Four-way intelligent transporter

Abstract

A four-way intelligent transport vehicle, the present invention is composed of an X-axis running mechanism, a Y-axis running mechanism, a lifting mechanism, and a reversing mechanism. It is characterized in that a reversing frame is provided at the front and rear of the vehicle body, an X-axis running wheel and a turbine reducer are provided on the reversing frame, the X-axis running motor drives the X-axis running wheel via the X-axis running long axis, the left and right sides of the vehicle body are provided with Y-axis running wheels, the Y-axis running motor drives the Y-axis running wheel via the Y-axis running long axis, the lifting motor drives the lifting rocker arm, the load-bearing upper cover on the vehicle body is lifted and lowered by the lifting rocker arm, and the reversing motor drives the turbine reducer to change the height of the reversing frame. The advantage of the present invention is that the transport vehicle can intelligently switch between the X-axis and Y-axis operations through the reversing mechanism, and the two-axis running mechanism structures are stable and reliable with large bearing capacity. The lifting mechanism is lifted and lowered according to the operation requirements, so that the transport vehicle can realize intelligent and automatic operation.

Description

Technical Field

[0001] The invention relates to storage equipment, in particular to an intelligent transport vehicle with a four-way driving function. Background Art

[0002] With the continuous development of science and technology, warehousing technology is also constantly improving, and there are more and more ways of warehousing. The original warehousing method relies on forklifts to store and retrieve goods, with extremely low space utilization and poor safety. This has led to more and more companies seeking a warehousing method that can increase warehouse space utilization, reduce labor costs, and reduce safety risks in warehouses. Therefore, the intelligent warehousing model has come into being.

[0003] The intelligent warehousing mode is a warehousing mode with a high degree of automation. It uses special warehousing equipment and achieves the purpose of storing and retrieving goods by controlling the equipment. In an automated warehouse, at least two warehousing equipment are required to cooperate with each other, and neither of them can be missing to achieve the desired purpose. However, according to the existing technical level, the cost of warehousing equipment is relatively high, which undoubtedly increases the cost of the warehouse. Researching and inventing a new type of equipment that can combine the performance of two mutually coordinated warehousing equipment has become an urgent problem to be solved in the current warehousing industry. Summary of the invention

[0004] The purpose of the present invention is to provide a four-way driving intelligent transport vehicle with a four-way driving function in view of the defects existing in the prior art.

[0005] The present invention comprises: a vehicle body 1, an X-axis running mechanism, a Y-axis running mechanism, a lifting mechanism, and a reversing mechanism. The X-axis running mechanism is composed of four X-axis running wheels 12, an X-axis running long shaft 27, two X-axis running short shafts 32, an X-axis running motor 3, and a sprocket chain assembly D 21. The Y-axis running mechanism is composed of eight Y-axis running wheels 20, two Y-axis running long shafts 30, eight Y-axis running short shafts 28, four driving gears 29, four driven gears 31, a Y-axis running motor 23, and a sprocket chain assembly A 24. The lifting mechanism is composed of a lifting transmission shaft 33, a bearing seat B 34, four lifting rocker arms 5, a group of long tie rods A 4, a group of long tie rods B 2, a group of ball head bearing tie rods 35, a group of eccentric rocker arms 36, a lifting motor 10, and a sprocket chain assembly C 15. The reversing mechanism is composed of four worm reducers 11, two reversing long shafts 16, two reversing short shafts 26, two rigid couplings 22, a reversing frame 9, a bearing seat A 25, a reversing motor 19 and a sprocket chain assembly B 13 and a sprocket chain assembly E 6.

[0006] It is characterized in that a reversing frame 9 is respectively provided at the front and rear of the vehicle body 1, and two X-axial traveling wheels 12 and two worm reducers 11 are respectively provided on the reversing frame 9. The X-axial traveling motor 3 is connected to the X-axial traveling wheels 12 on both sides via the sprocket chain assembly Ding 21 and the X-axis traveling long shaft 27. The X-axial traveling wheels 12 are driven by the X-axial traveling motor 3, and the other two are X-axial traveling driven wheels.

