JP7026247B2 - 4-way shuttle type transport robot - Google Patents

Description

The present invention relates to a storage management and a freight carrier, and specifically to a four-way shuttle type transport robot.

In recent years, with the rise in land costs and labor costs, the concept of dense storage is becoming more and more noticeable by logistics companies and e-commerce companies. Since the automated three-dimensional warehouse has a high space utilization rate and strong warehousing / delivery capacity, it has become an indispensable storage technology in terms of corporate logistics and production control, and has applications in industries such as automobiles, chemical industry, electronics, and tobacco. It is increasing year by year. Over the next few years, one of the technological development trends of automated 3D storage systems will be high speed, high efficiency and high density.

However, there are very few transport robots on the market for three-dimensional storage at present, and some existing products have various problems, for example, the transport robot is too heavy or too large in volume. This includes insufficient flexibility, poor operating capacity, reduced cargo loading / unloading effectiveness, insufficient loading capacity, and insufficient stability.

In the prior art, the transport robot normally used in a three-dimensional warehouse includes a tracked stacker and a parent-child car system. The tracked stacker is a facility for hoisting and stacking in an automated three-dimensional storage. In addition, the tracked stacker mainly includes an airframe, a loading table, a horizontal traveling mechanism, a hoisting mechanism, and a fork mechanism, and can realize cargo storage in cooperation with three axes. As another component, the general-purpose parent-child car system includes a shuttle car that moves in the vertical direction, a shuttle parent car that moves in the horizontal direction, and an elevator that moves in the vertical direction, thereby providing a parent-child car system with the shuttle car as the core. Configure.

Due to various problems, the above two types of transport robots cannot satisfy the flexibility, high efficiency, and large load capacity required by the current dense storage system. For example, tracked stackers waste storage space, which requires one stacker track for each or two freight tracks. In addition, stackers are difficult to carry heavy cargo.

Since the parent-child car system consists of a shuttle parent car and a shuttle child car, it is equivalent to having two cars. Therefore, the height of the parent-child car system is high, and the number of floors that can be built is correspondingly reduced from the viewpoint of building a three-dimensional warehouse. Further, in the parent-child car system, since there are a child car and a parent car, the total weight is large, the demand for the cargo rack is further increased, and the cost of the cargo rack is increased. And if you want to move the child car and the parent car to different levels, it will be very difficult due to the heavy weight, and if you want to transport the weight of the car itself plus the weight of the cargo to different levels, It will be difficult. Therefore, the operating capacity also decreases.

In order to solve or alleviate the above-mentioned problems existing in the prior art, the present disclosure proposes a traveling wheel and a track traveling system to which the traveling wheel is attached.

According to one side of the present invention, a four-way shuttle type transport robot including a base and a traveling wheel attached to the base, a driving driving device for traveling, and a hydraulic cylinder for changing the driving direction. The traveling wheel includes a direction changing system, a working system for loading and unloading cargo, and a control system, and the traveling wheel travels on a first wheel group for traveling on a first passage and a second passage. The first wheel group and the second wheel group are located at different heights and are used to travel in different directions, and the first wheel group and the first wheel group are included. At least one of the second wheel groups is arranged as a vertically movable up / down wheel group for direction change, and the hydraulic direction change system includes a direction change drive hydraulic cylinder group and a direction change drive mechanism. And a hydraulic pump station, the direction change drive mechanism is connected to a direction change hydraulic cylinder in the direction change drive hydraulic cylinder group, and the hydraulic pump station provides power to the direction change drive hydraulic cylinder group. A four-way shuttle type transport robot is proposed in which the direction change drive mechanism drives the elevating and lowering wheel group so as to move in the vertical direction according to a command from the control system.

In one embodiment of the transport robot according to the present invention, the direction change drive mechanism may be arranged so as to drive each traveling wheel in the elevating wheel group so as to move synchronously in the vertical direction. ..

In another embodiment of the transport robot according to the present invention, the direction change drive mechanism is arranged so as to drive each traveling wheel in the elevating wheel group so as to move asynchronously in the vertical direction. May be good.

When the direction change drive mechanism is arranged to drive each traveling wheel in the elevating wheel group so as to move in synchronization with the vertical direction, the direction change drive mechanism is the direction change drive hydraulic cylinder. It may include a connecting block connected to the cylinder rod of the hydraulic cylinder in the group and a wheel bearing connected to the connecting block to support the elevating and lowering wheel group.

