CN214358212U - Heavy-load four-way shuttle - Google Patents

Abstract

The utility model discloses a heavy-load four-way shuttle, which comprises a frame, a Y-direction running gear, an X-direction running gear and a reversing gear, wherein the Y-direction running gear, the X-direction running gear and the reversing gear are arranged on the frame, and the two sets of running gears are provided with a driving wheel structure and a driven wheel structure; the Y-direction running mechanism of the reversing mechanism can realize up-and-down lifting on the upper frame so as to control the height difference change between a driving wheel and a driven wheel of the Y-direction running mechanism during lifting and descending and the height difference change between the X-direction running mechanism and the road surface, so as to realize reversing in the advancing process; the upper frame is provided with a cargo lifting mechanism which can carry cargo and can lift. The utility model simplifies the mechanism on the whole structure, the components have multiple integration functions, and the functions of several parts are integrated under the condition that the volume of a single part is not changed, so that other parts are saved, thereby compressing the volume and increasing the load under the condition that the volume of the trolley is not changed; the synchronous lifting device has the technical effects of synchronous lifting, high lifting synchronism, timely feedback and large bearing weight.

Description

Heavy-load four-way shuttle

Technical Field

The utility model relates to a carrier loader technical field especially is used for the heavy load goods, can a heavy load quadriversal shuttle of switching-over walking.

Background

The shuttle car is an intelligent robot, can be programmed to realize tasks such as getting goods, transporting, placing and the like, can be communicated with an upper computer or a WMS system, and can realize functions such as automatic identification, access and the like by combining identification technologies such as RFID, bar codes and the like. The shuttle car mainly has two forms in the storage logistics equipment: the shuttle type warehouse-in and warehouse-out system and the shuttle type warehouse-in system transport goods to a designated place or a transfer facility by a trolley running on a fixed track in a reciprocating or loop-back mode. The intelligent sensing system is equipped, the original point position can be automatically memorized, and the system can automatically decelerate.

The shuttle vehicles on the market all reciprocate in single goods tunnel at present, and degree of automation is low, and is intelligent just more talk about. This is not ideal for the user, although it reduces the manpower, it does not completely replace the human, it introduces equipment but does not maximize the savings in operating costs. Therefore, it is necessary to develop the four-way shuttle, and the four-way shuttle can realize cross-roadway transportation of goods on the same layer, can transport the goods to any goods position on the same layer, and has higher automation degree.

Due to different industries, the weight of goods is different, and in some industries, the goods are heavier, so that the development of heavy-duty shuttle cars is urgent, but after the load is increased, the sizes of corresponding walking mechanisms, reversing mechanisms and goods lifting mechanisms are also increased, but the whole size of a trolley cannot be increased, so that a contradiction exists, the mechanism size is as small as possible, and the transportation load is as large as possible, which is a problem to be solved.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects and shortcomings of the prior art, the inventor designs the load level of the mechanism through a novel structural design, and solves the industrial problem of keeping the volume of the mechanism unchanged while improving the load level. Specifically, the utility model discloses a realize like this:

a heavy-load four-way shuttle comprises a frame, a Y-direction travelling mechanism, an X-direction travelling mechanism and a reversing mechanism, wherein the Y-direction travelling mechanism, the X-direction travelling mechanism and the reversing mechanism are arranged on the frame; the X-direction travelling mechanisms are two sets and are respectively arranged on the side surfaces of the other two ends of the lower frame; the two sets of travelling mechanisms are respectively provided with a driving wheel structure and a driven wheel structure, the driving wheels are driven by independent motors, and speed reducers are integrated in the wheels; the Y-direction running mechanism also comprises a reversing mechanism arranged between the driving wheel and the driven wheel, the reversing mechanism is a screw rod lifting device, the Y-direction running mechanism can realize vertical lifting on the upper frame through the reversing mechanism, so that the height difference change of vertical lifting of the driving wheel and the driven wheel of the Y-direction running mechanism relative to the whole frame is controlled, only the Y-direction running mechanism contacts with a running surface or only the X-direction running mechanism contacts with the running surface, and the reversing in the running process is realized; the upper frame is provided with a cargo lifting mechanism which can carry cargo and can lift.

Furthermore, the Y-direction walking mechanism comprises a section of transversely-placed reversing support, the driving wheel and the driven wheel are respectively installed at two ends of the reversing support, the two lead screw lifting devices are respectively close to the driving wheel and the driven wheel and are installed on the upper frame, the lifting direction of the lead screw lifting devices is perpendicular to the distribution direction of the reversing support, the two lead screw lifting devices are connected in a transmission mode and are provided with reversing double-shaft motors, two ends of each reversing double-shaft motor are respectively connected to the two lead screw lifting devices in a transmission mode through couplers, and guide rods distributed along the lifting direction are installed in the gap areas of the lead screw lifting devices, the driving wheel and the driven wheel between the upper frame and the reversing support.

