CN213326574U

CN213326574U - Fork type liftable shuttle

Info

Publication number: CN213326574U
Application number: CN202021993972.2U
Authority: CN
Inventors: 张爱辉; 赵红昌; 金海涛; 张焕萍; 陈杰
Original assignee: Jiangsu Xinmeixing Logistics Technology Co ltd
Current assignee: Jiangsu Xinmeixing Logistics Technology Co ltd
Priority date: 2020-09-14
Filing date: 2020-09-14
Publication date: 2021-06-01
Anticipated expiration: 2030-09-14

Abstract

The utility model discloses a fork formula liftable shuttle, include: the fork type liftable shuttle car comprises a walking frame, a telescopic fork mechanism and a control device for controlling the fork type liftable shuttle car to operate, wherein two parallel slide rails are arranged below the walking frame at intervals, and the walking frame can move left and right along the two slide rails through a driving mechanism arranged on the walking frame; a lifting frame is arranged on the upper side of the walking frame, and a telescopic fork mechanism is arranged on the lifting frame; a lifting mechanism for driving the lifting frame to move up and down is arranged between the walking frame and the lifting frame. The fork type liftable shuttle car can adjust the elevation of the telescopic fork mechanism through the lifting mechanism, so that the telescopic fork mechanism can be smoothly butted with the goods receiving and delivering equipment without lifting function at the joint part for the coming in and going out of different goods, the goods receiving and delivering equipment in the stereoscopic warehouse is not required to have the lifting function, and the implementation cost of enterprises is greatly reduced.

Description

Fork type liftable shuttle

Technical Field

The utility model relates to a conveying equipment technical field among the automatic stereoscopic warehouse, concretely relates to fork formula liftable shuttle.

Background

In the automatic stereoscopic warehouse, the shuttle is one of the conveying equipment that is used for transporting goods between different goods access to interface, and the structure of shuttle mainly includes: the shuttle car can come between different goods in and out butting ports through the travelling mechanism and can receive goods from or transfer the goods to receiving and sending equipment at the goods in and out butting ports through the telescopic fork mechanism; in order to meet the requirements of different production lines, the elevations of the goods in-out butting ports corresponding to the different production lines are different, and because the shuttle car does not have the lifting function, when the shuttle car runs to the specified goods in-out butting port, the goods receiving and sending equipment at the goods in-out butting port can be butted with the telescopic fork mechanism on the shuttle car only by lifting operation, so that the step of transferring the goods is completed; this makes a large number of receiving and delivering devices in the stereoscopic warehouse need to have the lifting function, which can greatly increase the implementation cost of the automatic stereoscopic warehouse.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a can realize raising and lowering functions's fork liftable shuttle.

In order to achieve the above object, the technical solution adopted in the present invention is: fork liftable shuttle includes: the fork type liftable shuttle car comprises a walking frame, a telescopic fork mechanism and a control device for controlling the fork type liftable shuttle car to operate, wherein two parallel slide rails are arranged below the walking frame at intervals, and the walking frame can move left and right along the two slide rails through a driving mechanism arranged on the walking frame; a lifting frame is arranged on the upper side of the walking frame, and a telescopic fork mechanism is arranged on the lifting frame; be provided with the elevating system who is used for driving lift frame to reciprocate between walking frame and lift frame, elevating system's structure includes: the lifting mechanism is characterized in that a lifting motor is arranged on a walking frame, a double-row chain wheel is fixedly arranged on an output shaft of the lifting motor, two rotating shafts which move forwards and backwards and can rotate are arranged on the walking frame, a single-row chain wheel is respectively arranged at one end of each rotating shaft, a transmission chain is arranged between each single-row chain wheel and one chain wheel in the double-row chain wheel, two ends of each rotating shaft are respectively provided with a swing arm, the lower end of each swing arm is fixedly connected with a central shaft of a first cam bearing follower, a pair of jacking blocks are respectively and fixedly arranged at the front side and the rear side of the lower end of the lifting frame, each jacking block is provided with a sliding groove which moves leftwards and rightwards, and a roller of each first cam bearing follower is respectively embedded in the sliding groove in a corresponding jacking block and can slide leftwards and; a guide mechanism for ensuring that the lifting frame keeps moving vertically up and down is also arranged between the walking frame and the lifting frame.

