A shuttle vehicle for automated warehouse with a steering mechanism

Abstract

The present invention discloses a shuttle car for an automated stereoscopic warehouse with a steering mechanism, comprising a walking box, an installation box installed on the top of the walking box, a receiving plate installed on the top of the installation box, walking parts installed on both sides of the interior of the walking box, a ground guide rail matching the walking parts is provided below the walking parts, a first driving mechanism is provided at the middle inner side of the installation box, a plurality of cross frames evenly distributed in a ring array are provided in the installation box and around the first driving mechanism, the cross frame is connected to the first driving mechanism, a downward pressure round box is passed through the middle inner side of the walking box, the top of the downward pressure round box is connected to the cross frame, a second driving mechanism is installed in the downward pressure round box, a plurality of through slots corresponding to the cross frames are provided on the top of the walking box and the bottom of the installation box, the maintenance can be simple, fast and low-cost, can adapt to complex environments, can be quickly deployed, quickly combined, and quickly put into production.

Description

Technical Field

[0001] The invention relates to the field of automated stereoscopic warehouses, in particular to a shuttle vehicle for automated stereoscopic warehouses with a steering mechanism. Background Art

[0002] Shuttles primarily come in two forms in warehousing and logistics: shuttle-type inbound and outbound systems and shuttle-type storage systems. These vehicles, which run on fixed tracks in a reciprocating or looping motion, transport goods to designated locations or docking facilities. They are equipped with intelligent sensing systems that automatically memorize their origin and automate deceleration.

[0003] The patent document with publication number CN112849879B discloses a shuttle car for automated high-bay warehouses with a steering mechanism, which belongs to the field of automated high-bay warehouses. The shuttle car for automated high-bay warehouses with a steering mechanism includes a car body and a track. The car body is located at the upper end of the track. The car body includes a car base, the upper end of the car base is connected to a car roof plate, the lower end of the car base is connected to a wheel mechanism, and the lower end of the car base is fixedly connected to a magnetic isolation plate located on the inner side of the wheel mechanism, and the lower end of the magnetic isolation plate is fixedly connected to a pair of electromagnetic systems. The electromagnetic system and the repulsive electromagnetic coil can cooperate with each other to effectively realize the suspension of the car body on the track, so that the steering component can effectively drive the car base and the wheel mechanism to turn, so that the car body can effectively turn and change tracks on the track, thereby improving the utilization efficiency of the shuttle car, effectively improving the applicability of the shuttle car, and making the shuttle car effectively applicable to automated high-bay warehouses with different needs.

[0004] The above-mentioned device has the following shortcomings: the above-mentioned device adopts electromagnetic technology for lifting and lowering during use, which is prone to failure and is less reliable than a mechanical structure. It is easy to cause congestion during busy warehousing work, thereby affecting the overall warehousing efficiency. Moreover, the above-mentioned device adopts electromagnetic technology, and its bearing capacity is not as good as a mechanical structure, and its bearing stability is also not as good as a mechanical structure. At the same time, the above-mentioned device adopts electromagnetic technology, and a large amount of heat will be generated when carrying, which has a great impact on the low-temperature environment in the warehouse. Moreover, a large amount of magnetic signals will be generated during electromagnetic bearing, which will interfere with surrounding electrical appliances. Summary of the Invention

[0005] The purpose of the present invention is to address the above-mentioned problems and shortcomings and provide a shuttle vehicle for an automated warehouse with a steering mechanism, thereby improving overall work efficiency.

[0006] The technical problems solved by the present invention are:

[0007] (1) The above device uses electromagnetic technology for lifting and lowering during use, which is prone to failure and is less reliable than a mechanical structure. It is easy to cause congestion during busy storage work, thereby affecting the overall storage efficiency;

[0008] (2) The above device uses electromagnetic technology, which has a lower load-bearing capacity and lower load-bearing stability than a mechanical structure;

[0009] (3) The above device uses electromagnetic technology, which will generate a lot of heat when carrying, which will have a great impact on the low-temperature environment in the warehouse. In addition, it will also generate a lot of magnetic signals when carrying electromagnetic loads, which will interfere with surrounding electrical appliances.