Furthermore, the X-direction walking mechanism comprises a mounting plate distributed on a transverse vertical surface, the mounting plate is mounted and fixed on the end surface of the lower frame, the driving wheel and the driven wheel are respectively mounted at two ends of the outer side surface of the mounting plate, the driving motor is connected to the driving wheel in a transmission manner, guide wheels mounted in an outward extending manner are mounted at two ends of the mounting plate, and the rotating direction of the guide wheels is perpendicular to the rotating direction of the driving wheel.

Furthermore, the goods elevating system includes the jacking board that is located the frame top, installs several lead screw lifters on last frame, and the lead screw lifter passes through the bottom surface of lead screw connection installation to the jacking board, realizes the synchronous lift to the jacking board through one two play axle motor transmission connection of going up and down between the lead screw lifter.

Furthermore, the jacking plate is two sections of strip-shaped flat plates which are distributed in parallel and are respectively positioned on two sides of the top of the whole four-way shuttle car, a pair of screw rod lifters are correspondingly distributed below the middle part of each strip-shaped flat plate, the lifting double-shaft-out motor is installed between one pair of screw rod lifters, two ends of the lifting double-shaft-out motor are connected to the two screw rod lifters through couplers, one screw rod lifter is transversely transmitted to one of the other pair of screw rod lifters through a coupler and a transmission shaft, the other pair of screw rod lifters are connected through two couplers and a transmission shaft, and at least two guide rods are vertically installed between the bottom surface of each strip-shaped flat plate and the lower car frame.

The utility model discloses a theory of operation introduces: the heavy-duty four-way shuttle vehicle is provided with a group of driving wheels and driven wheels around, two groups of driving wheels and driven wheels on two opposite sides form a set of travelling mechanisms, one set of travelling mechanisms is an X-direction travelling mechanism moving along the transverse direction, the other set of travelling mechanisms is a Y-direction travelling mechanism moving along the longitudinal direction, each set of travelling mechanisms can rotate in the positive and negative directions, so that the movement in four directions can be realized, the switching between the transverse direction and the longitudinal direction is realized through a reversing mechanism, the reversing mechanism is realized through a screw rod lifting device designed on the Y-direction travelling mechanism, the reversing mechanism can drive the driving wheels and the driven wheels on the Y-direction travelling mechanism to realize the height difference of up-down lifting relative to the whole vehicle frame, the height difference is between the X-direction travelling mechanisms, after the driving wheels and the driven wheels on the Y-direction travelling mechanism are lifted up by the screw rod, the whole vehicle frame and the X-direction travelling mechanism ascend relative to the driving wheels and driven wheels on the Y-direction travelling mechanism by a certain distance, so that only the Y-direction travelling mechanism contacts with a travelling surface, the driving wheel and the driven wheel of the X-direction running mechanism are suspended, and the heavy-load four-direction shuttle can move longitudinally; when the driving wheel and the driven wheel on the Y-direction travelling mechanism are retracted and contracted by the screw rod, the whole frame together with the X-direction travelling mechanism descends for a certain distance relative to the driving wheel and the driven wheel on the Y-direction travelling mechanism, so that only the X-direction travelling mechanism contacts a travelling surface, the driving wheel and the driven wheel of the Y-direction travelling mechanism are suspended, and the heavy-load four-direction shuttle car can transversely move at the moment, thereby finishing reversing; the running mechanism driving wheel is integrated with the speed reducer, so that the space of the speed reducer is saved; the power of the left walking wheel and the power of the right walking wheel are separately and independently input, and the synchronous walking of the motor is realized in an electric control mode, so that a power transmission shaft is omitted, the space is larger, and the layout is more flexible. The reversing mechanism adopts a reversing double-output shaft stepping motor and is directly connected with the two screw rod lifters, so that a power transfer mechanism is omitted; the characteristic of low speed and large torque of the stepping motor is utilized, and a speed reducer is not needed to be added for reducing and increasing the distance, so that the speed reducer is saved; the left and right reversing mechanisms input power independently, synchronous reversing of the motor is achieved in an electric control mode, a power synchronizing shaft in the middle is omitted, the space is larger, and layout is more flexible. The goods lifting mechanism also utilizes the characteristic of low speed and large torque of the stepping motor, saves a speed reducer, adopts a mode of power series connection of 4 screw rod elevators, and drives the 4 screw rod elevators to synchronously move by one motor, thereby reducing the number of the motors and the volume. In the above manner, the mechanism is integrated and optimized, thereby achieving the object of reducing the volume.