Further, aforementioned fork formula liftable shuttle, wherein, guiding mechanism's structure includes: a pair of guide sleeves are fixedly arranged on the front side and the rear side of the lower end of the lifting frame respectively, a pair of guide rods are fixedly arranged on the front side and the rear side of the upper end of the walking frame respectively, each guide rod is sleeved in a corresponding guide sleeve, and each guide sleeve can vertically move up and down along one guide rod correspondingly.

Further, aforementioned fork formula liftable shuttle, wherein, actuating mechanism's structure includes: the walking frame is provided with a driving motor and a driving shaft which moves forwards and backwards and can rotate, the driving shaft is driven by the driving motor to rotate, two ends of the driving shaft are respectively and fixedly provided with a driving walking wheel, the two driving walking wheels can respectively roll on a corresponding sliding rail, the front side and the rear side of the walking frame are respectively provided with a driven walking wheel, and the two driven walking wheels can respectively roll on a corresponding sliding rail.

Further, according to the fork type liftable shuttle car, the bar code positioning device used for determining the position information of the walking car frame is arranged on the walking car frame and one sliding rail, the bar code positioning device can send the position information of the walking car frame to the control device in real time, and when the walking car frame moves to a specified position, the control device can send a control instruction, so that the driving motor stops operating, and the walking car frame stops at the specified position.

Further, in the fork type liftable shuttle car, a first photoelectric detector is arranged on the front side of the lifting frame, a second photoelectric detector is arranged on the rear side of the lifting frame, and the arrangement positions of the first photoelectric detector and the second photoelectric detector satisfy the following conditions: in the process that a fork in the telescopic fork mechanism carries a cargo and retracts backwards, when the first photoelectric detector and the second photoelectric detector simultaneously detect the cargo, the first photoelectric detector and the second photoelectric detector can send a signal that the cargo is moved into place to the control device; when the first photoelectric detector cannot detect the goods, a signal that the goods are moved out is sent to the control device in the process that the fork in the telescopic fork mechanism carries the goods and extends forwards.

Further, in the fork type liftable shuttle car, a trolley line power supply device for supplying power to the telescopic fork mechanism, the lifting motor, the driving motor, the first photoelectric detector, the second photoelectric detector, the bar code positioning device and the control device is arranged between the walking frame and one sliding rail.

Further, aforementioned fork formula liftable shuttle, wherein, the shape of two slide rails is "worker" font, both sides are provided with a connecting plate respectively around the walking frame, both ends are provided with a plurality of from a left side to right side second cam bearing follower that separates in proper order respectively about every connecting plate bottom, and the gyro wheel homoenergetic in each second cam bearing follower on same connecting plate rolls along the bottom on the upper end track limit of same slide rail, and then improves the stability when the walking frame removes along two slide rails.

Further, in the fork type liftable shuttle car, two installation transverse plates are respectively arranged on the front side and the rear side of the bottom of the walking frame, a vertical guide wheel shaft is fixedly arranged at the front end and the rear end of each installation transverse plate respectively, a guide wheel capable of rotating is sleeved on each guide wheel shaft, the two guide wheels on the installation transverse plates on the same side can roll along the front side and the rear side of the upper end rail edge of one slide rail respectively, and therefore the stability of the walking frame when moving along the two slide rails can be further improved.

The utility model has the advantages that: the fork type liftable shuttle car can adjust the elevation of the telescopic fork mechanism through the lifting mechanism, so that the telescopic fork mechanism can be smoothly butted with goods receiving and conveying equipment without lifting functions at a joint part in and out of different goods, on one hand, the goods can be smoothly transported, on the other hand, the goods receiving and conveying equipment in a stereoscopic warehouse is not required to have the lifting function, and the implementation cost of enterprises is greatly reduced.

Drawings

Fig. 1 is a schematic structural view of a fork type liftable shuttle car.

