WO2020244163A1 - 灵动型穿梭车、货运系统及货运方法 - Google Patents
灵动型穿梭车、货运系统及货运方法 Download PDFInfo
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- WO2020244163A1 WO2020244163A1 PCT/CN2019/119389 CN2019119389W WO2020244163A1 WO 2020244163 A1 WO2020244163 A1 WO 2020244163A1 CN 2019119389 W CN2019119389 W CN 2019119389W WO 2020244163 A1 WO2020244163 A1 WO 2020244163A1
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- Prior art keywords
- support plate
- smart shuttle
- component
- walking
- box
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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
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
Definitions
- the present disclosure relates to the technical field of warehousing and logistics equipment, and in particular to a smart shuttle, a freight system and a freight method.
- the shuttle In the logistics warehousing system, the shuttle is a kind of automatic handling equipment in high-density storage racks, which runs on the rack rails to realize the in and out of box goods.
- a shuttle car can only fit a box of one width, that is, a car model can only be applied to a box of a single specification, and cannot complete picking and placing of boxes of different widths.
- the purpose of the present disclosure includes, for example, providing a smart shuttle, a freight system, and a freight method, so as to relieve that the shuttle in the prior art can only complete the transfer of boxes with a specified width, which is poor in flexibility and low in transfer efficiency.
- An embodiment of the present disclosure provides a smart shuttle vehicle, which includes a moving component, a first supporting plate and a second supporting plate configured to carry a box, and a first walking component and a second walking component that can walk on a guide rail;
- a slide rail is connected between the first walking component and the second walking component, the first support plate is fixed on an end of the slide rail close to the first walking component, and the second support plate is slidably arranged On the sliding rail, the moving assembly is fixedly connected with the second supporting plate, and drives the second supporting plate to slide on the sliding rail.
- a first fork box assembly is provided on the side of the first support plate facing the first walking assembly, and the first fork box assembly includes a first fixing part and a first fork box part.
- a fixed part is fixedly connected to the first support plate and is provided with a first driving part configured to drive the first fork box part to slide;
- a second fork box assembly is provided on the side of the second support plate facing the second walking assembly.
- the second fork box assembly includes a second fixing part and a second fork box part.
- the second supporting plate is fixedly connected and provided with a second driving part configured to drive the second fork box component to slide.
- the sliding direction of the first fork box component and the sliding direction of the second support plate are perpendicular to each other;
- the sliding direction of the second fork box component and the sliding direction of the second support plate are perpendicular to each other.
- the smart shuttle vehicle further includes a spline shaft and a spline sleeve, one end of the spline shaft is fixedly connected to the first driving part, and the spline sleeve is fixed to the second driving part Connected, the spline shaft is inserted in the spline sleeve.
- the moving assembly includes a driving device, a driving pulley, a driven pulley, and a timing belt.
- the driving device is drivingly connected to the driving pulley and is installed on the first walking assembly.
- the driven pulley is installed on the second walking assembly, the timing belt is located below the second support plate and is drivingly connected to the driving pulley and the driven pulley, and the second fixing member It is fixedly connected with the synchronous belt.
- the axis directions of the driving pulley and the driven pulley are horizontal, and the second fixing member is fixedly connected to the upper horizontal part of the timing belt.
- the smart shuttle vehicle further includes a timing belt pressing plate, the timing belt is an arc toothed timing belt, the timing belt pressing plate is detachably fixed on the second fixing part, and the arc tooth The timing belt is located between the timing belt pressing plate and the second fixing member, and is engaged with the timing belt pressing plate.
- the smart shuttle vehicle further includes an energy storage component, and the energy storage component is fixed on the second walking component and electrically connected to the driving device.
- the driving device is a servo motor.
- a connecting rod is connected between the first walking component and the second walking component, the connecting rod is provided with a wire-containing groove, and the wire-containing groove extends along the length of the connecting rod and is located at The two ends of the connecting rod form an opening.
- the connecting rod is located below the second supporting plate, and the second fixing member is provided with a through hole for the connecting rod to pass through.
- a notch is provided on one side of the wire-containing groove, the notch is arranged downward, and the connecting rod is detachably connected with a buckle cover configured to close the notch.
- the slide rail includes at least two optical axes arranged parallel to each other, the second fixing part is correspondingly provided with linear bearings having the same number as the optical axes, and the linear bearings are sleeved on the optical axis. on.
- a bushing slidingly fitted with the optical axis is fixed at the bottom of the second support plate.
- An embodiment of the present disclosure provides a freight transportation system, which includes the above-mentioned smart shuttle and a control device for controlling the smart shuttle.
- An embodiment of the present disclosure provides a freight transportation method, which is implemented using the above freight transportation system, and the freight transportation method includes:
- the beneficial effects of the embodiments of the present disclosure include, for example:
- the first support plate and the second support plate carry the two sides of the bottom surface of the box respectively to complete the load of the box, and the first traveling component and the second traveling component jointly complete the smart Type shuttle car walking on the guide rail.
- the first traveling component and the second traveling component are fixedly connected by a sliding rail, and the distance between the two is fixed.
- the first supporting plate is fixed to one end of the sliding rail, and the second supporting plate is slidably arranged on the sliding rail.
- the distance between the first supporting plate and the second supporting plate can be changed to complete the support of boxes with different widths.
- the distance between the first support plate and the second support plate is adjustable, it can be used for picking and placing goods of different specifications, which improves the versatility of the smart shuttle and improves the efficiency of commodity logistics storage.
- the freight system includes the smart shuttle, which has all the functions of the smart shuttle.
- the freight transportation method is realized by the freight transportation system, which also has all the functions of the smart shuttle.
- Figure 1 is a schematic structural diagram of a smart shuttle provided by an embodiment of the disclosure
- Figure 2 is a partial enlarged view of A in Figure 1;
- FIG. 3 is a schematic structural diagram of another view of the smart shuttle provided by the embodiments of the disclosure.
- FIG. 4 is a schematic structural diagram of another view of the smart shuttle provided by the embodiments of the disclosure.
- Figure 5 is a schematic diagram of a freight system provided by an embodiment of the disclosure.
- FIG. 6 is a schematic flowchart of a freight transportation method provided by an embodiment of the disclosure.
