Shuttle vehicle and stereoscopic warehouse system

Abstract

The application discloses a shuttle vehicle and a stereoscopic warehouse system. The shuttle vehicle comprises a vehicle frame, a walking wheel and a detection assembly. The walking wheel is rotatably connected to the vehicle frame and is used for rolling contact with a track to drive the vehicle frame to move along the track. The detection assembly comprises a floating seat, an encoder fixedly connected to the floating seat, and a roller in transmission connection with a main shaft of the encoder. The floating seat is floatingly connected to the vehicle frame along a floating direction, and the floating direction is perpendicular to a length direction of the track. The roller is used for rolling contact with the track to drive the main shaft to rotate through rotation of the roller.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and more specifically, to a shuttle vehicle and an automated warehouse system including the shuttle vehicle. Background Technology

[0002] In existing technologies, shuttles are equipped with encoders to detect their movement. However, due to variations in the shuttle's movement and the flatness of the rack tracks, the encoders can sometimes produce inaccurate readings. Summary of the Invention

[0003] This application provides a shuttle car and automated warehouse system to improve the detection accuracy of the encoder to a certain extent.

[0004] The shuttle vehicle in this embodiment includes:

[0005] Frame;

[0006] The vehicle has wheels rotatably connected to the frame for rolling contact with the track to drive the frame to move along the track; and

[0007] The detection assembly includes a floating seat, an encoder fixedly connected to the floating seat, and a roller drivenly connected to the main shaft of the encoder; the floating seat is floatingly connected to the frame along a floating direction perpendicular to the length direction of the track; the roller is used to roll in contact with the track so that the rotation of the roller drives the main shaft to rotate.

[0008] According to some embodiments of this application, the rotation axis of the walking wheel is parallel to the rotation axis of the roller, and the walking wheel and the roller are located on the same side of the track.

[0009] According to some embodiments of this application, the diameter of the roller is smaller than the diameter of the walking wheel.

[0010] According to some embodiments of this application, the frame includes a base plate and side plates, the side plates being connected to the base plate;

[0011] The side plate has an inner surface and an outer surface that are opposite to each other along its thickness direction, and the side plate also has a through hole that penetrates the inner surface and the outer surface;

[0012] The floating seat passes through the through hole, the encoder is located on the inner surface, and the roller is located on the outer surface; the walking wheel is rotatably connected to the side plate and is located on the outer surface.

[0013] According to some embodiments of this application, the floating seat has a shaft hole that extends through the floating seat along the thickness direction of the side plate;

[0014] The detection assembly also includes a drive shaft that passes through the shaft hole, a roller that is fixedly connected to one end of the drive shaft that extends out of the outer surface, and a main shaft that is fixedly connected to one end of the drive shaft that extends out of the inner surface.

[0015] The rotation axis of the roller, the axis of the transmission shaft, and the axis of the main shaft are collinear.

[0016] According to some embodiments of this application, the detection component further includes a first elastic element connected to the floating seat and the frame, for providing an elastic force to the floating seat to cause the roller to tend to move closer to the track.

[0017] According to some embodiments of this application, the first elastic element includes a first elastic ring and a second elastic ring;

[0018] The side panel also has a through hole penetrating the inner surface and the outer surface, and the frame also has a fixing post, which is fixedly inserted through the through hole, with one end of the fixing post extending out of the inner surface and the other end extending out of the outer surface;

[0019] The first elastic ring is wrapped around one end of the floating seat that extends out of the inner surface and one end of the fixed post that extends out of the inner surface, and the second elastic ring is wrapped around one end of the floating seat that extends out of the outer surface and one end of the fixed post that extends out of the outer surface.