Fig. 2 is a schematic structural view of fig. 1 with the elevating carriage removed.

Fig. 3 is a schematic view of the front view structure of the fork type liftable shuttle car of the present invention.

Fig. 4 is a schematic diagram of the right-side structure of fig. 3.

FIG. 5 is a schematic sectional view of the structure at A-A in FIG. 3.

Fig. 6 is a schematic structural view of a section B-B in fig. 3.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 2, 3, 4, 5 and 6, the fork type liftable shuttle car includes: the fork type liftable shuttle vehicle comprises a walking frame 1, a telescopic fork mechanism 4 and a control device 28 for controlling the fork type liftable shuttle vehicle to operate, wherein two parallel slide rails 3 are arranged below the walking frame 1 at intervals, and the walking frame 1 can move left and right along the two slide rails 3 through a driving mechanism arranged on the walking frame 1; a lifting frame 2 is arranged on the upper side of the walking frame 1, and a telescopic fork mechanism 4 is arranged on the lifting frame 2; be provided with between walking frame 1 and lift frame 2 and be used for driving the elevating system that lift frame 2 reciprocated, elevating system's structure includes: a lifting motor 5 is arranged on a walking frame 1, a double-row chain wheel 6 is fixedly arranged on an output shaft of the lifting motor 5, two rotating shafts 7 which move forwards and backwards and can rotate are arranged on the walking frame 1, a single-row chain wheel 8 is respectively arranged at one end of each rotating shaft 7, a transmission chain 9 is arranged between each single-row chain wheel 8 and one chain wheel in the double-row chain wheel 6, a swing arm 10 is respectively arranged at two ends of each rotating shaft 7, the lower end of each swing arm 10 is fixedly connected with a central shaft of a first cam bearing follower 11, a pair of jacking blocks 13 are respectively fixedly arranged at the front side and the rear side of the lower end of the lifting frame 2, a sliding groove 14 moving leftwards and rightwards is arranged on each jacking block 13, and a roller of each first cam bearing follower 11 is respectively embedded in the sliding groove 14 in the corresponding jacking block 13, And can slide left and right in the chute 14; the cam bearing follower is a mechanical part which can be directly purchased, and mainly comprises a central shaft, a roller and a roller. When the lifting frame works, the two transmission chains 9 rotate along with the rotation of the double-row chain wheel 6 under the driving of the lifting motor 5, so that the two single-row chain wheels 8 and the two rotating shafts 7 are driven to synchronously rotate, the swing arm 10 on each rotating shaft 7 rotates along with the rotating shaft 7, and when the swing arm 10 rotates, a roller in a first cam bearing follower 11 on the swing arm 10 can slide in a sliding groove 14 of a jacking block 13 and can drive the jacking block 13 to move up and down, so that the lifting frame 1 is driven to move up and down; a guide mechanism for ensuring that the lifting frame 2 keeps moving vertically up and down is further arranged between the walking frame 1 and the lifting frame 2, and in the embodiment, the guide mechanism comprises: a pair of guide sleeves 15 are fixedly arranged on the front side and the rear side of the lower end of the lifting frame 2 respectively, a pair of guide rods 16 are fixedly arranged on the front side and the rear side of the upper end of the walking frame 1 respectively, each guide rod 16 is sleeved in a corresponding guide sleeve 15, and each guide sleeve 15 can vertically move up and down along one guide rod 16 correspondingly.

As shown in fig. 3, 5, and 6, in the present embodiment, the driving mechanism has a structure including: the walking frame 1 is provided with a driving motor 17 and a driving shaft 18 which moves forwards and backwards and can rotate, the driving shaft 18 is driven by the driving motor 17 to rotate, two ends of the driving shaft 18 are respectively and fixedly provided with a driving walking wheel 19, the two driving walking wheels 19 can respectively roll on one corresponding sliding rail 3, the front side and the rear side of the walking frame 1 are respectively provided with a driven walking wheel 24, and the two driven walking wheels 24 can respectively roll on one corresponding sliding rail 3.

