CN211997298U

CN211997298U - Four-way shuttle

Info

Publication number: CN211997298U
Application number: CN201922407029.2U
Authority: CN
Inventors: 吕自贵; 徐玉海; 张书文; 巢鹏; 骆敏舟
Original assignee: Institute of Intelligent Manufacturing Technology JITRI
Current assignee: Chuzhou Jicui Robot Technology Co ltd
Priority date: 2019-12-28
Filing date: 2019-12-28
Publication date: 2020-11-24
Anticipated expiration: 2029-12-28

Abstract

The utility model relates to the field of shuttle design, in particular to a four-way shuttle, wherein, four left and right traveling wheels are fixed on an upper frame, four front and back traveling wheels are fixed on a lower frame, a traveling driving motor simultaneously drives the four left and right traveling wheels and the four front and back traveling wheels to rotate, a jacking mechanism is fixed on the upper frame, the jacking mechanism comprises four and two of the four traveling wheels are arranged on the left side of the upper frame, the other two traveling wheels are arranged on the right side of the upper frame, the jacking mechanism comprises a first rotating shaft, a cam and a disc, the cam and the disc are sleeved and fixed on the first rotating shaft, two rotating wheels are fixed on the lower plate surface of a top plate, the cam pushes the rotating wheels to further push the top plate to move up and down when rotating along the first rotating shaft, an arc-shaped hole is arranged in the disc surface of the disc, a connecting rod is, the disc drives the lower frame to move up and down when rotating along with the first rotating shaft, the whole structure is simple, and the internal space is saved.

Description

Four-way shuttle

Technical Field

The utility model relates to a shuttle design field especially relates to a quadriversal shuttle.

Background

With the more mature technology of the automatic stereoscopic warehouse, large, medium and small enterprises start to transform the automatic stereoscopic warehouse, the current stereoscopic warehouse entering and exiting modes are various and comprise a stacker, a shuttle vehicle, a primary and secondary vehicle, a four-way shuttle vehicle and other various storage modes, wherein each entering and exiting mode has advantages and disadvantages, so that different stereoscopic warehouses adopt reasonable entering and exiting modes, and the improvement of entering and exiting efficiency and the reduction of cost are greatly influenced. The four-way shuttle can walk along the rails arranged on the goods shelf, under the condition that reversing is needed, the moving wheels in one direction are lifted, and the wheels in the other direction are in contact with the rails and walk along the rails, so that the reversing walking function is realized. The top of the four-way shuttle car is provided with a jacking mechanism which can jack up the tray or the material box to carry to other goods positions on the goods shelf or to be delivered out of the warehouse.

The existing four-way shuttle vehicle is complex in structure, large in vehicle body size and occupied space, a hydraulic cylinder is arranged in the vehicle, the hydraulic cylinder needs a special oil pump for supplying oil, the condition of hydraulic oil leakage is easily caused due to long-time oil pipe aging, and inconvenience is brought to use.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defect that above-mentioned prior art exists, providing a quadriversal shuttle, simple structure saves the inner space, can enough satisfy the function of quadriversal car switching-over, can realize the jack-up goods again.