[0020] According to some embodiments of this application, a first annular groove is provided on the outer peripheral surface of each end of the floating seat that extends from the inner surface and the outer surface;

[0021] The outer circumferential surfaces of the two ends of the fixed column extending from the inner surface and the outer surface are respectively provided with a second annular groove;

[0022] Along the floating direction, the two second annular grooves correspond to the positions of the two first annular grooves, respectively;

[0023] A portion of the first elastic ring is housed in a pair of corresponding first annular grooves and second annular grooves, and a portion of the second elastic ring is housed in another pair of corresponding first annular grooves and second annular grooves.

[0024] According to some embodiments of this application, the detection component further includes two guide units, which are respectively disposed on the inner surface and the outer surface, and the two guide units are located on two opposite sides of the floating seat.

[0025] According to some embodiments of this application, each of the guiding units includes:

[0026] A guide seat is fixedly connected to the side plate; the guide seat has a guide hole; and

[0027] A guide rod is movably inserted through the guide hole, and the guide rod is fixedly connected to the floating seat. The axis of the guide rod is parallel to the floating direction.

[0028] According to some embodiments of this application, each of the guide units further includes a second elastic element connected to the guide seat and the floating seat, for providing an elastic force to the floating seat to cause the roller to tend to move away from the track.

[0029] The automated storage and retrieval system of this application embodiment includes:

[0030] Shelves, with rails; and

[0031] In any of the above-mentioned shuttle vehicles, both the traveling wheels and rollers of the shuttle vehicle are in rolling contact with the track.

[0032] An embodiment of the above application has at least the following advantages or beneficial effects:

[0033] The shuttle in this embodiment includes a frame, wheels, and a detection assembly. The wheels are rotatably connected to the frame. The detection assembly includes a floating seat, an encoder fixedly connected to the floating seat, and rollers driven by the encoder's main shaft. The floating seat is floatingly connected to the frame in a floating direction, and the rollers are used to roll in contact with the track so that the rotation of the rollers drives the main shaft to rotate. On the one hand, the rotation of the encoder's main shaft is achieved through rolling friction between the rollers and the track, meaning that the rotation of the encoder's main shaft is not related to the wheels, avoiding slippage of the wheels during the shuttle's starting and stopping / deceleration phases, which would affect the accuracy of the encoder's detection. On the other hand, the encoder is floatingly connected to the frame via the floating seat, meaning that the encoder and the frame are not rigidly connected. When oscillation occurs between the frame and the track, the encoder and the floating seat can float relative to the frame in a floating direction, preventing the frame's oscillation from affecting the encoder's detection accuracy. Attached Figure Description

[0034] Figure 1 This is a three-dimensional schematic diagram of a three-dimensional library system according to an exemplary embodiment.

[0035] Figure 2 This is a top view schematic diagram of an automated storage and retrieval system according to an exemplary embodiment.

[0036] Figure 3 This is a schematic diagram of a shuttle vehicle according to an exemplary embodiment.

[0037] Figure 4 This is a schematic diagram from one perspective showing a detection component mounted on a side panel of a vehicle frame, according to an exemplary embodiment.

[0038] Figure 5 This is a schematic diagram from another perspective showing a detection component mounted on a side panel of a vehicle frame, according to an exemplary embodiment.

[0039] Figure 6 A schematic diagram of the detection component mounted on the side panel of the vehicle frame, according to an exemplary embodiment, is shown from another perspective.

[0040] Figure 7 yes Figure 6 A cross-sectional view along section line AA.

[0041] Figure 8 This is a perspective view of a floating seat according to an exemplary embodiment.

[0042] Figure 9 This is a perspective view of a fixed column according to an exemplary embodiment.

[0043] Figure 10 yes Figure 6 A sectional view along the BB section line.

[0044] Figure 11 This is a perspective view of a guide seat according to an exemplary embodiment.

[0045] Figure 12 A top view of a detection component mounted on a side panel of a vehicle frame, according to an exemplary embodiment.

