Three-station swing arm mechanism on a four-way shuttle board driven by a single motor and its working method

Abstract

The present invention discloses a three-station swing arm mechanism on a four-way shuttle board driven by a single motor and a working method thereof, which solves the technical problem that the four-way shuttle board used in the existing intensive warehouses has a complex structure and a large volume. A transverse drive mechanism that turns 90 degrees is connected to the longitudinal drive system of the shuttle board, so that one travel drive motor can complete the drive in both the longitudinal and transverse directions; the traditional pallet lifting mechanism is integrated with the two-frame travel conversion mechanism, so that the pallet lifting swing arm mechanism is converted from two stations to three stations, and at the same time undertakes the three working states of walking direction conversion and pallet lifting and lowering; the present invention can simply realize the conversion of the travel direction and the transfer of the pallet without increasing the volume of the shuttle board, with low manufacturing cost, small space occupation and convenient later maintenance. The present invention has a clever structure and a compact layout. The lateral movement function is designed without increasing the overall size of the shuttle board, and the degree of automation is significantly improved.

Description

Technical Field

[0001] The invention relates to a dense storage system, in particular to a dense storage system which adopts a four-way shuttle plate to transfer goods. Background Art

[0002] Dense warehouses are created to cope with the storage of large quantities of similar goods. In order to make full use of the space in dense warehouses, the shuttle vehicles used for transferring goods in dense warehouses are designed to be flat plates, also known as shuttle boards. In automated dense warehouses, three-dimensional shelves are generally arranged parallel to each other in the longitudinal direction, and shuttle vehicle travel tracks are arranged on the three-dimensional shelves. Pallet placement shelves are arranged on the shelves above the tracks. The shuttle vehicles carry pallets and goods and shuttle on the travel tracks under the shelves. The shuttle boards carry pallets and goods and travel longitudinally in the shelf aisles under the storage shelves, shuttling back and forth in both directions to realize the entry and exit of cargo pallets. Therefore, the shuttle boards that complete this function are also called two-way shuttle boards. Outside the dense shelves, forklifts are responsible for the transfer of shuttle boards between shelves in different longitudinal aisles. Since the shuttle boards have no turning function, for the longitudinal aisles in the same plane, the shuttle boards cannot switch aisles autonomously, and must be assisted by forklifts or stackers to switch aisles. This working method greatly weakens the storage efficiency of automatic warehousing.

[0003] In order to complete the transfer of pallets and goods between the body frame of the shuttle board and the shelf, a swing arm lifting mechanism is arranged on the shuttle board, and the transfer of pallets and goods between the shuttle board and the shelf is completed by lifting and lowering the swing arm; therefore, a lifting motor and a walking motor are respectively arranged on the traditional two-way shuttle board to realize the two-way walking of the shuttle board along a straight line in the lane and the transfer of goods in the up and down directions; in order to improve the storage and retrieval rhythm of goods, a criss-cross type dense warehouse has appeared. In the shelves of this warehouse, a 90-degree turning mechanism is connected to the shelves arranged vertically. Curved horizontally connected shelves; in order to adapt to the criss-cross type dense warehouses, a mother-and-child shuttle vehicle has emerged, where the mother vehicle travels in the longitudinal shelf track and the child vehicle travels on the transverse shelf track to complete the transfer of goods in the longitudinal and transverse directions; but this method requires the installation of two shuttle vehicles, which has the defects of large equipment investment and high requirements for operation and docking; to address this problem, technical personnel in this field have designed a four-way shuttle vehicle, which can achieve a 90-degree turn to complete the travel of the same shuttle board between different longitudinal shelves, that is, the shuttle board can autonomously switch lanes , thus eliminating the need to arrange forklifts or stackers outside the shelves to help them change lanes, which would increase equipment investment and occupy a large space in front of the warehouse; in order to complete the storage, retrieval and transfer of pallets and goods on the longitudinal shelves and transverse shelves and realize 90-degree turning, the existing four-way shuttle is generally provided with two travel motors and one lifting motor, and a transverse travel frame is provided outside the longitudinal travel frame of the four-way shuttle, a longitudinal travel wheel pair is provided on the longitudinal travel frame, and a transverse travel wheel pair is provided on the transverse travel frame. A reversing conversion mechanism is provided between the walking frame and the longitudinal walking frame; in this technical solution, two sets of cam lifting mechanisms are provided, which are respectively responsible for the conversion between the walking directions of the two frames and the transfer of palletized goods; two sets of cam lifting mechanisms and three power motors are provided on one body, resulting in a complicated mechanical structure of the shuttle board body, which directly leads to an increase in the volume of the shuttle board body, and an increase in the space required for the shuttle board to move in the dense shelves, squeezing the storage space of the dense warehouse; in addition, the complex mechanical structure of this shuttle board also brings inconvenience in manufacturing and maintenance. Summary of the invention