- Icon 1-Smart shuttle; 10-first support plate; 20-second support plate; 30-first traveling component; 40-second traveling component; 50-slide rail; 60-first fork box component; 61-first fork box part; 62-first fixed part; 621-first drive part; 70-second fork box assembly; 71-second fork box part; 72-second fixed part; 721-second drive Section; 722-through hole; 723-linear bearing; 80-moving component; 81-driving device; 82-driving pulley; 83-driven pulley; 84-synchronous belt; 90-energy storage component; 120-synchronous belt Pressure plate; 130-connecting rod; 131-container groove; 132-opening; 133-notch; 134-buckle cover; 140-bush; 151-spline shaft; 152-spline sleeve; 160-belt; 2- Box; 3-Control equipment.
- connection should be interpreted broadly. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
- connection should be interpreted broadly. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
- the existing shuttle vehicle generally has two traveling components, each traveling component includes two traveling wheels, the two traveling wheels are separately arranged on two mutually parallel guide rails, and a carrying box is connected between the two traveling components.
- Forkbox components are slidably arranged on both sides of the support plate. Take the outbound operation as an example. After the shuttle is moved to the designated position of the shelf, the fork box assembly can pull the box onto the support plate, and then the shuttle is out of the library according to the program instructions.
- the width of the box that the support plate of the shuttle car can carry is a fixed value, and the distance between the two fork box components is not adjustable.
- a model can only be applied to a box of a single specification. Pick and place of the box.
- the compatibility of the shuttle will decrease, and only shuttles of multiple sizes can be used to deal with it, which increases the types of materials and management costs of the shuttle, and directly causes the shuttle to move the box. Poor flexibility also reduces handling efficiency.
- the width of the box that can be carried by the supporting plate in the prior art is a fixed value. If a model is used, a fixed-size turnover box is required to be compatible with the size requirements of the largest cargo in the project, resulting in an increase in the volume of the shuttle. And the goods need to be reloaded in a fixed-size box, which increases the operation process, greatly wastes space, and greatly increases the project cost.
- the smart shuttle 1 provided in this embodiment can effectively alleviate the technical problem that a shuttle can only fit a box of one width.
- the smart shuttle 1 in this embodiment will be described in detail below.
- a smart shuttle 1 provided by an embodiment of the present disclosure includes a moving assembly 80 (detailed later), a first support plate 10 and a second support plate configured to carry a box 2 20 and a first walking assembly 30 and a second walking assembly 40 capable of walking on a guide rail (not shown).
- a slide rail 50 is connected between the first walking component 30 and the second walking component 40.
- the first support plate 10 is fixed on the slide rail 50 at one end close to the first walking component 30, and the second support plate 20 is slidably arranged on the slide rail 50 close to One end of the second walking component 40.
- the moving assembly 80 is fixedly connected to the second support plate 20 and drives the second support plate 20 to slide on the sliding rail 50.
- the sliding direction of the second support plate 20 is the left and right direction, and similarly, it is also the width direction of the box 2.
- the first support plate 10 and the second support plate 20 are symmetrically arranged with each other, and the two support the two sides of the bottom surface of the box 2 respectively to complete the load on the box 2.
- the first traveling assembly 30 and the second traveling assembly 40 jointly complete the walking of the smart shuttle 1 on the guide rail.
- the first walking component 30 and the second walking component 40 are fixedly connected by a slide rail 50, and the distance between the two is fixed.
- the first support plate 10 is fixed to one end of the slide rail 50
- the second support plate 20 is slidably arranged on the slide rail 50, and then is drivingly connected to the second support plate 20 through the moving assembly 80, so that the first support plate can be changed.
- first support plate 10 and the distance between the second support plate 20 to complete the support for the boxes 2 of different widths.
- the distance between the first support plate 10 and the second support plate 20 is adjustable, they can be used for picking and placing goods in boxes 2 of different specifications, which improves the versatility of the smart shuttle 1 and improves the logistics storage of goods. effectiveness.
- this embodiment also introduces the specific structure of the smart shuttle 1 in detail as follows.
- the side of the first support plate 10 facing the first walking assembly 30 is provided with a first fork box assembly 60.
- the first fork box assembly 60 includes a first fixing part 62 and a first fork box part 61.
- the first fixing part 62 is fixedly connected to the first support plate 10 and is provided with a first driving part 621 configured to drive the first fork box part 61 to slide.
- the second support plate 20 is provided with a second fork box assembly 70 on the side facing the second walking assembly 40.
- the second fork box assembly 70 includes a second fixing part 72 and a second fork box part 71.
- the second fixing part 72 and the The two supporting plates 20 are fixedly connected and provided with a second driving portion 721 configured to drive the second fork box component 71 to slide.
- the sliding direction of the first fork box member 61 and the second fork box member 71 is the front and rear direction, and similarly, it is also the length direction of the box body 2.
- the first fork box member 61 is slidably disposed above the first fixing member 62, and the sliding direction of the first fork box member 61 is the length direction of the box body 2 and is perpendicular to the sliding direction of the second support plate 20.
- the second fork box component 71 is slidably disposed above the second fixing component 72, and the sliding direction of the second fork box component 71 is the length direction of the box body 2 and is perpendicular to the sliding direction of the second support plate 20.
- first fork box assembly 60 at the first support plate 10 can extend into one side of the box body 2
- the second support plate 20 can be adjusted by the moving assembly 80 so that the second fork box at the second support plate 20
- the assembly 70 extends into the other side of the box 2 to complete the push-pull operation of the box 2.
- first support plate 10 and the second support plate 20 can be adjusted, it can be compatible with boxes 2 of different sizes, eliminating the need for refilling of the turnover box and greatly simplifying the operation process. And because it does not need to be placed in a fixed-size turnover box, it greatly saves space and maximizes the degree of density. In a limited space, it not only greatly increases the working space, but also reduces the project investment cost.
- first walking assembly 30 and the second walking assembly 40 in this embodiment not only provide power for the respective walking wheels, but also for the sliding of the respective fork box assembly in the length direction of the box 2 and the rotation of the lever. Provide motivation.
- first driving part 621 and the second driving part 721 may be direct power sources, such as motors, air cylinders, oil cylinders, and so on. Of course, it can also be an indirect power source.
- first traveling assembly 30 and the second traveling assembly 40 each have a motor configured to drive the respective traveling wheels to rotate.
- the first driving part 621 and the second driving part 721 It can be a gear transmission mechanism, a belt transmission mechanism, a linkage mechanism, etc. connected to the motor.
- the smart shuttle 1 further includes a spline shaft 151 and a spline sleeve 152.
- One end of the spline shaft 151 is fixedly connected to the first driving part 621, and the spline sleeve 152 is fixedly connected to the second driving part 721.
