Flying shuttle

Abstract

The invention provides a flying shuttle. The flying shuttle comprises a main frame, a pallet fork mechanism, a lifting mechanism, a first guide rail, a second guide rail and a walking mechanism. The walking mechanism comprises a first supporting frame, a friction driving wheel, a first walking wheel assembly, a first driving piece, an adjustable pressing assembly and a second walking wheel assembly. The first driving piece is in sliding fit with the first supporting frame in the vertical direction and is in transmission connection with the friction driving wheel, and the friction driving wheel is located below the first guide rail. The adjustable pressing assembly is used for applying elastic force to the first driving piece so that the friction driving wheel can be pressed on the bottom face of the first guide rail. According to the flying shuttle, rails do not need to be additionally laid on the ground to support and guide the main frame, the occupied space of a ground area is reduced, the overall structure is more compact, the ground does not need to be damaged during installation, and an existing goods shelf can be modified on site. By means of the adjustable effect of the adjustable pressing assembly, the friction driving wheel can be tightly attached to the bottom face of the first guide rail, and the driving friction force can be flexibly adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of storage, handling and access devices, and in particular to a shuttle. Background Art

[0002] Automated warehouses have been widely used in various fields, among which stackers are the most important handling and storage equipment and play a key role. Stackers can realize functions such as automated handling and precise positioning, which can greatly improve logistics efficiency, reduce resource waste, and reduce production management costs.

[0003] The existing stacker generally needs to lay tracks on the ground and use the running mechanism to drive the main frame to move along the tracks. Therefore, this requires certain load-bearing requirements on the ground where the tracks are laid, and it is also necessary to fix and level the tracks by using expansion bolts, which makes the installation more complicated. In addition, the overall structure of the existing stacker occupies a large space. Since the tracks are laid on the ground, the running mechanism is easily blocked by debris that falls on the tracks, thereby affecting the normal operation of the stacker. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a flying shuttle to reduce the space occupied by the ground area and improve the stability during operation.

[0005] In order to achieve the above-mentioned object, the present invention provides a shuttle, comprising a main frame; a fork mechanism, which is arranged on the main frame; a lifting mechanism, which is arranged on the main frame, and the lifting mechanism is used to drive the fork mechanism to perform lifting and lowering actions; a first guide rail; a second guide rail, which is arranged below the first guide rail; and a walking mechanism, which is used to drive the main frame to move along the first guide rail;

[0006] Wherein, the walking mechanism includes a first support frame, a friction drive wheel, a first walking wheel assembly, a first driving member, an adjustable clamping assembly and a second walking wheel assembly; the first support frame is arranged on the main frame, the first walking wheel assembly, the first driving member and the adjustable clamping assembly are all arranged on the first support frame, and the first walking wheel assembly cooperates with the top surface of the first guide rail; the first driving member is vertically slidably fitted on the first support frame and is transmission-connected with the friction drive wheel, and the friction drive wheel is arranged below the first guide rail; the adjustable clamping assembly is used to apply elastic force to the first driving member to press the friction drive wheel against the bottom surface of the first guide rail; the second walking wheel assembly is arranged on the main frame and cooperates with the second guide rail.

[0007] Preferably, the adjustable clamping assembly includes: a second support frame, which is arranged on the first support frame and located above the first driving member; a pressure block, which is arranged on the side of the second support frame away from the first driving member; a mounting seat connected to the first driving member and arranged below the second support frame, at least two guide rods are provided on the mounting seat, and the guide rods move vertically through the second support frame and the pressure block, and a limiting portion is provided on the guide rod, and the limiting portion is used to prevent the pressure block from detaching from the guide rod; and at least one elastic member, which respectively abuts the pressure block and the second support frame, and the elastic member applies an upward elastic force to the pressure block.

[0008] Preferably, the friction drive wheel is close to one end of the first support frame, and the first walking wheel assembly includes at least two first wheel bodies, one of which is close to the friction drive wheel, and the other is far away from the friction drive wheel; the walking mechanism also includes at least one second wheel body, which is arranged below the first guide rail and abuts against the bottom surface of the first guide rail.

[0009] Preferably, the fork mechanism comprises: a carrier having a first opening and a second opening arranged opposite to each other; a telescopic driving mechanism arranged on the carrier; and two fork arm mechanisms arranged on the carrier at intervals, wherein the fork arm mechanism comprises: a first guide plate movably arranged on the carrier; a second guide plate movably arranged on the inner side of the first guide plate; a third guide plate movably arranged on the inner side of the second guide plate; a first follower assembly, used for driving the second guide plate to extend or retract following the first guide plate, and making the displacement of the second guide plate greater than the displacement of the first guide plate;

[0010] A second follower assembly is used to drive the third guide plate to follow the second guide plate to extend or retract, and make the displacement of the third guide plate greater than the displacement of the second guide plate; and two hook material assemblies are respectively arranged at both ends of the third guide plate; wherein the telescopic drive mechanism is used to synchronously drive the two first guide plates to extend out of the first opening or the second opening, or synchronously drive the two first guide plates to retract onto the carrier.