[0010] The purpose of the present invention can be achieved through the following technical solutions: A shuttle car for an automated high-bay warehouse with a steering mechanism, comprising a walking box, an installation box installed on the top of the walking box, a receiving plate installed on the top of the installation box, walking parts installed on both sides of the interior of the walking box, and ground guide rails matching the walking parts are provided under the walking parts. A first driving mechanism is provided in the middle of the inner side of the installation box, and a plurality of cross frames evenly distributed in a circular array are provided in the installation box and around the first driving mechanism. The cross frame is connected to the first driving mechanism, a downward pressure round box is passed through the middle of the inner side of the walking box, and the top of the downward pressure round box is connected to the cross frame. A second driving mechanism is installed in the downward pressure round box, and a plurality of through grooves corresponding to the cross frames are provided on the top of the walking box and the bottom of the installation box.

[0011] As a further solution of the invention, the first driving mechanism includes a first column, the upper and lower ends of the first column are fixedly connected to the upper and lower side walls inside the installation box, the outer periphery of the first column is installed with a first stator, the outer side of the first stator is sleeved with a first rotor, the lower end of the first rotor is rotatably connected to the installation box, and the upper end outer periphery of the first rotor is fixedly sleeved with a bevel gear ring.

[0012] As a further solution of the invention, a number of fixed blocks evenly distributed in a circular array are provided around the bevel gear ring, the fixed blocks are fixedly connected to the inner wall of the top of the installation box, and a number of support blocks evenly distributed in a circular array are provided between the fixed block and the bevel gear ring. The support blocks, through-grooves and fixed blocks correspond one to one, and the through-grooves are located directly below the fixed blocks and support blocks respectively. A screw is provided between each fixed block and the support block, and the screw is rotatably connected to the fixed block and the support block respectively. The end of the screw close to the support block passes through the support block, and a transmission gear disk is installed on the end of the screw close to the support block, and the transmission gear disk is engaged with the bevel gear ring for transmission. A movable block is threadedly sleeved on the screw, and the lower end of the movable block and the lower end of the fixed block are hinged to the two ends of the upper part of the cross frame respectively.

[0013] As a further solution of the invention, a limiting slide is provided between the fixed block and the supporting block and above the screw, the limiting slide is fixedly connected to the inner wall of the top of the installation box, the top of the movable block is engaged and slidably connected to the limiting slide, and a first roller is provided on both sides of the top of the movable block, the first roller is rollingly connected to the inner wall of the top of the installation box, and a positioning seat and a second roller are hingedly installed at both ends of the lower part of the cross frame, the positioning seat is fixedly connected to the upper surface of the lower pressure round box near the edge, and the second roller is rollingly connected to the upper surface of the lower pressure round box.

[0014] As a further solution of the invention, the second driving mechanism includes a second column, the top end of the second column is fixedly connected to the top inner wall of the downward pressing circular box, a support pad is provided directly below the downward pressing circular box, and a gap is provided between the downward pressing circular box and the support pad, and the bottom end of the second column is rotatably connected to the support pad.

[0015] As a further solution of the invention, a second stator is fixedly sleeved in the middle of the second column, a second rotor is installed in the middle of the upper surface of the support pad, the second rotor is sleeved on the outer periphery of the second stator, and a gap is maintained between the top of the second rotor and the inner wall of the top of the downward pressure round box. A thrust bearing is installed on the upper surface of the support pad and located on the outer periphery of the second rotor, and the upper end of the thrust bearing is fixedly connected to the inner wall of the top of the downward pressure round box.

[0016] As a further solution of the invention, a stator gear ring is fixedly installed on the outer periphery of the second stator, and a rotor gear ring is fixedly installed on the inner periphery of the second rotor. The opposite sides of the stator gear ring and the rotor gear ring are provided with a number of racks evenly distributed in a circular array, and the number of racks on the rotor gear ring is two more than that on the stator gear ring.

