WO2020228192A1 - 一种货架货笼移载穿梭车及其应用 - Google Patents

一种货架货笼移载穿梭车及其应用 Download PDF

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Publication number
WO2020228192A1
WO2020228192A1 PCT/CN2019/104536 CN2019104536W WO2020228192A1 WO 2020228192 A1 WO2020228192 A1 WO 2020228192A1 CN 2019104536 W CN2019104536 W CN 2019104536W WO 2020228192 A1 WO2020228192 A1 WO 2020228192A1
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Prior art keywords
guide rod
chassis
shuttle
rack
motor
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PCT/CN2019/104536
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English (en)
French (fr)
Inventor
张强
王业阳
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山东大学
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Publication of WO2020228192A1 publication Critical patent/WO2020228192A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for

Definitions

  • the invention relates to a shuttle car for transferring racks and cages and its application, and belongs to the technical field of logistics storage.
  • This subject proposes a design of a shuttle for the transfer of shelves and cargo cages, which is used to dispatch shelves and cargo cages, transport the required shelves and cargo cages to the work area, and complete the storage and retrieval of goods in the work area to complete the shelves.
  • Flexible deployment of cargo cages Since there is no need to reserve the working channel of the stacker, the shelves and the cargo cage are densely stored, which greatly improves the space utilization rate of the warehouse, and the efficiency of the goods in and out of the warehouse is also improved.
  • the present invention provides a shuttle for the transfer of racks and cages.
  • the present invention also provides a method for using the above-mentioned shelf-cargo cage transfer shuttle.
  • a shuttle car for transferring racks and cages includes a chassis, wheels and a lifting platform; at least one wheel is installed at the bottom of the chassis through a driving steering mechanism; the chassis is provided with a lifting mechanism, and the lifting mechanism is connected with the lifting platform.
  • four wheels are installed on the bottom of the chassis, of which two wheels are driving wheels and the other two wheels are driven wheels.
  • the driving wheels are mounted on the bottom of the chassis through a drive steering mechanism, and the driven wheels are mounted on the chassis through a wheel cage. bottom.
  • the driven wheel is a universal wheel.
  • the jacking mechanism includes a fixed bottom plate, a motor, a transmission shaft, a guide rod, and a guide rod slider;
  • the fixed bottom plate is provided with four guide rod sliders, two motors, two transmission shafts, and four guide rods. They are respectively matched and connected with four guide rod sliders, and one side of the guide rod is provided with a rack, each transmission shaft is provided with a large gear and two small gears, the pinion meshes with the rack, and the output shaft of the motor is provided There is a motor gear, which meshes with the big gear.
  • the guide rod and the guide rod slider are connected by a concave-convex structure, and the top of the guide rod is fixedly connected with the bottom of the lifting platform.
  • the advantage of this design is that the guide rod slider is provided with vertical grooves and the guide rod is provided with protrusions. After the concave-convex connection is connected, the guide rod can slide up and down in the guide rod slider.
  • the motor and the guide rod slider are installed on the fixed bottom plate by bolts.
  • the two ends of the transmission shaft are connected with bearings, and the bearings are installed on the bearing seat on the fixed bottom plate.
  • the upper surface of the guide rod slider and the bottom of the fixed bottom plate are provided with a limit switch, and the guide rod is provided with an upper limit block and a lower limit block.
  • the fixed bottom plate and the upper surface of the chassis are connected by bolts, and the chassis is provided with a cavity for the guide rod to move downward.
  • a support seat is further provided on the chassis, and when the lifting platform is lowered, the lifting platform falls on the support seat.
  • the advantage of this design is that when there is goods on the lifting platform, the lifting platform falls on the support seat, and the support seat can bear the weight and share the weight of the guide rod.
  • the drive steering mechanism includes a drive motor, a worm gear and a half shaft, the drive motor is connected to the half shaft through the worm gear, and the half shaft is connected to the wheels.
  • a bearing is connected through the half shaft, and the bearing is connected to the bottom of the chassis through a fixing frame.
  • a gravity sensor is provided on the lifting platform, a controller is installed on the chassis, and the limit switch, the gravity sensor, the motor, and the driving motor are respectively connected to the controller.
  • the advantage of this design is that the automatic operation of the shuttle is realized by the controller, and the gravity sensor can know whether the weight of the carried rack exceeds the preset range, and the walking, steering, lifting and landing of the shuttle can be realized through the preset program of the controller. .
