warehouse having a shuttle vehicle, and method for controlling a shuttle vehicle |
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