According to another aspect of the invention, in one embodiment of the transport robot, the working system comprises a pallet provided at the top of the transport robot and for manipulating the cargo or a tray on which the cargo is loaded. The working system further includes an operation drive hydraulic cylinder group for driving the pallet to move in the vertical direction, and the pallet is connected to the cylinder rod of the hydraulic cylinder in the operation drive hydraulic cylinder group, and the pallet is connected to the cylinder rod. It may be displaced as the cylinder rod moves. Preferably, the hydraulic cylinders in the operation-driven hydraulic cylinder group are connected in series, and the hydraulic cylinders are arranged in the same manner.

Preferably, in one embodiment of the transport robot according to the present invention, the operation drive hydraulic cylinder may share one hydraulic power unit with the direction change drive hydraulic cylinder group.

According to another aspect of the present invention, in the transport robot, the first passage is the main passage, the first wheel group is the main passage wheel group, and the second passage is the sub passage. The second wheel group is a sub-passage wheel group, in which the main passage and the sub-passage are mutually perpendicular, and the traveling drive mechanism includes a power motor and a speed reducer connected to the power motor. , The reducer has two output shafts, the two output shafts output power in two vertical directions, and the output power in one direction is the main passage wheel shaft in the main passage wheel group by the transmission mechanism. It may be rotated and the output power in the other direction may rotate the sub-passage wheel shaft in the sub-passage wheel group by the transmission mechanism. Preferably, the power motor transmits power to the main passage wheel shaft and the sub-passage wheel shaft, respectively, via the speed reducer and then by the transmission device, and the drive wheel in the main passage wheel group is the main passage wheel. It is directly fixed to the shaft, and after the sub-passage shaft is powered, it is transmitted to the short shaft where the sub-passage wheel is located by the sprocket chain mechanism to rotate the drive wheel in the sub-passage wheel group.

More preferably, the main passage wheel shaft is arranged so as to be movable between two positions in the vertical direction, and the output shaft for driving the main passage wheel shaft in the reducer is positioned. It may be constant and above the horizontal position of the midpoint between the two positions of the main passage wheel axis.

In one preferred embodiment of the transport robot according to the present invention, the driving drive mechanism includes a power motor, the power motor is driven so as to travel on the traveling wheel of the transport robot, and the power motor includes a motor. An encoder for recording the amount of rotational angular displacement is provided, and the amount of angular displacement recorded by the encoder is transmitted to the control system, and the control system converts the amount of angular displacement to the actual displacement of the traveling wheel. The amount is calculated, and the transport robot is positioned based on the actual displacement amount, and the transport robot is controlled to move or stop at a predetermined position. More preferably, the hauling robot further comprises a position correction system including an interrogator disposed in the hauling robot and a responder disposed in the first passage and the second passage, wherein the control system. , The position may be adjusted based on the position information fed back from the position correction system.

By using the four-way shuttle type transport robot of the present disclosure, at least the following beneficial effects can be obtained. That is, the weight and volume of the robot are reduced, the structure is improved, and the operating ability is improved. In addition, the loading capacity is improved, the flexibility of the shuttle car is increased, and the efficiency of loading and unloading cargo is improved.

What should be understood is that the above general description and the following detailed description are merely exemplary explanations and interpretations, and do not limit the content of the present disclosure for protection.

With reference to the accompanying drawings, further objectives, functions, and advantages of the present disclosure will be articulated by the following description of embodiments of the present disclosure. Of which
FIG. 1 shows a schematic diagram of the usage state of the four-way shuttle type transport robot according to the embodiment of the present disclosure in the first passage and the second passage in the three-dimensional warehouse. FIG. 2 shows a schematic diagram of another usage state of the four-way shuttle type transport robot in the warehouse according to the embodiment of the present disclosure. FIG. 3 shows a schematic plan view of the driving drive device of the four-way shuttle type transport robot according to the embodiment of the present disclosure. FIG. 4 shows a schematic side view of the driving drive device in the four-way shuttle type transport robot shown in FIG. FIG. 5 shows a schematic view of the sub-aisle wheel in the transport robot shown in FIG. 6A and 6B show schematic views of the main aisle wheel of the transport robot, of which FIG. 6A shows the main aisle wheel in the ascending position and FIG. 6B shows the main aisle wheel in the descending position. Is shown. 6A and 6B show schematic views of the main aisle wheel of the transport robot, of which FIG. 6A shows the main aisle wheel in the ascending position and FIG. 6B shows the main aisle wheel in the descending position. Is shown. FIG. 7 shows a schematic diagram of an arrangement method of a direction change drive hydraulic cylinder group in the transport robot shown in FIG. FIG. 8 shows an example of a valve arrangement method in the direction change drive hydraulic cylinder group shown in FIG. 7. FIG. 9 shows a schematic diagram of the hydraulic direction conversion system in the four-way shuttle type transport robot according to the embodiment of the present disclosure. FIG. 10 shows a schematic diagram of the direction changing mechanism in one embodiment of the transport robot shown in FIG. FIG. 11 is an enlarged schematic view of the local structure in the direction changing mechanism shown in FIG. FIG. 12 shows a schematic diagram of the arrangement of the main aisle wheel axle in the driving drive of a four-way shuttle type transport robot according to one preferred embodiment of the present disclosure.