  • a working method of a shuttle car for transferring racks and cages includes the following steps:
  • the rack and cage transfer shuttle car of the present invention can meet the storage requirements of an automated three-dimensional warehouse, can realize the overall shift of the shelves in the three-dimensional warehouse, and replace the working mode of the traditional stacker, and there is no need to reserve the working channel of the stacker , Shelves and cargo cages are intensively stored, which greatly improves the space utilization rate of the warehouse, and at the same time, the efficiency of goods in and out of the warehouse is also greatly improved.
  • Figure 1 is a schematic diagram of the overall structure of the transfer shuttle of the present invention.
  • Figure 2 is a schematic diagram of the structure of the jacking mechanism in the present invention.
  • Figure 3 is a front view of the lifting mechanism in the present invention.
  • Figure 4 is a top view of the lifting mechanism in the present invention.
  • FIG. 5 is a perspective view of the chassis in the present invention.
  • FIG. 6 is a side view of the chassis in the present invention.
  • FIG. 7 is a bottom view of the chassis in the present invention.
  • this embodiment provides a rack and cage transfer shuttle vehicle, which includes a chassis 20, wheels, and a lifting platform; at least one wheel is installed on the bottom of the chassis through a driving steering mechanism, and a jack is provided on the chassis.
  • the lifting mechanism is connected with the lifting platform.
  • the driving wheels are mounted on the bottom of the chassis 20 through a drive steering mechanism, and the driven wheels are mounted on the chassis through a wheel cage. bottom.
  • the driven wheel is a universal wheel, which can realize the steering of the shuttle.
  • the drive steering mechanism includes a drive motor 23, a worm gear 22, and a half shaft 21.
  • the drive motor 23 is fixedly mounted on the bottom of the chassis 20 by bolts.
  • the output shaft of the drive motor 23 is directly connected to the worm.
  • the half shaft 21 is connected with a bearing 26 through 26 is connected to the bottom of the chassis via a fixing frame to support and fix the half shaft.
  • One end of the half shaft 21 is connected with the wheel and the other end is connected with the worm gear.
  • the output power of the driving motor 23 is transmitted to the wheels through the worm gear 22 and the half shaft 21 to rotate the wheels.
  • the two driving wheels are independent of each other and are driven by the two driving motors.
  • the specific structure can be seen in Figure 5 to Figure 7.
  • the jacking mechanism includes a fixed bottom plate 4, a motor 8, a transmission shaft 5, a guide rod 1 and a guide rod slider 3; the fixed bottom plate 4 is provided with four guide rod sliders 3, two motors 8 and two transmission shafts 5.
  • the four guide rods 1 are respectively connected to the four guide rod sliders 3, and a rack 2 is provided on one side of the guide rod 1, two transmission shafts 5 are installed side by side on the fixed bottom plate 4, and each transmission shaft 5 is provided with One large gear 6 and two small gears 13, the small gear 13 meshes with the rack 2, the output shaft of the motor 8 is provided with a motor gear 14, and the motor gear 14 meshes with the large gear 6.
  • the four guide rod sliders 3 are located at the four corners of the rectangle, so that the arrangement can be balanced with force.
  • the guide rod 1 and the guide rod slider 3 are connected by a concave-convex structure, that is, the guide rod slider 3 is provided with vertical recesses. Groove, one side of the guide rod 1 is provided with protrusions, after the concave-convex fit connection, the guide rod 1 can slide up and down in the guide rod slider 3, and the rack 2 is fixedly installed on the other side of the guide rod 1 by screws.
  • the electric motor 8 and the guide rod slider 3 are fixedly installed on the fixed base plate 4 by bolts.
  • the two electric motors 8 are located between the two drive shafts 5.
  • the two ends of the drive shaft 5 are connected with bearings 7 and the bearings 7 are installed on the fixed base plate 4.
  • the bearing seat and the bearing 7 play the role of fixing and supporting the transmission shaft 5.
  • the large gear 6 and the small gear 13 are fixed on the transmission shaft 15 by a pin.
  • the large gear 6 is located in the center of the transmission shaft 5, and the two small gears 13 are located Both sides of large gear 6.
  • a gravity sensor is installed on the lifting platform, a controller is installed on the chassis, and the gravity sensor, motor 8, and driving motor 23 are respectively connected to the controller.
  • the automatic operation of the shuttle is realized by the controller.
