CN220811762U

CN220811762U - Four-way shuttle

Info

Publication number: CN220811762U
Application number: CN202322496680.8U
Authority: CN
Inventors: 金跃跃; 卞宏建; 周琪; 吴涛
Original assignee: Nanjing Inform Storage Equipment Group Co ltd
Current assignee: Nanjing Inform Storage Equipment Group Co ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2024-04-19
Anticipated expiration: 2033-09-14

Abstract

The utility model discloses a four-way shuttle which comprises a plurality of wheel assemblies, a plurality of jacking devices and a connecting rod driving device, wherein the wheel assemblies and the jacking devices are independently arranged, and in each wheel assembly, a first motor group and a second motor group respectively drive wheels to walk and steer and are engaged and rotated by a plurality of gears. In each jacking device, the jacking device drives the telescopic rod to stretch out and draw back through the change of the movable included angle, so that the jacking plate can translate up and down. The movable included angle is formed by movable strips, and the two movable included angles are connected by a connecting rod, and the connecting rod translates left and right so as to drive the size of the movable included angle to change. The connecting rod driving device is used for driving the connecting rod to translate left and right. Compared with the prior art, the four-way shuttle has the characteristics of simple structure and stable walking.

Description

Four-way shuttle

Technical Field

The utility model relates to the technical field of storage equipment, in particular to an omnidirectional vehicle applied to storage equipment.

Background

In modern logistics storage equipment, including multilayer goods shelves and the shuttle of walking on the goods shelves, wherein, four way shuttle is one kind and can walk in the font tunnel of field, can change the automation equipment of walking direction at the intersection part of tunnel by automatic switching-over for walk to goods storage position and automatic to goods transport storage.

The existing four-way shuttle is generally of an upper and lower vehicle body structure, when the four-way shuttle commutates, the commutating structure of the upper and lower vehicle bodies needs to be added, and when the structure commutates, the commutating structure is complex and the cost is increased, and due to the complex structure, the assembly operation is difficult, and the repeated adjustment is needed during the assembly; and the failure rate of the assembled product is high. The existing four-way shuttle is driven by one motor to change and walk, so that mutual interference of change and walk is easy to cause, the height of a vehicle body is inconsistent during change, and the walk is unstable.

Disclosure of utility model

The utility model aims to: the utility model provides a four-way shuttle vehicle which is simple in structure and stable in walking.

The technical scheme is as follows: the four-way shuttle vehicle can adopt the following technical scheme:

The four-way shuttle comprises a vehicle body and a plurality of wheel assemblies positioned at the bottom of the vehicle body, wherein each wheel assembly comprises a wheel with a first bevel gear at the inner ring, a connecting piece for bearing the wheel through a bearing, a mounting seat positioned above the connecting piece and fixed with the vehicle body, a motor seat positioned above the mounting seat, a slewing bearing, a second motor set for driving the slewing bearing to rotate, and a first motor set for driving the first bevel gear to rotate; the slewing bearing is connected to the mounting seat through a bearing and is fixedly connected with the connecting piece coaxially, and the periphery of the slewing bearing is of an external gear structure;

The first motor group comprises a first motor fixed above the motor seat, a first gear positioned on an output shaft of the first motor and positioned below the motor seat, a second bevel gear positioned on one side of a wheel and meshed with the first bevel gear, and a first middle gear set matched with the first gear and the second bevel gear, wherein the first middle gear set transmits the rotation of the first gear to the second bevel gear, so that the second bevel gear rotates and drives the first bevel gear to rotate;

The second motor group comprises a second motor fixed above the motor seat, a second gear positioned on an output shaft of the second motor and below the motor seat, and a second intermediate gear set matched with the second gear and the slewing bearing, and the second intermediate gear set transmits the rotation of the second gear to the slewing bearing so that the slewing bearing rotates and drives the connecting piece to rotate.

Further, the first intermediate gear set comprises a first rotating shaft, a third gear and a fifth gear, wherein one end of the first rotating shaft is connected with the motor seat bearing, the other end of the first rotating shaft is connected with the mounting seat bearing, the third gear is coaxially connected with the second bevel gear and is positioned above the mounting seat, and the fourth gear meshed with the first gear and the fifth gear meshed with the third gear are arranged on the first rotating shaft.

Further, the second intermediate gear set comprises a second rotating shaft, one end of the second rotating shaft is connected with the motor seat bearing, the other end of the second rotating shaft is connected with the mounting seat bearing, and a sixth gear meshed with the second gear and a seventh gear meshed with the slewing bearing are arranged on the second rotating shaft.

Furthermore, the slewing bearing is of an annular structure, and the third gear and the fifth gear are positioned in the slewing bearing and are connected with the mounting seat through bearings.