Specific Embodiments By reference to exemplary embodiments, the objectives and functions of the present disclosure and methods for achieving those objectives and functions will be clearly described. However, the present disclosure may be realized in different formats without limitation by the exemplary embodiments disclosed below. The specification substantially contributes to an engineer in the relevant technical field to comprehensively understand the specific details of the present disclosure.

The following describes examples of the present disclosure with reference to the accompanying drawings. In the attached drawings, the symbols in the same attached drawings indicate the same or similar members, or the same or similar steps.

In order to satisfy the requirements of high space utilization rate, high cargo loading / unloading effect, and high cargo capacity required for a three-dimensional warehouse, the present disclosure proposes a four-way shuttle type transport robot.

1 and 2 show schematic views of two types of usage in a warehouse of a four-way shuttle type transport robot (hereinafter abbreviated as “transport robot”) 100 according to an embodiment of the present disclosure. The transport robot is running on the cargo shelves of the three-dimensional warehouse. The aisle on the cargo rack is divided into a main aisle and a sub-aisle, and the sub-aisle is for storing cargo. They are usually perpendicular to each other. According to the transport robot of the present disclosure, it is possible to travel in a passage on a cargo shelf of a three-dimensional warehouse, change the direction between a main passage and a sub-passage, and carry out cargo loading / unloading. FIG. 2 shows that according to the transport robot of the present disclosure, the elevator 200 can reach cargo layers at different heights.

The transport robot of the present disclosure includes a base and a traveling wheel attached to the base. The transport robot includes a driving drive device for traveling, a hydraulic direction changing system for changing the driving direction, a working system for loading and unloading cargo, and a control system. In the transport robot of the present disclosure, the above-mentioned operation drive device, hydraulic direction change system, work system, and control system have been improved a plurality of times by the inventor, and then have been improved according to the work request in the three-dimensional warehouse. Is a different design.

[Hydraulic direction change system]
The following describes in detail the hydraulic direction conversion system in the 4-way shuttle type transport robot according to the present disclosure, in combination with the attached drawings.

In the transport robot according to the present disclosure, the traveling wheel includes a first wheel group for traveling in the first passage and a second wheel group for traveling in the second passage. As mentioned above, the first passage and the second passage are usually arranged at different heights and in different directions, so that the first wheel group and the second wheel group are located at different heights. , Used to travel in different directions. At least one of the first wheel group and the second wheel group is arranged as a vertically movable ascending / descending wheel group for turning. For example, in the embodiment of the transport robot shown in FIGS. 3 to 12, the traveling wheel in the first wheel group is the main passage wheel 20 capable of traveling in the main passage (first passage), and the second wheel group. The passage is a sub-passage, and the traveling wheel traveling on the second passage is the sub-passage wheel 30.

The hydraulic direction change system in the transport robot includes a direction change drive hydraulic cylinder group, a direction change drive mechanism, and a hydraulic pump station. The first and second aisles in three-dimensional storage are arranged in different directions.

For example, in the embodiment of the transport robot shown in FIGS. 3 to 8, the traveling wheel in the first wheel group is the main passage wheel 20 capable of traveling in the main passage (first passage), and the second wheel group. The passage is a sub-passage, and the traveling wheel traveling on the second passage is the sub-passage wheel 30.

The hydraulic direction change system includes a direction change drive hydraulic cylinder group, a direction change drive mechanism, and a hydraulic pump station.

The direction change drive mechanism is connected to the direction change hydraulic cylinder in the direction change drive hydraulic cylinder group. The hydraulic pump station powers the redirection drive hydraulic cylinder group 20 and drives the redirection drive mechanism to move the elevating wheel group in the vertical direction according to a command from the control system. In the transport robot shown in FIG. 3, the main passage wheel group 20 is a group of wheels that can be raised and lowered, and the hydraulic pump station may be another appropriate drive device.

In the transport robot according to the present disclosure, the direction change drive mechanism is arranged so as to drive each traveling wheel in the ascending / descending wheel group so as to move synchronously or asynchronously in the vertical direction.