The utility model has the advantages that: the utility model discloses an increase reversing mechanism and Y to running gear, realized the motion of Y direction, let four aspects of dolly can both move. Along with the increase of the mechanisms and the enlargement of the load, the size is kept not to be increased by integrating the mechanisms and optimizing the structure, so that the beneficial effects of stable walking in four directions and stable heavy-load transportation are kept; the mechanism is simplified on the whole structure, the assembly has multiple integration functions, the functions of a plurality of parts are integrated under the condition that the volume of a single part is not changed, other parts are omitted, the volume is compressed, and the load is increased under the condition that the volume of the trolley is not changed; select the lift mode of lead screw, compare in hydraulic system and can avoid the oil leak phenomenon, make the utility model discloses can use the scene to the use environment health requirement, compare in pneumatic power, can effective control volume, contract advantages such as cost of falling, and have the technological effect of synchronous lift, the lift synchronism is high, the feedback is timely, bearing weight is big.

Drawings

FIG. 1 is a schematic top view of a heavy duty four-way shuttle;

FIG. 2 is a schematic structural diagram of an X-direction running mechanism of a heavy-duty four-direction shuttle;

FIG. 3 is a schematic structural view of a Y-direction traveling mechanism of a heavy-duty four-direction shuttle;

FIG. 4 is a schematic view of a cargo lift mechanism of a heavy duty four-way shuttle;

FIG. 5 is a schematic perspective view of a heavy duty four-way shuttle;

FIG. 6 is a schematic side view of a heavy duty four-way shuttle moving in the X direction;

FIG. 7 is a schematic side view of a heavy duty four-way shuttle with the reversing mechanism lifted and moving in the Y direction;

FIG. 8 is a schematic view of the raised jacking plates;

FIG. 9 is a schematic left side view of a heavy duty four-way shuttle;

wherein: 11-lower vehicle frame, 12-upper vehicle frame, 2-Y direction running mechanism, 21-reversing bracket, 22-reversing double-output shaft motor, 23-lifting double-output shaft motor, 24-lead screw lifting device, 3-X direction running mechanism, 31-mounting plate, 32-driving motor, 33-guide wheel, 4-driven wheel, 5-driving wheel, 61-jacking plate, 62-lead screw lifting machine, 7-coupler, 8-guide rod and 9-transmission shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings 1-9 with reference to the following embodiments. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The frame is flat and used as a chassis of the whole carrying vehicle, the Y-direction travelling mechanism 2 arranged on the frame has driving power which can drive the shuttle vehicle to move forwards or backwards along the longitudinal direction, the X-direction travelling mechanism 3 is arranged in the direction vertical to the Y-direction travelling mechanism 2 and has driving power which can drive the shuttle vehicle to move forwards or backwards along the transverse direction, the frame comprises a lower frame 11 used as a vehicle plate and an upper frame 12 arranged above the periphery of the lower frame 11, and the two sets of Y-direction travelling mechanisms 2 are respectively arranged below the opposite positions at the two sides of the upper frame 12; the X-direction travelling mechanisms 3 are two sets and are respectively arranged on the side surfaces of the other two ends of the lower frame 11; the two sets of travelling mechanisms are respectively provided with a driving wheel 4 structure and a driven wheel 4 structure, the driving wheel 5 is driven by an independent motor, and a speed reducer is integrated in the wheel; the Y-direction running mechanism 2 also comprises a reversing mechanism arranged between the driving wheel 5 and the driven wheel 4, the reversing mechanism is a screw rod lifting device 24, and the Y-direction running mechanism 2 can be lifted up and down on the upper frame 12 through the reversing mechanism to control the lifting and the lowering of the driving wheel 4 and the driven wheel 4 of the Y-direction running mechanism 2 and the height difference change of the X-direction running mechanism 3 between the road surfaces so as to realize the reversing in the running process; for example: under the conventional state, the shuttle car is driven by the X-direction running mechanism 3 to run along the transverse direction, when the shuttle car reaches a point position needing turning and reversing, the reversing mechanism is started under the control of the controller, the screw rod lifting device 24 is started to lift and support the Y-direction running mechanism 2 in the vertical direction, so that the driving wheel 5 and the driven wheel 4 of the Y-direction running mechanism 2 are both contacted with a running road surface and lift up the whole frame, the driving wheel 5 and the driven wheel 4 of the X-direction running mechanism 3 are separated from the running road surface, at the moment, only the Y-direction running mechanism 2 is contacted with the running road surface, and then the Y-direction running mechanism 2 is started to drive the whole shuttle car to run in the longitudinal direction to complete reversing. The upper frame 12 is provided with a cargo lifting mechanism which can carry cargo and lift, and the cargo lifting mechanism can carry cargo and has certain lifting capacity, and can lift the cargo by a certain height.