- the spline shaft 151 is inserted in the spline sleeve 152.
- the first fork box part 61 and the second fork box part 71 are driven by the belt 160 to complete the sliding on the first fixed part 62 and the second fixed part 72, the first driving part 621 and the second driving part 721 They are all driving wheels connected with the belt 160.
- the first driving part 621 is fixed to one end of the spline shaft 151
- the second driving part 721 is fixed with a spline sleeve 152.
- the spline shaft 151 is inserted into the spline sleeve 152.
- the axial direction of the spline shaft 151 is The sliding direction of the second support plate 20 is the same.
- the first driving portion 621 and the second driving portion 721 are kept circumferentially fixed by the spline shaft 151 and the spline sleeve 152. That is, no matter where the second support plate 20 is moved to, the first driving part 621 and the second driving part 721 can respectively drive the first fork box member 61 and the second fork box member 71 to simultaneously extend or retract. In order to realize the fork box function.
- a driving motor can be installed on the first traveling assembly 30 and drivingly connected with the first driving part 621; or, a driving motor can also be installed on the second traveling assembly 40 and away from the spline shaft 151 One end of the first driving part 621 is drivingly connected.
- the friction generated when the spline sleeve 152 moves along the axial direction of the spline shaft 151 may be sliding friction or rolling friction.
- a ball is provided between the spline sleeve 152 and the spline shaft 151, so that the friction generated by the spline sleeve 152 moving along the axis of the spline shaft 151 is rolling friction, and the friction between the two is smaller , The second driving part 721 moves more easily and smoothly.
- the first fork box assembly 60 and the second fork box assembly 70 are symmetrically arranged with each other, and the first fork box part 61 and the second fork box part 71 of the two cooperate with each other to realize the pairing of the box body 2 Push-pull, stable operation.
- the moving assembly 80 includes a driving device 81, a driving pulley 82, a driven pulley 83 and a timing belt 84.
- the driving device 81 is drivingly connected with the driving pulley 82 and both are installed on the first walking assembly 30.
- the driven pulley 83 is installed on the second walking assembly 40, the timing belt 84 is located below the second support plate 20 and is in transmission connection with the driving pulley 82 and the driven pulley 83, and the second fixing member 72 is fixed to the timing belt 84 connection.
- the second fixing member 72 is fixedly connected to the timing belt 84, which means that the second fixing member 72 is fixedly connected to a certain position on a layer where the timing belt 84 moves horizontally.
- the moving direction of the horizontally moving layer of the timing belt 84 is consistent with the length direction of the slide rail 50, so that the timing belt 84 can drive the second fork box assembly 70 and the second support plate 20 to be relatively close to or away from the first support when the timing belt 84 rotates. Movement of the board 10.
- the driving device 81 is a servo motor.
- the timing belt 84 rotates more smoothly and accurately.
- the servo motor loses power and immediately stops rotating, ensuring the accuracy of the width between the first support plate 10 and the second support plate 20 after adjustment .
- “slide to a specified position” here can be understood as a type of positioning.
- the width accuracy between the first support plate 10 and the second support plate 20 can be controlled by a motor, and the position can also be detected by a sensor. And feedback to the controller, the controller controls the servo motor to improve the accuracy of positioning.
- this position sensor can be a non-contact sensor (photoelectric sensor, magnetic sensor), or a contact sensor, such as a proximity switch, that is, the second support plate 20 slides to After the designated position, it collides with the trigger switch, and the trigger switch directly causes the servo motor to lose power and immediately stop rotating. It is worth noting that this positioning method is relatively existing and will not be repeated here. Those skilled in the art can understand that if other positions in this embodiment need to be positioned, they can all be implemented using the above positioning method.
- a photoelectric sensor is used to detect whether there is a box 2 on the first support plate 10 and the second support plate 20, and then feed it back to the controller, and the controller then correspondingly controls the action of the servo motor. This can achieve accurate positioning.
- the positions of the two sides in the width direction of the box 2 can be detected, that is, the distance between the two opposite sides of the box 2 and the smart shuttle 1 can be detected, so as to determine whether the interval is sufficient .
- the position of the smart shuttle 1 can be accurately positioned.
- the position of the smart shuttle 1 can be detected, and the smart shuttle 1 can be prevented from crossing the limit range on both sides of the guide rail.
- limit switches can be set on its left and right sides as the second barrier.
- the third barrier can be a mechanical limit. If the first barrier is in a failed state without power, the second barrier When the power is cut off, the third barrier is forcibly intercepted.
- the axial directions of the driving pulley 82 and the driven pulley 83 are horizontal, and the second fixing member 72 is fixedly connected to the upper horizontal portion of the timing belt 84.
- the axes of the driving pulley 82 and the driven pulley 83 are horizontally arranged.
- the timing belt 84 forms an upper layer and a lower layer that move horizontally between the driving pulley 82 and the driven pulley 83.
- the "upper horizontal portion" mentioned above can be understood as a partial position of the upper layer of the timing belt 84.
- the second fixing member 72 is provided with a passage through which the upper layer and the lower layer of the timing belt 84 pass, and the second fixing member 72 is fixedly connected to a certain position of the upper layer or the lower layer. In this embodiment, the second fixing component 72 is fixedly connected to a certain position of the upper layer of the timing belt 84.
- the moving assembly 80 may also be an air cylinder, an oil cylinder, etc., installed on the second walking assembly 40, and its piston rod is directly connected to the second support plate 20 to realize linear driving.
- the smart shuttle 1 of this embodiment further includes a timing belt pressing plate 120, and the timing belt 84 is an arc tooth timing belt.
- the timing belt pressing plate 120 is detachably fixed on the second fixing part 72, and the arc tooth timing belt is located between the timing belt pressing plate 120 and the second fixing part 72 and is engaged with the timing belt pressing plate 120.
- the timing belt pressing plate 120 is a rack that can mesh with a circular arc tooth timing belt. Both ends of the timing belt pressing plate 120 are provided with through holes, and the second fixing part 72 is correspondingly provided with threaded holes. During installation, the upper layer of the arc tooth synchronous belt is first sandwiched between the belt pressing plate 120 and the second fixing part 72, and then the bolt passes through the through hole and is threaded with the threaded hole to complete the upper layer of the arc tooth synchronous belt and the second The two fixing parts 72 are relatively fixed. The timing belt pressing plate 120 can improve the smoothness of the movement of the second fixing member 72.
- the smart shuttle 1 of this embodiment further includes an energy storage component 90, which is fixed on the second walking component 40 and is electrically connected to the driving device 81.