Preferably, the direction change drive mechanism is arranged so as to drive each traveling wheel in the ascending / descending wheel group so as to move in synchronization with the vertical direction, thereby realizing stable direction change by the transport robot. can do. In addition, when the transport robot is located on a track with a certain slope, each traveling wheel in the wheel group that can move up and down is arranged so that it can move asynchronously, so that it can be operated by the slope of the track. The adverse effect on can be eliminated.

As shown in FIGS. 10 and 11, the direction change drive mechanism for driving the traveling wheel to move in the vertical direction is a connecting block 6- connected to the cylinder rod of the hydraulic cylinder in the direction change drive hydraulic cylinder group. 1 and a wheel bearing 6-2 for supporting a group of wheels that are connected to the connecting block and can be raised and lowered. In the structure shown in FIG. 11, 6-3 is a group of wheels that can be raised and lowered, and 6-4 is a loose nut.

Preferably, the hydraulic cylinders in the direction change drive hydraulic cylinder group are arranged so that there is at least one hydraulic cylinder on the wheel shaft of each elevating wheel group, and each hydraulic cylinder in the direction change drive hydraulic cylinder group. Are arranged in the same position and connected in series by a pipeline.

In order to raise and lower the traveling wheel in the elevating wheel group, the cylinder block of each hydraulic cylinder in the direction change drive hydraulic cylinder group is fixed, and each cavity of each hydraulic cylinder is sufficiently pre-filled with liquid. You may.

As shown in FIG. 9, when the transport robot needs to switch the traveling passage or the traveling direction, the valves and pipelines in the direction change drive hydraulic cylinder group are discharged by the hydraulic pump when the cylinder rod is raised. The hydraulic oil from the outlet enters from the lower cavity of the first hydraulic cylinder, and then the hydraulic oil in the upper cavity of the first hydraulic cylinder enters the lower cavity of the next hydraulic cylinder through the conduit, and the next The hydraulic oil in the upper cavity of each hydraulic cylinder entered the lower cavity of the next hydraulic cylinder through the pipeline, and this was repeated until the lower cavity of each hydraulic cylinder was filled with hydraulic oil. While the cylinder rod seems to rise synchronously, when the cylinder rod is lowered, the hydraulic oil from the hydraulic pump discharge port enters from the upper cavity of the first hydraulic cylinder, and then the first. The hydraulic oil in the lower cavity of the hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline, and the hydraulic oil in the lower cavity of the next hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline. It is arranged so that each cylinder rod is lowered synchronously by entering and repeating until the upper cavity of each hydraulic cylinder is filled with hydraulic oil.

When the transport robot is in a position where both the first passage and the second passage are located and the control system of the transport robot issues a command to change the driving direction, the hydraulic direction conversion system operates as follows.

That is, it is determined whether or not the liftable wheel group of the transport robot is in a dropped state and touches the traveling passage.
When the ascending / descending wheel group is in the falling position and comes into contact with the currently traveling traveling passage, the direction change drive mechanism moves each traveling wheel in the ascending / descending wheel group vertically upward to the ascending position. By driving in this way, the other wheel group of the first wheel group and the second wheel group, which is not the wheel group that can be raised and lowered, comes into contact with the new traveling passage, and the direction change is completed. ..

In another driving state, if the elevating wheel group is in the ascending position and is not in contact with the currently traveling traveling path, the direction change drive mechanism will drop each traveling wheel in the elevating wheel group to the falling position. By driving the wheel group to move downward in the vertical direction, the other wheel group of the first wheel group and the second wheel group, which is not considered to be an elevating wheel group, is the current traveling passage. It will be released from the contact of the wheel, and the direction change will be completed.

Preferably, the first wheel group and the second wheel group are arranged so that their traveling directions are perpendicular to each other. Of course, the traveling direction of each wheel group in the transport robot may be arranged according to the actual situation of the track in the three-dimensional warehouse.

Preferably, the first and second aisles in the three-dimensional warehouse are arranged at different heights. With such an arrangement, the transport robot's base is held in a fixed position during the direction change of the transport robot, and there is no need to lift the base during the ascending and descending processes of the ascending and descending wheel groups, or It does not cause vibration of the base, which enhances the stability of the cargo.

For example, the direction conversion method for the transport robot to convert from the X direction to the Y direction and travel is as follows (the conversion from the Y direction to the X direction is the same). The traveling wheel in the X direction expands and contracts to the fuselage and moves away from the track. Then, the traveling wheel in the Y direction comes into contact with the ground and travels.

According to the transport robot of the present disclosure, when the first wheel group is a wheel group capable of ascending and descending, when the transport robot is traveling in the first passage, the first wheel group is after being lowered. , The position in contact with the first track, but when the transport robot is traveling in the second passage, the first wheel group is in an ascending state.