As shown in fig. 1, in this embodiment, a barcode positioning device for determining position information of the traveling carriage 1 is disposed on the traveling carriage 1 and one of the slide rails 3, the barcode positioning device is a positioning device with high positioning accuracy in the prior art, and the barcode positioning device can send the position information of the traveling carriage 1 to the control device 28 in real time; in this embodiment, the structure of the barcode positioning device mainly includes: the bar code strip 22 is arranged on the slide rail 3 along the arrangement extending direction of the slide rail 3, the bar code scanner 31 is arranged on the walking frame 1, and in the moving process of the walking frame 1, the bar code scanner 31 can scan the bar code strip 22 in real time to obtain the current position information of the walking frame 1 and can send the position information to the control device 28 in real time; when the running carriage 1 moves to a specified position, the control device 28 can issue a control command to stop the operation of the drive motor 17, thereby allowing the running carriage 1 to stay at the specified position.

As shown in fig. 1, in the present embodiment, a first photodetector 29 is provided on the front side of the elevating carriage 2, a second photodetector 30 is provided on the rear side of the elevating carriage 2, and the arrangement positions of the first photodetector 29 and the second photodetector 30 satisfy the following conditions: when the first photodetector 29 and the second photodetector 30 simultaneously detect the load during the process of retracting the fork carrying the load in the telescopic fork mechanism 4 backward, the first photodetector 29 and the second photodetector 30 signal to the control device 28 that the load has been moved into position; when the first photoelectric detector 29 does not detect the goods, the control device 28 is signaled that the goods are removed in the process that the fork in the telescopic fork mechanism 4 is extended forwards with the goods; whether the goods are moved in place can be clearly understood by the first and

second photodetectors

29 and 30.

As shown in fig. 3 and 4, in this embodiment, a trolley line power supply device for providing electric energy to the telescopic fork mechanism 4, the lifting motor 5, the driving motor 17, the first photodetector 29, the second photodetector 30, the barcode positioning device, and the control device 28 is disposed between one of the slide rails 3 and the traveling carriage 1, the trolley line power supply device is a common power supply device for providing electric energy to the mobile device, and different types of trolley line power supply devices in the prior art can be selected during actual use, for example: a DHR flexible combined trolley line power supply device, a DHU monopole combined trolley line power supply device, a DHV monopole combined trolley line power supply device, and the like, which are produced by seiko electrical equipment manufacturing ltd; the trolley line power supply device generally comprises a trolley line 23 and a current collector 12, in this embodiment, the trolley line 23 is disposed on one sliding rail 3 and is disposed along the extending direction of the sliding rail 3, and the current collector 12 is disposed on the traveling carriage 1 and can slide along the trolley line 23 to obtain a power supply.

As shown in fig. 1, 3, 4, 5 and 6, in this embodiment, the two slide rails 3 are both "i" shaped, the front and rear sides of the traveling carriage 1 are respectively provided with one connecting plate 20, the left and right ends of the bottom of each connecting plate 20 are respectively provided with a plurality of second cam bearing followers 21 spaced in sequence from left to right, when the traveling carriage 1 moves along the two slide rails 3, the rollers in each second cam bearing follower 21 on the same connecting plate 20 can roll along the bottom of the upper end rail edge of the same slide rail 3, and thus the stability of the traveling carriage 1 moving along the two slide rails 3 is improved.

As shown in fig. 1, 3, 4, 5 and 6, in this embodiment, two mounting transverse plates 25 are respectively disposed at the front and rear sides of the bottom of the traveling carriage 1, a vertical guide wheel shaft 26 is respectively fixedly disposed at the front and rear ends of each mounting transverse plate 25, a rotatable guide wheel 27 is sleeved on each guide wheel shaft 26, when the traveling carriage 1 moves along two slide rails 3, the two guide wheels 27 on the mounting transverse plates 25 on the same side can respectively roll along the front and rear sides of the upper end rail edge of one slide rail 3, and thus the stability of the traveling carriage 1 moving along the two slide rails 3 can be further improved.