[0017] As a further solution of the invention, the outer periphery of the downward pressure circular box is sleeved with several layers of limiting sleeves, the outer periphery of the upper end of the outer limiting sleeve is fixedly connected to the walking box, the lower inner periphery of the limiting sleeve, the upper outer periphery of the inner limiting sleeve and the upper outer periphery of the downward pressure circular box are all fixedly connected with limiting embedded rings, the limiting embedded rings are slidably connected to the limiting sleeves, and the middle inner periphery of the limiting sleeves is fixedly connected with several limiting embedded rods evenly distributed in a circular array, the outer periphery of the limiting embedded rings is provided with embedding grooves corresponding to the limiting embedded rods, and the limiting embedded rings are slidably connected to the limiting embedded rods through the embedding grooves.

[0018] As a further solution of the invention, a plurality of anti-slip pads evenly distributed in a rectangular array are provided on the top of the receiving plate, and support boxes are provided on both sides of the interior of the installation box.

[0019] As a further solution of the invention, a number of support tubes evenly distributed in a rectangular array are provided in the vacant position inside the installation box and located on the outer periphery of the first rotor, and in the vacant position inside the walking box and located between the limiting sleeve and the walking part, and a number of battery blocks are provided in the support box and the support tubes.

[0020] Beneficial effects of the present invention:

[0021] (1) During operation, the walking parts move on the ground guide rails to push the whole device to move between the shelves in the automated three-dimensional warehouse. When the device needs to turn, the first drive mechanism synchronously pushes each cross frame to drive the cross frame to push the downward pressing round box synchronously, so that the downward pressing round box pushes the second drive mechanism to contact the ground. Then the cross frame pushes the installation box in reverse, lifts the walking box, installation box, receiving plate and the goods carried, so that the wheels of the walking parts are separated from the ground guide rails. Then the second drive mechanism drives the walking box and the installation box to rotate accurately to a certain angle, so that the device can quickly and accurately turn on the spot. At the same time, through the synchronous pushing of multiple cross frames, they work together to bear the responsibility, so that the device can support large-volume goods with high density. With the mechanical structure as the load-bearing structure, the device can be simply, quickly and at low cost for maintenance, can adapt to complex environments, and can be quickly deployed, quickly combined, and quickly put into production.

[0022] (2) During operation, the first stator drives the first rotor to rotate, driving the bevel gear ring, which rotates synchronously with the transmission gear discs meshing with it, and then synchronously drives the various screws, and synchronously drives the various movable blocks, so that the movable blocks are close to or away from the fixed blocks, thereby driving the cross frame to extend and retract. By driving the various groups of cross frames to extend and retract synchronously, the device itself and the goods are jointly pushed to complete the pre-steering action. Through mechanical transmission, low failure rate and high-efficiency operation are ensured. Through the transmission of the bevel gear ring, transmission gear disc and screw, the torque required for starting is reduced, and at the same time, the height required for the device is compressed, so that it can push a larger weight with a smaller height, thereby increasing the weight limit range of the loaded goods. The anti-slip pad is used to prevent the goods from sliding off the receiving plate during movement. The travel box and the installation box are assisted by the support box and the support cylinder to support the travel box and the installation box, thereby improving the support strength of the travel box and the installation box. At the same time, a battery block is installed for power supply, making full use of the internal space and extending the service life.

[0023] (3) During operation, the second stator pushes the second rotor to make the two rotate relative to each other, and the support pad is kept fixed by contacting with the ground, thereby reversely pushing the second stator to rotate relative to the support pad, driving the downward pressure round box to rotate, and then driving the walking box, the installation box, the receiving plate and the goods carried by them to rotate. The thrust bearing is used to reduce the rotational resistance during rotation, and the upper surface of the downward pressure round box is kept horizontal and stable during rotation. During rotation, the racks of the rotor gear ring and the stator gear ring correspond to form a stepper motor structure, so that the rotation of the downward pressure round box remains accurate and can be rotated precisely, and can adapt to multiple grounds with different angles. Surface guide rail, when the round box is pressed down, the limiting sleeve moves down accordingly, and the relative blocking between the limiting embedded rings allows the limiting sleeve to expand to form a telescopic structure and cover the outer periphery of the cross frame, protecting the internal components and isolating them from the outside world to prevent particulate matter from contaminating the inside. When the round box is pressed down and rotated by the reaction force, the limiting embedded rod and the limiting embedded ring are used to limit the limiting sleeve to assist in applying the rotational torque, so that the walking box rotates stably. At the same time, the side wall of the through groove forms a side thrust torque on the side of the cross frame, further pushing the installation box to rotate, thereby assisting the push, so that the whole can rotate stably when carrying goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0025] Figure 1 It is a side view of the overall structure inside the present invention when the cross frame is unfolded;