- the energy storage assembly 90 supplies power to the driving device 81 and other driving devices that drive the first fork box component 61 and the second fork box component 71 to work.
- the energy storage component 90 and the driving device 81 configured to drive the second support plate 20 to slide on the second walking component 40 and the first walking component 30, respectively, the first walking component 30 and the second walking component 40 are balanced. Gravity ensures the stability of the center of gravity of the smart shuttle 1.
- the energy storage component may be a super capacitor. It should be noted that, in other embodiments, the smart shuttle 1 may not include the energy storage component 90, and power is supplied to the electric devices in the smart shuttle 1 through wires.
- a connecting rod 130 is connected between the first walking component 30 and the second walking component 40.
- the connecting rod 130 is provided with a wire containing groove 131 which extends along the length direction of the connecting rod 130 and forms openings 132 at both ends of the connecting rod 130.
- the wire receiving groove 131 is configured to receive a wire connecting the energy storage assembly 90 and the driving device 81.
- the two ends of the wire respectively extend through the openings 132 at both ends of the connecting rod 130, so as to prevent the wire from being exposed to the outside and scratching with external equipment, to ensure the service life of the wire, and to improve the working stability of the smart shuttle 1, and at the same time Also more beautiful and clean.
- the connecting rod 130 is located below the second support plate 20, and the second fixing member 72 is provided with a through hole 722 for the connecting rod 130 to pass through.
- the connecting rod 130 is located below the second support plate 20 and will not affect the normal operation of other devices above the second support plate 20. Through the through hole 722, the connecting rod 130 can be relatively close to the second support plate 20, and the overall structure is relatively compact.
- a notch 133 is provided on one side of the wire receiving groove 131, specifically, the notch 133 is set downward. In this way, it is convenient to put the wire from the slot 133 into the wire containing groove 131.
- the connecting rod 130 is detachably connected with a buckle cover 134 configured to close the slot 133.
- the notch 133 may not be provided, and the wire passes through the opening 132 at one end of the connecting rod 130 into the wire receiving groove 131 and passes through the opening 132 at the other end.
- the slide rail 50 includes at least two optical axes arranged parallel to each other, and the second fixing member 72 is correspondingly provided with the same number of linear bearings 723 as the optical axes, and the linear bearings 723 are sleeved on the optical axis. .
- the sliding rail 50 includes two optical shafts, and the two optical shafts are separately arranged on the front and rear sides of the smart shuttle 1. Both the front and rear ends of the second fixing member 72 are provided with linear bearings 723, and the sliding cooperation of the linear bearing 723 with the optical axis makes the sliding of the second fixing member 72 on the optical axis more stable and continuous.