The utility model discloses a theory of operation is: firstly, the driving motor 17 is started through the control device 28, so that the walking frame 1 moves along the two slide rails 3, the barcode positioning device sends the position information of the walking frame 1 to the control device 28 in real time in the moving process of the walking frame 1, and after the walking frame 1 moves to a specified goods in-out butt joint port, the control device 28 stops the operation of the driving motor 17, so that the walking frame 1 stays at the goods in-out butt joint port; then, the lifting motor 5 is started through the control device 28, the two transmission chains 9 are driven by the lifting motor 5 to rotate along with the rotation of the double-row chain wheel 6, and further the two single-row chain wheels 8 are driven to rotate, so that the two rotating shafts 7 and the swing arms 10 on the two rotating shafts 7 synchronously rotate, when the swing arms 10 rotate, the rollers in the first cam bearing followers 11 on the swing arms 10 can slide in the chutes 14 of the jacking blocks 13 and can drive the jacking blocks 13 to move up and down, so that the lifting frame 1 and the telescopic fork mechanisms 4 on the lifting frame 1 move up and down together, and when the height of the telescopic fork mechanisms 4 is matched with the height position of the goods receiving and delivering equipment at the goods in-out interface, the operation of the lifting motor 5 is stopped through the control device 28; when the shuttle car needs to take goods at the goods access interface, the control device 28 starts the telescopic fork mechanism 4, the fork in the telescopic fork mechanism 4 extends outwards to take the goods and then retracts inwards, when the first photoelectric detector 29 and the second photoelectric detector 30 detect the goods simultaneously, the goods are moved in place, at the moment, the control device 28 stops the operation of the telescopic fork mechanism 4 and starts the driving motor 17, so that the travelling frame 1 continues to move along the two slide rails 3 until the travelling frame moves to the next goods access interface to move the goods out; when the shuttle car needs to move out the goods at the goods access interface, the control device 28 starts the telescopic fork mechanism 4, the forks in the telescopic fork mechanism 4 extend outwards to move out the goods, when the first photoelectric detector 29 cannot detect the goods, the goods are moved out, after the forks retract to the original position, the control device 28 stops the operation of the telescopic fork mechanism 4 and starts the driving motor 17, so that the walking frame 1 continues to move along the two slide rails 3 until the next goods access interface is moved to receive the goods again.

Claims

1. Fork liftable shuttle includes: the fork type lifting shuttle vehicle comprises a walking vehicle frame (1), a telescopic fork mechanism (4) and a control device (28) for controlling the fork type lifting shuttle vehicle to operate, wherein two parallel slide rails (3) are arranged below the walking vehicle frame (1) at intervals, and the walking vehicle frame (1) can move left and right along the two slide rails (3) through a driving mechanism arranged on the walking vehicle frame (1); the method is characterized in that: a lifting frame (2) is arranged on the upper side of the walking frame (1), and a telescopic fork mechanism (4) is arranged on the lifting frame (2); be provided with between walking frame (1) and lift frame (2) and be used for driving lift frame (2) elevating system who reciprocates, elevating system's structure includes: a lifting motor (5) is arranged on a walking frame (1), a double-row chain wheel (6) is fixedly arranged on an output shaft of the lifting motor (5), two rotating shafts (7) which move forwards and backwards and can rotate are arranged on the walking frame (1), a single-row chain wheel (8) is respectively arranged at one end of each rotating shaft (7), a transmission chain (9) is arranged between each single-row chain wheel (8) and one chain wheel in the double-row chain wheel (6), a swing arm (10) is respectively arranged at two ends of each rotating shaft (7), the lower end of each swing arm (10) is fixedly connected with a central shaft of a first cam bearing follower (11), a pair of jacking blocks (13) are respectively and fixedly arranged at the front side and the rear side of the lower end of the lifting frame (2), and a sliding chute (14) moving leftwards and rightwards is arranged on each jacking block (13), the roller of each first cam bearing follower (11) is respectively embedded in a sliding groove (14) in a corresponding jacking block (13) and can slide left and right in the sliding groove (14); a guide mechanism for ensuring that the lifting frame (2) keeps moving vertically is also arranged between the walking frame (1) and the lifting frame (2).