[0026] Figure 2 It is a side view of the overall structure inside the present invention when the cross frame is folded;

[0027] Figure 3 A top view of the overall structure of the interior of the installation box of the present invention;

[0028] Figure 4 This is a top view of the overall structure of the interior of the traveling box of the present invention;

[0029] Figure 5 for Figure 1 A magnified schematic diagram of area A in the middle;

[0030] In the figure: 1. Travel box; 2. Installation box; 3. Adapter plate; 4. Travel part; 5. First column; 6. First stator; 7. First rotor; 8. Bevel gear ring; 9. Through groove; 10. Fixed block; 11. Support block; 12. Screw; 13. Transmission gear plate; 14. Movable block; 15. Cross frame; 16. Pressing round box; 17. Second column; 18. Support pad; 19. Thrust bearing; 20. Second stator; 21. Second rotor; 22. Stator gear ring; 23. Rotor gear ring; 24. Limit sleeve; 25. Ground guide rail; 26. Anti-slip pad; 27. Support box; 28. Support cylinder; 29. ​​Limit slide bar; 30. Limit embedded bar; 31. Limit embedded ring; 32. First roller; 33. Positioning seat; 34. Second roller. DETAILED DESCRIPTION

[0031] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0032] See also Figure 1-5 As shown: A shuttle car for an automated three-dimensional warehouse with a steering mechanism, comprising a walking box 1, an installation box 2 is installed on the top of the walking box 1, a receiving plate 3 is installed on the top of the installation box 2, walking parts 4 are installed on both sides of the interior of the walking box 1, and a ground guide rail 25 that cooperates with the walking part 4 is provided below the walking part 4. A first driving mechanism is provided at the middle part of the inner side of the installation box 2, and a plurality of cross frames 15 uniformly distributed in a circular array are provided in the installation box 2 and around the first driving mechanism. The cross frame 15 is connected to the first driving mechanism, a downward pressing round box 16 is passed through the middle part of the inner side of the walking box 1, and the top of the downward pressing round box 16 is connected to the cross frame 15. A second driving mechanism is installed in the downward pressing round box 16, and a plurality of through slots 9 corresponding to the cross frame 15 are provided on the top of the walking box 1 and the bottom of the installation box 2;

[0033] When the present embodiment is working, the walking member 4 moves on the ground guide rail 25 to push the whole to move between the shelves in the automated three-dimensional warehouse. When the present device needs to turn, the first driving mechanism synchronously pushes and drives each cross frame 15, so that the cross frame 15 synchronously pushes the downward pressure round box 16, so that the downward pressure round box 16 pushes the second driving mechanism to contact the ground, and then the cross frame 15 pushes the installation box 2 in reverse, lifts the walking box 1, the installation box 2, the receiving plate 3 together with the goods carried, so that the wheels of the walking member 4 are separated from the ground guide rail 25, and then the second driving mechanism drives the walking box 1 and the installation box 2 to rotate a certain angle accurately, so that the present device can be quickly and accurately turned on the spot. At the same time, through the synchronous pushing of multiple cross frames 15, they cooperate with each other and bear the responsibility together, so that the present device can support large-volume goods with high density. By using the mechanical structure as the load-bearing structure, the present device can be simply, quickly and low-cost maintained, can adapt to complex environments, and can be quickly deployed, quickly assembled, and quickly put into production.