[0011] Preferably, the first follower assembly includes: a first guide member, which is arranged on the first guide plate and is close to the first opening; a flexible first connecting member, one end of which is connected to the supporting frame, and the other end of which is connected to the second guide plate after bypassing the first guide member, and the connection points between the first connecting member, the supporting frame and the second guide plate are all close to the second opening; a second guide member, which is arranged on the first guide plate and is close to the second opening; and a flexible second connecting member, one end of which is connected to the supporting frame, and the other end of which is connected to the second guide plate after bypassing the second guide member, and the connection points between the second connecting member, the supporting frame and the second guide plate are all close to the first opening.

[0012] Preferably, the second follower assembly includes: a third guide member, which is arranged on the second guide plate and close to the first opening; a flexible third connecting member, one end of which is connected to the first guide plate and close to the second guide member, and the other end of which is connected to the third guide plate after bypassing the third guide member, and the connection points between the third connecting member and the first guide plate and the third guide plate are both close to the second opening; a fourth guide member, which is arranged on the second guide plate and close to the second opening; and a flexible fourth connecting member, one end of which is connected to the first guide plate and close to the first guide plate, and the other end of which is connected to the third guide plate after bypassing the fourth guide, and the connection points between the fourth connecting member and the first guide plate and the third guide plate are both close to the first opening.

[0013] Preferably, the first guide member and the second guide member, and the first connecting member and the second connecting member are staggered in the height direction; the third guide member and the fourth guide member, and the third connecting member and the fourth connecting member are staggered in the height direction; the first guide member and the fourth guide member, and the first connecting member and the fourth connecting member are located at the same horizontal height; the second guide member and the third guide member, and the second connecting member and the third connecting member are located at the same horizontal height.

[0014] Preferably, the telescopic driving mechanism includes a rotating shaft, a second driving member and two transmission assemblies, the rotating shaft is rotatably arranged at the bottom of the carrier, the second driving member is arranged on the carrier and is transmission-connected to the rotating shaft; the two transmission assemblies are respectively arranged on both sides of the carrier, the transmission assembly includes a driving pulley, a driven pulley, a synchronous belt and a connecting part, the driving pulley is arranged at one end of the rotating shaft, the driven pulley is rotatably arranged on the carrier, the synchronous belt is respectively wound around the driving pulley and the driven pulley, and the connecting part is arranged on the first guide plate and is connected to the synchronous belt.

[0015] Preferably, the connecting portion comprises a plurality of connecting blocks, a plurality of grooves are provided on the side walls of the connecting blocks facing the synchronous belt, and a protrusion matching with the grooves is provided on the outer side wall of the synchronous belt.

[0016] Preferably, the hooking material assembly comprises a third driving member and a rocker arm, the third driving member is arranged at the bottom of the third guide plate, and the rocker arm is connected to the third driving member.

[0017] Beneficial effects of the present invention:

[0018] The present invention discloses a flying shuttle, which is designed with a first guide rail, a second guide rail and a running mechanism. After the first guide rail and the second guide rail are installed on the shelf, the running mechanism can drive the main frame to move along the first guide rail, and the lifting mechanism can drive the fork mechanism to rise and fall. In this way, there is no need to lay additional tracks on the ground to support and guide the main frame, which reduces the space occupied by the flying shuttle on the ground area, and the overall structure is more compact. There is no need to damage the ground during installation, and the existing shelf can be modified on the spot. At the same time, by designing the friction drive wheel below the first guide rail and utilizing the adjustable effect of the adjustable clamping assembly, the friction drive wheel can be made close to the bottom surface of the first guide rail, and the driving friction force can be flexibly adjusted, thereby improving the driving effect on the main frame and the stability of the flying shuttle during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0020] Figure 1 A schematic diagram of the structure of a shuttle provided by an embodiment of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the fork mechanism installed on the main frame;

[0022] Figure 3 It is a structural schematic diagram of the cooperation between the walking mechanism and the first guide rail;

[0023] Figure 4 It is a structural diagram of the walking mechanism;

[0024] Figure 5 It is a structural schematic diagram of an adjustable pressing assembly;

[0025] Figure 6 It is a structural schematic diagram showing the cooperation between the walking mechanism and the first guide rail from another perspective;