  • the gravity sensor can know whether the weight of the carried rack exceeds the preset range, and the walking, turning, lifting and landing of the shuttle can be realized through the preset program of the controller.
  • a shuttle car for transporting racks and cages The structure is as described in Embodiment 1. The difference is that the upper surface of the guide rod slider 3 and the bottom of the fixed bottom plate 4 are equipped with a limit switch, and the guide rod 1 is equipped with an upper limit block. And the lower limit block. Through the cooperation of the upper limit block, the lower limit block and the limit switch, the pinion gear and the rack can be prevented from disengagement or kinematic interference.
  • the limit switch used in this embodiment is a circuit limit switch, and the limit switch is connected to the controller.
  • the controller will receive the limit switch trigger signal to control the motor Stop work to avoid excessive lifting of the rack.
  • a rack and cargo cage transfer shuttle vehicle The structure is as described in Example 1. The difference is that: the chassis 20 is also equipped with a support seat.
  • the support seat can be directly welded to the chassis or part of the chassis. When the lifting platform falls, the lifting platform falls on the support seat. When there is goods on the lifting platform, the lifting platform falls on the support seat, which can play a load-bearing role and share the weight of the guide rod.
  • a working method of a shuttle car for transferring racks and cages The shuttle car described in Example 1 is used.
  • the shuttle car is placed in a warehouse.
  • the specific operation includes the following steps:
  • the controller controls the drive motor 23 to start again, and the shuttle starts to move.
  • the controller controls one of the drive wheels to stop operation and realize the steering;