[0034] The first driving mechanism includes a first column 5, the upper and lower ends of the first column 5 are fixedly connected to the upper and lower side walls inside the installation box 2, a first stator 6 is installed on the outer periphery of the first column 5, a first rotor 7 is sleeved on the outer side of the first stator 6, the lower end of the first rotor 7 is rotatably connected to the installation box 2, the upper end periphery of the first rotor 7 is fixedly sleeved with a bevel gear ring 8, and a number of fixed blocks 10 evenly distributed in an annular array are provided around the bevel gear ring 8, the fixed block 10 is fixedly connected to the inner wall of the top of the installation box 2, and a number of support blocks 11 evenly distributed in an annular array are provided between the fixed block 10 and the bevel gear ring 8, the support blocks 11 and the through grooves 9 correspond one to one with the fixed blocks 10, and the through grooves 9 are correspondingly located directly below the fixed blocks 10 and the support blocks 11, and a screw 12 is provided between each fixed block 10 and the support block 11, and the screw 12 is rotatably connected to the fixed block 10 and the support block 11 respectively, and the screw 12 is close to the support The cam 13 is connected to the upper end of the support frame 11 by the screw 12, and the upper end of the support frame 11 is connected to the upper end of the support frame 11 by the screw 12. The upper end of the support frame 11 is connected to the upper end of the support frame 11 by the screw 12. The lower end of the support frame 11 is connected to the upper end of the support frame 11 by the screw 12. The lower end of the support frame 11 is connected to the upper end of the support frame 11 by the screw 12. The lower end of the support frame 11 is connected to the upper end of the support frame 11 by the screw 12.

[0035] When this embodiment is working, the first stator 6 drives the first rotor 7 to rotate, driving the bevel gear ring 8. The bevel gear ring 8 synchronously rotates the various transmission toothed discs 13 that are engaged with it for transmission, and then synchronously drives the various screws 12, and synchronously drives the various movable blocks 14, so that the movable blocks 14 are close to or away from the fixed block 10, thereby driving the cross frame 15 to extend and retract. By driving each group of cross frames 15 to extend and retract synchronously, the device itself and the cargo are jointly pushed to complete the pre-steering action. Through mechanical transmission, low failure rate and efficient operation are ensured. Through the transmission of the bevel gear ring 8, the transmission toothed disc 13 and the screw 12, the torque required for starting is reduced, and the required height of the device is compressed, so that it can push a larger weight with a smaller height, thereby increasing the weight limit range of the cargo it carries.

[0036] The second driving mechanism includes a second column 17, the top of the second column 17 is fixedly connected to the top inner wall of the downward pressing round box 16, a support pad 18 is provided just below the downward pressing round box 16, and a gap is provided between the downward pressing round box 16 and the support pad 18. The bottom end of the second column 17 is rotatably connected to the support pad 18, and a second stator 20 is fixedly sleeved in the middle of the second column 17. A second rotor 21 is installed in the middle of the upper surface of the support pad 18. The second rotor 21 is sleeved on the outer periphery of the second stator 20, and the top of the second rotor 21 is connected to the support pad 18. A gap is maintained on the inner side wall of the top of the downward-pressing circular box 16. A stator gear ring 22 is fixedly mounted on the outer periphery of the second stator 20. A rotor gear ring 23 is fixedly mounted on the inner periphery of the second rotor 21. The opposite sides of the stator gear ring 22 and the rotor gear ring 23 are provided with a plurality of racks evenly distributed in an annular array. The number of racks of the rotor gear ring 23 is two more than that of the stator gear ring 22. A thrust bearing 19 is mounted on the upper surface of the support plate 18 and located on the outer periphery of the second rotor 21. The upper end of the thrust bearing 19 is fixedly connected to the inner side wall of the top of the downward-pressing circular box 16.

[0037] When this embodiment is working, the second stator 20 pushes the second rotor 21 to make the two rotate relative to each other, and the support pad 18 is used to abut against the ground and keep it fixed, thereby reversely pushing the second stator 20 to rotate relative to the support pad 18, driving the downward pressure round box 16 to rotate, and then driving the walking box 1, the installation box 2, and the receiving plate 3 to connect and rotate the carried goods. The thrust bearing 19 reduces the rotational resistance during rotation, and the upper surface of the downward pressure round box 16 remains horizontal and stable during rotation. During rotation, the racks of the rotor gear ring 23 and the stator gear ring 22 correspond to form a stepping motor structure, so that the rotation of the downward pressure round box 16 remains accurate and rotates precisely, and can adapt to multiple ground guide rails 25 with different angles.