[0046] The reference numerals in the attached figures are explained as follows:

[0047] 1. Shuttle

[0048] 2. Shelves

[0049] 2a. Track

[0050] 10. Frame

[0051] 11. Base plate

[0052] 12. Side panels

[0053] 12a. Inner surface

[0054] 12b. Outer surface

[0055] 12c, via

[0056] 12d, piercing

[0057] 13. Fixed column

[0058] 13a. Second annular groove

[0059] 13b. Grooving

[0060] 20. Walking wheels

[0061] 30. Detection Components

[0062] 100. Floating seat

[0063] 110. Sleeve

[0064] 111. Shaft Hole

[0065] 112. First annular groove

[0066] 120. Connecting plate

[0067] 130. Connecting Ear

[0068] 200. Encoder

[0069] 210. Spindle

[0070] 220. Stent

[0071] 300. Roller

[0072] 400. Drive shaft

[0073] 410. Protrusion

[0074] 510. First elastic element

[0075] 511. First elastic ring

[0076] 512. Second elastic ring

[0077] 600, Guiding Unit

[0078] 610. Guide seat

[0079] 611. Guide hole

[0080] 620. Guide rod

[0081] 630. Second elastic element

[0082] 640. Oil-free bushing

[0083] 710. First Bearing

[0084] 720. Second bearing

[0085] 730. First spacer

[0086] 740. Second spacer

[0087] 750, Limiting component

[0088] 760. Locking components

[0089] 770, pallet

[0090] D. Floating direction Detailed Implementation

[0091] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0092] It is understood that the terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0093] like Figure 1 and Figure 2 As shown, the automated storage and retrieval system of this application embodiment includes a rack 2 and a shuttle 1. The rack 2 is used to store goods and has a track 2a, along which the shuttle 1 moves.

[0094] like Figures 1 to 3 As shown, the shuttle 1 in this embodiment includes a frame 10, wheels 20, and a detection assembly 30. The wheels 20 are rotatably connected to the frame 10 and are used for rolling contact with the track 2a to drive the frame 10 to move along the track 2a. The detection assembly 30 includes a floating seat 100, an encoder 200 fixedly connected to the floating seat 100, and rollers 300 drivenly connected to the main shaft 210 of the encoder 200. The floating seat 100 is floatingly connected to the frame 10 along a floating direction D, which is perpendicular to the length direction of the track 2a. The rollers 300 are used for rolling contact with the track 2a, so that the rotation of the rollers 300 drives the main shaft 210 to rotate.

[0095] It is understandable that the encoder 200 is a device that encodes and converts signals or data into a signal form that can be used for communication, transmission and storage. The motion state of the object under test can be obtained by detecting the angular displacement of the main shaft 210 of the encoder 200.

[0096] It is worth noting that in existing technologies, the encoder's spindle is typically connected to the shuttle's wheels, and the encoder is rigidly connected to the shuttle's body. When the shuttle is starting or decelerating, the wheels may slip, affecting the accuracy of the encoder's detection. Furthermore, because the encoder is rigidly connected to the shuttle's body, vibrations between the shuttle and the shelving will also cause the encoder to vibrate, further affecting its accuracy.

[0097] The shuttle 1 of this application embodiment includes a frame 10, wheels 20 and a detection component 30. The wheels 20 are rotatably connected to the frame 10. The detection component 30 includes a floating seat 100, an encoder 200 fixedly connected to the floating seat 100, and a roller 300 that is drivenly connected to the main shaft 210 of the encoder 200. The floating seat 100 is floatingly connected to the frame 10 along a floating direction D. The roller 300 is used to roll contact with the track 2a so that the rotation of the roller 300 drives the main shaft 210 to rotate. On the one hand, the rotation of the main shaft 210 of the encoder 200 is achieved through the rolling friction between the roller 300 and the track 2a. That is, the rotation of the main shaft 210 of the encoder 200 is not related to the traveling wheel 20, thus avoiding slippage of the traveling wheel 20 when the shuttle 1 is in the starting stage or stopping and decelerating stage, which would affect the accuracy of the encoder 200 detection. On the other hand, the encoder 200 is floatingly connected to the frame 10 through the floating seat 100. That is, the encoder 200 and the frame 10 are not rigidly connected. When the frame 10 and the track 2a oscillate, the encoder 200 and the floating seat 100 can float relative to the frame 10 in the floating direction D, preventing the oscillation of the frame 10 from affecting the detection accuracy of the encoder 200.