- a bush 140 that is slidingly fitted with the optical axis is fixed at the bottom of the second support plate 20.
- the bushing 140 also functions to support the second support plate 20, which ensures that the second support plate 20 will not deform and interfere with the optical axis when the box 2 is carried by the second support plate 20.
- this embodiment also provides a freight transportation system, which includes the above-mentioned smart shuttle 1 and a control device 3 for controlling the smart shuttle 1.
- the control device 3 can be integrated in the smart shuttle 1, and the smart shuttle 1 is controlled by pre-stored program instructions for walking, loading and unloading.
- this embodiment also provides a freight transportation method, which is implemented by using the above freight transportation system, and the freight transportation method includes:
- S2 Control the moving assembly 80 to adjust the distance between the first support plate 10 and the second support plate 20.
- the devices for loading and unloading the box 2 are the first fork box assembly 60 and the second fork box assembly 70.
- S1 and S2 can be performed simultaneously.
- the present disclosure provides a smart shuttle, a freight system, and a freight method.
- the adjustable distance between the first support plate and the second support plate it can be adapted to boxes of different widths and has high flexibility. , The conveying efficiency is higher.
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Abstract
一种灵动型穿梭车（1）、货运系统及货运方法，涉及仓储物流设备技术领域，灵动型穿梭车（1）包括移动组件（80）、配置成承载箱体的第一支撑板（10）和第二支撑板（20）以及能够在导轨上行走的第一行走组件（30）和第二行走组件（40）；第一行走组件（30）和第二行走组件（40）之间连接有滑轨（50），第一支撑板（10）固定在滑轨（50）靠近第一行走组件（30）的一端，第二支撑板（20）滑动设置在滑轨（50）上，移动组件（80）与第二支撑板（20）固定连接，并驱动第二支撑板（20）在滑轨（50）上滑动。解决了现有技术中的穿梭车一般只能对指定宽度的箱体完成搬送，灵活性差，搬送效率低的技术问题。
Description
相关申请的交叉引用
本公开要求于2019年06月06日提交中国专利局的申请号为201910499840X、名称为“灵动型穿梭车”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
本公开涉及仓储物流设备技术领域，具体而言，涉及一种灵动型穿梭车、货运系统及货运方法。
在物流仓储系统中，穿梭车是一种高密度仓储货架中的自动化搬运设备，在货架轨道上运行，实现箱体货物出入库。
现有技术中，一个穿梭车仅能适配一种宽度的箱体，也就是说，一款车型只能适用于单一规格的箱体，无法完成对不同宽度的箱体的取放。
发明内容
本公开的目的包括，例如，提供了一种灵动型穿梭车、货运系统及货运方 法，以缓解现有技术中的穿梭车一般只能对指定宽度的箱体完成搬送，灵活性差，搬送效率低的技术问题。
本公开的实施例可以这样实现：
本公开的实施例提供的一种灵动型穿梭车，包括移动组件、配置成承载箱体的第一支撑板和第二支撑板以及能够在导轨上行走的第一行走组件和第二行走组件；
所述第一行走组件和所述第二行走组件之间连接有滑轨，所述第一支撑板固定在所述滑轨靠近所述第一行走组件的一端，所述第二支撑板滑动设置在所述滑轨上，所述移动组件与所述第二支撑板固定连接，并驱动所述第二支撑板在所述滑轨上的滑动。
可选的，所述第一支撑板朝向所述第一行走组件的一侧设有第一叉箱组件，所述第一叉箱组件包括第一固定部件和第一叉箱部件，所述第一固定部件与所述第一支撑板固定连接并设有配置成驱动所述第一叉箱部件滑动的第一驱动部；
所述第二支撑板朝向所述第二行走组件的一侧设有第二叉箱组件，所述第二叉箱组件包括第二固定部件和第二叉箱部件，所述第二固定部件与所述第二支撑板固定连接并设有配置成驱动所述第二叉箱部件滑动的第二驱动部。
可选的，所述第一叉箱部件的滑动方向与所述第二支撑板的滑动方向相互垂直；
所述第二叉箱部件的滑动方向与所述第二支撑板的滑动方向相互垂直。
可选的，所述灵动型穿梭车还包括花键轴和花键套，所述花键轴的一端与所述第一驱动部固定连接，所述花键套与所述第二驱动部固定连接，所述花键轴插设在所述花键套内。
可选的，所述移动组件包括驱动装置、主动带轮、从动带轮以及同步带，所述驱动装置与所述主动带轮驱动连接并均安装在所述第一行走组件上，所述从动带轮安装在所述第二行走组件上，所述同步带位于所述第二支撑板的下方并与所述主动带轮和所述从动带轮传动连接，所述第二固定部件与所述同步带固定连接。
可选的，所述主动带轮和所述从动带轮的轴线方向为水平方向，所述第二固定部件与所述同步带的上水平部固定连接。
可选的，所述灵动型穿梭车还包括同步带压板，所述同步带为圆弧齿同步带，所述同步带压板可拆卸的固定在所述第二固定部件上，所述圆弧齿同步带位于所述同步带压板和所述第二固定部件之间，并与所述同步带压板啮合。