[0026] Figure 7It is a schematic diagram of the structure of the cooperation between the second traveling wheel assembly and the first guide rail;

[0027] Figure 8 This is a schematic diagram of the structure of the shuttle installed on the shelf;

[0028] Fig. 9 It is a structural schematic diagram of the fork mechanism;

[0029] Fig.10 is a schematic structural diagram of a first guide plate;

[0030] Fig.11 is a schematic diagram of the structure of the other side of the first guide plate;

[0031] Fig.12 is a schematic structural diagram of the second guide plate;

[0032] Fig.13 is a schematic diagram of the structure of the other side of the second guide plate;

[0033] Fig.14 is a schematic structural diagram of the third guide plate;

[0034] Fig.15 is a schematic diagram of the structure on the other side of the third guide plate;

[0035] Fig.16 A side view of the supporting plate, the first guide plate, the second guide plate and the third guide plate in cooperation;

[0036] Fig.17 for Fig.16 AA section diagram in;

[0037] Fig.18 for Fig.16 BB cross-section diagram in FIG.

[0038] Fig.19 It is a schematic diagram of the structure in which the first guide member and the first connecting member, and the fourth guide member and the fourth connecting member cooperate at the same horizontal height;

[0039] Fig. 20 It is a schematic diagram of the structure of the cooperation between the second guide member and the second connecting member, and the third guide member and the third connecting member at the same horizontal height;

[0040] Fig.21 It is a structural schematic diagram of the bottom of the fork mechanism;

[0041] Fig. 22 It is a structural schematic diagram of the cooperation between the synchronous belt and the connecting block;

[0042] Reference numerals:

[0043] 100, main frame; 200, fork mechanism; 201, carrier; 2011, first opening; 2012, second opening; 2013, support plate; 202, telescopic drive mechanism; 2021, rotating shaft; 2022, second drive member; 2023, driving pulley; 2024, driven pulley; 2025, synchronous belt; 2026, connecting block; 203, first guide plate; 204, second guide plate; 205, third guide plate; 206, hook assembly; 2061, third drive member; 2062, swing rod; 207, first guide member; 208, first connecting member; 209, second guide member; 210, second connecting member; 211, third guide member ; 212, the third connecting member; 213, the fourth guide member; 214, the fourth connecting member; 215, the second sliding assembly; 216, the third sliding assembly; 217, the fourth sliding assembly; 300, the lifting mechanism; 400, the first guide rail; 500, the second guide rail; 600, the walking mechanism; 601, the first support frame; 602, the friction drive wheel; 603, the first drive member; 604, the second support frame; 605, the second walking wheel assembly; 606, the pressure block; 607, the mounting seat; 608, the guide rod; 609, the elastic member; 610, the limiting part; 611, the first wheel body; 612, the second wheel body; 613, the first sliding assembly; 700, the busbar. DETAILED DESCRIPTION

[0044] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0045] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0046] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0048] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] like Figure 1-22 As shown, in one embodiment of the present invention, a shuttle is provided, comprising a main frame 100, a fork mechanism 200, a lifting mechanism 300, a first guide rail 400, a second guide rail 500 and a traveling mechanism 600. The fork mechanism 200 and the lifting mechanism 300 are both mounted on the main frame 100, and the lifting mechanism 300 is used to drive the fork mechanism 200 to perform lifting and lowering actions along the height direction of the main frame 100. The first guide rail 400 and the second guide rail 500 are used to be installed on the shelf, the second guide rail 500 is located below the first guide rail 400, and a busbar 700 is installed on the second guide rail 500. The traveling mechanism 600 is used to drive the main frame 100 to move along the first guide rail 400, wherein the traveling mechanism 600 comprises a first support frame 601, a friction drive wheel 602, a first traveling wheel assembly, a first driving member 603, an adjustable clamping assembly and a second traveling wheel assembly 605.

[0051] The first support frame 601 is mounted on the main frame 100, and the first travel wheel assembly, the first driving member 603 and the adjustable pressing assembly are all mounted on the first support frame 601, and the first travel wheel assembly cooperates with the top surface of the first guide rail 400. The first driving member 603 is vertically slidably matched on the first support frame 601 through the first sliding assembly 613, and is transmission-connected with the friction driving wheel 602, and the friction driving wheel 602 is located below the first guide rail 400. The adjustable pressing assembly is used to apply elastic force to the first driving member 603 to press the friction driving wheel 602 against the bottom surface of the first guide rail 400. The second travel wheel assembly 605 is mounted on the main frame 100 and cooperates with the second guide rail 500.