[0098] Furthermore, in the embodiments of this application, the shuttle 1 and the floating seat 100 float along the length direction perpendicular to the track 2a. That is, the moving direction of the floating seat 100 is perpendicular to the length direction of the track 2a, rather than swinging. This ensures that the linear velocity of each position on the outer circumference of the roller 300 remains consistent during the rotation process, thus ensuring the detection accuracy of the encoder 200.

[0099] It is understood that the frame 10 is provided with multiple pairs of wheels 20, with two wheels 20 in each pair located on both sides of the frame 10. In the embodiment of this application, the frame 10 is provided with two pairs of wheels 20, one pair of wheels 20 being driving wheels and the other pair of wheels 20 being driven wheels.

[0100] Of course, in other embodiments, the multiple wheels 20 on the frame 10 may also be drive wheels.

[0101] like Figure 1 and Figure 2As shown, the rotation axis of the traveling wheel 20 is parallel to the rotation axis of the roller 300, and the traveling wheel 20 and the roller 300 are located on the same side of the track 2a. The rotation axis of the traveling wheel 20 and the rotation axis of the roller 300 are not collinear. In this embodiment, both the traveling wheel 20 and the roller 300 are in rolling contact with the upper surface of the track 2a.

[0102] Of course, in other embodiments, the traveling wheel 20 and the roller 300 may also be located on different sides of the track 2a. For example, the traveling wheel 20 may roll in contact with the upper surface of the track 2a, and the roller 300 may roll in contact with the side surface of the track 2a. When the traveling wheel 20 and the roller 300 are located on different sides of the track 2a, the axis of rotation of the traveling wheel 20 may be perpendicular to the axis of rotation of the roller 300.

[0103] Please continue reading. Figure 1 and Figure 2 The diameter of roller 300 is smaller than the diameter of traveling wheel 20.

[0104] As an example, the diameter of the traveling wheel 20 can be 3 to 5 times the diameter of the roller 300, but is not limited to this.

[0105] It is worth mentioning that in the existing technology, the encoder spindle is connected to the traveling wheel, and the angular velocity of the traveling wheel is the same as that of the spindle. When the shuttle is in a creeping or calibration position, the angular velocity of the traveling wheel is very small, which in turn leads to a very small angular velocity of the encoder spindle, ultimately affecting the accuracy of encoder detection.

[0106] In this embodiment, the diameter of the roller 300 is smaller than the diameter of the traveling wheel 20. When the shuttle 1 moves the same distance, the angular velocity of the roller 300 is greater than the angular velocity of the traveling wheel 20. When the shuttle 1 is in a creeping or correction position, although the angular velocity of the traveling wheel 20 is very small, the angular velocity of the roller 300 increases, thereby improving the detection accuracy of the encoder 200.

[0107] like Figures 3 to 7 As shown, the frame 10 includes a base plate 11 and a side plate 12, with the side plate 12 connected to the base plate 11. In this embodiment, the side plate 12 is vertically connected to the base plate 11, but this is not a limitation.

[0108] The side plate 12 has an inner surface 12a and an outer surface 12b disposed opposite to each other along its thickness direction. The side plate 12 also has a through hole 12c penetrating the inner surface 12a and the outer surface 12b. The floating seat 100 passes through the through hole 12c, the encoder 200 is located on the inner surface 12a, and the roller 300 is located on the outer surface 12b. The traveling wheel 20 is rotatably connected to the side plate 12 and is located on the outer surface 12b.

[0109] In this embodiment of the application, the encoder 200 is located on the inner surface 12a of the side plate 12, which can hide the encoder 200 inside the shuttle car 1 and prevent the encoder 200 from being damaged by external objects during the movement of the shuttle car 1.