The utility model provides a technical scheme that its technical problem adopted is: a four-way shuttle car comprises an upper frame, a lower frame, a walking driving motor and a jacking driving motor, wherein four left and right walking wheels are fixed on the upper frame, four front and rear walking wheels are fixed on the lower frame, the walking driving motor simultaneously drives the four left and right walking wheels and the four front and rear walking wheels to rotate, the walking driving motor is fixed on the lower frame, the jacking driving motor is fixed on the upper frame, a jacking mechanism is fixed on the upper frame, the jacking mechanism comprises four jacking mechanisms, two of the four jacking mechanisms are arranged on the left side of the upper frame, the other two jacking mechanisms are arranged on the right side of the upper frame, the jacking mechanism comprises a first rotating shaft, a cam and a disc, two ends of the first rotating shaft are fixed on the upper frame through bearings, the jacking driving motor drives the first rotating shafts of all the jacking mechanisms to rotate simultaneously, the cam and the disc are sleeved and fixed on the first rotating shaft, two rotating wheels capable of rotating freely are fixed on the lower plate surface of the top plate, a cam is arranged below each rotating wheel, the wheel surfaces of the cam and the cam are attached to each other, two first guide shafts are vertically fixed on the lower plate surface of each top plate, the first guide shafts are arranged in limiting holes of the first guide seats, the first guide seats are fixed on the upper frame, the cam pushes the rotating wheels to further push the top plate to move up and down when rotating along with the first rotating shafts, arc-shaped holes are formed in the disc surface of the disc along the circumferential direction of the disc surface, connecting rods are freely inserted in the arc-shaped holes, two ends of each connecting rod are fixedly connected with the lower frame through plate bodies respectively, the disc drives the lower frame to move up and down when rotating along with the first rotating shafts, when the shuttle vehicle is in an inoperative state, four front and rear traveling wheels.

Furthermore, the bottom of first guiding axle sets up the backup pad, and the spring is established to the cover on the first guiding axle, and the upper end of spring is supported and is leaned on first guide holder, and the lower extreme of spring supports and leans on in the backup pad.

Further, go up the frame and be the quadrangle grillage form that the level was arranged, lower frame is the open-ended four sides box in top, goes up the sunken space of dodging that forms upwards in the bottom center about the frame and supplies frame down to reciprocate, and the left surface of lower frame and the left surface of last frame are on the coplanar, and the right flank of lower frame and the right flank of last frame are on the coplanar.

Preferably, go up the frame and include interior quadrangle grillage and outer quadrangle grillage, outer quadrangle grillage parallel spacing cover is established and is connected through vertical fixation board between the outside of interior quadrangle grillage and the two, walking wheel equipartition is arranged between interior quadrangle grillage and outer quadrangle grillage about four, wherein walk the front side of interior quadrangle grillage about two, walking wheel is arranged at the rear side of interior quadrangle grillage about two in addition, four climbing mechanism equipartitions are arranged between interior quadrangle grillage and outer quadrangle grillage, wherein the left side of interior quadrangle grillage is arranged to two climbing mechanisms, the right side of interior quadrangle grillage is arranged to two other climbing mechanisms, the both ends of first rotation axis are respectively through bearing vertical fixation on interior quadrangle grillage and outer quadrangle grillage.

Furthermore, the top plate is strip-shaped, and the length direction of the strip-shaped top plate is along the front-back direction of the upper frame.

Preferably, the walking driving motor is fixed on the box inside bottom surface of frame down, fixed first sprocket respectively on the preceding curb plate of interior quadrangle grillage and the posterior lateral plate, two first sprockets respectively with two about walking wheel one-to-ones on right side and realize the transmission through the chain, walking driving motor's output shaft passes through the commutator and connects two universal couplings and drive two first sprockets respectively and rotate, walking wheel constitutes the action wheel and connects the transmission shaft between the two around walking wheel and the relative one on right side around one of them left, walking driving motor's output shaft passes through chain drive and drives the transmission shaft rotation.

Preferably, the mounting panel is put to the overlap between two relative curb plates of interior quadrangle grillage, and jacking driving motor fixes the lower face at the mounting panel, through bearing fixed rotating shaft between the curb plate about outer quadrangle grillage, and jacking driving motor passes through chain drive and drives the pivot rotatory, and the both ends of pivot are respectively through the first axis of rotation among the chain drive four climbing mechanisms.

Furthermore, a lithium battery and a servo driver are placed on the bottom surface inside the box of the upper frame, and a display screen and an air switch are fixed on the front side surface of the upper frame.

Furthermore, two guide wheels are respectively fixed on the left side surface and the side surface of the upper frame, and the center lines of the guide wheels are vertically arranged.