[0038] The outer periphery of the downward pressing circular box 16 is sleeved with several layers of limiting sleeves 24. The number of layers is increased or decreased according to the height of the ground guide rail 25 during use. In this embodiment, two layers are adopted. The outer periphery of the upper end of the outer limiting sleeve 24 is fixedly connected to the walking box 1. The lower inner periphery of the limiting sleeve 24, the upper outer periphery of the inner limiting sleeve 24 and the upper outer periphery of the downward pressing circular box 16 are all fixedly connected to the limiting embedded ring 31. The limiting embedded ring 31 is slidably connected to the limiting sleeve 24. The middle part of the inner periphery of the limiting sleeve 24 is fixedly connected with several limiting embedded rods 30 evenly distributed in a ring array. The outer periphery of the limiting embedded ring 31 is provided with an embedding groove corresponding to the limiting embedded rod 30, and the limiting embedded ring 31 is slidably connected to the limiting embedded rod 30 through the embedding groove.

[0039] When this embodiment is working, when the round box 16 is pressed down, the limiting sleeve 24 moves down accordingly. The relative obstruction between the limiting inserts 31 allows the limiting sleeve 24 to expand to form a telescopic structure and cover the outer periphery of the cross frame 15, protecting the internal components and isolating them from the outside world to prevent particulate matter from contaminating the inside. When the round box 16 is pressed down and rotated by the reaction force, the limiting insert rod 30 and the limiting insert ring 31 are limited, so that the limiting sleeve 24 assists in applying the rotational torque, so that the walking box 1 rotates stably. At the same time, the side wall of the through groove 9 forms a side thrust torque on the side of the cross frame 15, further pushing the installation box 2 to rotate, thereby performing auxiliary pushing, so that the whole can rotate stably when carrying goods.

[0040] The top of the receiving plate 3 is provided with a plurality of anti-slip pads 26 evenly distributed in a rectangular array. Support boxes 27 are provided on both sides of the interior of the installation box 2. A plurality of support tubes 28 evenly distributed in a rectangular array are provided in the vacant positions inside the installation box 2 and located on the outer periphery of the first rotor 7, and in the vacant positions inside the traveling box 1 and located between the limiting sleeve 24 and the traveling member 4. A plurality of battery blocks are provided in the support boxes 27 and the support tubes 28.

[0041] When this embodiment is working, the anti-slip pad 26 is used to prevent the goods from sliding off the receiving plate 3 during movement, and the support box 27 and the support tube 28 are used to auxiliaryly support the traveling box 1 and the installation box 2, thereby improving the supporting strength of the traveling box 1 and the installation box 2. At the same time, a battery block is installed for power supply, thereby fully utilizing the internal space and extending the usage time.

[0042] When the present invention is in use, the walking member 4 moves on the ground guide rail 25 to push the entire device to move between the various shelves in the automated three-dimensional warehouse. When the device needs to turn, the first driving mechanism synchronously pushes each cross frame 15, so that the cross frame 15 synchronously pushes the downward pressure round box 16, so that the downward pressure round box 16 pushes the second driving mechanism to abut against the ground, and then the cross frame 15 pushes the installation box 2 in reverse, and lifts the walking box 1, the installation box 2, the receiving plate 3 together with the carried goods, so that the wheels of the walking member 4 are separated from the ground guide rail 25, and then the second driving mechanism drives the walking box 1 and the installation box 2 to rotate a certain angle accurately, so that the device can be quickly and accurately turned on the spot, and at the same time, through the synchronous pushing of multiple cross frames 15, they cooperate with each other and bear the responsibility together, so that the device can support large-volume goods with high density, and the mechanical structure is used as the load-bearing structure, so that the device can be simply, quickly and low-cost maintained, can adapt to complex environments, and can be quickly deployed, quickly assembled, and quickly put into production;