[0007] Four Y-axial travel wheels 20 are provided on the left and right sides of the vehicle body 1, and the Y-axial travel motor 23 is connected to the four Y-axial travel wheels 20 on both sides through the sprocket chain assembly A 24, two Y-axial travel long shafts 30, a driving gear 29, and a driven gear 31. The Y-axial travel motor 23 provides mechanical energy for the Y travel mechanism, and the Y-axial travel wheel 20 is driven by the Y-axial travel motor 23. A driving gear 29 is installed at each end of the Y-axial travel long shaft 30, meshing with the driven gear 31 directly below it, and the driven gear 31 is installed on the inner side of the vehicle body 1 by a Y-axial travel short shaft 28. A Y-axial travel wheel 20 is installed on the part of the Y-axial travel short shaft 28 on the outer side of the vehicle body 1. The Y-axial travel wheels 20 are connected in pairs by chains and are all installed on the outer sides of the left and right sides of the vehicle body 1 through the Y-axial travel short shaft 28. Eight guide wheels are installed on the left and right sides of the vehicle body 1 through guide brackets.

[0008] The lifting motor 10 is connected to the lifting transmission shaft 33 through the sprocket chain assembly C 15, and the lifting transmission shaft 33 is connected to the lifting rocker arm 5 through the eccentric rocker arms 36 on both sides. The lifting transmission shaft 33 is connected to the lifting rocker arm 5 on the other side through the ball head bearing pull rod 35, the long pull rod A 4, the long pull rod B 2, and the lifting rocker arm 5. The lifting rocker arm 5 is driven by the lifting motor 10. The lifting transmission shaft 33 is installed in the vehicle body 1 through two bearing seats B 34. The four lifting rocker arms 5 are against the load-bearing upper cover 17 on the vehicle body 1. The eccentric rocker arms 36 are respectively mounted on both ends of the lifting transmission shaft 33. The four lifting rocker arms 5 are respectively installed at both ends of the two Y-axis walking long shafts 30. The lifting or lowering of the load-bearing upper cover 17 is achieved by the rotation of the lifting rocker arm 5. The two ball head bearing pull rods 35 are engaged with each other by the saw teeth at their ends so that they will not move relative to each other, and the position of the engagement can also be adjusted to adjust the lifting height and synchronization. One part of the two pairs of ball bearing tie rods 35 is installed on the eccentric rocker arm 36, and the other part is installed on the long tie rod A 4, and the middle is connected by a thread. The left-right symmetry of the jacking device can be adjusted by adjusting the depth of the threaded connection.

[0009] The reversing motor 19 is connected to the input ends of the four worm reducers 11 on the reversing frame 9 through the sprocket chain assembly B 13, the sprocket chain assembly E 6, the reversing short shaft 26, the coupling 22, the reversing long shaft 16, and the worm reducer 11 is inverted below the top plate 8 of the X-axis reversing frame. The end of the screw rod of the worm reducer 11 is fixed to the reversing frame 9. The height of the reversing frame 9 is determined by the running position of the worm reducer 11. When reversing, the X-axis traveling wheel 12 follows the reversing frame 9 to rise and fall. The reversing frame 9 realizes reversing by pushing down or pulling up the worm reducer 11.

[0010] A truncated cone-shaped guide plate 7 is mounted on each X-axis traveling wheel 12 and is locked on the wheel by screws to ensure that it can rotate smoothly after installation.

[0011] Two Y-axis traveling long shafts 30 are mounted on the left and right side walls of the vehicle body 1 through flanges, and a driving gear 29 is mounted on both ends respectively. The driving gear 29 is meshed with a driven gear 31, and the transmission ratio is 1:1.

[0012] One end of the ball bearing pull rod 35 is mounted on the eccentric rocker arm 36, and the other end is mounted on the long pull rod A 4, and the middle is connected by a thread. The left-right symmetry of the jacking device can be adjusted by adjusting the depth of the threaded connection.

[0013] The reversing frame is composed of two metal "U"-shaped plates. The X-axis traveling wheels 12 are installed at both ends of the outer "U"-shaped plate. A rectangular hole for traveling is provided under the wheel. The outer "U"-shaped plate is provided with a round table that cooperates with the screw rod of the worm reducer 11. The end of the screw rod passes through the round table and is fixed by a lock nut.

[0014] The advantages of the present invention are that the transport vehicle can be intelligently switched between the X-axis and Y-axis operations through the reversing mechanism, and the X-axis running mechanism and the Y-axis running mechanism have stable and reliable structures and large bearing capacity. The lifting mechanism is lifted and lowered according to the operation requirements. The present invention enables the transport vehicle to realize intelligent and automatic operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of the present invention;

[0016] Figure 2 A left side view of the present invention;

[0017] Figure 3 A front view of the present invention;

[0018] Figure 4 The overall schematic diagram of the present invention;

[0019] Figure 5 A partial top view of the jacking mechanism;

[0020] Figure 6 Schematic diagram of the Y-axis running state;

[0021] Figure 7 Schematic diagram of the X-axis running status.