Has the advantages that: when the shuttle car works, the shuttle car is placed on a set track, the walking driving motor is started, the four left and right walking wheels and the four front and rear walking wheels rotate simultaneously, the four front and rear walking wheels touch the ground, the four left and right walking wheels do not touch the ground, the shuttle car starts to walk forwards, when reversing is needed, the jacking driving motor is started to drive the first rotating shaft in the jacking mechanism to rotate, one end of the arc-shaped hole in the disc can hook the connecting rod, so that the lower frame is pulled upwards, then four front and rear travelling wheels on the lower frame are far away from the ground, four left and right travelling wheels of the upper frame are grounded, the whole shuttle car travels left and right to realize reversing, then the jacking driving motor operates reversely to replace the four front and rear travelling wheels of the lower frame to the ground again, the shuttle car continues to move front and back to the position below a goods level, the cam of the jacking mechanism pushes the top plates to move upwards, and the goods are placed on the two top plates. The structure of whole shuttle is comparatively simple, takes away all wheel rotations through a walking driving motor, drives the operation of first axis of rotation among all climbing mechanism through a jacking driving motor, saves the inner space, can enough satisfy the function of quadriversal car switching-over, can realize jack-up goods again.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a view of the present invention with a top plate removed;

fig. 3-4 are partial structural views of the present invention.

Detailed Description

The invention will be further described with reference to fig. 1-4.

A four-way shuttle car comprises an upper frame 10, a lower frame 20, a walking driving motor 30 and a jacking driving motor 40, wherein four left and right walking wheels 50 are fixed on the upper frame 10, four front and rear walking wheels 60 are fixed on the lower frame 20, the walking driving motor 30 simultaneously drives the four left and right walking wheels 50 and the four front and rear walking wheels 60 to rotate, the walking driving motor 30 is fixed on the lower frame 20, the jacking driving motor 40 is fixed on the upper frame 10, a jacking mechanism 70 is fixed on the upper frame 10, the jacking mechanism 70 comprises four walking wheels and two walking wheels are arranged on the left side of the upper frame 10, the other two walking wheels are arranged on the right side of the upper frame 10, the jacking mechanism 70 comprises a first rotating shaft 71, a cam 72 and a disc 73, two ends of the first rotating shaft 71 are fixed on the upper frame 10 through bearings, the jacking driving motor 40 drives the first rotating shafts 71 in all the jacking mechanisms 70 to simultaneously rotate, the cam 72 and the disc 73 are sleeved, a horizontal top plate 80 is arranged above the two jacking mechanisms 70 positioned at the same side, two rotating wheels 90 capable of rotating freely are fixed on the lower plate surface of each top plate 80, a cam 72 is corresponding to the lower part of each rotating wheel 90, the wheel surfaces of the two rotating wheels are attached, two first guide shafts 100 are vertically fixed on the lower plate surface of each top plate 80, the first guide shafts 100 are inserted into limiting holes of the first guide seats 110, the first guide seats 110 are fixed on the upper frame 10, the cam 72 pushes the rotating wheels 90 to push the top plates 80 to move up and down when rotating along with the first rotating shaft 71, an arc-shaped hole 731 is formed in the plate surface of the disc 73 along the circumferential direction of the plate surface, a connecting rod 121 is freely inserted into the arc-shaped hole 731, two ends of the connecting rod 121 are respectively and fixedly connected with the lower frame 20 through a plate body 122, the disc 73 drives the lower frame 20 to move up and down when rotating along with the first rotating shaft 71, when the shuttle vehicle, the four left and right road wheels 50 do not land.