可选的，所述灵动型穿梭车还包括储能组件，所述储能组件固定在所述第二行走组件上，并与所述驱动装置电连接。
可选地，所述驱动装置为伺服电机。
可选的，所述第一行走组件和所述第二行走组件之间连接有连接杆，所述连接杆设有容线槽，所述容线槽沿所述连接杆的长度方向延伸并在所述连接杆 的两端形成开口。
可选的，所述连接杆位于所述第二支撑板的下方，所述第二固定部件设有供所述连接杆穿过的通孔。
可选的，所述容线槽的一侧设置有槽口，所述槽口朝下设置，所述连接杆可拆卸的连接有配置成封闭所述槽口的扣盖。
可选的，所述滑轨包括至少两个相互平行设置的光轴，所述第二固定部件相应设有与所述光轴数量相同的直线轴承，所述直线轴承套设在所述光轴上。
可选的，所述第二支撑板的底部固定有与所述光轴滑动配合的衬套。
本公开的实施例提供的一种货运系统，其包括上述的灵动型穿梭车以及控制所述灵动型穿梭车的控制设备。
本公开的实施例提供的一种货运方法，其利用上述的货运系统实现，所述货运方法包括：
控制所述第一行走组件和所述第二行走组件运行至装货工位；
控制所述移动组件，调节所述第一支撑板和所述第二支撑板之间的距离；
将箱体装载至所述第一支撑板和所述第二支撑板上；
控制所述第一行走组件和所述第二行走组件运行至卸货工位对所述箱体进行卸货。
相对于现有技术，本公开实施例的有益效果包括，例如:
本公开实施例提供的灵动型穿梭车中，第一支撑板和第二支撑板通过分别承载箱体的底面两侧以完成对箱体的承载，第一行走组件和第二行走组件共同完成灵动型穿梭车在导轨上的行走。第一行走组件和第二行走组件通过滑轨固定连接，两者之间的距离固定，此时，通过第一支撑板固定在滑轨的一端，第二支撑板滑动设置在滑轨上，再通过移动组件与第二支撑板驱动连接，能够改变第一支撑板和第二支撑板之间的距离，以完成对不同宽度的箱体的支撑。同时，由于第一支撑板和第二支撑板的间距可调，可适用于不同规格的箱体取放货物使用，提高了灵动型穿梭车的通用性，提高了商品物流存放的效率。
该货运系统包括该灵动型穿梭车，其具有该灵动型穿梭车的全部功能。
该货运方法利用该货运系统实现，其同样具有该灵动型穿梭车的全部功能。
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的灵动型穿梭车的结构示意图；
图2为图1中A处的局部放大图；
图3为本公开实施例提供的灵动型穿梭车另一视角的结构示意图；
图4为本公开实施例提供的灵动型穿梭车另一视角的结构示意图；
图5为本公开实施例提供的货运系统的示意图；
图6为本公开实施例提供的货运方法的流程示意图。
图标：1-灵动型穿梭车；10-第一支撑板；20-第二支撑板；30-第一行走组件；40-第二行走组件；50-滑轨；60-第一叉箱组件；61-第一叉箱部件；62-第一固定部件；621-第一驱动部；70-第二叉箱组件；71-第二叉箱部件；72-第二固定部件；721-第二驱动部；722-通孔；723-直线轴承；80-移动组件；81-驱动装置；82-主动带轮；83-从动带轮；84-同步带；90-储能组件；120-同步带压板；130-连接杆；131-容线槽；132-开口；133-槽口；134-扣盖；140-衬套；151-花键轴；152-花键套；160-皮带；2-箱体；3-控制设备。
下面将结合附图对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”仅用于描述 目的，而不能理解为指示或暗示相对重要性。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
需要说明的是，在不冲突的情况下，本公开的实施例中的特征可以相互结合。
现有的穿梭车一般具有两个行走组件，每个行走组件包括两个行走轮，两个行走轮分设在两个相互平行设置的导轨上，两个行走组件之间连接有配置成承载箱体的支撑板，支撑板两侧滑动设有叉箱组件。以进行出库操作为例，穿梭车移动至货架的指定位置后，叉箱组件可以将箱体拉至支撑板上，随后，穿梭车根据程序指令进行出库。
一般的，穿梭车的支撑板所能承载箱体的宽度为定值，两个叉箱组件之间的间距不可调，一款车型只能适用于单一规格的箱体，无法完成对不同宽度的箱体的取放。对于同一项目存在不同宽度规格的箱体，穿梭车的兼容性就下降，只能采用多种尺寸规格的穿梭车应对，增加了穿梭车的物料种类和管理成本，并且直接导致穿梭车搬运箱体灵活性差，也降低了搬运效率。
另外，现有技术中的支撑板所能承载箱体的宽度为定值，如果使用一款车型，需要配合固定尺寸的周转箱，兼容项目中最大货物的尺寸需求，导致穿梭 车的体积增大，并且货物需要二次装填在固定尺寸的箱体内，增加了作业流程，大大浪费了空间，项目成本大大增加。
本实施例提供的一种灵动型穿梭车1可以有效缓解一个穿梭车仅能适配一种宽度的箱体的技术问题，以下将对本实施例中的灵动型穿梭车1进行详细介绍。
如图1-图4所示，本公开实施例提供的一种灵动型穿梭车1，包括移动组件80(后详述)、配置成承载箱体2的第一支撑板10和第二支撑板20以及能够在导轨(图未示)上行走的第一行走组件30和第二行走组件40。第一行走组件30和第二行走组件40之间连接有滑轨50，第一支撑板10固定在滑轨50靠近第一行走组件30的一端，第二支撑板20滑动设置在滑轨50靠近第二行走组件40的一端。移动组件80与第二支撑板20固定连接，并驱动第二支撑板20在滑轨50上的滑动。
以图1中的相对位置作介绍，该第二支撑板20的滑动方向为左右方向，同样的，也是箱体2的宽度方向。
本公开实施例提供的灵动型穿梭车1中，第一支撑板10和第二支撑板20相互对称设置，两者通过分别承载箱体2的底面两侧以完成对箱体2的承载。第一行走组件30和第二行走组件40共同完成灵动型穿梭车1在导轨上的行走。第一行走组件30和第二行走组件40通过滑轨50固定连接，两者之间的距离固定。此时，通过第一支撑板10固定在滑轨50的一端，第二支撑板20滑动设置在滑轨50上，再通过移动组件80与第二支撑板20驱动连接，能够改变第一支撑板10和第二支撑板20之间的距离，以完成对不同宽度的箱体2 的支撑。同时，由于第一支撑板10和第二支撑板20的间距可调，可适用于不同规格的箱体2取放货物使用，提高了灵动型穿梭车1的通用性，提高了商品物流存放的效率。
具体的，本实施例还对灵动型穿梭车1的具体结构做以下详细介绍。
首先，本实施例中，第一支撑板10朝向第一行走组件30的一侧设有第一叉箱组件60，第一叉箱组件60包括第一固定部件62和第一叉箱部件61，第一固定部件62与第一支撑板10固定连接并设有配置成驱动第一叉箱部件61滑动的第一驱动部621。
第二支撑板20朝向第二行走组件40的一侧设有第二叉箱组件70，第二叉箱组件70包括第二固定部件72和第二叉箱部件71，第二固定部件72与第二支撑板20固定连接并设有配置成驱动第二叉箱部件71滑动的第二驱动部721。
以图1中的相对位置作介绍，该第一叉箱部件61、第二叉箱部件71的滑动方向为前后方向，同样的，也是箱体2的长度方向。
具体的，第一叉箱部件61滑动设置在第一固定部件62的上方，第一叉箱部件61的滑动方向为箱体2的长度方向并与第二支撑板20的滑动方向相互垂直。同理，第二叉箱部件71滑动设置在第二固定部件72的上方，第二叉箱部件71的滑动方向为箱体2的长度方向并与第二支撑板20的滑动方向相互垂直。通过第二固定部件72与第二支撑板20的固定连接，完成了第二叉箱部件71与第二支撑板20的随动，保证第二叉箱部件71和第一叉箱部件61能够一 起完成对箱体2的推拉。