[0004] The present invention provides a three-station swing arm mechanism on a four-way shuttle board driven by a single motor and a working method thereof, which solves the technical problem that the four-way shuttle board used in the existing intensive warehouse has a complex structure and a large volume.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The overall concept of the present invention is: a transverse drive mechanism that turns 90 degrees is connected to the longitudinal drive system of the shuttle board, so that one travel drive motor can complete the drive in both the longitudinal and transverse directions; the traditional pallet lifting mechanism is integrated with the two-frame travel conversion mechanism, so that the pallet lifting swing arm mechanism is converted from a two-station to a three-station, and at the same time it undertakes the three working states of travel direction conversion and pallet lifting and lowering; the present invention can simply realize the conversion of travel direction and the transfer of pallets without increasing the volume of the shuttle board, has low manufacturing cost, occupies little space and is convenient for later maintenance.

[0007] A three-station swing arm mechanism on a four-way shuttle board driven by a single motor comprises a longitudinal walking square body frame, a walking drive motor with double-axis output, a 90-degree reversing reducer with double-end output, a swing arm drive motor with double-end output, a front lifting box-type frame and a rear lifting box-type frame. The walking drive motor, the 90-degree reversing reducer and the swing arm drive motor with double-end output are fixedly arranged on the frame bottom plate in the longitudinal walking square body frame respectively; a lifting shaft bearing hole is arranged in the middle of the rear side vertical plate of the longitudinal walking square body frame, another lifting shaft bearing hole is arranged in the middle of the front side vertical plate of the longitudinal walking square body frame, and a lifting shaft bearing hole is arranged in the middle of the lifting shaft bearing hole. A long strip through hole for the inner end of the driven transverse walking wheel axle in the up-down direction is arranged on the front side vertical plate on the left side, and a long strip through hole for the inner end of the active transverse walking wheel axle in the up-down direction is arranged on the front side vertical plate on the right side of the lifting shaft bearing hole, and a swing arm lifting drive shaft is arranged between the lifting shaft bearing hole and another lifting shaft bearing hole, and the swing arm lifting drive shaft is connected to the output end of the swing arm driving motor with double-end output, and a lifting guide rail of the rear lifting box-type frame is arranged on the outer side surfaces of both ends of the rear side vertical plate of the longitudinal walking square body frame; on the outer end of the swing arm lifting drive shaft after passing through the lifting shaft bearing hole, A lifting swing arm is connected, and a roller is arranged at the lower end of the lifting swing arm; a rear lifting box-type frame is movably arranged on the outer side of the rear side vertical plate, and a roller is arranged to be embedded in a horizontal long strip groove in the middle of the inner side surface of the rear lifting box-type frame, and the roller arranged at the lower end of the lifting swing arm is movably embedded in the roller embedded in the horizontal long strip groove; a lifting guide slider is fixedly arranged at the end of the inner side surface of the rear lifting box-type frame, and the lifting guide slider is movably connected to the lifting guide rail; a transverse walking drive wheel axle bearing is arranged on the right side box of the rear lifting box-type frame, and a transverse walking drive wheel axle bearing is arranged in the transverse walking drive wheel axle bearing, and the transverse walking drive wheel axle in the right side box A transverse walking driving wheel is arranged on the walking driving wheel axle. The inner end of the transverse walking driving wheel axle passes inwardly through the through hole of the inner end of the active transverse walking wheel axle, and is connected with the rear output shaft with a telescopic coupling arranged on the rear end output end of the double-end output 90-degree reversing reducer; a transverse walking driven wheel axle bearing is arranged on the left side box body of the rear lifting box-type frame, a transverse walking driven wheel axle bearing is arranged in the transverse walking driven wheel axle bearing, a transverse walking driven wheel is arranged on the transverse walking driven wheel axle in the left side box body, and the inner end of the transverse walking driven wheel axle is arranged in the through hole of the inner end of the driven transverse walking wheel axle.