Preferably, in a specific embodiment of the transport robot having the hydraulic direction conversion system of the present disclosure, in the transport robot shown in FIGS. 3 to 10, the first passage is the main passage and the first wheel. The group is the main passage wheel group 20, the second passage is the sub-passage, the second wheel group is the sub-passage wheel group 30, and the main passage and the sub-passage are mutually vertical. The traveling drive mechanism of the transport robot includes a power motor and a speed reducer connected to the power motor, the speed reducer has two output shafts, and the two output shafts output power in two vertical directions. , The output power in one direction rotates the main passage wheel axle 40 in the main passage wheel group 20 by the transmission mechanism, and the output power in the other direction is the sub passage wheel shaft in the sub passage wheel group 30 by the transmission mechanism. Rotate 50.

The power motor transmits power to the main passage wheel shaft 40 and the sub-passage wheel shaft 50, respectively, via the speed reducer and then by the transmission device, and the drive wheel in the main passage wheel group is directly to the main passage wheel shaft. After being fixed and the sub-passage wheel shaft 50 is powered, the drive wheel in the sub-passage wheel group is rotated by being transmitted to the short shaft on which the sub-passage wheel 30 is located by the sprocket chain mechanism.

Preferably, as shown in FIG. 12, the main passage wheel axle 40 is arranged so as to be movable between two positions in the vertical direction for driving the main passage wheel axle in the reducer. The output shaft is fixed in position (as shown on the right side in the accompanying drawings) and is located above the horizontal position of the midpoint between the two positions of the main passage wheel shaft 40.

The above-mentioned transport robot will be described below with reference to actual examples of the transport robot 100 shown in FIGS. 3 to 12.

In the examples shown in FIGS. 3 to 10, two power sources are provided, and one of the power sources is for driving the traveling of the transport robot, that is, the power motor 70. This power source may be a DC 48V servomotor, and is abbreviated as a traveling motor. Another power source is used for the two functions of changing the direction of the transport robot and lifting the tray, which enables cargo to be taken in and out and the traveling direction to be switched between the main aisle and the sub-aisle. This power source is used to drive a hydraulic system, and may be a DC 48V servomotor, a hydraulic pump station, or may be abbreviated as a hydraulic motor.

FIG. 7 shows a hydraulic pump 80 as a power source for the hydraulic system, a direction change drive valve block group 81 for direction change drive, and a lift drive slider group 82 for the lifting work system.

The traveling motor outputs in two vertical directions by one speed reducer, the output power in one of them rotates the wheel in the main passage direction by the transmission mechanism, and the output power in the other direction is. The transmission mechanism rotates the wheel in the direction of the sub-passage. The diversion causes the sub-aisle wheel or main aisle wheel to be positioned in orbit on the cargo shelves, and when the main aisle wheel is in orbit, the hauling robot travels along the main aisle, and vice versa. be.

As shown in FIG. 4, the two shafts output from the traveling motor transmit power to the main passage wheel shaft 40 and the sub passage wheel shaft 50, respectively, by the sprocket chain mechanism, and the main passage wheel 20 is the main. Since it is directly fixed to the passage shaft, when the main passage shaft rotates, the main passage wheel rotates accordingly. After the sub-aisle shaft is powered, the sub-aisle wheel 30 may be rotated by further transmitting the power to the short shaft on which the sub-aisle wheel is located by the sprocket chain mechanism. Preferably, the sprocket wheel chain tensioner device is provided in the sprocket wheel group in order to prevent the chain from slackening too much in the sprocket wheel group and causing poor meshing or vibration phenomenon. It ensures that the chain and sprocket are properly engaged. For example, as shown in FIG. 4, the sprocket wheel group is provided with seven sprocket wheel chain tensioner devices to ensure that the chain and sprocket are properly meshed.

In the transport robot in this example, the hydraulic direction change system consists of a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, a hydraulic line, and other auxiliary elements. The execution elements of the hydraulic system are eight hydraulic cylinders, which are divided into two sets for each of the four hydraulic cylinders, and the direction can be changed.

FIG. 7 shows a schematic diagram of the arrangement method of the direction change drive hydraulic cylinder group in the transport robot shown in FIG. 4, and FIG. 8 shows the valve arrangement method in the direction change drive hydraulic cylinder group shown in FIG. An example is shown.