Further, the first gear and the second gear are respectively positioned at two sides of the fourth gear, the first gear is meshed with the fourth gear, and the second gear is not contacted with the fourth gear.

Further, each wheel at the bottom of the vehicle body is controlled by a first motor group corresponding to the wheel to independently roll, and a second motor group corresponding to the wheel to independently steer.

Further, the four-way shuttle also comprises a plurality of jacking devices positioned in the vehicle body, wherein the jacking devices comprise a driving part and jacking plates which are driven by the driving part to translate up and down, the driving part comprises a telescopic rod and push-pull parts hinged at two ends of the telescopic rod to form a movable included angle, and the jacking plates are arranged on the telescopic rod;

The height of the telescopic rod changes along with the size of the movable included angle of the push-pull part, so as to drive the jacking plate to translate up and down; the height of the telescopic rod gradually increases along with the increasing of the movable included angle of the push-pull part, and the height of the telescopic rod gradually decreases along with the decreasing of the movable included angle.

Further, the jacking device further comprises two connecting rods, and the two driving parts are connected through the connecting rods; the connecting rod translates left and right, and the size of the movable included angle changes.

Further, the push-pull part consists of two movable strips forming an included angle with each other, one ends of the two movable strips are hinged to one end of the connecting rod, and the other ends of the two movable strips are respectively hinged to different ends of the telescopic rod.

Further, the four-way shuttle also comprises a connecting rod driving device, a connecting rod driving motor and a connecting shaft, wherein the connecting rod driving device is used for driving the connecting rod to translate left and right; the connecting rod driving motor is used for driving the connecting shaft to rotate so as to provide power for the connecting rod driving device;

The connecting rod driving device comprises a cam block and a connecting part; one end of the connecting part is provided with a first joint bearing, the other end of the connecting part is provided with a second joint bearing, the first joint bearing is fixedly connected with the connecting rod, and the second joint bearing is fixedly connected with the cam block; the cam block is internally provided with a first fixed shaft and a second fixed shaft, the second fixed shaft is coaxially connected with the connecting rod driving motor, and the first fixed shaft is connected with a second knuckle bearing;

The connecting rod drive motor drives the connecting shaft to rotate and transmits the rotation to the cam block, the cam block starts to rotate and transmits the rotation to the second joint bearing, meanwhile, the second joint bearing is driven to translate, and the connecting rod translates through the traction of the connecting part.

The utility model has the following remarkable beneficial effects: 1. the structure is simple: the utility model adopts only one car body, and the jacking device and the wheel assembly are assembled on the car body, thereby completing reversing and height lifting, having simple structure, convenient assembly and low assembly failure rate. 2. And the walking is stable: the wheel assembly of the utility model independently sets the traveling motor and the steering motor, does not interfere with the reversing of the four-way shuttle of the utility model when traveling, does not interfere with traveling when reversing, can ensure the consistency of the heights of the four-way shuttle when reversing, and is convenient for stable traveling.

Drawings

FIG. 1 is a front view of a four-way shuttle of the present utility model;

Fig. 2 is a schematic structural view of the four-way shuttle of the present utility model;

FIG. 3 is a schematic diagram of a link drive;

FIG. 4 is a lowered state of the jacking device;

FIG. 5 is a raised state of the jacking device;

FIG. 6 is a schematic illustration of a wheel assembly configuration;

FIG. 7 is a schematic view of a portion of a motor mount in a wheel assembly;

fig. 8 is a schematic view of a portion of a mounting seat in a wheel assembly.

In the drawing, 1 is a wheel assembly, a wheel 11, a first bevel gear 111, a bearing 12, a connecting member 13, a mounting seat 14, a motor seat 15, a slewing bearing 16, a first motor unit 17, a first motor 171, a first motor output shaft 172, a first gear 173, a second bevel gear 175, a first intermediate gear set 174, a first rotating shaft 1741, a third gear 1742, a fourth gear 1743, a fifth gear 1744, a second motor unit 18, a second motor 181, a second motor output shaft 182, a second gear 183, a second intermediate gear set 184, a second rotating shaft 1841, a sixth gear 1842, a seventh gear 1843, a lifting device 21, a lifting plate 221, a telescopic rod 222, a push-pull part 23, a connecting rod 2221, a connecting rod driving motor 24, a connecting shaft 25, a cam block 26, a connecting part 27, a first joint bearing 271, and a second shutdown bearing 272.

Detailed Description

The present utility model is further illustrated in the accompanying drawings and detailed description which are to be construed as exemplary only and not limiting the scope of the utility model, since modifications to the utility model in the art will fall within the scope of the utility model which is defined by the appended claims after reading the utility model.