When the shuttle vehicle works, the shuttle vehicle is placed on a set track, the walking driving motor 30 is started, the four left and right walking wheels 50 and the four front and rear walking wheels 60 rotate simultaneously, the four front and rear walking wheels 60 land, the four left and right walking wheels 50 do not land, the shuttle vehicle starts to walk forwards, when reversing is needed, the jacking driving motor 40 is started to drive the first rotating shaft 71 in the jacking mechanism 70 to rotate, one end of the arc-shaped hole 731 in the disc 73 can hook up the connecting rod 121 so as to pull up the lower frame 20, then the four front and rear walking wheels 60 on the lower frame 20 are far away from the ground, the four left and right walking wheels 50 of the upper frame 10 land, the whole shuttle vehicle walks leftwards and rightwards to realize reversing, then the jacking driving motor 40 runs reversely to put the four front and rear walking wheels 60 of the lower frame 20 back to the ground again, the shuttle vehicle continues to move forwards and backwards to the position, the cam 72 of the jacking mechanism, the goods are placed on the two top plates 80. The whole shuttle vehicle is simple in structure, all wheels are taken away to rotate through one walking driving motor 30, all first rotating shafts 71 in the jacking mechanisms 70 are driven to rotate through one jacking driving motor 40, the internal space is saved, the reversing function of a four-way vehicle can be met, and goods can be jacked up.

Further, a support plate is disposed at the bottom end of the first guide shaft 100, a spring 130 is sleeved on the first guide shaft 100, the upper end of the spring 130 abuts against the first guide seat 110, and the lower end of the spring 130 abuts against the support plate. The elastic force of the spring 130 supports the top plate 80, reduces the pressure and can assist the lifting of the top plate 80.

Further, go up the frame 10 and be the quadrangle grillage form of horizontal arrangement, lower frame 20 is the open-ended four sides box in top, goes up the sunken space that forms upwards of left and right sides bottom center of frame 10 and supplies lower frame 20 to reciprocate, and the left surface of lower frame 20 and the left surface of last frame 10 are on the coplanar, and the right flank of lower frame 20 and the right surface of last frame 10 are on the coplanar for the frame of going up frame 10 can be spacing to the rising of lower frame 20.

Preferably, the upper frame 10 comprises an inner quadrangular plate frame 11 and an outer quadrangular plate frame 12, the outer quadrangular plate frame 12 is sleeved outside the inner quadrangular plate frame 11 in a parallel interval manner and is connected with the inner quadrangular plate frame 11 through a vertical fixing plate 13, the four left and right travelling wheels 50 are uniformly arranged between the inner quadrangular plate frame 11 and the outer quadrangular plate frame 12, wherein two left and right traveling wheels 50 are arranged at the front side of the inner quadrangular plate frame 11, the other two left and right traveling wheels 50 are arranged at the rear side of the inner quadrangular plate frame 11, four jacking mechanisms 70 are all arranged between the inner quadrangular plate frame 11 and the outer quadrangular plate frame 12, two of the jacking mechanisms 70 are arranged on the left side of the inner quadrangular plate frame 11, the other two jacking mechanisms 70 are arranged on the right side of the inner quadrangular plate frame 11, and two ends of a first rotating shaft 71 in the jacking mechanisms 70 are vertically fixed on the inner quadrangular plate frame 11 and the outer quadrangular plate frame 12 through bearings respectively.

Further, the top plate 80 has a strip shape and a plate length direction along the front-rear direction of the upper frame 10.

Preferably, the travel driving motor 30 is fixed on the bottom surface of the box inside of the lower frame 20, the first chain wheel 141 is fixed on the front side plate and the rear side plate of the inner quadrangular plate frame 11 respectively, the two first chain wheels 141 respectively and the two left and right traveling wheels 50 on the right side are in one-to-one correspondence and realize transmission through chains, the output shaft of the travel driving motor 30 is connected with two universal couplings 143 through a commutator 142 and the two universal couplings 143 drive the two first chain wheels 141 to rotate respectively, the left one of the front and rear traveling wheels 60 and the one of the front and rear traveling wheels 60 on the opposite right side form a driving wheel and a transmission shaft 144 is connected between the driving wheel and the driving wheel, and the output shaft of the travel driving motor. By using the universal coupling 143, the power transmission of the travel driving motor 30 is not affected when the lower frame 20 drives the travel driving motor 30 to move up and down. In the drawings, all the chains are omitted from the drawings for clarity of showing the positions and structures of the respective components.