[0110] like Figure 8 As shown, the floating seat 100 includes a sleeve 110, a connecting plate 120, and a connecting lug 130. The axis of the sleeve 110 is collinear with the axis of the main shaft 210 of the encoder 200. The sleeve 110 has a shaft hole 111 that extends through the sleeve 110 along the thickness direction of the side plate 12.

[0111] The connecting plate 120 is circumferentially connected to the outer peripheral surface of the sleeve 110, and the connecting plate 120 is connected to the bracket 220 of the encoder 200 (e.g., Figure 7 A fixed connection is made so that the encoder 200 is fixedly connected to the floating seat 100.

[0112] The sleeve 110 has a connecting lug 130 on each of its two opposite sides. The connecting lug 130 is used to connect with the guide rod 620 of the guide unit 600, which will be described in detail later.

[0113] It is understood that the sleeve 110, connecting plate 120, and connecting lug 130 can be welded together to form a welded component for the floating seat 100. Of course, in other embodiments, the sleeve 110, connecting plate 120, and connecting lug 130 can also be connected by other methods, which will not be elaborated here.

[0114] like Figure 4 , Figure 5 and Figure 7 As shown, the detection assembly 30 also includes a drive shaft 400, which passes through the shaft hole 111 and has its two axial ends extending out of the sleeve 110. The roller 300 is fixedly connected to one end of the drive shaft 400 extending out of the outer surface 12b, and the main shaft 210 is fixedly connected to one end of the drive shaft 400 extending out of the inner surface 12a. The rotation axis of the roller 300, the axis of the drive shaft 400, and the axis of the main shaft 210 are collinear.

[0115] The sleeve 110 has a first bearing 710 and a second bearing 720 respectively embedded at its two axial ends, and both the first bearing 710 and the second bearing 720 are sleeved on the outer periphery of the drive shaft 400. The outer periphery of the drive shaft 400 near the encoder 200 is also provided with a protrusion 410, and the inner ring of the second bearing 720 stops on the side surface of the protrusion 410 facing away from the encoder 200.

[0116] The outer periphery of the drive shaft 400 is further fitted with a first spacer 730 and a second spacer 740. The first spacer 730 is used to separate the roller 300 and the inner ring of the first bearing 710, and the second spacer 740 is used to separate the inner ring of the first bearing 710 and the inner ring of the second bearing 720. The first spacer 730 is fitted on the outer periphery of the end of the drive shaft 400 that extends out of the sleeve 110, and the second spacer 740 is fitted on the outer periphery of the portion of the drive shaft 400 located inside the sleeve 110.

[0117] The roller 300 can be locked to one end of the drive shaft 400 that extends out of the outer surface 12b by a locking member 760. In one embodiment, the locking member 760 can be a screw, but is not limited thereto.

[0118] like Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the detection component 30 also includes a first elastic element 510, which is connected to the floating seat 100 and the frame 10, and is used to provide an elastic force to the floating seat 100 so that the roller 300 tends to move closer to the track 2a.

[0119] Understandably, when the shuttle 1 travels onto the track 2a of the shelf 2, the upper surface of the track 2a supports the roller 300, causing the detection component 30 to tend to move away from the track 2a. At this time, the first elastic element 510 provides an elastic force to the floating seat 100, which causes the detection component 30 to tend to move closer to the track 2a. When the supporting force of the track 2a is equal to the elastic force of the first elastic element 510, the detection component 30 is in a balanced state. When the shuttle 1 moves along the track 2a, the roller 300 can fit tightly against the surface of the track 2a, thereby generating a sufficiently large frictional force between the roller 300 and the track 2a. This frictional force can drive the roller 300 to rotate relative to the track 2a, and then the roller 300 drives the main shaft 210 of the encoder 200 to rotate.