[0022] In the figure: 1 car body, 2 long tie rod B, 3X axial travel motor, 4 long tie rod A, 5 lifting rocker arm, 6 sprocket chain assembly E, 7 guide plate, 8 reversing frame top plate, 9 reversing frame, 10 lifting motor, 11 turbine reducer, 12X axial travel wheel, 13 sprocket chain assembly B, 14 flange, 15 sprocket chain assembly C, 16 reversing long shaft, 17 load-bearing cover, 18 guide wheel, 19 reversing motor, 20Y axial travel wheel, 21 sprocket chain assembly D, 22 rigid coupling; 23Y axial travel motor, 24. Sprocket chain assembly A, 25 bearing seat A, 26 reversing short shaft, 27X axis travel long shaft, 28Y axial travel short shaft; 29 driving gear, 30Y axial travel long shaft, 31 driven gear, 32X axis travel short shaft, 33 transmission shaft, 34 bearing seat B, 35 ball head bearing tie rod, 36 eccentric rocker arm. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0024] See also Figure 1 to Figure 7 This embodiment includes: a vehicle body 1, an X-axis running mechanism, a Y-axis running mechanism, a lifting mechanism, and a reversing mechanism.

[0025] The X-axis traveling mechanism is composed of four X-axis traveling wheels 12, an X-axis traveling long shaft 27, two X-axis traveling short shafts 32, an X-axis traveling motor 3, and a sprocket chain assembly D21.

[0026] The Y-axis travel mechanism is composed of eight Y-axis travel wheels 20, two Y-axis travel long shafts 30, eight Y-axis travel short shafts 28, four driving gears 29, four driven gears 31, a Y-axis travel motor 23 and a sprocket chain assembly A 24.

[0027] The lifting mechanism consists of a lifting transmission shaft 33, a bearing seat B 34, four lifting rocker arms 5, a group of long pull rods A 4, a group of long pull rods B 2, a group of ball head bearing pull rods 35, a group of eccentric rocker arms 36, a lifting motor 10, and a sprocket chain assembly C 15.

[0028] The reversing mechanism is composed of four worm reducers 11, two reversing long shafts 16, two reversing short shafts 26, two rigid couplings 22, a reversing frame 9, a bearing seat A 25, a reversing motor 19 and a sprocket chain assembly B 13 and a sprocket chain assembly E 6.

[0029] The vehicle body 1 of this embodiment is provided with a reversing frame 9 at the front and rear, and each of the reversing frames 9 is provided with two X-axial traveling wheels 12 and two worm reducers 11. The X-axial traveling motor 3 is connected to the X-axial traveling wheels 12 on both sides via the sprocket chain assembly Ding 21 and the X-axis traveling long axis 27. The X-axial traveling wheel 12 is driven by the X-axial traveling motor 3. The other two are X-axial traveling driven wheels. A truncated cone-shaped guide plate 7 is installed on each X-axial traveling wheel 12, which is locked on the wheel by screws to ensure that it can rotate smoothly after installation. The X-axial traveling motor 3 provides mechanical energy, and each of the two ends of the X-axis traveling long axis 27 is connected to an X-axial traveling wheel 12, which is installed on the reversing frame 9, and the other two X-axial traveling wheels 12 are installed at symmetrical positions on the reversing frame 9 through the X-axis traveling short axis 32.

[0030] Four Y-axis travel wheels 20 are provided on the left and right sides of the vehicle body 1, and the Y-axis travel motor 23 is connected to the four Y-axis travel wheels 20 on both sides through the sprocket chain assembly A 24, two Y-axis travel long shafts 30, driving gears 29, and driven gears 31. The Y-axis travel wheels 20 are driven by the Y-axis travel motor 23. The two Y-axis travel long shafts 30 are installed on the left and right side walls of the vehicle body 1 through flanges 14, and a driving gear 29 is installed at both ends. The driving gear 29 is meshed with the driven gear 31, and the transmission ratio is 1:1. The Y-axis travel motor 23 provides mechanical energy for the Y travel mechanism. A driving gear 29 is fixed at each end of the Y-axis travel long shaft 30, meshing with a driven gear 31 directly below it, and the driven gear 31 is installed on the inner side of the vehicle body 1 by a Y-axis travel short shaft 28, and a Y-axis travel wheel 20 is installed on the part of the Y-axis travel short shaft 28 outside the vehicle body 1. The Y-axis travel wheels 20 are connected in pairs by chains and are installed on the outer sides of the left and right sides of the vehicle body 1 through the Y-axis travel short shaft 28. Eight guide wheels are installed on the left and right sides of the vehicle body 1 through guide brackets.