[0052] The shuttle disclosed in this embodiment is designed with a first guide rail 400, a second guide rail 500 and a running mechanism 600. After the first guide rail 400 and the second guide rail 500 are installed on the shelf, the running mechanism 600 can drive the main frame 100 to move along the first guide rail 400, and the lifting mechanism 300 can drive the fork mechanism 200 to rise and fall. In this way, there is no need to lay additional tracks on the ground to support and guide the main frame 100, which reduces the space occupied by the ground area, and the overall structure is more compact. There is no need to damage the ground during installation, and the existing shelf can be modified on the spot. At the same time, by designing the friction drive wheel 602 below the first guide rail 400 and utilizing the adjustable effect of the adjustable clamping assembly, the friction drive wheel 602 can be made close to the bottom surface of the first guide rail 400, and the driving friction force can be flexibly adjusted, thereby improving the driving effect on the main frame 100 and the stability of the shuttle during operation.

[0053] In one embodiment, the adjustable clamping assembly includes a second support frame 604, a pressure block 606, a mounting seat 607 and an elastic member 609. The second support frame 604 is fixed on the first support frame 601 and is located above the first driving member 603. The pressure block 606 is located on the side of the second support frame 604 away from the first driving member 603. The mounting seat 607 is fixed on the first driving member 603 and is located below the second support frame 604. Two guide rods 608 are provided on the mounting seat 607. The guide rods 608 are vertically movable and penetrate the second support frame 604 and the pressure block 606. The guide rods 608 are provided with a limiting portion 610, and the limiting portion 610 is used to prevent the pressure block 606 from being separated from the guide rods 608. There are two elastic members 609 , which are springs. Each elastic member 609 is sleeved on a corresponding guide rod 608 . The elastic members 609 respectively abut against the pressing block 606 and the second support frame 604 , and the elastic members 609 apply an upward elastic force to the pressing block 606 .

[0054] Under the elastic force of the two elastic members 609, an upward elastic force is applied to the pressing block 606. Since the pressing block 606 is limited by the limiting portion 610 on the guide rod 608, the pressing block 606 will cause the two guide rods 608, the mounting seat 607 and the first driving member 603 to have an upward movement tendency. The first driving member 603 will cause the friction driving wheel 602 to be tightly pressed against the bottom surface of the first guide rail 400, thereby ensuring the contact effect between the friction driving wheel 602 and the first guide rail 400, and also being able to flexibly adjust the driving friction force.

[0055] In one embodiment, the friction drive wheel 602 is close to one end of the first support frame 601, and the first walking wheel assembly includes two first wheel bodies 611, one of which is close to the friction drive wheel 602, and the other first wheel body 611 is far away from the friction drive wheel 602. The walking drive mechanism also includes a second wheel body 612, which is arranged below the first guide rail 400 and abuts against the bottom surface of the first guide rail 400. With the cooperation of the friction drive wheel 602, the second wheel body 612 and the two first wheel bodies 611, the stability of the movement of the first support frame 601 and the main frame 100 is guaranteed.

[0056] In one embodiment, the shuttle further comprises a busbar 700 disposed on the second rail 500, the busbar 700 being disposed on the second rail 500, and the busbar 700 being capable of providing power to the equipment on the shuttle. A second running wheel assembly 605 is disposed on the second rail 500, and the second running wheel assembly 605 is connected to the main frame 100.

[0057] In one embodiment, the fork mechanism 200 includes a carrier 201, a telescopic drive mechanism 202 and a fork arm mechanism. The carrier 201 is provided with a first opening 2011 and a second opening 2012 for cargo to enter and exit. Fixed support plates 2013 are respectively provided on both sides of the carrier 201. Two fork arm mechanisms are provided between the two support plates 2013. Each fork arm mechanism is installed on the inner side of the corresponding support plate 2013 (i.e., the side wall of the support plate 2013 facing the other support plate 2013).

[0058] Among them, the fork arm mechanism includes a first guide plate 203, a second guide plate 204, a third guide plate 205, a first follower assembly, a second follower assembly and two hook material assemblies 206. The first guide plate 203 is movably arranged on the inner side of the support plate 2013, the second guide plate 204 is movably arranged on the inner side of the first guide plate 203, the third guide plate 205 is movably arranged on the inner side of the second guide plate 204, and the two hook material assemblies 206 are respectively arranged at both ends of the third guide plate 205.

[0059] The first follower assembly is used to drive the second guide plate 204 to extend or retract following the first guide plate 203, and the displacement of the second guide plate 204 is greater than the displacement of the first guide plate 203. The second follower assembly is used to drive the third guide plate 205 to extend or retract following the second guide plate 204, and the displacement of the third guide plate 205 is greater than the displacement of the second guide plate 204. The telescopic drive mechanism 202 is used to synchronously drive the two first guide plates 203 to extend out of the first opening 2011 or the second opening 2012, or synchronously drive the two first guide plates 203 to retract onto the carrier 201. When the first guide plate 203 is extended or retracted, the second guide plate 204 and the third guide plate 205 move in the same direction as the first guide plate 203.