一般的，在仓库或站台辊道上，不同宽度的多个箱体2可以并列摆放且相邻两个箱体2之间的间隙可以保持一致。这样在第一支撑板10处的第一叉箱组件60能够伸入箱体2的一侧时，可以通过移动组件80调节第二支撑板20，使第二支撑板20处的第二叉箱组件70伸入箱体2的另一侧，完成对箱体2的推拉操作。
另外，由于第一支撑板10和第二支撑板20的间距可调节，可以兼容不同尺寸的箱体2，省掉了周转箱二次装填货物，大大精简了作业流程。并且由于不需要放置在固定尺寸的周转箱内，大大节省了空间，实现了密集程度的最大化，在有限的空间中，不仅大大提高了工作空间，而且降低了项目投入成本。
值得注意的，本实施例中的第一行走组件30和第二行走组件40除了为各自的行走轮提供动力外，还为各自的叉箱组件在箱体2长度方向的滑动以及拨杆的转动提供动力。
需要说明的是，第一驱动部621和第二驱动部721可以是直接动力源，例如电机、气缸、油缸等。当然了，其也可以是间接动力源，例如，第一行走组件30和第二行走组件40各自具有配置成驱动各自行走轮转动的电机，这样，该第一驱动部621和第二驱动部721可以是连接该电机的齿轮传动机构、带传动机构、连杆机构等。
结合图4，该灵动型穿梭车1还包括花键轴151和花键套152，花键轴151的一端与第一驱动部621固定连接，花键套152与第二驱动部721固定连接， 花键轴151插设在花键套152内。
参照图4，第一叉箱部件61和第二叉箱部件71是通过皮带160传动完成在第一固定部件62和第二固定部件72上的滑动，第一驱动部621和第二驱动部721均为与皮带160传动连接的主动轮。此时，通过设置第一驱动部621与花键轴151一端固定，第二驱动部721固定有花键套152，花键轴151插设在花键套152内，花键轴151的轴线方向与第二支撑板20的滑动方向相同。第二支撑板20和第二固定部件72做靠近或远离第一支撑板10滑动时，第一驱动部621和第二驱动部721通过花键轴151和花键套152保持周向固定。即无论第二支撑板20移动至哪一位置，第一驱动部621和第二驱动部721均能够分别驱动第一叉箱部件61和第二叉箱部件71同时做伸出或缩回操作，以实现叉箱功能。
值得说明的，可以设置一个驱动电机安装在第一行走组件30上并与第一驱动部621驱动连接；或者，还可以设置一个驱动电机安装在第二行走组件40上并与花键轴151远离第一驱动部621的一端驱动连接。
值得注意的，花键套152沿花键轴151的轴线方向移动时产生的摩擦可以为滑动摩擦也可以为滚动摩擦。可选的，花键套152和花键轴151之间设有滚珠，使得花键套152沿花键轴151的轴线方向移动产生的摩擦为滚动摩擦，两者之间产生的摩擦力更小，第二驱动部721移动更加轻松平稳。
同时，本实施例中，第一叉箱组件60和第二叉箱组件70相互对称设置，两者中的第一叉箱部件61和第二叉箱部件71相互配合以实现对箱体2的推拉，运行较为稳定。
如图3和图4所示，本实施例中，移动组件80包括驱动装置81、主动带轮82、从动带轮83以及同步带84。驱动装置81与主动带轮82驱动连接并均安装在第一行走组件30上。从动带轮83安装在第二行走组件40上，同步带84位于第二支撑板20的下方并与主动带轮82和从动带轮83传动连接，第二固定部件72与同步带84固定连接。
具体的，第二固定部件72与同步带84固定连接，是指的第二固定部件72与同步带84水平移动的一层的某一位置固定连接。同步带84水平移动的一层的移动方向和滑轨50的长度方向一致，以使同步带84转动时能够带动第二叉箱组件70和第二支撑板20同时做相对靠近或远离第一支撑板10的移动。
本实施例中，驱动装置81为伺服电机。同步带84转动更加平稳准确，当第二支撑板20滑动至指定位置后，伺服电机失电并马上停止转动，保证了调整后第一支撑板10和第二支撑板20之间宽度的准确性。
需要说明的是，这里的“滑动至指定位置”可以理解为定位的一种，第一支撑板10和第二支撑板20之间宽度精度的控制可以通过电机控制外，还可以通过传感器检测位置并反馈给控制器，控制器对伺服电机进行控制来提高定位的精准度。需要说明的是，其它实施例中，这种位置传感器可以采用非接触式的传感器(光电传感器、磁传感器)，也可以采用接触式的传感器，例如接近开关，即，第二支撑板20滑动至指定位置后，碰撞到触发开关，触发开关直接使伺服电机失电并马上停止转动。值得注意的是，这种定位方式较为现有，在此不做赘述，本领域技术人员可以理解的，本实施例中的其它位置若需要定位，均可采用上述的定位方式来实现。
利用传感器原理能够实现的作用较多，例如，采用光电传感器来检测第一支撑板10、第二支撑板20上是否有箱体2，然后反馈给控制器，控制器再对应控制伺服电机动作，这样可以实现准确的定位。
例如，通过安装间隔的两个激光光电传感器，可以检测箱体2宽度方向上两边的位置，即可以检测箱体2与灵动型穿梭车1相对两边的间隔大小，从而可以判断出该间隔是否足够。
例如，通过在灵动型穿梭车1上安装一个漫反射型光电传感器，其与导轨上的方孔配合，可以实现精准定位灵动型穿梭车1的位置。
例如，通过在灵动型穿梭车1上安装两个镜反射型光电传感器，可以对灵动型穿梭车1的位置进行检测，可防止灵动型穿梭车1越过导轨两侧的极限范围，当然了，这仅仅是作为第一道屏障，可以在其左右两侧设置限位开关作为第二道屏障，第三道屏障可以是机械限位，若第一道屏障不断电处于失效状态，则第二道屏障断电，第三道屏障进行强制拦截。
例如，通过在灵动型穿梭车1上安装两个弯头的镜反射型光电传感器，可以检测第一叉箱部件61以及第二叉箱部件71是否到位，若处于伸叉状态，其反馈信号给控制器，控制器控制灵动型穿梭车1停车，以防货架与这些部件发生碰撞。
例如，通过在灵动型穿梭车1上安装两个漫反射型光电传感器，可以判断灵动型穿梭车1上是否有箱体2。
本实施例中，主动带轮82和从动带轮83的轴线方向为水平方向，第二固 定部件72与同步带84的上水平部固定连接。
需要说明的是，使用状态下，该主动带轮82和从动带轮83的轴线是水平设置的。具体的，同步带84在主动带轮82和从动带轮83之间形成水平移动的上层和下层，上述提到的“上水平部”可以理解为同步带84上层的部分位置。第二固定部件72设有供同步带84的上层和下层穿过的通道，且第二固定部件72与上层或下层的某一位置固定连接。本实施例中，该第二固定部件72与同步带84的上层的某一位置固定连接。
需要说明的是，该移动组件80也可以是安装在第二行走组件40上的气缸、油缸等，其活塞杆直接与第二支撑板20连接，以实现直线方向的驱动。
如图2所示，本实施例的灵动型穿梭车1还包括同步带压板120，同步带84为圆弧齿同步带。同步带压板120可拆卸的固定在第二固定部件72上，圆弧齿同步带位于同步带压板120和第二固定部件72之间，并与同步带压板120啮合。
同步带压板120为能够与圆弧齿同步带啮合的齿条，同步带压板120两端设有通孔，第二固定部件72相应设有螺纹孔。安装时，首先将圆弧齿同步带上层夹设在同步带压板120和第二固定部件72之间，然后通过螺栓穿过通孔并与螺纹孔螺纹连接，完成圆弧齿同步带上层与第二固定部件72的相对固定。通过同步带压板120可以提高第二固定部件72移动的平稳性。
结合图3，本实施例的灵动型穿梭车1还包括储能组件90，储能组件90固定在第二行走组件40上，并与驱动装置81电连接。
具体的，储能组件90为驱动装置81以及驱动第一叉箱部件61、第二叉箱部件71工作的其他驱动装置供电。通过将储能组件90和配置成驱动第二支撑板20滑动的驱动装置81分别安装在第二行走组件40和第一行走组件30上，平衡了第一行走组件30和第二行走组件40的重力，保证了灵动型穿梭车1重心的稳定。