  • the controller controls the driving motor 23 to stop the operation, the shuttle stops moving, and then the controller controls the motor 8 to start again, and the guide rod is dropped through the transmission shaft 5, pinion 13, and rack 2, and then Drive the lifting platform down and put down the shelves.
  • the shuttle can complete the shift of multiple shelves.
  • the shuttle has a designed load-bearing range, and you can choose a suitable shuttle for different working environments.
  • computer programs can be entered or erased in the shuttle controller in advance, so that the shuttle can meet different usage requirements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种货架货笼移载穿梭车及其应用，包括底盘（20）、车轮和升降台；至少一个车轮通过驱动转向机构安装在底盘（20）底部，底盘（20）上设置有顶升机构，顶升机构与升降台连接，顶升机构包括固定底板、电动机（8）、传动轴（5）、导杆（1）和导杆滑块（3）；四个导杆（1）分别与四个导杆滑块（3）配合连接，且导杆（1）一侧设置有齿条（2），每根传动轴上设置有一个大齿轮（6）和两个小齿轮（13），小齿轮（13）与齿条（2）啮合，电动机（8）的输出轴上设置有电动机齿轮（14），电动机齿轮（14）与大齿轮（6）啮合。该穿梭车能够实现货架整体移位，货架、货笼密集存放，提高仓库的空间利用率，提高货物的出入库效率。

Description

一种货架货笼移载穿梭车及其应用 技术领域
本发明涉及一种货架货笼移载穿梭车及其应用，属于物流仓储技术领域。
背景技术
物流运输在当今社会上有着重要作用，人们的生活中到处都有着物流的身影，无论是快递的运送还是各种工业、农业产品的存储与运输都离不开高效运作的物流系统。随着物流行业的发展，物流系统的设备以及运作模式也在不断地更新与变化，比如，为了提高仓库的空间利用率设计了自动化立体仓库，为了提高仓储流程的效率采用了穿梭车及堆垛机等。物流设备与管理模式的更新大大提高了物流系统的效率，使得现代物流系统能够满足人们的生产生活需要。然而，随着经济的发展以及需求的不断提高，物流系统服务的行业也越来越多，面临的压力也将会越来越大，因此更新物流设备来提高物流系统的效率也变得非常重要。
自动化立体仓库的运用极大提高了仓储环节的效率以及物流系统的服务能力，但是其本身也有着不足之处。传统自动化立体仓库中，为了货物的存放与调取，需要用叉车和巷道堆垛机将货物运送到指定货架或到指定货架取出货物，由于预留了巷道堆垛机存取货物的操作通道，使得仓库的空间利用率大大降低，仓储系统存在占地面积大、管理混乱等缺点，并降低了整个系统的工作效率。
本课题提出了一种货架、货笼移载穿梭车的设计，用以调度货架、货笼，将需要的货架、货笼运送到工作区域，统一在工作区域完成货物的存取工作，完成货架、货笼的柔性调配。由于不需要预留出堆垛机的工作通道，货架、货笼密集存放，大大提高了仓库的空间利用率，货物的出入库工作效率也得到提高。
发明内容
针对现有技术的不足，本发明提供一种货架货笼移载穿梭车。
本发明还提供上述一种货架货笼移载穿梭车的使用方法。
本发明的技术方案如下：
一种货架货笼移载穿梭车，包括底盘、车轮和升降台；至少一个车轮通过驱动转向机构安装在底盘底部，底盘上设置有顶升机构，顶升机构与升降台连接。
优选的，所述底盘的底部安装有四个车轮，其中两个车轮为驱动轮，另两个车轮为从动轮，驱动轮通过驱动转向机构安装在底盘底部，从动轮通过车轮保持架安装在底盘底部。
优选的，所述从动轮为万向轮。
优选的，所述顶升机构包括固定底板、电动机、传动轴、导杆和导杆滑块；固定底板上设置有四个导杆滑块、两个电动机和两根传动轴，四个导杆分别与四个导杆滑块配合连接，且导杆一侧设置有齿条，每根传动轴上设置有一个大齿轮和两个小齿轮，小齿轮与齿条啮合，电动机的输出轴上设置有电动机齿轮，电动机齿轮与大齿轮啮合。
优选的，导杆与导杆滑块通过凹凸结构配合连接，导杆顶端与升降台底部固连。此设计的好处是，导杆滑块上开设有竖凹槽，导杆上设有凸起，凹凸配合连接后，导杆在导杆滑块内可上下滑动。
优选的，电动机和导杆滑块通过螺栓安装在固定底板上。
优选的，传动轴的两端连接有轴承，轴承安装在固定底板上的轴承座。