[0008] A front lifting box-type frame is movably arranged on the outer side of the front side vertical plate of the longitudinal walking square body frame, and a lifting guide rail of the front lifting box-type frame is arranged on the outer side surfaces of both ends of the front side vertical plate of the longitudinal walking square body frame; the structure of the front lifting box-type frame is exactly the same as that of the rear lifting box-type frame, and another lifting guide slider is arranged at both ends of the inner side surface of the rear lifting box-type frame, and a front output shaft with a telescopic coupling is arranged between the rear end output end of the 90-degree reversing reducer and the other transverse walking driving wheel in the front lifting box-type frame; a tray is arranged between the top end surface of the front lifting box-type frame and the top end surface of the rear lifting box-type frame.

[0009] A longitudinal driving wheel, a second longitudinal driving wheel, a first longitudinal driven wheel and a second longitudinal driven wheel are respectively arranged on the right side vertical plate of the longitudinal walking square body frame; a transverse walking driving wheel and a transverse walking driven wheel are respectively arranged on the rear lifting box-type frame.

[0010] A working method of a three-station swing arm mechanism on a four-way shuttle board driven by a single motor, characterized by the following steps: when the longitudinal travel driving wheel, the second longitudinal driving wheel, the first longitudinal driven wheel and the second longitudinal driven wheel on the longitudinal travel square body frame are arranged on the longitudinal track of the shuttle board under the longitudinal shelf, the shuttle board realizes the transmission of the pallet thereon under the drive of the travel driving motor, at this time, the roller arranged at the lower end of the lifting swing arm is arranged just above the bearing hole of the lifting shaft; when the shuttle board transports the pallet to the corresponding cargo position on the longitudinal shelf, the swing arm driving motor controls the lifting swing arm to rotate 90 degrees, so that the roller arranged at the lower end of the lifting swing arm moves to just in front of the bearing hole of the lifting shaft, at this time, the front lifting box-type frame and the rear lifting box-type frame are The lifting box-type frame is lowered, and the pallet is moved from the shuttle car to the corresponding cargo position of the longitudinal shelf; then, the travel drive motor is started to make the shuttle board return to the intersection of the longitudinal shelf and the transverse lane, the travel drive motor stops, and the swing arm drive motor is started again to control the lifting swing arm to continue to rotate 90 degrees, so that the roller set at the lower end of the lifting swing arm moves to just below the bearing hole of the lifting shaft. At this time, the transverse travel drive wheel and the transverse travel driven wheel fall on the transverse travel track in the transverse lane. At the same time, the longitudinal travel drive wheel, the second longitudinal drive wheel, the first longitudinal driven wheel and the second longitudinal driven wheel are lifted up and separated from the longitudinal track, completing the reversal of the shuttle car; when the travel drive motor is started again, the shuttle board realizes transverse travel along the transverse travel track.

[0011] The four-way shuttle board of the present invention is based on the two-way shuttle board. Box-type lifting frames are respectively arranged on the outer sides of the two vertical plates without wheels of the shuttle board, and reversing wheels are arranged on the lifting frames. The drive after reversing is realized by leading out the steering mechanical structure, so that the shuttle board can move horizontally on the horizontal track to change the lane after leaving the longitudinal lane. The present invention has an ingenious structure and a compact layout. The lateral movement function is designed without increasing the overall size of the shuttle board, and it plays a full role in the space utilization rate of the dense warehouse. With the lateral movement function, the shuttle board has the possibility of changing the lane autonomously, and the degree of automation is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the present invention;

[0013] Figure 2 It is a schematic structural diagram of a longitudinal walking square vehicle body frame 1 of the present invention;

[0014] Figure 3 It is a schematic diagram of the structure of the longitudinal driving walking and the transverse driving walking of the present invention;

[0015] Figure 4 It is a diagram showing the coordination relationship between the longitudinal walking square vehicle frame 1 and the two lifting box-type frames of the present invention;

[0016] Figure 5 It is a diagram showing the matching relationship between the swing arm lifting drive shaft 35 of the present invention and the front side vertical plate 10 of the longitudinal walking square vehicle body frame 1;

[0017] Figure 6 It is a schematic structural diagram of the rear lifting box type frame 29 of the present invention;