Preferably, set up mounting panel 150 between two relative curb plates of interior quadrangle grillage 11, jacking driving motor 40 fixes the lower face at mounting panel 150, through bearing fixed rotating shaft 160 between the curb plate about outer quadrangle grillage 12, jacking driving motor 40 drives the pivot 160 rotation through chain drive, and the both ends of pivot 160 drive first axis of rotation 71 among four climbing mechanism 70 through chain drive respectively and rotate.

Further, a lithium battery 171 and a servo driver 172 are placed on the inner bottom surface of the case of the upper frame 10, and a display screen 173 and an air switch 174 are fixed on the front side surface of the upper frame 10. The lithium battery 171 supplies power to all electric equipment in the shuttle car, the servo driver 172 drives the walking driving motor 30 and the jacking driving motor 40 to start or stop, the display screen 173 displays information such as electric quantity and vehicle state, and the air switch 174 controls the on-off of the circuit and plays a role in protection.

Further, two guide wheels 180 are respectively fixed on the left side surface and the side surface of the upper frame 10, and the center lines of the guide wheels 180 are vertically arranged. The shuttle car walks along the track, and in the walking process, the guide wheels 180 move in a limiting manner along the limiting walls on the two sides of the track.

It should be understood that the above description of the specific embodiments is only for the purpose of explanation and not for the purpose of limitation. Obvious changes or variations caused by the spirit of the present invention are within the scope of the present invention.

Claims

1. A four-way shuttle is characterized in that: comprises an upper frame (10), a lower frame (20), a walking driving motor (30) and a jacking driving motor (40), wherein four left and right walking wheels (50) are fixed on the upper frame (10), four front and rear walking wheels (60) are fixed on the lower frame (20), the walking driving motor (30) drives the four left and right walking wheels (50) and the four front and rear walking wheels (60) to rotate simultaneously, the walking driving motor (30) is fixed on the lower frame (20), the jacking driving motor (40) is fixed on the upper frame (10), a jacking mechanism (70) is fixed on the upper frame (10), the jacking mechanism (70) comprises four jacking mechanisms, two of the four jacking mechanisms are arranged on the left side of the upper frame (10), the other two jacking mechanisms are arranged on the right side of the upper frame (10), each jacking mechanism (70) comprises a first rotating shaft (71), a cam (72) and a disc (73), two ends of the first rotating shaft (71) are fixed on the upper frame (, the jacking driving motor (40) drives first rotating shafts (71) in all jacking mechanisms (70) to rotate simultaneously, the cams (72) and the discs (73) are sleeved and fixed on the first rotating shafts (71), a horizontal top plate (80) is arranged above the two jacking mechanisms (70) positioned on the same side, two rotating wheels (90) capable of rotating freely are fixed on the lower plate surface of the top plate (80), one cam (72) is corresponding to the lower part of each rotating wheel (90), the wheel surfaces of the two cams are attached to each other, two first guide shafts (100) are vertically fixed on the lower plate surface of each top plate (80), the first guide shafts (100) are inserted into limiting holes of the first guide seats (110), the first guide seats (110) are fixed on the upper frame (10), the cams (72) push the rotating wheels (90) to further push the top plate (80) to move up and down when rotating along with the first rotating shafts (71), arc-shaped holes (731) are formed in the disc surface of the discs (73) along the circumferential direction of the disc surface, a connecting rod (121) is freely inserted into the arc-shaped hole (731), two ends of the connecting rod (121) are fixedly connected with the lower frame (20) through a plate body (122) respectively, the disc (73) drives the lower frame (20) to move up and down when rotating along with the first rotating shaft (71), when the shuttle vehicle is in an inoperative state, the four front and rear traveling wheels (60) land, and the four left and right traveling wheels (50) do not land.