[0060] By designing the first guide plate 203, the second guide plate 204 and the third guide plate 205, the fork arm mechanism has a longer extension distance and can reach the inner area of ​​the shelf. Moreover, it can be extended from the first opening 2011 or the second opening 2012 respectively, which improves the application range and practicality of the fork mechanism 200. At the same time, the first follower assembly is used to make the second guide plate 204 follow the first guide plate 203 to extend or retract, and the second follower assembly is used to make the third guide plate 205 follow the second guide plate 204 to extend or retract, which solves the transmission problem of the fork arm mechanism during the long stroke action process and ensures the stability when moving goods.

[0061] In one embodiment, the first follower assembly includes a first guide member 207, a first connecting member 208, a second guide member 209, and a second connecting member 210. The first guide member 207 and the second guide member 209 are both pulley structures, and the first connecting member 208 and the second connecting member 210 are both flexible belt structures. The first guide member 207 is installed on the first guide plate 203 and is close to the first opening 2011. One end of the first connecting member 208 is connected to the support plate 2013, and the other end is connected to the second guide plate 204 after bypassing the first guide member 207. The connection between the first connecting member 208 and the support frame 201 and the second guide plate 204 is close to the second opening 2012. The second guide member 209 is installed on the first guide plate 203 and is close to the second opening 2012. One end of the second connecting member 210 is connected to the support plate 2013, and the other end is connected to the second guide plate 204 after bypassing the second guide member 209. The connection between the second connecting member 210 and the support frame 201 and the second guide plate 204 is close to the first opening 2011.

[0062] Further, the second follower assembly includes a third guide 211, a third connecting member 212, a fourth guide 213 and a fourth connecting member 214. The third guide 211 and the fourth guide 213 are both pulley structures, and the third connecting member 212 and the fourth connecting member 214 are both flexible belt structures. The third guide 211 is installed on the second guide plate 204 and is close to the first opening 2011. One end of the third connecting member 212 is connected to the first guide plate 203 and is close to the second guide 209. The other end is connected to the third guide plate 205 after bypassing the third guide 211. The connection between the third connecting member 212 and the first guide plate 203 and the third guide plate 205 is close to the second opening 2012. The fourth guide member 213 is installed on the second guide plate 204 and is close to the second opening 2012. One end of the fourth connecting member 214 is connected to the first guide plate 203 and is close to the first guide member 207. The other end bypasses the fourth guide member 213 and is connected to the third guide plate 205. The connection points between the fourth connecting member 214 and the first guide plate 203 and the third guide plate 205 are all close to the first opening 2011.

[0063] See also Figure 10-20 ,exist Fig.19 In the figure, the connection between the first connecting member 208 and the support plate 2013 is marked as connection 1, and the connection between the first connecting member 208 and the second guide plate 204 is marked as connection 2. The connection between the second connecting member 210 and the support plate 2013 is marked as connection 3, and the connection between the second connecting member 210 and the second guide plate 204 is marked as connection 4. When the first guide plate 203 moves toward the first opening 2011 or the second opening 2012, the positions of the connection 1 and the connection 3 will not change.

[0064] exist Fig. 20 , the connection between the third connecting member 212 and the second guide plate 204 is marked as connection 5, and the connection between the third connecting member 212 and the third guide plate 205 is marked as connection 6. The connection between the fourth connecting member 214 and the second guide plate 204 is marked as connection 7, and the connection between the fourth connecting member 214 and the third guide plate 205 is marked as connection 8.

[0065] Taking the telescopic drive mechanism 202 driving two fork arm mechanisms as an example, the first follower assembly and the second follower assembly are described:

[0066] When the telescopic driving mechanism 202 drives the two first guide plates 203 to extend from the first opening 2011, since the first guide member 207 is installed on the first guide plate 203 and close to the first opening 2011, one end of the first connecting member 208 is fixed at the connection 1, and the other end of the first connecting member 208 is connected to the second guide plate 204 through the connection 2. Therefore, during the movement of the first guide plate 203, the first connecting member 208 will pull the second guide plate 204 to extend from the first opening 2011 along with the first guide plate 203 through the connection 2. At the same time, the displacement of the second guide plate 204 is greater than the displacement of the first guide plate 203, that is, the end of the second guide plate 204 extends farther than the end of the first guide plate 203. In addition, the moving speed of the second guide plate 204 is faster than the moving speed of the first guide plate 203.