FIG. 9 shows a schematic diagram of the hydraulic direction conversion system in the four-way shuttle type transport robot according to the embodiment of the present disclosure. FIG. 9 is a hydraulic principle diagram of one set of hydraulic cylinders. By turning on the corresponding electromagnetic valves 1.1, 1.7, 1.8, 1.9, 1.10 and 1.6, 1.2, 1.3, 1.4, 1.5, the hydraulic oil at the hydraulic pump outlet will enter through the lower cavity of the first hydraulic cylinder. , The hydraulic oil in the upper cavity of the first hydraulic cylinder enters the lower cavity of the second hydraulic cylinder, the hydraulic oil in the upper cavity of the second hydraulic cylinder enters the lower cavity of the third hydraulic cylinder, the third The hydraulic oil in the upper cavity of the hydraulic cylinder enters the lower cavity of the fourth hydraulic cylinder, the hydraulic oil in the upper cavity of the fourth hydraulic cylinder reaches the inlet of the hydraulic pump, and both of the hydraulic cylinder rods rise. In the process. On the contrary, the hydraulic cylinder rod is in the descending process. In one set of hydraulic cylinders, each has the same specifications, so the volume of each cavity is the same, and due to the incompressibility of the hydraulic oil, the volume of hydraulic oil in each hydraulic cylinder is the same. Therefore, synchronism is maintained.

The direction change between the sub-passage and the main passage may be realized by raising and lowering a set of four hydraulic cylinders. For redirection, the four hydraulic cylinders are fixed, the lower end of the cylinder rod is connected to one connecting block by screws, and the main passage shaft is engaged to the connecting block by bearings. When the connecting block is interlocked by the cylinder rod and reciprocates up and down, the main passage axis also moves up and down, and the main passage wheel and the sub passage wheel are alternately positioned on the track, and the direction change is performed. Complete. The heights of the orbits in the main passage and the sub-passage are different, that is, the high and low orbits are used, and the orbit of the main passage is lower than the orbit of the sub-passage. When the main aisle axis moves upward, the main aisle wheel fixed to the main aisle axis separates from the track, the sub-aisle wheel is located on the track, and the transport robot is also located in the sub-aisle. When the main aisle axis moves downward, the main aisle wheel returns to the orbit and the sub-aisle moves away from the orbit. When the wheels in different directions are in orbit, the transport robot will travel in the different directions.

[Working system]
According to another aspect of the present invention, in the transport robot of the present invention, the working system is provided on the top of the transport robot and has a cargo or a pallet for operating a tray on which the cargo is placed, and the pallet. Includes an operation-driven hydraulic cylinder group for driving to move in the vertical direction. Among them, the pallet is connected to the cylinder rod of the hydraulic cylinder in the operation-driven hydraulic cylinder group and is displaced as the cylinder rod moves.

The hydraulic cylinders in the operation-driven hydraulic cylinder group are connected in series, and each hydraulic cylinder is arranged so as to be the same.

Preferably, the operation drive hydraulic cylinder shares one hydraulic power unit with the direction change drive hydraulic cylinder group.

In the transport robot in this example, the hydraulic direction change system consists of a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, a hydraulic line, and other auxiliary elements. The execution elements of the hydraulic system are eight hydraulic cylinders divided into two sets, one set of four hydraulic cylinders is for direction change, and another set of hydraulic cylinders is used for the work system.

In the hydraulic cylinder group in the work system, a set of four hydraulic cylinder rods is raised and lowered at the same time by turning on the corresponding solenoid valve under the control by the program of the control system. One pallet is connected for each of the two hydraulic cylinder rods, and two pallets are provided so that the cylinder rod can be raised and lowered as the cylinder rod is raised and lowered, and the tray in which the cargo is stored can only be lifted and lowered. By doing so, the purpose of loading and unloading cargo may be realized.

With reference to the one shown in Figure 9, the hydraulic oil at the hydraulic pump outlet is the first hydraulic cylinder by turning on the corresponding electromagnetic valve, similar to the operation in the hydraulic direction conversion system described above. Enter through the lower cavity of the first hydraulic cylinder, then the hydraulic oil in the upper cavity of the first hydraulic cylinder enters the lower cavity of the second hydraulic cylinder, and the hydraulic oil in the upper cavity of the second hydraulic cylinder is in the third hydraulic cylinder. Entering the lower cavity, the hydraulic oil in the upper cavity of the third hydraulic cylinder enters the lower cavity of the fourth hydraulic cylinder, and the hydraulic oil in the upper cavity of the fourth hydraulic cylinder reaches the inlet of the hydraulic pump. Then, all the hydraulic cylinder rods are in the ascending process. On the contrary, all the hydraulic cylinder rods are in the descending process. Since each set of hydraulic cylinders has the same specifications, the volume of each cavity is the same. Due to the incompressibility of the hydraulic oil, the volume of the hydraulic oil in each hydraulic cylinder is the same, where synchronism is maintained.