2. The pallet fork type liftable shuttle car according to claim 1, wherein: the structure of the guide mechanism comprises: a pair of guide sleeves (15) are fixedly arranged on the front side and the rear side of the lower end of the lifting frame (2) respectively, a pair of guide rods (16) are fixedly arranged on the front side and the rear side of the upper end of the walking frame (1) respectively, each guide rod (16) is sleeved in a corresponding guide sleeve (15), and each guide sleeve (15) can vertically move up and down along one guide rod (16) correspondingly.

3. The pallet fork type liftable shuttle car according to claim 1 or 2, characterized in that: the structure of the driving mechanism comprises: the walking frame is characterized in that a driving motor (17) and a driving shaft (18) which moves forwards and backwards and can rotate are arranged on the walking frame (1), the driving shaft (18) is driven by the driving motor (17) to rotate, two driving walking wheels (19) are fixedly arranged at two ends of the driving shaft (18) respectively, the two driving walking wheels (19) can roll on one corresponding sliding rail (3) respectively, driven walking wheels (24) are arranged on the front side and the rear side of the walking frame (1) respectively, and the two driven walking wheels (24) can roll on one corresponding sliding rail (3) respectively.

4. The pallet fork type liftable shuttle car according to claim 3, wherein: the walking vehicle frame (1) and one sliding rail (3) are provided with a bar code positioning device used for determining the position information of the walking vehicle frame (1), the bar code positioning device can send the position information of the walking vehicle frame (1) to the control device (28) in real time, and when the walking vehicle frame (1) moves to a specified position, the control device (28) can send a control instruction to enable the driving motor (17) to stop running, so that the walking vehicle frame (1) stops at the specified position.

5. The pallet fork type liftable shuttle car according to claim 3, wherein: a first photoelectric detector (29) is arranged on the front side of the lifting frame (2), a second photoelectric detector (30) is arranged on the rear side of the lifting frame (2), and the arrangement positions of the first photoelectric detector (29) and the second photoelectric detector (30) meet the following conditions: when the first photoelectric detector (29) and the second photoelectric detector (30) simultaneously detect the goods in the process of retracting the fork loaded with the goods in the telescopic fork mechanism (4) backwards, the first photoelectric detector (29) and the second photoelectric detector (30) send signals to the control device (28) that the goods are moved into position; when the first photoelectric detector (29) can not detect the goods, the telescopic fork mechanism (4) sends a signal that the goods are removed to the control device (28) in the process that the fork is extended forwards with the goods.

6. The pallet fork type liftable shuttle car according to claim 5, wherein: a trolley line power supply device which supplies electric energy to the telescopic fork mechanism (4), the lifting motor (5), the driving motor (17), the first photoelectric detector (29), the second photoelectric detector (30), the bar code positioning device and the control device (28) is arranged between the walking frame (1) and one sliding rail (3).

7. The pallet fork type liftable shuttle car according to claim 3, wherein: the shape of two slide rails (3) is "worker" font, both sides are provided with a connecting plate (20) respectively around walking frame (1), both ends are provided with a plurality of from a left side to right side second cam bearing follower (21) of interval in proper order respectively about every connecting plate (20) bottom, the gyro wheel homoenergetic in each second cam bearing follower (21) on same connecting plate (20) rolls along the bottom on the upper end track limit of same slide rail (3), and then stability when improving walking frame (1) and removing along two slide rails (3).

8. The pallet fork type liftable shuttle car according to claim 7, wherein: two installation transverse plates (25) are respectively arranged on the front side and the rear side of the bottom of the walking frame (1), a vertical guide wheel shaft (26) is respectively fixedly arranged at the front end and the rear end of each installation transverse plate (25), a guide wheel (27) capable of rotating is sleeved on each guide wheel shaft (26), the two guide wheels (27) on each installation transverse plate (25) on the same side can respectively roll along the front side and the rear side of the upper end rail edge of one sliding rail (3), and therefore the stability of the walking frame (1) when moving along the two sliding rails (3) can be further improved.