[0067] Since one end of the third connecting member 212 is connected to the first guide plate 203 through the connecting point 5, and the other end is connected to the third guide plate 205 through the connecting point 6, and the moving speed of the second guide plate 204 is faster than the moving speed of the first guide plate 203, therefore, when the first guide plate 203 and the second guide plate 204 move, the moving speed of the third guide member 211 is faster than the moving speed of the connecting point 5. At this time, one end of the third connecting member 212 is equivalent to being dragged by the connecting point 5, then the third connecting member 212 will pull the third guide plate 205 out of the first opening 2011 through the connecting point 6, and the displacement of the third guide plate 205 is greater than the displacement of the second guide plate 204, that is, the end of the third guide plate 205 extends farther than the end of the second guide plate 204, and the moving speed of the third guide plate 205 is also faster than the moving speed of the second guide plate 204. In this way, the hook assembly 206 installed at the end of the third guide plate 205 can be moved to the rear side of the material stored on the shelf, so as to facilitate the subsequent pushing of the material onto the carrier 201.

[0068] When the telescopic driving mechanism 202 drives the two first guide plates 203 to retract, since the second guide member 209 is installed on the first guide plate 203 and close to the second opening 2012, one end of the second connecting member 210 is fixed at the connection 3, and the other end of the second connecting member 210 is connected to the second guide plate 204 through the connection 4. Therefore, when the first guide plate 203 is moving, the second connecting member 210 will pull the second guide plate 204 to retract onto the carrier 201 along with the first guide plate 203 through the connection 4, and the retraction speed of the second guide plate 204 is faster than the retraction speed of the first guide plate 203.

[0069] Since one end of the fourth connecting member 214 is connected to the first guide plate 203 via the connection 7, and the other end is connected to the third guide plate 205 via the connection 8, and the moving speed of the second guide plate 204 is faster than that of the first guide plate 203, when the first guide plate 203 and the second guide plate 204 move, the moving speed of the fourth guide member 213 is faster than that of the connection 7. At this time, one end of the fourth connecting member 214 is equivalent to being dragged by the connection 7, and then the fourth connecting member 214 will pull the third guide plate 205 back through the connection 8, and the moving speed of the third guide plate 205 is also faster than that of the second guide plate 204. In this way, the hooking component 206 can move and push the materials on the shelf to the carrier 201.

[0070] The structural design of the first follower assembly and the second follower assembly fully utilizes the space between the support plate 2013, the first guide plate 203, the second guide plate 204 and the third guide plate 205, so that the thickness of the fork arm mechanism is thinner and the overall structure is more compact.

[0071] The structural design of the first follower assembly and the second follower assembly makes full use of the space between the support plate 2013, the first guide plate 203, the second guide plate 204 and the third guide plate 205, and while increasing the extension length of the fork arm mechanism, it also makes the fork arm mechanism thinner, occupies less space, and the overall structure is more compact, thereby improving the space utilization rate of the fork mechanism. In this embodiment, the lengths of the first guide plate 203, the second guide plate 204 and the third guide plate 205 are all 720 mm, and the maximum extension length of the fork arm mechanism reaches 1500 mm. The above structural design can enable the fork arm mechanism to reach a longer extension length without excessively increasing the lengths of the first guide plate 203, the second guide plate 204 and the third guide plate 205, thereby simplifying the overall structure and being suitable for promotion.

[0072] In one embodiment, in order to make the overall structure more compact, the first guide member 207 and the second guide member 209, and the first connecting member 208 and the second connecting member 210 are staggered in the height direction. The third guide member 211 and the fourth guide member 213, and the third connecting member 212 and the fourth connecting member 214 are staggered in the height direction. The first guide member 207 and the fourth guide member 213, and the first connecting member 208 and the fourth connecting member 214 are at the same horizontal height. The second guide member 209 and the third guide member 211, and the second connecting member 210 and the third connecting member 212 are at the same horizontal height.

[0073] The first connecting member 208, the second connecting member 210, the third connecting member 212 and the fourth connecting member 214 are all made of belts, wherein the third connecting member 212 and the fourth connecting member 214 are designed with cables, and the cables are externally connected to the power supply system. In this way, the hook component 206 can provide power without the need to use a drag chain for conduction, thereby saving material usage and manufacturing costs.

[0074] In one embodiment, the support plate 2013 and the first guide plate 203 are slidably matched through the second sliding assembly 215, the second guide plate 204 and the first guide plate 203 are slidably matched through the third sliding assembly 216, and the third guide plate 205 and the second guide plate 204 are slidably matched through the fourth sliding assembly 217. The second sliding assembly 215, the third sliding assembly 216 and the fourth sliding assembly 217 all adopt a linear guide structure.