[0018] Figure 7 It is a diagram showing the guiding matching relationship between the rear lifting box frame 29 and the front side vertical plate 10 of the present invention;

[0019] Figure 8 It is a structural schematic diagram of the shuttle vehicle of the present invention traveling in a longitudinal shelf 42 with a transverse lane 43. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings:

[0021] A four-way shuttle board driven by a single motor comprises a longitudinal walking square body frame 1, a walking drive motor 2 with dual-axis output, a 90-degree reversing reducer 24 with dual-end output, a front lifting box-type frame 41 and a rear lifting box-type frame 29; the longitudinal walking square body frame 1 is a longitudinal walking body frame on a longitudinal rail 45 of the shuttle board in a longitudinal shelf 42, and longitudinal walking wheels are arranged on the left and right vertical plates of the longitudinal walking square body frame 1; the front lifting box-type frame 41 and the rear lifting box-type frame 29 are transverse walking body frames of the shuttle board on a transverse walking rail 46 in a transverse lane 43, and transverse walking driving wheels 27 and transverse walking driven wheels 28 are arranged on the transverse walking body frames of the body, and the transverse walking driving wheels 27 and the transverse walking driven wheels 28 are arranged on the transverse walking body frames of the body. The driven wheel 28 walks on the transverse walking track 46; when the longitudinal walking square body frame 1 walks, the front lifting box-type frame 41 and the rear lifting box-type frame 29 are in a lifted state, and when the front lifting box-type frame 41 and the rear lifting box-type frame 29 are walking, the longitudinal walking square body frame 1 is in a lifted state; the walking drive motor 2 and the 90-degree reversing reducer 24 are fixedly arranged on the frame bottom plate in the longitudinal walking square body frame 1, respectively, and a longitudinal drive shaft is arranged on the right side vertical plate 5 of the longitudinal walking square body frame 1. A longitudinal drive shaft passes through a bearing hole 6, and a longitudinal drive shaft is arranged on the left side vertical plate of the longitudinal walking square body frame 1. A longitudinal driving shaft passes through a clearance groove 47, and a long strip of transverse walking in the up and down direction is arranged on the rear side vertical plate of the longitudinal walking square body frame 1. The walking drive shaft passes through a hole 12, and another horizontal walking drive shaft passing through a hole 12 in the vertical direction is also correspondingly provided on the front side vertical plate of the longitudinal walking square body frame 1. A longitudinal walking drive shaft 3 is provided between the longitudinal driving shaft passing through the bearing hole 6 and the longitudinal driving shaft passing through the clearance groove 47. A longitudinal walking drive wheel 4 is provided at both ends of the longitudinal walking drive shaft 3. The longitudinal walking drive shaft 3 is connected to the output shaft of the walking drive motor 2. A rear output shaft 25 with a telescopic coupling is provided between the longitudinal driving shaft passing through the bearing hole 6 and the rear end output end of the 90-degree reversing reducer 24. Another horizontal walking drive shaft passing through a hole 12 in the vertical direction is correspondingly provided on the front side vertical plate of the longitudinal walking square body frame 1 and the 90-degree reversing reducer 24. A front output shaft 26 is provided between the front output ends of the machine 24, a transverse travel driving wheel 27 is provided at the outer end of the rear output shaft 25, and another transverse travel driving wheel is provided at the outer end of the front output shaft 26; a power extraction driven sprocket 22 is provided on the input shaft 23 of the 90-degree reversing reducer 24, a power extraction active sprocket 21 is provided on the longitudinal travel driving shaft 3, and a power extraction chain 20 is provided between the power extraction active sprocket 21 and the power extraction driven sprocket 22; the present invention realizes a 90-degree change of direction of the driving force extracted from the longitudinal travel driving shaft 3 through the 90-degree reversing reducer 24, and realizes the drive in the longitudinal and transverse directions with a single drive motor; when the longitudinal drive wheel is moving, the transverse drive wheel is in a suspended idling state;When the lateral driving wheel is moving, the longitudinal driving wheel is in a suspended idling state. ;

[0022] A front lifting box-type frame 41 is arranged on the outer side of the front side vertical plate of the longitudinal walking square body frame 1, and a rear lifting box-type frame 29 is arranged on the outer side of the rear side vertical plate of the longitudinal walking square body frame 1. The axle of the transverse walking driving wheel 27 is arranged on the rear lifting box-type frame 29, and the axle of another transverse walking driving wheel is arranged on the front lifting box-type frame 41; the structure of the front lifting box-type frame 41 is exactly the same as that of the rear lifting box-type frame 29, and a pair of transverse walking driving wheels and a pair of transverse walking driven wheels are correspondingly arranged.