[Control system]
The four-way shuttle type transport robot of the present disclosure further includes a control system, which includes the hydraulic direction conversion system described above and a module for controlling the work system, and also realizes positioning and position correction of the transport car. You can also let it.

As described above, the driving drive mechanism in the transport robot includes a power motor, and drives the power motor so as to travel on the traveling wheel of the transport robot.

The power motor is provided with an encoder for recording the angular displacement amount of the rotation of the motor, and the encoder transmits the recorded angular displacement amount to the control system.

The control system calculates the actual displacement amount of the traveling wheel by converting the angular displacement amount, positions the transport robot based on the actual displacement amount, and moves the transport robot to a predetermined position. Or, control to stop.

According to another aspect of the present disclosure, the position correction system used in the four-way shuttle type transport robot is further proposed, and the position correction system includes a questioning machine arranged in the transport robot and the first passage. And the responder arranged in the second passage may be included. The control system of the transport robot adjusts the position based on the position information fed back from the position correction system.

Preferably, the interrogator may be a laser sensor capable of outputting a signal and reading the returned signal, and the responder may be a positioning card with preset position information.

In the transport robot of the present disclosure, the power motor may be a motor, or any other suitable motor capable of outputting power according to a control command.

The four-way shuttle type transport robot disclosed in the present disclosure adopts a hydraulic drive method to perform work operations and change directions. As a result, a larger load can be received and the speed of direction change is also accelerated. In addition, the four-way shuttle type transport robot of the present disclosure can realize the functions of lifting and changing the direction of the pallet by one hydraulic system, and it is not necessary to arrange other complicated mechanical structures, so that the shuttle can be used. The volume and weight of the entire car are greatly reduced.

Combining the description and practice of the present disclosure described herein, other embodiments of the present disclosure will be readily conceivable and understandable to those of skill in the art. The description and examples are only taken as exemplary and the true scope and intent of this disclosure is limited by the claims.

Claims (16)