[0075] In one embodiment, the telescopic driving mechanism 202 includes a rotating shaft 2021, a second driving member 2022 and two transmission assemblies, wherein the rotating shaft 2021 is rotatably arranged at the bottom of the carrier 201, and the second driving member 2022 is arranged on the carrier 201 and is transmission-connected to the rotating shaft 2021. The two transmission assemblies are respectively arranged on both sides of the carrier 201, and the transmission assemblies include a driving pulley 2023, a driven pulley 2024, a synchronous belt 2025 and a connecting portion, wherein the driving pulley 2023 is arranged at one end of the rotating shaft 2021, the driven pulley 2024 is rotatably arranged on the carrier 201, the synchronous belt 2025 is respectively wound around the driving pulley 2023 and the driven pulley 2024, and the connecting portion is arranged on the first guide plate 203 and is connected to the synchronous belt 2025. Specifically, the connection portion includes a plurality of connection blocks 2026, and a plurality of grooves are provided on the side wall of the connection block 2026 facing the synchronous belt 2025, and a protrusion matching the grooves is provided on the outer side wall of the synchronous belt 2025. The second driving member 2022 rotates forward or reversely, which drives the driving pulley 2023 to rotate forward or reversely, thereby driving the connection block 2026 and the first guide plate 203 to move toward the first opening 2011 or the second opening 2012 through the synchronous belt 2025.

[0076] In one embodiment, the hooking material assembly 206 includes a third driving member 2061 and a swing rod 2062. The third driving member 2061 is disposed at the bottom of the third guide plate 205, and the swing rod 2062 is connected to the third driving member 2061. The hooking material assembly 206 is prior art and will not be repeated in this embodiment.

[0077] In the description of the present invention, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A shuttle, characterized in that: include: MainFrame(100); A fork mechanism (200) is arranged on the main frame (100); A lifting mechanism (300) is arranged on the main frame (100), and the lifting mechanism (300) is used to drive the fork mechanism (200) to perform a lifting action; A first guide rail (400); A second guide rail (500) is disposed below the first guide rail (400); as well as A walking mechanism (600) for driving the main frame (100) to move along the first guide rail (400); The walking mechanism (600) comprises a first support frame (601), a friction drive wheel (602), a first walking wheel assembly, a first driving member (603), an adjustable pressing assembly and a second walking wheel assembly (605); The first support frame (601) is arranged on the main frame (100); the first walking wheel assembly, the first driving member (603) and the adjustable pressing assembly are all arranged on the first support frame (601); the first walking wheel assembly cooperates with the top surface of the first guide rail (400); the first driving member (603) is vertically slidably fitted on the first support frame (601) and is transmission-connected with the friction driving wheel (602); the friction driving wheel (602) is arranged below the first guide rail (400); The adjustable pressing assembly is used to apply elastic force to the first driving member (603) so as to press the friction driving wheel (602) against the bottom surface of the first guide rail (400); the second walking wheel assembly (605) is arranged on the main frame (100) and cooperates with the second guide rail (500).

2. The shuttle according to claim 1, characterized in that: The adjustable pressing assembly comprises: A second support frame (604) is provided on the first support frame (601) and is located above the first driving member (603); A pressing block (606) is arranged on a side of the second supporting frame (604) away from the first driving member (603); a mounting seat (607) connected to the first driving member (603), disposed below the second supporting frame (604), the mounting seat (607) being provided with at least two guide rods (608), the guide rods (608) being movable vertically through the second supporting frame (604) and the pressing block (606), the guide rods (608) being provided with a limiting portion (610), the limiting portion (610) being used to prevent the pressing block (606) from detaching from the guide rods (608); and At least one elastic member (609) abuts against the pressing block (606) and the second support frame (604), respectively, and the elastic member (609) applies an upward elastic force to the pressing block (606).

3. The shuttle according to claim 2, characterized in that: The friction driving wheel (602) is close to one end of the first support frame (601), and the first walking wheel assembly includes at least two first wheel bodies (611), one of the first wheel bodies (611) is close to the friction driving wheel (602), and the other first wheel body (611) is far away from the friction driving wheel (602); The walking mechanism (600) further comprises at least one second wheel body (612), wherein the second wheel body (612) is arranged below the first guide rail (400) and abuts against the bottom surface of the first guide rail (400).