[0023] A four-way shuttle board driven by a single motor, on the right side and left side vertical plates of the longitudinal walking square body frame 1, a second longitudinal drive shaft passing through the bearing hole 7, a first longitudinal driven wheel shaft hole 8 and a second longitudinal driven wheel shaft hole 9 are provided; the second longitudinal drive shaft passes through the bearing hole 7 and the second longitudinal drive shaft 17 is connected to the outer end of the second longitudinal drive shaft 17, and a longitudinal drive driven sprocket 18 is provided at the inner end of the second longitudinal drive shaft 17, a longitudinal drive driving sprocket 19 is provided on the longitudinal walking drive shaft 3, and a longitudinal drive chain 22 is provided between the longitudinal drive driven sprocket 18 and the longitudinal drive driving sprocket 19; a first longitudinal driven wheel 37 is provided in the first longitudinal driven wheel shaft hole 8, and a second longitudinal driven wheel 38 is provided in the second longitudinal driven wheel shaft hole 9; a transverse walking driven wheel 28 is provided in the rear lifting box-type frame 29.

[0024] A reversing driving method for a four-way shuttle board driven by a single motor, characterized by the following steps: the longitudinal travel driving wheel 4, the second longitudinal driving wheel 16, the first longitudinal driven wheel 37 and the second longitudinal driven wheel 38 on the longitudinal travel square body frame 1 are arranged on the longitudinal track 45 of the shuttle board under the longitudinal shelf 42. Under the drive of the travel driving motor 2, the shuttle board realizes the transmission and transfer of the pallet 44 thereon; when the shuttle board returns to the intersection of the longitudinal shelf 42 and the transverse lane 43, after the travel driving motor 2 stops, the rear lifting box-type frame 29 and the front lifting box-type frame 29 are The lowering box-type frame 41 falls down at the same time, and the transverse walking driving wheel 27 and the transverse walking driven wheel 28 fall on the transverse walking track 46 under the transverse lane 43. At the same time, the longitudinal walking driving wheel 4, the second longitudinal driving wheel 16, the first longitudinal driven wheel 37 and the second longitudinal driven wheel 38 are lifted up and leave the track; the walking drive motor 2 is started again, and the shuttle board realizes transverse walking along the transverse walking track 46; by setting a power lead-out sprocket mechanism between the input shaft of the 90-degree reversing reducer 24 and the longitudinal walking driving shaft 3, a 90-degree reversal of the driving power is realized.