优选的，导杆滑块上表面和固定底板底部设置有限位开关，导杆上设置有上限位块和下限位块。此设计的好处是，通过上限位块、下限位块与限位开关的配合，避免小齿轮与齿条脱离啮合或发生运动学干涉。
优选的，所述固定底板与底盘上表面通过螺栓连接，底盘设置有供导杆向下移动的凹腔。
优选的，所述底盘上还设置有支撑座，当升降台落下时，升降台落在支撑座上。此设计的好处是，当升降台上有货物时，升降台落在支撑座上，支撑座可以起到承重作用，分担导杆的承重。
优选的，所述驱动转向机构包括驱动电机、蜗轮蜗杆、半轴，驱动电机通过蜗轮蜗杆与半轴传动连接，半轴与车轮连接。
优选的，所述半轴贯穿连接有轴承，轴承通过固定架连接在底盘底部。
优选的，所述升降台上设置有重力传感器，底盘上安装有控制器，限位开关、重力传感器、电动机、驱动电机分别与控制器连接。此设计的好处是，通过控制器实现穿梭车的自动化作业，重力传感器可以获知所载运货架的重量是否超出预设范围，通过控制器预设程序实现穿梭车的行走、转向、顶升和降落。
一种货架货笼移载穿梭车的工作方法，包括以下步骤：
(1)开始作业时，穿梭车的升降台处于落下状态，穿梭车驶入货架下；
(2)当穿梭车到达指定货架下方后，顶升机构开始工作，将升降台升起，从而升降台顶起货架；
(3)穿梭车开始移动，当需要转向时，其中一个驱动轮停止作业，实现转向；
(4)转向完成后，穿梭车继续前行；
(5)当到达目的地后，穿梭车停止移动，顶升机构再次工作，将升降台落下，从而放下货架。
本发明的有益效果在于：
本发明货架货笼移载穿梭车，能够满足自动化立体仓库的仓储要求，可实现立体仓库内货架的整体移位，替代了传统堆垛机的工作方式，无需预留出堆垛机的工作通道，货架、货笼密集存放，大大提高了仓库的空间利用率，同时货物的出入库工作效率也大大提高。
附图说明
图1为本发明移载穿梭车的整体结构示意图；
图2为本发明中顶升机构的结构示意图；
图3为本发明中顶升机构的主视图；
图4为本发明中顶升机构的俯视图；
图5为本发明中底盘的立体图；
图6为本发明中底盘的侧视图；
图7为本发明中底盘的仰视图；
其中：1-导杆，2-齿条，3-导杆滑块，4-固定底板，5-传动轴，6-大齿轮，7-轴承，8-电动机，9-电动机螺栓，10-螺栓，11-轴承端盖，12-电动机垫块，13-小齿轮，14-电动机齿轮，20-底盘，21-半轴，22-蜗轮蜗杆，23-驱动电机，24-万向轮，25-后轮，26-轴承，27-轴承端盖。
具体实施方式
下面通过实施例并结合附图对本发明做进一步说明，但不限于此。
实施例1：
如图1至图7所示，本实施例提供一种货架货笼移载穿梭车，包括底盘20、车轮和升降台；至少一个车轮通过驱动转向机构安装在底盘底部，底盘上设置有顶升机构，顶 升机构与升降台连接。
具体而言，底盘的底部安装有四个车轮，其中两个车轮为驱动轮，另两个车轮为从动轮，驱动轮通过驱动转向机构安装在底盘20底部，从动轮通过车轮保持架安装在底盘底部。从动轮为万向轮，可实现穿梭车的转向。
驱动转向机构包括驱动电机23、蜗轮蜗杆22、半轴21，驱动电机23通过螺栓固定安装在底盘20的底部，驱动电机23的输出轴直接与蜗杆连接，半轴21贯穿连接有轴承26，轴承26通过固定架连接在底盘底部起到支撑固定半轴的作用，半轴21一端与车轮连接、另一端与蜗轮连接。作业时，驱动电机23输出动力通过蜗轮蜗杆22、半轴21传递到车轮上，使车轮转动，两个驱动轮相互独立，由两个驱动电机各自驱动。具体结构可参见图5至图7。
顶升机构包括固定底板4、电动机8、传动轴5、导杆1和导杆滑块3；固定底板4上设置有四个导杆滑块3、两个电动机8和两根传动轴5，四个导杆1分别与四个导杆滑块3配合连接，且导杆1一侧设置有齿条2，两根传动轴5并排安装在固定底板4上，每根传动轴5上设置有一个大齿轮6和两个小齿轮13，小齿轮13与齿条2啮合，电动机8的输出轴上设置有电动机齿轮14，电动机齿轮14与大齿轮6啮合。
四个导杆滑块3位于矩形的四个角点上，这样布置可以用力受力均衡，导杆1与导杆滑块3通过凹凸结构配合连接，即导杆滑块3上开设有竖凹槽，导杆1一侧设有凸起，凹凸配合连接后，导杆1在导杆滑块3内可上下滑动，导杆1的另一侧上通过螺钉固定安装齿条2。
电动机8和导杆滑块3通过螺栓固定安装在固定底板4上，两个电动机8位于两根传动轴5之间，传动轴5的两端连接有轴承7，轴承7安装在固定底板4上的轴承座。通过轴承座和轴承7起到固定支撑传动轴5的作用，大齿轮6和小齿轮13动是通过销固定在传动轴15上，大齿轮6位于传动轴5的中心，两个小齿轮13位于大齿轮6的两侧。
底盘20中部有内凹的腔体，固定底板4与底盘上表面通过螺栓固定连接后，导杆1的底部位于内凹的腔体内，这样导杆1沿导杆滑块3上下移动时有活动的空间，导杆1的顶端直接与升降台的底部通过螺栓连接在一起。