4. The shuttle according to any one of claims 1 to 3, characterized in that: The fork mechanism (200) comprises: A carrier frame (201) having a first opening (2011) and a second opening (2012) arranged opposite to each other; A telescopic driving mechanism (202) provided on the carrier (201); and Two fork arm mechanisms are arranged at intervals on the carrier (201), the fork arm mechanisms comprising: A first guide plate (203) movably arranged on the carrier frame (201); A second guide plate (204) movably disposed on the inner side of the first guide plate (203); a third guide plate (205) movably arranged on the inner side of the second guide plate (204); a first follower assembly, used for driving the second guide plate (204) to follow the first guide plate (203) to extend or retract, and making the displacement of the second guide plate (204) greater than the displacement of the first guide plate (203); a second follower assembly, used for driving the third guide plate (205) to follow the second guide plate (204) to extend or retract, and making the displacement of the third guide plate (205) greater than the displacement of the second guide plate (204); and Two hook material components (206) are respectively arranged at two ends of the third guide plate (205); Wherein, the telescopic driving mechanism (202) is used to synchronously drive the two first guide plates (203) to extend out of the first opening (2011) or the second opening (2012), or to synchronously drive the two first guide plates (203) to retract onto the supporting frame (201).

5. The shuttle according to claim 4, characterized in that: The first follower assembly comprises: A first guide member (207) is disposed on the first guide plate (203) and is close to the first opening (2011); a flexible first connecting member (208), one end of which is connected to the supporting frame (201), and the other end of which is connected to the second guide plate (204) after passing through the first guide member (207), wherein the connection points between the first connecting member (208) and the supporting frame (201) and the second guide plate (204) are both close to the second opening (2012); a second guide member (209) disposed on the first guide plate (203) and close to the second opening (2012); and A flexible second connecting member (210) has one end connected to the supporting frame (201) and the other end connected to the second guide plate (204) after passing through the second guide member (209); the connection points between the second connecting member (210) and the supporting frame (201) and the second guide plate (204) are both close to the first opening (2011).

6. The shuttle according to claim 5, characterized in that: The second follower assembly comprises: a third guide member (211), disposed on the second guide plate (204) and close to the first opening (2011); a flexible third connecting member (212), one end of which is connected to the first guide plate (203) and is close to the second guide member (209), and the other end of which is connected to the third guide plate (205) after bypassing the third guide member (211), and the connection points between the third connecting member (212) and the first guide plate (203) and the third guide plate (205) are close to the second opening (2012); a fourth guide member (213), disposed on the second guide plate (204) and close to the second opening (2012); and A flexible fourth connecting member (214) has one end connected to the first guide plate (203) and close to the first guide member (207), and the other end bypasses the fourth guide member (213) and is connected to the third guide plate (205), and the connection points between the fourth connecting member (214) and the first guide plate (203) and the third guide plate (205) are close to the first opening (2011).

7. The shuttle according to claim 6, characterized in that: The first guide member (207) and the second guide member (209), as well as the first connecting member (208) and the second connecting member (210) are arranged in a staggered manner in the height direction; the third guide member (211) and the fourth guide member (213), as well as the third connecting member (212) and the fourth connecting member (214) are arranged in a staggered manner in the height direction; The first guide member (207) and the fourth guide member (213), as well as the first connecting member (208) and the fourth connecting member (214) are located at the same level; the second guide member (209) and the third guide member (211), as well as the second connecting member (210) and the third connecting member (212) are located at the same level.

8. The shuttle according to claim 7, characterized in that: The telescopic driving mechanism (202) comprises a rotating shaft (2021), a second driving member (2022) and two transmission assemblies, wherein the rotating shaft (2021) is rotatably arranged at the bottom of the supporting frame (201), and the second driving member (2022) is arranged on the supporting frame (201) and is transmission-connected to the rotating shaft (2021); The two transmission assemblies are respectively arranged on both sides of the carrier (201), and the transmission assemblies include a driving pulley (2023), a driven pulley (2024), a synchronous belt (2025) and a connecting portion. The driving pulley (2023) is arranged at one end of the rotating shaft (2021), and the driven pulley (2024) is rotatably arranged on the carrier (201). The synchronous belt (2025) is respectively wound around the driving pulley (2023) and the driven pulley (2024), and the connecting portion is arranged on the first guide plate (203) and connected to the synchronous belt (2025).

9. The shuttle according to claim 8, characterized in that: The connecting portion comprises a plurality of connecting blocks (2026), a plurality of grooves are provided on the side walls of the connecting blocks (2026) facing the synchronous belt (2025), and a protrusion matching the grooves is provided on the outer side wall of the synchronous belt (2025).

10. The shuttle according to claim 4, characterized in that: The hooking material assembly (206) comprises a third driving member (2061) and a swing rod (2062); the third driving member (2061) is arranged at the bottom of the third guide plate (205); and the swing rod (2062) is connected to the third driving member (2061).

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