Referring to fig. 1 to 2 and fig. 6 to 8, the present utility model discloses a four-way shuttle, which can be used for a track, and comprises a vehicle body and a plurality of wheel assemblies 1 positioned at the bottom of the vehicle body, wherein each wheel assembly 1 comprises a wheel 11 with a first bevel gear 111 at the inner ring, a connecting piece 13 for carrying the wheel 11 through a bearing 12, a mounting seat 14 positioned above the connecting piece 13 and fixed with the vehicle body, a motor seat 15 positioned above the mounting seat 14, a slewing bearing 16, a second motor set 18 for driving the slewing bearing 16 to rotate, and a first motor set 17 for driving the first bevel gear 111 to rotate. The slewing bearing 16 is connected to the mounting seat 14 through the bearing 12 and is fixedly connected with the connecting piece 13 coaxially, and the periphery of the slewing bearing 16 is of an external gear structure.

The first motor unit 17, the second motor unit 18, the first intermediate gear set 174, and the second intermediate gear set 184 are explained in detail below:

The first motor group 17 includes a first motor 171 fixed above the motor housing 15, a first gear 173 located on the first motor output shaft 172 and below the motor housing 15, a second bevel gear 175 located on one side of the wheel 11 and engaged with the first bevel gear 111, and a first intermediate gear set 174 cooperating with the first gear 173 and the second bevel gear 175, the first intermediate gear set 174 transmitting rotation of the first gear 173 to the second bevel gear 175, causing the second bevel gear 175 to rotate and the first bevel gear 111 to rotate.

The second motor unit 18 includes a second motor 181 fixed above the motor base 15, a second gear 183 located on the second motor output shaft 182 and below the motor base 15, and a second intermediate gear set 184 cooperating with the second gear 183 and the slewing bearing 16, where the second intermediate gear set 184 transfers the rotation of the second gear 183 to the slewing bearing 16, so that the slewing bearing 16 rotates and drives the connecting piece 13 to rotate.

The first intermediate gear set 174 includes a first shaft 1741 having one end connected to the motor mount bearing and the other end connected to the mount bearing, a third gear 1742 coaxially connected to the second bevel gear 175 and located above the mount 14, and a fourth gear 1743 meshed with the first gear 173 and a fifth gear 1744 meshed with the third gear 1742 are provided on the first shaft 1741.

The second intermediate gear set 184 includes a second rotating shaft 181 having one end connected to the motor base bearing and the other end connected to the mounting base bearing, and a sixth gear 1842 engaged with the second gear 183 and a seventh gear 1843 engaged with the slewing bearing 16 are provided on the second rotating shaft 181.

The connection relation of each gear is specifically as follows: third gear 1742 and fifth gear 1744 are located inside slewing bearing 16 and are bearing-connected to the mount. The first gear 173 and the second gear 183 are located on both sides of the fourth gear 1743, respectively, and the first gear 173 is meshed with the fourth gear 1743, and the second gear 183 is not in contact with the fourth gear 1743.

In this embodiment, referring to fig. 2, four sets of wheel assemblies are disposed at the bottom of the vehicle body. And in each wheel assembly, each wheel 11 at the bottom of the vehicle body is controlled to independently roll by a first motor group 17 corresponding to the wheel 11, and is controlled to independently steer by a second motor group 18 corresponding to the wheel 11.

Referring to fig. 1 to 5, the four-way shuttle further includes a plurality of lifting devices 2 disposed inside the vehicle body. The jacking device 2 comprises a driving part, a jacking plate 21 driven by the driving part to translate up and down and a connecting rod 23. The driving part comprises a telescopic rod 221 and a push-pull part 222 hinged at two ends of the telescopic rod 221 to form a movable included angle. The jacking plate 21 is placed over the telescoping rod 221. The number of driving parts is two, and the two driving parts are connected by a connecting rod 23. The connecting rod 23 is driven by the motor 24 to translate left and right, and when the connecting rod 23 translates left and right, the movable included angle is changed.

The height of the telescopic rod 221 changes along with the size of the movable included angle of the push-pull part 222, so as to drive the jacking plate 21 to translate up and down; the height of the telescopic rod 221 gradually increases along with the moving included angle of the push-pull part 222 from small to large, and the height of the telescopic rod 221 gradually decreases along with the moving included angle from large to small.

In this embodiment, the push-pull portion 222 is composed of two movable strips 2221 forming an included angle, one ends of the two movable strips 2221 are hinged to one end of the connecting rod 23, and the other ends of the two movable strips 2221 are respectively hinged to different ends of the telescopic rod 221. And the included angles formed by the two movable strips 2221 of the two push-pull parts 222 are identical. The jacking devices 2 are provided with two groups and are symmetrically arranged in the vehicle body.