[0043] During operation, the first stator 6 drives the first rotor 7 to rotate, driving the bevel gear ring 8. The bevel gear ring 8 synchronously rotates the various transmission gear plates 13 meshing with it, and then synchronously drives the various screws 12, and synchronously drives the various movable blocks 14, so that the movable blocks 14 are close to or away from the fixed block 10, thereby driving the cross frame 15 to extend and retract. By driving the various groups of cross frames 15 to extend and retract synchronously, the device itself and the cargo are jointly pushed to complete the pre-steering action. Through mechanical transmission, low failure rate and efficient operation are ensured. Through the transmission of the bevel gear ring 8, the transmission gear plates 13 and the screws 12, the torque required for starting is reduced, and the required height of the device is compressed, so that it can push a larger weight with a smaller height, thereby increasing the weight limit range of the loaded cargo. The anti-slip pad 26 prevents the cargo from slipping off the receiving plate 3 during movement. The support box 27 and the support tube 28 auxiliaryly support the traveling box 1 and the installation box 2, thereby improving the supporting strength of the traveling box 1 and the installation box 2. At the same time, a battery block is installed for power supply, making full use of the internal space and extending the service life.

[0044] During operation, the second stator 20 pushes the second rotor 21 to make the two rotate relative to each other, and the support pad 18 is kept fixed against the ground, thereby reversely pushing the second stator 20 to rotate relative to the support pad 18, driving the downward pressure round box 16 to rotate, and then driving the walking box 1, the installation box 2, and the receiving plate 3 to connect and rotate the carried goods. The thrust bearing 19 reduces the rotational resistance during rotation, and makes the upper surface of the downward pressure round box 16 remain horizontal and stable during rotation. During rotation, the racks of the rotor gear ring 23 and the stator gear ring 22 correspond to form a stepping motor structure, so that the rotation of the downward pressure round box 16 remains accurate and rotates precisely, and can adapt to multiple grounds with different angles. Guide rail 25, when the round box 16 is pressed down, the limiting sleeve 24 moves down accordingly, and the relative obstruction between the limiting insert ring 31 allows the limiting sleeve 24 to expand to form a telescopic structure and cover the outer periphery of the cross frame 15, protecting the internal components and isolating them from the outside world to prevent particulate matter from contaminating the inside. When the round box 16 is pressed down and rotated by the reaction force, the limiting insert rod 30 and the limiting insert ring 31 are limited, so that the limiting sleeve 24 assists in applying the rotational torque, so that the walking box 1 rotates stably. At the same time, the side wall of the through groove 9 forms a side thrust torque on the side of the cross frame 15, further pushing the installation box 2 to rotate, thereby performing auxiliary pushing, so that the whole can rotate stably when carrying goods.

[0045] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A shuttle vehicle for an automated warehouse with a steering mechanism, characterized in that: The utility model comprises a walking box (1), a mounting box (2) is installed on the top of the walking box (1), a receiving plate (3) is installed on the top of the mounting box (2), walking parts (4) are installed on both sides of the interior of the walking box (1), a ground guide rail (25) matched with the walking part (4) is provided below the walking part (4), a first driving mechanism is provided in the middle of the inner side of the mounting box (2), a plurality of cross frames (15) uniformly distributed in a ring array are provided in the mounting box (2) and are located around the first driving mechanism, the cross frames (15) are connected to the first driving mechanism, a downward pressing round box (16) is passed through the middle of the inner side of the walking box (1), the top of the downward pressing round box (16) is connected to the cross frame (15), a second driving mechanism is installed in the downward pressing round box (16), and a plurality of through slots (9) corresponding to the cross frames (15) are provided on the top of the walking box (1) and the bottom of the mounting box (2); The first driving mechanism comprises a first column (5), the upper and lower ends of the first column (5) are fixedly connected to the upper and lower side walls inside the installation box (2), a first stator (6) is installed on the outer periphery of the first column (5), a first rotor (7) is sleeved on the outer side of the first stator (6), the lower end of the first rotor (7) is rotatably connected to the installation box (2), and a bevel gear ring (8) is fixedly sleeved on the outer periphery of the upper end of the first rotor (7); The second driving mechanism includes a second column (17), the top end of the second column (17) is fixedly connected to the top inner wall of the downward pressing circular box (16), a support pad (18) is provided directly below the downward pressing circular box (16), a gap is provided between the downward pressing circular box (16) and the support pad (18), and the bottom end of the second column (17) is rotatably connected to the support pad (18); A plurality of fixed blocks (10) are evenly distributed in an annular array around the bevel gear ring (8), and the fixed blocks (10) are fixedly connected to the inner wall of the top of the installation box (2). A plurality of support blocks (11) are evenly distributed in an annular array between the fixed blocks (10) and the bevel gear ring (8). The support blocks (11), the through grooves (9) and the fixed blocks (10) correspond to each other, and the through grooves (9) are located directly below the fixed blocks (10) and the support blocks (11). There is a gap between each fixed block (10) and the support block (11). A screw rod (12) is provided, and the screw rod (12) is rotatably connected to the fixed block (10) and the support block (11), respectively. One end of the screw rod (12) close to the support block (11) passes through the support block (11), and a transmission gear disc (13) is installed on the end of the screw rod (12) close to the support block (11). The transmission gear disc (13) is meshed with the bevel gear ring (8) for transmission. A movable block (14) is threadedly sleeved on the screw rod (12), and the lower end of the movable block (14) and the lower end of the fixed block (10) are respectively hinged to the two ends of the upper part of the cross frame (15); A second stator (20) is fixedly sleeved in the middle of the second column (17), a second rotor (21) is installed in the middle of the upper surface of the support pad (18), and the second rotor (21) is sleeved on the outer periphery of the second stator (20).

2. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: A limiting slide bar (29) is provided between the fixed block (10) and the supporting block (11) and above the screw rod (12). The limiting slide bar (29) is fixedly connected to the inner side wall of the top of the installation box (2). The top of the movable block (14) is engaged and slidably connected to the limiting slide bar (29). First rollers (32) are provided on both sides of the top of the movable block (14). The first rollers (32) are rollingly connected to the inner side wall of the top of the installation box (2). The two ends of the lower part of the cross frame (15) are respectively hingedly installed with a positioning seat (33) and a second roller (34). The positioning seat (33) is fixedly connected to the upper surface of the lower pressing round box (16) near the edge, and the second roller (34) is rollingly connected to the upper surface of the lower pressing round box (16).

3. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: A gap is maintained between the top end of the second rotor (21) and the inner side wall of the top of the downward pressure round box (16); a thrust bearing (19) is installed on the upper surface of the support pad (18) and located on the outer periphery of the second rotor (21); and the upper end of the thrust bearing (19) is fixedly connected to the inner side wall of the top of the downward pressure round box (16).

4. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 3, characterized in that: A stator gear ring (22) is fixedly mounted on the outer periphery of the second stator (20), and a rotor gear ring (23) is fixedly mounted on the inner periphery of the second rotor (21). Opposite sides of the stator gear ring (22) and the rotor gear ring (23) are both provided with a plurality of racks evenly distributed in an annular array, and the number of racks of the rotor gear ring (23) is two more than that of the stator gear ring (22).

5. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: The outer periphery of the downward pressing circular box (16) is sleeved with several layers of limiting sleeves (24), the outer periphery of the upper end of the outer limiting sleeve (24) is fixedly connected to the walking box (1), the lower inner periphery of the limiting sleeve (24), the upper outer periphery of the inner limiting sleeve (24) and the upper outer periphery of the downward pressing circular box (16) are all fixedly connected to the limiting embedded ring (31), the limiting embedded ring (31) is slidably connected to the limiting sleeve (24), and the middle inner periphery of the limiting sleeve (24) is fixedly connected to a plurality of limiting embedded rods (30) uniformly distributed in a ring array, the outer periphery of the limiting embedded ring (31) is provided with an embedded groove corresponding to the limiting embedded rod (30), and the limiting embedded ring (31) is slidably connected to the limiting embedded rod (30) through the embedded groove.

6. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: A plurality of anti-slip pads (26) evenly distributed in a rectangular array are provided on the top of the receiving plate (3), and support boxes (27) are provided on both sides of the interior of the installation box (2).

7. The shuttle vehicle for an automated warehouse with a steering mechanism according to claim 1, characterized in that: A plurality of support cylinders (28) uniformly distributed in a rectangular array are provided in the vacant position inside the installation box (2) and located on the outer periphery of the first rotor (7), and in the vacant position inside the travel box (1) and located between the limiting sleeve (24) and the travel member (4). A plurality of battery blocks are provided in the support box (27) and the support cylinder (28).

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