[0031] The lifting motor 10 drives the lifting transmission shaft 33 through the sprocket chain assembly C 15, and is connected to the lifting rocker arm 5 through the eccentric rocker arms 36 on both sides. The lifting transmission shaft 33 is also connected to the lifting rocker arm 5 on the other side through the ball head bearing pull rod 35, the long pull rod A 4, and the long pull rod B 2. The lifting transmission shaft 33 is installed in the vehicle body 1 through two bearing seats B 34. The lifting rocker arm 5 is driven by the lifting motor 10. The four lifting rocker arms 5 are against the load-bearing upper cover 17 on the vehicle body 1. The eccentric rocker arms 36 are respectively mounted on both ends of the lifting transmission shaft 33. The four lifting rocker arms 5 are respectively installed at both ends of the two Y-axis travel long shafts 30. The lifting or lowering of the load-bearing upper cover 17 is achieved by the rotation of the lifting rocker arm 5. The two ball head bearing pull rods 35 are engaged with each other by the serrations at their ends so that they will not move relative to each other, and the engagement position can also be adjusted to adjust the lifting height and synchronization. One part of the two pairs of ball bearing tie rods 35 is installed on the eccentric rocker arm 36, and the other part is installed on the long tie rod A 4, and the middle is connected by a thread. The left-right symmetry of the jacking device can be adjusted by adjusting the depth of the threaded connection.

[0032] The reversing motor 19 is connected to the input ends of the four worm reducers 11 on the reversing frame 9 via the sprocket chain assembly B 13, the reversing short shaft 26, the rigid coupling 22, the reversing long shaft 16, and the reversing short shaft 26 is connected to the reversing long shaft 16 by a rigid coupling 22. The two reversing long shafts 16 are connected via the sprocket chain assembly E 6 to ensure that the four worm reducers 11 work synchronously. The four worm reducers 11 are inverted below the top plate 8 of the X-axis reversing frame. The end of the screw rod of the worm reducer 11 is fixed to the reversing frame 9, and the height of the reversing frame 9 is determined by the running position of the worm reducer 11. During reversing, the X-axis traveling wheel 12 follows the reversing frame 9 to rise and fall. The reversing frame 9 realizes reversing by pushing down or pulling up the worm reducer 11. The reversing frame 9 is composed of two metal "U"-shaped plates. The X-axial traveling wheels 12 are installed at both ends of the outer "U"-shaped plate. A rectangular hole for traveling is provided under the wheel. The outer "U"-shaped plate is provided with a round table that cooperates with the screw rod of the worm reducer 11. The end of the screw rod passes through the round table and is fixed by a lock nut.

[0033] In the inventory process of this embodiment (assuming that the shuttle is waiting at the loading and unloading port), when the shuttle detects that there is a pallet directly above it at the port, the lifting mechanism starts to work, the lifting motor 10 drives the transmission shaft 33 and the eccentric rocker arm 36 to rotate, the eccentric rocker arm 36 drives the ball bearing pull rod 35, the ball bearing pull rod 35 drives the long pull rod A4, the long pull rod A4 and the long pull rod B2 move synchronously, so that the lifting rocker arm 5 rotates to lift the load-bearing upper cover 17. After the lifting state ends, the Y-axis travel mechanism is activated, and the Y-axis travel long axis 30 is driven to rotate by the Y-axis travel motor 23 and the sprocket chain assembly A 24, and the Y-axis travel long axis 30 drives the Y-axis travel short axis 28 to rotate through the gear transmission, so that the Y-axis travel wheel 20 rotates, and the shuttle travels in the Y-axis direction. When the shuttle travels to the designated X-axis lane, the positioning device detects that the Y-axis travel mechanism is in place, the Y-axis travel mechanism stops working, and the reversing mechanism starts to work. The reversing motor 19 drives the reversing short shaft 26 and the reversing long shaft 16 to rotate through the sprocket chain assembly B 13, and the screw of the turbine reducer 11 descends, so that the X-axis running wheel 12 contacts the track, and the Y-axis running wheel 20 is separated from the guide rail. After the turbine reducer 11 is lowered into place, the reversing mechanism stops. The X-axis running mechanism starts to move, and the X-axis running long shaft 27 is driven by the X-axis running motor 3 to rotate, so that the shuttle has the function of X-axis running. When it arrives at the port of the designated inventory lane, the X-axis running mechanism stops, and the reversing motor 19 starts to reverse, so that the X-axis running wheel 12 is separated from the guide rail. The Y-axis running wheel 20 contacts the guide rail. After the reversing mechanism is lifted into place, the Y-axis running mechanism starts to move. After arriving at the designated storage location, the lifting motor 10 reverses to put down the pallet.