升降台上设置有重力传感器，底盘上安装有控制器，重力传感器、电动机8、驱动电机23分别与控制器连接。通过控制器实现穿梭车的自动化作业，重力传感器可以获知所载运货架的重量是否超出预设范围，通过控制器预设程序实现穿梭车的行走、转向、顶 升和降落。
实施例2：
一种货架货笼移载穿梭车，结构如实施例1所述，其不同之处在于：导杆滑块3上表面和固定底板4底部安装有限位开关，导杆1上安装有上限位块和下限位块。通过上限位块、下限位块与限位开关的配合，避免小齿轮与齿条脱离啮合或发生运动学干涉。
本实施例中所用限位开关是电路限位开关，限位开关与控制器连接，当上限位块和下限位块触发限位开关时，控制器会接收到限位开关触发信号，从而控制电动机停止作业，避免齿条过度升降。
实施例3：
一种货架货笼移载穿梭车，结构如实施例1所述，其不同之处在于：底盘20上还安装有支撑座，支撑座可以直接焊接在底盘上，也可以是底盘的一部分，当升降台落下时，升降台落在支撑座上。当升降台上有货物时，升降台落在支撑座上，支撑座可以起到承重作用，分担导杆的承重。
实施例4：
一种货架货笼移载穿梭车的工作方法，利用实施例1所述的穿梭车，穿梭车放置在仓库内，具体作业时，包括以下步骤：
(1)开始作业时，穿梭车的升降台处于落下状态，驱动电机23启动，穿梭车按照预设程序驶入要移动的货架下方；
(2)当穿梭车到达指定货架下方后，驱动电机23暂时停止工作，顶升机构中的电动机8开始工作，通过传动轴5、小齿轮13、齿条2将导杆1升起，从而将升降台升起，升降台顶起货架；若此时货架的总量超出预设值范围，控制器会控制电动机停止作业，放弃顶升作业；
(3)升降台将货架顶起后，控制器控制驱动电机23再次启动，穿梭车开始移动，当需要转向时，通过控制器控制其中一个驱动轮停止作业，实现转向；
(4)转向完成后，穿梭车继续前行；
(5)当到达目的地后，控制器控制驱动电机23停止作业，穿梭车停止移动，然后控制器控制电动机8再次启动，通过传动轴5、小齿轮13、齿条2将导杆落下，进而带动升降台落下，将货架放下。
穿梭车按照上述过程，即可完成多个货架的移位。对于不同仓库内货架的重量，穿 梭车都有设计的承重范围，不同的工作环境，可以选择适合的穿梭车。另外，穿梭车控制器内可以事先录入或擦除计算机程序，从而使穿梭车满足不同的使用需求。

Claims (10)

  1. 一种货架货笼移载穿梭车，其特征在于：包括底盘、车轮和升降台；至少一个车轮通过驱动转向机构安装在底盘底部，底盘上设置有顶升机构，顶升机构与升降台连接。
  2. 如权利要求1所述的货架货笼移载穿梭车，其特征在于：所述底盘的底部安装有四个车轮，其中两个车轮为驱动轮，另两个车轮为从动轮，驱动轮通过驱动转向机构安装在底盘底部，从动轮通过车轮保持架安装在底盘底部。
  3. 如权利要求1所述的货架货笼移载穿梭车，其特征在于：所述顶升机构包括固定底板、电动机、传动轴、导杆和导杆滑块；固定底板上设置有四个导杆滑块、两个电动机和两根传动轴，四个导杆分别与四个导杆滑块配合连接，且导杆一侧设置有齿条，每根传动轴上设置有一个大齿轮和两个小齿轮，小齿轮与齿条啮合，电动机的输出轴上设置有电动机齿轮，电动机齿轮与大齿轮啮合。
  4. 如权利要求3所述的货架货笼移载穿梭车，其特征在于：导杆与导杆滑块通过凹凸结构配合连接，导杆顶端与升降台底部固连。
  5. 如权利要求3所述的货架货笼移载穿梭车，其特征在于：传动轴的两端连接有轴承，轴承安装在固定底板上的轴承座；导杆滑块上表面和固定底板底部设置有限位开关，导杆上设置有上限位块和下限位块。
  6. 如权利要求3所述的货架货笼移载穿梭车，其特征在于：所述固定底板与底盘上表面通过螺栓连接，底盘设置有供导杆向下移动的凹腔。
  7. 如权利要求5所述的货架货笼移载穿梭车，其特征在于：所述驱动转向机构包括驱动电机、蜗轮蜗杆、半轴，驱动电机通过蜗轮蜗杆与半轴传动连接，半轴与车轮连接。
  8. 如权利要求7所述的货架货笼移载穿梭车，其特征在于：所述半轴贯穿连接有轴承，轴承通过固定架连接在底盘底部。
  9. 如权利要求7所述的货架货笼移载穿梭车，其特征在于：所述升降台上设置有重力传感器，底盘上安装有控制器，限位开关、重力传感器、电动机、驱动电机分别与控制器连接。
  10. 一种如权利要求1-9任一项所述的货架货笼移载穿梭车的工作方法，包括以下步骤：
    (1)开始作业时，穿梭车的升降台处于落下状态，穿梭车驶入货架下；
    (2)当穿梭车到达指定货架下方后，顶升机构开始工作，将升降台升起，从而升降台顶起货架；
    (3)穿梭车开始移动，当需要转向时，其中一个驱动轮停止作业，实现转向；
    (4)转向完成后，穿梭车继续前行；
    (5)当到达目的地后，穿梭车停止移动，顶升机构再次工作，将升降台落下，从而放下货架。
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