Specifically, each set of Y-direction traveling mechanism 2 comprises a section of transversely-placed reversing support 21, a driving wheel 5 and a driven wheel 4 are respectively installed at two ends of the reversing support 21, two lead screw lifting devices 24 are respectively installed on the upper frame 12 close to the driving wheel 5 and the driven wheel 4, the lifting direction of the lead screw lifting devices is perpendicular to the distribution direction of the reversing support 21, a reversing double-shaft motor 22 is installed between the two lead screw lifting devices 24 in a transmission connection mode, two ends of the reversing double-shaft motor 22 are respectively connected to the two lead screw lifting devices 24 in a transmission mode through a coupler 7, and a guide rod 8 distributed along the lifting direction is installed in the gap area between the lead screw lifting devices 24 and the driving wheel 5 and between the upper frame 12 and the reversing support 21. The traveling motor of the Y-direction traveling reversing mechanism and the driving wheel 5 adopt a direct connection mode. The reversing lifting is realized by driving two screw rods by a reversing double-output shaft motor 22 respectively and guiding by two guide rods 8. Preferably, the X-direction traveling mechanism 3 includes a mounting plate 31 distributed on a transverse vertical surface, the mounting plate 31 is mounted and fixed on an end surface of the lower frame 11, the driving wheel 5 and the driven wheel 4 are respectively mounted at two ends of an outer side surface of the mounting plate 31, the driving motor 32 is connected to the driving wheel 5 in a transmission manner, guide wheels 33 mounted to extend outwards are mounted at two ends of the mounting plate 31, and a rotation direction of the guide wheels 33 is perpendicular to a steering direction of the driving wheel 5. The guide wheel 33 moves against a guide plate on the track to prevent deviation, and the driving wheel 5 is integrated with a speed reducer, so that the speed reducer is omitted, and the space is reduced; the power transmission stage number is reduced, and the transmission efficiency is improved; a double-output-shaft motor is selected and distributed among the 2 lead screw lifters 62, so that the transmission is smooth, and the power distribution is uniform; the screw rod lifter 62 is selected for transmission, so that the transmission efficiency is high, and the positioning precision is high; the driving wheel 5 is directly driven by the motor, the transmission shaft 9 is omitted, the space is reduced, the reversing mechanism is convenient to drive the motor to lift and descend simultaneously, and interference is avoided; the guide rod 8 is designed to protect the lead screw when under heavy load, avoiding radial forces from damaging the lead screw lifter 62. Such structural design makes the frame middle part can not be by 9 equipment occupation spaces of transmission shaft, thereby various spare parts of integration installation that can be meticulous, for example laser range finding sensor installs in X to running gear 3's mounting panel 31 middle part, and parts such as PLC controller, wife communication module, group battery, remote control receiver, motor drive can all install on the frame, realize reasonable compact overall arrangement installation, make whole shuttle inner structure compact orderly, reasonable from right.

Preferably, the goods lifting mechanism comprises a lifting plate 61 positioned at the top above the frame, and a plurality of screw rod lifters 62 mounted on the lower frame 11, the screw rod lifters 62 are connected and mounted to the bottom surface of the lifting plate 61 through screw rods, and the screw rod lifters 62 are in transmission connection through a lifting double-output shaft motor 23 to realize synchronous lifting of the lifting plate 61. The jacking plate 61 is two sections of strip flat plates distributed in parallel, anti-skid rubber pads are mounted on the plate surface and are respectively located on two sides of the top of the whole four-way shuttle car, a pair of screw rod lifters 62 are correspondingly distributed below the middle of each strip flat plate, the lifting double-shaft-out motor 23 is mounted between one pair of screw rod lifters 62, two ends of the lifting double-shaft-out motor 23 are connected to the two screw rod lifters 62 through a coupler 7, one screw rod lifter 62 is transversely driven to one of the other pair of screw rod lifters 62 through the coupler 7 and a transmission shaft 9, the other pair of screw rod lifters 62 are connected through the two couplers 7 and the transmission shaft 9, and at least two guide rods 8 are perpendicularly mounted between the bottom surface of each strip flat plate and the lower frame 11. The goods lifting mechanism is linked by four screw rod lifters 62 driven by a single double-output shaft motor, and the four guide rods are used for realizing the function of lifting goods. Four elevators are linked, the mechanism is compact, the elevators can be synchronously lifted, and the guide rods are added, so that the lifting surface is stable, and the heavy load lifting is realized.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (5)