[0120] When the shuttle 1 encounters an uneven surface of the track 2a during its movement, the roller 300 will also float up and down with the uneven surface. Specifically, when the roller 300 encounters a convex part of the track 2a, the roller 300 will rise, and the first elastic element 510 will generate a greater elastic force. When the roller 300 encounters a concave part of the track 2a, the roller 300 will fall down under the action of the weight of the detection component 30 itself and the elastic force of the first elastic element 510. Thus, under the action of the first elastic element 510, the roller 300 can always be in close contact with the surface of the track 2a as the shuttle 1 moves along the track 2a, thereby ensuring the detection accuracy of the encoder 200.

[0121] like Figure 4 , Figure 5 and Figure 7 As shown, the first elastic element 510 includes a first elastic ring 511 and a second elastic ring 512. The side plate 12 also has a through hole 12d penetrating the inner surface 12a and the outer surface 12b. The frame 10 also has a fixing post 13, which is disposed on the side of the floating seat 100 facing the track 2a, and the fixing post 13 is fixedly inserted through the through hole 12d. One end of the fixing post 13 extends out of the inner surface 12a, and the other end extends out of the outer surface 12b. The first elastic ring 511 is wrapped around the end of the floating seat 100 extending out of the inner surface 12a and the end of the fixing post 13 extending out of the inner surface 12a, and the second elastic ring 512 is wrapped around the end of the floating seat 100 extending out of the outer surface 12b and the end of the fixing post 13 extending out of the outer surface 12b.

[0122] The sleeve 110 and the fixed post 13 are fitted with a first elastic ring 511 at one end and a second elastic ring 512 at the other end. Under the action of the elastic force provided by the first elastic ring 511 and the second elastic ring 512, the floating seat 100 always tends to move closer to the fixed post 13.

[0123] The first elastic ring 511 and the second elastic ring 512 can deform and generate elastic force when subjected to force. The first elastic ring 511 and the second elastic ring 512 have the same elastic coefficient, that is, when the first elastic ring 511 and the second elastic ring 512 are subjected to the same force, they will both produce the same deformation. In the embodiments of this application, the first elastic ring 511 and the second elastic ring 512 are the same in size and material.

[0124] like Figure 8 As shown, the floating seat 100 has a first annular groove 112 on its outer peripheral surface extending from both ends of the inner surface 12a and the outer surface 12b. Figure 9 As shown, a second annular groove 13a is provided on the outer peripheral surface of the fixed column 13 extending from both ends of the inner surface 12a and the outer surface 12b.

[0125] like Figure 4 , Figure 5 and Figure 7 As shown, along the floating direction D, the two second annular grooves 13a correspond to the positions of the two first annular grooves 112, respectively. A portion of the first elastic ring 511 is accommodated in a pair of corresponding first annular grooves 112 and second annular grooves 13a, and a portion of the second elastic ring 512 is accommodated in another pair of corresponding first annular grooves 112 and second annular grooves 13a.

[0126] In this embodiment of the application, the outer peripheral surface of the sleeve 110 is provided with a first annular groove 112 and the outer peripheral surface of the fixing post 13 is provided with a second annular groove 13a, which can prevent the first elastic ring 511 and the second elastic ring 512 from coming off the sleeve 110 and the fixing post 13.

[0127] Of course, in other embodiments, the first elastic element 510 may also be other components capable of providing elastic force, such as a compression spring or a tension spring.

[0128] like Figure 6 and Figure 9 As shown, the fixing post 13 is fixedly connected to the side plate 12 by a clamping plate 770. Specifically, the outer periphery of the fixing post 13 is also provided with a slot 13b, the clamping plate 770 is fixedly connected to the side plate 12, and the clamping plate 770 is inserted into the slot 13b of the fixing post 13 to prevent the fixing post 13 from moving relative to the side plate 12 along its axial direction.