[0025] A three-station swing arm mechanism on a four-way shuttle board driven by a single motor comprises a longitudinal walking square body frame 1, a walking drive motor 2 with double-axis output, a 90-degree reversing reducer 24 with double-end output, a swing arm drive motor 36 with double-end output, a front lifting box-type frame 41 and a rear lifting box-type frame 29. The walking drive motor 2, the 90-degree reversing reducer 24 and the swing arm drive motor 36 with double-end output are fixedly arranged on the frame bottom plate in the longitudinal walking square body frame 1, respectively; a lifting shaft bearing hole 11 is arranged in the middle of the rear side vertical plate of the longitudinal walking square body frame 1, another lifting shaft bearing hole is arranged in the middle of the front side vertical plate 10 of the longitudinal walking square body frame 1, and a lifting shaft bearing hole 11 is arranged on the left side of the lifting shaft bearing hole 11. The front side vertical plate 10 is provided with a hole 13 for passing through the inner end of the driven transverse walking wheel axle in the vertical direction. The front side vertical plate 10 on the right side of the lifting shaft bearing hole 11 is provided with a hole 12 for passing through the inner end of the active transverse walking wheel axle in the vertical direction. Between the lifting shaft bearing hole 11 and another lifting shaft bearing hole, a swing arm lifting drive shaft 35 is provided. The swing arm lifting drive shaft 35 is connected to the output end of the swing arm driving motor 36 with double-end output. A lifting guide rail 14 of the rear lifting box-type frame 29 is provided on the outer side surfaces of both ends of the rear side vertical plate 10 of the longitudinal walking square body frame 1; on the outer end of the swing arm lifting drive shaft 35 after passing through the lifting shaft bearing hole 11, a connection There is a lifting swing arm 33, and a roller 34 is arranged at the lower end of the lifting swing arm 33; on the outer side of the rear side vertical plate 10, a rear lifting box-type frame 29 is movably arranged, and in the middle of the inner side surface of the rear lifting box-type frame 29, a roller is embedded in a horizontal long strip groove 32, and the roller 34 arranged at the lower end of the lifting swing arm 33 is movably embedded in the roller embedded in the horizontal long strip groove 32; at the inner side end of the rear lifting box-type frame 29, a lifting guide slider 39 is fixedly arranged, and the lifting guide slider 39 is movably connected to the lifting guide rail 14; on the right side box of the rear lifting box-type frame 29, a transverse travel drive wheel axle bearing is arranged, and a transverse travel drive wheel axle 30 is arranged in the transverse travel drive wheel axle bearing, and on the right side box A transverse walking driving wheel 27 is arranged on the transverse walking driving wheel axle 30 in the middle. After the inner end of the transverse walking driving wheel axle 30 passes through the inner end through hole 12 of the active transverse walking wheel axle inward, it is connected with the rear output shaft 25 with a telescopic coupling arranged on the rear end output end of the double-end output 90-degree reversing reducer 24; a transverse walking driven wheel axle bearing is arranged on the left side box body of the rear lifting box-type frame 29, and a transverse walking driven wheel axle 31 is arranged in the transverse walking driven wheel axle bearing, and a transverse walking driven wheel 28 is arranged on the transverse walking driven wheel axle 31 in the left side box body, and the inner end of the transverse walking driven wheel axle 31 is arranged in the inner end through hole 13 of the driven transverse walking wheel axle.

[0026] On the outer side of the front side vertical plate of the longitudinal walking square body frame 1, a front lifting box-type frame 41 is movably arranged, and a lifting guide rail 15 of the front lifting box-type frame 41 is arranged on the outer side surfaces of both ends of the front side vertical plate of the longitudinal walking square body frame 1; the structure of the front lifting box-type frame 41 is exactly the same as that of the rear lifting box-type frame 29, and another lifting guide slider 40 is arranged at both ends of the inner side surface of the rear lifting box-type frame 29, and a front output shaft 26 with a telescopic coupling is arranged between the rear end output end of the 90-degree reversing reducer 24 and the other transverse walking driving wheel in the front lifting box-type frame 41; a tray 44 is arranged between the top end surface of the front lifting box-type frame 41 and the top end surface of the rear lifting box-type frame 29.

[0027] The longitudinal travel driving wheel 4, the second longitudinal driving wheel 16, the first longitudinal driven wheel 37 and the second longitudinal driven wheel 38 are respectively arranged on the right side vertical plate of the longitudinal travel square body frame 1; the transverse travel driving wheel 27 and the transverse travel driven wheel 28 are respectively arranged on the rear lifting box-type frame 29; the core of this mechanism lies in the three moving positions of the roller 34 arranged at the lower end of the lifting swing arm 33 and the roller embedded in the horizontal long strip groove 32, which realizes the conversion of the rear lifting box-type frame 29 and the front lifting box-type frame 41 at the three working positions of the high position, the middle position and the bottom position, thereby achieving the lifting of the pallet, the transfer of the pallet to the longitudinal shelf and the transformation from longitudinal travel to transverse travel.