In order to drive the connecting rod 23 to translate, the four-way shuttle of the utility model also comprises a connecting rod driving device, a connecting rod driving motor 24 and a connecting shaft 25, wherein the connecting rod driving device is used for driving the connecting rod 23 to translate left and right; the connecting rod driving motor 24 is used for driving the connecting shaft 25 to rotate, so as to provide power for the connecting rod driving device.

The link driving device includes a cam block 26 and a connecting portion 27. The connecting portion 27 has a first knuckle bearing 271 at one end and a second knuckle bearing 272 at the other end, the first knuckle bearing 271 is fixedly connected with the connecting rod 23, and the second knuckle bearing 272 is fixedly connected with the cam block 26. The cam block 26 is internally provided with a first fixed shaft and a second fixed shaft, the second fixed shaft is coaxially connected with the link driving motor 24, and the first fixed shaft is connected with the second joint bearing 272.

The connecting rod driving motor 24 drives the connecting shaft 25 to rotate and transmits the rotation to the cam block 26, the cam block 26 starts to rotate and transmits the rotation to the second knuckle bearing 272, meanwhile, the second knuckle bearing 272 is driven to translate, and the connecting rod 23 translates through the traction of the connecting part 27.

In this embodiment, one connecting rod driving motor 2 is provided, one connecting shaft 25 is provided, two connecting rod driving devices are connected to two ends of the connecting shaft, and the connecting rods 23 in the two jacking devices are driven respectively.

In summary, the four-way shuttle disclosed by the utility model has the characteristics of simple structure and stable walking.

Claims

1. The four-way shuttle comprises a vehicle body and a plurality of wheel assemblies positioned at the bottom of the vehicle body, and is characterized in that the wheel assemblies comprise wheels, a connecting piece, an installation seat, a motor seat, a slewing bearing, a second motor set and a first motor set, wherein the inner ring of each wheel is provided with a first bevel gear, the connecting piece is used for bearing the wheels through a bearing, the installation seat is positioned above the connecting piece and is fixed with the vehicle body, the motor seat is positioned above the installation seat, the slewing bearing is used for driving the slewing bearing to rotate, and the first motor set is used for driving the first bevel gear to rotate; the slewing bearing is connected to the mounting seat through a bearing and is fixedly connected with the connecting piece coaxially, and the periphery of the slewing bearing is of an external gear structure;

2. The four-way shuttle of claim 1, wherein the first intermediate gear set comprises a first rotating shaft, a third gear and a fourth gear, wherein one end of the first rotating shaft is connected with the motor base bearing, the other end of the first rotating shaft is connected with the mounting base bearing, the third gear is coaxially connected with the second bevel gear and is positioned above the mounting base, and the fourth gear meshed with the first gear and the fifth gear meshed with the third gear are arranged on the first rotating shaft.

3. The four-way shuttle of claim 2, wherein the second intermediate gear set comprises a second rotating shaft, one end of the second rotating shaft is connected with the motor base bearing, the other end of the second rotating shaft is connected with the mounting base bearing, and a sixth gear meshed with the second gear and a seventh gear meshed with the slewing bearing are arranged on the second rotating shaft.

4. The four-way shuttle of claim 3, wherein the slewing bearing is of an annular structure, and the third gear and the fifth gear are positioned inside the slewing bearing and are connected with the mounting seat bearing.

5. The four-way shuttle of claim 4, wherein the first gear and the second gear are located on two sides of the fourth gear, respectively, and the first gear is meshed with the fourth gear, and the second gear is not in contact with the fourth gear.

6. The four-way shuttle of claim 5, wherein each wheel of the vehicle body bottom is independently controlled to roll by a first motor group corresponding to the wheel and independently controlled to turn by a second motor group corresponding to the wheel.

7. The four-way shuttle vehicle according to claim 1, further comprising a plurality of jacking devices positioned in the vehicle body, wherein the jacking devices comprise a driving part and jacking plates which are driven by the driving part to translate up and down, the driving part comprises a telescopic rod and push-pull parts hinged at two ends of the telescopic rod to form a movable included angle, and the jacking plates are arranged on the telescopic rod;

8. The four-way shuttle of claim 7, wherein the jacking device further comprises two connecting rods, and the two driving parts are connected by the connecting rods; the connecting rod translates left and right, and the size of the movable included angle changes.

9. The four-way shuttle of claim 8, wherein the push-pull portion is composed of two movable bars forming an included angle with each other, one ends of the two movable bars are hinged to one end of the connecting rod, and the other ends of the two movable bars are respectively hinged to different ends of the telescopic rod.

10. The four-way shuttle of claim 8, further comprising a link drive, a link drive motor, and a connecting shaft, wherein the link drive is configured to drive the link to translate left and right; the connecting rod driving motor is used for driving the connecting shaft to rotate so as to provide power for the connecting rod driving device;