Claims

1. A four-way intelligent transport vehicle, comprising: Car body (1), X-axis running mechanism, Y-axis running mechanism, lifting mechanism, and reversing mechanism; The X-axis walking mechanism is composed of four X-axis walking wheels (12), one X-axis walking long axis (27), two X-axis walking short axes (32), an X-axis walking motor (3), and a sprocket chain assembly D (21); the Y-axis walking mechanism is composed of eight Y-axis walking wheels (20), two Y-axis walking long axes (30), eight Y-axis walking short axes (28), four driving gears (29), four driven gears (31), a Y-axis walking motor (23) and a sprocket chain assembly A (24); the lifting mechanism is composed of a lifting transmission shaft (33), a bearing seat B (34), four lifting rocker arms (5), a group of long pull rods A (4), a group of long pull rods B (2), a group of ball bearing pull rods (35), a group of eccentric rocker arms (36), a lifting motor (10), and a sprocket chain assembly C (15); the reversing mechanism is composed of four turbine reducers (11), two reversing long shafts (16), two reversing short shafts (26), two rigid couplings (22), a reversing frame (9), a bearing seat A (25), a reversing motor (19) and a sprocket chain assembly B (13), and a sprocket chain assembly E (6); it is characterized in that a reversing frame (9) is respectively provided at the front and rear of the vehicle body (1), and the reversing frame (9) is respectively provided with two X-axis running wheels (12) and two turbine reducers (11), and the X-axis running motor (3) connected to the X-axis travel wheels (12) on both sides via the sprocket chain assembly D (21) and the X-axis travel long shaft (27), and the other two are X-axis travel driven wheels; four Y-axis travel wheels (20) are respectively arranged on the left and right sides of the vehicle body (1), and the Y-axis travel motor (23) is connected to the four Y-axis travel wheels (20) on both sides via the sprocket chain assembly A (24), two Y-axis travel long shafts (30), the driving gear (29), and the driven gear (31); the lifting motor (10) is connected to the lifting transmission shaft (33) via the sprocket chain assembly C (15), and is connected to the lifting rocker arm (5) via the eccentric rocker arm (36) on both sides, and is connected to the lifting rocker arm (5) via the ball head bearing pull rod (35 ), long pull rod A (4), long pull rod B (2) are connected with the lifting rocker arm (5) on the other side, the four lifting rocker arms (5) are against the load-bearing upper cover (37) on the vehicle body (1), and the eccentric rocker arms (36) are respectively mounted on the two ends of the lifting transmission shaft (33); the reversing motor (19) is connected to the input ends of four turbine reducers (11) on the reversing frame (9) through the sprocket chain assembly B (13), the sprocket chain assembly E (6), the reversing short shaft (26), the coupling (22), the reversing long shaft (16), and the turbine reducer (11) is inverted below the top plate (8) of the X-axis reversing frame, and the height of the reversing frame (9) is determined by the running position of the turbine reducer (11).

2. The four-way intelligent transport vehicle according to claim 1 is characterized in that A truncated cone-shaped guide plate (7) is mounted on each X-axis traveling wheel (12) and is locked on the wheel by screws.

3. The four-way intelligent transport vehicle according to claim 1 is characterized in that The two Y-axis running long shafts (30) are mounted on the left and right side walls of the vehicle body (1) via flanges, and a driving gear (29) is mounted on both ends respectively. The driving gear (29) is meshed with a driven gear (31), and the transmission ratio is 1:

1.

4. The four-way intelligent transport vehicle according to claim 1, characterized in that One end of the ball bearing pull rod (35) is mounted on the eccentric rocker arm (36), and the other end is mounted on the long pull rod A (4), and the middle is connected by a thread.

5. The four-way intelligent transport vehicle according to claim 1, characterized in that The reversing frame is composed of two metal "U"-shaped plates, the X-axis travel wheels (12) are installed at both ends of the outer "U"-shaped plate, and a rectangular hole for travel is provided below the wheel. The outer "U"-shaped plate is provided with a round table that cooperates with the screw rod of the worm reducer (11), and the end of the screw rod passes through the round table and is fixed by a locking nut.

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