[0028] 1. A working method of a three-station swing arm mechanism on a four-way shuttle board driven by a single motor, characterized by the following steps: when the longitudinal travel driving wheel 4, the second longitudinal driving wheel 16, the first longitudinal driven wheel 37 and the second longitudinal driven wheel 38 on the longitudinal travel square car body frame 1 are arranged on the longitudinal track 45 of the shuttle board under the longitudinal shelf 42, under the drive of the travel driving motor 2, the shuttle board realizes the transmission of the pallet 44 thereon, at this time, the roller 34 arranged at the lower end of the lifting swing arm 33 is arranged just above the bearing hole 11 of the lifting shaft; when the shuttle board transports the pallet 44 to the corresponding cargo position on the longitudinal shelf 42, the swing arm driving motor 36 controls the lifting swing arm 33 to rotate 90 degrees, so that the roller 34 arranged at the lower end of the lifting swing arm 33 moves to just in front of the bearing hole 11 of the lifting shaft, at this time, the front lifting box-type frame 41 and the rear lifting box-type frame 29 are lowered, and the pallet 44 is transferred from the shuttle car to the corresponding cargo position on the longitudinal shelf 42; then, the travel is started The travel drive motor 2 makes the shuttle board return to the intersection of the longitudinal shelf 42 and the transverse lane 43, the travel drive motor 2 stops, and the swing arm drive motor 36 is started again to control the lifting swing arm 33 to continue to rotate 90 degrees, so that the roller 34 set at the lower end of the lifting swing arm 33 moves to the bottom of the lifting shaft bearing hole 11. At this time, the transverse travel drive wheel 27 and the transverse travel driven wheel 28 fall on the transverse travel track 46 in the transverse lane 43. At the same time, the longitudinal travel drive wheel 4, the second longitudinal drive wheel 16, the first longitudinal driven wheel 37 and the second longitudinal driven wheel 38 are lifted and separated from the longitudinal track 45 to complete the reversal of the shuttle car; the travel drive motor 2 is started again, and the shuttle board realizes transverse travel along the transverse travel track 46; the mechanism of the present invention eliminates the need to set a forklift or stacker in front of the dense warehouse, and only the transverse lane is arranged between the longitudinal shelves to complete the automatic transverse movement of the shuttle board between different longitudinal shelves, thereby improving the work rhythm and saving equipment investment.

Claims

1. A three-station swing arm mechanism on a four-way shuttle board driven by a single motor, comprising a longitudinal walking square body frame (1), a walking drive motor (2) with dual-axis output, a 90-degree reversing reducer (24) with dual-end output, a swing arm drive motor (36) with dual-end output, a front lifting box-type frame (41) and a rear lifting box-type frame (29), wherein the walking drive motor (2), the 90-degree reversing reducer (24) and the swing arm drive motor (36) with dual-end output are fixedly arranged on a frame bottom plate in the longitudinal walking square body frame (1); A lifting shaft bearing hole (11) is provided in the middle of the rear side vertical plate of the body frame (1), another lifting shaft bearing hole is provided in the middle of the front side vertical plate (10) of the longitudinal walking square body frame (1), a long strip of driven transverse walking wheel axle inner end through hole (13) in the vertical direction is provided on the front side vertical plate (10) on the left side of the lifting shaft bearing hole (11), and a long strip of active transverse walking wheel axle inner end through hole (12) in the vertical direction is provided on the front side vertical plate (10) on the right side of the lifting shaft bearing hole (11), characterized in that: A swing arm lifting drive shaft (35) is provided between the lifting shaft bearing hole (11) and another lifting shaft bearing hole. The swing arm lifting drive shaft (35) is connected to the output end of a swing arm driving motor (36) with double-end output. The first lifting guide rail (14) of the rear lifting box-type frame (29) is provided on both ends of the outer side surface of the rear side vertical plate (10) of the longitudinal walking square vehicle body frame (1). A lifting swing arm (33) is connected to the outer side end of the swing arm lifting drive shaft (35) after passing through the lifting shaft bearing hole (11). ), a roller (34) is arranged at the lower end of the lifting swing arm (33); a rear lifting box-type frame (29) is movably arranged on the outer side of the rear side vertical plate (10); a roller embedded in a horizontal long strip groove (32) is arranged in the middle of the inner side surface of the rear lifting box-type frame (29); the roller (34) arranged at the lower end of the lifting swing arm (33) is movably embedded in the roller embedded in the horizontal long strip groove (32); a lifting guide slider (39) is fixedly arranged at the inner side end of the rear lifting box-type frame (29); the lifting guide slider ( 39) is movably connected to the first lifting guide rail (14); a transverse travel drive wheel axle bearing is arranged on the right side box body of the rear lifting box-type frame (29), a transverse travel drive wheel axle bearing is arranged in the transverse travel drive wheel axle bearing, a transverse travel drive wheel axle (30) is arranged on the transverse travel drive wheel axle (30) in the right side box body, and a transverse travel drive wheel (27) is arranged on the transverse travel drive wheel axle (30), and the inner side end of the transverse travel drive wheel axle (30) passes inwardly through the inner side end through hole (12) of the active transverse travel wheel axle, and then connects with the 90-degree reversing reducer with double-end output The rear output shaft (25) with a telescopic coupling is arranged on the rear output end of the rear lifting box frame (24); a transverse travel driven wheel axle bearing is arranged on the left box body of the rear lifting box frame (29), a transverse travel driven wheel axle bearing is arranged in the transverse travel driven wheel axle bearing, a transverse travel driven wheel axle (31) is arranged on the transverse travel driven wheel axle (31) in the left box body, a transverse travel driven wheel (28) is arranged on the transverse travel driven wheel axle (31) in the left box body, and the inner side end of the transverse travel driven wheel axle (31) is arranged in the inner side end through hole (13) of the driven transverse travel wheel axle.