可选的，储能组件可以为超级电容。需要说明的是，其他实施例中，灵动型穿梭车1也可以不包括储能组件90，通过电线实现对灵动型穿梭车1内的用电装置进行供电。
如图3和图4所示，本实施例中，第一行走组件30和第二行走组件40之间连接有连接杆130。连接杆130设有容线槽131，容线槽131沿连接杆130的长度方向延伸并在连接杆130的两端形成开口132。
容线槽131配置成容纳连接储能组件90和驱动装置81的导线。该导线的两端分别通过连接杆130两端的开口132伸出，这样避免导线裸露在外而与外界设备发生刮碰，保证了导线的使用寿命，提高了灵动型穿梭车1工作的稳定性，同时也更加美观整洁。
结合图4，本实施例中，连接杆130位于第二支撑板20的下方，第二固定部件72设有供连接杆130穿过的通孔722。
该连接杆130位于第二支撑板20的下方，不会影响第二支撑板20上方的其他装置的正常运行。通过通孔722，可以实现连接杆130相对靠近第二支撑板20，整体结构较为紧凑。
结合图3和图4，此外，为了方便导线的安装和拆卸，该容线槽131的一侧设置有槽口133，具体的，该槽口133朝下设置。这样方便将导线由槽口133放入容线槽131内。为了防止导线从容线槽131内漏出，本实施例中，该连接杆130可拆卸的连接有配置成封闭该槽口133的扣盖134。当然了，也可以不设置槽口133，导线由连接杆130的一端的开口132穿入容线槽131内，并从另一端的开口132穿出。
结合图4，本实施例中，滑轨50包括至少两个相互平行设置的光轴，第二固定部件72相应设有与光轴数量相同的直线轴承723，直线轴承723套设在光轴上。
本实施例中，滑轨50包括两个光轴，两个光轴分设在灵动型穿梭车1的前后两侧。第二固定部件72的前后两端均设有直线轴承723，通过直线轴承723与光轴的滑动配合，第二固定部件72在光轴上的滑动更加平稳连续。
结合图4，本实施例中，第二支撑板20的底部固定有与光轴滑动配合的衬套140。此时衬套140还起到支撑第二支撑板20的作用，保证了第二支撑板20承载箱体2时不会发生变形而与光轴发生干涉。
请参考图5，本实施例还提供了一种货运系统，其包括上述的灵动型穿梭车1以及控制该灵动型穿梭车1的控制设备3。
该控制设备3可以集成在灵动型穿梭车1的内部，通过预存的程序指令控制灵动型穿梭车1进行行走、装货以及卸货等。
请参考图6，本实施例还提供了一种货运方法，其利用上述的货运系统实现，该货运方法包括：
S1：控制第一行走组件30和第二行走组件40运行至装货工位。
S2：控制移动组件80，调节第一支撑板10和第二支撑板20之间的距离。
S3：将箱体2装载至第一支撑板10和第二支撑板20上。
S4：控制第一行走组件30和第二行走组件40运行至卸货工位对箱体2进行卸货。
需要说明的是，本实施例中，实现箱体2装载和卸载作业的装置为第一叉箱组件60和第二叉箱组件70。上述步骤中，S1和S2可以同时进行。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。
综上所述，本公开提供了一种灵动型穿梭车、货运系统及货运方法，通过第一支撑板和第二支撑板的间距可调，可以适配不同宽度的箱体，灵活性较高，搬送效率较高。
Claims (16)
- 一种灵动型穿梭车，其特征在于，包括移动组件、配置成承载箱体的第一支撑板和第二支撑板以及能够在导轨上行走的第一行走组件和第二行走组件；所述第一行走组件和所述第二行走组件之间连接有滑轨，所述第一支撑板固定在所述滑轨靠近所述第一行走组件的一端，所述第二支撑板滑动设置在所述滑轨上，所述移动组件与所述第二支撑板固定连接，并驱动所述第二支撑板在所述滑轨上的滑动。
- 根据权利要求1所述的灵动型穿梭车，其特征在于，所述第一支撑板朝向所述第一行走组件的一侧设有第一叉箱组件，所述第一叉箱组件包括第一固定部件和第一叉箱部件，所述第一固定部件与所述第一支撑板固定连接并设有配置成驱动所述第一叉箱部件滑动的第一驱动部；所述第二支撑板朝向所述第二行走组件的一侧设有第二叉箱组件，所述第二叉箱组件包括第二固定部件和第二叉箱部件，所述第二固定部件与所述第二支撑板固定连接并设有配置成驱动所述第二叉箱部件滑动的第二驱动部。
- 根据权利要求2所述的灵动型穿梭车，其特征在于，所述第一叉箱部件的滑动方向与所述第二支撑板的滑动方向相互垂直；所述第二叉箱部件的滑动方向与所述第二支撑板的滑动方向相互垂直。
- 根据权利要求2或3所述的灵动型穿梭车，其特征在于，所述灵动型穿梭车还包括花键轴和花键套，所述花键轴的一端与所述第一驱动部固定连接，所述花键套与所述第二驱动部固定连接，所述花键轴插设在所述花键套内。
- 根据权利要求2-4任一项所述的灵动型穿梭车，其特征在于，所述移动组件包括驱动装置、主动带轮、从动带轮以及同步带，所述驱动装置与所述主动带轮驱动连接并均安装在所述第一行走组件上，所述从动带轮安装在所述第二行走组件上，所述同步带位于所述第二支撑板的下方并与所述主动带轮和所述从动带轮传动连接，所述第二固定部件与所述同步带固定连接。
- 根据权利要求5所述的灵动型穿梭车，其特征在于，所述主动带轮和所述从动带轮的轴线方向为水平方向，所述第二固定部件与所述同步带的上水平部固定连接。
- 根据权利要求5或6所述的灵动型穿梭车，其特征在于，所述灵动型穿梭车还包括同步带压板，所述同步带为圆弧齿同步带，所述同步带压板可拆卸的固定在所述第二固定部件上，所述圆弧齿同步带位于所述同步带压板和所述第二固定部件之间，并与所述同步带压板啮合。
- 根据权利要求5-7任一项所述的灵动型穿梭车，其特征在于，所述灵动型穿梭车还包括储能组件，所述储能组件固定在所述第二行走组件上，并与所述驱动装置电连接。
- 根据权利要求5-8任一项所述的灵动型穿梭车，其特征在于，所述驱动装置为伺服电机。
- 根据权利要求2-9任一项所述的灵动型穿梭车，其特征在于，所述第一行走组件和所述第二行走组件之间连接有连接杆，所述连接杆设有容线槽，所述容线槽沿所述连接杆的长度方向延伸并在所述连接杆的两端形成开口。
- 根据权利要求10所述的灵动型穿梭车，其特征在于，所述连接杆位于 所述第二支撑板的下方，所述第二固定部件设有供所述连接杆穿过的通孔。
- 根据权利要求10或11所述的灵动型穿梭车，其特征在于，所述容线槽的一侧设置有槽口，所述槽口朝下设置，所述连接杆可拆卸的连接有配置成封闭所述槽口的扣盖。
- 根据权利要求2-12任一项所述的灵动型穿梭车，其特征在于，所述滑轨包括至少两个相互平行设置的光轴，所述第二固定部件相应设有与所述光轴数量相同的直线轴承，所述直线轴承套设在所述光轴上。
- 根据权利要求13所述的灵动型穿梭车，其特征在于，所述第二支撑板的底部固定有与所述光轴滑动配合的衬套。
- 一种货运系统，其特征在于，包括权利要求1-14任一项所述的灵动型穿梭车以及控制所述灵动型穿梭车的控制设备。
- 一种货运方法，其特征在于，利用权利要求15所述的货运系统实现，所述货运方法包括：控制所述第一行走组件和所述第二行走组件运行至装货工位；控制所述移动组件，调节所述第一支撑板和所述第二支撑板之间的距离；将箱体装载至所述第一支撑板和所述第二支撑板上；控制所述第一行走组件和所述第二行走组件运行至卸货工位对所述箱体进行卸货。
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