[0129] like Figure 4 , Figure 6 and Figure 12 As shown, the detection assembly 30 also includes two guide units 600, which are respectively disposed on the inner surface 12a and the outer surface 12b, and are located on two opposite sides of the sleeve 110 of the floating seat 100. The detection assembly 30 can reciprocate relative to the frame 10 along the floating direction D via the two guide units 600. By setting the guide units 600, the direction of movement of the detection assembly 30 can be ensured, and deviation can be avoided.

[0130] In one embodiment, two guide units 600 are arranged diagonally on two opposite sides of the sleeve 110 of the floating seat 100. This can, to a certain extent, prevent the floating seat 100 from becoming stuck due to uneven force on both sides.

[0131] like Figure 10 and Figure 11 As shown, each guide unit 600 includes a guide seat 610 and a guide rod 620. The two guide seats 610 of the two guide units 600 are respectively fixedly connected to the inner surface 12a and the outer surface 12b of the side plate 12. The guide seat 610 has a guide hole 611, through which the guide rod 620 is movably inserted. The guide rod 620 is fixedly connected to the connecting lug 130 of the floating seat 100, and the axis of the guide rod 620 is parallel to the floating direction D. The axis of the guide rod 620 is perpendicular to the length direction of the track 2a, thus ensuring that the detection assembly 30 floats in a straight line.

[0132] Each guide unit 600 also includes an oil-free bushing 640, which is located within the guide hole 611 of the guide seat 610 and is sleeved on the outer periphery of the guide rod 620.

[0133] In one implementation, such as Figure 10As shown, the guide seat 610 has a limiting member 750 on one end face opposite to the connecting ear 130. The limiting member 750 is used to stop the oilless bushing 640 and prevent the oilless bushing 640 from coming out of the guide hole 611.

[0134] like Figure 6 and Figure 10 As shown, each guide unit 600 also includes a second elastic element 630, which is connected to the guide seat 610 and the floating seat 100 and is used to provide an elastic force to the floating seat 100 so that the roller 300 tends to move away from the track 2a.

[0135] Understandably, when the shuttle 1 is not traveling on the track 2a of the shelf 2, the track 2a is not supported by the roller 300, and the detection component 30 will fall downwards. In this embodiment, the elastic force provided by the second elastic member 630 can make the roller 300 tend to move away from the track 2a, which can prevent the detection component 30 from falling downwards, thereby preventing the first elastic ring 511 and the second elastic ring 512 from falling off the floating seat 100 and the fixed column 13.

[0136] In one embodiment, the second elastic element 630 is a compression spring, with its two ends abutting against the connecting lug 130 and the guide seat 610, but this is not a limitation.

[0137] It is understood that the various embodiments / implementations provided in this application can be combined with each other without creating contradictions, and will not be described one by one here.

[0138] In the embodiments of this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise expressly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0139] In the description of the embodiments of the application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the application.

[0140] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the claims. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0141] The above are merely preferred embodiments of the application examples and are not intended to limit the application examples. For those skilled in the art, the application examples can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the application examples should be included within the protection scope of the application examples.

Claims

1. A shuttle vehicle, characterized in that, include: Frame (10); The traveling wheel (20) is rotatably connected to the frame (10) for rolling contact with the track (2a) to drive the frame (10) to move along the track (2a); as well as The detection assembly (30) includes a floating seat (100), an encoder (200) fixedly connected to the floating seat (100), a roller (300) drivenly connected to the main shaft (210) of the encoder (200), a first elastic element (510), and a guide unit (600); the floating seat (100) is floatingly connected to the frame (10) along a floating direction perpendicular to the length direction of the track (2a); the roller (300) is used to roll in contact with the track (2a) so as to pass through the roller (300) The rotation of the roller (300) drives the main shaft (210) to rotate; the first elastic element (510) is connected to the floating seat (100) and the frame (10) to provide elastic force to the floating seat (100) so that the roller (300) tends to move closer to the track (2a); the guide unit (600) includes a guide seat (610), a guide rod (620) and a second elastic element (630), the guide seat (610) is fixedly connected to the frame (10); the guide seat (610) has a guide hole (611). The guide rod (620) is movably inserted through the guide hole (611), and the guide rod (620) is fixedly connected to the floating seat (100). The axis of the guide rod (620) is parallel to the floating direction. The second elastic element (630) is connected to the guide seat (610) and the floating seat (100) to provide elastic force to the floating seat (100) so that the roller (300) tends to move away from the track (2a).