A four-way shuttle-type transport robot that includes a base and a traveling wheel attached to the base.
Includes a driving drive for driving, a hydraulic direction conversion system for changing the driving direction, a working system for loading and unloading cargo, and a control system.
The traveling wheel includes a first wheel group for traveling in a first passage and a second wheel group for traveling in a second passage, and the first wheel group and the second wheel group. The wheels are located at different heights and are used to travel in different directions, with at least one of the first wheel group and the second wheel group being movable up and down for direction change. It is arranged as a group of wheels,
The hydraulic direction change system includes a direction change drive hydraulic cylinder group, a direction change drive mechanism, and a hydraulic pump station, and the direction change drive mechanism becomes a direction change hydraulic cylinder in the direction change drive hydraulic cylinder group. Connected, the hydraulic pump station powers the direction change drive hydraulic cylinder group, and the direction change drive mechanism drives the elevating wheel group to move vertically according to a command from the control system. Let me
The direction change drive mechanism is a connecting block connected to the cylinder rod of the hydraulic cylinder in the direction change drive hydraulic cylinder group, and a wheel shaft connected to the connection block to support the elevating and lowering wheel group. Including bearings,
At least one hydraulic cylinder is arranged on the wheel shaft of each of the elevating and lowering wheel groups, the cylinder block of each hydraulic cylinder in the direction change drive hydraulic cylinder group is fixed, and the inside of each cavity of each hydraulic cylinder is fixed. Are four-way shuttle type transport robots, each of which is pre-filled with liquid. The first aspect of the present invention, wherein the direction change drive mechanism is arranged so as to drive each traveling wheel in the elevating and lowering wheel group so as to move in synchronization with the vertical direction. Transport robot. In the hydraulic cylinders in the direction change drive hydraulic cylinder group, each hydraulic cylinder in the direction change drive hydraulic cylinder group is arranged so that the volume of each cavity is the same, and is connected in series by a pipeline. 2. The transport robot according to claim 2. The valves and pipelines in the direction change drive hydraulic cylinder group are
When the cylinder rod is raised, the hydraulic oil from the hydraulic pump discharge port enters from the lower cavity of the first hydraulic cylinder, and then the hydraulic oil in the upper cavity of the first hydraulic cylinder is next through the pipeline. The hydraulic oil in the upper cavity of the next hydraulic cylinder enters the lower cavity of the next hydraulic cylinder, and the hydraulic oil in the lower cavity of the next hydraulic cylinder enters the lower cavity of the next hydraulic cylinder through the pipeline. Repeatedly until filled, each cylinder rod appears to rise synchronously, while
When the cylinder rod is lowered, the hydraulic oil from the hydraulic pump discharge port enters from the upper cavity of the first hydraulic cylinder, and then the hydraulic oil in the lower cavity of the first hydraulic cylinder is next through the pipeline. The hydraulic oil in the lower cavity of the next hydraulic cylinder enters the upper cavity of the next hydraulic cylinder, and the hydraulic oil in the upper cavity of the next hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline. By repeating until it is filled, each cylinder rod will be lowered in synchronization.
Arranged like,
The transport robot according to claim 3, characterized in that. When the transport robot is in a position where both the first passage and the second passage are located and the control system of the transport robot issues a command to change the driving direction, the hydraulic direction conversion system is as follows. Works and
It is determined whether or not the liftable wheel group of the transport robot is in the dropped state and touches the traveling passage.
When the elevating wheel group is in the falling position and comes into contact with the traveling passage currently being traveled, the direction change drive mechanism causes each traveling wheel in the elevating wheel group to be vertically upward to the ascending position. By driving the wheel group to move to, the other wheel group of the first wheel group and the second wheel group, which is not a liftable wheel group, comes into contact with the new traveling passage. The direction change is completed,
When the elevating wheel group is in the ascending position and is not in contact with the traveling passage currently being traveled, the direction change drive mechanism causes each traveling wheel in the elevating wheel group to be vertically oriented to the falling position. By moving downward to contact the new traveling passage, the other wheel group of the first wheel group and the second wheel group, which is not a liftable wheel group, is currently used. The transport robot according to any one of claims 1 to 4, wherein the contact with the traveling passage is released from the contact with the traveling passage, and the direction change is completed. The transport robot according to claim 5, wherein the first wheel group and the second wheel group are arranged so that their traveling directions are perpendicular to each other. The working system is provided on the top of the transport robot and includes a pallet for manipulating cargo or trays.
The working system further includes a group of operation driven hydraulic cylinders for driving the pallet to move in the vertical direction.
The transport robot according to claim 1, wherein the pallet is connected to a cylinder rod of a hydraulic cylinder in the operation-driven hydraulic cylinder group and is displaced as the cylinder rod moves. The transport robot according to claim 7, wherein the hydraulic cylinders in the operation-driven hydraulic cylinder group are connected in series, and the hydraulic cylinders are arranged so that the volumes of the cavities are the same. .. The transport robot according to claim 8, wherein the operation-driven hydraulic cylinder shares one hydraulic power device with the direction-changing drive hydraulic cylinder group. The first passage is a main passage, the first wheel group is a main passage wheel group, the second passage is a sub-passage, and the second wheel group is a sub-passage wheel group, the main passage. The passage and the sub-passage are perpendicular to each other.
The traveling drive mechanism includes a power motor and a speed reducer connected to the power motor, wherein the speed reducer has two output shafts, and the two output shafts output power in two vertical directions. Output power in one direction rotates the main passage wheel axle in the main passage wheel group by the transmission mechanism,
The transport robot according to claim 1, wherein the output power in the other direction rotates the sub-passage wheel axis in the sub-passage wheel group by the transmission mechanism. The drive wheel in the main passage wheel group is directly fixed to the main passage wheel shaft, the sub passage shaft is powered, and then transmitted to the short shaft where the sub passage wheel is located by the sprocket chain mechanism, whereby the sub passage is transmitted. The transport robot according to claim 10, wherein the drive wheel in the wheel group is rotated. The main passage wheel shaft is arranged so as to be movable between two positions in the vertical direction, and the output shaft for driving the main passage wheel shaft in the speed reducer has a constant position. The transport robot according to claim 11, wherein the transport robot is located above the horizontal position of the midpoint between the two positions of the main passage wheel axis. The driving drive mechanism includes a power motor, and the power motor is driven so as to travel on the traveling wheel of the transport robot.
The power motor is provided with an encoder for recording the amount of angular displacement in which the motor rotates, and the amount of angular displacement recorded by the encoder is transmitted to the control system.
The control system calculates the actual displacement amount of the traveling wheel by converting the angular displacement amount, positions the transport robot based on the actual displacement amount, and moves the transport robot to a predetermined position. , Or the transport robot according to claim 1, wherein the robot is controlled to stop. Further equipped with a position correction system including a questioning machine arranged in the transport robot and a response machine arranged in the first passage and the second passage.
The transport robot according to claim 13, wherein the control system adjusts a position based on the position information fed back from the position correction system. The interrogator is a laser sensor that can output a signal and read the returned signal.
The transport robot according to claim 14, wherein the responder is a positioning card in which position information is preset. The transport robot according to any one of claims 13 to 15, wherein the power motor is an electric motor.

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