1. A heavy-load four-way shuttle comprises a frame, a Y-direction travelling mechanism (2), an X-direction travelling mechanism (3) and a reversing mechanism, wherein the Y-direction travelling mechanism, the X-direction travelling mechanism and the reversing mechanism are arranged on the frame; the X-direction travelling mechanisms (3) are two sets and are respectively arranged on the side surfaces of the other two ends of the lower frame (11); the two sets of travelling mechanisms are respectively provided with a driving wheel structure and a driven wheel structure (4), the driving wheel (5) is driven by an independent motor, and a speed reducer is integrated in the wheel; the Y-direction running mechanism (2) also comprises a reversing mechanism arranged between the driving wheel (5) and the driven wheel (4), the reversing mechanism is a screw rod lifting device (24), the Y-direction running mechanism (2) can lift up and down on the upper frame (12) through the reversing mechanism to control the main and driven wheels of the Y-direction running mechanism (2) to form height difference change of lifting up and down relative to the whole lower frame (11), and the reversing in the advancing process is realized by only contacting the Y-direction running mechanism (2) with a running surface or only contacting the X-direction running mechanism (3) with a running surface; the upper frame (12) is provided with a cargo lifting mechanism which can carry cargo and can lift.

2. A heavy-duty four-way shuttle according to claim 1, wherein said Y-direction running mechanism (2) comprises a section of reversing bracket (21) transversely placed, the driving wheel (5) and the driven wheel (4) are respectively installed at two ends of the reversing bracket (21), the screw rod lifting device (24) is two and is respectively installed on the upper frame (12) near the driving wheel (5) and the driven wheel (4), the lifting direction of the reversing mechanism is perpendicular to the distribution direction of the reversing support (21), a reversing double-output shaft motor (22) is installed between the two lead screw lifting devices (24) in a transmission connection mode, two ends of the reversing double-output shaft motor (22) are respectively connected to the two lead screw lifting devices (24) in a transmission mode through a coupler (7), and guide rods (8) distributed along the lifting direction are installed in the gap areas of the lead screw lifting devices (24), the driving wheel (5) and the driven wheel (4) between the upper frame (12) and the reversing support (21).

3. The heavy-duty four-way shuttle vehicle according to claim 1, wherein the X-direction running mechanism (3) comprises a mounting plate (31) distributed on a transverse vertical surface, the mounting plate (31) is fixedly mounted on the end surface of the lower frame (11), the driving wheel (5) and the driven wheel (4) are respectively mounted at two ends of the outer side surface of the mounting plate (31), the driving motor (32) is connected to the driving wheel (5) in a transmission manner, guide wheels (33) extending outwards are mounted at two ends of the mounting plate (31), and the rotating direction of the guide wheels (33) is perpendicular to the steering direction of the driving wheel (5).

4. The heavy-duty four-way shuttle according to claim 1, wherein the cargo lifting mechanism comprises a lifting plate (61) positioned at the top of the upper part of the frame, a plurality of lead screw lifters (62) arranged at the bottom of the upper frame (12), the lead screw lifters (62) are connected and arranged to the bottom surface of the lifting plate (61) through lead screws, and the lead screw lifters (62) are in transmission connection through a lifting double-shaft motor (23) to realize synchronous lifting of the lifting plate (61).

5. A heavy-duty four-way shuttle according to claim 4, wherein said lifting plate (61) is two parallel strip-shaped flat plates respectively located on two sides of the top of the whole four-way shuttle, a pair of screw rod lifters (62) are correspondingly distributed under the middle part of each strip-shaped flat plate, the lifting double-output-shaft motor (23) is arranged between one pair of the screw rod lifters (62), two ends of the lifting double-output-shaft motor (23) are connected to the two screw rod lifters (62) through a coupler (7), one of the screw rod lifters (62) is transversely transmitted to one of the other pair of screw rod lifters (62) through the coupler (7) and the transmission shaft (9), the other pair of screw rod lifters (62) are connected through the two couplers (7) and the transmission shaft (9), and at least two guide rods (8) are vertically arranged between the bottom surface of each strip-shaped flat plate and the lower frame (11).

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