2. The four-way shuttle of claim 1, wherein: the bottom of first guiding axle (100) sets up the backup pad, overlaps on first guiding axle (100) and establishes spring (130), and the upper end of spring (130) supports and leans on first guide holder (110), and the lower extreme of spring (130) supports and leans on in the backup pad.

3. The four-way shuttle of claim 2, wherein: go up frame (10) and be the quadrangle grillage form that the level was arranged, lower frame (20) are the square box-like of top open-ended, go up frame (10) about the bottom center upwards sunken form dodge the space supply down frame (20) reciprocate, the left surface of lower frame (20) and the left surface of last frame (10) are on the coplanar, the right flank of lower frame (20) and the right flank of last frame (10) are on the coplanar.

4. The four-way shuttle of claim 3, wherein: go up frame (10) including interior quadrangle grillage (11) and outer quadrangle grillage (12), outer quadrangle grillage (12) parallel spacing cover is established in the outside of interior quadrangle grillage (11) and is connected through vertical fixing plate (13) between the two, four are controlled walking wheel (50) and are all arranged between interior quadrangle grillage (11) and outer quadrangle grillage (12), wherein two are controlled walking wheel (50) and are arranged at the front side of interior quadrangle grillage (11), other two are controlled walking wheel (50) and are arranged at the rear side of interior quadrangle grillage (11), four climbing mechanism (70) are all arranged between interior quadrangle grillage (11) and outer quadrangle grillage (12), wherein two climbing mechanism (70) arrange the left side of interior quadrangle grillage (11), two climbing mechanism (70) arrange the right side of interior quadrangle grillage (11) in addition, two ends of a first rotating shaft (71) in the jacking mechanism (70) are respectively and vertically fixed on the inner quadrilateral plate frame (11) and the outer quadrilateral plate frame (12) through bearings.

5. The four-way shuttle of claim 4, wherein: the top plate (80) is strip-shaped, and the length direction of the strip plate is along the front-back direction of the upper frame (10).

6. The four-way shuttle of claim 5, wherein: the utility model discloses a four-wheel drive walking frame, including frame (20), walking driving motor (30), fixed first sprocket (141) respectively on the box inside bottom surface of frame (20) down, walking wheel (50) one-to-one about two on preceding curb plate and the posterior lateral plate of interior quadrangle grillage (11) respectively, two first sprockets (141) respectively with two on right side and realize the transmission through the chain, the output shaft of walking driving motor (30) passes through commutator (142) and connects two universal joint (143) and two universal joint (143) drive two first sprockets (141) respectively and rotate, walking wheel (60) around one of them and relative right side constitute the action wheel and connect transmission shaft (144) between the two, the output shaft of walking driving motor (30) drives transmission shaft (144) through chain drive and rotates.

7. The four-way shuttle of claim 6, wherein: set up mounting panel (150) between two relative curb plates of interior quadrangle grillage (11), jacking driving motor (40) are fixed at the lower plate surface of mounting panel (150), through bearing fixed rotating shaft (160) between the curb plate about outer quadrangle grillage (12), jacking driving motor (40) drive pivot (160) rotatory through chain drive, and first axis of rotation (71) in four climbing mechanism (70) are driven through chain drive respectively at the both ends of pivot (160) rotate.

8. The four-way shuttle of claim 7, wherein: a lithium battery (171) and a servo driver (172) are placed on the bottom surface inside the box of the upper frame (10), and a display screen (173) and an air switch (174) are fixed on the front side surface of the upper frame (10).

9. The four-way shuttle of claim 8, wherein: two guide wheels (180) are respectively fixed on the left side surface and the side surface of the upper frame (10), and the center lines of the guide wheels (180) are vertically arranged.