2. According to claim 1, a three-station swing arm mechanism on a four-way shuttle board driven by a single motor is characterized in that: A front lifting box-type frame (41) is movably arranged on the outer side of the front side vertical plate of the longitudinal walking square body frame (1), and a second lifting guide rail (15) of the front lifting box-type frame (41) is arranged on the outer side surfaces of both ends of the front side vertical plate of the longitudinal walking square body frame (1); the structure of the front lifting box-type frame (41) is completely the same as that of the rear lifting box-type frame (29), and another lifting guide slider (40) is arranged at both ends of the inner side surface of the rear lifting box-type frame (29); a front output shaft (26) with a telescopic coupling is arranged between the rear end output end of the 90-degree reversing reducer (24) and another transverse walking driving wheel in the front lifting box-type frame (41); and a tray (44) is arranged between the top end surface of the front lifting box-type frame (41) and the top end surface of the rear lifting box-type frame (29).

3. According to claim 2, a three-station swing arm mechanism on a four-way shuttle board driven by a single motor is characterized in that: A longitudinal travel driving wheel (4), a second longitudinal driving wheel (16), a first longitudinal driven wheel (37) and a second longitudinal driven wheel (38) are respectively arranged on the right side vertical plate of the longitudinal travel square vehicle body frame (1); and a transverse travel driving wheel (27) and a transverse travel driven wheel (28) are respectively arranged on the rear lifting box-type frame body (29).

4. A working method for a three-station swing arm mechanism on a four-way shuttle board driven by a single motor as described in claim 3, characterized by the following steps: when the longitudinal travel driving wheel (4), the second longitudinal driving wheel (16), the first longitudinal driven wheel (37) and the second longitudinal driven wheel (38) on the longitudinal travel square body frame (1) are arranged on the longitudinal track (45) of the shuttle board under the longitudinal shelf (42), under the drive of the travel driving motor (2), the shuttle board realizes the transmission of the pallet (44) thereon, at this time, the roller (34) arranged at the lower end of the lifting swing arm (33) is arranged just above the bearing hole (11) of the lifting shaft; when the shuttle board transports the pallet (44) to the corresponding cargo position on the longitudinal shelf (42), the swing arm driving motor (36) controls the lifting swing arm (33) to rotate 90 degrees, so that the roller (34) arranged at the lower end of the lifting swing arm (33) moves to just in front of the bearing hole (11) of the lifting shaft, at this time, the front lifting box-type frame (41) and the rear ... The lifting box frame (29) is lowered, and the pallet (44) is transferred from the shuttle car to the corresponding cargo position of the longitudinal shelf (42); then, the travel drive motor (2) is started to make the shuttle plate return to the intersection of the longitudinal shelf (42) and the transverse lane (43), the travel drive motor (2) is stopped, and the swing arm drive motor (36) is started again to control the lifting swing arm (33) to continue to rotate 90 degrees, so that the roller (34) provided at the lower end of the lifting swing arm (33) moves to the lifting shaft bearing hole (11) At this time, the transverse travel driving wheel (27) and the transverse travel driven wheel (28) fall on the transverse travel track (46) in the transverse lane (43). At the same time, the longitudinal travel driving wheel (4), the second longitudinal driving wheel (16), the first longitudinal driven wheel (37) and the second longitudinal driven wheel (38) are lifted up and separated from the longitudinal track (45), completing the reversal of the shuttle vehicle; the travel driving motor (2) is started again, and the shuttle board realizes transverse travel along the transverse travel track (46).

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