2. The shuttle of claim 1, wherein, The rotation axis of the walking wheel (20) is parallel to the rotation axis of the roller (300), and the walking wheel (20) and the roller (300) are located on the same side of the track (2a).

3. The shuttle of claim 1, wherein, The diameter of the roller (300) is smaller than the diameter of the walking wheel (20).

4. The shuttle of claim 1, wherein, The frame (10) includes a base plate (11) and a side plate (12), the side plate (12) being connected to the base plate (11); The side plate (12) has an inner surface (12a) and an outer surface (12b) arranged opposite to each other along its thickness direction, and the side plate (12) also has a through hole (12c) penetrating the inner surface (12a) and the outer surface (12b). The floating seat (100) passes through the through hole (12c), the encoder (200) is located on the inner surface (12a), and the roller (300) is located on the outer surface (12b); the walking wheel (20) is rotatably connected to the side plate (12) and is located on the outer surface (12b).

5. The shuttle of claim 4, wherein, The floating seat (100) has a shaft hole (111) that extends through the floating seat (100) along the thickness direction of the side plate (12). The detection assembly (30) further comprises a transmission shaft (400) penetrating the shaft hole (111), one end of the transmission shaft (400) protruding from the outer surface (12b) is fixedly connected with the roller (300), and one end of the transmission shaft (400) protruding from the inner surface (12a) is fixedly connected with the main shaft (210). The rotation axis of the roller (300), the axis of the transmission shaft (400) and the axis of the main shaft (210) are collinear.

6. The shuttle of claim 4, wherein, The first elastic member (510) comprises a first elastic ring (511) and a second elastic ring (512). The side plate (12) further has a through hole (12d) penetrating the inner surface (12a) and the outer surface (12b), and the frame (10) further has a fixing column (13) penetrating the through hole (12d), one end of the fixing column (13) protruding from the inner surface (12a) and the other end protruding from the outer surface (12b). The first elastic ring (511) is wound around one end of the floating seat (100) protruding from the inner surface (12a) and one end of the fixing column (13) protruding from the inner surface (12a), and the second elastic ring (512) is wound around one end of the floating seat (100) protruding from the outer surface (12b) and one end of the fixing column (13) protruding from the outer surface (12b).

7. The shuttle of claim 6, wherein, The outer circumferential surfaces of the two ends of the floating seat (100) protruding from the inner surface (12a) and the outer surface (12b) are respectively provided with a first annular groove (112); The outer circumferential surfaces of the two ends of the fixing column (13) protruding from the inner surface (12a) and the outer surface (12b) are respectively provided with a second annular groove (13a); Along the floating direction, the two second annular grooves (13a) correspond to the positions of the two first annular grooves (112) respectively; Part of the first elastic ring (511) is accommodated in a pair of corresponding first annular grooves (112) and second annular grooves (13a), and part of the second elastic ring (512) is accommodated in another pair of corresponding first annular grooves (112) and second annular grooves (13a).

8. The shuttle of claim 4, wherein, The detection assembly (30) further comprises two guide units (600), and the two guide units (600) are respectively arranged on the inner surface (12a) and the outer surface (12b), and are located on the two opposite sides of the floating seat (100).

9. The shuttle of claim 8, wherein, The guide seat (610) is fixedly connected to the side plate (12).

10. A stereoscopic library system, characterized by Comprising: a rack (2) having a track (2a); and the shuttle vehicle (1) according to any one of claims 1 to 9, wherein the traveling wheels (20) and the roller (300) of the shuttle vehicle (1) are in rolling contact with the track (2a).

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